Component supply device, component supply method, and recording medium

Abstract

The present application provides a component supply device, a component supply method, and a program that can improve the efficiency of a pickup operation of a component. The component supply device includes a pickup table, a supply unit, a detection unit, and a control unit. The control unit determines the state of a component loaded on the pickup table based on information detected by the detection unit. The control unit determines whether the component is a component that can be picked up by the supply unit or a component that cannot be picked up based on the state of the component. Furthermore, the control unit calculates an operation amount for adjusting the state of the component that cannot be picked up to a state in which the component can be picked up, and adjusts only the state of the component that cannot be picked up by the adjustment unit based on the calculated operation amount.

Description

Technical Field

[0001] This invention relates to a component supply device, a component supply method, and a recording medium. Background Technology

[0002] In recent years, component supply devices have been proposed for removing small quantities of components from a large pile of components and supplying them to a designated location. As a conventional technique, for example, is the technology described in Patent Document 1. Patent Document 1 describes a technique where, on a tray holding components, the components overlap, and when it is impossible to hold the components with a robotic arm, the overlap of the components is broken by tilting the tray.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2018-8343

[0004] However, even when the tray is tilted, the component may not necessarily move to a position or posture suitable for picking up. Therefore, in the technology described in Patent Document 1, the component needs to be moved multiple times, which reduces the efficiency of the component picking operation. Summary of the Invention

[0005] In view of the aforementioned problems, the present invention aims to provide a component supply device, a component supply method, and a recording medium that can improve the efficiency of component picking operations.

[0006] To address the aforementioned issues and achieve the objective of this invention, a component supply device includes: a pickup stage for loading components; a supply unit for picking up components loaded on the pickup stage and supplying them to a predetermined position; a detection unit for detecting components loaded on the pickup stage; and a control unit. The control unit determines the state of the components loaded on the pickup stage based on the information detected by the detection unit. Based on the state of the components, the control unit determines whether a component is pickable by the supply unit or not. Furthermore, the control unit calculates an operation amount for adjusting components that cannot be picked up to a pickable state, and based on the calculated operation amount, adjusts the state of only the components that cannot be picked up by the adjustment unit.

[0007] The component supply method of the present invention includes the following processes (1) to (5).

[0008] (1) Processing of loading parts onto the pickup station.

[0009] (2) Processing to detect the components loaded on the pickup stage and determine the status of the components.

[0010] (3) Based on the status of the component, determine whether the component is a component that can be picked up by the supply unit or a component that cannot be picked up.

[0011] (4) Calculate the processing of the operation amount used to adjust the unpickable parts to a pickable state.

[0012] (5) Based on the calculated operation amount, only adjust the state of the parts that cannot be picked up.

[0013] Furthermore, the program in the recording medium stored in this invention, which is readable by a computer, enables the computer to perform the following steps.

[0014] The steps for inspecting components loaded on the pickup stage and determining the status of the components.

[0015] The step of determining whether a component can be picked up by the supply unit or not, based on its state.

[0016] The steps for calculating the operational amount used to adjust the unpickable parts to a pickable state.

[0017] Based on the calculated operation amount, only the steps to adjust the state of the parts that cannot be picked up are performed.

[0018] The component supply device, component supply method, and recording medium described above can improve the efficiency of component picking operations. Attached Figure Description

[0019] Figure 1 This is a perspective view of the component supply device according to an embodiment of the present invention.

[0020] Figure 2 This is a top view of the component supply device according to an embodiment of the present invention.

[0021] Figure 3 This is a side view of the component supply device according to an embodiment of the present invention.

[0022] Figure 4 This is a side view of the supply section in the component supply device according to an embodiment of the present invention.

[0023] Figure 5 This is a perspective view of the hand of the supply section in the component supply device according to an embodiment of the present invention.

[0024] Figure 6 This is a perspective view of the pickup stage in the component supply device according to an embodiment of the present invention.

[0025] Figure 7 This is a block diagram illustrating an example configuration of the control system in the component supply device according to an embodiment of the present invention.

[0026] Figure 8 This is a block diagram illustrating an example of the configuration of the identification control unit in a component supply device according to an embodiment of the present invention.

[0027] Figure 9 This is a diagram illustrating the component supply operation of the component supply device according to an embodiment of the present invention.

[0028] Figure 10 This is a flowchart illustrating an example of a picking-up operation in a component supply device according to an embodiment of the present invention.

[0029] Figure 11 This is a flowchart illustrating the pre-processing of the picking-up operation in the component supply device according to an embodiment of the present invention.

[0030] Figure 12 This is an explanatory diagram showing whether picking up a component is possible under its orientation.

[0031] Figure 13 This is a flowchart illustrating the component state determination process of the picking-up operation in the component supply device according to an embodiment of the present invention.

[0032] Figure 14 This is an explanatory diagram illustrating an example of component state determination processing.

[0033] Figure 15 A is a diagram showing the relationship between the component region and its area. Figure 15 B is a diagram representing the component area.

[0034] Figure 16 This is a flowchart illustrating the interference determination process of the picking-up action in the component supply device according to an embodiment of the present invention.

[0035] Figure 17 A and Figure 17 B is an explanatory diagram representing the interference detection and processing.

[0036] Figure 18 This is an explanatory diagram illustrating the ellipse fitting process.

[0037] Figure 19 This is a flowchart illustrating the process for determining whether a pickup action can be reconfigured (position) in a component supply device according to an embodiment of the present invention.

[0038] Figure 20 This is an explanatory diagram illustrating the process for determining whether a location can be reconfigured.

[0039] Figure 21 This is an explanatory diagram illustrating the process for determining whether a location can be reconfigured.

[0040] Figure 22 This is a flowchart illustrating the process for determining whether a picking action can be reconfigured (posture / position) in a component supply device according to an embodiment of the present invention.

[0041] Figure 23 This is a flowchart illustrating the region segmentation process of the picking-up operation in the component supply device according to an embodiment of the present invention.

[0042] Figure 24 This is an explanatory diagram illustrating the region segmentation process.

