JP7664128B2 - Item recognition device and item recognition method - Google Patents

Description

This specification discloses technology relating to an item recognition device and an item recognition method.

The storage facility described in Patent Document 1 includes a placement section and a guide section. The placement section temporarily places items used by a substrate-related operating machine that performs a specified substrate-related operation on a substrate when the items are stored in the storage facility. When a worker places an item on the placement section, the guide section displays on the placement section placement positions for each type of item having different external dimensions, thereby guiding the worker to a placement position where the item being stored can be placed.

International Publication No. 2021/075050

However, in the storage facility described in Patent Document 1, the guide unit displays the placement position of the item on the placement section. Therefore, for example, when detecting the outer edge of the item and determining the external dimensions of the item placed on the placement section, the control device may erroneously detect the placement position displayed by the guide unit as the outer edge of the item. As a result, the control device may erroneously determine the external dimensions of the item.

In light of these circumstances, this specification discloses an item recognition device and an item recognition method capable of recognizing items with different external dimensions placed on a loading section of a storage unit.

This specification discloses an item recognition device that includes a recognition member and a determination unit. The recognition member is a member provided on a placement section on which items used in a substrate-related operation machine that performs a predetermined substrate-related operation on a substrate are temporarily placed when the items are stored in a storage facility. The recognition member is exposed when a first item, which is an item having a predetermined outer dimension or less, is placed on the placement section, and is covered by the second item, which is an item having an outer dimension larger than that of the first item, when the placement section is filled. The determination unit determines that the first item is placed on the placement section when it can recognize the recognition member, and determines that the second item is placed on the placement section when it cannot recognize the recognition member.

This specification also discloses an item recognition method that includes a determination step. The recognition member is a member provided on a placement section on which an item used in a substrate-related operation machine that performs a predetermined substrate-related operation on a substrate is temporarily placed when the item is stored in a storage facility. The recognition member is exposed when a first item, which is an item having a predetermined outer dimension or less, is placed on the placement section, and is covered by the second item, which is an item having an outer dimension larger than that of the first item, is placed on the placement section. The determination step determines that the first item is placed on the placement section when the recognition member can be recognized, and determines that the second item is placed on the placement section when the recognition member cannot be recognized.

The item recognition device includes a recognition member and a judgment unit. This allows the item recognition device to recognize items with different external dimensions that are placed on the placement section of the storage unit. What has been described above about the item recognition device also applies to the item recognition method.

FIG. 1 is a configuration diagram showing an example of the configuration of a board production facility. FIG. 2 is a front view showing an example of a reel. FIG. 2 is a perspective view showing an example of a feeder. FIG. 2 is a front view showing an example of a parts tray. FIG. 2 is a front view showing an example of a storage cabinet. FIG. 3B is a plan view of the storage unit of FIG. 3A. FIG. 3B is a perspective view of the interior of the storage unit of FIG. 3A. FIG. 2 is a front view showing an example of a placement unit. 2 is a block diagram showing an example of a control block of the item recognition device according to the embodiment. FIG. FIG. 13 is a block diagram showing an example of a control block of a modified embodiment of an item recognition device. 10 is a flowchart illustrating an example of a control procedure performed by the item recognition device of the embodiment. 10 is a flowchart showing an example of a control procedure performed by the item recognition device of the modified embodiment. 10 is a flowchart illustrating another example of a control procedure performed by the item recognition device of the embodiment. 10 is a schematic diagram showing an example of a recognition member when a first object is placed on the placement portion. FIG. 10 is a schematic diagram showing an example of a recognition member when a second object is placed on the placement portion. FIG. 2 is a schematic diagram showing an example of a positional relationship between an imaging device, a measuring device, an object, and a recognition member. FIG. 4 is a schematic diagram showing an example of a positional relationship between a recognition member, a confirmation member, and an article. FIG.

1 shows an example of a board production facility 80 to which an item recognition device 50 is applied. The board production facility 80 shown in FIG. 1 includes a substrate-related operation line 10L equipped with a substrate-related operation machine 10, a receiving section 20, a transport vehicle 30, and a storage facility 40.

