TWI793299B - Workpiece counting control system, parts feeder - Google Patents

Abstract

[Problem] To provide a workpiece counting control system capable of counting the number of conveyed workpieces based on image data without using a trigger sensor. [Solution] It is equipped with: an image storage unit (S21) for storing the image data captured by the imaging means (S) which performs continuous imaging of the workpiece (W) at a constant trigger interval (S21), and setting The search area setting part (S22) of the search area (SA) of the image data, and the workpiece ( The searching part (S23) that searches for the characteristic point of W); And the counting part that counts the workpiece based on the change of the coordinate value of the characteristic point on the conveying direction coordinate obtained based on the search result of the searching part (S23) (S24), based on the trigger interval of the imaging means (S1), the conveying speed of the workpiece (W), and the number of times of imaging of the imaging means (S1) for the same workpiece (W) in the search area (SA), it is used to specify the output The length of the moving direction (H) of the feature point is used to set the length (Ls) of the search area (SA).

Description

Workpiece counting control system, parts feeder

The present invention relates to a workpiece counting control system and a parts feeder applicable to a supply device that conveys workpieces in a specific direction and supplies them to a supply destination.

In a parts feeder (supply device) that can feed workpieces that are objects to be conveyed in a single row on a specific conveyance path while aligning their postures or orientations with each other, and supply them to a specific supply destination. There are various means of counting the number of conveyed workpieces.

For example, it is well known that a trigger sensor (transmissive optical fiber sensor) is installed on the conveyance path, and workpieces are counted by the ON and OFF signals of the trigger sensor. That is, at a specific position across the conveying path, the trigger sensor for light projection and the trigger sensor for light reception are arranged to face each other, and the projection caused by these trigger sensors , The receiving light is set at the detection line, when the workpiece passes (crosses) the detection line, it becomes a "shading state", and the trigger sensor sends an OFF signal. On the other hand, when the workpiece does not pass through the detection line In the case of the measuring line, it becomes the "light-through state", and the trigger sensor sends an ON signal. Afterwards, by switching the signal from the trigger sensor from the ON signal to the OFF signal The number is used as "workpiece counting" to count the number of workpieces conveyed. This technology is well known from the prior art.

[Prior Art Literature] [Patent Document]

[Patent Document 1] Japanese Patent No. 4243471

However, if it is such a configuration, it is necessary to trigger the sensor. Furthermore, when a plurality of workpieces pass the detection line in a state where there is no gap in the conveying direction, here During the passage of these multiple workpieces, since the signal signal from the trigger sensor is kept as an OFF signal, there will be a difference between the number of workpieces counted by the trigger sensor and the actual workpiece. The number of transfers did not match with each other.

Therefore, in order to positively form the gap between the workpieces arranged side by side in the conveying direction on the conveying path, it is considered to form a downwardly inclined inclined surface on the conveying path and set a detection device at the inclined surface. The composition of the line, or the small hole for suction is formed at a specific position on the upstream side of the conveying direction compared with the detection line, and the workpiece that reaches the forming place of the small hole is attracted to make it temporarily become Composition of the transport stop state.

However, the conveying surface that forms a downhill slope and the surface that forms a small hole Processing and installation of the suction machine are cumbersome and expensive, and depending on the processing accuracy of the inclined surface or small hole and the valve response of the suction machine, the desired purpose may not be achieved. That is, it is impossible to form a gap between the workpieces, which leads to a decrease in the counting accuracy by the detection process of the trigger sensor.

The present invention has been made focusing on such a problem, and its main purpose is to provide a workpiece counting control system capable of counting the number of conveyed workpieces based on image processing data without using a trigger sensor.

That is, the present invention is a workpiece counting control system applicable to a supply device capable of moving workpieces on a conveyance path to a specific supply destination while moving them, and is characterized in that it is equipped with : Imaging means for continuously photographing workpieces that move in a row on the conveyance path at specific intervals of imaging time; and image processing device for storing the image data captured by the imaging means The image storage unit, as the image processing device, is suitable for those having the following configuration: the search area setting unit can use the image data stored in the image storage unit to determine the relationship between the conveying speed of the workpiece and the time interval of shooting , and the search area is set in such a way that the workpiece is included; and the search section is for each of the image data for the detection position on the coordinates of the conveying direction having the axis along the conveying direction in the search area Search for the feature points of workpieces that vary among them; and the counting department, It is based on the change of the coordinate value of the characteristic point on the coordinates of the conveying direction obtained from the search result by the search unit, and it is counted as the passage of one workpiece, and the length of the search area along the conveying direction is based on the camera The imaging time interval (trigger interval) of the means, the conveying speed of the workpiece, the number of photographing times of the imaging means for the same workpiece in the search area, and the length of the conveying direction used to specify the feature points are set. Here, examples of workpieces to be conveyed include minute-sized electronic components and the like, but are not particularly limited as long as they can be conveyed by a supply device. In addition, the so-called "set the search area so that the workpiece is included according to the relationship between the workpiece conveying speed and the imaging time interval" means "according to the relationship between the workpiece conveying speed and the imaging time interval, it is possible to target One artifact is used to set the search area so that a part or all of the artifact is included."

The inventors of the present invention have found that, according to the workpiece counting control system of the present invention, the image data captured by imaging means for the workpieces being conveyed in a row on the conveyance path , stored in the image storage unit, and use the saved image data to search for the feature points of the workpiece in the search area set by the search area setting unit, and can be based on the search from the search unit As a result, the change of the value (coordinate value) of the characteristic point on the coordinate of the conveying direction is obtained to accurately count the workpieces. In particular, based on "imaging time interval (trigger interval) of imaging means", "workpiece transport speed", "number of times of imaging means for the same workpiece in the search area" and "transportation for specific feature points" The length of the direction" or more To set the "length of the search area along the conveying direction" in the four items of the conveying path, it is not necessary to temporarily stop the workpieces being conveyed in a row on the conveying path for workpiece counting processing or The workpiece counting control system of the present invention is an extremely new and useful invention that has not been thought of until now by temporarily accelerating the conveying speed to properly count. In addition, the workpiece counting control system of the present invention is applicable to various supply devices capable of moving workpieces on the conveyance path to a specific supply destination, and is not limited to The constitution in which the workpiece is moved by vibration can also be applied to a supply device in which the workpiece is moved by means other than vibration (for example, means of floating the workpiece by air).

In particular, if the workpiece counting control system of the present invention does not need to trigger the sensor, even if the workpieces are side by side so that there is no gap in the conveying direction, it can accurately count the workpieces. Counting is carried out, and the supply amount of workpieces per unit time increases. In addition, according to the workpiece counting control system of the present invention, it is also possible to accurately count workpieces in a state where there is a gap between workpieces arranged side by side in the conveyance direction.

Furthermore, the workpiece counting control system of the present invention can perform accurate workpiece counting by setting a common search area for one location at each image data, compared to requiring multiple measurement areas for workpiece counting With the configuration, the simplicity of the control is improved, and the time required for the workpiece counting process can be shortened.

In the present invention, "the aforementioned search area along the conveying direction The length of the field", ideally, is the length that satisfies the first condition and the second condition. The first condition is: the length of the workpiece along the conveying direction is taken by the imaging means of the same workpiece in the search area The value after dividing by the number of times of shooting is more than the multiplication value of the shooting time interval (trigger interval) of the imaging means and the workpiece conveying speed. The second condition is: the length of the aforementioned search area along the conveying direction , which is calculated by adding the value of the conveying direction of the specific feature point to the multiplied value of the photographing time interval (trigger interval) of the photographing means, the conveying speed of the workpiece, and the number of photographing times of the photographing means for the same workpiece within the search area. After length, get the value above.