[0043] Explanation of reference numerals in the attached drawings: 1…component supply device, 2…frame, 3, 3A, 3B…receiving section, 4…supply section, 5, 5A, 5B…pickup table, 6, 6A, 6B…placement table, 7…control board, 41…arm module, 42…hand module, 51…tray, 52, 53…wall panel, 71…control section, 72…storage section, 423…camera (detection section), 411…support platform, 412…arm, 413…base component, 414…first link 415… second linkage component, 416… connecting component, 421… housing, 422… hand, 422a… grip piece, 711… overall control unit, 712… arm control unit, 713… hand control unit, 714… recognition control unit, 721… shooting parameters, 722… image processing parameters, 723… supply parameters, 724… characteristic information, 801… non-pickup component determination unit, 802… position calculation unit, 803… position adjustment unit. Detailed Implementation

[0044] The following is for reference Figures 1 to 24 The methods for implementing the invention will be described. Furthermore, common components in the figures are given the same reference numerals. Additionally, the invention is not limited to the following methods.

[0045] [Composition of the component supply device]

[0046] First, refer to Figures 1-3 The configuration of the component supply device involved in the embodiments will be described.

[0047] Figure 1 This is a three-dimensional diagram of the component supply device. Figure 2 This is a top view of the component supply device. Figure 3 This is a side view of the component supply device.

[0048] like Figure 1 As shown, the component supply device 1 includes a frame 2, receiving sections 3A and 3B, a supply section 4, pick-up tables 5A and 5B, placement tables 6A and 6B, and a control board 7. The receiving sections 3A and 3B, the supply section 4, the pick-up tables 5A and 5B, the placement tables 6A and 6B, and the control board 7 are mounted on the frame 2. The component supply device 1 arranges components housed in the receiving sections 3A and 3B on the placement tables 6A and 6B in a consistent manner and supplies them to the next process step.

[0049] Frame 2 is roughly rectangular in shape, with width, depth, and height. Here, in Figures 1-3 In this diagram, the X-axis represents the width of frame 2, the Y-axis represents the depth of frame 2, and the Z-axis represents the height of frame 2. The X-axis and Y-axis correspond to two axes parallel to the horizontal plane, i.e., two horizontal axes, while the Z-axis corresponds to a direction orthogonal to the horizontal plane, i.e., a vertical direction. Frame 2 consists of transverse members extending along the X-axis or Y-axis and longitudinal members extending along the Z-axis.

[0050] Receiving compartments 3A and 3B are positioned on one side of the frame 2 along the Y-axis. Receiving compartments 3A and 3B are positioned opposite each other at an appropriate distance along the X-axis. Receiving compartments 3A and 3B are generally box-shaped with open upper surfaces. A lifting mechanism is provided in each of the receiving compartments 3A and 3B to move the bottom along the Z-axis. Therefore, the capacity and height of the contained components can be varied in each receiving compartment 3A and 3B.

[0051] For example, a first component may be housed in housing section 3A, and a second component, different from the first component, may be housed in housing section 3B. In this case, the component supply device 1 supplies the first and second components to the next process step. Alternatively, the first component may be housed in housing sections 3A and 3B during a first period, and the second component may be housed in housing sections 3A and 3B during a second period different from the first period. In this case, the component supply device 1 supplies the first component to the next process step during the first period, and the second component to the next process step during the second period.

[0052] The supply unit 4 is located approximately at the center of the upper part of the frame 2. The supply unit 4 grasps one or more components from a large number of first components or a large number of second components housed in the housing units 3A and 3B, and lowers them to the pick-up tables 5A and 5B for supply. Thus, the first component or second component is placed on the pick-up tables 5A and 5B. Furthermore, the supply unit 4 picks up the first component or second component placed on the pick-up tables 5A and 5B one by one and supplies them to the placement tables 6A and 6B. See below. Figure 4 as well as Figure 5 The structure of Supply Department 4 will be explained.

[0053] Pickup stations 5A and 5B are arranged on both sides of the supply unit 4 in the X-axis direction. Furthermore, pickup stations 5A and 5B are adjacent to receiving units 3A and 3B in the Y-axis direction, respectively. Pickup stations 5A and 5B are positioned above receiving units 3A and 3B.

[0054] In the Z-axis direction, a portion of the pickup stage 5A overlaps with the receiving section 3A. Therefore, parts falling from a portion of the pickup stage 5A are received (returned) to the receiving section 3A. In the Z-axis direction, a portion of the pickup stage 5B overlaps with the receiving section 3B. Therefore, parts falling from a portion of the pickup stage 5B are received (returned) to the receiving section 3B. See below. Figure 6 The composition of pickup stations 5A and 5B is explained.

[0055] Placement tables 6A and 6B are equipped with conveyor belts for transporting components in the Y-axis direction. Additionally, placement tables 6A and 6B are mounted on an X-axis moving mechanism. The X-axis moving mechanism moves placement tables 6A and 6B in the X-axis direction. Placement tables 6A and 6B transport components supplied from supply unit 4 in the Y-axis direction and position them at a predetermined location. The positioned components are then supplied to the next process step.

[0056] like Figure 1 as well as Figure 3 As shown, the control board 7 is mounted on the side of the frame 2. The control board 7 is equipped with a control unit 71 (see reference) that controls the operation of the receiving parts 3A and 3B, the supply part 4, and the placement tables 6A and 6B. Figure 7 ).

[0057] [The Composition of the Supply Department]

[0058] Next, refer to Figure 4 as well as Figure 5 The structure of Supply Department 4 will be explained.

[0059] Figure 4 This is a side view of the supply section 4 in the component supply device 1. Figure 5 This is a perspective view of the hand of the supply unit 4 in the component supply device 1.

[0060] like Figure 4 As shown, the supply unit 4 includes an arm module 41 and a hand module 42 connected to the arm module 41. The arm module 41 has a support platform 411 and an arm 412 mounted on the support platform 411. The support platform 411 is fixed to the frame 2. The support platform 411 supports the arm 412 in a rotatable manner.

[0061] Arm 412 allows hand module 42 to move freely in the X-axis, Y-axis, and Z-axis directions. Additionally, arm 412 allows hand module 42 to rotate freely about the X-axis, Y-axis, and Z-axis. Arm 412 includes a base component 413, a first link component 414, a second link component 415, and a connecting component 416.

[0062] The base component 413 is rotatably connected to the support platform 411. The base component 413 rotates about the Z-axis (first axis). One end of the first link component 414 is rotatably connected to the base component 413. The first link component 414 rotates about an axis extending horizontally (second axis).

[0063] The second link member 415 has a rotating portion 415a and a rotating portion 415b connected to the rotating portion 415a. The rotating portion 415a is rotatably connected to the other end of the first link member 414. The rotating portion 415a rotates about a horizontally extending axis (third axis). The rotating portion 415b is rotatably connected to the rotating portion 415a. The rotating portion 415b rotates about a axis (fourth axis) extending in the connection direction with the rotating portion 415a.