1-1. Substrate work line 10L
In the substrate-related work line 10L, substrate-related work machines 10 perform a predetermined substrate-related work on substrates 90. There is no limitation on the type and number of substrate-related work machines 10. As shown in Fig. 1, the substrate-related work line 10L includes a plurality of (five) substrate-related work machines 10, namely, a printer 10a, a print inspection machine 10b, a component mounting machine 10c, a reflow oven 10d, and a visual inspection machine 10e, and substrates 90 are transported in the above order by a substrate transport device.

The printer 10a prints solder at the component mounting positions on the board 90. The print inspection machine 10b inspects the printing condition of the solder printed by the printer 10a. The component mounting machine 10c mounts multiple components on the board 90 on which the solder has been printed. There may be one component mounting machine 10c, or multiple component mounting machines 10c. When multiple component mounting machines 10c are provided, multiple components can be mounted on the board 90 by sharing the work among the multiple component mounting machines 10c.

The component mounting machine 10c is equipped with a component supplying device that supplies components to be mounted on the board 90. The component supplying device can supply components using, for example, a feeder 21b equipped with a reel 21a shown in Figures 2A and 2B, a component tray 21c on which components are arranged as shown in Figure 2C, or the like. The reel 21a has a component tape 21a2 that contains the components to be mounted on the board 90 wound around a main body 21a1. The reel 21a is rotatably and detachably provided on the feeder 21b. The tip of the component tape 21a2 is pulled out to a component removal section provided on the feeder 21b, and the components are supplied sequentially. The reel 21a can supply relatively small components such as chip components, for example.

Components are arranged on the component tray 21c. The component tray 21c can supply relatively large components such as QFP (Quad Flat Package) and BGA (Ball Grid Array). The reflow furnace 10d heats the board 90 on which the components have been mounted by the component mounting machine 10c, melting the solder and performing soldering. The appearance inspection machine 10e inspects the mounting state of the components mounted on the board 90 by the component mounting machine 10c.

In this way, the substrate-related work line 10L can use multiple (five) substrate-related work machines 10 to transport substrates 90 in sequence and perform production processes including inspection processes to produce substrate products. The substrate-related work line 10L can also be equipped with substrate-related work machines 10 such as a functional inspection machine, a buffer device, a substrate supply device, a substrate reversal device, a shield mounting device, an adhesive application device, and an ultraviolet ray irradiation device, as necessary.

The multiple (five) substrate-related operation machines 10 and the management device 19 that make up the substrate-related operation line 10L are capable of communicating with each other via a wired or wireless communication unit. The management device 19 controls the multiple (five) substrate-related operation machines 10 that make up the substrate-related operation line 10L and monitors the operating status of the substrate-related operation line 10L. The management device 19 stores various control data for controlling the multiple (five) substrate-related operation machines 10. The management device 19 transmits control data to each of the multiple (five) substrate-related operation machines 10. In addition, each of the multiple (five) substrate-related operation machines 10 transmits its operating status and production status to the management device 19.

1-2. Receiving section 20 and transport vehicle 30
For example, when the item 21 arrives at the receiving section 20, the receiving operation described below is performed. Then, the item 21 is, for example, stored in a storage case, loaded onto the transport vehicle 30, and transported to the storage facility 40. After being stored in the storage facility 40, the item 21 is supplied to the substrate-related work line 10L as necessary.

Item 21 is not limited as long as it is used in substrate-related work machine 10. For example, substrate-related work line 10L is equipped with component mounting machine 10c. In this case, reel 21a on which component tape 21a2 containing components to be mounted on substrate 90 is wound is included in item 21. Also, feeder 21b on which reel 21a is rotatably and detachably mounted is included in item 21. Furthermore, component tray 21c on which components are arranged is included in item 21. An identification code 22 that can identify item 21 is attached to item 21. For example, one-dimensional code, two-dimensional code, wireless tag, etc. can be used as identification code 22.

