Supply device

Abstract

To provide a supply device that can appropriately maintain throughput.SOLUTION: A supply device according to an embodiment comprises a loading conveyor, a receiving conveyor, a camera and a processor. The loading conveyor is loaded with an article. The receiving conveyor receives the article loaded in the loading conveyor. The camera photographs the article placed on the receiving conveyor. The processor extracts an article region where the article is shown-up from a photographed image photographed with the camera, calculates a ratio of areas occupied by the article region in the photographed image, on the basis of the article region, and sets a conveying speed of the loading conveyor and a conveying speed of the receiving conveyor, on the basis of a sensed result of a detected prediction that the article drops from the loading conveyor down to the receiving conveyor and the calculated ratio of areas.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] SUMMARY OF THE INVENTION An embodiment of the present invention relates to a feeding device. [Background technology]

[0002] A supply device is provided that supplies the inserted parcels in a line at a predetermined interval. Such a supply device separates overlapping parcels or parcels that have been inserted in a cluster while transporting the articles using a conveyor or the like.

[0003] It is desirable for the supply device to maintain a predetermined throughput (the amount of parcels supplied per unit time).

[0004] However, throughput may not be stable depending on the size of the parcel or the condition of the parcel that has been inserted. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 2018-507149 Summary of the Invention [Problem to be solved by the invention]

[0006] In order to solve the above problem, a supply device capable of appropriately maintaining throughput is provided. [Means for solving the problem]

[0007] According to an embodiment, a supply device includes an input conveyor, a receiving conveyor, a camera, and a processor. The input conveyor inputs items. The receiving conveyor receives the items input by the input conveyor. The camera photographs the items loaded on the receiving conveyor. The processor extracts an item area in which the items appear from the image captured by the camera, calculates an area ratio of the item area in the captured image based on the item area, and sets a conveying speed of the input conveyor and a conveying speed of the receiving conveyor based on a detection result of detecting a sign that an item will fall from the input conveyor to the receiving conveyor and the calculated area ratio. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic perspective view showing an operating state of a supply device according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing the supply device according to the embodiment as viewed from above. [Figure 3] FIG. 3 is a schematic diagram showing the state of the conveying path along the extending direction of the conveying path of the supplying device according to the embodiment. [Figure 4] FIG. 4 is a schematic diagram showing the input conveyor and the first transport unit of the supply device according to the embodiment. [Figure 5] FIG. 5 is a block diagram showing a control system of the supply device according to the embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a captured image according to the embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of an operation of the supply device according to the embodiment to calculate the area ratio. [Figure 8] FIG. 8 is a diagram showing a speed table according to the embodiment. [Figure 9] FIG. 9 is a flowchart illustrating an example of the operation of the supply device according to the embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of the operation of the supply device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] The supply device 10 will now be described with reference to the drawings. The supply device 10 separates (separates) multiple layers of cargo and supplies the cargo (processing objects, articles) at predetermined time intervals (predetermined pitches) to a sorting device that sorts cargo by destination in a logistics system, for example. The supply device 10 may also be located, for example, as part of a manufacturing line, and separates (separates) multiple identical or different parts (processing objects) and supplies the cargo (processing objects) to a subsequent device at predetermined time intervals (predetermined pitches).

[0010] A supplying device 10 according to an embodiment will be described with reference to FIGS.

[0011] FIG. 1 is a schematic perspective view showing the operating state of the supply device 10. FIG. 2 is a schematic view showing the supply device 10 shown in FIG. 1 as viewed from above. An XYZ Cartesian coordinate system is defined for the supply device 10 in FIG. 2. FIG. 3 shows the state when viewed from the inside (the other direction) to the outside (one direction) of the end of the width direction perpendicular to the extension direction of the conveyance path. Therefore, FIG. 3 is a schematic view showing the inclination and height difference of the conveyance path along the extension direction D (D10, D11, D12, D21, D22, D23, D31, D32) of the series of conveyance paths of the supply device 10 shown in FIG. 2, assuming that the extension direction D of the series of conveyance paths is straight. FIG. 4 is a schematic view showing the positional relationship of the input conveyor 12, the first conveyor unit 14, the photographing means 101, etc.

[0012] As shown in FIGS. 1 and 2, the supply device 10 has an input conveyor 12 onto which a plurality of processing objects S are input, a first conveying section 14, a second conveying section 16, and a third conveying section 18.

[0013] The input conveyor 12 is a conveyor that inputs the processing object S into the first transport section 14. For example, the input conveyor 12 loads the processing object S input by a robot, an operator, or the curved conveyor 92. The input conveyor 12 transports the loaded processing object S and inputs it from the downstream end of the input conveyor 12 to the upstream end of the first transport path 14a.

[0014] In this embodiment, the upstream end of the transport path itself is referred to as the upstream end, and the downstream end thereof is referred to as the downstream end.

[0015] The first transport section 14 has a first transport path 14a that transports the processing target S from the upstream side to the downstream side along a first transport direction C1 (C10, C11, C12). As shown in Fig. 2, the extension directions D10, D11, D12 of the first transport section 14 appear to be straight overall along the X-axis direction, but as shown in Fig. 3, the extension directions D11, D12 are inclined with respect to the X-axis and Z-axis along the ZX plane. The extension directions D11, D12 are inclined with respect to the horizontal plane (ground).

[0016] The second transport section 16 is disposed downstream of the first transport path 14a of the first transport section 14, and has a second transport path 16a that is bent, for example, in a U-shape (including a J-shape). The second transport path 16a of the second transport section 16 transports the processing object S from the upstream side to the downstream side along second transport directions C21, C22, and C23.

[0017] The third transport section 18 is disposed downstream of the second transport path 16a and has a third transport path 18a that transports the processing target object S from the upstream side to the downstream side along the third transport direction C32. The third transport section 18 is straight along the X-axis direction. A sorting device, for example, is disposed downstream of the third transport section 18.

[0018] When the supply device 10 is viewed from above as shown in FIG. 2, the first conveying section 14 and the third conveying section 18 are spaced apart in the Y-axis direction. Therefore, the first conveying section 14 and the third conveying section 18 face each other with a space between them. The horizontal component of the first conveying direction C1 of the first conveying path 14a and the horizontal component of the third conveying direction C32 of the third conveying path 18a are both straight. The horizontal component of the first conveying direction C1 of the first conveying path 14a and the horizontal component of the third conveying direction C32 of the third conveying path 18a are parallel to each other (including approximately parallel to each other) and point in opposite directions.

[0019] The first transport section 14 has a first conveyor 22 (receiving conveyor) adjacent to the downstream side of the input conveyor 12 along the X axis, and a second conveyor section 24 arranged downstream of the first conveyor 22 along the X axis.

[0020] The first conveyor 22 receives the materials S fed by the feed conveyor 12. In this embodiment, the first conveyor 22 has a conveying path 22a that is horizontal to a horizontal plane (ground) and is, for example, an endless belt. The second conveyor unit 24 has a first inclined conveyor 32 that has a conveying path 32a that is inclined downward with respect to the horizontal plane and is, for example, an endless belt, and a second inclined conveyor 34 that has a conveying path 34a that is inclined upward with respect to the horizontal plane and is, for example, an endless belt. The first inclined conveyor 32 is adjacent to the downstream side of the first conveyor 22. The second inclined conveyor 34 is adjacent to the downstream side of the first inclined conveyor 32. The first inclined conveyor 32 is inclined downward along the first conveying direction C1 due to the downward slope. The second inclined conveyor 34 is inclined upward along the first conveying direction C1 due to the upward slope.

[0021] A conveying speed V10 along the conveying direction C10 of the conveying path 22a of the first conveyor 22 is the same as or faster than a conveying speed V11 along the conveying direction C11 of the conveying path 32a of the first inclined conveyor 32 of the second conveyor section 24. A conveying speed V12 along the conveying direction C12 of the conveying path 34a of the second inclined conveyor 34 of the second conveyor section 24 is the same as or faster than the conveying speed V11 along the conveying direction C11 of the conveying path 32a of the first inclined conveyor 32 of the second conveyor section 24.

[0022] 3, the inclination angle θ1 of the transport path 32a of the first inclined conveyor 32 with respect to the horizontal plane is preferably, for example, about 10° to 40°. The inclination angle θ2 of the transport path 34a of the second inclined conveyor 34 with respect to the horizontal plane is preferably, for example, about 10° to 40°.

[0023] It is preferable that the upstream end of the conveying path 32a of the first inclined conveyor 32 is located slightly below the downstream end of the conveying path 22a of the first conveyor 22 and the upstream end of the first inclined conveyor 32. In this case, the object to be processed S can be easily transferred between the conveying path 22a of the first conveyor 22 and the conveying path 32a of the first inclined conveyor 32.

[0024] As shown in FIGS. 2 and 4, at the upstream end of the feeding conveyor 12, a first fall sign detection sensor 102a and a second fall sign detection sensor 102b are formed.