The counting part in the present invention compares the coordinate value of the feature point on the conveying direction coordinate newly detected by the search part with the coordinate value of the feature point at the time of the previous detection, and if there is one that satisfies At the point in time when the specific condition changes, counting is constituted as the passage of one workpiece, and the counting process can be realized with relatively simple control.

When the "length in the conveying direction for specifying the feature point" in the present invention is greater than or equal to the length of the workpiece along the conveying direction, by configuring the search section to be the most downstream within the search area If the feature point on the side or the feature point on the most upstream side in the search area is searched, the correct workpiece counting process can be implemented.

On the other hand, when the "length in the conveying direction for specifying the feature point" in the present invention is less than the length of the workpiece along the conveying direction, by configuring the search unit to The feature points in the area and the presence or absence of feature points can be searched, and the correct workpiece counting process can be implemented.

As a "feature point" in the present invention, "the center of gravity of the workpiece" or any point (including a point and a line) on the workpiece can be mentioned. In addition, in the image storage unit, by setting to store the image data of the same workpiece that has been photographed twice or more, the movement of the workpiece in the search area that changes at each imaging time can be performed. properly mastered. In this case, "the number of times of imaging by the imaging means of the same workpiece within the search area" is set to "an integer greater than or equal to 2".

Also, the component feeding machine of the present invention is characterized in that it is configured to use a workpiece counting control system to perform workpiece counting processing by the workpiece counting control system. According to this kind of parts feeder, the workpiece counting process by the workpiece counting control system is performed by moving the workpieces on the conveyance path to an arbitrary timing point at a specific supply destination. The workpiece counting process can be performed accurately, and the practicality is improved.

According to the present invention, by saving the image data taken by the imaging means, and using the image data to set the search area, the feature point of the workpiece is searched as the value on the conveying direction coordinates, And the process of counting the passage of one workpiece based on the change of the coordinate value of the characteristic point on the conveyance direction coordinate obtained from the search result can provide a method that can not use a trigger sensor. To be conveyed side by side without gaps in the conveying direction (by continuity A workpiece counting control system and a component feeder that accurately count the number of conveyed workpieces and workpieces that are conveyed (intermittently and intermittently conveyed) with gaps between workpieces.

S: workpiece counting control system

S1: camera means

S2: Image processing device

S21: Image preservation department

S22: Search area setting part

S23: Search Department

S24: counting department

SA: search area

Z: Component Feeder (Linear Feeder)

W: Workpiece

Y: Bowl type feeder

Y1: Bowl

Y2: Bowl transport path

Y3: storage department

Z1: supply tank

Z2: Linear transport path

Z2a: start end

SB: air hole

L: Work piece length

v_work＊tr: The movement distance of the workpiece within the trigger interval

H: Transport direction

W1: center of gravity

x_work[t]: the coordinate value of the conveying direction of the center of gravity

Ls: The length of the search area along the conveying direction

SA1: The downstream end of the four corners of the search area

SA2: The upper end of the four corners of the search area

[ Fig. 1 ] is a schematic plan view showing a supply device to which a workpiece counting control device according to one embodiment of the present invention is applied.

[ Fig. 2 ] is a diagram showing an example of image data stored by an image storage unit in this embodiment.

[FIG. 3] is a diagram showing changes of feature points in the search area using the image data in this embodiment.

[FIG. 4] is a graph showing the change of feature points in the search area using more image data than in FIG. 3.

[ Fig. 5 ] is a diagram showing the transfer direction coordinates and the change of the characteristic points on the transfer direction coordinates as a graph in this embodiment.

[ Fig. 6 ] is a diagram showing the change of the conveying direction coordinates and the characteristic points on the conveying direction coordinates as a graph in the first modified example of the present embodiment.

[ Fig. 7 ] is a diagram showing changes of feature points in the second and third modification examples of the present embodiment in correspondence with Fig. 4 .

[ Fig. 8 ] is a diagram showing changes of feature points in the second and third modification examples as a graph.

[Fig. 9] is the characteristic of the 4th and 5th modified examples of this embodiment The changes of the points are shown correspondingly to those shown in Figure 4.

[ Fig. 10 ] is a graph showing changes in feature points in the fourth and fifth modifications.

[ Fig. 11 ] is a diagram showing changes in feature points in the sixth and seventh modification examples as a graph.

[ Fig. 12 ] is a diagram showing conditions related to timing of workpiece counting.

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

The workpiece counting control system S of the present embodiment is applicable to a supply device X capable of continuously conveying workpieces W such as electronic parts or the like on the conveyance path to a specific supply destination while moving them on the conveyance path. By.

The supply device X, for example, as shown in FIG. 1 , is provided with a bowl-type feeder Y having a bowl-type feeder Y formed with a spiral-shaped bowl conveying path Y2 as a conveying path at the inner peripheral surface of the bowl Y1, and having a The linear feeder Z is arranged on the linear conveyance path Z2 at a position contiguous to the terminal end of the bowl conveyance path Y2, and moves the workpiece W in the order of the bowl conveyance path Y2 and the linear conveyance path Z2 while being vibrated. On the one hand, it is transported to a specific supply destination.

The bowl type feeder Y is to place the workpiece W (such as the workpiece W schematically shown in Figure 2) on one side in a spiral conveying path (bowl convey A device that moves one side of the transport path Y2) to a specific transport target (supply target) by vibrating. The bowl-type feeder Y of this embodiment is equipped with a bowl Y1 that conveys the stored workpieces W while aligning them, and a vibration source (not shown) that vibrates at the bowl Y1. By applying a vibration source to vibrate the bowl Y1, the workpiece W accommodated in the bowl Y1 can be moved along the bowl conveyance path Y2.

Bowl Y1 is a bowl-shaped object, and is provided with: a storage part Y3 which is formed on the bottom surface and can store a large number of workpieces W, and is approximately circular in plan view; and a specific part at the peripheral part of the storage part Y3. The spiral bowl conveyance path Y2 (it is also called a track) which slopes upwards is formed as a starting point along an inner peripheral wall. In addition, although the detailed description related to the bowl conveyance path Y2 is abbreviate|omitted in FIG. 1, the generally well-known bowl conveyance path can be applied.

The storage part Y3 has an upward surface set so that the center side becomes higher than the outer side in the radial direction, and is the object W itself to be transported and stored in the storage part Y3 by the vibration of the bowl Y1. The weight is used to move the workpiece W outward in the radial direction. The workpiece W moved radially outward on the upper surface of the storage unit Y3 reaches the starting end of the bowl conveying path Y2, and directly passes the starting end of the bowl conveying path Y2 to move along the bowl conveying path Y2.

The bowl conveyance path Y2 is such that the starting end is continuous with the storage part Y3, and the bowl conveyance surface facing upward is, for example, set as a flat surface inclined downward toward the outside in the radial direction. Furthermore, among the conveying forces received by the workpiece W due to the vibration, the radially outward force, Due to the inclination of the bowl conveying surface, the workpiece W is conveyed toward the downstream side (the terminal end side of the bowl conveying path Y2) while being in contact with the inner peripheral wall of the bowl Y1. In this embodiment, an alignment means (not shown) is provided at a specific place on the bowl conveyance path Y2, and only the workpiece W in a specific posture is conveyed downstream in the conveyance direction H by the alignment means. and return (drop) the workpiece W that is not in a specific posture to the storage unit Y3. With the general configuration described above, the bowl-type feeder Y of this embodiment can transport (supply) the workpieces W arranged in a row to the linear feeder Z.