For example, when item 21 arrives at the receiving section 20, a worker uses an item management device to issue identification information. The worker also uses a barcode reader or the like to read a barcode or the like attached to item 21 by the supplier (vendor). The worker can then obtain item information from a database in which item information about item 21 is registered. The worker uses the item management device to issue an identification code 22 that includes at least the identification information and item information.

The worker attaches an identification code 22, which includes at least identification information, to the surface of the item 21, and places the item 21 in the storage case. The storage case can take various forms as long as it can store at least one item 21. The storage case is also provided with a specific code that can identify the storage case. The specific code can be, for example, a one-dimensional code, a two-dimensional code, or a wireless tag.

The worker loads the storage case containing the item 21 onto the transport vehicle 30. For example, the transport vehicle 30 can be towed by the worker. The transport vehicle 30 can also be an automated transport vehicle capable of automatic travel. The transport vehicle 30 can also transport the item 21 to the storage facility 40 without using a storage case. The worker can also transport the item 21 to the storage facility 40 without using the transport vehicle 30. Furthermore, at least a part of the work performed by the worker described above can be automated using a transport device (e.g., a belt conveyor), an actuator (e.g., a robot arm), an item management device, etc.

1-3. Storage 40
The storage facility 40 may take various forms as long as it is capable of storing the items 21. As shown in Figures 3A to 3C, the storage facility 40 is formed, for example, in an octagonal prism shape. In Figure 3C, the top of the storage facility 40 is open, and the interior of the storage facility 40 is shown.

The storage facility 40 includes an entry/exit section 41, a storage section 42, a control device 40a, a transfer device 40b, a reading device 40d, and a display device 40e. The entry/exit section 41 includes an opening 41a and a placement section 40c, through which the item 21 is entered and removed. As shown in FIG. 3A, an opening 41a is provided on the front of the storage facility 40. The opening 41a is formed to be larger than the item 21 so that the item 21 can be entered or removed. The storage facility 40 can also have an exit port at an opening different from the opening 41a through which the item 21 is entered.

As shown in FIG. 3B, the placement section 40c is provided in the work space near the opening 41a. The placement section 40c is temporarily placed on the item 21 used in the substrate-related operating machine 10 when it enters the storage 40. The placement section 40c is also temporarily placed on the item 21 when it is removed from the storage 40. For example, the item 21 can be brought in and the item 21 can be placed on the placement section 40c, and the item 21 can be removed from the storage 40 by a worker. The item 21 can be removed from the storage section 40c by a worker, similar to the item 21 placement operation.

A reading device 40d is provided above the placement section 40c. When an item 21 enters the storage facility 40 through the opening 41a, the reading device 40d reads the identification code 22 attached to the item 21 to obtain at least the identification information among the identification information and item information. The reading device 40d can be a known reading device (e.g., a code reader that reads one-dimensional codes and two-dimensional codes). If the identification code 22 is a wireless tag, the storage facility 40 can be equipped with a wireless device capable of wireless communication with the wireless tag.

The storage section 42 stores the item 21. The storage section 42 may take various forms as long as it is capable of storing the item 21. For example, when the storage section 42 stores the reel 21a, as shown in FIG. 3C, the storage section 42 may include a storage unit 42u including a main body section 42a and a partition member 42b. The main body section 42a is formed in a U-shape when viewed in the vertical direction (Z-axis direction). The partition member 42b is provided so as to protrude upward at a predetermined angle relative to the main body section 42a, and can store the reel 21a. The angle of the partition member 42b is set so as to prevent the reel 21a from falling off.

The storage unit 42u is provided with multiple pairs of partition members 42b, allowing multiple reels 21a to be stored. Each pair of partition members 42b is provided with two partition members 42b spaced a predetermined distance apart so as not to interfere with the transfer device 40b. Note that in FIG. 3C, for the sake of convenience, some of the members are labeled with reference numbers, but not all of the members are labeled with reference numbers.

