TW201540625A - Image processing device of feeder and feeder - Google Patents

Abstract

Provided are an image processing device of a feeder and the feeder, which allows for correct and easy installation of an imaging element of a camera at a proper location and increases the transmission speed of image data acquired by the camera so as to allow work pieces to be conveyed at a high speed. The image processing device (8) of a feeder according to the present invention is made up of the following means: setting means (30), which functions as a camera that is a planar camera (2) that comprises a plurality of imaging elements arrayed in a conveyance direction of a work piece (W) and a direction orthogonal thereto and uses the imaging elements to acquire image data and is set to make image photographing with the imaging elements, which are a portion of the plurality of imaging elements of the planar camera (2) that is arrayed to be orthogonal to the conveyance direction; image retrieving means, which instantaneously retrieves image data acquired by the planar camera (2) during image photographing conducted with said portion of the imaging elements; and posture recognition means (33), which is a means for determining a work piece is good or not according to the image data retrieved by the image retrieving means (31).

Description

Image processing device for feeder and feeder

According to the present invention, it is possible to easily and accurately set the position of a part of the image pickup element based on the image data obtained by using only one of the image pickup elements of the face camera, and the position of the image pickup device can be obtained by the face camera. The image processing device and the feeder for the feeder for speeding up the transfer of image data.

In the past, a feeder that can transport a workpiece such as an electronic component to a predetermined supply target along the transport path is known (for example, Patent Document 1). The feeder disclosed in Patent Document 1 is configured such that the posture of the workpiece is determined based on the image data obtained by imaging the workpiece, and the workpiece is removed from the transport path by an exclusion means (inappropriate posture).

With reference to Fig. 8, the principle of the feeder 200 for performing the posture determination processing based on the image data will be described with reference to Fig. 8, and the workpiece W that has reached the imaging position P1 is imaged by the surface camera 202 as an imaging means. The image data is captured by the control device 204 through the image capturing means 204a, and then processed by the preprocessing means 204b. Pre-processing such as binarization is performed. Thereafter, the posture determining means 204c determines the posture of the workpiece W based on the image data after the pre-processing, and based on the determination result, the workpiece W in the inappropriate posture is excluded by the eliminating means 5. Further, the area camera 202 is a two-dimensional image data obtained by arranging a plurality of image pickup elements in a mesh shape and having a relatively large number of pixels. In addition, the imaging timing of the area camera 202 is generally configured such that when the laser sensor 203 detects that the workpiece W has reached a predetermined position on the transport path 10, an external trigger is input to perform imaging.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2013-39981

However, in the feeder 200 having the above-described configuration, as shown in FIG. 9, when the image pickup by the surface camera 202 is performed at time t11, the image data capturing means 204a starts capturing the image data at time t12, at time t13. Pre-processing of image data such as binarization is started by the pre-processing means 204b. Thereafter, at the end of the pre-processing, at the time t14, the posture discriminating means 204c determines the posture of the workpiece based on the pre-processed image data.

However, the feeder 200 performs data using a large number of pixels obtained by using almost all of the image pickup elements of the area camera 202. Therefore, the extraction time (transmission time) becomes long, and there is a problem that the time until the start of imaging to the posture determination of one workpiece becomes long. The workpiece W imaged at the imaging position P1 determines the posture before reaching the exclusion position P2 at which the exclusion processing is performed. Therefore, when the posture determination takes a long time, it is necessary to restrict the conveyance speed of the workpiece W, and it is difficult to convey the workpiece W at a high speed, resulting in processing efficiency. The reduction. Further, in order to shorten the time until the posture is determined, the performance of the control device 204 (CPU) is also considered, and the time taken for the pre-processing and the posture determination processing is shortened. However, as shown in FIG. 9, the extraction time is earlier than that of the front. The time required for the processing and posture determination processing is also sufficiently long, and even if the performance of the control device 204 is increased, the time cannot be sufficiently shortened.

In order to solve such a problem, it is considered to use a line type camera instead of the face type camera 202. The line type camera uses only one column of imaging elements for the photographer. Since the imaging range is small, the number of pixels of the image data obtained is small, and the transmission time can be shortened. However, since the line type camera is a one-dimensional line image, it is difficult to determine which part of the image data obtained is imaged. In order to accurately set the position where the image can be imaged, it is necessary to use a high speed camera from the outside. There is a lot of trouble with the camera or the use of dummy workpieces for alignment.

An object of the present invention is to effectively solve such a problem, that is, to provide an image pickup element that can accurately and easily set a camera at an appropriate position, and to increase the conveyance speed of image data acquired by the camera, so that the workpiece can be transported at a high speed. An image processing device and a feeder for the feeder.

The present invention has been made in view of the above problems.

In other words, the image processing device for a feeder of the present invention is applied to a feeder image processing device including a feeder for a camera that images a workpiece conveyed along a transport path, and is characterized in that the setting means is provided as the camera. A plurality of image pickup elements having a plurality of image pickup elements arranged in a transport direction of the workpiece and a direction orthogonal thereto, and an image pickup device that acquires image data by the image pickup elements are provided in a plurality of image pickup elements included in the surface camera. An image pickup device that is only one of the arrays orthogonal to the transport direction can be used for imaging; and the image capture means acquires the image pickup device from the surface camera when only the image pickup device is used for imaging. The image data; and the method for discriminating the quality of the workpiece are based on the image data captured by the image capturing means described above, and the quality of the workpiece is discriminated.

Here, the discrimination of the quality of the workpiece indicates whether or not the appearance or posture of the workpiece is determined to be a predetermined one.

By using the imaging means by the setting means, it is possible to reduce the number of pixels of the image data acquired by the face camera in one imaging, and to increase the capturing speed (transmission speed) by the image capturing means. Therefore, the time from the imaging to the quality determination process for one workpiece can be shortened, and the conveyance of the workpiece can be speeded up. On the other hand, by using almost all of the imaging elements of the area camera, it is possible to make a linear camera. A wider range of images appears in the image data, and the image pickup device can be easily and accurately set at an appropriate position based on the member or the like appearing on the image data. Furthermore, the use of almost all imaging elements also includes the use of all imaging elements.

