Judgment area determination method, program, and part supply device

Abstract

To suppress false determination of a component with noise, such as shrinkage or color difference generated on a surface.SOLUTION: A determination region decision method includes: an imaging step of imaging a plurality of components having the same shape; a first synthesis step of superimposing a plurality of photographed images on first surfaces of the plurality of components; a second synthesis step of superimposing a plurality of photographed images on second surfaces of the components; a first detection step of detecting feature quantities of surface shapes in a plurality of regions of the first surfaces by using the plurality of images superimposed in the first synthesis step; a second detection step of detecting feature quantities of surface shapes in a plurality of regions on the second surfaces, the regions corresponding to the plurality of regions on the first surfaces, by using the images superimposed in the second synthesis step; a calculation step of calculating a difference in feature quantity between the regions on the first surfaces and the regions on the second surfaces corresponding to the regions on the first surfaces; and a determination region decision step of deciding, as a determination region, a region having a difference in the feature quantity larger than a predetermined value, the difference being calculated in the calculation step.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present invention relates to a determination area determining method, a program, and a component supply device. [Background technology]

[0002] Conventionally, image recognition processing has been known in which a workpiece is photographed with a camera to determine its position and inclination. In such image recognition processing, the similarity between the photographed image of the workpiece and a template used for pattern matching is calculated, and the position and inclination of the workpiece are identified based on the template with the highest similarity. Patent Document 1 describes an image processing method that utilizes image processing using pattern matching.

[0003] In the image processing method described in Patent Document 1, a plurality of provisional models are created using a predetermined reference image in which an object to be pattern matched is recorded. Next, pattern matching is performed between each of the provisional models and each of a plurality of evaluation images in which the object to be pattern matched is recorded, and a matching score is calculated between each of the provisional models and each of the evaluation images. The provisional model with the highest score is then set as the template model. Another known pattern matching method is pattern matching that calculates edge similarity. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-185678 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the image processing method described in Patent Document 1 does not set a template model that takes into account noise such as sink marks and color differences that appear on the surface of resin-molded parts, which causes the problem of erroneous determinations being caused by the influence of noise when performing pattern matching.

[0006] In consideration of the above problems, the present invention aims to provide a method, program, and component supply device for determining a judgment area that can suppress erroneous judgment of components that have noise such as sink marks or color differences on the surface. [Means for solving the problem]

[0007] To achieve this object, the present invention provides a method for determining a judgment area that is characteristic of the surface shape of a part by comparing a first surface of the part with a second surface of the part. This judgment area determination method includes an imaging step, a first composition step, a second composition step, a first detection step, a second detection step, a calculation step, and a judgment area determination step. In the photographing step, a plurality of parts having the same shape are photographed. In the first synthesis step, multiple images taken of the first surfaces of multiple components are superimposed. In the second synthesis step, the multiple images taken of the second surfaces of the multiple components are superimposed. In the first detection step, the plurality of images superimposed in the first synthesis step are used to detect feature amounts of the surface shape in each of the plurality of regions of the first surface. In the second detection step, the plurality of images superimposed in the second synthesis step are used to detect feature amounts of the surface shape of a plurality of regions on the second surface that correspond to a plurality of regions on the first surface. In the calculation step, differences in feature amounts between each region on the first surface and each region on the second surface corresponding to each region on the first surface are calculated. In the determination region determining step, a region in which the difference in the feature amount calculated in the calculating step is greater than a predetermined value is determined as a determination region. In the photographing step, photographs are taken of the first and second surfaces of one component at a plurality of photographing positions. [Effects of the Invention]

[0008] According to the present invention, it is possible to suppress erroneous determinations in pattern matching. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a perspective view of a component supply device according to an embodiment of the present invention; [Figure 2] 1 is a top view of a component supply device according to an embodiment of the present invention; [Figure 3] 1 is a side view of a component supply device according to an embodiment of the present invention; [Figure 4] FIG. 2 is a side view of a supply unit in the component supply device according to the embodiment of the present invention. [Figure 5] 3A and 3B are diagrams illustrating the configuration of a hand block of a supply unit in the component supply device according to an embodiment of the present invention. [Figure 6] 2 is a block diagram showing an example of the configuration of a control system in the component supply device according to the embodiment of the present invention; FIG. [Figure 7] 10A to 10C are diagrams illustrating a component supplying operation of the component supplying device according to the embodiment of the present invention. [Figure 8] 1A and 1B are diagrams illustrating the outer shape, surface shape, and determination region of a part according to an embodiment of the present invention. [Figure 9] 10 is a graph illustrating a comparison between a first reference amount and a second reference amount and a detected feature amount according to an embodiment of the present invention. [Figure 10] 10 is a flowchart showing an example of an attitude determination process in the component supply device according to an embodiment of the present invention. [Figure 11] 10A and 10B are diagrams illustrating a determination area in the component supply device according to an embodiment of the present invention. [Figure 12] 10 is a flowchart showing an example of a judgment area determination process in the component supply device according to an embodiment of the present invention. [Figure 13] 10A and 10B are diagrams illustrating the relationship between a feature region, a first reference amount, and a second reference amount when determining the orientation of a component without an irregular edge in the component supply device of one embodiment of the present invention. [Figure 14] 10A and 10B are diagrams illustrating a first example of feedback after determining the posture of a component having an irregular edge in the component supply device of the embodiment of the present invention. [Figure 15] 10A and 10B are diagrams illustrating a second example of feedback after determining the posture of a component having an irregular edge in the component supply device of one embodiment of the present invention. [Figure 16] FIG. 10 is a diagram illustrating a product lot of identically shaped parts and a judgment area. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments to which the present invention is applied will be described in detail with reference to the drawings.

[0011] [Component supply device configuration] First, the configuration of a component supply device according to one embodiment will be described with reference to FIGS. Fig. 1 is a perspective view of a component supplying device according to an embodiment, Fig. 2 is a top view of the component supplying device according to an embodiment, and Fig. 3 is a side view of the component supplying device according to an embodiment.

[0012] 1, the component supply device 1 according to the first embodiment includes a frame 2, storage units 3A and 3B, a supply unit 4, pick tables 5A and 5B, place tables 6A and 6B, a control board 7, and a display unit 8. The storage units 3A and 3B, the supply unit 4, the pick tables 5A and 5B, the place tables 6A and 6B, and the control board 7 are attached to the frame 2. The component supply device 1 places the components stored in the storage units 3A and 3B on the place tables 6A and 6B in the correct orientation, and supplies them to the device for the next process.

[0013] The frame 2 is formed in a substantially rectangular parallelepiped shape and has a width, depth, and height. Here, in Figs. 1 to 3, the X-axis direction indicates the width direction of the frame 2, the Y-axis direction indicates the depth direction of the frame 2, and the Z-axis direction indicates the height direction of the frame 2. The X-axis and Y-axis directions correspond to two horizontal axis directions that are parallel to the horizontal plane, and the Z-axis direction corresponds to the vertical direction that is perpendicular to the horizontal plane. The frame 2 is composed of horizontal members extending in the X-axis or Y-axis direction and vertical members extending in the Z-axis direction.