As shown in Figures 3B and 3C, the storage units 42u are arranged in an elliptical shape when viewed in the vertical direction (Z-axis direction). The storage section 42 has two types of storage units 42u: a first storage section 42t1 and a second storage section 42t2, and each storage unit 42u has multiple first storage sections 42t1 or multiple second storage sections 42t2 arranged along the vertical direction (Z-axis direction).

The first storage section 42t1 can store a first item 21f, which is an item 21 with a predetermined outer dimension or less. The second storage section 42t2 can store a second item 21s, which is an item 21 with an outer dimension larger than that of the first item 21f, and is formed larger than the first storage section 42t1. For example, as shown in FIG. 3C, the second storage section 42t2 is formed to have a larger width dimension and depth dimension than the first storage section 42t1. The height dimension of the second storage section 42t2 is formed to be the same height dimension as the first storage section 42t1.

For example, if the item 21 is a reel 21a, the first storage section 42t1 can store a reel 21a of a predetermined reel diameter (at least one type of reel 21a). The second storage section 42t2 can store a reel 21a with a larger diameter than the reel 21a (at least one type of reel 21a with an outer dimension larger than that of the reel 21a that can be stored in the first storage section 42t1).

The storage units 42u are connected by a connecting portion 42j. The type, number and arrangement of the storage units 42u can be changed as appropriate. The shape and size (width, depth and height) of the storage units 42u can be set to match the items 21 to be stored, and the storage section 42 can also store items 21 other than the reels 21a, such as feeders 21b and component trays 21c. The items 21 may be stored in any suitable storage unit 42u, and if the board production facility 80 has multiple storage cabinets 40, the items 21 may be stored in any storage cabinet 40 that has a suitable storage unit 42u.

The control device 40a is equipped with a known arithmetic device and storage device, and a control circuit is configured. The control device 40a is capable of communicating with the transfer device 40b, the reading device 40d, and the display device 40e, and can control these. The storage facility 40 is equipped with a storage device that stores item information regarding the item 21, and can also notify the management device 19 of the item information. For example, if the item 21 is a reel 21a, the item information can include the type of parts contained in the reel 21a, the number of parts (remaining number), reel diameter, reel thickness, model and supplier (vendor), humidity control level, expiration date, etc.

The transfer device 40b stores the items 21 that have entered the storage facility 40 in the storage section 42 when the items are received, and moves the items 21 stored in the storage section 42 from the storage section 42 when the items are removed. Specifically, the transfer device 40b moves the items 21 that have been placed on the placement section 40c during the work of receiving the items 21 to the storage section 42 and stores them there. In addition, the transfer device 40b moves the items 21 stored in the storage section 42 to the placement section 40c when the items 21 are removed. This makes it possible to perform the work of removing the items 21 from the storage section.

As shown in Figures 3B and 3C, the transfer device 40b is provided inside the storage unit 42u (first storage section 42t1 and second storage section 42t2) when viewed in the vertical direction (Z-axis direction). The transfer device 40b may take various forms as long as it can move the item 21. For example, the transfer device 40b may be a robot arm (multi-joint robot), a lifting and sliding mechanism, or the like. As shown in Figure 3C, the transfer device 40b has a lifting section 40b1 and a gripping section 40b2.

The lifting section 40b1 can rotate around an axis along the vertical direction (Z-axis direction) and can lift and lower the gripping section 40b2 along the vertical direction (Z-axis direction). The gripping section 40b2 can grip the item 21 and can move forward or backward at the same angle as the inclination angle of the placement section 40c. The gripping section 40b2 can also move forward or backward at the same angle as the inclination angle of the partition member 42b of the storage section 42.

Specifically, as shown in FIG. 3C, the gripping section 40b2 has a pair of grippers GP1, GP2. The pair of grippers GP1, GP2 can grip the item 21 from a direction inclined at a predetermined angle with respect to the vertical direction (Z-axis direction). The predetermined angle is set to the same angle as the inclination angle of the placement section 40c and the inclination angle of the partition member 42b of the storage section 42.