In a specific configuration, the feeder includes a workpiece processing means for applying a force from the force applying portion to the workpiece reaching the workpiece processing position set on the transport path, and excluding from the transport path or The posture correction is performed on the transport path, and the workpiece processing means is activated in response to the discrimination result of the quality determination means of the workpiece, and the imaging range of the face camera is used when almost all imaging elements are used for imaging. The position including the force applying unit is set, and the image data appearing in the imaging range can be configured by selecting and setting the position of the image sensor by the setting means.

With such a configuration, the position of the image pickup device can be greatly shortened by selecting the position of the image pickup device based on the force application portion by the setting means while observing the image data appearing in the force application portion. Bit time.

On the other hand, in another specific configuration, the feeder includes a workpiece processing means for imparting a force to a workpiece reaching a workpiece processing position set on the transport path, and excluding or transferring from the transport path The posture correction is performed on the transport path, and the setting means sets the first imaging element group that is aligned with the transport direction in the plurality of imaging elements, and is closer to the first imaging element group than the first imaging element group. a second imaging element group that is aligned with the transport direction on the downstream side in the transport direction; the quality determining means of the workpiece is based on the image data acquired by the first image sensor group, and the quality determination processing is performed. The quality determination processing is performed based on the image data acquired by the second imaging element group, and the workpiece processing means is activated in response to the determination result of the quality determination means of the workpiece.

In this configuration, after the first quality determination processing based on the image data acquired by the first image sensor group, the second quality determination processing based on the image data acquired by the second image sensor group can be performed. Therefore, the workpiece processing means is configured to be activated by the discrimination result of the quality determining means of the workpiece, and the workpiece having the proper appearance and posture can be sent more stably than the one-time discrimination processing. To the destination.

On the other hand, in another specific configuration, the feeder includes a workpiece processing means for imparting a force to the workpiece reaching the workpiece processing position set on the transport path, and is excluded from the transport path or Position correction is performed on the transport path; a predetermined feature point is formed as a part of the workpiece; and the setting means sets a first image sensor group in which the plurality of image pickup elements are aligned with the transport direction. a second imaging element group that is aligned with the transport direction on the downstream side in the transport direction from the first imaging element group; the front end of the workpiece in the transport direction or the rear end in the transport direction is in the second image sensor When the imaging range of the group is within the imaging range of the group, the characteristic point formed on the workpiece appears in the imaging range of the first imaging element group. Further, the pre-processing means is capable of detecting the front end of the workpiece in the transport direction, the rear end of the transport direction, and the feature point based on the image data captured by the image capturing means; and according to the second image sensor group When the image data obtained is detected, the front end of the workpiece in the transport direction or the rear end of the transport direction is detected, and the feature points are detected based on the image data of the first image sensor group acquired simultaneously with the image data; The workpiece of the point is activated by the aforementioned workpiece processing means.

With this configuration, the second imaging element group can have the function of detecting the front end of the workpiece in the transport direction or the rear end of the transport direction, and the feature point can be detected when the front end of the transport direction or the rear end of the transport direction is detected. If the feature point is detected, the appearance or posture of the workpiece is determined to be a predetermined one. If not detected, the appearance or posture of the workpiece is determined not to be determined, and the workpiece processing means is activated. Therefore, for a workpiece having a predetermined portion of a predetermined feature point, it is possible to easily and accurately determine the quality of the workpiece at a short processing time, and it is possible to surely exclude an inappropriate workpiece. On the other hand, by using all the imaging elements of the area camera, the positions of the first imaging element group and the second imaging element group can be easily and accurately set at appropriate positions.

In particular, in the above specific configuration, the imaging by the image pickup device set by the setting means is continuously performed, and the preprocessing means is provided for discriminating the image data immediately obtained by the image capturing means. In the workpiece, the quality of the workpiece is determined based on the image data that is determined to be the workpiece by the pre-processing means, and the quality of the workpiece is determined.

In this way, by continuously performing the imaging by the image pickup device of the aforementioned portion, it is possible to image all the workpieces that have been transported. In addition, the quality determination processing is performed based on the image data determined to be the workpiece, and it is not necessary to perform the quality determination processing based on the image data that does not appear in the workpiece, and the unnecessary processing can be prevented. Therefore, in order to grasp the position of the workpiece, it is not necessary to separately provide a sensor or the like, and it is possible to surely perform the discrimination process for all the workpieces that have been conveyed while suppressing an increase in cost and an increase in processing.

In the feeder of the present invention, the image processing apparatus for the feeder is characterized in that the feeder main body includes a transport path for transporting the workpiece, and the surface camera has a transport direction aligned with the workpiece and orthogonal thereto. In the direction of the plurality of imaging elements, the workpiece conveyed along the transport path is imaged to obtain image data, and the processing means is excluded from the transport path or the transport path by the workpiece set at the workpiece processing position of the transport path. The posture correction means and the command output means output a command for actuating the workpiece processing means when the quality judgment means of the workpiece determines that the appearance or posture is not the predetermined one.

Therefore, it is possible to shorten the time from the imaging to the quality determination process for one workpiece, and to speed up the conveyance of the workpiece, and to partially and accurately perform the aforementioned image pickup element by using almost all the image pickup elements of the face camera. Set to the appropriate position.

As described above, according to the present invention, it is possible to provide an imaging element that can be easily and accurately set at a correct position by using almost all of the imaging elements provided in the area camera, and by using the imaging element of the part for imaging. An image processing device and a feeder for a feeder that can increase the speed of drawing by the image capturing means and speed up the conveyance of the workpiece.