[0025] The first fall sign detection sensor 102a detects the processing object S that is about to fall from the input conveyor 12 onto the transport path 22a. That is, the first fall sign detection sensor 102a detects a sign that the processing object S is about to fall (immediately before falling).

[0026] The first fall sign detection sensor 102a detects the processing object S loaded downstream of the downstream end of the input conveyor 12. That is, the first fall sign detection sensor 102a detects the processing object S protruding from the downstream end of the input conveyor 12. The first fall sign detection sensor 102a outputs a first detection result to the processor 301 as a detection result.

[0027] For example, the first fall sign detection sensor 102a is composed of a light source that emits light such as infrared light and a detection unit that detects the light from the light source. The first fall sign detection sensor 102a detects the processing target S when the light from the light source to the detection unit is blocked.

[0028] Similarly, the second fall sign detection sensor 102b detects the processing object S that is about to fall from the input conveyor 12 onto the transport path 22a. That is, the second fall sign detection sensor 102b detects the processing object S as a sign of falling (immediately before falling). The second fall sign detection sensor 102b detects the processing object S that is loaded upstream of the position where the first fall sign detection sensor 102a detects the processing object S. Here, the second fall sign detection sensor 102b detects the processing object S that is present at the downstream end of the input conveyor 12. The second fall sign detection sensor 102b outputs the second detection result to the processor 301 as the detection result.

[0029] The configuration of the second fall sign detection sensor 102b is similar to that of the first fall sign detection sensor 102a, and therefore a description thereof will be omitted.

[0030] As shown in FIGS. 2 and 4, above the first conveyor 22, a photographing means 101 is formed. The imaging means 101 is installed so as to capture images below. That is, the imaging means 101 captures images from above of the first conveyor 22. For example, the imaging means 101 is composed of lighting, a camera, and the like.

[0031] Here, the photographing means 101 photographs a photographing area 101A on the first conveyor 22. A first area ratio detection area 201 and a second area ratio detection area 202 are set in the photographing area 101A.

[0032] The first area ratio detection region 201 is set at a position close to the upstream end of the first conveyor 22. That is, the first area ratio detection region 201 is a region into which the processing target objects S fed from the feeding conveyor 12 fall.

[0033] The second area ratio detection region 202 is set downstream of the first area ratio detection region 201. Here, the second area ratio detection region 202 is a region where the processing target objects S that are falling (just about to fall) from the first conveyor 22 are loaded.

[0034] As shown in FIGS. 1 and 2, the second conveying section 16 includes a first biasing conveyor 42, a second biasing conveyor 44, and a third biasing conveyor 46 (downstream conveyor) that are adjacent to the downstream side of the first conveying section 14 along the X-axis. In the second conveying section 16, the first biasing conveyor 42, the second biasing conveyor 44, and the third biasing conveyor 46 are connected with different extension directions D21, D22, and D23 and conveying directions C21, C22, and C23. The extension directions D21, D22, and D23 of the first biasing conveyor 42, the second biasing conveyor 44, and the third biasing conveyor 46 of the second conveying section 16 form a U-shape overall. The first biasing conveyor 42, the second biasing conveyor 44, and the third biasing conveyor 46 only need to be arranged adjacent to each other and do not need to be integrated into a single conveyor.

[0035] The first biasing conveyor 42 of the second conveying section 16 is disposed downstream of the first conveying section 14 and extends along the first conveying direction C1. The second biasing conveyor 44 is disposed downstream of the first biasing conveyor 42 and extends along a direction intersecting the first biasing conveyor 42. The third biasing conveyor 46 is disposed downstream of the second biasing conveyor 44 and extends along a direction intersecting the second biasing conveyor 44.

[0036] When the supply device 10 is viewed from above as shown in FIG. 2, the first offset conveyor 42 extends along an extension direction D21. The extension direction D21 of the first offset conveyor 42 substantially coincides with the horizontal component of the first transport direction C1. The transport path 42a of the first offset conveyor 42 is parallel to, for example, the XY plane. The transport direction C21 of the workpiece S along the transport path 42a of the first offset conveyor 42 deviates from the horizontal component of the first transport direction C1. For example, an inclined roller conveyor is used as the first offset conveyor 42. The transport direction C21 is inclined at an inclination angle θa with respect to the extension direction D21 of the transport path 42a of the first offset conveyor 42. The inclination angle θa is preferably, for example, approximately 10° to 40°. Therefore, the first offset conveyor 42 can shift the processing object S placed on the conveying path 42a of the first offset conveyor 42 in one width direction perpendicular to the extension direction D21, i.e., to one outer end 42b.

[0037] If the conveying speed along the conveying direction C21 of the conveying path 42a of the first biasing conveyor 42 is V21, the conveying path 42a of the first biasing conveyor 42 moves the object S to be processed along the extending direction D21 of the first biasing conveyor 42 at a speed of V21·cos θa. The conveying speed V21 along the conveying direction C21 of the conveying path 42a of the first biasing conveyor 42 is preferably faster than the conveying speed V12 along the conveying direction C12 of the conveying path 34a of the second inclined conveyor 34.

[0038] A first wall portion 52 is provided at an outer end portion 42b in one width direction perpendicular to the extending direction D21 of the first biasing conveyor 42, and serves as a wall that prevents the objects S from falling off from the one end portion of the first biasing conveyor 42. The first wall portion 52 extends, for example, parallel to the extending direction D21 of the transport path 42a of the first biasing conveyor 42. The presence of the first wall portion 52 prevents the objects S from falling off from the one end portion of the first biasing conveyor 42.

[0039] The first wall portion 52 has an auxiliary conveying portion 52a that actively or passively conveys the object S along the first extension direction D21 from the upstream side to the downstream side of the conveying path 42a of the first biasing conveyor 42. The auxiliary conveying portion 52a of the first wall portion 52 is directed toward the other inner end portion 42c of the first biasing conveyor 42 in the width direction perpendicular to the extension direction D21.

[0040] Here, we will explain an example in which the auxiliary conveying portion 52a of the first wall portion 52 actively conveys the object to be processed S from the upstream side to the downstream side of the conveying path 42a of the first offset conveyor 42 along the first extension direction D21.

[0041] The auxiliary conveying unit 52a has an endless belt similar to that used in a belt conveyor. The normal direction of the conveying surface 52b of the endless belt is, for example, horizontal and faces inward in the width direction (the other direction). The conveying surface 52b of the endless belt of the auxiliary conveying unit 52a operates to move the processing object S from the upstream side to the downstream side parallel to the first extension direction D21 at a speed of, for example, V21·cosθa.

[0042] As shown in FIG. 3, it is preferable that a step H of, for example, about 10 cm is formed between the downstream end of the second inclined conveyor 34 and the upstream end of the first biasing conveyor 42.

[0043] The second offset conveyor 44 extends, for example, in a direction along the Y-axis, which is perpendicular to the extension direction D21 (direction along the X-axis) of the first offset conveyor 42. The transport path 44a of the second offset conveyor 44 is, for example, parallel to the XY plane. The second offset conveyor 44 may be, for example, an inclined roller conveyor. The transport direction C22 of the second offset conveyor 44 is inclined at an inclination angle θb with respect to the extension direction D22 of the second offset conveyor 44. The inclination angle θb is preferably, for example, approximately 10° to 40°. Therefore, the second offset conveyor 44 can shift the workpieces S placed on the transport path 44a of the second offset conveyor 44 in one width direction perpendicular to the extension direction D22, i.e., toward one outer end 44b.

[0044] If the conveying speed along the conveying direction C22 of the conveying path 44a of the second biasing conveyor 44 is V22, the conveying path 44a of the second biasing conveyor 44 operates to move the material S to be processed along the extending direction D22 of the second biasing conveyor 44 at a speed of V22·cos θb (≧V21·cos θa). The conveying speed V22 along the conveying direction C22 of the conveying path 44a of the second biasing conveyor 44 is preferably faster than the conveying speed V21 along the conveying direction C21 of the conveying path 42a of the first biasing conveyor 42.

[0045] A second wall portion 54 is provided at an outer end portion 44b in one width direction perpendicular to the extension direction D22 of the second biasing conveyor 44, and serves as a wall to prevent the objects S from falling off the second biasing conveyor 44 in that direction. The second wall portion 54 extends, for example, parallel to the extension direction D22 of the transport path 44a of the second biasing conveyor 44. The presence of the second wall portion 54 prevents the objects S from falling off the second biasing conveyor 44.

[0046] The second wall portion 54 has an auxiliary conveying portion 54a that actively or passively conveys the object S along the second extension direction D22 from the upstream side to the downstream side of the conveying path 44a of the second biasing conveyor 44. The auxiliary conveying portion 54a of the second wall portion 54 is directed toward the other end (inner end) 44c in the width direction perpendicular to the extension direction D22 of the second biasing conveyor 44.

