TW202214512A - Conveying control system and conveying device Capable of avoiding poor conveyance and detection of overlapping of front and rear conveying objects - Google Patents

Abstract

The invention provides a conveying control system capable of avoiding poor conveyance and detection of overlapping of front and rear conveying objects, and a conveying device using the conveying control system; the conveying control system includes: an image acquisition unit that repeatedly acquires conveyed objects through imaging by a photographing unit of the image of the measurement area on the conveying road; the conveying object occupied range identification unit detects the continuous occupation range in the measurement area, and judges the continuous occupation range based on the unit occupation range equivalent to one conveying object size, the continuous occupation range refers to the range in which the occupation range of the conveying objects on the conveying route are connected as a whole, or the range in which the occupation range are adjacent to each other at an interval smaller than a specified value; and the conveying object control unit, when the said continuous occupation range satisfies the condition of improper judgment based on the unit occupation range, the conveying object control unit controls the conveyance state of at least one of the conveying objects arranged in the continuous occupation range.

Description

Conveying control system and conveying device

The present invention relates to a conveying control system and a conveying device, and particularly relates to a conveying control technique which is particularly suitable when used in a vibrating conveying device and is particularly effective when supplying a conveyed object moving on a conveying path to various supply destinations.

Generally, a conveying device for conveying fine conveyed objects such as surface-mounted electronic components is constructed by using a rotary vibrating conveyor with a spiral conveying path called a bowl feeder to raise the fine conveyed objects along the track, and finally using A linear vibrating conveyor with a linear conveying path called a linear feeder supplies the conveyed objects to a component inspection device, a component mounting device, a transfer robot, etc. as a supply destination while aligning the posture of the conveyed object.

In the above-mentioned conveying device, in recent years, the conveyed object has become finer, and it is required to be able to supply a large amount of electronic components as large as a grain of sand. In addition, among the above-mentioned fine electronic components, there are extremely thin parts of about several tens of micrometers. If such a thin conveyed object is to be conveyed in large quantities, it is difficult to arrange the conveyed objects in an orderly manner, and it is difficult to convey them efficiently. As a conventional conveying system corresponding to a relatively large thin conveyed object, the conveying systems shown in the following Patent Documents 1 and 2 are known. prior art literature Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 8-113350 Patent Document 2: Japanese Patent Laid-Open No. 2001-158524

However, in the devices described in the above-mentioned conventional Patent Documents 1 and 2, since the conveyed object is relatively large and the thickness is thicker than that of the conveyed object in recent years, by using a mechanical overlapping preventing device, or changing the position of the air injection port And the shape and the thickness of the conveyed object are matched to deal with it. However, in recent years, when the conveyed objects have become finer as described above, mechanical handling is difficult to cope with, and therefore, there are problems that the conveyed objects are clogged or the overlapping state of the conveyed objects is difficult to be detected by a sensor.

In addition, in the prior art, by providing a cover on the conveying path at the end portion of the conveying object that outputs the conveyed object toward the supply destination, an underdrain structure having a passing cross-section corresponding to the shape of the conveying object may be formed, thereby preventing the conveying objects from overlapping, or Provide conveyed objects in different postures. However, even in such a case, there is a problem that the conveyed objects are easily clogged in the underdrain structure because the conveyed objects are made finer and thinner, and it is difficult to maintain a stable conveying state.

Regarding the above-mentioned problems, especially in the case of a vibrating conveying device, since the conveyed object is moved up and down in the conveying path by vibration, it is actually extremely difficult to prevent the conveyed material on the conveying path from clogging or to detect overlap. .

Therefore, the present invention was made in order to solve the above-mentioned problems, and an object of the present invention is to provide a conveyance control system capable of avoiding conveyance failures such as clogging of conveyed objects and detection failures of overlapping states of front and rear conveyed objects, and conveyance using the conveyance control system device.

In view of the above-mentioned facts, the conveyance control system according to the present invention is provided with an image acquisition unit (MPU, DTU, RAM) that repeatedly acquires images on the conveyance path (121) of the conveyed object (CA) through the imaging of the imaging unit (130CM). The image of the measurement area (ME); the conveyed object occupancy area identification unit (MPU, RAM), detects the continuous occupation area (121CT) in the measurement area (ME), and uses the equivalent of one conveyed object (CA) The unit occupied area (121U) is the reference to determine the size of the continuous occupied area (121CT), and the continuous occupied area (121CT) refers to the occupied area of the conveyed object (CA) on the conveying path (121). A continuous range, or a range where the occupied area is continuous at intervals smaller than a specified value; and a conveyed object control unit (OP), when the continuous occupied range (121CT) satisfies the unit occupied range (121U) as a reference When the condition of improper judgment is not met, the conveyed object control unit (OP) controls the conveyance state of at least one of the conveyed objects (CA) arranged in the continuous occupation range (121CT).

According to the present invention, the size of the continuous occupied area of the conveyed objects on the conveying road is determined based on the unit occupation area. For example, when the size of the continuous occupation area exceeds the unit occupation area, two or more conveyed objects on the conveying road mutually The possibility of overlapping is high. In addition, if the continuous occupation range includes a plurality of occupation areas with a mutual interval smaller than a predetermined value, when the overall size exceeds the unit occupation area, the probability of the front and rear conveyed objects overlapping later is high. Therefore, when the above-mentioned conveyed objects are highly likely to be in an overlapping state or when the probability of overlapping is high, by controlling at least one conveyed object arranged in the continuous occupied area, the overlapping conveyed objects can be removed from the conveyance path or Conveyed objects with a high probability of overlapping. In addition, the conveyed object occupancy range discrimination means only needs to determine the size of the continuous occupation range of the conveyed objects on the conveying path based on the unit occupation range. Therefore, it is not necessary to detect the overlap itself of the conveyed objects as in the prior art. Whether the conveyed object is thin or the conveyed object is thin, the possibility or probability of overlapping of the conveyed objects can be easily and reliably identified. In particular, in the case of a vibrating conveying device, the conveyed object is conveyed while moving up and down on the conveying road. However, since the occupied area of the conveyed object on the conveying road itself is not easily affected by the above-mentioned up and down movement, the vibration of the conveyed object can be avoided. lead to a decrease in detection accuracy.

In the present invention, it is preferable that the conveyance object occupancy range discrimination unit (MPU, RAM) is more likely to overlap on the conveyance path (121) from two or more conveyed objects (CA) than in other directions The occupied range when observed in a specific direction is judged. Thereby, the overlapping of the conveyed objects on the conveying path can be detected more easily and reliably. In this case, preferably, the shooting direction of the image acquisition unit (MPU, DTU, RAM) is the specific direction. Thereby, the image processing for determining the occupied range becomes easy, and the discrimination accuracy can be improved. The above-mentioned specific direction may refer to, for example, the height direction when the height dimension among the vertical, horizontal, and height of the conveyed object has a minimum value on the conveying surface of the conveying path.

In the present invention, it is preferable for the conveyed object control unit (MPU, RAM) to compare with the case where the unit occupation range (121U) is assumed to be in the portion located forward in the conveyance direction within the continuous occupation range (121CT) The part of the unit occupation range (121U) located behind the conveying direction exerts the exclusion force. Thereby, by continuing to convey the overlapping conveyed objects or the conveyed objects located in the front part of the conveyed objects that are close to each other, the removal force is applied to the conveyed objects located in the rear part, so that the conveyed objects that overlap each other can be easily moved by the direction of conveyance. separation, and thus the release of the overlapping state can be easily and reliably performed.

In this invention, it is preferable that the said measurement area (ME) is set to the terminal part (121e) of the said conveyance path (121). Thereby, the overlapping state or the approaching state of the conveyed objects can be detected at the most downstream end portion of the conveying path, and the state can be released, so that the state in which the conveyed objects are aligned toward the supply destination can be ensured, and the overlapping state of the conveyed objects toward the supply destination can be prevented. Blockage in the transfer site. In this case, it is preferable that the image acquisition unit (MPU, DTU, RAM) further includes a conveyed object acceptance detection unit (MPU, RAM), and the conveyed object acceptance acceptance detection unit (MPU, RAM) acquires the use The photographing unit (130CM) photographed the range including the measurement area (ME) and the receiving portion (21a) of the supply destination (20) of the conveyed object (CA) supplied from the distal end portion (121e) The image is processed and the image is processed to detect whether the receiving unit (21a) can receive the conveyed object (CA). In this way, it is possible to detect whether or not the receiving portion of the supply destination can receive the conveyed object based on the image including the end portion, so that control of the supply destination or stop of supply to the supply destination can be performed without using a separate imaging unit. response.

In the present invention, it is preferable that the conveyed object occupied area discrimination unit (MPU, RAM) includes a detection area (Ls) in the measurement area (ME), and the detection area (Ls) is along the conveying direction (F) The continuous occupancy range (121CT) that is fixed and set to satisfy the condition of improper judgment must occupy the detection area (Ls). Thereby, the conveyed object occupancy range discrimination unit performs improper judgment when the continuous occupied range occupies (all inclusive) the detection area fixed along the conveying direction in the measurement area, so that the detection position in the measurement area when improperly judged is fixed in the conveying direction Therefore, the time at which the conveyed object reaches a position that is always substantially constant can be used as the determination time, so that the management of the control time of the conveyed object and the like becomes easy.

In the present invention, preferably, the image acquisition unit (MPU, DTU, RAM) continuously shoots at a predetermined shooting interval (Ts) through the shooting unit (130CM), and the measurement area (ME) There is a range set in advance to always include all the conveyed objects (CA) passing through the conveyance path (121) according to the relationship between the conveyance speed (Vs) of the conveyed object (CA) and the imaging interval (Ts). In this way, even if the arrival time of the conveyed object does not coincide with the imaging time, all the conveyed objects are always arranged in the measurement area of any image. Therefore, it is only necessary to process each image in the measurement area to detect the conveyance. objects, all conveyed objects can be detected. In this way, there is no need to generate a trigger signal for detecting the position of each conveyed object as in the related art, and therefore, a sensor for detecting the conveyed object is not required, and the detection unit can be simply configured. Therefore, in the case of successively conveying the conveyed objects, etc., it is not necessary to consider the detection omission of each conveyed object, and therefore, it is not necessary to form a gap between the conveyed objects in advance, and the high-speed conveying or high-density conveying of the conveyed objects becomes difficult. The overall configuration of the detection system can be easily and simply constructed. In addition, it is only necessary to process image data in a preset measurement area among a plurality of captured images continuously captured, and therefore, the image measurement process for determining the above-mentioned conveyed object CA can be performed at high speed and with high accuracy. . In addition, as long as the above-mentioned conditions are satisfied, this configuration can also be performed by ordinary video shooting.