2‧‧‧ Face camera

3‧‧‧Control device

5‧‧‧Workpiece handling methods (excluding means)

8‧‧‧Image processing device for feeder

10‧‧‧Transportation path

10a‧‧‧ side wall

30‧‧‧Setting means

31‧‧‧Portrait acquisition means

32‧‧‧Pre-treatment

32a‧‧‧2 Value Processing Department

32b‧‧‧End Detection Department

32c‧‧‧Synthesis Image Generation Department

33‧‧‧The method of discriminating the quality of the workpiece (posture discriminating means)

34‧‧‧Command output means

35‧‧‧Speed calculation means

35a‧‧‧Photographing Acquisition Department

36‧‧‧Time control means

40‧‧‧ Display means

41‧‧‧ Input means

50, 50a, 50b‧‧‧ Force imparting part (air jet nozzle)

100,110,120,200‧‧‧ feeder

202‧‧‧ Face Camera

203‧‧‧Laser sensor

204‧‧‧Control device

204a‧‧‧Image capture means

204b‧‧‧Pre-treatment

204c‧‧‧ posture discrimination

E _L 1‧‧‧ Imaging range of the first imaging element group

E _L 2‧‧‧The imaging range of the second imaging element group

Wa‧‧‧ front end of the workpiece

The back end of the Wb‧‧ artifact

W‧‧‧Workpiece

Wm‧‧‧ feature points

W _u ‧‧‧ specific face (above)

P1‧‧‧ Camera location

P2‧‧‧Workpiece processing position (excluded position)

Pw‧‧‧target location

Fig. 1 is a side view showing a feeder according to a first embodiment of the present invention.

Fig. 2 is a plan sectional view showing a part of the feeder.

[Fig. 3] A side view showing a part of the same feeder.

[Fig. 4] A timing chart for explaining the operation of the feeder.

Fig. 5 is a plan sectional view showing a part of a feeder according to a second embodiment of the present invention.

Fig. 6 is a plan sectional view showing a part of a feeder according to a third embodiment of the present invention.

[Fig. 7] A flow chart showing the processing of the feeder.

[Fig. 8] A side view showing a feeder based on the configuration of the previous feeder.

Fig. 9 is a timing chart for explaining the operation of the feeder shown in Fig. 8.

<First embodiment>

Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.

As shown in Fig. 1, the feeder 100 according to the first embodiment of the present invention transports a plurality of workpieces W of the conveyed material toward a supply destination (not shown) along the transport path 10 provided in the feeder main body 1.

The feeder main body 1 includes the transport path 10 and the drive means 11, and the transport path 10 is vibrated by the drive means 11, and the plurality of workpieces W located on the transport path 10 are transported.

Above the transport path 10, a surface camera 2 is provided, and the surface camera 2 has a plurality of high-sensitivity imaging elements arranged in parallel with the transport direction of the workpiece W (the extending direction of the transport path 10) and the direction orthogonal thereto. (Complementary Metal Oxide Semiconductor) The imaging of the workpiece W conveyed on the transport path 10 is performed. The area camera 2 is capable of switching between the image pattern in which all the imaging elements included in the area camera 2 are used for imaging, and the imaging element (only one column in the present embodiment) which is arranged in parallel with only one of the transport directions. The imaging element group of the imaging element used in one part of the line mode is set by the setting means 30 constituting the control device 3 by the line mode of imaging. In the line mode, the imaging range (imaging line) E _L of the area camera 2 is the imaging position (photographing point) P1 shown in FIG. 2, and a part of the conveying direction with respect to the workpiece W and the conveying direction of the workpiece W are positive. The whole direction is taken in the direction of the intersection.

In the present embodiment, when the position and the adjustment of the installation position of the area camera 2 are performed, the surface mode is set, and when the posture of the workpiece W to be conveyed is determined, the line mode is set. Therefore, the position of the imaging element group used for imaging in the line mode is important for obtaining the timing of the workpiece W in an inappropriate posture, and is set at an appropriate position as described below. First, the imaging range (imaging area) E _{E of the} area camera 2 in the face mode is set to a position including the air injection nozzle 50 of the workpiece processing apparatus 5 to be described later. In addition, the imaging device calculates the imaging position (photographing point) P1 and the slave air ejection nozzle based on the requirements described in the following equation (2), such as the length of the workpiece W, the time required for image processing, and the conveying speed of the workpiece W. 50 The distance L between the excluded positions P2 of the compressed air (see FIG. 2) is set by the setting means 30 in accordance with the image data acquired by the area camera 2. In addition, the conveyance speed of the workpiece W at this time is set as a set value. As described above, in the present embodiment, the position of the imaging element group can be selected from the plurality of imaging elements. However, the position of the imaging element group is not fixed.

The image data obtained by the area camera 2 in the line mode is smaller than the image data obtained in the face mode, and the amount of data is small, so that the image capturing means 31 can be transmitted. , immediately captured to the control device 3. The surface camera 2 in the line mode is operated continuously at a predetermined interval before the workpiece W reaches the imaging position P1, and the workpiece W that is transported toward the downstream side is imaged a plurality of times between the imaging positions P1 to obtain a plurality of images. The front end Wa of the workpiece W covers the rear end Wb, and the plurality of image data appearing at different positions of the workpiece W. The image data obtained is transmitted to the camera after each recording. The control device (controller) 3 described.

The control device 3 shown in FIG. 1 is configured by a general microcomputer unit including a CPU, a memory, and an interface (not shown), and stores an appropriate program in the memory, and the CPU reads the program in order and the periphery. The hardware resources cooperate to operate as the setting means 30, the image capturing means 31, the preprocessing means 32, the posture determining means 33, the speed calculating means 35, the command output means 34, and the time machine control means 36.

The image capturing means 31 extracts the image data acquired by the area camera 2 to the control device 3, and captures the image data for each time the image is captured by the area camera 2 in the line mode. When the preprocessing means 32 includes the binarization processing unit 32a, the end portion detecting unit 32b, and the combined image data generating unit 32c, and the image data is captured by the image capturing means 31, the binarization processing unit 32a is for each of the portraits. The data is immediately subjected to predetermined pre-processing such as binarization processing. Further, the end detecting unit 32b determines the front end Wa and the rear end Wb of the workpiece W by appropriate image processing in accordance with the image data. For example, in the image data, the portion where the workpiece W appears and the portion where the workpiece W appears (specifically, the transport path 10) is imaged by the front end Wa or the rear end Wb of the workpiece W because the color tone or the like is different. The data covers the direction orthogonal to the conveying direction of the workpiece W, and portions having different color densities appear. The end detecting unit 32b detects (image discrimination) the front end Wa and the rear end Wb of the workpiece W appearing in the image data based on the difference in the color density (brightness). Alternatively, the end detecting unit 32b determines the R shape located at the corner of the workpiece W based on the image data, and detects the front end Wa and the rear end Wb. Further, the synthesis of portraits The material generating unit 32c combines the image data appearing at the front end Wa of the workpiece W to the image data appearing at the rear end Wb of the workpiece W, and joins the two-dimensional image data which appears as a whole for one workpiece W in accordance with the imaging sequence. Portrait material.