[0047] Here, we will explain an example in which the auxiliary conveying portion 54a of the second wall portion 54 actively conveys the object to be processed S from the upstream side to the downstream side of the conveying path 44a of the second offset conveyor 44 along the second extension direction D22.

[0048] Auxiliary conveying section 54a is formed in the same manner as auxiliary conveying section 52a, for example. Therefore, conveying surface 54b of the endless belt of auxiliary conveying section 54a operates to move processing object S from the upstream side to the downstream side in parallel with second extension direction D22 at a speed of, for example, V22·cosθb.

[0049] The third offset conveyor 46 is adjacent to the downstream side of the second offset conveyor 44 along the Y-axis. The third offset conveyor 46 extends, for example, perpendicular to the extension direction D22 of the second offset conveyor 44. The conveying path 46a of the third offset conveyor 46 is, for example, parallel to the XY plane. The third offset conveyor 46 may be, for example, an inclined roller conveyor. The conveying direction C23 of the third offset conveyor 46 is inclined at an inclination angle θc with respect to the extension direction D23 of the third offset conveyor 46. The inclination angle θc is preferably, for example, approximately 10° to 40°. Therefore, the third offset conveyor 46 can shift the workpieces S placed on the conveying path 46a of the third offset conveyor 46 in one width direction perpendicular to the extension direction D23, i.e., toward one outer end 46b.

[0050] If the conveying speed along the conveying direction C23 of the conveying path 46a of the third biasing conveyor 46 is V23, the conveying path 46a of the third biasing conveyor 46 operates to move the processing target object S along the extending direction D23 of the third biasing conveyor 46 at a speed of V23·cos θc (≧V22·cos θb). The conveying speed V23 along the conveying direction C23 of the conveying path 46a of the third biasing conveyor 46 is preferably faster than the conveying speed V22 along the conveying direction C22 of the conveying path 44a of the second biasing conveyor 44.

[0051] A third wall portion 56 is provided at an outer end portion 46b in one width direction perpendicular to the extending direction D23 of the third biasing conveyor 46, and serves as a wall that prevents the objects S from falling off the third biasing conveyor 46 in one direction. The third wall portion 56 extends, for example, parallel to the extending direction D23 of the transport path 46a of the third biasing conveyor 46. The presence of the third wall portion 56 prevents the objects S from falling off the third biasing conveyor 46.

[0052] The third wall portion 56 has an auxiliary transport portion 56a that actively or passively transports the object S along the third extension direction D23 from the upstream side to the downstream side of the transport path 46a of the third biasing conveyor 46. The auxiliary transport portion 56a of the third wall portion 56 is directed toward the other end (inner end) 46c of the third biasing conveyor 46 in the width direction perpendicular to the extension direction D23.

[0053] Here, we will explain an example in which the auxiliary conveying portion 56a of the third wall portion 56 actively conveys the object to be processed S from the upstream side to the downstream side of the conveying path 46a of the third offset conveyor 46 along the third extension direction D23.

[0054] Auxiliary conveying section 56a is formed in the same manner as auxiliary conveying sections 52a and 54a, for example. Therefore, conveying surface 56b of the endless belt of auxiliary conveying section 56a moves processing object S from the upstream side to the downstream side in parallel with second extension direction D23 at a speed of, for example, V23·cosθc.

[0055] The third transport section 18 has a narrow conveyor 62, a speed-controlling conveyor 64, and a recovery section 66. The third transport section 18 is provided with a camera (sensor) (not shown) for recognizing, for example, the speed of the transport path 62a of the narrow conveyor 62 and the distance between the objects to be processed S before and after on the transport path 62a.

[0056] The narrow conveyor 62 is adjacent to the downstream side of the third offset conveyor 46 along the X-axis. The upstream end of the narrow conveyor 62 is formed to have a width smaller than the width of the downstream end of the third offset conveyor 46 in the width direction perpendicular to the extension direction D23. The width of the narrow conveyor 62 is set, for example, according to the size of the processing object S. The narrow conveyor 62 has a width that prevents multiple processing objects S of appropriate size from being lined up in the width direction. The narrow conveyor 62 has a transport path 62a that is horizontal to a horizontal surface (ground) and is, for example, an endless belt. The upstream end of the transport path 62a of the narrow conveyor 62 is located adjacent to the downstream end of the transport path 46a of the third offset conveyor 46 in one direction of the width direction. The transport direction C31 of the narrow conveyor 62 is parallel to the extension direction D31 of the narrow conveyor 62. The conveying speed V31 of the conveying path 62a of the narrow conveyor 62 along the conveying direction C31 is preferably faster than the conveying speed V23 of the conveying path 46a of the third offset conveyor 46 along the conveying direction C23.

[0057] A fourth wall portion 68 serving as a wall for preventing the object S from falling off from the narrow conveyor 62 in one direction is provided at the outer end portion 62b in the width direction perpendicular to the extending direction D31 (conveying direction C31) of the narrow conveyor 62. The fourth wall portion 68 extends, for example, parallel to the extending direction D31 of the conveying path 62a of the narrow conveyor 62. The presence of the fourth wall portion 68 prevents the object S from falling off from the narrow conveyor 62.

[0058] Preferably, the outer end 62b of the narrow conveyor 62 and the outer end 46b of the third offset conveyor 46 are aligned in a straight line along the X-axis.

[0059] The fourth wall 68 has an auxiliary conveying portion 68a that actively or passively conveys the object S along the extension direction D31 from the upstream side to the downstream side of the conveying path 62a of the narrow conveyor 62. The auxiliary conveying portion 68a of the fourth wall 68 is directed toward the other inner end portion 62c of the narrow conveyor 62 in the width direction perpendicular to the extension direction D23.

[0060] Here, we will explain an example in which the auxiliary conveying portion 68a of the fourth wall portion 68 actively conveys the object to be processed S from the upstream side to the downstream side of the conveying path 62a of the narrow conveyor 62 along the fourth extension direction D31.

[0061] Auxiliary conveying section 68a is formed in the same manner as, for example, auxiliary conveying sections 52a, 54a, and 56a. Therefore, a conveying surface 68b of the endless belt of auxiliary conveying section 68a moves the processing object S from the upstream side to the downstream side in parallel with the extending direction D31, for example, at a speed V31.

[0062] The horizontal component of the first conveying direction C1 of the first conveying path 14a and the horizontal component of the third conveying direction C32 of the third conveying path 18a are both straight.

[0063] Further, a removal mechanism 105 is formed in the middle of the narrow conveyor 62 . The exclusion mechanism 105 excludes the processing objects S transported by the narrow conveyor 62. That is, the exclusion mechanism 105 inputs the processing objects S from the narrow conveyor 62 into the collection section 66. For example, when an overlap of processing objects S is detected on the narrow conveyor 62, the exclusion mechanism 105 inputs the processing objects S into the collection section 66. Furthermore, when the throughput (for example, the throughput in the most recent two seconds) exceeds a predetermined threshold, the exclusion mechanism 105 inputs the processing objects S into the collection section 66.

[0064] A pre-rejection passage detection sensor 106 is formed upstream of the rejection mechanism 105 . The pre-rejection passage detection sensor 106 detects the processing object S entering the exclusion mechanism 105 by the narrow conveyor 62. In other words, the pre-rejection passage detection sensor 106 is a sensor for counting the processing object S before it is excluded by the exclusion mechanism 105.

[0065] The configuration of the pre-removal passage detection sensor 106 is similar to that of the first fall sign detection sensor 102a, and therefore a description thereof will be omitted.

[0066] Further, downstream of the excluding mechanism 105, a post-exclusion passage detection sensor 107 is formed. The post-rejection passage detection sensor 107 detects the processing object S that has not been rejected by the rejection mechanism 105. That is, the post-rejection passage detection sensor 107 is a sensor for counting the processing object S that has not been rejected by the rejection mechanism 105.

[0067] The configuration of the post-removal passage detection sensor 107 is similar to that of the first fall sign detection sensor 102a, and therefore a description thereof will be omitted.

[0068] The speed-controlled conveyor 64 is adjacent to the downstream side of the narrow conveyor 62 along the X-axis. The transport path 64a of the speed-controlled conveyor 64 is appropriately accelerated and decelerated relative to the transport speed of the transport path 62a of the narrow conveyor 62 so that the objects S to be processed placed on the transport path 64a are spaced apart at a predetermined pitch.

[0069] The upstream end of the speed-controlled conveyor 64 is formed with approximately the same width as the width of the downstream end of the narrow conveyor 62 in the width direction perpendicular to the extension direction D31. The transport path 64a of the speed-controlled conveyor 64 is horizontal to a horizontal surface (ground) and is, for example, an endless belt. The transport direction C32 of the speed-controlled conveyor 64 is parallel to the extension direction D32 of the speed-controlled conveyor 64. The transport speed V32 of the transport path 64a of the speed-controlled conveyor 64 along the transport direction C32 is controlled so as to space the objects S arranged in a row apart at a predetermined pitch. Therefore, the transport speed V32 of the transport path 64a of the speed-controlled conveyor 64 along the transport direction C32 can be increased or decreased.