[0064] The connecting member 416 has a rotating portion 416a and a rotating portion 416b connected to the rotating portion 416a. The rotating portion 416a is rotatably connected to the rotating portion 415b of the second connecting rod member 415. The rotating portion 416a rotates about a horizontally extending axis (fifth axis). The rotating portion 416b is rotatably connected to the rotating portion 416a. The rotating portion 416b rotates about a axis (sixth axis) extending in the connection direction with the rotating portion 416a. Furthermore, the second, third, and fourth axes extend in parallel directions.

[0065] like Figure 5 As shown, the hand module 42 has a housing 421, a hand 422 mounted on the housing 421, and a camera 423. The housing 421 is connected to the rotating part 416b of the connecting member 416 in the arm 412. The housing 421 is a generally cuboid housing. A hand hole 421a for the hand 422 to pass through and a lens hole 421b for the objective lens of the camera 423 to be exposed are formed on the lower surface of the housing 421.

[0066] The hand 422 is composed of multiple (two in this embodiment) gripping pieces 422a. An opening / closing mechanism for opening and closing the multiple gripping pieces 422a and a lifting mechanism for raising and lowering the multiple gripping pieces are disposed inside the housing 421. The multiple gripping pieces 422a are raised and lowered by the lifting mechanism, thereby changing the length protruding from the hand hole 421a. If the length of the multiple gripping pieces 422a protruding from the hand hole 421a is increased, the space for clamping components increases, thereby increasing the number of components that can be gripped. On the other hand, if the length of the multiple gripping pieces 422a protruding from the hand hole 421a is shortened, the space for clamping components decreases, thereby reducing the number of components that can be gripped.

[0067] Multiple gripping plates 422a can also grip a component at their front ends. Hand 422 grips one or more components from a large number of components housed in housing section 3A or housing section 3B and supplies them to pick-up table 5A or pick-up table 5B. On the other hand, hand 422 grips one component from one or more components placed on pick-up table 5A or pick-up table 5B and supplies it to placement table 6A or placement table 6B.

[0068] Furthermore, the length (fingertip width) of the grip piece 422a in the width direction is set to W_h. Additionally, the interval (finger spread width) between the two grip pieces 422a in their open states is set to W_f. Moreover, information related to the fingertip width W_h and finger spread width W_f of the grip pieces 422a is stored in the storage unit 72, described later.

[0069] Camera 423 represents a specific example of the detection unit of the present invention. Camera 423 includes an imaging element, multiple lenses including an objective lens, a polarizing filter, illumination, etc. Camera 423 is housed in housing 421. The objective lens of camera 423 protrudes from the lens aperture 421b of housing 421.

[0070] The images (videos) captured by camera 423 are sent to control unit 71, which will be described later. Control unit 71 detects information such as the positions of receiving units 3A and 3B, and pickup stages 5A and 5B based on the images captured by camera 423.

[0071] [The composition of the pickup station]

[0072] Next, refer to Figure 6 The composition of pickup stations 5A and 5B is explained.

[0073] Figure 6 This is a perspective view of the pickup stage 5A in the component supply device 1.

[0074] Pickup stations 5A and 5B have the same configuration. Therefore, we will use pickup station 5A as an example to explain its configuration. Figure 6 As shown, the pickup table 5A has a tray 51 forming a loading surface and three wall panels 52-54 continuous with the tray 51.

[0075] The tray 51 is constructed of a generally quadrilateral plate. The plane of the tray 51 is approximately orthogonal to the Z-axis. The tray 51 has two sides approximately parallel to the X-axis and two sides approximately parallel to the Y-axis. The wall panel 52 is located at a distance 3A from the two sides of the tray 51 that are approximately parallel to the X-axis (see reference). Figure 2 The edge on the far side protrudes approximately vertically. In addition, the side panels 53 and 54 protrude approximately vertically from the two sides of the tray 51 that are approximately parallel to the Y-axis direction.

[0076] Panels 52 and 54 prevent supplied components from falling off the tray 51. The side of the tray 51 without a panel overlaps with the opening of the receiving section 3A in the Z-axis direction. Therefore, components falling from the side of the tray 51 without a panel return to the receiving section 3A. Furthermore, a tilting mechanism is provided at the lower part of the pickup table 5A to tilt it. The tilting mechanism tilts the pickup table 5A so that the side with panel 52 is raised. Therefore, components placed on the pickup table 5A fall from the side of the tray 51 without a panel and are retrieved into the receiving section 3A.

[0077] [Composition of the Control System]

[0078] Next, refer to Figure 7 The configuration of the control system for component supply device 1 will be explained.

[0079] Figure 7 This is a block diagram illustrating an example of the configuration of the control system in component supply device 1.

[0080] In the control board 7 (reference) Figure 1 The device includes a control unit 71 and a storage unit 72. The control unit 71 includes a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). Various functions of the control unit 71 are implemented by the CPU executing predetermined processing programs stored in the ROM. Examples of the functions of the control unit 71 include, for instance, the arm control unit 712 controlling the movement of the arm 412, and the hand control unit 713 controlling the movement of the hand 422.

[0081] like Figure 7 As shown, the control unit 71 includes an overall control unit 711, an arm control unit 712, a hand control unit 713, and an identification control unit 714. The control unit 71 represents a specific example of the supply adjustment unit of the present invention.

[0082] The overall control unit 711 is connected to the arm control unit 712, the hand control unit 713, and the identification control unit 714. The overall control unit 711 receives detection results from the identification control unit 714, such as the positions of the housing units 3A, 3B, and the hand 422, the sizes of the pickup stages 5A and 5B, and the number of parts held by the hand 422.

[0083] The overall control unit 711 performs overall control of the arm control unit 712 and the hand control unit 713 based on the detection results received from the identification control unit 714, the supply parameters 723 stored in the storage unit 72, and the characteristic information 724.

[0084] The arm control unit 712 is connected to the drive unit of the arm 412. The arm control unit 712 receives control commands from the overall control unit 711. Based on the control commands received from the overall control unit 711, the arm control unit 712 generates an arm drive signal for driving the arm 412 and sends it to the drive unit of the arm 412. As a result, the arm 412 performs actions corresponding to the control commands of the overall control unit 711.