The posture discriminating means 33, which is a means for determining the quality of the workpiece, is a posture discriminating process for discriminating (image discriminating) the posture of the workpiece W based on the combined image data, for example, by pattern matching. Further, as the workpiece in an uncomfortable posture, for example, the front and back sides may be reversed, or the direction in the front-rear direction may be reversed. In this way, the image capturing means 31, the pre-processing means 32, and the posture determining means 33 constitute the feeder image processing apparatus 8 of the present invention which determines the posture of the workpiece W.

The speed calculation means 35 is a speed calculation processor that calculates the conveyance speed of the workpiece W by using the composite image data used for the posture determination, and specifically calculates the conveyance speed Vw of the workpiece W based on the following formula (1) ( m/s).

Vw=Lw1/S. A...(1)

Here, S is the scanning rate of the area camera 2, that is, the imaging interval (sec) of the area camera 2, and A is the area camera 2 from the entire entirety of the single workpiece W, that is, the front end Wa of the workpiece W to the rear end Wb. The number of times of imaging required for imaging (times), and Lw1 is the length (m) of the conveyance direction of the workpiece W (refer to FIG. 3). The speed calculation means 35 is a time required for imaging the product of the imaging interval S of the area camera 2 and the number of imaging times A as the time required for the workpiece W to pass through the imaging position P1, depending on the time required for imaging and the conveying direction of the workpiece W. The transport speed Vw of the workpiece W is calculated by the length Lw1. Workpiece W The transport direction length Lw1 is a workpiece W in which a physical object is set in advance. Further, the transport direction length Lw1 of the workpiece W and the imaging interval S of the area camera 2 are input through the input means 41. Further, the speed calculation means 35 includes the imaging number acquisition unit 35a, and the imaging number acquisition unit 35a calculates the imaging number A based on the number of pixels of the image data obtained by one imaging and the number of pixels of the composite image data.

The conveyance speed Vw of the workpiece W thus calculated is displayed on the display means 40 shown in FIG. 1 in addition to the timing control of the workpiece W in which the improper posture is excluded as described below. In addition, the conveyance speed Vw of the workpiece W thus calculated may be used as the determination material for the workpiece W to be conveyed or stopped.

When the posture determining means 33 determines that the posture is not suitable (the inappropriate posture), the command output means 34 outputs the means for removing the workpiece 5 as the workpiece processing means shown in FIG. The workpiece W of the excluded position P2 of the processing position is an instruction for the exclusion processing (excluding operation) excluded from the transport path 10. The eliminator 5 is a urging force applying unit that ejects compressed air at least at a position P2 that is set downstream of the transport direction length Lw1 (see FIG. 3) in the transport direction with respect to the transport position P1 of the workpiece W. The air jet nozzle 50 applies a force to the workpiece W by the compressed air jetted from the air jet nozzle 50, and the workpiece W is removed from the transport path 10. The air jet nozzle 50 is formed, for example, by a hole provided in the side wall 10a of the transport path 10, and the compressed air is injected by an energization command input as the command. On the workpiece W, the force is preset to make the force In the present embodiment, the target position Pw (see FIG. 3) is set to the target position Pw in the center in the transport direction of the side surface of the workpiece W facing the air jet nozzle 50. When the urging force acts on the target position Pw and is removed from the transport path 10, it is possible to suppress the movement of the workpiece W to be removed while horizontally rotating. Further, the process of the present invention includes the process of dropping the workpiece W from the transport path 10 to the workpiece receiving portion located below the transport path 10, and assigning the workpiece W to any of the transport paths that are different from the excluded position P2. 10 processing, etc.

The timing control means 36 is based on the conveyance speed Vw of the workpiece W calculated by the speed calculation means 35, and the timing at which the control command output means 34 outputs the energization command to the injection nozzle 50. Specifically, the standby time tα (sec) from the posture determination means 33 to the abnormality posture to the command output means 34 for outputting the energization command is calculated based on the following equation (2) (see FIG. 4), based on the standby time tα. When the control command output means 34 outputs the energization command to the air injection nozzle 50, the force can be applied to the target position Pw even if the conveyance speed Vw of the workpiece W changes from the set value.

Tα={(L-Lw2)/Vw}-tp-td...(2)

Here, Vw is the transport speed (m/s) of the workpiece W conveyed on the transport path 10 (see FIG. 3), and L is the distance (m) from the imaging range E _{L of the} imaging element group to the excluded position P2 ( 3), Lw2 is a distance (m) from the rear end Wb of the workpiece W to the target position Pw (see FIG. 3), and tp is a completion of the extraction by the image capturing means 31 to the posture determination means. The image processing time (sec) required for completion of the posture determination by 33 (see Fig. 4). The image processing time tp is a fixed value or a set value when the time taken for the previous processing, the posture determination processing, and the speed calculation processing is constant. On the other hand, when the image processing time tp is changed in accordance with the increase or decrease in the number of pixels of the composite image data of the change in the transport speed Vw, the image processing time tp is counted in the control device 3. Td is a mechanical transmission time (sec) (see FIG. 4) until the removal means 5 receives the energization command, and the urging force acts on the workpiece W (see FIG. 4), and is a parameter setting of each exclusion means 5. The distance L and the transmission time td are input through the input means 41.

The operation of the feeder 100 of the above configuration will be described with reference to the timing chart shown in FIG. Hereinafter, the operation in which the surface camera 2 is set to the line mode and the one workpiece W in the unsuitable posture is imaged by the face camera 2 to be excluded by the removal means 5 is described.