[0070] A fifth wall portion 70 is provided at the outer end portion 64b in one width direction perpendicular to the extension direction D32 (conveyance direction C32) of the speed controlled conveyor 64, and serves as a wall that prevents the object to be processed S from falling off from the one direction of the speed controlled conveyor 64. The fifth wall portion 70 extends, for example, parallel to the extension direction D32 of the conveyance path 64a of the speed controlled conveyor 64. The presence of the fifth wall portion 70 prevents the object to be processed S from falling off the speed controlled conveyor 64.

[0071] It is preferable that the outer end 64b of the speed control conveyor 64 and the outer end 62b of the narrow conveyor 62 are aligned in a straight line along the X-axis.

[0072] The fifth wall portion 70 has an auxiliary conveying portion 70a that actively or passively conveys the object S to be processed along the extension direction D32 from the upstream side to the downstream side of the conveying path 64a of the speed controlled conveyor 64. The auxiliary conveying portion 70a of the fifth wall portion 70 is directed toward the other inner end portion 64c of the speed controlled conveyor 64 in the width direction perpendicular to the extension direction D32.

[0073] The auxiliary transport unit 70a may be formed as a transport surface that actively transports the object S, similar to the transport surfaces 52b, 54b, 56b, and 68b of the auxiliary transport units 52a, 54a, 56a, and 68a. Here, the auxiliary transport unit 70a has a plurality of rollers 70b that passively rotate when the object S comes into contact with them. The rollers 70b in FIG. 3 are arranged, for example, in a grid pattern or in a row. Each of the rollers 70b is formed in a spherical shape and can freely rotate at its position.

[0074] The rollers 70b may be formed so as to rotate around an axis parallel to the Z axis, like the rollers (wheels) of a roller conveyor.

[0075] The recovery section 66 is adjacent to the downstream end along the X-axis of the conveying path 46a of the third biasing conveyor 46 of the second conveying section 16, and is adjacent to the other side (inner side) in the width direction of the narrow conveyor 62. The recovery section 66 has an inclined surface 72 and a guide 74.

[0076] The inclined surface 72 is formed as a flat or curved surface. The inclined surface 72 is higher at a position (first end 72a) closer to the narrow conveyor 62 and lower at a position (second end 72b) closer to the other side of the width direction perpendicular to the horizontal component of the conveying direction C1 of the first transport section 14. The inclined surface 72 is higher at a position (third end 72c) closer to the downstream end of the conveying path 46a of the third offset conveyor 46 and lower at a position (fourth end 72d) further away from the downstream end of the conveying path 46a of the third offset conveyor 46 along the X-axis direction. The object S placed on the inclined surface 72 slides toward the fourth end 72d of the inclined surface 72 due to its own weight.

[0077] The first end 72a of the inclined surface 72 on the narrow conveyor 62 side may be continuous with the downstream end of the conveying path 62a of the narrow conveyor 62, or may be located below the downstream end of the conveying path 62a of the narrow conveyor 62 with a step.

[0078] The guide 74 is formed in a plate shape. The guide 74 is fixed to the second end 72b of the inclined surface 72. The guide 74 extends along the X-axis direction. The guide 74 is formed so as to protrude upward from the second end 72b of the inclined surface 72 (the end close to the other side in the width direction perpendicular to the horizontal component of the conveying direction C1 of the first conveying section 14).

[0079] As shown in Figures 1 and 2, the supply device 10 has a fourth conveying section 20 adjacent to the recovery section 66 that recovers the processing object S in the third conveying section 18, and that conveys the processing object S recovered in the recovery section 66 toward the input conveyor 12.

[0080] The fourth transport section 20 has, for example, a curved conveyor 92. The curved conveyor 92 is provided between the fourth end 72d of the inclined surface 72 of the recovery section 66 and the input conveyor 12.

[0081] The upstream end of the transfer path 92a of the curved conveyor 92 is adjacent to the fourth end 72d of the inclined surface 72. The downstream end of the transfer path 92a of the curved conveyor 92 is adjacent to the input conveyor 12.

[0082] The lengths of the first, second and third offset conveyors 42, 44 and 46 of the second conveying section 16 along the extension directions D21, D22 and D23, the widths perpendicular to the extension directions D21, D22 and D23 and the angles θa, θb and θc are set, for example, so that the object to be processed S located at the inner end 42c at the downstream end of the conveying path 42a of the first offset conveyor 42 comes into contact with the outer end 46b of the third offset conveyor 46 when it passes through the first, second and third offset conveyors 42, 44 and 46 as described below.

[0083] Next, the control system of the supply device 10 will be described. Fig. 5 is a block diagram showing an example of the configuration of a control system of the supply device 10. As shown in Fig. 5, the supply device 10 includes a processor 301, a memory 302, an imaging means 101, a first fall sign detection sensor 102a, a second fall sign detection sensor 102b, a pre-removal passage detection sensor 106, a post-removal passage detection sensor 107, an input conveyor 12, a first conveyor 22, a first inclined conveyor 32, a third offset conveyor 46, a removal mechanism 105, a speed control conveyor 64, and the like.

[0084] The processor 301, memory 302, photographing means 101, first fall sign detection sensor 102a, second fall sign detection sensor 102b, pre-removal passage detection sensor 106, post-removal passage detection sensor 107, input conveyor 12, first conveyor 22, first inclined conveyor 32, third offset conveyor 46, removal mechanism 105 and speed control conveyor 64 are connected to each other via an interface or a data bus or the like.

[0085] The processor 301 controls the overall operation of the supplying device 10. For example, the processor 301 is configured with a CPU or the like. The processor 301 may also be configured with an ASIC (Application Specific Integrated Circuit) or the like. The processor 301 may also be configured with an FPGA (Field Programmable Gate Array) or the like.

[0086] The memory 302 (storage unit) stores various data. For example, the memory 302 functions as a ROM, a RAM, and an NVM. For example, memory 302 stores a control program, control data, etc. The control program and control data are pre-installed according to the specifications of supplying device 10. For example, the control program is a program that supports functions realized by supplying device 10.

[0087] The memory 302 also temporarily stores data being processed by the processor 301. The memory 302 may also store data necessary for executing an application program, execution results of the application program, and the like.

[0088] The photographing means 101, the first fall sign detection sensor 102a, the second fall sign detection sensor 102b, the pre-removal passage detection sensor 106, the post-removal passage detection sensor 107, the input conveyor 12, the first conveyor 22, the first inclined conveyor 32, the third offset conveyor 46, the removal mechanism 105 and the speed-control conveyor 64 are as described above.

[0089] Next, a description will be given of the functions realized by the supply device 10. The functions realized by the supply device 10 are realized by the processor 301 executing a program stored in the memory 302 or the like.

[0090] First, an example of the operation of the supply device 10 to separate the processing target objects S will be described.

[0091] In this embodiment, the transport speed of the first transport unit 14 along the first transport direction C1 (C10, C11, C12) is assumed to match the movement speed of the processing object S contacting the first transport unit 14. Similarly, the transport speed of the second transport unit 16 along the second transport directions C21, C22, C23 is assumed to match the movement speed of the processing object S contacting the second transport unit 16 in a state where the processing object S is not in contact with the first wall portion 52, the second wall portion 54, or the third wall portion 56. The transport speed of the third transport unit 18 along the third transport directions C31, C32 is assumed to match the transport speed of the processing object S contacting the third transport unit 18 in a state where the processing object S is not in contact with the fourth wall portion 68 or the fifth wall portion 70.

[0092] For example, the tipper is tilted, and the treatment object S is thrown onto the feeding conveyor 12. Instead of the tipper, or together with the tipper, an operator may throw the treatment object S onto the feeding conveyor 12.

[0093] The materials to be processed S, which may be piled up in layers on the input conveyor 12, move sequentially toward the upstream end of the conveying path 22a of the first conveyor 22 of the first conveying section 14, for example, due to the inclination of the floor surface of the input conveyor 12.

[0094] At this time, the first conveyor 22 of the first transport unit 14 removes the processing object S contacting the transport path 22a by the transport operation of the transport path 22a, and separates and breaks up the multiple processing objects S while moving them in the transport direction C10. The processing object S in contact with the transport path 22a of the first conveyor 22 is transported from the upstream side to the downstream side. In response to the transport operation of the transport path 22a of the first conveyor 22, other processing objects S stacked on top of the processing object S slide relative to the lower processing object S due to the frictional force with the lower processing object S. As a result, some of the multiple processing objects S are broken down. In this way, for example, some of the multiple processing objects S are separated and broken up.