[0014] The storage sections 3A and 3B are arranged on one side of the frame 2 in the Y-axis direction. The storage sections 3A and 3B face each other at an appropriate distance in the X-axis direction. The storage sections 3A and 3B are formed in a roughly box-like shape with an open top. The storage sections 3A and 3B are provided with an elevation mechanism that moves the bottom in the Z-axis direction. This allows the storage capacity and height position of the stored components of each storage section 3A and 3B to be changed.

[0015] For example, a first component may be stored in storage unit 3A, and a second component different from the first component may be stored in storage unit 3B. In this case, component supplying device 1 supplies the first component and the second component to the device in the next process. Alternatively, the first component may be stored in storage units 3A and 3B during a first period, and the second component may be stored in storage units 3A and 3B during a second period different from the first period. In this case, component supplying device 1 supplies the first component to the device in the next process during the first period, and supplies the second component to the device in the next process during the second period.

[0016] The supply unit 4 is disposed approximately in the center of the upper portion of the frame 2. The supply unit 4 grasps one or more components from the large quantity of first components or the large quantity of second components stored in the storage units 3A, 3B, and drops and supplies them onto the pick tables 5A, 5B. As a result, the first components or second components are placed on the pick tables 5A, 5B. The supply unit 4 also grasps the first components or second components placed on the pick tables 5A, 5B one by one, and supplies them to the place tables 6A, 6B. The configuration of the supply unit 4 will be described later with reference to FIGS. 4 and 5.

[0017] The pick tables 5A and 5B are disposed on both sides of the supply unit 4 in the X-axis direction. The pick tables 5A and 5B are adjacent to the storage units 3A and 3B in the Y-axis direction. The pick tables 5A and 5B are located above the storage units 3A and 3B.

[0018] In the Z-axis direction, a portion of pick table 5A overlaps with storage section 3A. As a result, a component that has fallen from part of pick table 5A is stored (returned) in storage section 3A. In the Z-axis direction, a portion of pick table 5B overlaps with storage section 3B. As a result, a component that has fallen from part of pick table 5B is stored (returned) in storage section 3B.

[0019] The place tables 6A and 6B correspond to the supply position according to the present invention. The place tables 6A and 6B have a belt conveyor that transports parts in the Y-axis direction. The place tables 6A and 6B are also attached to an X-axis movement mechanism. The X-axis movement mechanism moves the place tables 6A and 6B in the X-axis direction. The place tables 6A and 6B transport parts supplied from the supply unit 4 in the Y-axis direction and position them at a predetermined position. The positioned parts are then supplied to the equipment for the next process.

[0020] 1 and 3, the control board 7 is attached to the side of the frame 2. The control board 7 is provided with a control unit 71 (see FIG. 6) that controls the operations of the storage units 3A and 3B, the supply unit 4, and the place tables 6A and 6B. The control unit 71 also controls the display of the display unit 8.

[0021] The display unit 8 displays various settings related to the supply of parts. Examples of the various settings include the type of parts to be supplied, the number of remaining parts, a judgment area (described later), a first reference amount, and a second reference amount. The display unit 8 also displays errors. Examples of errors include a malfunction of the supply unit 4 and an incorrect attitude judgment (described later).

[0022] The display unit 8 is configured with a touch panel display. That is, the display unit 8 also serves as an input unit for inputting various settings related to the component supply operation. The display unit 8 displays an operation screen. The user inputs various settings related to the component supply operation, issues instructions to execute the supply operation, etc., while looking at the operation screen displayed on the display unit 8. The settings input using the display unit 8 are supplied to the control unit 71 (see FIG. 6) of the control board 7.

[0023] [Supply section configuration] Next, the configuration of the supply unit 4 will be described with reference to FIGS. Fig. 4 is a side view of the supply unit 4 in the component supply device 1. Fig. 5 is a diagram illustrating the configuration of a hand block of the supply unit 4 in the component supply device 1.

[0024] As shown in Fig. 4, the supply unit 4 includes an arm block 41 and a hand block 42 connected to the arm block 41. The arm block 41 has a support base 411 and an arm 412 attached to the support base 411. The support base 411 is fixed to the frame 2 (see Fig. 3). The support base 411 rotatably supports the arm 412.

[0025] The arm 412 freely moves the hand block 42 in the X-axis, Y-axis, and Z-axis directions. The arm 412 also freely rotates the hand block 42 around the X-axis, Y-axis, and Z-axis. The arm 412 has a base member 413, a first link member 414, a second link member 415, and a connecting member 416.

[0026] The base member 413 is rotatably connected to the support table 411. The base member 413 rotates around the Z axis (first axis). One end of the first link member 414 is rotatably connected to the base member 413. The first link member 414 rotates around an axis (second axis) extending in the horizontal direction.

[0027] The second link member 415 has a rotating portion 415a and a swivel 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 around an axis (third axis) extending in the horizontal direction. The rotating portion 415b is rotatably connected to the rotating portion 415a. The rotating portion 415b rotates around an axis (fourth axis) extending in the direction of connection with the rotating portion 415a.

[0028] The connecting member 416 has a rotating portion 416a and a swivel portion 416b connected to the rotating portion 416a. The rotating portion 416a is rotatably connected to the rotating portion 415b of the second link member 415. The rotating portion 416a rotates around an axis (fifth axis) extending in the horizontal direction. The rotating portion 416b is rotatably connected to the rotating portion 416a. The rotating portion 416b rotates around an axis (sixth axis) extending in the direction of connection with the rotating portion 416a.

[0029] As shown in FIG. 5, the hand block 42 has a housing 421 , and a hand 422 and a camera 423 attached to the housing 421 .

[0030] Housing 421 is connected to pivot portion 416b (see FIG. 4) of connecting member 416 of arm 412. Housing 421 is a roughly rectangular parallelepiped case. A hand hole 421a and a camera hole 421b are formed on the bottom surface of housing 421. Hand hole 421a allows hand 422 to pass through. Camera hole 421b exposes lighting 424 of camera 423, which will be described later.

[0031] 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 an elevating mechanism for raising and lowering the multiple gripping pieces are provided inside the housing 421. The multiple gripping pieces 422a are raised and lowered by the elevating mechanism, thereby changing the length by which they protrude from the hand hole 421a. Increasing the length by which the multiple gripping pieces 422a protrude from the hand hole 421a increases the space available for holding components, allowing for a greater number of components to be held. On the other hand, shortening the length by which the multiple gripping pieces 422a protrude from the hand hole 421a reduces the space available for holding components, allowing for a smaller number of components to be held.

[0032] Each of the multiple gripping pieces 422a can grip a single component at its tip. The hand 422 grips one or more components from a large number of components stored in the storage section 3A or storage section 3B and supplies them to the pick table 5A or pick table 5B. On the other hand, the hand 422 grips one component from one or more components placed on the pick table 5A or pick table 5B and supplies it to the place table 6A or place table 6B.

[0033] Camera 423 is housed in housing 421. Camera 423 has lighting 424, polarizing filter 425, multiple lenses 426, and camera body 427. The components that make up camera 423 are arranged in this order from the subject side: lighting 424, polarizing filter 425, multiple lenses 426, and camera body 427. Examples of subjects include components on pick tables 5A and 5B, components stored in storage units 3A and 3B, and components held by hand 422.