The pair of grippers GP1, GP2 grip the item 21 by the upper gripper GP1 and the lower gripper GP2 moving in a direction toward each other. Conversely, the pair of grippers GP1, GP2 release their grip on the item 21 by the upper gripper GP1 and the lower gripper GP2 moving in a direction away from each other. The lower gripper GP2 is connected to the lifting/lowering unit 40b1. Therefore, the pair of grippers GP1, GP2 can rotate around an axis along the vertical direction (Z-axis direction) together with the lifting/lowering unit 40b1, and can be raised and lowered along the vertical direction (Z-axis direction) together with the lifting/lowering unit 40b1.

In this way, the inclination angle of the placement section 40c of the storage unit 40 is the same as the inclination angle of the partition member 42b of the storage unit 42. Therefore, the storage unit 40 can perform an entry removal operation of removing the item 21 from the placement section 40c and an entry storage operation of storing the removed item 21 in the storage unit 42 by the lifting and lowering, rotating, forward movement, and backward movement of the transfer device 40b. In addition, the storage unit 40 can perform an exit removal operation of removing the item 21 from the storage unit 42 and an exit sending operation of sending the removed item 21 to the placement section 40c by the lifting and lowering, rotating, forward movement, and backward movement of the transfer device 40b.

The display device 40e can be a known display device, and displays various data so that the worker can visually confirm them. The display device 40e displays, for example, item information about the items 21 stored in the storage section 42 in response to the worker's operation. The display device 40e is configured with a touch panel, and also functions as an input device that accepts various operations by the worker.

The control device 40a can also store the position information, entry/exit information, and storage information of the item 21 in the storage section 42 in the storage device, and the display device 40e can also display this information. The position information includes information indicating the storage location of the item 21. The entry/exit information includes information indicating the entry date/time and exit date/time of the item 21. The storage information includes information on at least the humidity of the ambient temperature and humidity of the storage section 42. The control device 40a stores the position information and entry date/time of the item 21 in the storage device when the item 21 is stored. The control device 40a stores the storage information while the item 21 is in storage in the storage device. The control device 40a stores the exit date/time of the item 21 in the storage device when the item 21 is exited. The control device 40a can also store the number of entry/exit times for each type of item 21 in the storage device.

1-4. Article recognition device 50
4 shows an example of the placement section 40c. As shown by the reel 21a in the solid circle, the placement section 40c can be used to place a first item 21f (a reel 21a with a predetermined reel diameter) that is an item 21 with a predetermined outer dimension or less. As shown by the reel 21a in the dashed circle, the placement section 40c can also be used to place a second item 21s (a reel 21a with a larger diameter than the reel 21a of the first item 21f) that is an item 21 with an outer dimension larger than that of the first item 21f.

The placement section 40c is provided with a plurality of (e.g., three) pin members 40c1 for positioning the article 21. For example, when positioning the reel 21a of the second article 21s, the plurality (three) pin members 40c1 are arranged on an arc as shown in the figure. The worker can place the reel 21a of the second article 21s in an appropriate position by placing the reel 21a of the second article 21s so that the outer edge (the outer periphery of the reel 21a) of the reel 21a of the second article 21s is aligned with the plurality (three) pin members 40c1. The plurality (three) pin members 40c1 can be, for example, known light-emitting elements (LEDs: Light Emitting Diodes).

For example, assume that the outer edge of the item 21 (the outer periphery of the reel 21a) is detected to determine the outer dimensions of the item 21 (reel 21a) placed on the placement section 40c. In this case, the control device 40a, for example, causes an imaging device to capture an image of the item 21 (reel 21a) placed on the placement section 40c. The control device 40a performs image processing on the image captured by the imaging device to detect the outer edge of the item 21 (the outer periphery of the reel 21a).

For example, when the control device 40a can detect the outer periphery of the reel 21a in the multiple (15 in this figure) detection areas AR0 shown in FIG. 4, it can determine that the reel 21a placed on the placement section 40c is the reel 21a of the first item 21f. Also, when the control device 40a cannot detect the outer periphery of the reel 21a in the multiple (15) detection areas AR0 shown in this figure, it can determine that the reel 21a placed on the placement section 40c is the reel 21a of the second item 21s.