[0095] The object to be processed S is transferred from the transport path 22a of the first conveyor 22 to the transport path 32a of the first inclined conveyor 32 of the second conveyor section 24.

[0096] The transport path 32a of the first inclined conveyor 32 is inclined downward. An object to be processed S, for example, a rectangular parallelepiped object to be processed S placed on top of the transport path 32a of the first inclined conveyor 32, is subjected to a component of inclination in the horizontal direction parallel to the upper surface of the object to be processed S. For this reason, other objects to be processed S stacked on top of the object to be processed S in contact with the transport path 32a are more likely to slide relative to the object to be processed S in contact with the transport path 32a than if the object to be processed S were horizontal, like the transport path 22a of the first conveyor 22.

[0097] The conveying speed V11 of the conveying path 32a of the first inclined conveyor 32 is slower than the conveying speed V10 of the conveying path 22a of the first conveyor 22. Therefore, due to the difference in conveying speed between the horizontal conveying path 22a of the first conveyor 22 and the conveying path 32a of the first inclined conveyor 32, the objects to be processed S in contact with the conveying path 32a are braked, and the objects to be processed S above the objects to be processed S in contact with the conveying path 32a slide relative to the objects to be processed S in contact with the conveying path 32a due to the law of inertia, causing the multiple layers of objects to be processed S to collapse.

[0098] Therefore, due to the inclined surface of the downward conveying path 32a and the law of inertia, the multi-layered processing objects S are broken down on the first inclined conveyor 32. As a result, for example, parts of the multi-layered processing objects S are separated and scattered.

[0099] Depending on the shape of the object S to be processed that comes into contact with the conveying path 32a of the first inclined conveyor 32, the object S to be processed that comes into contact with the conveying path 32a of the first inclined conveyor 32 may roll, causing the object S to be processed that is in multiple layers, such as two layers, to collapse.

[0100] A portion of the workpieces S to be processed is transferred, for example, in a state of multiple layers, from the transport path 32a of the first inclined conveyor 32 of the second conveyor section 24 to the transport path 34a of the second inclined conveyor 34 of the second conveyor section 24.

[0101] The transport path 34a of the second inclined conveyor 34 is inclined upward. Therefore, an object to be processed S stacked on top of another object to be processed S in contact with the transport path 34a is more likely to slide relative to the object to be processed S in contact with the transport path 34a than if the transport path 22a of the first conveyor 22 were horizontal.

[0102] The conveying speed V12 of the conveying path 34a of the second inclined conveyor 34 is faster than the conveying speed V11 of the conveying path 32a of the first inclined conveyor 32. Therefore, due to the difference in conveying speed between the conveying path 32a of the first inclined conveyor 32 and the conveying path 34a of the second inclined conveyor 34, the objects to be processed S in contact with the conveying path 34a are accelerated, and the objects to be processed S above the objects to be processed S in contact with the conveying path 34a slide relative to the objects to be processed S in contact with the conveying path 34a due to the law of inertia, causing the multiple layers of objects to be processed S to collapse.

[0103] Therefore, due to the inclined surface of the uphill transport path 34a and the law of inertia, the multi-layered objects to be processed S are further broken down on the second inclined conveyor 34. As a result, for example, some of the multi-layered objects to be processed S are separated and scattered.

[0104] In this way, the multi-layered processing objects S are broken down and separated one by one by the first conveyor 22 and the second conveyor unit 24. These multi-layered processing objects S may be parts of the same type or different types.

[0105] The objects S to be processed are then transferred from the second inclined conveyor 34 to the first biasing conveyor 42. Due to the step H between the second inclined conveyor 34 and the first biasing conveyor 42, the objects S to be processed move significantly when they are transferred from the second inclined conveyor 34 to the first biasing conveyor 42. At this time, the first biasing conveyor 42, which is downstream of the second inclined conveyor 34, pulls the objects S to be processed in the transport direction C21, thereby separating the objects S from the processing. 3 shows an example in which a step H is provided between the second inclined conveyor 34 and the first biasing conveyor 42. For example, a conveyor having a horizontal transport path may be disposed between the second inclined conveyor 34 and the first biasing conveyor 42, and a step H may be provided between the conveyor having the horizontal transport path and the first biasing conveyor 42.

[0106] The objects S to be processed, which are spaced apart one by one, move on the transport path 42a of the first offset conveyor 42 in a transport direction C21 that is inclined with respect to the extension direction D21 of the first offset conveyor 42 as they move from the upstream side to the downstream side. As a result, the multiple objects S to be processed are shifted toward the first wall portion 52 on the transport path 42a of the first offset conveyor 42. As a result, the distance in the width direction between the multiple objects to be processed S gradually narrows from the upstream side to the downstream side. Some of the objects S to be processed come into contact with the first wall portion 52 between the upstream end and the downstream end of the transport path 42a of the first offset conveyor 42.

[0107] The object S to be processed that has come into contact with the first wall portion 52 on the transport path 42a of the first offset conveyor 42 moves in a direction along the extension direction D21 of the transport path 42a at a speed of V21·cosθa. The object S to be processed moves along the first wall portion 52 and is transferred from the transport path 42a of the first offset conveyor 42 to the transport path 44a of the second offset conveyor 44. Therefore, the auxiliary transport portion 52a of the first wall portion 52 prevents the first wall portion 52 from interfering with the movement of the object S to be processed when the object S comes into contact with the first wall portion 52.

[0108] The objects S move in a conveying direction C22 inclined with respect to the extending direction D22 of the second offset conveyor 44 on the conveying path 44a of the second offset conveyor 44 from the upstream side to the downstream side. At this time, the conveying direction of the objects S changes from a direction along the extending direction D21 or a direction along the conveying direction C21 to a direction along the conveying direction C22. As a result, the multiple objects S are shifted toward the second wall portion 54 on the conveying path 44a of the second offset conveyor 44. As a result, the distance in the width direction between the multiple objects S gradually narrows. Then, some of the objects S come into contact with the second wall portion 54 between the upstream end and the downstream end of the conveying path 44a of the second offset conveyor 44. As a result, the multiple objects S come closer to being lined up in a single row.

[0109] The object S to be processed that has come into contact with the second wall portion 54 on the transport path 44a of the second biasing conveyor 44 moves in a direction along the extension direction D22 of the transport path 44a at a speed of V22·cosθb. The object S to be processed moves along the second wall portion 54 and is transferred from the transport path 44a of the second biasing conveyor 44 to the transport path 46a of the third biasing conveyor 46. Therefore, the auxiliary transport portion 54a of the second wall portion 54 prevents the second wall portion 54 from interfering with the movement of the object S to be processed when the object S comes into contact with the second wall portion 54.

[0110] The objects S move from the upstream side to the downstream side on the conveying path 46a of the third offset conveyor 46 in a conveying direction C23 that is inclined with respect to the extending direction D23 of the third offset conveyor 46. At this time, the conveying direction of the objects S changes from a direction along the extending direction D22 or a direction along the conveying direction C22 to a direction along the conveying direction C23. As a result, the multiple objects S are shifted toward the third wall portion 56 on the conveying path 46a of the third offset conveyor 46. As a result, the widthwise distance between the multiple objects S is gradually narrowed. Then, some of the objects S come into contact with the third wall portion 56 between the upstream end and the downstream end of the conveying path 46a of the third offset conveyor 46. The multiple objects S are arranged in a single line.

[0111] In this way, the plurality of processing objects S transported along the widthwise center of the first transport path 14a of the first transport unit 14 move through the transport path 42a of the first offset conveyor 42, the transport path 44a of the second offset conveyor 44, and the transport path 46a of the third offset conveyor 46. That is, as the direction is changed, the horizontal alignment perpendicular to the extension directions D21, D22, and D23 gradually disappears. Then, the plurality of processing objects S are lined up in a single row, for example, on the transport path 46a of the third offset conveyor 46. In this way, the second transport unit 16 aligns the plurality of processing objects S in a single row while shifting them to one side in the widthwise direction perpendicular to the extension directions D21, D22, and D23 of the U-shaped second transport path 16a as a whole.

[0112] The object S to be processed that has come into contact with the third wall portion 56 on the transport path 46a of the third biasing conveyor 46 moves in a direction along the extension direction D23 of the transport path 46a at a speed of V23·cosθc. The object S to be processed moves along the third wall portion 56 and is transferred from the transport path 46a of the third biasing conveyor 46 to the transport path 62a of the narrow conveyor 62. Therefore, the auxiliary transport portion 56a of the third wall portion 56 prevents the third wall portion 56 from interfering with the movement of the object S to be processed when the object S comes into contact with the third wall portion 56.

[0113] The conveying speed V31 of the conveying path 62a of the narrow conveyor 62 is faster than V23·cosθc. Therefore, when the objects S are transferred from the conveying path 46a of the third offset conveyor 46 to the conveying path 62a of the narrow conveyor 62, the conveying path 62a of the narrow conveyor 62 widens the pitch of the multiple objects S arranged in a row.