In the above case, it is preferable that the length in the conveying direction (F) of one of the conveyed objects is L, the imaging cycle is Ts, and the conveying speed is Vs. , when n=1 to 10, a natural number, β=Ts･Vs, the length LD of the measurement area (ME) in the conveying direction (F) along the conveying path (121) has the value that the following formula holds . LD≥L+n･β=L+n･Ts･Vs In this way, the continuous occupancy range is detected in a state in which all the conveyed objects are always arranged in the area in the conveying direction in any one of the image data, and it is determined whether or not the unit occupation range is exceeded. Therefore, regardless of the conveyed object, it is possible to reliably make judgments. Here, it is more preferable that n is in the range of 3-7.

In this case, it is further preferable that a detection area (Ls) fixed along the conveying direction (F) must be occupied in the continuous occupied range (121CT) that satisfies the condition of improper judgment, and set in the measurement area (ME) In the case of within the range, according to the conveying speed (Vs), the shooting interval (Ts) is set so that all the continuous occupied ranges (121CT) satisfying the conditions of the improper judgment occupy the detection area (Ls). Will definitely be filmed. Specifically, in the case of improper determination of the continuous occupation range (121CT) of the length (Lct) in the conveying direction (F) in the detection area based on the unit occupation range of the same length (L), use the The same length (Ls) of the detection area, and the length of the conveying direction (F) of the continuous occupied area (121CT) is set as Lct=Ls+ΔLt (ΔLt>0), then as long as ΔLt≥β=Ts･Vs is established, it must be Since the image in which the continuous occupied area is arranged in the area can be acquired, the continuous occupied area of all the conveyed objects can be detected using an arbitrary captured image.

In the present invention, it is preferable to further include a light-transmitting area (121c) formed on the conveying surfaces (121a, 121b) of the conveying path (121) in the measurement area (ME), and a light-transmitting area (121c) that transmits the The light-transmitting area (121c) is a backside lighting unit (140BL) that irradiates light from the backside of the conveying surface (121a, 121b) to the photographing unit (130CM) side; the conveyed object occupancy area discrimination unit (MPU, RAM) uses information indicating the range of the light-shielding portion or the non-light-shielding portion of the light-transmitting area (121c) that is shielded by the conveyance (CA) with respect to the image data in the measurement area (ME), The size of the continuous occupied range (121CT) within the measurement area (ME) is detected. In this way, in the image data of the measurement area obtained by the image acquisition unit, the light-shielded portion that is blocked by the conveyed object representing the light-transmitting area is extracted through the light-transmitting area irradiated with light toward the imaging unit side by the back-side illumination unit. Or the information of the range of the non-shading part, and use this information to detect the size of the continuous occupied range in the measurement area, so that the above-mentioned image processing becomes easy and reliable, and therefore, the occupied range of the conveyed object can be realized. Faster and more precise discrimination processing. That is, the continuous occupied area with a size smaller than the unit occupied area does not occupy the entire detection area, and the continuous occupied area that satisfies the condition of improper judgment occupies the entire detection area. Therefore, the judgment is made according to whether the continuous occupied area occupies the size of the entire detection area. .

In this case, it is preferable that the light-transmitting region (121c) is configured to have a width narrower than the width of the conveyed object (CA) on the conveying path (121). According to this invention, in the image data of the measurement area obtained through the image acquisition unit, the light-transmitting area through which light is transmitted to the imaging unit side by the back-side illumination unit is limited to a width narrower than the width of the conveyed object, so that the Since the light quantity of the backside illumination is suppressed, it is possible to make it possible to better extract the surface morphology of the conveyed object from the image information captured by the imaging unit. In addition, when the width of the conveyed object varies depending on the posture of the conveyed object on the conveyance path, the light-transmitting region may be formed to be narrower than the maximum width. However, it is more preferable that the said light-transmitting area|region is comprised so that the width|variety is narrower than all the width|variety corresponding to the attitude|position which the conveyance object can take on the conveyance path.

In the present invention, the light-transmitting region ( 121 c ) may be configured in a slit shape having a shape longer than the length of the conveyed object (CA) in the conveying direction. In this case, a part of the light-transmitting area of the slit shape extending in the conveying direction is blocked by the conveyed object, so that the range of the light-shielding part or the non-light-shielding part covered by the conveyed object in the light-transmitting area can be easily and reliably Determine the location range of the conveyed object. In this case, it is preferable that the light-transmitting area ( 121 c ) is formed over the entire range in the conveying direction of the measurement area (ME). Thereby, since the light-shielding part or the non-light-shielding part can be grasped at any part in the conveying direction of the measurement area, the presence or absence of the conveyed object and the position range can be determined more easily.

Further, the light-transmitting region ( 121 c ) may be constituted by a group of a plurality of light-transmitting region portions ( 121 g to 121 i ) arranged in the measurement area (ME). In this case, the position range of the conveyed object (CA) can be easily and reliably determined by observing whether any one of the plurality of light-transmitting regions is blocked by the conveyed object. In particular, the above-mentioned light-transmitting regions are preferably arranged along the conveying direction, and may also be arranged along the width direction, or may be arranged along these two directions. In this case, it is preferable that the said light-transmitting area|region part is arranged in the whole range of the said conveyance direction of the said measurement area (ME). Thereby, since the light-shielding part or the non-light-shielding part can be grasped at any part in the conveying direction of the measurement area, the presence or absence of the conveyed object and the position range can be determined more easily. In these cases, it is preferable that the said light-transmitting area|region part (121g-121i) is shorter than the length of the said conveyance object (CA) in the conveyance direction. By arranging a plurality of light-transmitting area portions smaller than the conveyed object in the conveying direction, the light-transmitting area is further limited, so that the image information of the surface captured by the imaging unit can be more easily extracted.

In this case, it is preferable that the plurality of the light-transmitting region portions ( 121 g to 121 i ) of the light-transmitting region ( 121 c ) include: a first one formed so as to be included in the length range of the conveying direction of the unit occupation range A light-transmitting area portion (121h) and a second light-transmitting area portion (121i), and the first light-transmitting area portion (121h) and the second light-transmitting area portion having the unit occupied area (121U) (121i) The third light-transmitting area portion (121g) of the portion that is not covered when it is covered. Therefore, it can be determined according to whether the unshielded portion (or at least a part thereof) of the third light-transmitting region is shielded when both the first light-transmitting region portion and the second light-transmitting region portion are shielded. Whether the continuous occupation range exceeds the unit occupation range. At this time, it can be determined whether the continuous occupation range exceeds the discrimination accuracy of the unit occupation range according to the size of the non-light-shielding part (or at least a part thereof) of the third light-transmitting area or the detection accuracy of the non-light-shielding part.

In the present invention, it is preferable to convey the conveyed object ( CA), and when the photographing unit (130CM) is stationary, correct the position of the measurement area (ME) in the photographed image (GPX) to eliminate the transport path (121) during photographing. The position of the captured image (GPX) relative to the conveyance path ( 121 ) changes due to vibration. As a result, since the positional shift in the image processing area of the captured image with respect to the conveying path caused by the vibration of the conveying body can be eliminated, the shift in the image processing position caused by the positional shift can be prevented. Therefore, it is possible to perform the identification process of the occupied area of the conveyed object at a certain position on the conveying path. Therefore, it is possible to avoid inappropriate control of the conveyed object due to the above-mentioned positional deviation, and to control the conveyed object in a reliable and accurate manner.

In this case, it is preferable that the conveyed object occupied range identification unit (MPU, RAM) detects specific features on the conveying path ( 121 ) captured in the captured images (GPX, GPY) through image measurement processing. position of the site (121y), and correct the position of the measurement area (ME) according to this position. It is also possible to use the preset values of the vibration amplitude and vibration period of the conveying path to calculate the positional offset relative to the conveying path in each area caused by the vibration of the conveying path in each shot, and correct the position according to the position offset. The position of the measurement area in the captured image, however, by detecting the position of a specific part on the conveying path in the captured image through image processing, it is possible to perform a measurement corresponding to the vibration pattern of the actual conveying body appearing in the captured image. Therefore, the position of each area can be set reliably and accurately. As a specific part on the conveyance route, various parts captured in the image (position display marks displayed on the conveyance route) can be used.

Next, the conveying apparatus according to the present invention is characterized by comprising the above-mentioned conveying control system (CM1, CM2, DTU, DP1, DP2, SP1, SP2) and a conveying mechanism (12, CL12) having the conveying path (121) .

In the present invention, it is preferable that the conveying mechanism (12, CL12) includes a vibration excitation unit (125) that vibrates the conveying path (121) and a vibration excitation unit (125) that controls the driving method of the vibration excitation unit (125). Control Unit (CL12). As the driving method of the control object of the excitation control unit, the stopping of the driving of the excitation unit, the change of the driving frequency and the driving voltage of the excitation unit, and the like can be cited. Thereby, the conveying method (conveying speed, stability of conveying posture, etc.) of the conveyed object can be adjusted. (Inventive effect)

According to the present invention, an excellent effect can be achieved in that the size of the continuous occupied area of the conveyed object can be discriminated on the basis of the unit occupied area by processing the captured image of the conveyed object, so that the conveying failure such as clogging of the conveyed object can be avoided. The detection of the overlapping state with the front and rear conveyed objects is poor.

Next, embodiments of the conveyance control system and the conveyance device according to the present invention will be described in detail with reference to the drawings. First, with reference to FIG. 10, the basic structure of the embodiment of the conveying apparatus which concerns on this invention is demonstrated. FIG. 10 is a schematic configuration diagram schematically showing the configuration of the drive control system of the conveying device 10 and the conveying control system of the conveying device 10 .