The linear feeder Z, as shown in FIG. 1 , can be set along the linear feeder Z1 (trough) Z1 (also referred to as a transfer platform or a bucket) to be able to vibrate a long linear strip. The linear conveying path Z2 on the supply trough Z1 serves as a supplier to feed the workpiece W towards the downstream side of the conveying direction H. In the linear feeder Z of this embodiment, the specific configuration of vibrating the supply trough Z1 and transporting the workpiece W on the supply trough Z1 toward the downstream side of the conveying direction H is not particularly limited. The following configurations can be mentioned: that is, a plate spring (a driving spring) that connects the movable part and the fixed part connected to the supply tank Z1 with the vibrating force given from the vibrating source. ) directly or indirectly excites vibrations, whereby the movable part and the fixed part vibrate in opposite directions to each other, and thus the supply tank Z1 connected to the movable part vibrates in the longitudinal direction, and the The workpiece W is conveyed toward the downstream side along the conveyance direction H. As shown in FIG. In addition, in FIG. 1 , fixing tools such as screws for fixing the supply tank Z1 to the movable part are omitted.

The linear conveying path Z2 is to move the starting end and the bowl The end ends of the feeding path Y2 are continuous and extend along the long side direction of the linear feeder Z to form a straight line of concave grooves.

The supply device X of this embodiment is equipped with a posture correcting means for correcting the conveyance posture of the workpiece W being vibratingly conveyed to a specific posture, and a workpiece W that is not in the specific conveyance posture is selected and conveyed from a linear Screening means for exclusion on path Z2.

Next, the function of the supply device X will be described.

A large number of workpieces W supplied to the storage part Y3 of the bowl Y1 constituting the bowl-type feeder Y are vibratingly conveyed on the bowl conveyance path Y2 by the vibration of the bowl Y1. The workpiece W that is vibratingly transported on the bowl conveying path Y2 is passed through a narrow width section and a posture correcting section (both not shown) provided at a specific position on the bowl conveying path Y2, so that the conveying posture is adjusted. Correct and become a fixed posture, and in the state of being arranged in a row, it reaches the terminal end of the bowl conveyance path Y2, and is conveyed to the end end of the bowl conveyance path Y2 without stepwise continuous linear conveyance At the starting end Z2a of the path Z2.

The supply device X vibrates and conveys the workpiece W starting from the terminal end of the bowl conveyance path Y2 to the start end Z2a of the linear conveyance path Z2 along the linear conveyance path Z2. In addition, on the linear conveying path Z2, posture correcting means and screening means are provided, and it is configured such that workpieces W having a conveying posture different from the normal conveying posture are sorted and discharged outside the linear conveying path Z2. , is to make the workpiece W in the normal conveying posture reach the terminal end of the linear conveying path Z2, so that this kind of workpiece W can be supplied from the terminal end of the linear conveying path Z2 to a specific supply destination. marked at.

The workpiece counting control system S of this embodiment to which such a supply device X can be applied includes an imaging means S1 ( camera), and an image processing device S2 for processing the image data captured by the imaging means S1.

The imaging means S1, as shown in FIG. 1, is, for example, capable of imaging from above (directly above) a specific area of the linear conveyance path Z2, and an appropriate one can be applied according to the installation space and specifications ( For example, line cameras or area cameras, etc.). Here, in this embodiment, since the imaging means S1 is arranged at a position where an image can be imaged from above (directly above) a specific area of the linear conveyance path Z2, the "configuration using the workpiece The counting control system is used to perform workpiece counting and processing parts feeding machine", which can be regarded as "linear feeding machine Z". In addition, "the supply device X equipped with the bowl-shaped feeder Y and the linear feeder Z" can also be regarded as the "components feeder" of the present invention.

The image processing device S2 is equipped with an image storage unit S21, a search area setting unit S22, a search unit S23, and a counting unit S24, and the processing of each of these parts is performed by a control unit not shown. for control.

The image storage unit S21, as shown in FIG. 2, is a storage for the image data img captured by the imaging means S1. The image processing device S2 is connected to the imaging device S1 so as to be able to communicate by wire or wirelessly. However, the picture captured by the imaging means S1 The image material img is input to the image processing device S2 and stored in the image storage unit S21. The photographing time interval by the photographing means S1 is constant, and this constant time can be regarded as the trigger interval tr. At the image storage unit S21, as shown in FIG. 2, the image data img captured at each time point is saved as img(t) [t=1,2,3..., t is the number of times of measurement] . Here, when a workpiece W having a length (long side dimension in the illustrated example) L along the conveying direction H is conveyed at a speed (v_work) on the conveying path, the trigger interval tr The moving distance of the workpiece W in the time is v_work*tr. That is, as shown in FIG. 2 , based on the image data img(t)[t=1,2,...] at each shooting time, it is possible to make each workpiece W within the trigger interval tr. The movement of the moving workpiece W with the moving distance v_work*tr has been mastered. In addition, in FIG. 2 , regarding the plurality of workpieces W arranged side by side in the conveying direction H, for the convenience of description, the number "1" is added to the workpiece W at the front end (the most downstream), and the number "1" is added to the workpiece W from the front end. The two or more workpieces W are also assigned numerals in ascending order.

The search area setting unit S22, as shown in FIG. 3 , can use the image data img stored in the image storage unit S21, and according to the conveying speed v_work of the workpiece W and the imaging time interval (trigger interval) of the imaging means S1 )tr to set the search area SA so that the workpiece W is included. The setting process of the search area SA at the search area setting part S22 may be automatically set by inputting each numerical value that becomes a parameter, or may be the numerical value itself directly input by the operator as the search. Area SA is used for setting processing.

The search area SA is the location for each image data img The set measurement area for workpiece detection. In this embodiment, within the search area SA of the image data img(t)[t=1,2,...] at each shooting time, the workpiece W (the same workpiece W) to be searched is absolutely The photographing time interval (trigger interval) of the photographing means S1 is taken in such a way that it is photographed more than n times (n is an integer of 2 or more) and is always photographed at the most downstream side of the search area SA. tr, the conveyance speed v_work of the workpiece W, and the length Ls of the search area SA in the conveyance direction H are set to satisfy the following equations (1), (2), and (3).

L/n≧tr*v_work‧‧‧Formula (1)

Ls≧L+n*tr*v_work‧‧‧Formula (2)

n≧2‧‧‧Formula (3)

Here, L represents the length (work length) of one workpiece along the conveyance direction H, and n represents the number of images taken by the imaging means S1 for one workpiece. In addition, the "work piece length L" in the formula (2) is equivalent to the "length in the conveying direction for specifying the characteristic point" of the present invention. From the above formula, it can be understood that the moving distance of the workpiece W corresponding to the number of times of imaging of one workpiece W is equal to or less than the dimension of the conveying direction H of the workpiece W (which is greater than 0 and is 1 Workpiece size (workpiece length) L or less).