[0034] The light 424 is exposed from the camera hole 421b. The light 424 is formed in a ring shape with a shooting hole for passing light from the subject. The light 424 irradiates the subject with light. The light 424 is also configured so that the light intensity can be adjusted in stages. The ON / OFF and light intensity of the light 424 are controlled by the recognition control unit 714 of the control unit 71, which will be described later.

[0035] A polarizing film 428 (see FIG. 6) is disposed in the photographing hole of the lighting 424. A polarizing filter 425 faces the photographing hole of the lighting 424. The polarizing film 428 and the polarizing filter 425 remove the specular reflection component of the reflected light from the subject. The reflected light from the subject, from which the specular reflection component has been removed by the polarizing film 428 and the polarizing filter 425, passes through multiple lenses 426.

[0036] The plurality of lenses 426 form a subject image on a light receiving surface of an imaging element in a camera body 427. The plurality of lenses 426 are supported by a support portion (not shown). The support portion (not shown) supports each of the plurality of lenses 426 so that the lenses can move in the optical axis direction. The movement of each lens in the optical axis direction is controlled by a recognition control portion 714 of the control portion 71, which will be described later.

[0037] The camera body 427 has an imaging element and an image processing circuit. The imaging element includes a plurality of light receiving elements (e.g., photodiodes) and a drive circuit for driving each light receiving element. Each light receiving element generates an electric charge according to the amount of incident light. The drive circuit transmits a pixel signal corresponding to the electric charge generated in each light receiving element to the image processing circuit. The image processing circuit converts the received pixel signal into image data. The camera body 427 then outputs the image data to a recognition control unit 714 (described later) of the control unit 71.

[0038] [Control system configuration] Next, the configuration of the control system of the component supply device 1 will be described with reference to FIG. FIG. 6 is a block diagram showing an example of the configuration of a control system in the component supply device 1.

[0039] The control board 7 (see FIG. 1) is provided with a control unit 71 and a storage unit 72. The control unit 71 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The various functions of the control unit 71 are realized by the CPU executing predetermined processing programs stored in the ROM. The various functions of the control unit 71 include, for example, operation control of the arm 412 by an arm control unit 712, operation control of the hand 422 by a hand control unit 713, part attitude determination processing by a recognition control unit 714, and display control of the display unit 8 by a display control unit 715.

[0040] As shown in FIG. 7, the control unit 71 includes an overall control unit 711, an arm control unit 712, a hand control unit 713, a recognition control unit 714, and a display control unit 715.

[0041] The overall control unit 711 is connected to an arm control unit 712, a hand control unit 713, a recognition control unit 714, and a display control unit 715. The overall control unit 711 receives detection results from the recognition control unit 714, such as the positions of each unit, such as the storage units 3A and 3B and the hand 422, the orientation of the parts on the pick tables 5A and 5B, and the number of parts held by the hand 422.

[0042] 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 recognition control unit 714 and the supply parameters and the like stored in the memory unit 72. The supply parameters are used to determine the operation of the supply unit 4 when supplying components to the pick tables 5A and 5B and the place tables 6A and 6B. Examples of the supply parameters include the position at which the hand 422 starts gripping a component, the speed at which the arm 412 transports the component, and the position at which the hand 422 releases its grip on the component.

[0043] 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. The arm control unit 712 generates an arm drive signal for driving the arm 412 based on the control command received from the overall control unit 711, and transmits the signal to the drive unit of the arm 412. As a result, the arm 412 performs an operation according to the control command from the overall control unit 711.

[0044] 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 transmits it to the drive unit of the hand 422. As a result, the hand 422 performs an operation according to the control command from the overall control unit 711.

[0045] The recognition control unit 714 is connected to the camera 423. The recognition control unit 714 controls the shooting by the camera 423 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.

[0046] The recognition control unit 714 detects the type of component on the pick tables 5A, 5B by comparing the image data that has been subjected to image processing with various templates 724 stored in the storage unit 72. The recognition control unit 714 also determines the orientation (front / back) of the component based on the image data that has been subjected to image processing and the front / back determination reference amount stored in the storage unit 72. The recognition control unit 714 then transmits the detection results and determination results to the overall control unit 711.

[0047] The display control unit 715 is connected to the display unit 8 (see FIG. 3). The display control unit 715 receives control commands from the overall control unit 711. Based on the control commands received from the overall control unit 711, the display control unit 715 generates a display unit control signal for controlling the display unit 8 and transmits it to the display unit 8. As a result, the display unit 8 displays various setting contents and error contents in accordance with the control commands from the overall control unit 711.

[0048] The storage unit 72 stores imaging parameters 721 , image processing parameters 722 , a reference amount for determining whether an image is front or back 723 , various templates 724 , and calibration data 725 .

[0049] The photographing parameters 721 are used when photographing components, pick tables 5A, 5B, etc. using the camera 423. Examples of the photographing parameters 721 include exposure time, light intensity of lighting, image size, etc. according to the subject (object to be photographed). The image processing parameters 722 are various correction values ​​used when performing image processing on the image data received from the camera 423.

[0050] The front / back determination reference quantity 723 is a reference feature quantity for the surface shape of the component. At least a first reference quantity and a second reference quantity are prepared as the front / back determination reference quantity 723 for each type of component. The first reference quantity is a reference feature quantity for the surface shape of the first surface (e.g., the front surface). The second reference quantity is a reference feature quantity for the surface shape of the second surface (e.g., the back surface). Examples of the feature quantity include the number of edges (hereinafter referred to as the "edge count") and the length of an edge (hereinafter referred to as the "edge length"). The recognition control unit 714 determines the orientation (front / back) of the component depending on whether the feature quantity of the component detected from the image data is closer to or matches the first reference quantity or the second reference quantity.

[0051] The various templates 724 are templates for matching the two-dimensional shapes (external shapes) of various components. At least one various template 724 is prepared for each type of component. The recognition control unit 714 compares the two-dimensional shape of the component detected from the image data with the various templates 724, and detects the type of component in the image data from a matching or similar template.

[0052] The calibration data 725 is used when adjusting the shooting position of the camera 423. The calibration data 725 includes internal parameters 727 and external parameters 728. Examples of the internal parameters 727 include a lens distortion correction amount and a center position of the angle of view. Examples of the external parameters 728 include a coordinate correction value for correcting the amount of deviation of the coordinates of the camera 423 from the coordinates of the arm 412.

[0053] The recognition control unit 714 determines the shooting position of the camera 423 based on the calibration data 725 and image data sent from the camera 423. The overall control unit 711 transmits a control command to the arm control unit 712 to control the operation of the arm 412 in accordance with the shooting position determined by the recognition control unit 714. The arm control unit 712 controls the drive unit of the arm 412 in accordance with the control command from the overall control unit 711. As a result, the camera 423 provided on the hand block 42 is positioned at the shooting position.

[0054] [Component supply operation of the component supply device] Next, the component supplying operation of the component supplying device 1 will be described with reference to FIG. FIG. 7 is a diagram illustrating the component supplying operation of the component supplying device 1. As shown in FIG.

[0055] 7, in order for the component supply device 1 to supply components to a device in the next process, the components are first stored in storage units 3A and 3B (hereinafter referred to as "storage unit 3"). The components may be stored in storage unit 3 by a device in the previous process, or manually.