The conveying device 10 is a vibrating conveying device including a feeder 11 and a linear feeder 12 as a conveying mechanism. The feeder 11 includes a bowl-shaped conveying body 110 having a spiral conveying path 111, and the linear feeder 12 includes The conveyance body 120 has the linear conveyance path 121 provided with the inlet which is comprised so that conveyance may be received from the exit of the said conveyance path 111 of this feeder 11. In the conveyance control system of the present embodiment, the conveyed object CA on the conveying path 121 of the conveying body 120 of the linear feeder 12 is detected based on the captured image GPX, and the detected image portion is used as an object for inspection, judge. Here, the conveyance control system of the present embodiment includes not only a corresponding part of the conveyance control system having the configuration according to the present invention, but also a part for identifying the posture of the conveyed objects and aligning them in order in addition to the corresponding part. Various inspection parts, identification parts, screening parts, inversion parts, etc. In addition, in this invention, the structure which is not limited to a vibrating conveying apparatus can be used for various conveying apparatuses which convey the conveyance CA along a conveyance path. In addition, even if it is a vibration type conveying apparatus, it is not limited to the combination of the above-mentioned feeder 11 and the linear feeder 12, It can be used for other types of conveying apparatuses, such as a circulating feeder. Furthermore, even in the above-mentioned combination, it is not limited to inspecting, identifying, sorting, and inverting the conveyed objects CA on the conveying path 121 of the linear feeder 12, and the conveyed objects CA on the conveying path 111 of the feeder 11 may also be checked. check etc.

The feeder 11 is driven and controlled by the controller CL11. In addition, the linear feeder 12 is driven and controlled by the controller CL12. The controllers CL11, CL12 AC drive the excitation unit (including the electromagnetic drive body or the piezoelectric drive body, etc.) of the feeder 11 or the linear feeder 12, so that the conveying bodies 110, 120 can be driven in the conveying path 111, 121. The conveyed object CA is vibrated so as to move in the predetermined conveying direction F. In addition, the controllers CL11 and CL12 are connected to an inspection processing unit DTU having an image processing function, which is the main body of the conveyance control system, via an input/output circuit (I/O).

In addition, when the controllers CL11 and CL12 perform a predetermined operation input (debugging operation) to the arithmetic processing unit MPU which executes the following operation program through the operation input devices SP1 and SP2 mentioned later, such as a mouse, etc., the controller CL11 and CL12 execute the operation program according to the above-mentioned operation program. The driving of the conveying device 10 is stopped. At this time, the image measurement processing in the inspection processing unit DTU, for example, is also stopped in accordance with the above-described operation program. The debug operation and the operation of each part corresponding to the operation will be described in detail later.

The inspection processing unit DTU is composed of an arithmetic processing unit MPU (microprocessor) such as a personal computer. In the illustrated example, the arithmetic processing unit MPU includes central processing units CPU1, CPU2, cache memory CCM, and memory controller. MCL and chipset CHS and other components. In addition, the inspection processing unit DTU is provided with image processing circuits GP1 and GP2 for performing image processing, and the image processing circuits GP1 and GP2 are respectively connected to cameras CM1 and CM2 as imaging units. The image processing circuits GP1 and GP2 are connected to the image processing memories GM1 and GM2, respectively. The outputs of the image processing circuits GP1 and GP2 are also connected to the above-mentioned arithmetic processing unit MPU, and the image data of the captured images GPX obtained from the cameras CM1 and CM2 are processed, and an appropriate processed image (for example, an image area to be described later) is processed. image data in GPY) to the arithmetic processing unit MPU. The operation program of the conveyance control system is pre-stored in the main memory device MM. When the checking processing unit DTU is activated, the above-mentioned action program is read out and executed by the arithmetic processing unit MPU. In addition, in this main memory device MM, image data of a captured image GPX or an image area GPY, which is a subject to be executed by the arithmetic processing device MPU, for image measurement processing to be described later, is stored.

In addition, the inspection processing unit DTU is connected to display devices DP1 and DP2 such as a liquid crystal monitor or operation input devices SP1 and SP2 via an input/output circuit (I/O). The display devices DP1 and DP2 display the image data of the captured image GPX or the image area GPY processed by the above-mentioned arithmetic processing device MPU, and the result of the image measurement processing in a predetermined display manner, that is, except for the identification of the occupied area of the conveyed object, which will be described later. In addition to the processing, the results of the conveyed object detection process and the conveyed object identification process in each part are displayed in a predetermined display format. In addition, the display function is not limited to the time when the conveyed object is actually conveyed, but also functions when the past data is read and reproduced, as will be described later. Further, by operating the operation input devices SP1 and SP2 while viewing the screens of the display devices DP1 and DP2, processing conditions such as various operation commands and set values can be input into the arithmetic processing device MPU.

Further, in the present embodiment, as schematically shown in FIG. 10 , two cameras CM1 , CM2 , two image processing circuits GP1 , GP2 , two image processing memories GM1 , GM2 , and two displays are provided. The devices DP1, DP2, and the two operation input devices SP1, SP2, etc., are only an example, and each configuration may be provided alone, or each configuration may be provided with three or more. In the present embodiment, a specific camera device 130CM is provided as a device additionally provided in addition to the cameras CM1 and CM2 described above. Hereinafter, only the conveyed object occupied area discrimination processing based on the image processing of the image captured by the camera device 130CM will be described.

1 to 5 are diagrams showing an example of the conveying mechanism of the present embodiment shown in FIG. 10 in detail. The present embodiment is configured such that in a state where the distal end portion 121e of the conveyance path 121 of the linear feeder 12 is supported by the support portion 20a of the inspection apparatus 20 serving as the supply destination of the conveyed object CA, the direction is configured to be rotatable in steps. The receiving portion 21a constituted by a part of the index table 21 supplies the conveyed object CA. As shown in FIG. 4 , the index table 21 includes a plurality of storage portions 21d arranged along the outer circumference thereof. The plurality of accommodating portions 21d are configured in a concave shape so that a single conveyed object CA can be accommodated, respectively. When each storage part 21d is arrange|positioned at the position corresponding to the edge part of the terminal part 121e of the said conveyance path 121, it comprises the reception part 21a of the conveyance CA of the inspection apparatus 20. In addition, although illustration is abbreviate|omitted, each accommodating part 21d is provided with the vacuum suction path which suctions and accommodates the conveyance object CA. In addition, in the inspection apparatus 20, the following step-by-step operation is repeated. When the conveyed object CA is supplied from the distal end portion 121e to the receiving portion 21a, the index table 21 is rotated to cause the next storage portion. 21d moves to the position which becomes the receiving part 21a, and waits for the operation|movement of the next conveyance CA. In addition, illustration of the inspection apparatus 20 which is an example of a supply destination is abbreviate|omitted except for the part related to the receiving part 21a. In addition to the inspection apparatus 20, various apparatuses, such as a board mounting apparatus and a pick-and-place unit for loading and unloading to other parts, are conceivable as a supply destination.

The conveying mechanism of the present embodiment includes a support table 131 fixed to a base made of a vibration isolation table or the like, a support arm 132 fixed to the support table 131 , and a camera mounting portion supported by the support arm 132 133, the camera device 130CM is mounted on the camera mounting portion 133 with the photographing direction facing downward. This camera apparatus 130CM is provided with the imaging range which can simultaneously image the terminal part 121e of the said conveyance path 121 arrange|positioned below, and the receiving part 21a of the inspection apparatus 20. The camera device 130CM is fixed by a vibration isolation table, etc., so as not to be directly affected by the vibration of the conveying mechanism. On the other hand, at a position below the distal end portion 121e and the receiving portion 21a, as shown in FIG. The arm 142, and the lighting attachment portion 143 supported by the support arm 142, on which the backside lighting device 140BL is attached. The backside lighting device 140BL includes an illumination range capable of simultaneously illuminating the distal end portion 121e of the conveyance path 121 and the receiving portion 21a of the inspection device 20 . The backside lighting device 140BL is also fixed via a vibration isolation table or the like so as not to be directly affected by the vibration of the conveying mechanism. Moreover, the arrangement|positioning of the camera apparatus 130CM and the back side lighting apparatus 140BL is not specifically limited, For example, you may install them upside down.

4(a) is an enlarged perspective view showing the transfer area of the conveyed object CA constituted by the end portion 121e of the conveyance path 121 and the receiving portion 21a of the inspection device 20, and (b) is a perspective view showing a further enlarged portion . In addition, (a) is the side view which shows the state which looked at the end part 121e of the linear feeder 12 from the supply destination side, (b) is the enlarged side view which enlarges the center area B in FIG. The end part 121e of the conveyance path 121 is comprised by the bottom surface block 121X which comprises the conveyance surface 121b, and the side surface block 121Y which comprises the conveyance surface 121a. In this case, since there is no cover block attached to the end portion 121e of the conveying path 121 in many cases, the end portion 121e does not constitute an underdrain structure. This is because if the conveyance path 121 is formed into an underdrain structure, in the case of a fine conveyed object or a thin conveyed object, the conveyed object CA is likely to be clogged at the end portion, especially in the vibratory conveyance of the present embodiment. In the case of mechanisms, blockages often occur. The absence of the cover block and the underdrain structure is also suitable when photographing the end portion 121e or performing back lighting.