[0085] The hand control unit 713 is connected to the drive unit of the hand 422. The hand control unit 713 receives control commands from the overall control unit 711. Based on the control commands received from the overall control unit 711, the hand control unit 713 generates a hand drive signal for driving the hand 422 and sends it to the drive unit of the hand 422. As a result, the hand 422 performs actions corresponding to the control commands of the overall control unit 711.

[0086] The recognition control unit 714 is connected to the camera 423. The recognition control unit 714 controls the camera 423 to take pictures based on the shooting parameters 721 stored in the storage unit 72. In addition, the recognition control unit 714 performs image processing on the image data received from the camera 423 based on the image processing parameters (various correction values) stored in the storage unit 72.

[0087] The recognition control unit 714 detects the positions of the receiving sections 3A and 3B, the pickup stages 5A and 5B, and the placement stages 6A and 6B based on the image data processed by the image processing unit. The recognition control unit 714 also detects the posture of the hand 422 and the number of parts held by the hand 422 based on the image data processed by the image processing unit. Furthermore, the recognition control unit 714 detects the size (area), shape (presence or absence of panels), and outline (contour) of the pickup stages 5A and 5B based on the image data processed by the image processing unit. Then, the recognition control unit 714 sends the detection results to the overall control unit 711.

[0088] The storage unit 72 stores shooting parameters 721, image processing parameters 722, supply parameters 723, characteristic information 724, and calibration data 725. Shooting parameters 721 are used when shooting images of various parts (pickup stages 5A, 5B, etc.) via camera 423. Examples of shooting parameters include, for instance, exposure time corresponding to the subject, amount of illumination, and image size. Image processing parameters 722 are various correction values ​​used when performing image processing on image data received from camera 423.

[0089] Supply parameters 723 are used to determine the operation of the supply unit 4 when supplying a component to pick-up table 5A or pick-up table 5B. Supply parameters 723 are pre-stored in the storage unit 72. Furthermore, supply parameters 723 are prepared based on characteristic information described later. See below. Figure 8 Explanation of the contents of supply parameter 723.

[0090] Characteristic information 724 includes at least one of the following: the shape of the component, the weight of the component, the center of gravity of the component, the material of the component, the surface properties of the component, the coefficient of surface friction of the component, and the color of the component. Characteristic information 724 is pre-stored in storage unit 72 according to each type of component. Alternatively, characteristic information 724 can be extracted by control unit 71 based on the 3D model data of the component. In this case, the 3D model data of the component is pre-stored in storage unit 72.

[0091] The calibration data 725 consists of internal parameters 727, which are focal length and distortion correction parameters of the camera body 427, and external parameters 728, which are used to convert from a coordinate system with the camera body 427 as the origin to a coordinate system processed in the supply unit 4.

[0092] Next, refer to Figure 8 The configuration of the identification control unit 714 will be explained.

[0093] Figure 8 This is a block diagram showing the configuration of the identification control unit 714.

[0094] like Figure 8 As shown, the identification control unit 714 includes an unpickable component determination unit 801, a position calculation unit 802, and a position adjustment unit 803. The unpickable component determination unit 801 determines, based on image data, components placed on the pickup stages 5A and 5B that cannot be grasped (picked up) by hand 422. Then, the unpickable component determination unit 801 sends the determined component information to the position calculation unit 802.

[0095] The position calculation unit 802 calculates the position of the component determined by the unpickable component determination unit 801. Then, the position calculation unit 802 sends the calculated position information of the unpickable component to the position adjustment unit 803. Based on the position information of the unpickable component calculated by the position calculation unit 802, the position adjustment unit 803 calculates the amount of movement (adjustment amount) for making the component a pickable position and posture. Then, the position adjustment unit 803 sends the calculated movement amount to the overall control unit 711. Based on the movement information for reconfiguration received from the position adjustment unit 803, the overall control unit 711 outputs control commands to the arm control unit 712 and the hand control unit 713 to control the operation of the supply unit 4.

[0096] Furthermore, although the example of providing an inaccessible part determination unit 801, a position calculation unit 802, and a position adjustment unit 803 in the identification control unit 714 has been described, it is not limited to this. For example, the inaccessible part determination unit 801, the position calculation unit 802, and the position adjustment unit 803 may be provided in the overall control unit 711, or they may be provided independently in the control unit 71.

[0097] [Component supply operation of the component supply device]

[0098] Next, refer to Figure 9 The component supply operation of component supply device 1 will be explained.

[0099] Figure 9 This is a diagram illustrating the component supply operation of component supply device 1.

[0100] like Figure 9 As shown, in order to supply components to the next process via the component supply device 1, the components are first housed in the housing sections 3A and 3B (hereinafter referred to as "housing section 3"). The housing of components in the housing section 3 can be performed by the device in the previous process, or it can be performed by a person.

[0101] Next, the supply unit 4 takes one or more components from the large number of components in the receiving unit 3 and supplies them to the pickup table 5A or pickup table 5B (hereinafter referred to as "pickup table 5"). At this time, the supply unit 4 performs a supply operation that causes the held components to spread out on the pickup table 5. Hereinafter, the supply operation that causes the components to spread out on the pickup table 5 will be referred to as the "component spreading operation".

[0102] Next, camera 423 takes a picture of the pickup stage 5, and the recognition control unit 714 of control unit 71 performs an overhead recognition of the pickup stage 5. At this time, the recognition control unit 714 determines whether there are any grippable parts on the pickup stage 5.

[0103] Furthermore, if a component is placed on the pickup stage 5 but is in a position or posture that prevents it from being grasped by the supply unit 4, that component (unpickable component) is identified. Then, the position of the unpickable component is calculated, and the amount of movement required to move it to a position that allows it to be grasped by the supply unit 4 is calculated. Based on the calculated amount of movement, the unpickable component is repositioned using the supply unit 4 or another device.

[0104] Furthermore, if reconfiguration of non-pickupable parts is not possible, the tilting mechanism is driven to tilt the pickup table 5. As a result, the parts placed on the pickup table 5 fall from the side of the tray 51 where no side panel is provided and are retrieved into the receiving section 3.

[0105] If it is determined that there is a part that can be grasped on the pick-up table 5, the identification control unit 714 identifies (determines) a grasping position for grasping one of the parts located on the pick-up table 5. Then, the supply unit 4 grasps a part and supplies it to the placement tables 6A and 6B (hereinafter referred to as "placement tables 6"). The placement tables 6 position the supplied part in a predetermined position. The part positioned in the predetermined position is supplied to the device of the next process.