[0056] Next, the supply unit 4 grasps one or more components from the large amount of components in the storage unit 3 and supplies them to the pick table 5A or pick table 5B (hereinafter referred to as "pick table 5"). At this time, the supply unit 4 performs a supply operation such that the grasped components are separated on the pick table 5. Hereinafter, the supply operation such that the components are separated on the pick table 5 is referred to as a "component separation operation."

[0057] Next, the camera 423 photographs the top of the pick table 5, and the recognition control unit 714 of the control unit 71 recognizes the top of the pick table 5 from a bird's-eye view. At this time, the recognition control unit 714 determines whether or not there are any grippable parts on the pick table 5. If it is determined that there are no grippable parts on the pick table 5, the supply unit 4 grips one or more parts from the large amount of parts in the storage unit 3.

[0058] Note that even if a component is placed on the pick table 5, if the component is in a position that cannot be grasped by the supply unit 4, it is determined that there is no component that can be grasped on the pick table 5. In this case, the tilting mechanism is driven to tilt the pick table 5. As a result, the component placed on the pick table 5 falls from the pick table 5 and is collected in the storage unit 3.

[0059] If it is determined that there is a grippable part on the pick table 5, the recognition control unit 714 determines one of the parts on the pick table 5 as the part to be gripped, and causes the camera 423 to photograph the part to be gripped. Then, the recognition control unit 714 determines the orientation (front and back) of the part from the image data of the part to be gripped. Thereafter, the recognition control unit 714 recognizes (determines) the position at which the hand 422 of the supply unit 4 will grip the part.

[0060] Next, the supply unit 4 grasps one part and supplies it to the place tables 6A and 6B (hereinafter referred to as "place table 6"). The place table 6 positions the supplied part in a predetermined position. The part positioned in the predetermined position is supplied to the device for the next process.

[0061] When the supply unit 4 supplies one component to the place table 6, the recognition control unit 714 determines one of the components on the pick table 5 as the component to be grasped, and as described above, determines the orientation (front or back) of the component and recognizes (determines) the position where the hand 422 of the supply unit 4 will grasp the component. If there are no components on the pick table 5 at this time, the supply operation of components to the place table 6 ends. Then, the supply unit 4 grasps one or more components from the large number of components in the storage unit 3. Thereafter, the supply unit 4 performs a component disassembly operation and repeats the supply of components to the place table 6.

[0062] [Part outline, surface shape, and judgment area] Next, the outer shape, surface shape, and determination area of ​​a part will be described with reference to FIG. FIG. 8 is a diagram illustrating the outer shape, surface shape, and determination area of ​​a part.

[0063] First, the orientation in which the first surface (front surface) of the part W shown in Fig. 8 faces upward is defined as the first orientation. Also, the orientation in which the second surface (back surface) of the part W faces upward is defined as the second orientation. In this embodiment, the surface opposite to the first surface is defined as the second surface, but the second surface may be a surface other than the surface opposite to the first surface.

[0064] When the external shape (outer shape) of the first surface and the external shape (outer shape) of the second surface are different, the orientation of the component can be determined from the external shape (outer shape) of the component obtained from image data. However, as shown in FIG. 8, when the external shape of the first surface and the external shape of the second surface are identical or substantially identical, it is difficult to determine the orientation of the component from the external shape of the component obtained from image data. Therefore, in this embodiment, the orientation of the component is determined by detecting feature amounts in the surface shape of the component and determining whether the detected feature amounts are feature amounts of the first surface or the second surface.

[0065] In this embodiment, the number of edges is used as the feature quantity. As shown in FIG. 8, multiple edges are formed on the surfaces of the first and second faces. The part W has texture variations due to molding (resin molding). Furthermore, the image data of the part W has variations in reflected light. As a result, the image data of the part W has variations in the edge shapes on the surface. As a result, even for parts W of the same type (same shape), there is no reproducibility in the detection of edges across the entire first and second faces.

[0066] Therefore, the inventors focused on areas where the difference in the number of edges between the first and second surfaces is large. In areas where the difference between the number of edges between the first surface and the second surface is large, even if some error occurs in edge detection, it is possible to prevent erroneous determination of whether it is the first surface or the second surface. In this embodiment, an area where the difference between the number of edges between the first surface and the second surface is large is set as the determination area. Then, the number of edges in the determination area in the captured image of the part W is compared with the reference number of edges in the determination area on the first and second surfaces to determine the orientation of the part W.

[0067] 8, in this embodiment, a region where edges do not appear stably on the first surface and where edges appear relatively frequently on the second surface is set as the judgment region. However, the judgment region may also be a region where edges appear relatively frequently on the first surface and where edges do not appear stably on the second surface. Also, a location where texture variation due to molding (resin molding) is unlikely to occur and where there is a difference in the number of edges on the first surface and the second surface may be set as the judgment region.

[0068] The location where the edge appears varies depending on the type of part, the mold used to mold the part, the orientation of the part, etc. Therefore, a judgment region is set at least for each type of part. Furthermore, if different molds are used depending on the production lot of the part, a judgment region may be set for each production lot of the part and each mold.

[0069] Furthermore, the number of judgment areas is not limited to one, and may be two or more. When there are two or more judgment areas, the total sum of the detected edges is compared with a reference number of edges to determine the orientation of the part. When there are two or more judgment areas, the ratio of the number of edges detected in each judgment area to the ratio of the reference number of edges in each judgment area may also be compared to determine the orientation of the part.

[0070] Edges detected from an image are affected by shadows. Therefore, edges may or may not be detected depending on the position and rotational orientation (the direction of rotation along the surface on which the components are placed on the pick table 5) of the components present within the field of view. Therefore, in this embodiment, the positions and rotational orientations of components in the images captured to detect edges are unified.

[0071] The position and rotational orientation of the part are identified from the external shape of the part. Then, the shooting position of the camera 423 is adjusted to capture an image of the part with the same angle of view and the same rotational orientation. This makes it possible to detect the number of edges in the determination area from images of the part with a unified position and rotational orientation. As a result, the accuracy of part orientation determination can be improved.

[0072] The reference number of edges in the determination area on the first and second sides may be determined, for example, by detecting the number of edges in the determination area from a large number of samples and determining the maximum or minimum value. The reference number of edges in the determination area on the first side is stored in the storage unit 72 as a first reference amount. The reference number of edges in the determination area on the second side is stored in the storage unit 72 as a second reference amount. The first and second reference amounts are included in the front / back determination reference amount 723 described above.

[0073] [Comparison of the first and second reference amounts with the detected feature amount] Next, the comparison between the first and second reference amounts and the feature amounts detected from the image will be described with reference to FIG. FIG. 9 is a graph illustrating a comparison between the first reference amount, the second reference amount, and the detected feature amount.

[0074] The horizontal axis of the graph shown in FIG. 9 indicates the feature amount (number of edges) detected in the determination region, and the vertical axis indicates the frequency of occurrence of the detected feature amount. As described above, differences occur between the feature amounts of the first and second surfaces in the determination region. In this embodiment, an area where edges do not appear stably on the first surface and where edges appear relatively frequently on the second surface is set as the determination region. Therefore, the feature amount of the first feature amount group is smaller than the feature amount of the second feature amount group.