The conveyance path 121 includes a conveyance surface 121a having a steep inclination angle, and a conveyance surface 121b which is substantially orthogonal to the conveyance surface 121a and has a gentle inclination angle. As shown in FIG. 4( b ) and FIG. 5( b ), the conveyed object CA has a fine and thin structure. As an example of such a conveyed object CA ( CA0 , CA1 , CA2 ), for example, a surface-mounted electronic component can be mentioned. As dimensions, the thickness t is about 60 μm, the length L is about 1.0 mm, and the width W is about 0.5 mm. Such a thin conveyed object CA is conveyed in such a posture that the thickness direction is along the vertical direction in the drawing, and the bottom surface faces the conveying surface 121b. In the illustrated example, the width of the conveyance surface 121b is slightly smaller than the width W of the conveyed object CA, and the edge of the conveyance surface 121b opposite to the conveyance surface 121a is configured to be adjacent to the gap G. The edge portion of the conveying surface 121b is arranged to face the edge portion (receiving surface portion 122a) of the collection block 122X through the gap G, and the collection block 122X is configured to convey the conveyed object CA in the opposite direction to the conveying direction, and return the conveyed object CA to the conveying path The recovery path 122 in the upstream part of 111 and 121. The above-mentioned gap G is provided because the vibration directions and phases of the bottom block 121X and the side block 121Y constituting the conveyance path 121 and the recovery block 122X constituting the recovery path 122 are different and must be separated from each other. However, in the present embodiment, the gap G constitutes one light-transmitting region portion 121g among a plurality of light-transmitting region portions, wherein the plurality of light-transmitting region portions are configured to transmit the illumination light BLa of the backside illumination device 140BL to the The light-transmitting region 121c of the above-mentioned camera device 130CM. Moreover, as shown in FIG.5(b), the conveyance surface 121b of the conveyance path 121 inclines toward the conveyance surface 121a side by a slight angle α with respect to the horizontal plane, and the conveyance CA is held in the conveyance path 121 by this. Further, as shown in FIG. 4 , the recovery path 122 includes a receiving surface portion 122a that is adjacent to the gap G and has substantially the same height as the conveying surface 121b, and a receiving surface portion 122a that is adjacent to the receiving surface portion 122a via the stepped portion and faces the recovery path 122. The peripheral edge part 122b whose recovery direction is inclined, and the confluence part 122c which is adjacent to the further recovery direction of the peripheral edge part 122b and extends to the part parallel to the upstream side of the conveyance path 121. The conveyed material CA collected in the junction 122 c is returned to the upstream portion of the conveying path 121 of the linear feeder 12 or the feeder 11 through the recovery path 122 .

On the conveyance surface 121a, the front-end|tip part 121e is formed with the air injection port OP for overlapping release, and this air injection port OP is used for discharging the conveyance CA toward the receiving surface part 122a of the collection|recovery path 122 via the said gap G. The air inlet OP is connected to an air flow source such as a compressor or a compression pump through an air flow passage penetrating the side block 121Y and an open/close valve such as a solenoid valve (not shown). In addition, on the distal end side closer to the supply destination than the above-described air injection port OP, an air injection port SP for supply stoppage for preventing the conveyed material CA from being supplied to the supply destination is formed. This air injection port SP is also connected to an air flow source separately from the air injection port OP through an air flow passage and an on-off valve. Deformed corners OPa and SPa are provided on the opening edges of the distal ends of the air ejection ports OP and SP, and the deformed corners OPa and SPa are chamfered and rounded to prevent the conveyed object CA from being caught. In addition, a notch-shaped marking portion 121y is formed on the side edge of the distal end side of the side surface block 121Y. The marker 121y is a marker for detecting the position in the conveyance direction F by the vibration of the conveyance path 121 in the image captured by the camera device 130CM, as will be described later.

(a) and (b) of FIG. 6 are a plan view and a longitudinal cross-sectional view illustrating the distal end portion 121e and the receiving portion 21a in an enlarged manner. The support portion 20a includes an upper plate 20a1 and a lower plate 20a3, the upper plate 20a1 covers the upper portion of the index table 21 rotatably constructed inside the support portion 20a, and the lower plate 20a3 is arranged below the index table 21. The window part 20a2 is formed in the part corresponding to the receiving part 21a of the upper plate 20a1, and the receiving part 21a is comprised so that it can image|photograph from the said camera apparatus 130CM side. In addition, the lower plate 20a3 has a light-transmitting area portion 21f formed therein, and is configured to be able to capture the illumination light BLa of the backside illuminating device 140BL through the light-transmitting area portion 21f by the camera device 130CM. Here, the above-mentioned captured image GPX or image area GPY is the image shown in the top view shown in FIG. 6( a ).

At the end portion 121e of the conveying path 121 of the linear feeder 12, the conveying path 121 is constituted by the conveying surface 121a and the conveying surface 121b which adjoin the receiving surface portion 122a of the recovery path 122 with the above-mentioned gap G interposed therebetween. The gap G constitutes the light-transmitting area portion 121g, and is configured such that the illumination light BLa of the backside illuminating device 140BL can pass therethrough like the above-mentioned light-transmitting area portion 21f, and the illumination light BLa can be photographed by the camera device 130CM. On the conveyance surface 121b, a plurality of light-transmitting region portions 121h and 121i are formed from the distal end toward the upstream side. These light-transmitting regions 121h and 121i are also configured so that the illumination light BLa of the backside illuminating device 140BL can pass therethrough, and the camera device 130CM can image the illumination light BLa.

Next, an example of the basic conveyed object occupancy range discrimination processing of the conveyed object CA in the conveyance apparatus 10 using the conveyance control system described above in the present embodiment will be described. In the above-mentioned image shown in the top view of FIG. 6( a ), a measurement area ME including the conveyance path 121 (end portion 121 e ) is set, and in the measurement area ME, the above-mentioned light-transmitting area portions 21 f and 121 g are provided. , 121h, 121i of the light-transmitting area 121c. In this measurement area ME, it is possible to detect the end portion 121e and the receiving end portion 121e by performing image processing on the image portions 21fy, 121gy, 121gz, 121gv, 121hy, and 121iy corresponding to the light-transmitting region portions 21f, 121g, 121h, and 121i. The presence or absence of the conveyed object CA (or its occupied range) in the portion 21f.

As a premise for constructing the embodiment, the processing contents of the inspection processing unit DTU and the setting of the measurement area ME shown in FIG. 6( a ) will be described. In the present embodiment, it is necessary to perform the identification process of the occupied area of the conveyed object through the image processing in the measurement area ME for the captured image GPX or the image area GPY obtained as described above. The occupancy state of the conveyed object CA on the conveying path is detected as data. Therefore, all the conveyed objects CA passing through the conveyance path 121 must be captured in the measurement area ME of either the captured image GPX or the image area GPY. Therefore, the measurement area ME must satisfy at least the following conditions as constraints on the conveyance speed Vs and the imaging interval Ts of the conveyed object CA.

In the present embodiment, the camera device 130CM continuously performs shooting at a predetermined predetermined shooting cycle, and similarly to the images of the cameras CM1 and CM2, the image GPX or the above-mentioned image area GPY is captured in each shooting cycle. The image data within is transmitted to the above-mentioned arithmetic processing unit MPU via the image processing units GP1 and GP2. The arithmetic processing unit MPU uses the arithmetic processing memory RAM to process the image data in the measurement area ME among the transferred image data as described above, thereby performing the identification processing of the occupied area of the conveyed object. However, in the present embodiment, a trigger sensor is not separately provided, or a predetermined shape pattern of the conveyed object CA is searched from the image data of the conveyed object CA in a predetermined area, and the shape pattern is not generated when the shape pattern is detected. Internal triggering, but by introducing an external trigger indicating a predetermined shooting period, or outputting a trigger signal of a predetermined period from the arithmetic processing unit MPU to the camera device 130CM, shooting is performed continuously at a predetermined shooting period. Therefore, in order to identify all the conveyed objects CA conveyed on the conveyance path 121 without omission, it is necessary to include all the conveyed objects CA in the measurement area ME in either the captured image GPX or the image area GPY.

Therefore, when the imaging cycle is set to Ts [sec], the length in the conveyance direction F of the conveyed object CA is set to L [mm], and the conveyance speed of the conveyed object CA is set to Vs [mm/sec], The range LD in the conveyance direction F of the measurement area ME is set to the following formula (1) so that the images of all the conveyed objects CA are definitely included in the above-mentioned measurement area ME of any image data. LD≥L+β=L+Ts･Vs…（1） For example, if the length L in the conveying direction F of the conveyed object CA is 0.6 [mm], the conveying speed Vs is 50 [mm/sec], and the photographing period Ts is 1 [msec], then L=0.6 [mm], β= 0.05[mm], so LD≥0.65[mm]. In addition, if the imaging period Ts is set to 0.5 [msec], L=0.6 [mm], β=0.025, and LD≧0.625 [mm].

In fact, for each individual, the conveyance speed of the conveyed object CA varies depending on the location or with the passage of time. Therefore, it is preferable to set the whole or a part of the conveyed object CA to be twice or more, more Preferably, three or more shots are taken in the image data. Generally, in order to be imaged in image data n (n is a natural number) or more times, LD is set so that the following formula (2) holds. LD≥L+n･β=L+n･Ts･Vs…（2） In the case of this embodiment, n is set within the range of 3-7. This is because, as n becomes smaller, the possibility of missing shots of the conveyed object CA due to the variation in the conveying speed increases, and conversely, as n becomes larger, the load of image processing increases. Generally, it is preferable that a natural number n exists in the range of 1-10. In addition, in the present embodiment, the image processing time is generally about 150 μsec to 300 μsec. In addition, the imaging interval Ts is about 500 [μsec] to 840 [μsec].

In addition, in the case of the present embodiment, the trigger signal for detecting the arrival of the conveyed object CA in the measurement area ME is not used as described above, and therefore, there is a possibility that the conveyed object CA is not arranged at all in a certain captured image GPX or an image area at all. The situation in the measurement area ME of GPY. Therefore, when the image measurement processing in the measurement area ME is performed, it is detected whether or not the image of the conveyed object CA is included in the measurement area ME. Then, when the conveyed object is detected under a predetermined condition in this conveyed object detection process, that is, when the conveyed object CA is entirely contained in the measurement area ME, the above-described conveyed object occupied range discrimination processing may be performed, otherwise, the conveyed object occupation may not be performed. Range discrimination processing. However, in the present embodiment, since the image measurement process is performed at the end portion 121e of the conveyance path 121, the conveyed object CA is often conveyed at a high density, so it may not be performed as described above. In addition, when the same conveyed object CA is detected multiple times in the measurement area ME, the conveyed object occupancy range discrimination processing may be performed only once (eg, the first time), and the conveyed object occupied range discrimination processing may be omitted for the other several times. However, in the embodiments to be described later, the detection of the continuous occupancy area 121CT is performed only in the further limited area within the measurement area ME, that is, the detection area in which the light-transmitting area 121c is arranged. Therefore, even in the measurement of multiple images When the continuous occupied area 121CT is captured in the area ME, the number of times of the identification processing of the occupied area of the conveyed object is also limited.

