KR102169025B1 - An apparatus for calculating the location of the tray groove and detecting misplaced status in the tray with a line laser and a method thereof - Google Patents

Abstract

According to the present invention, an apparatus for calculating a position of a tray loading groove and detecting a misloaded state of a tray using line laser beams includes: equipment having a receiving space therein; a tray mounted inside the receiving space of the equipment and having a plurality of mounting grooves; a photographing device provided to be coupled to the equipment and provided on an upper portion of the tray to photograph an upper portion surface of the tray; and a line laser irradiating device provided to irradiate a plurality of linear laser beams to the mounting grooves of the tray. A line laser irradiating direction of the line laser irradiating device is not parallel to an imaginary straight line perpendicular to the upper portion surface of the tray.

Description

TECHNICAL FIELD An apparatus for calculating the location of the tray groove and detecting misplaced status in the tray with a line laser and a method thereof using a line laser

The present invention relates to a tray loading groove position calculation and tray misload detection apparatus and method using a line laser, and more specifically, a line laser is projected obliquely from the top of the tray, and the bending and number of the projected line lasers are detected and loaded. The present invention relates to an apparatus and method capable of checking whether or not the central position of the groove and the load on the tray are normally loaded.

Articles manufactured through various processes such as a display panel are loaded into a plurality of process-performing equipment or inspection equipment in the process of performing a plurality of processes, or undergo a process of being transferred back to another device in the loaded state.

On the other hand, if the size of the object to be manufactured is small or the process can be performed on a plurality of products at the same time, after loading a plurality of objects on a tray, loading/unloading the tray to the equipment, Will perform the work of.

In the tray, a groove or the like is formed so as to load an article, and the load is loaded in the loading groove, thereby preventing accidents such as a change in position or falling from the tray during a process or a transfer process.

However, if the article is not accurately loaded in the tray's loading groove, or when the article leaves the loading groove during the transfer process, an accurate process cannot be performed and problems such as dropping of the article occur.

Therefore, it is very important to check whether the item is correctly loaded in the tray's loading groove.

Meanwhile, even when a plurality of processes are performed by loading a plurality of items on a tray, a process of loading the items one by one into the loading groove of the tray or taking out and transferring the loaded items one by one is required in a specific process or final process.

In order to load the loads one by one in this way, it is necessary to accurately grasp the position of each of the tray loading grooves and deliver them to the transfer device.

Conventionally, as shown in FIG. 1, after projecting the light 12 from the top of the tray 11 and photographing it with the camera 13, the state of loading the article on the tray and using the difference in contrast of the light in the acquired image Although the location of the article was confirmed, there was a problem that it was difficult to clearly grasp the boundary of the article only by the difference in brightness and darkness of the lighting.

Republic of Korea Patent Publication No. 10-2019-0035202

The present invention is to solve the conventional problems as described above, and to propose a very simple and accurate tray loading groove position calculation and tray misload detection apparatus and method using a line laser.

The object of the present invention is not limited thereto, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

The tray loading groove position calculation and tray misload detection apparatus using a line laser for achieving the object of the present invention as described above is an equipment with an accommodation space inside, mounted in the accommodation space of the equipment, and provided with a plurality of mounting grooves. And a line laser irradiation device coupled to the equipment and provided to be coupled to the equipment, an imaging device provided to photograph the upper surface of the tray from the top of the tray, and a line laser irradiation device provided to irradiate a plurality of linear lasers into the mounting groove of the tray However, the line laser irradiation device may be configured to irradiate the line laser obliquely toward the tray from an upper side of the tray.

In addition, the mounting groove has a rectangular shape in cross section, and the line laser may be irradiated in parallel to each of the vertical and/or horizontal directions of the mounting groove.

In addition, the irradiation direction of the line laser may be formed to be inclined at a predetermined angle with respect to a straight line perpendicular to the tray.

In addition, the angle may be 10° to 20°.

On the other hand, the method of detecting misloading of the tray using the line laser using the device and calculating the length of the tray loading object is a first step of loading a tray in the device, a second step of irradiating a line laser to each of the loading grooves of the tray, the A third step of acquiring an image of the top of the tray using an imaging device from the top of the device, a fourth step of calculating the center point of the loading groove by identifying the acquired image, and using the calculated center point value of the loading groove The fifth step of loading the loads in the loading groove, the sixth step of re-irradiating the line laser on each load after all the loads are loaded, the seventh step of reacquiring an image of the upper tray using the imaging device, and the It includes an eighth step of determining whether or not it is misloaded using the reacquired image.

In addition, the eighth step may be configured to compare the number of irradiated line lasers with the number of line lasers shown in the image, and determine that the loading is incorrect when the number of line lasers shown in the image is large.

In addition, the fourth step may be configured to calculate the center point by using the curve of the line laser generated at the end of the loading groove.