When the workpiece W conveyed on the transport path 10 is imaged at time t01, the image data acquired by the image data is captured (transferred) by the image capturing means 31, and the binarization processing unit 32a performs the image data. Pre-processing such as value. Further, the end detecting unit 32b detects the front end Wa and the rear end Wb of the workpiece W, and detects the leading end Wa of the workpiece W based on the image data acquired at time t01. After the time t01, the image is sequentially taken at a predetermined interval, and the image data is captured and preprocessed at a time. Then, based on the image data acquired at the time of the image capturing at time t02, when the end detecting portion 32b recognizes the trailing end Wb of the workpiece W, the synthetic image data generating unit 32c starts the generation of the combined image data at time t03, and Synthetic image data, posture discrimination means 33 The posture determination processing and the speed calculation processing by the speed calculation means 35 are performed. Further, the processing up to time t03 is performed by a hardware (for example, an FPGA (field-programmable gate array)), and the processing after time t03 is performed by executing a program stored in the memory. Thereafter, the timing control means 36 controls the command output means 34 so as to output a power-on command at time t05 when the standby time tα elapses from the time t04. Then, the compressed air is ejected from the air injection nozzle 50 of the removing means 5, and at a time t06 at which the time td is transmitted from the time t05, the force by the air actually acts on the workpiece W. In addition, it is assumed that the workpiece W subjected to the posture determination processing is in an appropriate posture, and when the gesture is determined by the posture determination processing, the processing for excluding the workpiece W from the transport path 10 is not performed (power-on command). The output and the injection from the air injection nozzle 50).

As a result, the workpiece W whose posture is not suitable is excluded, and only the workpiece W in the proper posture is supplied to the supply destination.

As described above, the image processing device 8 for a feeder according to the first embodiment is applied to a feeder 100 including a camera that images a workpiece W that is transported along the transport path 10, and includes a setting means 30. In the case of a camera, a plurality of image pickup elements having a plurality of image pickup elements arranged in a conveyance direction of the workpiece W and a direction orthogonal thereto are used, and the image pickup device 2 obtains the image data of the image data, and the surface camera 2 is provided. Among the plurality of imaging elements, only one of the imaging elements orthogonal to the transport direction is used for imaging, and the image capturing means 31 is used for only a part of the imaging elements. In the case of the image pickup device, the image data obtained from the image pickup device 2 is captured, and the image discrimination means 33 is used as the workpiece for determining the quality of the workpiece W based on the image data captured by the image capturing means 31. Good or bad means of discrimination.

Here, the discrimination of the quality of the workpiece W indicates whether or not the appearance or posture of the workpiece W is determined to be a predetermined one.

By the setting means 30, it is possible to reduce the number of pixels of the image data acquired by the area camera 2 in one shot, and to increase the pick-up speed by the image capturing means 31 (by using only a part of the image pickup elements) ( Since the conveyance speed is reduced, the time from the imaging to the good posture determination processing for one workpiece W can be shortened, and the conveyance of the workpiece W can be speeded up. On the other hand, by using almost all of the image pickup elements of the area camera 2, it is possible to appear in a wider range than the line type image in the image data, and it can be used as a part based on the member or the like appearing on the image data. The imaging element group of the imaging element is simply and accurately set at an appropriate position.

In other words, in the present embodiment, the feeder 100 is provided with the workpiece W that has reached the removal position P2 as the workpiece processing position set on the conveyance path 10, and functions as the air injection nozzle 50 as the urging force applying portion. The force, the compressed air is ejected, and the removal means 5 as the workpiece processing means is excluded from the conveyance path 10; the elimination means 5 is configured to be activated by the determination result of the posture determination means 33, and almost all the imaging elements are used. At the time of imaging, the imaging range E _{E of the} area camera 2 is set to a position including the air ejection nozzle 50, and the position of the imaging element group can be selected and set by the setting means 30 on the image data appearing in the imaging range E _E The way it is structured.

The position of the air-injecting nozzle 50 relative to the image sensor group is important for the workpiece W to be removed from the unsuitable posture. However, the air-injecting nozzle 50 is used as a reference while observing the image data appearing in the air-injecting nozzle 50. By selecting the position of the camera element group, the time of alignment can be greatly shortened. Specifically, the distance L between the imaging position P1 and the excluded position P2 is obtained by using the requirements described in the above formula (2) as the predetermined transport speed of the workpiece W, and the surface pattern surface is obtained. The image data acquired by the camera 2 is set at a position away from the distance L from the excluded position P2, and the position of the imaging element group is set, whereby the imaging element group can be accurately and simply set at the appropriate position. In addition, in the case where the conveyance speed of the workpiece W is changed in the middle, the conveyance speed Vw of the workpiece W obtained by the above formula (1) can be used, and the command output means 34 can be used to output the current by the equation (2). The appropriate standby time tα until the command is adjusted to adjust the timing of the injection of compressed air.

Further, the image pickup unit set by the setting means 30 is continuously performed, and the image data which can be immediately captured by the image capturing means 31 is provided, and the pre-processing means 32 for discriminating the workpiece W and the posture discriminating means are provided. The 33 system is configured to perform posture determination processing of the workpiece W based on the image data that is determined to be the workpiece W by the pre-processing means 32.

Here, in order to perform the posture determination processing for all the workpieces W that have been transported, it is necessary to accurately image all the workpieces W that have been transported. In order to realize this, for example, the sensor is used, and the workpiece W reaches the imaging range E. The timing in _L , however, there is a problem that the cost rises because it is necessary to separately provide a device such as a sensor. On the other hand, in the present embodiment, by continuously performing imaging by a part of the imaging elements, it is possible to reliably image all of the workpieces W that have been transported. Further, the posture determination processing is performed based on the image data determined to be the appearance of the workpiece W, and it is not necessary to perform the posture determination processing based on the image data in which the workpiece W does not appear, and the situation in which unnecessary processing is performed can be prevented. Therefore, it is possible to perform posture determination processing on all the workpieces W that are transported while suppressing an increase in cost and an increase in processing without separately providing a device such as a sensor.

<Second embodiment>

Hereinafter, the feeder 110 according to the second embodiment of the present invention will be described with reference to Fig. 5 . In addition, the feeder 110 of the present embodiment is the same as the feeder 100 of the first embodiment except for the structure described later, and therefore the description of the structure similar to that of the feeder 100 is omitted.