In the present embodiment, two examples will be described below as specific contents executed in the above-mentioned conveyed object occupied range discrimination processing. In the first embodiment, the above-mentioned image parts 21fy, 121gy, 121gz, 121hy, 121iy in the measurement area ME are used as the object of image processing, and Fig. 7(a) and (b) show the identification methods. In this case, if all of the image portions 121gy, 121gz, 121hy, and 121iy corresponding to the four light-transmitting regions are simultaneously blocked by the conveyed objects CA, it is determined that the plurality of conveyed objects CA overlap each other or are in close contact with each other. state delivery. This is because the light-transmitting regions corresponding to the three image portions 121gy, 121hy, and 121iy are formed in correspondence with the length L in the conveying direction F and the width W in the width direction of the conveyed object CA so as to be individually conveyed The unit occupancy area 121U simultaneously blocked by the object CA, and the light-transmitting area portion corresponding to the other image portion 121gz protrudes from the unit occupancy area 121U toward the rear. Therefore, as shown in FIG. 7(a), when When a single conveyance CA passes through, the above-mentioned four image parts 121gy, 121gz, 121hy, and 121iy corresponding to the light-transmitting regions are not all blocked at the same time. That is, in the case of the illustrated example, the above-mentioned four light-transmitting regions are arranged in the entire detection region having a length Ls in the conveying direction F, and the length Ls is longer than the length in the conveying direction F of the conveyed object CA, that is, The unit occupies the length L of the extent 121U. On the other hand, if two or more conveyed objects CA are conveyed in a state of overlapping or close contact, as shown in FIG. 7( b ), four image parts 121gy, 121gz, 121hy, 121iy are all covered at the same time. This is because the length Lct in the conveyance direction F of the continuous occupancy range 121CT constituted by the overlapping conveyed objects CA1 and CA2 is longer than the length Ls of the detection area described above. Therefore, in this example, it is possible to detect whether the size of the continuous occupancy area 121CT of the conveyed object CA exceeds the The above units occupy the range 121U. If the size of the continuous occupation range 121CT exceeds the unit occupation range 121U, an improper judgment is made.

In addition, in the first embodiment, only when it is confirmed through image processing that the above-mentioned four image portions 121gy, 121gz, 121hy, and 121iy corresponding to the light-transmitting regions are all covered, it is detected as at least two conveyed objects CA. Overlap, or at least two conveyed objects CA are conveyed in close contact with each other, and an improper judgment is made. Therefore, it is necessary to capture a state in which all the above-mentioned four image parts are covered in any one of the images obtained by the inspection processing unit DTU corresponding to the image obtaining unit. In other words, it is necessary to capture an image while the continuous occupancy range 121CT for which an improper judgment should be made occupies and blocks the detection area of the length Ls formed by the above-mentioned four light-transmitting area portions. Therefore, when Ls=L+ΔL (ΔL>0), the range of the entire image portion corresponding to the above-mentioned four light-transmitting regions in the conveying direction F is set to Ls=L+ΔL (ΔL>0). In the length Lct=Ls+ΔLt (ΔLt>0) in the conveying direction F, ΔLt≥β=Ts･Vs must be satisfied.

Next, in the second embodiment, only the image portion 121gv set in the single light-transmitting area portion 121g is inspected as the above-mentioned measurement area ME, and detection is based on whether or not the entire image portion 121gv is simultaneously covered by the conveyed object CA. Whether the continuous occupied range 121CT of the conveyed object CA exceeds the above-mentioned unit occupied range 121U. The image portion 121gv is set in the range of the length Ls=L+ΔL along the conveyance direction F in the light-transmitting region portion 121g constituted by the gap G. At this time, similarly to the above, in the length Lct=Ls+ΔLt in the conveyance direction F of the continuous occupancy range 121CT, ΔLt≧β=Ts·Vs must be satisfied.

In either of the above-mentioned first and second embodiments, the length Ls of the detection area and the length L in the conveying direction F of the unit occupancy area 121U must satisfy the relationship of Ls>L, so that the light-transmitting area can be arranged according to the A portion of the length Ls in the conveying direction F of the detection area thus obtained transmits light and is judged to be normal. On the other hand, when a certain continuous occupancy range 121CT that should be judged to be inappropriate is given, it is necessary to give a value of ΔLt=Lct-Ls according to the predetermined conveying speed Vs so as to satisfy the imaging interval Ts such as ΔLt≥β=Ts･Vs , in order to reliably detect that the continuous occupied range 121CT should be judged to be inappropriate. Conversely, when the imaging interval Ts is set with respect to the predetermined conveyance speed Vs, if the continuous occupied range 121CT such that ΔLt≧β=Ts·Vs is established, inappropriate determination can be made reliably. Therefore, it is organized as follows. A. The range within which a normal judgment can be made reliably: Lct < Ls B. The range within which improper judgment can be made reliably: Lct≥Ls+β C. The range of being either a normal judgment or an improper judgment: Ls≤Lct<Ls+β From the above results, it can be seen that the judgment accuracy (resolution) is β=Ts･Vs. In addition, in the above-mentioned area C, the image component (surface morphology of the conveyed object CA) based on the reflected light obtained by passing through the front side illumination (including ambient illumination) may be subjected to image processing as described later to determine.

In any of the above-mentioned embodiments, since the size of the overall continuous occupation range 121CT (the length in the conveying direction F in the example shown in the figure) exceeds the unit occupation range 121U as a criterion for judgment, not only in multiple conveyances Improper judgment is made when the objects CA overlap each other, and an improper judgment is also made when a plurality of conveyed objects CA are conveyed in close contact with each other. This is because, even if the plurality of conveyed objects CA do not overlap each other, if they are conveyed in a state of being in close contact with each other, there is a high possibility that these conveyed objects CA will overlap each other sooner or later. This means that not only when the plurality of conveyed objects CA are in close contact with each other, but also when the gap in the conveyance direction F between the plurality of conveyed objects CA is equal to or less than a predetermined value, the above-described inappropriate determination can be made. In this case, not only when the occupied range of the conveyed objects is a continuous range, but also when the occupied ranges are arranged at intervals smaller than a predetermined value, the entire occupied area of the plurality of conveyed objects CA including these arrangements will be occupied by the whole. The range may be discriminated as the continuous occupied range 121CT described above. In addition, on the contrary, it is also possible to set only the case of the conveyed object CA by excluding the case where the range corresponding to the natural number multiple of the unit occupancy range 121U in the entire continuous occupancy range 121CT is excluded from the improper judgment. It is judged to be inappropriate when it overlaps, and it is not judged to be inappropriate when the conveyed object CA is merely conveyed in close contact with each other.

The conveyed object CA in this embodiment is often an electronic component (for example, a chip resistor, a chip inductor, a chip capacitor, etc.) having a substantially cubic shape (for example, a shape in which the eight corners of a cube are rounded), but There is no particular limitation. However, in this embodiment, since the cap block or the underdrain structure is not used as described above, it is particularly effective for the fine and thin conveyance CA. In the present embodiment, the occupied area of the conveyed object CA on the conveying path 121 is obtained by image processing, and the occupied area of the entire conveyed object CA, that is, the unit occupied area 121U, is used as the reference to the entire occupied area, that is, the continuous occupied area 121CT When the size of the continuous occupied range 121CT exceeds the unit occupied range 121U, an improper judgment is made that some kind of treatment needs to be implemented.

In addition, according to the detection method of the continuous occupied range 121CT in the above-described embodiments, the range in the conveying direction F of the measurement area ME must necessarily include the detection area of the above-mentioned length Ls. Here, the detection area may be considered as a substantial measurement area ME. In addition, it is also conceivable to use only the light-transmitting area portion in the measurement area ME that requires image processing as the detection area. Therefore, the length LD in the conveying direction F of the measurement area ME is larger than the length Ls in the conveying direction F of the detection area described above. On the other hand, the range in the conveyance direction F of the measurement area ME includes the continuous occupancy range 121CT (the same size as the unit occupancy range 121U) which should be judged to be normal when it is arranged in the detection area. However, as shown in FIG. 6 , it is not necessary to The entirety of the continuous occupation range 121CT (exceeding the size of the unit occupation range 121U) that should be judged to be inappropriate is included. As long as the size of the continuous occupancy range 121CT can be discriminated based on the unit occupancy range 121U. In addition, in the above-described embodiment, the image processing is not performed on the entire measurement area ME, but only on the image portion corresponding to the light-transmitting area in the detection area. Therefore, the image processing The burden is reduced, and the processing speed can be realized. Furthermore, since the above-mentioned detection area is fixed, the detection position of the conveyed object CA when the conveyed object occupancy discrimination processing is performed is also substantially constant, so that even when various controls are performed based on the discrimination result, they can be easily adjusted. time of unity.