[0075] A collection of feature amounts detected in the determination area for the first orientation (first surface) is defined as a first feature amount group. A collection of feature amounts detected in the determination area for the second orientation (second surface) is defined as a second feature amount group. The range of feature amounts in the first feature amount group and the range of feature amounts in the second feature amount group do not overlap. In other words, an area where the range of feature amounts in the first feature amount group and the range of feature amounts in the second feature amount group do not overlap is set as the determination area. The method for determining the determination area will be described later with reference to FIGS. 11 and 12.

[0076] The first reference amount is set to the maximum value of the feature amounts in the first feature amount group acquired as samples. The second reference amount is set to the minimum value of the feature amounts in the second feature amount group acquired as samples. Alternatively, the first reference amount may be set to a +3σ feature amount in the first feature amount group acquired as samples, and the second reference amount may be set to a −3σ feature amount in the second feature amount group acquired as samples.

[0077] For example, if the feature amount detected from the image of the component on the pick table 5 is greater than the second reference amount, it can be determined that the component is in the second orientation (an orientation in which the second surface faces upward). However, it is also possible that the feature amount detected from the image of the component on the pick table 5 is greater than the first reference amount and less than the second reference amount.

[0078] Therefore, in this embodiment, the intermediate value between the first reference amount and the second reference amount is set as the judgment threshold. If the detected feature amount is equal to or less than (less than) the judgment threshold, the part is judged to be in the first orientation, and if the detected feature amount is greater than (equal to or greater than) the judgment threshold, the part is judged to be in the second orientation. Note that the judgment threshold according to the present invention may be, for example, the intermediate value between the ±3σ interval of the first feature amount group and the ±3σ interval of the second feature amount group.

[0079] Furthermore, the feature amount detected from the image of the component on the pick table 5 varies depending on the distance (shooting distance) between the camera 423 and the component. Therefore, the first reference amount, the second reference amount, and the determination threshold value should be changed depending on the shooting distance. This allows the orientation of the component to be determined with high accuracy even when the shooting distance varies.

[0080] When changing the first reference amount, the second reference amount, and the judgment threshold, the values ​​corresponding to the shooting distance may be extracted by referring to table data stored in advance in the storage unit 72. Furthermore, the first reference amount, the second reference amount, and the judgment threshold may be calculated by substituting the shooting distance into a calculation formula stored in advance in the storage unit 72.

[0081] [Posture determination processing] Next, the posture determination process performed by the recognition control unit 714 will be described with reference to FIG. FIG. 10 is a flowchart illustrating an example of the posture determination process according to an embodiment.

[0082] First, the recognition control unit 714 causes the camera 423 to take an image for extracting the external shape of the part (S1).

[0083] Next, the recognition control unit 714 extracts the external shape of the part from the image data captured in step S1 (S2). In this process, the recognition control unit 714 performs image processing to increase the brightness difference in the image data using a gamma correction value, and then binarizes the image to extract the external shape of the part. The recognition control unit 714 also detects the type of part from the extracted external shape and various templates 724. Furthermore, the recognition control unit 714 detects the position and rotational orientation of the part.

[0084] Next, the recognition control unit 714 determines the shooting position of the camera 423 based on the position and rotational orientation of the part, and sends the result of the determination to the overall control unit 711. As a result, the overall control unit 711 sends a control command to the arm control unit 712 to place the camera 423 at the shooting position. Then, the recognition control unit 714 causes the camera 423 to take an image for extracting the surface shape of the part (S3).

[0085] Next, the recognition control unit 714 extracts the surface shape of the part from the image data captured in step S3 (S4). In this process, the recognition control unit 714 performs image processing to emphasize the brightness gradient of the image data using a gamma correction value, and then detects edges using, for example, the Canny method.

[0086] Next, the recognition control unit 714 determines a determination area based on the type and external shape of the part, and extracts the surface shape of the determination area (S5).Then, the recognition control unit 714 detects the feature amount (number of edges) in the determination area (S6).

[0087] Next, the recognition control unit 714 compares the feature amount detected in step S6 with a determination threshold set based on the first reference amount and the second reference amount (S7). Then, the recognition control unit 714 determines the orientation of the component placed on the pick table 5 from the comparison result of step S7 (S8). After processing step S8, the recognition control unit 714 ends the orientation determination process.

[0088] In this way, in the orientation determination process according to this embodiment, even if there is variation in the edge shape for each component, the detected feature amount can be compared with a predetermined reference amount (determination threshold) in a determination area where the influence of the variation is small, and as a result, the orientation (front or back) of the component can be determined with high accuracy.

[0089] [Judgment area] Next, the determination area used to determine the orientation of a part will be described with reference to FIG. FIG. 11 is a diagram illustrating the determination region.

[0090] As shown in FIG. 11, an edge E1 (hereinafter referred to as the "original edge E1"), which is a protrusion or recess as designed, appears on the first surface (front surface) and the second surface (back surface) of the part W. The original edge E1 is image-recognized without being affected by individual differences in the part W or the posture or position of the part W when photographed. As a result, the original edge E1 can be reliably detected from the photographed image of the part W.

[0091] Therefore, the most distinctive difference occurs between the area where edge E1 should appear and the area where it should not appear. Area A1 shown in Figure 11 is an area where edge E1 should appear on either the first or second surface, and where no edge should appear on the other of the first and second surfaces. Area A1 is an appropriate area to use for determining the orientation of part W.

[0092] Meanwhile, edges E2 (hereinafter referred to as "noise edges E2"), which are protrusions or recesses resulting from noise such as texture or sink marks, appear on the first and second surfaces of the part W. The noise edges E2 are recognized in an image while being affected by individual differences between the parts W and the posture and position of the part W when photographed. As a result, the noise edges E2 are edges that are unstable to detect from photographed images of the part W.

[0093] 11 is an area where a noise edge E2 appears on at least one of the first and second surfaces. Area A2 is an area that is not suitable as an area to be used for determining the orientation of part W. Therefore, in this embodiment, an area that is area A1 and is not area A2 is set as the determination area to be used for determining the orientation of part W.

[0094] Areas that are area A1 but not area A2 can be determined as follows: First, images of the first surfaces of multiple parts W are superimposed to obtain the edge distribution on the first surfaces. This edge distribution includes the original edge E1 and the noise edge E2. Next, images of the second surfaces of multiple parts W are superimposed to obtain the edge distribution on the second surfaces.

[0095] The original edge E1 is detected in every image. Therefore, in the edge distribution, the distribution density is high in the area where the original edge E1 is located. On the other hand, the distribution density in the area where the noise edge E2 is likely to appear is lower than the area where the original edge E1 is located, but is higher than the area where the noise edge E2 is unlikely to appear.

[0096] Next, the first and second surfaces are divided into a plurality of corresponding regions, and the difference in the number of edges between each region is calculated. The region where the calculated difference in the number of edges is greater than a predetermined value is determined as the judgment region. The judgment region is not limited to one, and may be two or more.

[0097] [Determination area determination process] Next, the determination region determination process performed by the control unit 71 will be described with reference to FIG. FIG. 12 is a flowchart showing an example of a determination region determination process according to an embodiment.

[0098] The judgment area determination process is performed before the component supply device 1 performs a component supply operation. The judgment area determined by the judgment area determination process is used in the posture determination process (see FIG. 10) when performing a component supply operation.