In the feeder 100 of the first embodiment, the image sensor group is provided in only one line in the line mode. However, when the feeder 110 of the present embodiment is in the line mode, the row is aligned with the conveyance direction of the workpiece W. The second imaging element group that is aligned with the transport direction in the downstream side of the first imaging element group in the normal direction of the first imaging element group is located in the imaging range of the first imaging element group (1st imaging line) E _L 1 or a workpiece W of the imaging range (second imaging line) E _L 2 of the second imaging element group is imaged. Further, in the present embodiment, the removal means 5 includes two air injection nozzles 50a and 50b, and one of the air injection nozzles 50a is provided in the imaging range E _L 1 of the first imaging element group and the imaging of the second imaging element group. Between the ranges E _L 2 and the other air jet nozzle 50b are disposed on the downstream side in the transport direction from the imaging range E _L 2 of the second imaging element group. Further, the posture discriminating means 33 (see FIG. 1) performs posture determination processing based on the image data acquired by the first image sensor group, and as a result, one air jet nozzle 50a is used for the workpiece W determined to be in an unsuitable posture. The workpiece W that has not been removed by one of the air jet nozzles 50a is configured to perform the posture determination processing based on the image data acquired by the second image sensor group. When the workpiece W that is determined to be in an inappropriate posture in the posture determination processing is subjected to the exclusion processing using the other air injection nozzle 50b, and the workpiece W that is determined to be in the proper posture in the posture determination processing again, the workpiece W is not performed. Exclusion processing is carried out to a transfer destination not shown. The structure other than the above is the same as that of the first embodiment.

As described above, the image processing device for a feeder according to the second embodiment is applied to the removal of the compressed air from the workpiece W that has reached the excluded positions P2 and P2 set on the transport path 10, and is excluded from the transport path 10. In the feeder 100 of the means 5, the setting means 30 sets the first image sensor group which is formed by being orthogonal to the conveyance direction among the plurality of image pickup elements, and is downstream of the conveyance direction from the first image pickup element group. The second image sensor group that is aligned with the transport direction in the side; the posture discriminating means 33 (see FIG. 1) performs posture determination processing based on the image data acquired by the first image sensor group, and 2nd photo The image data obtained by the component group is subjected to posture determination processing, and the rejection means 5 is activated in response to the determination result of the posture determination means 33.

When only one line type camera is used for obtaining the image data for the discrimination process, there is a case where the workpiece W due to the vibration is bounced from the transport path 10, and an imaging error occurs, so that the achievement rate is correct. The posture is determined, and only the probability that the workpiece W in the appropriate posture is sent to the transport destination is lowered. In order to eliminate this problem, it is also considered to set two line type cameras to perform two posture discrimination processes. However, if the number of line cameras is increased, the cost will increase.

On the other hand, in the present embodiment, after the first posture determination processing based on the image data acquired by the first image sensor group, the workpiece W that is not excluded by the one air ejection nozzle 50a can be subjected to the basis. The second posture determination processing of the image data acquired by the second imaging element group. Therefore, by arranging the removal means 5 in response to such a discrimination result, it is possible to more stably send only the workpiece W determined to have a predetermined posture to the state in which the posture determination processing is performed only once. The destination is moved, and the increase in cost is suppressed, and the achievement rate is increased.

<Third embodiment>

Hereinafter, the feeder 120 according to the third embodiment of the present invention will be described with reference to Fig. 6 . Further, the feeder 120 of the present embodiment is the same as the feeder 100 of the first embodiment except for the structure described later, and therefore is omitted. The description of the same structure as the feeder 100 is described.

The feeder 120 according to the third embodiment of the present invention shown in Fig. 6 is for determining whether or not the workpiece W is to be aligned in the front-rear direction, not only the specific surface of the workpiece W, but also the workpiece W. A diode of a feature point (mark) Wm is formed in the upper surface W _U of the surface behind the transport direction.

In the present embodiment, as in the second embodiment, the first imaging element group and the second imaging element group are set in the line mode, and the imaging is continuously performed in the synchronization timing. The distance between the imaging range (first imaging line) E _L 1 of the first imaging element group and the imaging range (second imaging line) E _L 2 of the second imaging element group is set from the front end Wa of the workpiece W to The distance from the feature point Wm is between the imaging range E _L 1 of the first imaging element group and the imaging range E _L 2 of the second imaging element group, and is close to the imaging range E _L 2 of the second imaging element group. An air injection nozzle 50 is provided. In the present embodiment, when the end portion Wa of the workpiece W is detected by the end portion detecting portion 32b in the imaging range E _L 2 of the second imaging element group, the second image captured based on the same is captured. When the image data of the component group detects the feature point Wm of the workpiece W, it is determined that the workpiece W is in a proper posture, and the other is an unsuitable posture. The above structure is the same as that of the first embodiment.

The processing for one workpiece W will be described more specifically using the flowchart shown in FIG. The image data acquired simultaneously by the first imaging element group and the second imaging element group is captured by the image capturing means 31 to the control device 3 (step S1), and the preprocessing means 32 performs preprocessing. Based on the image data acquired by the second imaging element group, it is determined whether or not the tip end Wa of the workpiece W has been detected by the end detecting portion 32b (step S2). When the front end Wa of the workpiece W is not detected (step S2: NO), the process returns to step S1. When the front end Wa of the workpiece W is detected (step S2: YES), it is determined whether or not the feature point Mw of the workpiece W has been detected by the pre-processing means 32 based on the image data acquired by the first image sensor group (step S3). When the feature point Mw has been detected (step S3: YES), the posture discriminating means 33 determines that the posture of the workpiece W is appropriate, and does not perform the exclusion processing, and ends the flow. When the feature point Wm of the workpiece W is not detected (step S2: NO), the posture determining means 33 determines that the posture of the workpiece W is uncomfortable, and calculates the timing at which the air injection nozzle 50 of the removing means 5 injects compressed air ( Step S4). In the same manner as in the first embodiment, the timing control means 36 calculates the standby time Tα based on the conveyance speed Vw of the workpiece W, which is based on the image data acquired by the first image sensor group or the second image sensor group. When the standby time Tα has elapsed, the command output means 34 outputs an energization command (step S5), and the excluding means 5 excludes the workpiece W determined to be in an unsuitable posture (step S6), and the flow is ended.