Next, the state of judgment when conveyance control is performed by any of the above-mentioned embodiments, and the control method with respect to the conveyed object CA will be described. (a) to (e) of FIG. 9 are used to describe the overlapping of images transmitted in a predetermined form from the captured image GPX captured by the camera device 130CM or the image data in the image area GPY obtained therefrom. A step explanatory diagram of the method of control and processing performed by the two conveyed objects CA1, CA2. Also, when the front and rear conveyed objects CA are conveyed in close contact with each other, the same processing is performed as in the case of the illustration. In addition, also in the case of continuous conveyance at intervals smaller than a predetermined value, it is basically possible to perform the same processing as in the case of the illustration. As shown in FIG. 9( a ), in this example of the figure, the conveyance path 121 is conveyed in a state where the front part of the conveyed object CA2 is overlapped with the rear part of the conveyed object CA1 . In the illustrated example, the conveyed object CA1 is located in the measurement area ME, and its front end reaches a part of the detection area, and a part of the light-transmitting area 121g extending in the conveyance direction F is blocked. At this time, the conveyance CA0 previously supplied is arranged on the receiving portion 21a, and the light-transmitting area portion 21f is blocked. Then, as shown in FIG. 9( b ), the conveyed objects CA1 and CA2 further advance on the conveying path 121 , the light-transmitting area portion 121 i is blocked, and the blocked partial area of the light-transmitting area portion 121 g is also conveyed toward the conveyance path 121 . Moving forward in the direction F, its shading range is also increasing. At this point in time, the conveyed object CA0 continues to exist in the receiving portion 21a, but starts to move by rotating the index table 21 stepwise at a predetermined cycle. Therefore, as shown in FIG. 9( c ), before the conveyed objects CA1 and CA2 approach the end, the receiving portion 21 a becomes empty, and the light-transmitting region portion 21 f becomes a non-light-shielding state. Thereby, it is detected that the receiving part 21a is in the state which can receive the conveyed object. In addition, at this point in time, if the conveyed object CA0 is still disposed on the receiving portion 21a, the conveyed objects CA1 and CA2 are discharged from the conveying path 121 to the receiving surface portion 122a of the recovery path 122 by blowing the air flow from the air outlet SP. . This exclusion state by the air ejection port SP continues until the receiving portion 21 a is turned into a state that can be received (a state in which the light-transmitting region portion 21 f is in a non-light-shielding state).

Then, at the position shown in FIG. 9(d), the conveyed objects CA1 and CA2 are judged by the methods shown in the above-mentioned embodiments. In the illustrated example, since the size of the continuous occupation range 121CT exceeds the unit occupation range 121U, it is judged as inappropriate. Thereby, as shown in FIG.9(e), the conveyance CA2 located in the rear part in the continuous occupation range 121CT is discharged|emitted from the conveyance path 121 to the collection|recovery path 122 by the airflow blown from the air injection port OP. At this time, since the air outlet OP opens directly behind the conveyed object CA1 and blows out the airflow directly, it is preferable to set the blowing timing so as to apply an expelling force to the front or center of the conveyed object CA2. In this way, as shown in the figure, the conveyed object CA2 moves in the width direction orthogonal to the conveying direction F with the front part leaving the conveying path 121 earlier than the rear part, or maintaining the original conveying posture. Therefore, it is not excluded in a posture like the dotted line in the figure. At this time, the conveyed object CA1 continues to move in the conveying direction F on the conveying path 121, and the conveyed object CA2 subjected to the airflow moves in the width direction. Therefore, at the time point shown in FIG. 9(e), the conveyed object CA1 and the conveyed object CA2 Since the object CA2 is separated, the possibility of being involved in the movement of the conveyed object CA2 is reduced. On the other hand, if the conveyed object CA2 is removed in the posture shown by the broken line in the figure, the possibility of collision with the conveyed object CA1 increases, and the supply of the conveyed object CA1 to the receiving unit 21a may be hindered.

In the process of identifying the occupied area of the conveyed object of the present invention, it is not limited to the above-mentioned, and it is determined whether the light-transmitting area 121c is covered by the occupation of the conveyed object CA according to the image data in the measurement area ME, so as to determine the conveyed object. In the case of the occupied area of the conveying object CA, for example, the occupied area of the conveyed object CA may be determined by processing only the image captured by the reflected light on the conveying path 121 . For example, the position range of the conveyed object CA in the image may be detected by patterning processing or the like, and the above-mentioned occupied range may be judged accordingly.

In the present embodiment, the conveyed object CA conveyed by the vibrating conveying device 10 on the vibrating conveying path 121 is set as the inspection object, on the other hand, the camera device 130CM (CM1, CM2) is installed in the non-vibrating part (base Therefore, in the image data of the captured image GPX or the image area GPY, the conveyance path 121 that vibrates with a predetermined amplitude in the form of reciprocating back and forth in the conveyance direction F is arranged on the basis of the image data. This is the position displaced by the change in the vibration phase during data recording. Therefore, in order to detect and judge the appearance of the conveyed object CA at a fixed position based on the conveying path 121, it is necessary to make the position of the measurement area ME in the image have the same amplitude in synchronization with the vibration of the conveying body 120 according to the imaging time. make a move. For example, a vibration of 0.1 mm in amplitude and 300 Hz in vibration frequency is applied to the conveying body 120 .

Therefore, in the present embodiment, the position of the measurement area ME can be corrected so that the position of the measurement area ME is equal to the time point of the photographed image GPX or the image area GPY using the position correction mark set on the conveyance body 120 as a reference. The vibration positions of the conveying body 120 are the same. The mark for position correction is not particularly limited as long as the position detection is easy and reliable. The same grayscale) mark can improve the detection accuracy of its position. In addition, the marks for position correction may not be purposely provided, but may be originally existing on the conveying device and can be detected by image processing, such as ridges, corners, and bolt heads formed on the conveying body 120 . , air vents, etc. However, it is preferable to be located in the position which will not be shielded by the conveyance CA. In the illustrated example, the above-mentioned mark for position correction is the above-mentioned indicator portion 121y. The marking portion 121y is constituted by a concave portion formed on the end edge on the distal end side of the conveying body 120, but is not limited to the end edge, and may be any recognizable structure such as a hole, a cavity, or a protrusion. In the present embodiment, since the illuminating light BLa passing through the backside illuminating device 140BL clearly reflects the outline shape of the marker portion 121y on the image, position correction can be easily and reliably performed according to the position of the marker portion 121y.

In the present embodiment, for the above-described position correction, the position of the measurement area ME relative to the conveying path 121 is always located at the same position relative to the conveying path 121 regardless of the phase timing of vibration during imaging. Therefore, it is set as the measurement area ME and the position where the air is blown out from the ejection port OP for ejecting the conveyed objects CA1 and CA2 judged to be inappropriate, and the air is blown out from the ejection port SP. The position of the air that stops the supply of the conveyed object CA in the inappropriate state of the supply destination is always in a certain positional relationship. Therefore, the determination result of the discrimination processing based on the occupied area of the conveyed object and the result of whether the receiving unit 21a can receive the air is determined. When the removal force acts on the conveyed object CA, it can always act at an approximate timing.

In addition, it is preferable to configure the timing setting of the blowing timing of the air flow from the blowing port OP so that when a specific image is judged to be inappropriate, it starts after a predetermined time has elapsed based on the time when the image was taken. In this case, in general, the timing setting only needs to set the blowing time on the basis of the judgment time or the acquisition time of the judged image. However, it is preferable that the above-mentioned blowing timing is automatically corrected based on the position in the conveying direction F of the conveyed object CA1 in the measurement area ME in the image (the position after the above-mentioned position correction). In this way, it is possible to easily and reliably set the airflow from the air outlet OP not to act on the conveyed object CA1, but only to act on the conveyed object CA2. In addition, it is preferable that the start timing of blowing out the air flow from the air blowing port SP is also automatically corrected according to the position in the conveying direction F of the conveyed object CA1 (the position after the position correction) as described above.

In this embodiment, an image of the conveyed object CA on the conveying surface 121b is obtained through the camera device 130CM, and the continuous occupation of the conveyed object CA is determined based on the unit occupancy area 121U through the processing in the measurement area ME of the image. The size of the range 121CT. At this time, since the conveyed objects CA are conveyed on the conveying surface 121b in a posture that is easy to overlap each other in the direction orthogonal to the conveying surface 121b, it is easy to determine the overlapping state of the conveyed objects CA from the occupied area in the image. . In particular, by aligning the imaging direction of the camera device 130CM with the above-described direction that is easily superimposed, image processing becomes easier, and the discrimination accuracy can also be improved.

In addition, in the present embodiment, by performing image processing on the image portion 21fy of the light-transmitting area portion 21f of the receiving portion 21a, it is possible to detect whether the supply destination can receive or not, so that the supply stop of the conveyed object CA can be accurately discriminated. . In particular, since detection can be performed based on the same image as the image used in the above-described conveyed object occupied range discrimination processing, the imaging unit can also be constructed simply and can quickly perform image processing in parallel. Furthermore, when it is judged whether or not the receiving portion 21a can receive, the effect of the backside illumination can be obtained similarly to the light-transmitting area portion in the measurement area ME.

In the present embodiment, since the light-shielding states of the light-transmitting regions 21f, 121g, 121h, and 121i can be clearly detected through the illumination light BLa of the backside illuminating device 140BL, it is not easily affected by a decrease in contrast in the measurement region ME, etc., Suppression of image processing burden and improvement of detection accuracy can be achieved. However, the image captured by the camera device 130CM is not limited to backside illumination (transmitted light), but may be front-side illumination (reflected light), or a combination of backside illumination (transmitted light) and front-side illumination (reflected light) may be used. By. In this case, it is preferable to limit the range of the light-transmitting region 121c (light-transmitting region portion), so that not only the line (contour information) of the imaging range, but also the surface morphology can be easily extracted by image processing. For example, in the present embodiment, since it is not necessary to identify the outer shape of the conveyed object CA in the width direction, by forming the light-transmitting area 121c narrower than the width of the conveyed object CA, the area of the light-transmitting area 121c can be limited without preventing reduce the effect. In particular, from the viewpoint of determining the position in the conveying direction F of the conveyed object CA, it is preferable to form a slit shape extending in the conveying direction F like the above-mentioned light-transmitting area portion 121g, and in this case, it is further preferable To extend continuously within the measurement area ME. In this case, by extracting the surface morphology captured in the image, when it is judged to be inappropriate, the overlapping state of the conveyed object CA can be identified in more detail and the method of applying the removal force can be changed. Inappropriate judgment can be avoided. Regarding the limitation of the light-transmitting region, for example, it is also preferable to set the light-transmitting region 121c as a form in which a plurality of dispersed light-transmitting regions are arranged as in the above-mentioned light-transmitting regions 121g, 121h, and 121i.