[0114] The object S to be processed that has come into contact with the fourth wall portion 68 on the transport path 62a of the narrow conveyor 62 moves in a direction along the predetermined transport direction C31 (extension direction D31) of the transport path 62a at a speed of V31. The object S to be processed moves along the fourth wall portion 68 and is transferred from the transport path 62a of the narrow conveyor 62 to the transport path 62a of the narrow conveyor 62. Therefore, the auxiliary transport portion 68a of the fourth wall portion 68 prevents the fourth wall portion 68 from interfering with the movement of the object S to be processed when the object S to be processed comes into contact with the fourth wall portion 68.

[0115] The objects to be processed S pass through the removal mechanism 105 while being transported by the narrow conveyor 62. The removal mechanism 105 throws some of the objects to be processed S from the narrow conveyor 62 into the recovery section 66.

[0116] The objects to be processed S that have passed through the removal mechanism 105 are transferred from the transfer path 62a of the narrow conveyor 62 to the transfer path 64a of the speed-controlled conveyor 64. When the objects to be processed S are transferred from the transfer path 62a of the narrow conveyor 62 of the third transfer unit 18 to the transfer path 64a of the speed-controlled conveyor 64 of the third transfer unit 18, the transfer speed V32 of the transfer path 64a of the speed-controlled conveyor 64 of the third transfer unit 18 is appropriately controlled based on information about the objects to be processed S before and after on the transfer path 62a recognized by, for example, a camera. That is, the increase and decrease of the transfer speed V32 of the transfer path 64a of the speed-controlled conveyor 64 of the third transfer unit 18 along the predetermined transfer direction C32 (extension direction D32) is controlled, and the objects to be processed S arranged in a row on the transfer path 64a of the speed-controlled conveyor 64 of the third transfer unit 18 are spaced apart at a predetermined pitch.

[0117] The objects to be processed S, which are arranged in a row at a predetermined pitch, are fed into a device downstream of the third transport section 18.

[0118] When the object to be processed S is in contact with the rollers 70b of the auxiliary conveying section 70a, the rollers 70b of the auxiliary conveying section 70a rotate in that position and move the object to be processed S from the upstream side to the downstream side parallel to the extension direction D32 at the speed V32 of the conveying path 64a of the speed-controlled conveyor 64 of the third conveying section 18. Therefore, the auxiliary conveying section 70a of the fifth wall section 70 prevents friction between the fifth wall section 70 and the object to be processed S from interfering with the movement of the object to be processed S.

[0119] On the conveying path 46a of the third biasing conveyor 46, multiple processing objects S may not be arranged in a single line, but may be arranged in the width direction perpendicular to the extending direction D23 of the third biasing conveyor 46. Among the processing objects S that are not arranged in a single line on the conveying path 46a of the third biasing conveyor 46, processing objects S that are farther away from the third wall portion 56 in the width direction are not transported from the downstream end of the conveying path 46a of the third biasing conveyor 46 to the conveying path 62a of the narrow conveyor 62, but are instead delivered to the inclined surface 72 of the fourth conveying section 20. Therefore, the processing objects S slide near the boundary between the inclined surface 72 and the guide 74, and reach the fourth end 72d of the inclined surface 72. Processing objects S introduced into the recovery section 66 by the removal mechanism 105 are also similarly delivered to the inclined surface 72.

[0120] The objects S to be processed that have reached the fourth end 72d of the inclined surface 72 are transported to the input conveyor 12 by the curved conveyor 92. In this way, the recovery unit 66 and the fourth conveyor 20 transport, among the objects S to be processed that have failed to be shifted in one direction in the second conveyor 16, toward the first conveyor 14. Therefore, the recovery unit 66 can recover a portion of the objects S to be processed that have been shifted in one direction in the second conveyor 16. Therefore, the objects S to be processed that have been recovered by the recovery unit 66 and transported from the fourth conveyor 20 to the input conveyor 12 are again transferred from the input conveyor 12 via the first conveyor 14, the second conveyor 16, and the third conveyor 18, where they are aligned at a predetermined pitch relative to the other objects S to be processed, and are input to a device downstream of the third conveyor 18.

[0121] In this way, the first transport unit 14 of the supply device 10 according to this embodiment is used as a separate stage that separates multiple randomly piled processing objects S one by one. The second transport unit 16 is used as an arrange stage that aligns the individually separated processing objects S in a row. The third transport unit 18 is used as an adjust stage that separates the processing objects S aligned in a row at a predetermined pitch. The supply device 10 according to this embodiment can transport multiple processing objects S in the order of the first transport unit 14, the second transport unit 16, and the third transport unit 18, and deliver them to another device.

[0122] Next, a description will be given of the function of the supply device 10 to control the conveying speed of each conveyor. Here, the supply device 10 controls the conveying speeds of the input conveyor 12, the first conveyor 22, and the third offset conveyor 46.

[0123] First, the processor 301 of the supply device 10 has a function of taking an image of the first conveyor 22 using the image taking means 101.

[0124] When the processor 301 starts the operation of separating the processing object S, it causes the photographing means 101 to start photographing. When the photographing means 101 starts photographing, the processor 301 acquires the photographed image (photographed image) from the photographing means 101. The processor 301 acquires the photographed image from the photographing means 101 in real time.

[0125] Fig. 6 shows an example of a captured image acquired by the processor 301. As shown in Fig. 6, the captured image is an image of the first conveyor 22 captured from above. The captured image includes the processing target S loaded on the first conveyor 22. The captured image may also include the input conveyor 12 (left end of Fig. 6) and the first inclined conveyor 32 (right end of Fig. 6).

[0126] The processor 301 also has a function of calculating the proportion (area ratio) of the processing target S in the first area ratio detection region 201 and the second area ratio detection region 202.

[0127] When the captured image is acquired, the processor 301 identifies the area (object area, article area) in which the processing object S appears according to a predetermined image processing algorithm. Here, the processor 301 identifies the object area in the area in which the first conveyor 22 appears.

[0128] When the object region is identified, the processor 301 calculates the area of ​​the object region overlapping the first area ratio detection region 201. For example, the processor 301 calculates the number of pixels of the object region overlapping the first area ratio detection region 201.

[0129] After calculating the area of ​​the object region overlapping the first area ratio detection region 201, the processor 301 divides the calculated area by the area of ​​the first area ratio detection region 201 to calculate the area ratio (first area ratio) in the first area ratio detection region 201. For example, the processor 301 subtracts the number of pixels of the object region overlapping the first area ratio detection region 201 by the number of pixels of the first area ratio detection region 201 to calculate the first area ratio.

[0130] Similarly, processor 301 calculates the area of ​​the object region overlapping second area ratio detection region 202. After calculating the area of ​​the object region overlapping second area ratio detection region 202, processor 301 divides the calculated area by the area of ​​second area ratio detection region 202 to calculate the area ratio in second area ratio detection region 202 (second area ratio).

[0131] Fig. 7 shows an example of the operation of processor 301 to calculate an area ratio. As shown in Fig. 7, processor 301 identifies an object region (the shaded area in Fig. 7) from a captured image. After identifying the object region, processor 301 calculates the area of ​​the object region that overlaps first area ratio detection region 201 to calculate a first area ratio. Similarly, processor 301 calculates the area of ​​the object region that overlaps second area ratio detection region 202 to calculate a second area ratio.

[0132] The processor 301 also has a function of detecting a sign that the processing target S is about to fall from the input conveyor 12.

[0133] When processor 301 starts the operation of separating processing object S, it causes first fall sign detection sensor 102a and second fall sign detection sensor 102b to start detecting processing object S. When first fall sign detection sensor 102a and second fall sign detection sensor 102b start detection, processor 301 acquires detection results from first fall sign detection sensor 102a and second fall sign detection sensor 102b, respectively. Here, it is assumed that processor 301 acquires a first detection result from first fall sign detection sensor 102a and a second detection result from second fall sign detection sensor 102b.

[0134] The processor 301 also has a function of controlling the conveying speed of the input conveyor 12 and the conveying speed (V10) of the first conveyor based on the first area ratio, the second area ratio, the first detection result, and the second detection result.

[0135] The processor 301 sets 0 (stop), a low speed (low input conveyor speed), or a high speed (high input conveyor speed) as the transport speed of the input conveyor 12. The high input conveyor speed is faster than the low input conveyor speed.

[0136] In addition, the transport speed of the first conveyor is set to 0 (stop), low speed (low speed of the first conveyor, low speed of the receiving conveyor), or high speed (high speed of the first conveyor, high speed of the receiving conveyor). The high speed of the first conveyor is faster than the low speed of the first conveyor.

[0137] The input conveyor low speed may or may not match the first conveyor low speed, and the input conveyor high speed may or may not match the first conveyor high speed.