As described above, the image processing device for a feeder of the third embodiment is applied to the workpiece W that has reached the workpiece processing positions P2 and P2 set on the transport path 10, and the compressed air is ejected and excluded from the transport path 10. In the feeder 120 of the removal means 5, the predetermined feature point Wm is formed as a part of the upper surface W _U of the specific surface as the workpiece W, and the setting means 30 is set to be orthogonal to the conveyance direction. The first imaging element group that is arranged in the second imaging element group that is aligned with the transport direction on the downstream side in the transport direction from the first imaging element group; the front end of the workpiece W in the transport direction or When the rear end of the transport direction is within the imaging range E _L 2 of the second imaging element group, the feature point Mw formed in the workpiece W is displayed in the imaging range E _L 1 of the first imaging element group; The preprocessing means 32 for detecting the leading end Wa of the workpiece W in the transport direction, the trailing end Wb in the transport direction, and the feature point Wm is provided based on the image data captured by the image capturing means 31; When the front end Wa of the workpiece W is detected by the image data acquired by the component group, the feature point Wm is detected based on the image data of the first image sensor group acquired simultaneously with the image data; and the feature point is not detected. The workpiece W of Wm is configured to operate the removing means 5.

W _U above the conveying direction is formed behind or in front of a workpiece feature point Wm, even when the configuration of the lines of the first and second embodiments, the gesture may be determined, however, the configuration of the first and second embodiment. The processing in the middle becomes complicated. Therefore, when the second imaging element group acts as a synchronization sensor that detects the front end Wa of the workpiece W, when the front end Wa of the workpiece W is detected, the feature point Wm is detected, and when the feature point is detected, the feature point is detected. The posture of the workpiece W is determined to be appropriate, and if it is not detected, it is determined that it is uncomfortable, whereby the posture determination can be easily performed in a short processing time. In addition, the first image sensor group and the second image sensor group are set by the setting means 30, for example, by setting the image data obtained when the face mode is viewed, thereby being easily set at the appropriate position.

Furthermore, as two images of one workpiece W are imaged In the structure, two linear cameras are also used. However, in the case where the one side of the workpiece W used in the present embodiment is about 6 mm, it is difficult to arrange two linear cameras at positions where imaging can be performed in such a narrow range.

The feeders 100, 110, and 120 of the present invention are characterized in that the feeder main body 1 includes a transport path 10 for transporting a workpiece W, and a surface camera 2 having an array. The plurality of image pickup elements in the conveyance direction of the workpiece W and the direction orthogonal thereto are imaged on the workpiece W conveyed along the conveyance path 10 to obtain image data, and the removal means 5 is set in the conveyance path 10 by the passage. The workpiece W at the workpiece processing position P2 is excluded from the transport path 10, and the command output means 34 outputs a command for causing the exclusion means 5 to be actuated when the posture determining means 33 determines that the posture is not the predetermined posture. By using almost all of the image pickup elements of the area camera 2, the feeders 100, 110, and 120 can easily and accurately set the image pickup element group at the appropriate position, and by making only the image pickup element group usable for image pickup, By increasing the transfer speed of the image data, the conveyance of the workpiece W can be speeded up.

Although an embodiment of the present invention has been described above, the specific structure of each unit is not limited to the above-described embodiments.

For example, in the first to third embodiments, the workpiece W that is determined to be in an unsuitable posture is subjected to the exclusion processing that is excluded from the conveyance path 10. However, as the workpiece processing means, the posture correction means is provided instead of the exclusion. Means 5, in the correction position set on the transport path 10 It is also possible to correct the posture of the posture of the workpiece W that is determined to be in an unsuitable posture. The posture correcting means includes an air jet nozzle that sprays compressed air toward the workpiece W through a hole provided in the posture correcting position of the transport path 10, and ejects compressed air from the air jet nozzle to invert or rotate the workpiece W at the corrected position. This corrective posture. Further, the posture correcting means is not limited to this configuration as long as it can correct the posture of the workpiece W. The posture correcting means is configured to inject compressed air from the air jet nozzle when the energization command is outputted from the command output means.

In the present embodiment, the image processing device 8 for the feeder is used to determine the posture of the workpiece W. However, the shape and color of the workpiece W, the screen printing characters on the workpiece W, and the like, the appearance of the workpiece W may be used. In this case, the image processing device for the feeder is adapted to have a structure for inspecting the appearance of the workpiece W, instead of the structure of the posture discriminating means 33 for determining the posture of the workpiece W.

Further, in the first to third embodiments, the pre-processing means 32 extracts the image data by the image capturing means 31, and performs pre-processing such as binarization processing, but from one workpiece W. At the end of the extraction, all the image data appearing for the workpiece W are started, and the binarization processing of the pre-processing and the combination of the images are performed.

Further, in the first and second embodiments, the number-of-images acquisition means 42a uses the number of pixels of the composite image data for the calculation of the number of imaging times A applied to the above formula (1), but uses the front end of the workpiece W. Instead of the total value of the number of pixels of the plurality of image data until the image data appearing at the rear end Wb of the workpiece W The number of pixels of the image data can also be. In addition, as a structure for directly obtaining the number of times of imaging of the area camera 2 in order to acquire the number of imaging times A, it is also possible to perform the structure.

Furthermore, in the first and second embodiments, the image data acquired by the area camera 2 is synthesized. However, the determination may be performed without synthesizing. In addition, it is also possible to determine whether or not the workpiece W is based on the image data acquired in one shot. Further, the sensor is not continuously photographed, and a sensor for detecting the state of the arrival of the workpiece W is provided, and imaging may be performed when the workpiece W arrives.

Further, in the second embodiment, when the workpiece W determined based on the image data acquired by the first image sensor group is not suitable, in order to confirm whether or not the workpiece W has been removed by one of the air injection nozzles 50a, the second image sensor group is also used. can. In this case, the imaging range E _L1 from the first imaging element group to the imaging range E of the second imaging element group is obtained in advance from the distance between the first imaging element group and the second imaging element group. _When the workpiece W that is determined to be inappropriate according to the image data acquired by the first image sensor group is acquired by the second image sensor group, the workpiece is removed by the other air jet nozzle 50b. .

In the second embodiment, the second posture determination processing is performed on all the workpieces W that are not excluded by the one air injection nozzle 50a. However, in order to suppress an increase in processing, for one workpiece W, When the posture determination processing based on the image data acquired by the first image sensor group is determined, the image is detected by the second image sensor group, and the second posture determination processing may be performed based on the image data.