In this embodiment, various data used in the identification process of the conveyed object CA, such as the type and size of the conveyed object CA, improper judgment conditions, the reference image data of the conveyed object CA, the identification conditions of the continuous occupied area, the unit occupied area Various setting values, such as a numerical value and a threshold value of luminance at the time of binarization of image processing, are stored in the main memory MM or the like, and are appropriately read out and used in each processing. In addition, the set values for determining the shooting time of the camera device 130CM ( CM1 , CM2 ), the set values for the image acquisition conditions when acquiring the shot image GPX or the image area GPY, and the vibration of the conveyance path 121 are used for each setting value. The setting value of the position correction method of the measurement area, the setting value for determining the form of various setting screens and display screens, the control method of the air flow for screening or supply stop, such as the blowing time of the air flow, the setting value of the pressure value, etc. are also Process in the same way.

In the present embodiment, the image files of the past captured images GPX or image areas GPY stored in the main memory device MM and continuously stored in time series can be selected, read out, and displayed. Furthermore, means for performing various operation processing on the selected image file are also prepared.

The image files stored in the main storage device MM are obtained by automatically recording image data of a plurality of captured images GPX or image areas GPY obtained in the running mode through the arithmetic processing device MPU. The image file can be stored for all image data when there is free space in the main memory device MM, but it is preferable to always store the latest predetermined period (for example, 1) even when there is no free space in the main memory device MM. hours, etc.), or the latest image file with a predetermined number of images (such as 1000 images, etc.).

In the state in which the captured image GPX or the image area GPY recorded in the past is displayed as described above, the above-mentioned conveyed object detection processing and the above-mentioned conveyed object identification process (generally: The above-mentioned conveyance processing) constitutes the image measurement processing. As one of the control functions of the display form, the plurality of captured images GPX or image areas GPY stored in the same file can be switched to other image data captured before and after one by one through an appropriate operation. In addition, it is also possible to continuously display a plurality of captured images GPX or image areas GPY in the same image file, and simultaneously perform image measurement processing with respect to the displayed image data in parallel.

Next, referring to FIG. 11 , the flow of the overall operation program of the present embodiment will be described. FIG. 11 is a schematic flowchart of the processing performed by the arithmetic processing unit MPU of the above-mentioned check processing unit DTU according to the action program. When the motion program is activated, first, the above-described image capturing and image measurement processes are started, and the conveying device 10 (the feeder 11 and the linear feeder 12 ) is started to be driven by the controllers CL11 and CL12 . Then, if the debug setting corresponding to the above-mentioned debug operation is OFF, the image measurement process is performed on the captured image GPX or the image area GPY, and if the final judgment result is OK, as long as the debug operation is not performed , the image measurement processing of the next captured image GPX or image area GPY is directly implemented. For example, at the screening position based on the judgment of defective products and good products of the conveyed object CA, the screening position or the inversion position based on the judgment of the improper posture and the standard posture, the air flow control by the air jet port is based on the image captured by the cameras CM1, CM2, etc. For example, the conveyed object CA judged to be a defective product or the conveyed object CA judged to be in an improper posture is excluded from the conveying path 121 or its posture is reversed. In addition, in the screening position (measurement area ME) based on the judgment of the occupied range of the conveyed object CA in the above-mentioned distal end portion 121e, the continuous occupied range 121CT that is improperly judged as described above is also based on the image obtained through the camera device 130CM. Apply the exclusion force.

In this way, by controlling the conveyed objects CA on the conveyance path 121, only the conveyed objects with good products and good postures are supplied to the downstream side in an aligned state. In addition, in the end portion 121e, the overlapping state of the conveyed objects CA or the probability thereof can be determined, and the conveyed objects CA can be supplied to the receiving portion 21a one by one so as not to cause improper supply in the end. In this case, as long as no debugging operation is performed thereafter, the judgment of the next captured image GPX or image area GPY can be directly performed.

When the debugging operation is performed in the middle of the above, and the debugging setting is turned ON, the above routine is exited, the driving of the conveying device 10 is stopped, and the image measurement processing is also stopped. Then, if an appropriate operation is performed in this state, the image file can be selected as described above. At this time, the image file selected and displayed is an image file including a plurality of shot images GPX or image areas GPY recorded in the previous operation mode. If the image file is directly selected and an appropriate operation is performed, it will transfer to the re-execution mode. In this mode, image display, detection, and judgment can be performed again according to the image file in which the control action that has been executed is recorded as described above. That is, when a problem occurs in the control of the conveyed object CA of the conveying device 10, in order to eliminate the problem, the image measurement process is first re-executed based on the past image data, and the problem of the image measurement process is detected. If the problem is identified, the setting content (setting value) of detection or judgment can be changed and adjusted accordingly, and the result of adjustment and improvement can be confirmed by re-executing image measurement processing on past image data again. . Then, when an appropriate recovery operation is performed, the commissioning setting is returned to OFF, the image measurement processing is restarted, and the driving of the conveying device 10 is restarted. In addition, the screen of the display device returns to the display screen of the operation mode.

In the present embodiment described above, in addition to the various effects described above, the camera device 130CM continuously captures images at a predetermined capturing interval, and performs image measurement processing on the image data in the measurement area ME, so that any In the captured image, the conveyed objects CA arranged in the measurement area ME are detected and judged, so that it is not necessary to generate a trigger signal for detecting the position of each conveyed object as in the prior art, wherein the conveying direction F of the above-mentioned measurement area ME is The upper range LD is set in advance so as to always include all the conveyed objects CA passing through the conveyance path 121 based on the relationship between the conveyance speed Vs of the conveyed objects and the imaging interval Ts. In addition, by judging the occupancy range of the conveyance CA included in the image, that is, the continuous occupancy range 121CT based on the unit occupancy range 121U, it is possible to reliably extract information on the overlapping state of the conveyance object CA or its probability. Therefore, even if high-speed conveyance or high-density conveyance of the conveyed object is performed, inappropriate supply to the supply destination of the conveyed object CA can be prevented, and the supply can be efficiently performed. In addition, since it is only necessary to detect the continuous occupation range of the conveyed objects CA on the conveyance path 121 and compare it with the unit occupation range, the determination of the overlapping state of the conveyed objects CA can be performed at high speed and with high accuracy. or its probabilistic image measurement process.

In this embodiment, the light-transmitting area 121c shown in FIG. 6 is provided in the conveyance surface 121b which comprises the conveyance path 121. As shown in FIG. The light-transmitting region 121c is constituted by a through hole or a gap G which penetrates through the conveyance surface 121b and is opened on the back side. The back side lighting device 140BL faces the back side of the through hole or the gap G. The through holes or gaps and the backside lighting device 140BL constitute the above-described backside lighting unit. In addition, as the rear side lighting unit, it is only necessary that there is transmitted light that passes through the light-transmitting area 121c and is directed toward the imaging unit. Even if it is not a dedicated lighting device as in the illustrated example, direct or indirect lighting is ensured through indoor lighting or the like. of ambient lighting.

In the illustrated example, the rear side lighting unit is constituted by the above-mentioned through holes or gaps G, but a light-transmitting material such as glass, quartz, sapphire, acrylic resin, etc. may be arranged along the conveying surface 121b, so that the conveying surface 121b can be arranged in a The backside lighting unit is formed on the same plane as the surface 121b. In this way, a step portion is not formed by the through-hole 121d on the conveyance surface 121a, so that the conveyance of the conveyed object CA is not hindered. In addition, as shown in FIG. 6( a ) and ( b ), the above-mentioned air jet ports OP and SP are provided with chamfered or rounded deformed corner portions OPa, SPa, therefore, it is possible to prevent the conveyed object CA from being stuck on the opening edges of the air ejection ports OP and SP and staying or having a disordered posture.

Although the transmitted light of the back side illumination device 140BL is emitted from the light-transmitting area 121c toward the camera device 130CM (CM1, CM2), the range of the light-transmitting area 121c is limited. When conveying the object CA, ambient lighting (sunlight, indoor lighting in a factory, etc.) behind the camera device 130CM causes the conveying surfaces 121a and 121b and the surface morphology of the conveying object CA to appear in the captured image. In this case, a front side lighting device which illuminates the conveyance path 121 and the conveyed object CA from the back of the camera device 130CM may be provided. In the case where a sufficient lighting effect can be obtained through ambient lighting as described above, the front side lighting device may not be particularly provided. The front side lighting device may be configured to illuminate from various directions.

In addition, the conveyance control system and conveyance apparatus of this invention are not limited only to the above-mentioned example of illustration, Of course, various changes can be added in the range which does not deviate from the meaning of this invention. For example, in the above-described embodiment, the occupied area of the conveyed object CA is detected through the processing of the image portion of the light-transmitting area 121c obtained by backside illumination (transmitted light), but the occupied area of the conveyed object CA may be detected by normal frontside illumination (reflected light). ) to detect the occupied area of the conveyed object by processing the image obtained.

In addition, in the above-mentioned embodiment, the length in the conveyance direction F of the continuous occupancy area 121CT is compared with the length in the conveyance direction F of the unit occupancy area 121U to determine inappropriateness. However, in the present invention, the continuous The width of the occupation area 121CT is compared with the width of the unit occupation area 121U, or the area of the continuous occupation area 121CT may be compared with the area of the unit occupation area 121U.

Furthermore, in the above-described embodiment, as the basic configuration of the inspection processing unit DTU, imaging is performed at a predetermined time interval Ts regardless of the arrival time of the conveyed object CA, but a trigger based on a signal that detects the arrival of the conveyed object CA may be used. The signal causes the camera device 130CM ( CM1 , CM2 ) to operate to capture an image.

In addition, in the above-described embodiment, when determining the size of the continuous occupancy range 121CT with the unit occupancy range 121U as a reference, the length Lct in the conveyance direction F is compared with the lengths L and Ls in the same conveyance direction F. However, the overlapping state and the close contact state of the conveyed objects CA may occur not only in the length of the conveying direction F of the occupied range, but also in the width direction. Therefore, the width of each range may be compared as the object of comparison, and the length and the Both the widths, or the area itself of each range, are compared.