[0106] If the supply unit 4 supplies a component to the placement table 6, the identification control unit 714 identifies (determines) the next gripping position for gripping the component located on the pick-up table 5. At this time, if there is no component on the pick-up table 5, the supply operation of the component to the placement table 6 ends. Then, the supply unit 4 grips one or more components from the large number of components in the receiving unit 3.

[0107] [Example of a pickup action in the supply department]

[0108] Next, refer to Figures 10-24 The example of the picking action in supply section 4 is explained.

[0109] Figure 10 This is a flowchart illustrating an example of a pick-up action.

[0110] like Figure 10 As shown, firstly, preparation is performed before picking up the component based on the supply unit 4 (step S10). In the preparation process, information related to the component to be processed and the hand 422 is stored in the storage unit 72. Furthermore, the details of the preparation involved in step S10 will be described later.

[0111] Next, the supply unit 4 takes the component from the receiving unit 3 and supplies it to the tray 51 of the pickup table 5 (step S12). Then, the camera 423 of the supply unit 4 takes a picture of the tray 51, and the control unit 71 determines the state of the component loaded on the tray 51 (step S13). In addition, in step S13, the control unit 71 sets the determination result as component state C. For example, component state C can be listed as "isolated" when the component is isolated, "standing" when the component is isolated but in an incorrect position (standing) or protruding from the tray 51, and "contact" when the components are in contact with each other. Furthermore, the details of the component state determination process involved in step S13 will be described later.

[0112] Next, based on the component state determined in step S13, the control unit 71 determines whether the component state C(i) of the i-th component region is "isolated," "in contact," or "erect / protruding" (step S14). In the processing of step S14, if the component state is determined to be "isolated," the control unit 71 performs an interference determination (step S15). Furthermore, in step S15, the control unit 71 sets the determination result to "interference present / absent" (0). The details of the interference determination process in step S15 will be described later.

[0113] Next, the control unit 71 determines whether the interference detected in step S15 is "interference present" or "no interference" (step S16). In the process of step S16, if it is determined to be "no interference", the control unit 71 controls the supply unit 4 to pick up the component (step S26).

[0114] Furthermore, in step S16, if "interference" is determined, the control unit 71 performs a reconfigurability (position) determination (step S17). In step S17, the control unit 71 sets the determination result to reconfigurability R_s. Here, reconfigurability R_s is either "reconfigurable" or "not reconfigurable". The details of the reconfigurability (position) determination process in step S17 will be described later.

[0115] Next, the control unit determines whether the reconfigurability R_s set in step S17 is "reconfigurable" or "non-reconfigurable" (step S18). If the determination in step S18 is "reconfigurable," the control unit 71 controls the supply unit 4 to reconfigure (change position) the component (step S19) and picks up the reconfigured component (step S26). Furthermore, the amount of movement of the component to the reconfigurable position in step S19 is calculated based on the reconfigurability (position) determination process in step S17.

[0116] Furthermore, if the processing in step S26 is completed, the control unit 71 determines whether the pickup table 5 is empty (step S27). If, during the processing in step S27, it is determined that there is still a component on the pickup table 5 (negative determination in step S27), the control unit 71 returns to the processing in step S14. Alternatively, if, during the processing in step S27, it is determined that there is no component on the pickup table 5 (positive determination in step S27), the control unit 71 returns to the processing in step S12, supplying the component from the receiving unit 3 to the pickup table 5.

[0117] Furthermore, if the process in step S18 determines that the component is "not reconfigurable," the control unit 71 retains the pickup operation for that component (step S28). Additionally, if the process in step S28 ends, the control unit determines whether all components on the pickup stage 5 should be retained (step S29). If the process in step S29 determines that not all components should be retained (negative determination in step S29), the control unit 71 returns to the process in step S14.

[0118] In contrast, in step S29, if it is determined that all components will be retained (a positive determination in step S29), the control unit 71 drives the tilting mechanism to tilt the pickup table 5, thus discarding the components on the pickup table 5 (step S30). That is, in step S30, the components placed on the pickup table 5 are retrieved into the receiving unit 3. Then, the process returns to step S12, and components are supplied from the receiving unit 3 to the pickup table 5 again.

[0119] Furthermore, in step S14, if the component's state is determined to be "upright / protruding," the control unit 71 performs a reconfigurability (posture (upright) / position (protruding)) determination (step S21). In step S21, the control unit 71 sets the determination result to reconfigurability R_t. The details of the reconfigurability (posture / position) determination process in step S21 will be described later.

[0120] Next, the control unit determines whether the reconfigurability R_t set in step S21 is "reconfigurable" or "non-reconfigurable" (step S22). In the process of step S22, if it is determined to be "reconfigurable", the control unit 71 controls the supply unit 4 to reconfigure the component (change its posture or position) (step S23) and pick up the reconfigured component (step S26).

[0121] In step S23, for example, when the component is upright, the upper part of the component is pressed down by the fingertip of the holding piece 422a to make it roll, or a part of the component is held and rolled into a position that can be picked up. Additionally, when the component protrudes from the tray 51, the component is pushed into the tray 51 by the fingertip of the holding piece 422a. Furthermore, the amount of component operation in step S23 is calculated based on the reconfigurability (posture / position) determination process in step 21.

[0122] In addition, if the condition is determined to be "not reconfigurable" during the processing of step S22, the control unit 71 retains the picking operation of the component (step S28).

[0123] Furthermore, in step S14, if the component state is determined to be "contact," the control unit 71 performs region segmentation processing (step S24). In step S24, the control unit 71 sets the success or failure of the region segmentation processing to D. The details of the region segmentation processing in step S24 will be described later.

[0124] Next, it is determined whether the region segmentation process performed in step S24 was successful or failed (step S25). In the process of step S25, if it is determined that the segmentation failed, the control unit 71 retains the component picking operation of the component area (step S28).

[0125] Furthermore, if the "segmentation was successful" is determined in step S25, the control unit 71 returns to the process in step S14. In subsequent processes, the component region is processed according to each segmented component region.

[0126] [Preparatory Processing]

[0127] Next, refer to Figure 11 as well as Figure 12 The preparatory process in step S10 is explained in detail.

[0128] Figure 11 This is a flowchart representing the pre-processing steps. Figure 12 This is an explanatory diagram showing whether a component can be picked up depending on its orientation.