[0099] First, before performing the judgment area determination process, the recognition control unit 714 of the control unit 71 controls the camera 423 to photograph multiple components of the same shape. At this time, the multiple components are placed in a first position with their first faces facing upward, and the camera 423 photographs the first faces of the multiple components. The multiple components are placed in a second position with their second faces facing upward, and the camera 423 photographs the second faces of the multiple components. Note that the first and second faces of the components may be photographed by a camera separate from the camera 423 of the component supply device 1.

[0100] Furthermore, camera 423 captures images of the first and second surfaces of each component from multiple positions. This makes it possible to detect noise edges that appear depending on the component's position relative to the angle of view and the component's rotational orientation. As a result, the reliability of the edge distribution can be improved.

[0101] When the determination region determination process starts, the recognition control unit 714 acquires image data of a plurality of parts of the same shape (S31).

[0102] Next, the recognition control unit 714 creates first composite image data by overlaying image data of the first faces of the multiple components (S32). As a result, the recognition control unit 714 obtains the edge distribution on the first faces of the components. Then, the recognition control unit 714 creates second composite image data by overlaying image data of the second faces of the multiple components (S33). As a result, the recognition control unit 714 obtains the edge distribution on the second faces of the components.

[0103] Next, the recognition control unit 714 detects the feature amount (number of edges) of the surface shape in a partial region of the first surface from the first composite image data (S34). The partial region is one of multiple regions obtained by dividing the first surface. Next, the recognition control unit 714 detects the feature amount (number of edges) of the surface shape in a region of the second composite image data corresponding to the partial region whose feature amount was detected in step S34 (S35).

[0104] Next, the recognition control unit 714 determines whether there are other regions in the first composite image data for which feature amounts are to be detected (S36). In this embodiment, feature amounts (number of edges) are detected for all regions obtained by dividing the first plane into multiple regions in the first composite image data.

[0105] It is also possible to set regions in which feature values ​​are not detected among all regions obtained by dividing the first surface (second surface) into multiple parts. For example, if the multiple parts are resin-molded parts, the cooling speed of the resin near the gate of the mold during molding is relatively slow. As a result, sink marks are likely to occur in the region of the molded part that corresponds to the gate of the mold. Therefore, among the multiple divisions of the first surface and the second surface, the region that corresponds to the gate of the mold is excluded from the region in which feature values ​​are detected. This reduces the number of processes in the judgment region determination process and shortens the processing time.

[0106] In step S36, if it is determined that there are other areas in the first composite image data where feature amounts are to be detected (YES in step S36), the recognition control unit 714 proceeds to step S34. Then, the recognition control unit 714 detects surface shape feature amounts (number of edges) from each area of ​​the first composite image data and the second composite image data until there are no other areas in the first composite image data where feature amounts are to be detected.

[0107] If it is determined in step S36 that there are no other areas in the first composite image data where feature amounts are to be detected (NO in step S36), the recognition control unit 714 calculates the difference in feature amounts between corresponding areas of the first composite image data (first surface) and the second composite image data (second surface) (S37).Then, the recognition control unit 714 determines an area where the difference in feature amounts is greater than a predetermined value as a judgment area, and ends the judgment area determination process.

[0108] In this way, the region where the difference in feature amount is greater than a predetermined value is determined as the judgment region, so the posture can be judged by comparing the feature amount (number of edges) of the region where noise such as sink marks or color differences are unlikely to appear on the surface. As a result, it is possible to prevent erroneous judgments from occurring when judging the posture of a part where noise such as sink marks or color differences appear on the surface.

[0109] The judgment area determined in the judgment area determination process is displayed on the display unit 8 (see FIG. 3). This allows the user to confirm the determined judgment area. The user can also modify the determined judgment area using the input function of the display unit 8. For example, if the judgment area contains an undesirable area, such as by applying a sticker or surface treatment to part of the first or second surface of the part, the user modifies the judgment area.

[0110] The judgment area determination process is not limited to being performed by the component supply device 1. For example, the judgment area determination process may be executed by a computer separate from the control unit 71 of the component supply device 1. In that case, before the component supply device 1 performs a component supply operation, information (data) of the determined judgment area is supplied to the control unit 71 of the component supply device 1. The information on the judgment area may be supplied via communication, or may be input by the user.

[0111] [Feedback during supply operation] Next, feedback during supply operation will be described with reference to FIGS. Fig. 13 is a diagram illustrating the relationship between the feature region, the first reference amount, and the second reference amount when determining the orientation of a part without an irregular edge. Fig. 14 is a diagram illustrating a first example of feedback after determining the orientation of a part with an irregular edge. Fig. 15 is a diagram illustrating a second example of feedback after determining the orientation of a part with an irregular edge.

[0112] The part shown in Fig. 13 is a part whose orientation has been determined, and for which no irregular edges were detected in the determination areas of the first and second faces. The horizontal axis of the graph shown in Fig. 13 indicates the feature amount (number of edges) detected in the determination area, and the vertical axis indicates the occurrence frequency of the detected feature amount.

[0113] If no irregular edges are detected in the judgment area of ​​the first surface, the feature amounts of the feature group in the first orientation (first feature group) will basically be equal to or less than the first reference amount. Also, if no irregular edges are detected in the judgment area of ​​the second surface, the feature amounts of the feature group in the second orientation (second feature group) will basically be equal to or greater than the second reference amount. Therefore, the orientation of the part will not be judged erroneously.

[0114] The recognition control unit 714 combines the image data for extracting the surface shape of the part photographed in the orientation determination process with the first composite image data or the second composite image data according to the determination result of the orientation determination process. As a result, the first composite image data or the second composite image data is updated every time the orientation determination process is performed.

[0115] The recognition control unit 714 also adds the feature quantities detected in the orientation determination process to the first feature quantity group or the second feature quantity group, and updates the occurrence frequency of the feature quantities. The recognition control unit 714 then changes the first reference quantity or the second reference quantity according to the ±3σ feature quantities of the first feature quantity group or the second feature quantity group. Furthermore, the recognition control unit 714 changes the determination threshold according to the changed first reference quantity or the second reference quantity. This improves the robustness of the orientation determination of the part.

[0116] As described above, when no irregular edges are detected in the judgment area, the feature amount is basically less than the first reference amount or greater than the second reference amount, so the first reference amount or the second reference amount does not fluctuate significantly.

[0117] The part shown in Fig. 14 is a part whose orientation has been determined, and in which an irregular edge has been detected in the determination area of ​​the first surface. The horizontal axis of the graph shown in Fig. 14 indicates the feature amount (number of edges) detected in the determination area, and the vertical axis indicates the occurrence frequency of the detected feature amount.

[0118] The judgment area of ​​the first surface is an area where edges do not appear stably. Therefore, if an irregular edge is detected in the judgment area of ​​the first surface, the feature amount will be larger than when no irregular edge is detected. However, as shown in Figure 14, if the irregular edge is relatively small, the feature amount of the judgment area detected from the image will be smaller than the judgment threshold. Therefore, even if the part is in the first orientation with the first surface facing upward, the orientation judgment of the part will not be erroneous.

[0119] Whether the result of the posture determination process is an erroneous determination or not is detected, for example, when a part with an inverted posture is supplied to a device in the next process. In this case, the device in the next process notifies the device that the posture is inverted, so that it is possible to detect that the result of the posture determination process is an erroneous determination. In addition, the placing tables 6A and 6B may be provided with a function to detect an erroneous determination of the posture determination process.