Further, in the second embodiment, the two air injection nozzles 50a and 50b are provided. However, the air injection nozzle is provided on the downstream side of the transport direction E _L 2 of the second imaging element group in the transport direction. It can also be constructed. At this time, the posture determination processing is performed twice for all the workpieces W that have been transported, and the workpiece W that is determined to be inappropriate in at least one of the posture determination processing is subjected to the exclusion processing.

Further, in the third embodiment, the front end Wa of the workpiece W is detected based on the image data acquired by the first image sensor group, but the workpiece W is detected based on the image data acquired by the first image sensor group. The configuration of the terminal Wb is also possible. In addition, the structure of the front end Wa of the workpiece W is detected, and the timing from the start of imaging for one workpiece W to the determination of the posture of the workpiece W is earlier than the structure of detecting the trailing end Wb of the workpiece W. When the workpiece W is not suitable, the elimination operation can be quickly performed.

In addition, the image pickup device group is not limited to the one of the image sensor elements, and the image pickup device may be arranged in two or more rows adjacent to the conveyance direction of the workpiece W in a range in which the effects of the present invention can be exhibited.

Other configurations may be made without departing from the spirit and scope of the invention.

1‧‧‧ feeder body

2‧‧‧ Face camera

3‧‧‧Control device

5‧‧‧Workpiece handling

8‧‧‧Image processing device for feeder

10‧‧‧Transportation path

11‧‧‧ Drive means

30‧‧‧Setting means

31‧‧‧Portrait acquisition means

32‧‧‧Pre-treatment

32a‧‧‧2 Value Processing Department

32b‧‧‧End Detection Department

32c‧‧‧Synthesis Image Generation Department

33‧‧‧The method of discriminating the quality of the workpiece (posture discriminating means)

34‧‧‧Command output means

35‧‧‧Speed calculation means

35a‧‧‧Photographing Acquisition Department

36‧‧‧Time control means

40‧‧‧ Display means

41‧‧‧ Input means

50‧‧‧ Force imparting unit (air jet nozzle)

100‧‧‧Feeder

Wa‧‧‧ front end

Wb‧‧‧ backend

W‧‧‧Workpiece

P1‧‧‧ Camera location

P2‧‧‧ workpiece processing position

Claims (6)

An image processing device for a feeder is applied to a feeder image processing device including a feeder for a camera that images a workpiece conveyed along a transport path, and is characterized in that: the setting means is provided as a camera a plurality of image pickup elements in which the image transfer direction and the direction orthogonal to the workpiece are captured by the image pickup device, and are set as the plurality of image pickup devices included in the face camera, and are only transported An image pickup device in which one of the directions is orthogonally arranged is used for image pickup; and the image capture means captures the image data obtained from the face camera when only the image pickup device is used for image capture; and The method for discriminating the quality of the workpiece is based on the image data captured by the image capturing means, and the quality of the workpiece is discriminated. The image processing apparatus for a feeder according to the first aspect of the invention, wherein the feeder includes: a workpiece processing means for causing a workpiece to reach a workpiece processing position set on the transport path; The urging portion is provided with an urging force, and the posture is corrected from the transport path or the posture is corrected on the transport path. The workpiece processing means is activated in response to the discrimination result of the workpiece quality determining means, and almost all of the images are used. When the element is used for imaging, the imaging range of the above-described area camera is set to the position including the force applying portion. The image data appearing in the imaging range can be configured by selecting and setting the position of the image pickup element of the part by the setting means. The image processing apparatus for a feeder according to the first aspect of the invention, wherein the feeder includes a workpiece processing means for imparting a force to a workpiece reaching a workpiece processing position set on the transport path. Excluding from the transport path or performing posture correction on the transport path, the setting means sets a first imaging element group that is aligned with the transport direction in the plurality of imaging elements, and is compared to the first imaging unit. The second image sensor group that is formed by being orthogonal to the transport direction in the downstream side of the transport direction, and the quality determination means of the workpiece is based on the image data obtained by the first image sensor group. In the determination processing, the quality determination processing is performed based on the image data acquired by the second imaging element group, and the workpiece processing means is activated in response to the determination result of the quality determination means of the workpiece. The image processing apparatus for a feeder according to the first aspect of the invention, wherein the feeder includes a workpiece processing means for imparting a force to a workpiece reaching a workpiece processing position set on the transport path. Excluding from the transport path or performing posture correction on the transport path; In the above-described workpiece, a predetermined feature point is formed using a part of a specific surface; and the setting means sets a first imaging element group that is aligned with the transport direction in the plurality of imaging elements, and is larger than the first imaging element. The group of the second image sensor elements that are aligned with the transport direction in the downstream direction of the transport direction; when the front end of the workpiece in the transport direction or the rear end of the transport direction is within the imaging range of the second image sensor group, The feature point formed on the workpiece is adjusted to appear within the imaging range of the first imaging element group, and further includes: a pre-processing means for detecting the workpiece based on the image data captured by the image capturing means The front end of the transport direction, the rear end of the transport direction, and the feature point; when the front end of the transport direction of the workpiece or the rear end of the transport direction is detected based on the image data acquired by the second image sensor group, the image data is acquired simultaneously with the image data. The image data of the first image sensor element group is used to detect the feature point; and for the workpiece that does not detect the feature point, the aforementioned The workpiece processing means is activated. The image processing apparatus for a feeder according to any one of the first to fourth aspect of the invention, wherein the image pickup device of the part set by the setting means is continuously imaged; Means, which can determine the aforementioned workpiece according to the image data captured by the foregoing image capturing means; The quality determination means of the workpiece is based on the image data determined to be the workpiece by the pre-processing means, and the workpiece quality determination processing is performed. A feeder for image processing apparatus for a feeder according to any one of the first to fifth aspects of the present invention, comprising: a feeder main body having a transport path for transporting a workpiece; and a surface camera a plurality of image pickup elements arranged in a conveyance direction of the workpiece and a direction orthogonal thereto, and imaged the workpiece conveyed along the conveyance path to obtain image data; and the workpiece processing means is set in the conveyance path The workpiece at the workpiece processing position is excluded from the transport path or the posture correction is performed on the transport path; and the command output means is configured to output the workpiece when the workpiece quality determining means determines that the appearance or posture is not the predetermined appearance or posture The means of action.