As shown in FIG. 4, some of the multiple (15) detection areas AR0 are close to multiple (three) pin members 40c1. Therefore, the control device 40a may erroneously detect the multiple (three) emitting pin members 40c1 as the outer edge of the item 21 (the outer periphery of the reel 21a). As a result, the control device 40a may determine that the reel 21a of the second item 21s is placed on the placement section 40c even though the reel 21a of the first item 21f is placed on the placement section 40c, and may erroneously determine the outer dimensions of the item 21 (reel 21a).

In addition, in the placement section 40c shown in FIG. 4, the color (e.g., white) of the moving area 40c2 in which the pair of grippers GP1, GP2 move may be similar to the color (e.g., white) of the item 21 (reel 21a). The closer the color of the moving area 40c2 and the color of the item 21 (reel 21a) are, the smaller the difference in brightness between the moving area 40c2 and the outer edge of the item 21 (the outer periphery of the reel 21a) becomes when the image captured by the imaging device is image-processed. Therefore, even though the reel 21a of the first item 21f is placed on the placement section 40c, the control device 40a may not be able to detect the outer edge of the first item 21f (the outer periphery of the reel 21a of the first item 21f). As a result, the control device 40a may determine that the reel 21a of the second item 21s is placed on the placement section 40c, and may misjudge the outer dimensions of the item 21 (reel 21a).

If it is erroneously determined that the second item 21s is placed on the placement section 40c, even though the first item 21f is placed on the placement section 40c, the first item 21f is stored in the second storage section 42t2. However, in the second storage section 42t2, the separation distance between the two partition members 42b supporting one item 21 (one reel 21a) is set longer than in the first storage section 42t1. Therefore, the first item 21f may fall out of the second storage section 42t2 and may not be properly stored in the second storage section 42t2.

Conversely, if it is erroneously determined that the first item 21f is placed on the placement section 40c, even though the second item 21s is placed on the placement section 40c, the second item 21s is stored in the first storage section 42t1. However, the first storage section 42t1 is formed smaller than the second storage section 42t2. Therefore, the second item 21s cannot be stored in the first storage section 42t1 and may be damaged.

Therefore, the board production equipment 80 is provided with an item recognition device 50. The item recognition device 50 includes a recognition member 50a and a judgment unit 51, and recognizes items 21 with different external dimensions placed on the placement unit 40c. The item recognition device 50 can also include an imaging unit 52. The item recognition device 50 can also include a measurement unit 53. The item recognition device 50 can also include a guide unit 54. The item recognition device 50 can also include a confirmation member 50d. The recognition member 50a and the confirmation member 50d can be provided on the placement unit 40c. The judgment unit 51, the imaging unit 52, the measurement unit 53, and the guide unit 54 can be provided in various control devices.

For example, at least some of the determination unit 51, the imaging unit 52, the measurement unit 53, and the guidance unit 54 can be provided in the control device 40a of the storage facility 40. At least some of the determination unit 51, the imaging unit 52, the measurement unit 53, and the guidance unit 54 can also be provided in the management device 19. At least some of the determination unit 51, the imaging unit 52, the measurement unit 53, and the guidance unit 54 can also be formed on the cloud.

As shown in FIG. 5, the item recognition device 50 of the embodiment includes a recognition member 50a, a confirmation member 50d, a judgment unit 51, an image capture unit 52, and a guidance unit 54. The judgment unit 51, the image capture unit 52, and the guidance unit 54 are provided in the control device 40a of the storage facility 40. As shown in FIG. 6, the item recognition device 50 of the modified embodiment includes a recognition member 50a, a confirmation member 50d, a judgment unit 51, a measurement unit 53, and a guidance unit 54. The judgment unit 51, the measurement unit 53, and the guidance unit 54 are provided in the control device 40a of the storage facility 40.