10: Conveying device 11: Feeder 110: Conveyor 111: Conveyor Road 12: Linear feeder 120: Conveyor 121: Conveyor Road 121a, 121b: conveying surface 121c: Translucent area 121e: End (of conveying path) 121g～121j: Translucent area 122: Recycling Road 122a: Receive face 122b: peripheral part 122c: Confluence Department 121CT: Continuous occupation range 121U: Unit occupied range L: the length of the conveyed object (unit occupied range) Ls: Length in the conveying direction of the detection area Lct: The length in the conveying direction of the continuous occupied area W: the width of the conveyed object 130CM (CM1, CM2): camera device 140BL: Back Side Lighting Unit OP: Air port (for overlapping release) SP: Air port (for supply stop) CA, CA1～CA3: conveyed object CL11, CL12: Controller DTU: Check Processing Unit DP1, DP2: Display device GP1, GP2: Image processing device GM1, GM2: Image processing memory GPX: Capture images GPY: Image area MPU: arithmetic processing unit MM: main storage device ME: Measurement area SP1, SP2: Operation input device RAM: memory for arithmetic processing 20: Inspection device (supplied to destination) 20a: Support part 20a1: Upper board 20a2: Window 20a3: Lower Board 21: Indexing table 21a: Receiving Department 21d: Storage Department 21f: Translucent area

FIG. 1 is a plan view of an embodiment of a conveying device (vibration-type conveying device) provided with a conveying control system according to the present invention. FIG. 2 is a front view of this embodiment. FIG. 3 is a perspective view of this embodiment. FIG. 4( a ) is an enlarged perspective view showing the distal end portion of the conveying path and its vicinity according to the present embodiment, and (b) is an enlarged perspective view showing the distal end portion of the conveying path further enlarged and illustrated. (a) is a side view of the terminal part of the conveyance path of this embodiment, (b) is the enlarged side view which enlarged and illustrated the area B in this side view (a). Fig. 6(a) is a plan view showing the structure of the end portion of the conveying path and the receiving portion of the indexing table of the inspection device of the supply destination according to this embodiment, and (b) is the end portion of the conveying path and the supply destination. Longitudinal sectional view of the structure of the receiving part of the indexing table of the ground inspection device. (a) of FIG. 7 is an explanatory diagram showing the state of the first example when the end portion of the conveying path and the receiving portion of the indexing table of the inspection device of the supply destination of the present embodiment correspond to individual conveyed objects , (b) are explanatory diagrams showing the state of the first embodiment when it corresponds to the conveyed objects in the overlapping state. FIG. 8( a ) is an explanatory diagram showing the state of the second example when the end portion of the conveying path and the receiving portion of the indexing table of the inspection device of the supply destination of the present embodiment correspond to individual conveyed objects , (b) are explanatory diagrams showing the state of the second embodiment when it corresponds to the conveyed objects in the overlapping state. (a) to (e) of FIG. 9 are explanatory diagrams showing the conveyance state and the processing method of the superimposed conveyed objects in the receiving part of the index table of the inspection apparatus of the supply destination and the end part of the conveying path according to the present embodiment. . FIG. 10 is a schematic configuration block diagram showing the overall configuration of the present embodiment. FIG. 11 is a schematic flowchart showing a schematic control procedure of the entire operation program of the present embodiment.

20a: Support part

20a1: Upper board

20a2: Window

20a3: Lower Board

21: Indexing table

21a: Receiving Department

21d: Storage Department

21f: Translucent area

21fy: Image portion corresponding to the light-transmitting area portion 21f

121a, 121b: conveying surface

121c: Translucent area

121g, 121h, 121i: light transmission area

121gv, 121gy, 121gz: Image portion corresponding to the light-transmitting area portion 121g

121hy, 121y: Image portions corresponding to the light-transmitting regions 121h, 121i

Bla: illuminating light

CA0, CA1, CA2: conveyed material

G: Gap

LD: the range in the conveying direction F of the measuring area ME

Ls: detection area

ME: Measurement area

OP: Air port (for overlapping release)

OPa: Deformation corner of air port (for overlapping release) OP

SP: Air port (for supply stop)

SPa: Deformation corner of air outlet (for supply stop) SP

Claims (17)

A conveying control system, characterized in that it has: The image acquisition unit (MPU, DTU, RAM) repeatedly acquires the image of the measurement area (ME) on the conveying path (121) of the conveying object (CA) through the photographing of the photographing unit (130CM); The conveyed object occupation range identification unit (MPU, RAM) detects the continuous occupation range (121CT) in the measurement area (ME), and uses the unit occupation range (121U) equivalent to one conveyed object (CA) as a reference Judging the size of the continuous occupation range (121CT), the continuous occupation range (121CT) refers to the range in which the occupation areas of the conveyed objects (CA) on the conveying path (121) are connected together, or the occupation A range in which areas are continuous at intervals less than a specified value; and The conveyed object control unit (OP), when the continuous occupation range (121CT) satisfies the condition of improper judgment based on the unit occupation range (121U), the conveyed object control unit (OP) is arranged on the The conveyance state of at least one of the conveyed objects (CA) within the continuous occupation range (121CT) is controlled. The conveyance control system of claim 1, wherein, The occupancy range of the conveyed object occupied range discrimination unit (MPU, RAM) when viewed from a specific direction in which two or more of the conveyed objects (CA) are more likely to overlap on the conveying path (121) than other orientations make a judgment. The conveyance control system of claim 2, wherein, The shooting direction of the image acquisition unit (MPU, DTU, RAM) is the specific direction. The conveyance control system of any one of claims 1 to 3, wherein, The conveyed object control unit (OP) is located in the rear of the conveying direction for the unit occupation range ( 121U ) compared to when the unit occupation range ( 121U) is assumed to be in the portion of the continuous occupation range ( 121CT ) which is located in front of the conveying direction part of the force applied to the exclusion. The conveyance control system of any one of claims 1 to 3, wherein, The measurement area (ME) is set at the end portion (121e) of the conveyance path (121). The conveyance control system of claim 5, wherein, The image acquisition unit (MPU, DTU, RAM) also has a conveyed object acceptance detection unit (MPU, RAM), and the conveyed object acceptance detection unit (MPU, RAM) acquires the image captured by the shooting unit (130CM). An image obtained including the area of the measurement area (ME) and the receiving portion (21a) of the supply destination (20) of the conveyed object (CA) from the distal end portion (121e), and the The image is processed to detect whether the receiving unit (21a) can receive the conveyed object (CA). The conveyance control system of any one of claims 1 to 3, wherein, The conveyed object occupied area discrimination unit (MPU, RAM) has a detection area (Ls) in the measurement area (ME), and the detection area (Ls) is fixed along the conveyance direction (F) and is set to satisfy the improper The continuous occupancy range (121CT) of the judged condition must occupy the detection area (Ls). The conveyance control system of any one of claims 1 to 3, wherein, The image acquisition unit (MPU, DTU, RAM) continuously shoots at a predetermined shooting interval (Ts) through the shooting unit (130CM), and, The measurement area (ME) is preliminarily set according to the relationship between the conveyance speed (Vs) of the conveyed object (CA) and the shooting interval (Ts) so as to always include all the conveyances passing through the conveyance path (121). Scope of Matter (CA). The conveyance control system of claim 8, wherein, The continuous occupied range (121CT) that satisfies the condition of improper judgment must be occupied and a fixed detection area (Ls) along the conveying direction (F) is set in the measurement area (ME); The shooting interval (Ts) is set according to the conveying speed (Vs) so that all the continuous occupied ranges (121CT) that satisfy the condition of improper judgment will be captured when occupying the detection area (Ls). . The conveying control system according to any one of claims 1 to 3, further comprising: a light-transmitting area (121c) formed on the conveying surface (121a, 121b) of the conveying path (121) within the measuring area (ME); and a back side lighting unit (140BL), which irradiates light from the back side of the conveying surfaces (121a, 121b) to the photographing unit (130CM) side through the light-transmitting area (121c); The conveyed object occupied area discrimination unit (MPU, RAM) uses the image data in the measurement area (ME) that represents the light-transmitting area (121c) covered by the conveyed object (CA). The size of the continuous occupied area (121CT) in the measurement area (ME) is detected by the information of the range of the shaded portion or the non-shaded portion. The conveyance control system of claim 10, wherein, The light-transmitting area ( 121 c ) is formed in a slit shape having a shape longer than the length of the conveyed object (CA) in the conveying direction (F). The conveyance control system of claim 10, wherein, The light-transmitting area ( 121 c ) is composed of a group of a plurality of light-transmitting area portions ( 121 g to 121 i ) arranged in the measurement area (ME). The conveyance control system of claim 12, wherein, The plurality of light-transmitting region portions (121g to 121i) of the light-transmitting region (121c) include: a first light-transmitting region portion (121h) formed so as to be included in the length range of the conveying direction of the unit occupation range and the second light-transmitting area portion (121i), and the first light-transmitting area portion (121h) and the second light-transmitting area portion (121i) when the unit occupied area (121U) is blocked. The third light-transmitting area (121g) of the shielded part. The conveyance control system of any one of claims 1 to 3, wherein, The conveying path (121) conveys the conveying object (CA) by vibrating in a reciprocating manner along the conveying direction (F) of the conveying object (CA); The shooting unit (130CM) is stationary; Correcting the position of the measurement area (ME) in the captured image (GPX) to eliminate the relative position in the captured image (GPX) caused by the vibration of the conveying path (121) at the time of capturing. The position of the conveying path (121) is changed. The conveyance control system of claim 14, wherein, The conveyed object occupied range identification unit (MPU, RAM) detects the position of a specific part (121y) on the conveying path (121) captured in the captured image (GPX) through image measurement processing, and determines the position according to the This position corrects the position of the measurement area (ME). A conveying device, characterized in that it has: The delivery control system (CM1, CM2, DTU, DP1, DP2, SP1, SP2) of any one of claims 1 to 3; and A conveyance mechanism (12, CL12) provided with the conveyance path (121). The conveying device of claim 16, wherein: The conveyance mechanism (12, CL12) includes a vibration excitation unit (125) that vibrates the conveyance path (121), and a vibration excitation control unit (CL12) that controls a driving method of the vibration excitation unit (125).

Images