The apparatus and method for calculating a tray loading groove position and detecting tray misloading using a line laser according to the present invention have the following effects.

First, it is possible to quickly and accurately calculate the location of the tray's loading groove.

Compared with the conventional method using illumination, the line laser has an advantage of being able to accurately check the curvature of the laser at the boundary of the loading groove, and clearly calculate the position of the loading groove through excellent visibility. If the position of the loading groove is accurately calculated as described above, there is an advantage in that the load can be accurately positioned in the loading groove.

Second, it is possible to quickly and accurately calculate whether the tray is misloaded.

The laser has excellent straightness and transmittance, so that the light reflected or penetrated from the display screen can be easily checked. In the case of misloading, since the reflected light from the surface of the loading object and the light reflected from the bottom of the loading groove are emitted in different directions, more lasers appear than the irradiated lasers. Using this, it is possible to quickly and accurately check whether there is any misloading only by irradiation with a line laser.

The effects of the present invention are not limited to the above-mentioned effects, and other effects that are not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view showing a conventional tray loading groove position calculation and tray misload detection device
2 is a perspective view showing a tray loading groove position calculation and tray misload detection apparatus using a line laser according to the present invention
3(a) is a top view showing a state in which a line laser is irradiated on the tray, and FIG. 3(b) is a cross-sectional view of the tray
4 is a conceptual diagram showing a photograph showing a state in which a line laser is irradiated to a tray loading groove and a method of calculating a loading groove position
5 is a photograph showing a line laser irradiated in a misloading state

An embodiment will be described with reference to the accompanying drawings. In the description of the present embodiment, the same name and the same reference numerals are used for the same configuration, and additional descriptions thereof will be omitted.

In addition, in describing an embodiment of the present invention, it is stated in advance that components having the same function are only used with the same names and symbols, and are not substantially identical to those of the related art.

In addition, terms used in the embodiments of the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In addition, in the embodiments of the present invention, terms such as "include" or "have" are intended to designate the existence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification. It is to be understood that the possibility of the presence or addition of other features, numbers, steps, actions, components, parts, or combinations thereof, or further other features, is not excluded in advance.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2(a) is a perspective view showing an apparatus for calculating a tray loading groove position and detecting a tray misloading using a line laser according to the present invention.

The tray loading groove position calculation and tray misload detection apparatus using a line laser according to the present invention includes a process equipment 100, a tray loading platform 200 provided in the equipment 100, and the tray loading platform 200. It includes a camera 120 provided and a line laser irradiation device 130 provided on the upper side of the tray mounting table 200.

The tray loading table 200 is loaded with an empty tray 110. As shown in FIG. 3, the tray 110 is provided with a loading groove 114 in which a plurality of items are loaded.

Thereafter, the object is placed in the loading groove 114 of the empty tray 110, and at this time, the transport robot can accurately load the loaded object into the loading groove 114 by using the position value of the loading groove 114.

However, as described above, when the location of the loading groove is checked using conventional lighting, the difference in contrast between the portion where the groove is formed and the portion where the groove is not formed is not clear. In particular, since the tray is mostly black, it is very difficult to check the difference in contrast using the image acquired through the camera.

In addition, since the center coordinate value of the tray 110 loading groove 114 calculated by the method using the contrast is not accurate, the load cannot be accurately loaded into the loading groove 114 of the tray 110 and is incorrectly loaded. Occurs frequently.

In the present invention, the center position of the loading groove 114 formed in the tray 110 can be confirmed by using the line laser irradiation device 130.

Specifically, two line lasers 112 and 113 perpendicular to each of the loading grooves 114 are irradiated using the line laser irradiation device 130. Thereafter, an image irradiated with a line laser is acquired using the camera 120, and the acquired image is transmitted to a controller (not shown).

The line laser in one direction irradiated by the line laser irradiation device 130 is bent at the boundary of the loading groove 114 of the tray 110, as shown in FIG. 4, wherein the centers of the two bending points are It becomes the lateral center point (X) of the tray 110.

In addition, the center of the two bending points of the line laser perpendicular to the one direction becomes the center point Y in the longitudinal direction of the tray 110.

By transmitting the coordinates (X, Y) of the center point obtained in this way to the control unit of the transfer robot, the load can be accurately loaded into the loading groove 114 of the tray 110.

However, it is preferable that the line laser irradiation device 130 irradiates the line laser inclined to the tray 110 in order to more clearly confirm the occurrence of the bending of the line laser at the boundary of the loading groove 114.

On the other hand, even if the location of the loading groove 114 is accurately identified, the load is accurately seated in the loading groove 114 due to errors in the process of the misloading of the tray itself and the poor transfer robot of the loading groove 114 gripping the load. There may be problems that cannot be done.