At the search area setting section S22, by setting the search area SA that will all satisfy the formulas (1), (2), and (3), as shown in FIGS. 3 and 4 , the same workpiece W becomes The most downstream side of the area SA is searched for n times of imaging. In particular, in this embodiment, the length Ls of the search area SA in the conveyance direction H is set to a value exceeding the workpiece length L and a value less than twice the workpiece length L. Therefore, in the situation where a plurality of workpieces W are moved side by side in the conveyance direction H, a photographed picture was made. In the image data img, the maximum number of workpieces W imaged so that the entire (full length) is within the search area SA without interruption in the conveyance direction H is "1". In addition, regarding the setting of the search area SA, the length of the search area SA in the direction perpendicular to the conveyance direction H (the direction crossing the conveyance path) is as long as it exceeds the length of the search area SA perpendicular to the conveyance direction H. The value of the length of the workpiece in one direction (in the illustrated example, the short side direction of the workpiece W) is sufficient, and a value exceeding the workpiece length L may also be set.

The search unit S23 is for searching the feature points of the workpiece W within the search area SA. The feature point of the workpiece W is not particularly limited as long as it is any point of the workpiece W, but in this embodiment, the center of gravity W1 of the workpiece W is set as the feature point. In FIG. 3 and FIG. 4 , the center of gravity W1 of the workpiece W is marked with an X mark. The search unit S23 of this embodiment is for detecting the workpiece W from the most upstream side of the search area SA. Specifically, the workpiece W whose entire shape is imaged in the search area SA is used as the search area SA. The object is detected, and the center of gravity W1 of the workpiece W is detected by an appropriate method based on the overall shape of the workpiece W that can be specified from the image data img.

The position of the feature point (center of gravity W1) of the workpiece W to be searched in the search area SA varies for each image data img as shown in FIGS. 3 and 4 , and can be used as The detection position (coordinate value) on the coordinates of the conveying direction having the axis along the conveying direction H in the search area SA is plotted. Due to the search unit S23 of this embodiment that detects the workpiece W from the most downstream side of the search area SA The result of the search, as shown in FIG. 5, can be used as the coordinates of the conveying direction with a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA as the origin (refer to the figure ( a)) It can be grasped by a graph (refer to the figure (b)) that depicts the change (transition) of the feature point. In the figure (b), it is x_work[t] [t=1,2,...t is the number of times of measurement] for the conveying direction coordinate value x_work[t] of the center of gravity W1 which is the feature point of the workpiece W as the vertical axis. A graph with the horizontal axis set to the number of measurements t is shown. In this way, the search unit S23 starts from the most downstream of the transport direction H for the common search area SA set for the image data img(t)[t=1,2,...] at each shooting time. Turn sideways to identify the workpiece to be searched, and search for the feature point (center of gravity W1) of the workpiece W.

The counting unit S24 counts the workpieces W based on the change of the value (coordinate value) of the characteristic point on the conveyance direction coordinate obtained from the search result by the search unit S23. If the coordinate value of the conveying direction of the center of gravity W1, which is the feature point of the workpiece W, is set to x_work[t][t=1,2,...t is the number of measurements], then the center of gravity W1 of the workpiece W and the distance between the search target workpiece The relationship becomes as follows. Specifically, when the same workpiece W is detected (when the workpieces to be searched are the same), the relationship that satisfies the following condition 1, that is, the relationship among the four corners of the search area SA Among the coordinates of the conveying direction at the point where one corner of the downstream end SA1 coincides with each other as the origin, the newly detected coordinate value x_work[t+1] of the conveying direction of the center of gravity W1 will be the closest (immediately before) The relationship between the detected value of the center of gravity W1 and the coordinate value x_work[t] of the conveying direction is smaller.

x_work[t+1]<x_work[t]‧‧‧Condition 1

On the other hand, when a new workpiece W is detected (when the workpiece to be searched is changed), it satisfies the following condition 2, that is, it becomes the four corners of the search area SA Among the coordinates of the conveying direction at which one corner of the downstream end SA1 coincides with each other as the origin, the coordinate value x_work[t+1] of the conveying direction of the newly detected center of gravity W1 will be the closest (immediately after The relationship between the detection value x_work[t] of the center of gravity W1 and the coordinate value x_work[t] of the conveying direction is greater.

x_work[t+1]>x_work[t]‧‧‧Condition 2

The workpiece count control system S of this embodiment uses the search unit S23 to measure (search) the coordinate value x_work[t] of the conveying direction of the center of gravity W1 every time, and when there is a state that satisfies the condition 1, it becomes At the point of time when the change of the condition 2 is satisfied, it is counted by the counting part S24 as this is the passage of one workpiece. That is, when the transfer direction coordinate value of the feature point obtained from the search result by the search section S23 (specifically, at one corner of the downstream end SA1 among the four corners of the search area SA The point that coincides with each other is the value of the characteristic point in the conveying direction coordinates of the origin) is the time for changing to a value greater than the value of the closest characteristic point (the closest characteristic point at the time of measurement, the same applies hereinafter) At the point, it is judged as the passage of one workpiece, and counted. If the graph shown in FIG. 5(b) is used for illustration, the counting unit S24 is conveyed at a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA as the origin. At the point in time when the value of the characteristic point in the direction coordinates (the conveying direction coordinate value x_work[t] of the center of gravity W1) changes to a value greater than the value of the closest characteristic point, it is judged that one workpiece has passed, and for counting.

The technical processing of workpieces by applying the supply device X having the workpiece counting control system S having such a configuration can be carried out according to the following steps: the workpieces being conveyed in a state of one row and one layer on the conveying path L2 The image data img photographed by the imaging means S1 for the workpiece W is stored in the image data storage step in the image storage unit S21 at each photographing moment; and for the image data storage steps set by the search area setting unit S22 A workpiece feature point search step for searching for feature points of the workpiece W in the area SA; and a change in the value (coordinate value) of the feature point on the coordinates of the conveying direction obtained from the search result by the search section S23 , to the workpiece counting step for counting the workpiece W.

In this way, according to the workpiece counting control system S of this embodiment, even in the state where the workpieces W are arranged side by side with no gap in the conveying direction H, it is possible to accurately count the workpieces W. Counting makes it possible to continuously convey a large number of workpieces W in a state where there is no gap in the conveying direction H, thereby contributing to the improvement of supply efficiency. Furthermore, according to the workpiece counting control system S of this embodiment, the trigger sensor is not required, and compared with the configuration that must have the trigger sensor, it is not necessary to separate the workpieces in the conveying direction H. Form a downwardly inclined conveying surface or install a suction machine by forming a gap between them, and there will be no "reduction in the processing accuracy of the inclined surface or the small hole for suction and the valve response of the suction machine, and the This is advantageous in that it is impossible to form a gap between the workpieces, and as a result, the counting accuracy decreases due to the detection process by the trigger sensor". Furthermore, if according to this embodiment The workpiece counting control system S can accurately count the workpieces W in a state where there is a gap between the workpieces W arranged side by side in the conveyance direction H by the above-mentioned processing.

Furthermore, the workpiece counting control system S of this embodiment can perform accurate workpiece counting by setting a common search area SA (measurement area) for one location at each image data img. Counting requires the installation of a plurality of measuring areas, which can be controlled simply and shorten the time required for the workpiece counting process.

In the workpiece counting control system S of this embodiment, when the workpiece W is not detected within the search area SA (when the feature point of the workpiece W is not detected within the search area SA), By setting x_work[t]=0 as the coordinate value of the conveying direction of the workpiece, it is possible to accurately separate the leading workpiece W and the conveyed workpiece W with a gap in the conveying direction H. detected.

In addition, this invention is not limited to the above-mentioned embodiment. For example, in the above-mentioned embodiment, although the search unit S23 was exemplified for the person who detects the workpiece W from the most downstream side of the search area SA, the search unit S23 may also be a search unit for the search area SA. SA is the person who inspects the workpiece W from the most upstream side.