[0138] First, processor 301 determines whether the first area ratio is equal to or greater than a predetermined threshold. Similarly, processor 301 determines whether the second area ratio is equal to or greater than a predetermined threshold. Here, the determination result indicating whether the first area ratio is equal to or greater than the predetermined threshold is defined as the first determination result. Also, here, the determination result indicating whether the second area ratio is equal to or greater than the predetermined threshold is defined as the second determination result.

[0139] The processor 301 sets the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor based on the first determination result, the second determination result, the first detection result, and the second detection result.

[0140] FIG. 8 shows an example of a speed table showing the relationship between the first judgment result, the second judgment result, the first detection result, the second detection result, the transport speed of the feeding conveyor 12, and the transport speed of the first conveyor.

[0141] For example, the memory 302 pre-stores a speed table.

[0142] 8, the speed table indicates a first detection result and a second detection result in the items for the first fall sign detection sensor 102a and the second fall sign detection sensor 102b, respectively. The first detection result and the second detection result store a value indicating detection of the processing object S (here, 1) or a value indicating non-detection of the processing object S (here, 0), respectively.

[0143] The speed table also shows a first determination result and a second determination result in the items of first area ratio and second area ratio. The first determination result stores a value (here, 1) indicating excess (the first area ratio is equal to or greater than a predetermined threshold) or a value (here, 0) indicating not excess (the first area ratio is less than the predetermined threshold). The second determination result stores a value (here, 1) indicating excess (the second area ratio is equal to or greater than a predetermined threshold) or a value (here, 0) indicating not excess (the second area ratio is less than the predetermined threshold).

[0144] The speed table indicates the transport speed of the input conveyor 12 as an item of the input conveyor 12. "H" indicates a high input conveyor speed. "L" indicates a low input conveyor speed.

[0145] The speed table indicates the transport speed of the first conveyor 22 as an item for the first conveyor 22. "H" indicates a high speed of the first conveyor. "L" indicates a low speed of the first conveyor.

[0146] The speed table indicates the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor for each state (states m0 to m15) of the first judgment result, the second judgment result, the first detection result, and the second detection result.

[0147] For example, when the first detection result and the second detection result indicate that the processing object S has not been detected (states m0 to m3), the processor 301 sets the feeding conveyor high speed as the transport speed of the feeding conveyor 12. In other words, when there is no sign that the processing object S will fall from the feeding conveyor 12, the processor 301 increases the transport speed of the feeding conveyor 12 to transport the processing object S to the downstream end of the feeding conveyor 12.

[0148] Furthermore, when the first judgment result indicates an excess (states m6, m7, m10, m11, m14, and m15), the processor 301 sets the transport speed of the input conveyor 12 to 0 or a low input conveyor speed. That is, when a large number of processing objects S are present in the first area ratio detection region 201 (the region where packages fall from the input conveyor 12), the processor 301 stops or delays input from the input conveyor 12.

[0149] Furthermore, when the second determination result indicates an excess (states m1, m3, m5, m7, m9, m11, m13, and m15), the processor 301 sets the first conveyor low speed as the transport speed of the first conveyor 22. That is, when there are many processing objects S that are likely to fall from the first conveyor 22 onto the first inclined conveyor 32, the processor 301 slows down the transport speed of the first conveyor 22 to adjust the amount of objects falling onto the first inclined conveyor 32.

[0150] Furthermore, when the second determination result indicates that the limit has not been exceeded (excluding states m2, m4, m6, m8, m10, and m13, and state m0), the processor 301 sets the first conveyor high speed as the transport speed of the first conveyor 22. That is, when there are few objects S to be processed that are likely to fall from the first conveyor 22 onto the first inclined conveyor 32, the processor 301 increases the transport speed of the first conveyor 22 to adjust the amount of objects falling onto the first inclined conveyor 32.

[0151] For example, when the second detection result indicates the detection of the processing target S (states m4 to m7 and m12 to m15), the processor 301 sets the transport speed of the input conveyor 12 to 0 or a low input conveyor speed. In other words, when there is a sign that the processing target S will fall from the input conveyor 12, the processor 301 stops or slows the transport speed of the input conveyor 12 to adjust the amount of the processing target S falling onto the first conveyor 22.

[0152] The configuration of the speed table is not limited to a specific configuration, and the speed table may be updated as needed.

[0153] The processor 301 refers to the speed table and acquires the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor corresponding to the first determination result, the second determination result, the first detection result, and the second detection result. Upon acquiring the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor, the processor 301 sets the acquired conveying speed of the input conveyor 12 and the conveying speed of the first conveyor. That is, the processor 301 drives the input conveyor 12 at the acquired conveying speed of the input conveyor 12 and drives the first conveyor 22 at the acquired conveying speed of the first conveyor.

[0154] The processor 301 also has a function of calculating the rejection rate at which the rejection mechanism 105 rejects the treatment target S.

[0155] The processor 301 uses the pre-rejection passage detection sensor 106 and the post-rejection passage detection sensor 107 to count the number of processing objects S before passing through the exclusion mechanism 105 and the number of processing objects S after passing through the exclusion mechanism 105 over a predetermined period. After counting the number of processing objects S before passing and the number of processing objects S after passing, the processor 301 calculates a rejection rate based on the number of processing objects S before passing and the number of processing objects S after passing. For example, the processor 301 calculates the rejection rate by subtracting from 1 a value obtained by dividing the number of processing objects S after passing by the number of processing objects S before passing. The processor 301 calculates the rejection rate at predetermined intervals.

[0156] The processor 301 also has a function of controlling the low speed of the first conveyor and the conveying speed of the third offset conveyor 46 based on the rejection rate.

[0157] The processor 301 controls the low speed of the first conveyor and the conveying speed of the third offset conveyor 46 so that the rejection rate falls between a first threshold (e.g., 30%) and a second threshold (e.g., 12%) that is lower than the first threshold. The first threshold and the second threshold are set so that the throughput of the supply device 10 becomes an appropriate value.

[0158] After calculating the rejection rate, processor 301 determines whether the rejection rate exceeds a first threshold. If it determines that the rejection rate exceeds the first threshold, processor 301 reduces the low speed of the first conveyor by a predetermined value. After reducing the low speed of the first conveyor, processor 301 waits for a predetermined time. For example, the predetermined time is the time it takes for the processing object S to travel from the downstream end of first conveyor 22 to the upstream end of third offset conveyor 46.

[0159] After waiting for a predetermined time, the processor 301 reduces by a predetermined value the conveying speed of the third offset conveyor 46. For example, the processor 301 may control the first conveyor low speed and the conveying speed of the third offset conveyor 46 so that they are the same.

[0160] If it is determined that the rejection rate does not exceed the first threshold, the processor 301 determines whether the rejection rate is less than a second threshold. If it is determined that the rejection rate is less than the second threshold, the processor 301 increases the low speed of the first conveyor by a predetermined value. When the low speed of the first conveyor is increased, the processor 301 increases the conveying speed of the third offset conveyor 46 by a predetermined value. For example, the processor 301 may control the low speed of the first conveyor and the conveying speed of the third offset conveyor 46 so that they are the same.

[0161] Furthermore, the processor 301 may increase the transport speed of the third biasing conveyor 46 after a predetermined time has elapsed since increasing the low speed of the first conveyor 22. For example, the predetermined time is the time it takes for the processing object S to travel from the downstream end of the first conveyor 22 to the upstream end of the third biasing conveyor 46.

[0162] If it is determined that the rejection rate is not less than the second threshold, the processor 301 maintains the low speed of the first conveyor and the transport speed of the third offset conveyor 46.

[0163] Next, an example of the operation of the processor 301 to control the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor will be described.

[0164] FIG. 9 is a flowchart for explaining an example of an operation in which the processor 301 controls the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor.

[0165] First, the processor 301 starts an operation to separate the processing object S based on an operation from an operator or the like (S11). When the operation to separate the processing object S starts, the processor 301 acquires a captured image from the imaging means 101 (S12). When the captured image is acquired, the processor 301 extracts an object region from the captured image (S13).

[0166] After extracting the object region, processor 301 calculates a first area ratio and a second area ratio based on the object region, etc. (S14). After calculating the first area ratio and the second area ratio, processor 301 acquires a first detection result and a second detection result from first fall sign detection sensor 102a and second fall sign detection sensor 102b, respectively (S15).

[0167] After obtaining the first detection result and the second detection result, the processor 301 refers to the speed table based on the first area ratio, the second area ratio, the first verification result and the second verification result to obtain the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor 22 (S16).

[0168] When the transfer speed of the input conveyor 12 and the transfer speed of the first conveyor 22 are acquired, the processor 301 sets the transfer speed of the input conveyor 12 and the transfer speed of the first conveyor 22 (S17).

[0169] After setting the transport speed of the input conveyor 12 and the transport speed of the first conveyor 22, the processor 301 returns to S12. The processor 301 may wait for a predetermined time after S17.