[0129] like Figure 11 As shown, firstly, the area thresholds (minimum area threshold Th_min(t) and maximum area threshold Th_max(t)) for each pose t of the picked-up component are stored in storage unit 72 (step S41). Next, the pickability information P(t) for each component pose t is stored in storage unit 72 (step S42). For example, as... Figure 12 As shown, pose 1 (top) and pose 2 (back) are stored as pickable, while pose 3 (right) and pose 4 (left) are not pickable.

[0130] Next, the component shape F(t) of each component posture t is stored in the storage unit 72 (step S43). In addition, for example, the information of steps S41 to S43 is generated based on image data of the component captured by the camera 423.

[0131] Next, measure the fingertip width W_h and finger spread width W_f of the hand holding piece 422a (refer to...). Figure 5 The image data is stored in storage unit 72 (step S44). Next, the unloaded tray 51 is photographed by camera 423, and the captured image data is stored in storage unit 72 as background image I_b (step S45). Thus, the pre-preparation process ends. Alternatively, the entire pre-preparation process can be stored in storage unit 72, or various information can be obtained from an external server.

[0132] [Component Status Determination Processing]

[0133] Next, refer to Figure 13 as well as Figure 15 The component state determination process in step S13 is explained in detail.

[0134] Figure 13 This is a flowchart illustrating the component status determination process. Figure 14 as well as Figure 15 This is an explanatory diagram illustrating an example of component state determination processing. Figure 15 A is a diagram showing the relationship between the component region and its area. Figure 15 B is a diagram representing the component area.

[0135] like Figure 13As shown, firstly, the control unit 71 captures an image of the tray 51 loaded with components using the camera 423, obtaining an image I_c (step S51). For example, acquiring... Figure 14 The measured image shows image data of multiple components M1, M2, M3, and M4 loaded on tray 51. Next, control unit 71 calculates component image I_f based on the difference between background image I_b and captured image I_c (step S52). Thus, as shown... Figure 14 The part image I_f is extracted from the measurement image.

[0136] Next, the control unit 71 marks the component image I_f to obtain the component region A(i)·(i=1…N) (step S53). Thus, as... Figure 14 As shown, the first component region a, the second component region b, the third component region c, and the fourth component region d are extracted. Next, the control unit 71 calculates the area S(i) of component region A(i) (step S54).

[0137] Next, the control unit 71 compares the calculated area S(i) with the threshold (T_min(t)·T_max(t)) to set the component state C(i) (step S55). The component state C(i) can be, for example, "isolated", "in contact", or "erect / protruding". Furthermore, the control unit 71 performs steps S54 and S55 on all component regions A.

[0138] exist Figure 15 A and Figure 15 In the example shown in B, the area of ​​the first component region a falls within the range of the minimum and maximum area thresholds for the pre-defined pickable postures. Therefore, the component state C of the first component region a is set to "isolated". Conversely, the area of ​​the second component region b exceeds the maximum area threshold for the pickable postures. Therefore, the component state C of the second component region b is set to "contact".

[0139] Furthermore, the third component region c is smaller than the preset minimum area threshold for an unpickable posture. Therefore, the component state C of the third component region c is set to "protruding". Moreover, the fourth component region d falls within the range of the minimum and maximum area thresholds for an unpickable posture. Therefore, the component state of the fourth component region d is set to an unpickable posture, such as "standing".

[0140] [Interference Detection and Handling]

[0141] Next, refer to Figures 16-18 The interference determination process in step S15 will be explained in detail.

[0142] Figure 16This is a flowchart illustrating the interference detection and processing. Figure 17 A and Figure 17 B is an explanatory diagram representing the interference detection and processing. Figure 18 This is an explanatory diagram illustrating the ellipse fitting process.

[0143] like Figure 16 As shown, the control unit 71 performs ellipse fitting processing on the component region A(i) (step S61). That is, as... Figure 17 A and Figure 18 As shown, an ellipse Q1 is created that surrounds the component image I_f of each component region A. Then, the control unit 71 calculates the component center (X_c, Y_c) and component angle based on the ellipse Q1.

[0144] Next, the control unit 71 sets a rectangle consisting of a longitudinal width W_h and a lateral width W_f as a hand approach area H(i) for each component region A(i) at a tilt angle θ with the component center (X_c, Y_c) as the center of gravity (refer to step S62). Figure 17 A and Figure 18 The hand approach area H represents the size of the part when the hand 422 grasps it. Furthermore, the control unit 71 determines whether there are other parts or obstacles such as the walls (panels 52, 53) of the tray 51 within the set hand approach area H(i) (step S63).

[0145] For example, Figure 17 As shown in Figure B, the first component region a has no other components or walls within the hand approach region H, so it is determined to be without interference. The second component region b has other components within the hand approach region H, so it is determined to be subject to interference. The third component region c has walls within the hand approach region H, so it is determined to be subject to interference.

[0146] In step S63, if it is determined that there are no other components or walls (negative determination in step S63), the control unit 71 sets the interference presence / absence O to "no interference" (step S64). Conversely, if it is determined that there are other components or walls in step S63 (positive determination in step S63), the control unit 71 sets the interference presence / absence O to "interference present" (step S65). Furthermore, the control unit 71 repeats the above interference determination process for all component areas A that are determined to be "isolated".

[0147] While an example of elliptical fitting of the component region A to define the hand approach region H for the component has been given, this is not a limitation. For example, coordinate information representing the centroid position of the hand approach region H for the component can be pre-stored in the pre-processing stage.

[0148] [Can the (location) determination process be reconfigured?]

[0149] Next, refer to Figures 19-21 The process for determining whether a location can be reconfigured in step S17 is explained.

[0150] Figure 19 This is a flowchart illustrating the process for determining whether a location can be reconfigured. Figure 20 as well as Figure 21 This is an explanatory diagram illustrating the process for determining whether a location can be reconfigured.

[0151] like Figure 19 As shown, firstly, the destination (X_r, Y_r) is reconfigured based on the position of the wall or other components contained in the hand approach area H(i) and its lateral position (step S71). Figure 20 As shown, when picking up component M2, the hand approach area H interferes with component M1. Therefore, the control unit 71 sets the area in the hand approach area H(i) that interferes with component M1 as the interference amount d in the long side direction of the hand approach area H(i). Then, the position where the interference position is moved parallel to the long side of the hand approach area H(i) by the interference amount d is set as the reconfiguration position (X_r, Y_r). Furthermore, this interference amount d becomes the movement amount for reconfiguring the component. Then, in the processing of step S19, the control unit 71 controls the supply unit 4 based on the calculated movement amount to move the component to the reconfiguration position (X_r, Y_r) by the fingertip of the gripping piece 422a.