The search result by the search unit S23 of this modification (first modification) that detects the workpiece W from the most upstream side of the search area SA is as shown in FIG. 6 and can be used as the current search The point where one of the four corners of the area SA coincides with one of the corners of the upstream end SA2 Grasp the graph (see (b)) that plots the change (transition) of the characteristic point on the conveying direction coordinate (see (a) of the figure) as the origin. In the figure (b), it is x_work[t] [t=1,2,...t is the number of times of measurement] for the conveying direction coordinate value x_work[t] of the center of gravity W1 which is the feature point of the workpiece W as the vertical axis. A graph with the horizontal axis set to the number of measurements t is shown. In this way, the search unit S23 starts from the most upstream of the transport direction H for the common search area SA set for the image data img(t)[t=1,2,...] at each shooting time. Turn sideways to identify the workpiece to be searched, and search for the feature point (center of gravity W1) of the workpiece W.

Afterwards, if the coordinate value of the conveying direction of the center of gravity W1, which is the feature point of the workpiece W, is set to x_work[t][t=1,2,...t is the number of measurements], then the center of gravity W1 of the workpiece W and the search object The relationship between the workpieces is as follows. Specifically, when the same workpiece W is detected (when the workpieces to be searched are the same), the above-mentioned condition 2 is satisfied, that is, it is in the four corners of the search area SA. Among the coordinates of the conveying direction at which one corner of the upstream end SA2 coincides with each other as the origin, the newly detected coordinate value x_work[t+1] of the conveying direction of the center of gravity W1 will be the closest (immediately before) The relationship between the detected value of the center of gravity W1 and the coordinate value x_work[t] of the conveying direction is greater.

On the other hand, when a new workpiece W is detected (when the workpiece to be searched is changed), it satisfies the following condition 1, that is, it becomes the four corners of the search area SA. The coordinate value x_work of the newly detected center of gravity W1 among the coordinates of the conveying direction at which one corner of the upstream end SA2 coincides with each other is the origin of the conveying direction coordinates [t+1] will be smaller than the conveying direction coordinate value x_work[t] of the center of gravity W1 which is the closest (immediately before) detected value.

The workpiece counting control system S of this modified example uses the search unit S23 to measure (search) each time x_work[t], and when there is a change from the state satisfying the condition 2 to satisfying the condition 1 The point is counted by the counting part S24 as this is the passage of one workpiece. That is, when the conveying direction coordinate value of the feature point obtained from the search result by the search section S23 (specifically, one corner of the upstream end SA2 among the four corners of the search area SA Points that coincide with each other as the value of the characteristic point in the conveying direction coordinates of the origin) change to a smaller value than the value of the closest characteristic point, it is judged as the passage of one workpiece and counted . If the graph shown in FIG. 6(b) is used for illustration, the counting unit S24 is based on a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA as the origin. At the point in time when the value of the characteristic point in the coordinates of the conveying direction changes to a value smaller than the value of the nearest characteristic point, it is judged as the passing of one workpiece and counted, and the same as the workpiece of the above-mentioned embodiment The counting control system S has the same function and effect, and can accurately count the workpieces W.

In this way, even if the workpiece counting process is performed based on the same image data, the change (transition) of the feature point of the workpiece to be searched is based on the difference between the downstream end SA1 and the four corners of the search area SA. A point where one corner coincides with each other is grasped as the detection position in the conveying direction coordinates of the origin, or a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA is used as the origin. point The detection position in the conveying direction coordinates is grasped, and the conditions for counting are different, but the workpiece W can be counted correctly no matter what the situation is.

Also, in the present invention, the length Ls of the search area SA along the conveyance direction H can be determined based on "the imaging time interval (trigger interval) of the imaging means S1", "the conveying speed of the workpiece W", and "in the search area." The "number of times of imaging by the imaging means S1 for the same workpiece W" and "the length in the conveying direction H for specifying the feature point" in SA are set to arbitrary values. In the above-mentioned embodiment, the configuration where the length Ls of the search area SA along the conveyance direction H is set to "a value exceeding the workpiece length L and less than twice the workpiece length L" was exemplified. However, it is also possible to set the length Ls of the search area SA along the conveyance direction H to "a value exceeding twice the length L of the workpiece".

For example, when the length Ls of the search area SA along the conveying direction H is set to "a value exceeding 2 times the workpiece length L and less than 3 times the workpiece length L", as shown in FIG. 7 In general, in the image data img in which a plurality of workpieces W are moved side by side in the conveying direction H by the imaging means S1, the search area SA is displayed without interruption in the conveying direction H. The maximum number of workpieces W to be imaged as a whole (full length) is "2".

Even in the case where the length Ls of the search area SA along the conveyance direction H is set to "a value exceeding twice the length L of the workpiece", it is also the same by passing through the above-mentioned embodiment and the first The processing program of the modified example can accurately count workpieces. That is, As shown in FIG. 7, when two or more feature points of the workpiece W are detected in the search area SA, the search unit S23 will have the most downstream feature among these feature points. The point workpiece W or one of the workpieces W having the most upstream feature points is specified as the search target workpiece, and the feature points of the specified search target workpiece are searched. And, the counting part S24 counts the workpiece W by the change of the value (coordinate value) of the characteristic point on the conveyance direction coordinate obtained from the search result by the search part S23. , it is possible to accurately count the workpiece W.

In Fig. 7, when the length Ls of the search area SA along the conveying direction H is set to "a value exceeding twice the workpiece length L and less than three times the workpiece length L", set The workpiece W having the feature point on the most downstream side is specified as the search target workpiece, and the change of the feature point of the specified search target workpiece is indicated by a solid line. Also in this modified example (second modified example), similarly, the center of gravity W1 of the workpiece W that can be identified by imaging the entire workpiece W within the search area SA is used as a feature point. The search result by the search section S23 that detects the workpiece W from the most downstream side of the search area SA can be used as one of the four corners of the search area SA as shown in FIG. The point that coincides with one corner of the downstream end SA1 is used as a graph in which the change (transition) of the characteristic point is drawn on the conveying direction coordinates of the origin, and grasped. Afterwards, the conveying direction coordinate value x_work[t] of the feature point is measured (searched) every time by the search unit S23, and when there is a change from the state satisfying the above-mentioned condition 1 to satisfying the condition 2 point At this point, it is counted by the counting part S24 as this is the passage of one workpiece. That is, the value of the feature point in the coordinates of the conveying direction whose origin is the point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA is changed to be smaller than that of the closest feature point. At the point in time when the value is greater than the value, it is judged as the passage of one workpiece and counted. If the graph shown in FIG. 8(a) is used for illustration, the counting unit S24 is conveyed at a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA as the origin. At the point in time when the value of the characteristic point in the direction coordinates changes to a value greater than the value of the closest characteristic point, it is judged as the passage of one workpiece and counted.