[0170] Next, an example of the operation in which the processor 301 controls the low speed of the first conveyor and the transport speed of the third offset conveyor 46 will be described. FIG. 10 is a flowchart for explaining an example of the operation of the processor 301 to control the low speed of the first conveyor and the transport speed of the third offset conveyor 46.

[0171] First, the processor 301 determines whether a predetermined period of time has elapsed (S21). If it determines that the predetermined period of time has not elapsed (S21, NO), the processor 301 returns to S21.

[0172] When it is determined that the predetermined period has elapsed (S21, YES), the processor 301 calculates the rejection rate (S22). After calculating the rejection rate, the processor 301 determines whether the rejection rate exceeds a first threshold value (S23).

[0173] If it is determined that the rejection rate exceeds the first threshold (S23, YES), the processor 301 reduces the first conveyor low speed by a predetermined value (S24). After reducing the first conveyor low speed by the predetermined value, the processor 301 waits for a predetermined time (S25). After the predetermined time period has elapsed, the processor 301 reduces the transport speed of the third offset conveyor 46 by a predetermined value (S26).

[0174] After the conveying speed of the third biasing conveyor 46 is reduced by the predetermined value, the processor 301 returns to S21.

[0175] If it is determined that the rejection rate does not exceed the first threshold (S23, NO), the processor 301 determines whether the rejection rate is below the second threshold (S27). If it is determined that the rejection rate is not below the second threshold (S27, NO), the processor 301 returns to S21.

[0176] If it is determined that the rejection rate is less than the second threshold (S27, YES), the processor 301 increases the low speed of the first conveyor by a predetermined value (S28). After increasing the low speed of the first conveyor by the predetermined value, the processor 301 increases the transport speed of the third offset conveyor 46 by a predetermined value (S29).

[0177] After increasing the conveying speed of the third biasing conveyor 46 by the predetermined value, the processor 301 returns to S21. The processor 301 executes S11 to S17 and S21 to S29 in parallel.

[0178] The processor 301 may increase or decrease the rate of the low speed first conveyor or the transport speed of the third offset conveyor 46. The processor 301 may also increase or decrease the low speed first conveyor or the transport speed of the third offset conveyor 46 based on the difference between the rejection rate and the first threshold value or the difference between the rejection rate and the second threshold value.

[0179] The processor 301 may also set an upper limit or lower limit for the low speed of the first conveyor or the conveying speed of the third offset conveyor 46.

[0180] The supply device 10 may also be provided with one drop sign detection sensor. In this case, the processor 301 sets the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor 22 based on the result of one detection.

[0181] Furthermore, the processor 301 does not have to calculate the second area ratio. In this case, the processor 301 sets the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor 22 based on the first area ratio.

[0182] Furthermore, the processor 301 may detect signs of falling from the input conveyor 12 based on the captured image from the imaging means 101. In this case, the imaging area 101A of the imaging means 101 includes a detection area for detecting signs of falling (for example, the downstream end of the input conveyor 12 or the upstream end of the first conveyor 22). The processor 301 calculates the area ratio in the detection area. After calculating the area ratio, the processor 301 sets two threshold values ​​for the calculated area ratio. The processor 301 compares the area ratio with each threshold value and obtains the comparison results as a first detection result and a second detection result.

[0183] The supply device configured as described above controls the conveying speeds of the input conveyor and the first conveyor based on the detection results of the drop sign detection sensor and the area ratio of the first conveyor. The supply device controls the conveying speeds of the input conveyor and the first conveyor so that the objects are sent downstream evenly without overlapping from the first conveyor. As a result, the supply device can reduce variations in throughput.

[0184] Furthermore, the supply device controls the transport speed of the first conveyor and the transport speed of the third offset conveyor so that the rejection rate becomes an appropriate value, thereby enabling the supply device to maintain the throughput at an appropriate value.

[0185] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0186] 10...supply device, 12...feed conveyor, 14...first conveying section, 14a...first conveying path, 16...second conveying section, 16a...second conveying path, 18...third conveying section, 18a...third conveying path, 20...fourth conveying section, 22...first conveyor, 22a...conveying path, 24...second conveyor section, 32...first inclined conveyor, 32a...conveying path, 34...second inclined conveyor, 34a...conveying path, 42...first offset conveyor, 42a...conveying path , 42b...outside end, 42c...inside end, 44...second offset conveyor, 44a...conveying path, 44b...outside end, 44c...end (inside end), 46...third offset conveyor, 46a...conveying path, 46b...outside end, 46c...end (inside end), 52...first wall portion, 52a...auxiliary conveying portion, 52b...conveying surface, 54...second wall portion, 54a...auxiliary conveying portion, 54b...conveying surface, 56...third wall portion, 56a...auxiliary conveying portion, 56b...conveying surface, 62...narrow conveyor, 62a...conveying path, 62b...outer end, 62c...inner end, 64...speed-controlled conveyor, 64a...conveying path, 64b...outer end, 64c...inner end, 66...recovery section, 68...fourth wall section, 68a...auxiliary conveying section, 68b...conveying surface, 70...fifth wall section, 70a...auxiliary conveying section, 70b...roller, 72...inclined surface, 72a...first end, 72b...second end, 72c...third end, 72d...fourth end, 74...guide, 92...curved conveyor, 92a...conveying path, 101...photographing means, 101A...photographing area, 102a...first fall sign detection sensor, 102b...second fall sign detection sensor, 105...exclusion mechanism, 106...pre-exclusion passage detection sensor, 107...post-exclusion passage detection sensor, 201...first area ratio detection area, 202...second area ratio detection area, 301...processor, 302...memory.

Claims

1. an input conveyor for inputting articles; a receiving conveyor that receives the items input by the input conveyor; a camera that photographs the items loaded on the receiving conveyor; extracting an object area in which the object appears from the image captured by the camera; calculating an area ratio of the object region in the captured image based on the object region; setting a conveying speed of the input conveyor and a conveying speed of the receiving conveyor based on a detection result of detecting a sign of dropping from the input conveyor to the receiving conveyor and the calculated area ratio; a processor; A supply device comprising:

2. The processor sets a first area ratio detection region in the captured image where the articles fall from the input conveyor; the area ratio includes a first area ratio that the item region occupies in the first area ratio detection region; 2. The feeding device of claim 1.

3. the processor sets a second area ratio detection area downstream of the first area ratio detection area in the captured image; the area ratio includes a second area ratio that the item region occupies in the second area ratio detection region; 3. The feeding device of claim 2.

4. the processor sets the transport speed of the input conveyor and the transport speed of the receiving conveyor based on a first determination result indicating whether the first area ratio is equal to or greater than a predetermined threshold and a second determination result indicating whether the second area ratio is equal to or greater than a predetermined threshold.

4. The feeding device of claim 3.

5. a drop sign detection sensor that detects a sign of dropping from the input conveyor to the receiving conveyor and outputs the detection result; 5. The feeding device of claim 4.

6. the fall sign detection sensor is composed of a first fall sign detection sensor that detects the item loaded at a predetermined position on the input conveyor, and a second fall sign detection sensor that detects the item loaded upstream of the predetermined position, the detection result is composed of a first detection result from the first fall sign detection sensor and a second detection result from the second fall sign detection sensor; 6. The feeding device of claim 5.

7. a storage unit that stores a speed table indicating a transport speed of the input conveyor and a transport speed of the receiving conveyor corresponding to the first detection result, the second detection result, the first determination result, and the second determination result; the processor sets the conveying speed of the input conveyor and the conveying speed of the receiving conveyor based on the speed table; 7. The feeding device of claim 6.

8. The processor: The conveying speed of the feeding conveyor is set to 0, a low feeding conveyor speed, or a high feeding conveyor speed; The conveying speed of the receiving conveyor is set to 0, a low receiving conveyor speed, or a high receiving conveyor speed.

8. A supply device according to claim 6 or 7.

9. the processor sets the transport speed of the input conveyor to 0 or a low speed of the input conveyor when at least one of the first detection result and the second detection result indicates detection of the item and the first determination result indicates that the first area ratio is equal to or greater than a predetermined threshold.

9. The feeding device of claim 8.

10. a downstream conveyor formed downstream of the receiving conveyor; a removal mechanism that removes the articles downstream of the downstream conveyor; Equipped with The processor: calculating a rejection rate at which the rejection mechanism rejects the articles; controlling the low speed of the receiving conveyor and the conveying speed of the downstream conveyor based on the rejection rate; 10. A supply device according to claim 8 or 9.

11. The processor: If the rejection rate exceeds a first threshold, reduce the receiving conveyor slow speed and the downstream conveyor conveying speed; If the rejection rate is less than a second threshold value that is lower than the first threshold value, increasing the low speed of the receiving conveyor and the conveying speed of the downstream conveyor.

11. The feeding device of claim 10.

Images