[0152] Next, based on the reconfiguration position (X_r, Y_r), the fingertip W_h, the finger spread width W_f, and the angle θ, the reconfigured hand approach area H'(i) and the reconfigured component area A'(i) are set (step S72). Then, the control unit 71 determines whether there are other components in the reconfigured hand approach area H'(i) or the reconfigured component area A'(i). Figure 20 Obstacles such as component M3 and walls (step S73).

[0153] In step S73, if it is determined that there are no other components or walls (negative determination in step S73), the control unit 71 sets the reconfigurability R_s to "reconfigurable" (step S74). Conversely, if it is determined that there are other components or walls in step S73 (positive determination in step S73), the control unit 71 sets the reconfigurability R_s to "non-reconfigurable" (step S75). Furthermore, the control unit 71 repeats the above-described reconfigurability (position) determination process for all component areas A determined to be interfering.

[0154] For example, such as Figure 21As shown, after reconfiguration, the hand access area H of components M4 and M5 does not interfere with the wall or other components, so the reconfigurability R_s is set to "reconfigurable". In contrast, after reconfiguration, the hand access area H of component M6 interferes with the wall, so the reconfigurability R_s is set to "non-reconfigurable".

[0155] [Can the (pose / position) determination process be reconfigured?]

[0156] Next, refer to Figure 22 The reconfigurability (posture / position) determination process in step S21 is explained.

[0157] Figure 22 This is a flowchart representing the process for determining whether reconfiguration (pose / position) is possible.

[0158] like Figure 22 As shown, firstly, the control unit 71 sets the estimated posture T(i) of the component based on the component area S(i) obtained in the component state determination process (step S13) (step S81). Next, the control unit 71 sets the operation direction θ_p and operation amount M_p for changing the estimated posture T(i) into a pickable posture t_p (step S82).

[0159] Next, the reconfigured component area A'(i) is set according to the operation direction θ_p, operation amount M_p, and component shape F(t_p) after posture change (step S83). In addition, the hand approach height Z(T(i)) relative to the component posture is set (step S84). Here, the hand approach height Z is the height of the grip piece 422a from the tray 51 when the component posture is changed.

[0160] Next, the control unit 71 performs ellipse fitting on the reconfigured component region A'(i) and calculates the component center (X_r, Y_r) and component angle θ_r (step S85). Then, at a position where the component center (X_r, Y_r) is tilted by an angle θ_r as the center of gravity, a rectangle formed by the vertical width W_h and the horizontal width W_f is set as the reconfigured hand access region H'(i) (step S86). Then, the control unit 71 determines whether there are other components or obstacles such as walls within the set hand access region H'(i) or the reconfigured component region A' (step S87).

[0161] In step S87, if it is determined that there are no other components or walls (negative determination in step S87), the control unit 71 sets the reconfigurability R_t to "reconfigurable" (step S88). Conversely, if it is determined that there are other components or walls in step S87 (positive determination in step S87), the control unit 71 sets the reconfigurability R_t to "non-reconfigurable" (step S89). Furthermore, the control unit 71 repeats the above-described reconfigurability (posture / position) determination process for all component areas A where component state C is determined to be "erect / protruding".

[0162] [Region Segmentation]

[0163] Next, refer to Figure 23 as well as Figure 24 The detailed explanation of the region segmentation process in step S24 is provided below.

[0164] Figure 23 This is a flowchart representing the region segmentation process. Figure 24 This is an explanatory diagram illustrating the region segmentation process.

[0165] like Figure 23 As shown, the control unit 71 performs shrinkage processing on the component image I_f of the component region undergoing region segmentation processing (step S101). Furthermore, each time shrinkage processing is performed, the control unit 71 increments the execution count n by 1. Next, the control unit 71 determines whether the region area is 0 (step S102).

[0166] In step S102, if the area is determined to be 0 (positive determination in step S102), the control unit 71 sets the segmentation success or failure D to "segmentation failure" (step S107). Alternatively, if the area is determined to be non-zero in step S102 (negative determination in step S102), the process moves to step S103, which will be described later.

[0167] In step S103, the control unit 71 determines whether the number of regions in the component image I_f has increased. If, in step S103, it is determined that the number of regions has not increased (a negative determination in step S103), the control unit 71 returns to step S101 and performs shrinkage processing. Alternatively, if, in step S103, it is determined that the number of regions has increased (a positive determination in step S103), the control unit 71 performs dilation processing and XOR processing on each region n times (the number of times shrinkage processing was performed) (step S104).

[0168] In addition, such as Figure 24As shown, when two components are in contact or overlap, the component region is segmented into a first region n1 and a second region n2 by performing n shrinkage processes. Then, by performing dilation processes, the first region n1 and the second region n2 come into contact. Next, in the XOR process, the image data of the overlapping region K1 between the first region n1 and the second region n2 is eliminated. After performing n dilation processes, it overlaps with the original image.

[0169] Next, the control unit 71 sets the component state after region segmentation to a new component region A(i) (step S105). That is, the first region n1 and the second region n2 are set to different component regions A. Then, the control unit 71 sets the segmentation success or failure D to "segmentation successful" (step S106). In addition, the control unit 71 repeats the above-described region segmentation process for all component regions A whose component state C is determined to be "contact".

[0170] Furthermore, as a region segmentation process, it is not limited to the methods mentioned above, and various other methods can be applied.

[0171] According to the component supply apparatus and component supply method of the present invention, the non-pickable component determination unit 801 determines the non-pickable components among a plurality of components on the tray 51. Therefore, it is possible to adjust only the position and orientation of the non-pickable components. As a result, it is possible to adjust the position and orientation of the non-pickable components while the pickable components are loaded onto the tray 51.

[0172] Furthermore, the state of the identified unpickable parts is calculated, and the state that can be picked up is also calculated. This reduces the number of adjustment operations required to make unpickable parts pickable, thus improving the efficiency of the picking operation.

[0173] Furthermore, the status of components is categorized into various types based on posture and position, such as "isolated," "in contact," "standing / protruding," and "with or without interference." This allows for the appropriate calculation of the movement and manipulation amounts required to reconfigure unpickable components based on their status. Consequently, the efficiency of the pickup operation is further improved, eliminating the need for readjustment of reconfigured components.

[0174] The above description, including its effects, explains the embodiments. However, the embodiments described above are not limited to those described, and various modifications can be made without departing from the spirit of the invention as described in the claims.