In Fig. 7, when the length Ls of the search area SA along the conveying direction H is set to "a value exceeding twice the workpiece length L and less than three times the workpiece length L", set The workpiece W having the feature point on the most upstream side is specified as the search target workpiece, and the change of the feature point of the specified search target workpiece is marked with a two-dot chain line. Also in this modified example (third modified example), similarly, the center of gravity W1 of the workpiece W that can be identified by imaging the entire workpiece W within the search area SA is used as a feature point. The search result by the search section S23 that detects the workpiece W from the most upstream side of the search area SA can be used as one of the four corners of the search area SA as shown in FIG. 8(b). The point that coincides with one corner of the upstream end SA2 is used as a graph in which the change (transition) of the characteristic point is drawn on the conveying direction coordinates of the origin, and grasped. Afterwards, the conveying direction coordinate value x_work[t] of the feature point is measured (searched) by the search unit S23 each time, and when there is At the point in time when the condition 1 is satisfied from the state satisfying the above-mentioned condition 2, it is counted by the counting unit S24 as the passage of one workpiece. That is, the value of the feature point in the coordinates of the conveyance direction whose origin is the point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA changes by a value that is smaller than that of the closest feature point. At the point in time when the value is smaller than the value, it is judged as the passing of one workpiece and counted. If the graph shown in FIG. 8(b) is used for illustration, the counting unit S24 is used to transfer the point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA as the origin. At the point in time when the value of the characteristic point in the direction coordinates changes to a smaller value than the value of the closest characteristic point, it is judged as the passage of one workpiece and counted.

As shown in Figures 7 and 8, if the length Ls of the search area SA along the conveying direction H is set to "a value exceeding twice the length L of the workpiece", the timing of counting the workpiece W is performed In the case of performing workpiece detection from the most downstream side with respect to the search area SA (most downstream side workpiece detection) and the case of performing workpiece detection from the most upstream side with respect to the search area SA (most upstream side workpiece detection), systems may be offset from each other. This shift is caused by "whether to search for the change of the coordinate value of the feature point on the most downstream side among the feature points existing in the search area SA or to search for the feature point on the most upstream side The difference caused by "searching for the coordinate value" may be caused by "taking the change (transition) of the feature point as a point that is consistent with one corner of the downstream end SA1 among the four corners of the search area SA as The detection position in the conveying direction coordinates of the origin should be grasped or should be used as the four in the search area SA One of the corners at the upstream end SA2 of the corners coincides with each other as the detection position in the coordinates of the conveying direction of the origin to grasp the "difference" caused by the "offset", the workpiece at the last end When W passes through the most downstream end of the search area SA, the counted number of workpieces becomes the same regardless of whether it is the most downstream workpiece detection or the most upstream workpiece detection, and accurate counting can be performed.

In addition, when performing workpiece detection from the most downstream side with respect to the search area SA (most downstream side workpiece detection), it is also possible to use the change (transition) of the feature point as the four corners of the search area SA. The point at which one corner of the upstream end SA2 coincides with each other is grasped as the detection position in the conveying direction coordinates of the origin. In this case, it is only necessary to search for the conveying direction coordinate value x_work of the feature point by the search unit S23 [t] Each time the measurement (search) is performed, and at the point in time when there is a change from the state satisfying the above-mentioned condition 2 to satisfying the condition 1, this system is regarded as the passage of one workpiece, and by counting The part S24 can be used for counting.

Similarly, when performing workpiece detection from the most upstream side with respect to the search area SA (most upstream side workpiece detection), it is also possible to use the change (transition) of the feature point as the four corners of the search area SA. The point at which one corner of the downstream end SA1 of the corner coincides with each other is grasped as the detection position in the conveying direction coordinates of the origin. x_work[t] is measured (searched) every time, and when there is a change from the state satisfying the above-mentioned condition 1 to satisfying the condition 2, this system is regarded as the passage of one work, and by The counting unit S24 can perform counting.

In addition, in the present invention, it is also possible to set the length Ls of the search area SA along the conveyance direction H to "a value less than the workpiece length L". In this modified example (fourth modified example), it is not suitable to use the center of gravity W1 of the workpiece W that can be specified by imaging the entire workpiece W in the search area SA as a feature point. For example, the system A part of the workpiece W that can be identified from other parts by its color, shape, specific location, etc. can be used as a feature point. In this modified example, only the downstream end portion W2 of the workpiece W is white and most of the rest is black, and the downstream end portion W2 thereof is used as a feature point. And, the counting part S24 is by counting the workpiece W by the change of the value (coordinate value) of the characteristic point W2 on the conveyance direction coordinate obtained from the search result by the search part S23. Therefore, the number of workpieces W can be accurately counted.

In FIG. 9, when the length Ls of the search area SA along the conveying direction H is set to "a value less than the length L of the workpiece", the workpiece W having the feature point on the most downstream side is specified as the search The target workpiece, and the change of the feature point (the downstream end part W2 of the workpiece W) of the specified search target workpiece is displayed. The search result by the search section S23 that detects the workpiece W from the most downstream side of the search area SA, as shown in FIG. The point that coincides with one corner of the downstream end SA1 is used as a graph in which the change (transition) of the characteristic point is drawn on the conveying direction coordinates of the origin, and grasped. Afterwards, the conveying direction coordinate value x_work[t] of the feature point is measured (searched) every time by the search unit S23, and when there is a change from the state satisfying the above-mentioned condition 1 to satisfying the condition 2 point At this point, it is counted by the counting part S24 as this is the passage of one workpiece. That is, the value of the feature point in the coordinates of the conveying direction whose origin is the point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA is changed to be smaller than that of the closest feature point. At the point in time when the value is greater than the value, it is judged as the passage of one workpiece and counted. If the graph shown in FIG. 10(a) is used for illustration, the counting unit S24 is a conveyance at a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA as the origin. The time point when the value of the feature point in the direction coordinates changes to a value greater than the value of the closest feature point (at the number of measurements (t+1)‧(t+4) in Figure 10(a)) , it is judged as the passing of one workpiece and counted. In addition, when the feature point cannot be detected in the search area SA (for the timing of searching in the search area SA of the image data img(t+3)‧img(t+6) in FIG. 9 ), by Since x_work[t]=0 is set to input the coordinate value of the workpiece conveying direction, the counting process of the workpiece W can be performed appropriately and reliably.

Regarding the change of the characteristic points shown in FIG. 9, when the detection of the characteristic points of the workpiece W is performed from the most upstream side with respect to the search area SA (fifth modification), it is caused by the search unit S23. The search results, as shown in FIG. 10(b), can be used as the coordinates of the conveying direction with a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA as the origin. The changes (transitions) of feature points are drawn in graphs for mastering. Afterwards, the conveying direction coordinate value x_work[t] of the feature point is measured (searched) every time by the search unit S23, and when there is a change from the state satisfying the above-mentioned condition 2 to satisfying the condition 1 At this point in time, the passage of one workpiece is counted by the counting unit S24. That is, the value of the feature point in the coordinates of the conveyance direction whose origin is the point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA changes by a value that is smaller than that of the closest feature point. At the point in time when the value is smaller than the value, it is judged as the passing of one workpiece and counted. If the graph shown in FIG. 10(b) is used for illustration, the counting unit S24 is a conveyance at a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA as the origin. The time point at which the value of the feature point in the direction coordinates changes to a smaller value than the value of the closest feature point (measurement times (t+1)‧(t+4) in Figure 10(b)), It is judged as the passing of one workpiece and counted. In addition, in the workpiece counting control system S of this modified example (fifth modified example), when the workpiece W cannot be detected in the search area SA (for the image data img(t+3) in Fig. 9‧ The timing of searching in the search area SA of img(t+6)) can be properly and reliably performed by setting the coordinate value of the workpiece conveying direction as the maximum value (x_work[t]=max). Counting process of workpiece W. Here, the maximum value max of the conveyance direction coordinate value of the workpiece is a specific value greater than the maximum value of the conveyance direction coordinate value of the workpiece within the search area SA.