[0120] 14 is in a first orientation (an orientation in which the first surface faces upward), and the orientation determination process determines that the orientation of the part is the first orientation. This determination result is not an erroneous determination. In this case, the recognition control unit 714 combines image data for extracting the surface shape of the part photographed in the orientation determination process with the first combined image.

[0121] The recognition control unit 714 also adds the feature quantities detected in the orientation determination process to the first feature quantity group and updates the occurrence frequency of the feature quantities.The recognition control unit 714 then changes the first reference quantity according to the +3σ feature quantity in the first feature quantity group.The recognition control unit 714 also changes the determination threshold according to the changed first reference quantity.This allows for stable orientation determination of the part even if a similar irregular edge is detected again, thereby improving the robustness of the orientation determination.

[0122] Furthermore, the overall control unit 711 sends a control command to the display control unit 715 to display on the display unit 8 that an irregular edge has been detected in the posture determination process, that the reference amount and the judgment threshold have been changed in accordance with the irregular edge, and the changed reference amount and judgment threshold. This allows the user to confirm that an irregular edge has been detected in the posture determination process and that the reference amount and the judgment threshold have been changed.

[0123] The part shown in Fig. 15 is a part whose orientation was determined after the first reference amount was changed as shown in Fig. 14, and in which an irregular edge was detected in the determination area of ​​the first surface. The horizontal axis of the graph shown in Fig. 15 indicates the feature amount (number of edges) detected in the determination area, and the vertical axis indicates the occurrence frequency of the detected feature amount.

[0124] As shown in Figure 15, when the irregular edge is relatively large, the feature amount of the judgment area detected from the image becomes larger than the judgment threshold. Therefore, even though the actual orientation is the first orientation with the first face facing upward, the orientation judgment process will judge the second orientation with the second face facing upward. In other words, the part orientation judgment process will result in an erroneous judgment.

[0125] For example, when the recognition control unit 714 receives a notification from a device in the next process that the orientation determination process resulted in an incorrect determination, it combines the image data captured in the orientation determination process to extract the surface shape of the part into a first combined image. The recognition control unit 714 also adds the feature values ​​detected in the orientation determination process to a first set of feature values ​​and updates the occurrence frequency of the feature values. As a result, the +3σ feature value in the first set of feature values ​​becomes larger than the second reference value. This causes the recognition control unit 714 to determine that the orientation of the part cannot be correctly determined using the current (pre-change) determination area, and to change the determination area.

[0126] The recognition control unit 714 performs a determination area determination process using the updated first and second composite images to determine the determination area. That is, it determines the area that is the above-mentioned area A1 but is not area A2 (see FIG. 11) as the new determination area. Note that the recognition control unit 714 may delete the portion of the current (before change) determination area where the irregular edge that caused the current erroneous determination appears, and use this as the new determination area. This allows stable orientation determination even if there is a component in which the same irregular edge as this one appears in the same position, thereby improving the robustness of the orientation determination.

[0127] Furthermore, the overall control unit 711 sends a control command to the display control unit 715 to display on the display unit 8 that an erroneous determination has occurred in the posture determination process, that the determination area has been changed in response to the erroneous determination, and the changed determination area. This allows the user to confirm that an erroneous determination has occurred in the posture determination process and that the determination area has been changed.

[0128] [Part production lot and judgment area] Next, the production lot and judgment area of ​​the part will be described with reference to FIG. FIG. 16 is a diagram for explaining the production lot and judgment area of ​​parts with the same shape.

[0129] Even if parts have the same shape (same type), if the production lots are different, the molds used to mold the parts may be different. In this case, the location where the above-mentioned noise edge E2 appears may change. Therefore, the part supplying device 1 according to this embodiment determines the judgment area for each production lot.

[0130] FIG. 16 shows a part W1 produced in a first lot, a part W2 produced in a second lot, and a part W3 produced in a third lot. In FIG. 16, the first and second surfaces of parts W1, W2, and W3 are formed into horizontally long rectangles. The two short sides of parts W1, W2, and W3 face each other in the left-right direction in FIG. 16. The two long sides of parts W1, W2, and W3 face each other in the up-down direction in FIG. 16. Hereinafter, when the left-right direction and the up-down direction are used, they refer to the left-right direction and the up-down direction in FIG. 16.

[0131] An original edge E1 and a noise edge E2 appear on the first and second surfaces of part W1. A relatively small noise edge E2 appears approximately in the center of the first surface of part W1. The judgment region J1 of part W1 is located between the noise edge E2 in the approximately center and the original edge E1 to the left of it. The judgment region J1 is set as a vertically long rectangle.

[0132] An original edge E1 and a noise edge E2 appear on the first and second surfaces of part W2. A noise edge E2 larger than the noise edge E2 of part W1 appears approximately in the center of the first surface of part W2. The judgment region J2 of part W2 is located between the noise edge E2 in the approximately center and the original edge E1 to the left of it. The judgment region J2 is set as a vertically long rectangle that is narrower than the judgment region J1.

[0133] An original edge E1 and a noise edge E2 appear on the first and second surfaces of part W3. A noise edge E2 larger than the noise edge E2 of part W2 appears approximately in the center of the first surface of part W3. The judgment region J3 of part W3 is located between the noise edge E2 in the approximately center and the original edge E1 to the left of it, and is located above the noise edge E2 in the approximately center. The judgment region J3 is set to be a horizontally long rectangle.

[0134] By determining the judgment region for each production lot in this way, even if the location where the noise edge E2 appears varies for each production lot, the judgment region can be set at an appropriate position for each production lot, thereby reducing erroneous judgment of the part orientation.

[0135] The above has described the embodiments of the determination area determination method, program, and component supply device of the present invention, including their effects. However, the determination area determination method, program, and component supply device of the present invention are not limited to the above-described embodiments, and various modifications are possible within the scope of the invention as set forth in the claims.

[0136] For example, in the above-described embodiment, the number of edges is used as a feature quantity for the surface shape of a part. However, the feature quantity according to the present invention may be the aforementioned edge length or edge area.

[0137] In the determination area determination process of the above-described embodiment, the feature amounts of all areas into which the first and second surfaces are divided are detected, and then the difference between the feature amounts of each area is calculated. However, in the determination area determination process according to the present invention, the difference between the feature amounts may be detected each time the feature amount of each area of ​​the first and second surfaces is detected.

[0138] In the above-described embodiment, the display unit 8 is configured to also function as an input unit. However, the component supply device according to the present invention may be provided with an input unit separate from the display unit. The component supply device according to the present invention may be configured to input various settings via communication from an external input device. The component supply device according to the present invention may be configured to transmit information on the determined determination area, etc. to an external display device and display the determination area, etc. on the external display device.