[0175] Furthermore, some or all of the aforementioned components, functions, and processing units can be implemented in hardware, such as through integrated circuit design. Alternatively, the aforementioned components and functions can be implemented in software by having a processor interpret and execute the programs that implement each function. The programs, tables, files, and other information that implement each function can be stored in recording devices such as memory, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

[0176] Furthermore, although the terms "parallel" and "orthogonal" are used in this specification, these terms do not only refer to strict "parallel" and "orthogonal", but can also refer to a state of "approximately parallel" or "approximately orthogonal" that includes "parallel" and "orthogonal" and is within the range where it can perform its function.

Claims

1. A component supply device, wherein, have: Pick-up station, for loading parts; The supply department picks up the aforementioned components loaded on the aforementioned pickup table and supplies them to the designated location; The inspection department inspects the components mounted on the pickup platform. The control unit determines the state of the component mounted on the pickup stage based on the information detected by the detection unit. as well as The storage unit stores the minimum area threshold and the maximum area threshold according to each posture of the aforementioned components. Based on the information detected by the detection unit and the minimum and maximum area thresholds, the control unit determines whether the component is one that can be picked up by the supply unit or one that cannot be picked up. The control unit calculates the operation amount for adjusting the unpickable component to a pickable state, and based on the calculated operation amount, the adjustment unit adjusts only the state of the unpickable component.

2. The component supply device according to claim 1, wherein, The aforementioned adjustment department is the aforementioned supply department. The aforementioned control unit controls the aforementioned supply unit and adjusts the state of the aforementioned uncollectible components based on the calculated operating quantity.

3. The component supply device according to claim 1, wherein, Based on the information detected by the detection unit, the control unit classifies the state of the components into multiple types.

4. The component supply device according to claim 3, wherein, The control unit calculates the operational quantity that makes the previously unpickable component become pickable, based on the type of state that is distinguished for the aforementioned component.

5. The component supply device according to claim 1, wherein, The control unit determines the posture of the component based on the information detected by the detection unit and the minimum and maximum area thresholds.

6. The component supply device according to claim 1, wherein, The aforementioned storage section stores a hand approach area that indicates the size of the component when the aforementioned supply section picks it up. Based on the information detected by the detection unit, the control unit sets the hand approach area for the component and determines whether the component is a pick-upable component or not.

7. The component supply device according to claim 6, wherein, The control unit determines whether a component is pickable or not based on the presence or absence of other components or obstacles in the area where the hand approaches.

8. A method for supplying components, wherein, include: The process of loading parts onto the pickup stage; The process of detecting the components mounted on the pickup stage and determining the state of the components; The process of storing the minimum area threshold and the maximum area threshold in the storage unit according to each posture of the above components; Based on the information detected in the above-mentioned determination process and the minimum area threshold and the maximum area threshold, the process of determining whether the above-mentioned component is a component that can be picked up by the supply unit or a component that cannot be picked up. The processing involves calculating the amount of operation used to adjust the previously unpickable components to a pickable state. as well as Based on the calculated operation amount, only the state of the aforementioned unpickable components is adjusted.

9. The component supply method according to claim 8, wherein, The aforementioned adjustments were made by the supply department. In the above-mentioned adjustment process, the supply unit is controlled to adjust the state of the unpickable components based on the calculated operating volume.

10. The component supply method according to claim 8, wherein, In the above-mentioned determination process, based on the detected information, the state of the above-mentioned components is classified into multiple types.

11. The component supply method according to claim 10, wherein, In the above calculation process, based on the distinguished types representing the states of the aforementioned components, an operational quantity is calculated to make the previously unpickable components become pickable.

12. The component supply method according to claim 8, wherein, In the above-mentioned discrimination process, the posture of the component is determined based on the information detected in the above-mentioned discrimination process and the minimum area threshold and the maximum area threshold.

13. The component supply method according to claim 8, wherein, The aforementioned storage section stores a hand approach area that indicates the size of the component when the aforementioned supply section picks it up. In the above-mentioned discrimination process, based on the information detected in the above-mentioned discrimination process, the above-mentioned hand approach area for the above-mentioned component is set, and it is determined whether the above-mentioned component is a component that can be picked up or a component that cannot be picked up.

14. The component supply method according to claim 13, wherein, In the above-mentioned discrimination process, based on the presence or absence of other components and obstacles in the area where the hand approaches, it is determined whether the component is a component that can be picked up or a component that cannot be picked up.

15. A computer-readable recording medium storing a program, wherein, The above procedure causes the computer to execute: The steps of inspecting the components mounted on the pickup stage and determining the state of the components; The step of storing the minimum area threshold and the maximum area threshold in the storage unit according to each posture of the above components; Based on the information detected in the above determination step and the minimum area threshold and maximum area threshold, the step of determining whether the above component is a component that can be picked up by the supply unit or a component that cannot be picked up. The steps for calculating the amount of operation used to adjust the aforementioned unpickable parts to a pickable state; as well as Based on the calculated operation amount, only the steps to adjust the state of the aforementioned unpickable components are performed.

16. The computer-readable recording medium storing a program as described in claim 15, wherein, The above adjustments are made by the supply department. In the above adjustment steps, the supply unit is controlled to adjust the state of the unpickable components based on the calculated operating volume.

17. The computer-readable recording medium storing a program as described in claim 15, wherein, In the above determination steps, based on the detected information, the state of the above components is classified into multiple types.

18. The computer-readable recording medium storing a program as described in claim 17, wherein, In the above calculation steps, based on the distinguished types representing the states of the aforementioned components, an operational quantity is calculated to make the previously unpickable component become pickable.

19. The computer-readable recording medium storing a program as described in claim 15, wherein, In the above-described determination step, the posture of the component is determined based on the information detected in the above-described determination step and the minimum area threshold and the maximum area threshold.

20. The computer-readable recording medium storing a program as described in claim 15, wherein, The aforementioned storage section stores a hand approach area that indicates the size of the component when the aforementioned supply section picks it up. In the above-mentioned determination step, based on the information detected in the above-mentioned determination step, the above-mentioned hand approach area for the above-mentioned component is set, and it is determined whether the above-mentioned component is a component that can be picked up or a component that cannot be picked up.

21. The computer-readable recording medium storing a program as described in claim 20, wherein, In the above-mentioned discrimination steps, based on the presence or absence of other components and obstacles in the area where the hand approaches, it is determined whether the component is a component that can be picked up or a component that cannot be picked up.

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