As shown in FIG. 9 and FIG. 10, the timing of counting the workpiece W is performed when the workpiece is detected from the most downstream side with respect to the search area SA (the most downstream side workpiece detection, the fourth modification) and In the case where workpiece detection is performed from the most upstream side with respect to the search area SA (most upstream workpiece detection, fifth modification example), there is no deviation and they coincide with each other. Therefore, the workpiece W at the last end passes through At the point in time when the most downstream end of the search area SA is reached, the counted number of workpieces becomes the same regardless of whether it is the most downstream workpiece detection or the most upstream workpiece detection, and accurate counting can be performed.

In addition, in this modified example in which the length Ls of the search area SA along the conveyance direction H is set to "a value less than the length L of the workpiece", similarly, when moving up from the most downstream side with respect to the search area SA, In the case of workpiece detection (most downstream side workpiece detection), it is also possible to regard the change (transition) of the feature point as a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA. The detection position in the conveying direction coordinates of the origin is grasped. In this case, it is only necessary to measure (search) the conveying direction coordinate value x_work[t] of the feature point each time by the search unit S23, and when there is At the point in time when the condition 1 is satisfied from the state satisfying the above-mentioned condition 2, it is only necessary to count the passage of one workpiece by the counting unit S24.

Similarly, when performing workpiece detection from the most upstream side with respect to the search area SA (most upstream side workpiece detection), it is also possible to use the change (transition) of the feature point as the four corners of the search area SA. The point at which one corner of the downstream end SA1 of the corner coincides with each other is grasped as the detection position in the conveying direction coordinates of the origin. x_work[t] is measured (searched) every time, and when there is a change from the state satisfying the above-mentioned condition 1 to satisfying the condition 2, this system is regarded as the passage of one work, and by The counting unit S24 can perform counting.

The above-mentioned embodiments are based on detecting the workpiece W (More specifically, the feature point of the workpiece W) is counted by the counting unit S24 as the passage of one workpiece when measuring that it has entered the search area SA. In this matter, if referring to FIG. 9 , when (t+1)‧(t+4) is counted by the counting part S24, each feature of "workpiece 2" and "workpiece 3" is respectively The measurement timing detected when the point W2 enters the search area SA can also be understood from this.

On the other hand, the system may also be configured so that when the measurement that the workpiece W (more specifically, the feature point of the workpiece W) leaves (departures) from the search area SA is detected, it is regarded as the passage of one workpiece, and Counting is performed by the counting unit S24. As a concrete example, regarding the change of the feature points shown in FIG. 9 , the feature points of the workpiece W are detected from the most downstream side of the search area SA, but cannot be detected in the search area SA. In the case of feature points (for the timing of searching in the search area SA of the image data img(t+3)‧img(t+6) in Figure 9), if it is set to input the coordinate value of the conveying direction of the workpiece In the configuration of x_work[t]=max (sixth modified example), the search result by the search unit S23 that detects the feature points of the workpiece W from the most downstream side of the search area SA is as shown in FIG. 11 As shown in (a), in general, the change (transition) of the feature point can be expressed as the coordinate of the conveying direction with a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA as the origin. Draw a chart for mastering.

Afterwards, the conveying direction coordinate value x_work[t] of the feature point is measured (searched) every time by the search unit S23, and when there is a change from the state satisfying the above-mentioned condition 1 to satisfying the condition 2 The point is counted by the counting part S24 as this is the passage of one workpiece. That is, the value of the feature point in the coordinates of the conveying direction whose origin is the point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA is changed to be smaller than that of the closest feature point. At the point in time when the value is greater than the value, it is judged as the passage of one workpiece and counted. If the graph shown in FIG. 11(a) is used for illustration, the counting unit S24 is conveyed at a point that coincides with one corner of the downstream end SA1 among the four corners of the search area SA as the origin. The time point at which the value of the feature point in the direction coordinates changes to a value greater than the value of the closest feature point (measurement times (t+1)‧(t+3)‧( in Figure 11(a) At t+6)), it is judged as the passing of one workpiece and counted. If referring to Fig. 9, it can be grasped that the number of times of measurement (t+1)‧(t+3)‧(t+6) is respectively "workpiece 1", "workpiece 2", "workpiece 3" is a measurement sequence in which each feature point (in the illustrated example, the downstream end portion W2 of each workpiece W) is detected when it deviates from the search area SA.

Similarly, regarding the change of the feature points shown in FIG. 9 , when the feature points of the workpiece W are detected from the most upstream side of the search area SA, the feature points cannot be detected in the search area SA. (for the image data img(t+3)‧img(t+6) in the image data img(t+3)‧img(t+6) in the time sequence of searching in the search area SA), if it is set to input the coordinate value of the conveying direction of the workpiece as x_work[t ]=0 (the seventh modified example), the search result by the search section S23 that detects the feature points of the workpiece W from the most upstream side of the search area SA is as shown in Fig. 11(b) As shown in general, it can be used as the connection between the four corners of the search area SA and the upstream end The point at which one corner of SA2 coincides with each other is grasped as a graph in which the change (transition) of the characteristic point is drawn on the conveying direction coordinates of the origin.

Afterwards, the conveying direction coordinate value x_work[t] of the feature point is measured (searched) every time by the search unit S23, and when there is a change from the state satisfying the above-mentioned condition 2 to satisfying the condition 1 The point is counted by the counting part S24 as this is the passage of one workpiece. That is, the value of the feature point in the coordinates of the conveyance direction whose origin is the point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA changes by a value that is smaller than that of the closest feature point. At the point in time when the value is smaller than the value, it is judged as the passing of one workpiece and counted. If the graph shown in FIG. 11(b) is used for illustration, the counting unit S24 is a transfer with a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA as the origin. The time point when the value of the feature point in the direction coordinates changes to a smaller value than the value of the closest feature point (measurement times (t+1)‧(t+3)‧(t in Figure 11(b) At +6)), it is judged as the passing of one workpiece and counted. If referring to Fig. 9, it can be grasped that the number of times of measurement (t+1)‧(t+3)‧(t+6) is respectively "workpiece 1", "workpiece 2", "workpiece 3" is the measurement timing sequence when each feature point deviates from the search area SA and is detected.

In this way, whether "the timing of counting workpieces" will be "the timing of detecting that the feature point of the workpiece has entered the search area" or "the timing of detecting that the feature point of the workpiece has left the search area" Timing", as shown in Fig. 12, according to the condition related to the workpiece detection direction for the search area SA (specifically In other words, whether the workpiece detection is to be performed from the most upstream side or from the most downstream side with respect to the search area SA)" and "the condition related to the position of the origin of the conveying direction coordinates (setting method) (specifically In other words, whether to use a point that coincides with one corner of the upstream end SA2 among the four corners of the search area SA as the origin, or a point that coincides with one corner of the downstream end SA1 of the four corners of the search area SA The condition that the point coincides with each other as the origin)" and "the counting condition of the workpiece (specifically, when the detected feature point is changed to a value smaller than the closest detected feature point)" Counting, or the condition of counting when the detected feature point is changed to a value larger than the closest detected feature point)", and "When the feature point cannot be detected in the search area ( Conditions for the coordinate value of the conveying direction of the workpiece when the feature point is not detected (specifically, whether to set the coordinate value of the conveying direction of the workpiece when the feature point is not detected to x_work[t]=0 or x_work [t]=max)", these conditions, to determine it.