When the load is transferred to the next process in a state in which the loaded material is incorrectly loaded on the tray 110, problems such as defects may occur in the entire product loaded on the tray, or an abnormality may occur in process equipment.

In the present invention, after loading on the tray 110 is completed, the line laser is re-irradiated through the line laser irradiation device 130 to obtain an irradiated image.

As shown in FIG. 5, if an erroneous loading such as an object is mounted on the loading groove 114 of the tray 110, the irradiated line laser appears in two rows.

This is when a product is misloaded in the loading groove 114 of the tray 110, a separation occurs between the loading material and the bottom surface of the loading groove 114, and light transmitted through the loading material is transmitted to the loading groove 114 This is because it is reflected from the bottom of the car and is seen through the load again.

That is, due to the refraction of the line laser by the load, the positions of the light reflected from the surface of the load and the light reflected from the bottom surface are different, so that the laser appears in two lines when looking at the load from the top.

However, in order for the line laser to appear in two lines, it must be irradiated at a position where the line laser forms a predetermined angle θ with respect to the surface normal h of the load, as shown in FIG. 2(b).

When the line laser is irradiated perpendicular to the surface of the load, the light reflected from the surface of the load and the light reflected from the bottom of the loading groove 114 appear at the same position, so that the line laser does not appear in two lines.

Specifically, the straight line perpendicular to the upper surface 111 of the tray 110 and the line laser irradiation direction of the line laser irradiation apparatus 130 are preferably determined within the angle θ of 10° to 20°. .

A method of calculating the position of the loading groove 114 of the tray 110 using the line laser irradiation device 130 that is obliquely irradiated as described above and a method of detecting misloading will be described in more detail.

First, the empty tray 110 is put into the equipment.

After that, a line laser is irradiated to each of the loading grooves 114 formed in the tray 110.

A photographed image is acquired from the top of the tray 110 using the camera 120.

Thereafter, the center coordinates of each of the tray loading grooves 114 are calculated using the bending points in the photographed image.

After that, the central coordinate information is transmitted to the control unit.

The control unit loads the load into each of the loading grooves 114 using the corresponding central coordinate.

After loading is completed, the photographed image is re-acquired using the camera 120.

In the photographed image, the number of line lasers in each loading groove 114 is checked, and if it is determined that there is no abnormality, the tray 110 loaded with the loaded object is transferred to the next stage equipment.

If there are more line lasers in the photographed image than the number of irradiated line lasers, it is determined as being misloaded and a warning sound is generated.

Through the above steps, not only can the product be correctly loaded on the tray, but in the case of misloading, it is possible to notify the user of this and take follow-up measures such as stopping the process.

As described above, according to the present invention, since the position of the tray loading groove can be accurately identified using a line laser, it is possible to easily check the misloading state with water. Those skilled in the art to which the present invention pertains will appreciate that the present invention can be implemented in other specific forms without changing the technical spirit or essential features thereof.

Therefore, the above-described embodiments are illustrative in all respects and should be understood as non-limiting. The scope of the present invention is indicated by the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

100: process equipment
110: tray
111: upper tray
112, 113: line laser
114: loading groove
120: camera
130: line laser irradiation device
200: loading platform

Claims (7)

delete delete delete delete Equipment provided with an accommodation space inside; A tray mounted in the receiving space of the equipment and provided with a plurality of mounting grooves; An imaging device coupled to the equipment and provided to photograph an upper surface of the tray from an upper portion of the tray; And a line laser irradiation device provided to irradiate a plurality of line lasers in the mounting groove of the tray, wherein the line laser irradiation device includes a line laser configured to irradiate the line laser obliquely toward the tray from an upper portion of the tray. In the method for calculating the location of the tray loading groove and calculating the length of the tray loading and detecting the tray loading using a tray loading detection device,
A first step of loading a tray on the equipment;
A second step of irradiating a line laser to each of the stacking grooves of the tray;
A third step of acquiring an image of an upper portion of the tray by using an imaging device at the upper portion of the equipment;
A fourth step of identifying the acquired image and calculating a center point of the loading groove;
A fifth step of loading a load in the loading groove by using the calculated center point value of the loading groove;
A sixth step of re-irradiating the line laser on each load after all the loads are loaded;
A seventh step of re-acquiring an image on the upper portion of the tray using the imaging device; And
An eighth step of determining whether or not to be misloaded using the reacquired image; calculating a tray loading groove position using a line laser and detecting a tray misloading. The method of claim 5,
The eighth step is to compare the number of line lasers irradiated with the number of line lasers shown in the image, and calculate the tray loading groove position using a line laser that is judged to be misloaded when the number of line lasers shown in the image is large. Misload detection method. The method of claim 5,
The fourth step is a method for calculating a tray loading groove position and detecting a tray misloading using a line laser configured to calculate a center point of the loading groove by using the curve of the line laser occurring at the end of the loading groove.

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