[0139] In the above-described embodiment, the hand 422 of the supply unit 4 is configured to grip a component and supply it to the pick table 5. However, the supply unit according to the present invention is not limited to a gripping configuration, and may also grip and release a component using other methods, such as a belt mechanism, suction, air suction, magnetic attraction, or holding by a container-like member. [Explanation of symbols]

[0140] 1,100...component supply device, 2...frame, 3,3A,3B...storage section, 4...supply section, 5,5A,5B,105...pick table, 6,6A,6B...place table, 7...control board, 8...display section, 31...slit, 32...shutter, 32a...flange, 41...arm block, 42...hand block, 51...loading plate, 52,53,54...wall plate, 71...control section, 72...memory section, 104...transport section (storage section and supply section), 108...guide plate, 123,423...camera, 411...support base, 412...arm, 413...base member, 414...first link member, 415...second link member, 416...connection member, 421...housing, 422...hand, 422a...grasping piece, 423...camera, 424...lighting, 425...polarizing filter, 426...plural lenses, 427...camera body, 428...polarizing film, 711...overall control unit, 712...arm control unit, 713...hand control unit, 714...recognition control unit, 715...display control unit, 721...photography parameters, 722...image processing parameters, 723...front / back determination reference amount, 724...various templates, 725...calibration data

Claims

1. A method for determining a determination area that is a characteristic of a surface shape of a part by comparing a first surface of the part with a second surface of the part, comprising: an imaging step of imaging a plurality of parts of the same shape; a first synthesis step of superimposing a plurality of images taken of the first surfaces of the plurality of components; a second combining step of superimposing a plurality of images taken of the second surfaces of the plurality of components; a first detection step of detecting surface shape feature amounts in a plurality of regions of the first surface using the plurality of images superimposed in the first synthesis step; a second detection step of detecting the feature amounts of the surface shape of a plurality of regions on the second surface corresponding to the plurality of regions on the first surface by using the plurality of images superimposed by the second synthesis step; a calculation step of calculating differences in the feature amounts between each region on the first surface and each region on the second surface corresponding to each region on the first surface; a determination region determining step of determining a region in which the difference in the feature amount calculated in the calculating step is greater than a predetermined value as a determination region, In the photographing step, photographs are taken of the first surface and the second surface of one component at a plurality of photographing positions. Judgment area determination method.

2. A method for determining a determination area that is a characteristic of a surface shape of a part by comparing a first surface of the part with a second surface of the part, comprising: an imaging step of imaging a plurality of parts of the same shape; a first synthesis step of superimposing a plurality of images taken of the first surfaces of the plurality of components; a second combining step of superimposing a plurality of images taken of the second surfaces of the plurality of components; a first detection step of detecting surface shape feature amounts in a plurality of regions of the first surface using the plurality of images superimposed in the first synthesis step; a second detection step of detecting the feature amounts of the surface shape of a plurality of regions on the second surface corresponding to the plurality of regions on the first surface by using the plurality of images superimposed by the second synthesis step; a calculation step of calculating differences in the feature amounts between each region on the first surface and each region on the second surface corresponding to each region on the first surface; a determination region determining step of determining a region in which the difference in the feature amount calculated in the calculating step is greater than a predetermined value as a determination region, the plurality of parts of the same shape are resin molded parts, In the first detection step and the second detection step, a portion where the resin cooling speed is relatively slow when molding the plurality of parts of the same shape is excluded from the region where the feature amount is detected. Judgment area determination method.

3. a step of superimposing a plurality of images taken at a plurality of photographing positions for the first surfaces of a plurality of components; a step of superimposing a plurality of images taken at a plurality of photographing positions with respect to the second surfaces of the plurality of components; a step of detecting surface shape feature amounts in a plurality of regions of the first surface using a plurality of images superimposed on the first surface; a step of detecting the feature amounts of the surface shape of a plurality of regions on the second surface corresponding to a plurality of regions on the first surface by using a plurality of images superimposed on the second surface; calculating differences in the feature amounts between each region on the first surface and each region on the second surface corresponding to each region on the first surface; and a step of determining an area in which the difference in the feature amount is greater than a predetermined value as a judgment area. program.

4. A method of superimposing multiple images taken of first surfaces of multiple parts of the same shape that are resin molded parts; superimposing the captured images of the second surfaces of the components; a step of detecting feature amounts of surface shapes in a plurality of regions of the first surface by using a plurality of images superimposed on the first surface, and excluding from the region for detecting the feature amounts a location where the resin cooling speed is relatively slow when molding the plurality of parts of the same shape; a step of detecting the feature amounts of the surface shape of a plurality of regions on the second surface corresponding to the plurality of regions on the first surface by using a plurality of images superimposed on the second surface, and excluding from the region for detecting the feature amounts, a portion where the resin cooling speed is relatively slow when molding the plurality of parts of the same shape; calculating differences in the feature amounts between each region on the first surface and each region on the second surface corresponding to each region on the first surface; and a step of determining an area in which the difference in the feature amount is greater than a predetermined value as a judgment area. program.

5. A pick stand and a camera capable of photographing a component on the pick table; a supply unit that picks up the component on the pick table and places it at a supply position; a control unit that controls the operation of the supply unit in accordance with the posture of the component on the pick table, The camera photographs a plurality of parts of the same shape, The control unit generating a first composite image by superimposing a plurality of images taken of first surfaces of the plurality of components, detecting surface shape feature amounts in a plurality of regions of the first surfaces, generating a second composite image by superimposing a plurality of images taken of second surfaces of the plurality of components, detecting surface shape feature amounts in a plurality of regions on the second surfaces corresponding to the plurality of regions of the first surfaces, calculating differences in the feature amounts between each region of the first surfaces and each region of the second surfaces corresponding to the regions of the first surfaces, and determining regions where the calculated difference in the feature amounts is greater than a predetermined value as judgment regions; The camera takes images of the first surface and the second surface of one component at a plurality of positions. Parts supply device.

6. A pick stand and a camera capable of photographing a component on the pick table; a supply unit that picks up the component on the pick table and places it at a supply position; a control unit that controls the operation of the supply unit in accordance with the posture of the component on the pick table, The camera photographs a plurality of parts of the same shape, The control unit generating a first composite image by superimposing a plurality of images taken of first surfaces of the plurality of components, detecting surface shape feature amounts in a plurality of regions of the first surfaces, generating a second composite image by superimposing a plurality of images taken of second surfaces of the plurality of components, detecting surface shape feature amounts in a plurality of regions on the second surfaces corresponding to the plurality of regions of the first surfaces, calculating differences in the feature amounts between each region of the first surfaces and each region of the second surfaces corresponding to the regions of the first surfaces, and determining regions where the calculated difference in the feature amounts is greater than a predetermined value as judgment regions; the plurality of parts of the same shape are resin molded parts, The control unit excludes a portion where the resin cooling speed is relatively slow when molding the plurality of parts of the same shape from an area where the feature amount is detected. Parts supply device.

7. the camera photographs the component on the pick table before the supply unit picks up the component; The control unit determines an orientation of the part based on the feature amount in the determination area of ​​an image of the part, and updates the first composite image or the second composite image based on a determination result and the image of the part.

7. The component supply device according to claim 5 or 6.

8. When the determination using the determination area is an erroneous determination, the control unit changes the determination area based on an image of the erroneous determination.

8. The component supply device according to claim 7.

9. a display unit that displays the determination area determined by the control unit; 7. The component supply device according to claim 5 or 6.

10. The display unit also serves as an input unit that receives an instruction to correct the determination area.

10. The component supply device according to claim 9.

11. The control unit determines the judgment region for each production lot of the parts of the same shape.

7. The component supply device according to claim 5 or 6.

12. The control unit determines the determination region for each material of the parts having the same shape.

7. The component supply device according to claim 5 or 6.

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