As mentioned above, the workpiece counting control system S of the present invention is based on the length Ls of the search area SA along the conveying direction H based on "the imaging time interval tr of the imaging means S1", "the conveying speed of the workpiece W v_work", " In the search area SA, the number of images taken by the imaging means S1 of the same workpiece W n" and "the length of the conveying direction H used to specify the feature point" are set, and the workpiece count can be implemented through the above-mentioned processing program deal with. Specifically, by using the image data img(t)[t=1,2,...] at each shooting time in the search area SA, the workpiece W (the same workpiece W) to be searched will definitely be represented by n (n is an integer of 2 or more) times or more And it is taken as an image, and it is always taken at the most downstream side or the most upstream side of the search area SA. v_work and the length Ls of the conveyance direction H of the search area SA are set to satisfy the following formulas (1), (2') and (3) so that the workpiece counting process can be performed accurately.

L/n≧tr*v_work‧‧‧Formula (1)

Ls≧L′+n*tr*v_work‧‧‧Formula (2′)

n≧2‧‧‧Formula (3)

Here, "L" is the length of one workpiece along the conveying direction H (workpiece length), "n" is the number of times of imaging by the imaging means S1 for one workpiece W, and "L'" is " To specify the length of the conveying direction H of the feature point". And, "the length in the conveying direction for specifying the feature point" is the length beyond the total length L of the workpiece W when the feature point is the center of gravity W1 of the workpiece W, and when the feature point is taken as the workpiece W In the case of the "end" (one of the downstream end and the upstream end), it can be set to "0". Therefore, "the length in the conveying direction for specifying the feature point" can also be defined as "the length of the conveying direction of 0 or more required for specifying the feature point". In addition, it is also possible to set one location of the workpiece W that can be specified due to the shape of the workpiece W as a feature point, or to set a mark attached to the workpiece W as a feature point. Any position of the workpiece W can be appropriately selected and changed, as long as the value of "the length of the conveying direction H used to specify the characteristic point" is set to an appropriate value in response to this.

In the workpiece counting control system of the present invention, if along The shorter the length Ls of the search area SA in the conveying direction H, the faster the image processing and even the workpiece counting processing can be.

Furthermore, in the workpiece counting control system of the present invention, based on the image data captured by the imaging means S1 in order to perform the workpiece counting process, the posture that is not the normal conveying posture can be processed by image processing. The workpiece (workpiece with abnormal posture) is specified and constituted so that when it is determined that the body is a workpiece with abnormal posture, the workpiece with abnormal posture is passed through the air hole provided on the downstream side of the search area SA. The gas such as air blown by SB (refer to FIG. 2 etc.) is exhausted to the outside of the conveying path or sent back to the storage part Y3 of the bowl type feeder Y.

The workpiece counting control system of the present invention can also be applied to a bowl-type feeder equipped with a bowl conveying path. In this case, it is also possible to perform counting processing by the workpiece counting control system for the workpieces moving on the bowl conveyance path. In addition, the workpiece count control system of the present invention can also be applied to component feeders other than the linear feeder and the bowl-type feeder.

Also, the imaging means of the present invention is not limited to a video camera, and an optical fiber sensor or the like can also be used as the imaging means.

Moreover, the workpiece|work which is the object to be conveyed which can be conveyed by the supply apparatus (parts feeder) of this invention is not limited to an electronic part, It may be a thing of various weight or size. Also, the workpiece counting control system of the present invention is applicable to various supply devices capable of moving workpieces on the conveyance path to a specific supply destination, and is not limited to Vibration to make the workpiece The supply device configured to move can also be applied to the supply device configured to move the workpiece by means other than vibration (for example, means of floating it with air, etc.).

In addition, the concrete structure of each part is not limited to the above-mentioned embodiment, Various deformation|transformation is possible in the range which does not deviate from the summary of this invention.

S‧‧‧Workpiece Counting Control System

S1‧‧‧camera means

S2‧‧‧image processing device

S21‧‧‧Image Preservation Department

S22‧‧‧Search area setting department

S23‧‧‧Search Department

S24‧‧‧counting department

X‧‧‧Supply Device

Y‧‧‧Bowl Feeding Machine

Y1‧‧‧bowl

Y2‧‧‧Bowl transfer path

Y3‧‧‧Storage Department

Z‧‧‧Component Feeder (Linear Feeder)

Z1‧‧‧Supply tank

Z2‧‧‧Linear conveying path

Z2a‧‧‧Start

Claims (7)

A workpiece counting control system applicable to a supply device capable of moving workpieces on a conveyance path to a specific supply destination while moving them, characterized in that it is provided with: an imaging means for detecting the workpieces on the conveyance path A workpiece that moves in a row is continuously photographed at specific photographing time intervals; and the image processing device has an image storage unit that saves image data captured by the aforementioned imaging means, and the aforementioned image processing device, It is equipped with: a search area setting unit that can use the aforementioned image data stored in the aforementioned image storage unit to include the workpiece according to the relationship between the conveying speed of the workpiece and the aforementioned imaging time interval. Setting the search area; and the search section, which is a feature of the workpiece in which the detection position on the coordinates of the conveying direction along the axis of the conveying direction in the aforementioned search area changes in each of the aforementioned image data point search; and the counting part, based on the change of the coordinate value of the aforementioned characteristic point on the aforementioned conveying direction coordinate obtained according to the search result caused by the aforementioned searching part, and counting as the passing of 1 workpiece will be counted along the The length of the aforementioned search area along the conveying direction is based on the imaging time interval of the aforementioned imaging means, the transport speed of the workpiece, the number of imaging times of the aforementioned imaging means for the same workpiece within the aforementioned search area, and the method used to specify the aforementioned feature points. to set the length in the conveying direction, and It is set to meet the following conditions: the length of the aforementioned search area along the aforementioned transport direction is the distance between the imaging time interval of the aforementioned imaging means, the transport speed of the workpiece, and the aforementioned imaging means for the same workpiece within the aforementioned search area. The value obtained by adding the length in the conveying direction for specifying the aforementioned feature point to the multiplied value of the number of photographs is greater than or equal to the value obtained. The workpiece counting control system as described in item 1 of the scope of the patent application, wherein the length of the aforementioned search area along the aforementioned conveying direction is set to further satisfy the following conditions: the workpieces along the aforementioned conveying direction The length is the value obtained by dividing the number of photographs of the same workpiece by the aforementioned imaging means within the aforementioned search area, which is greater than the multiplied value of the imaging time interval of the aforementioned imaging means and the conveying speed of the workpiece. The workpiece counting control system as described in item 1 or item 2 of the scope of the patent application, wherein the counting unit is for the coordinate value of the aforementioned feature point newly detected by the aforementioned search unit on the coordinates of the aforementioned conveying direction Compared with the coordinate values of the aforementioned feature points during the previous detection, and at the time point where there is a change satisfying a specific condition, it is counted as the passage of one workpiece. For the workpiece counting control system described in item 1 or item 2 of the scope of the patent application, wherein, The length in the conveying direction for specifying the aforementioned feature points is greater than or equal to the length of the workpiece along the transporting direction, and the aforementioned search unit is for the aforementioned feature points on the most downstream side within the aforementioned search area or within the aforementioned search area. The above-mentioned feature points on the most upstream side in the area are searched for. As for the workpiece counting control system described in item 1 or item 2 of the scope of the patent application, wherein the length in the conveying direction used to specify the aforementioned feature points is less than the length of the workpiece along the conveying direction, the aforementioned search unit , is the person who searches for the aforementioned feature points within the aforementioned search area and the presence or absence of the aforementioned feature points. Such as the workpiece counting control system described in item 1 or item 2 of the scope of the patent application, wherein the aforementioned feature point is the center of gravity of the workpiece. A component feeding machine, characterized in that it is configured to use the workpiece counting control system described in any one of claims 1 to 6 of the patent application to perform workpiece counting processing.

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