The item recognition device 50 of the embodiment executes control according to the flowchart shown in FIG. 7. The determination unit 51 performs the processes and determinations shown in steps S12 to S15. The imaging unit 52 performs the process shown in step S11a. The item recognition device 50 of the modified embodiment executes control according to the flowchart shown in FIG. 8. The determination unit 51 performs the processes and determinations shown in steps S12 to S15. The measurement unit 53 performs the process shown in step S11b.

Furthermore, the item recognition device 50 of the embodiment can also execute control according to the flowchart shown in FIG. 9. The judgment unit 51 performs the processes and judgments shown in steps S12 to S16. The imaging unit 52 performs the process shown in step S11a. The guidance unit 54 performs the process shown in step S17. Furthermore, the modified item recognition device 50 can also execute control in which the process shown in step S11a in the flowchart shown in FIG. 9 is changed to the process shown in step S11b. In this case, the measurement unit 53 performs the process shown in step S11b. In this specification and drawings, common components and controls are given common reference numbers, and duplicate explanations are omitted.

1-4-1. Recognition member 50a
The recognition member 50a is a member provided on the placement section 40c on which the article 21 used in the substrate-related operating machine 10 is temporarily placed when it is stored in the storage 40. The recognition member 50a is exposed when a first article 21f, which is an article 21 having a predetermined outer dimension or less, is placed on the placement section 40c, and is covered by the second article 21s when a second article 21s, which is an article 21 having an outer dimension larger than that of the first article 21f, is placed on the placement section 40c.

The recognition member 50a may take various forms, as long as it is exposed when the first item 21f is placed on the placement portion 40c and is covered by the second item 21s when the second item 21s is placed on the placement portion 40c. For example, the shape of the recognition member 50a is not limited. The recognition member 50a may be a square, a rectangle, a polygon, a circle, an ellipse, various curved shapes, etc. As shown in Figures 10 and 11, the recognition member 50a in the embodiment and modified form is a square.

The size of the recognition member 50a may be such that it is exposed when the first item 21f is placed on the placement portion 40c, and is obscured by the second item 21s when the second item 21s is placed on the placement portion 40c, allowing recognition. Furthermore, the method of forming the recognition member 50a is not limited. For example, the recognition member 50a may be a sticker-like member attached to the placement portion 40c. The recognition member 50a may be printed on the placement portion 40c. The recognition member 50a may be engraved on the placement portion 40c.

Similarly, the color of the recognition member 50a is not limited, but the closer the color of the peripheral area AR1 of the mounting portion 40c on which the recognition member 50a is provided is to the color of the recognition member 50a, and the smaller the difference in brightness, the more difficult it becomes to recognize the recognition member 50a in image processing. Therefore, it is preferable that the recognition member 50a is colored so that the difference in brightness between the recognition member 50a and the peripheral area AR1 of the mounting portion 40c on which the recognition member 50a is provided is equal to or greater than a predetermined value. This improves the recognition accuracy of the recognition member 50a.

For example, the peripheral area AR1 shown in Figures 10 and 11 is white. Therefore, the recognition member 50a in the embodiment and modified form is colored black. Note that the above-mentioned predetermined value is the lower limit of the difference in luminance at which the recognition member 50a can be recognized, and can be obtained in advance by simulation, verification using an actual device, etc.

The recognition member 50a can be positioned so that it is exposed when the first item 21f is placed on the placement section 40c, and is blocked by the second item 21s when the second item 21s is placed on the placement section 40c. As shown in Figures 10 and 11, the recognition member 50a in the embodiment and modified form is positioned outside the outer edge of the first item 21f (the outer periphery of the reel 21a) and inside the outer edge of the second item 21s (the outer periphery of the reel 21a).

1-4-2. Determination unit 51 and imaging unit 52
If the judgment unit 51 can recognize the recognition member 50a, it judges that the first item 21f is placed on the placement portion 40c, and if the judgment unit 51 cannot recognize the recognition member 50a, it judges that the second item 21s is placed on the placement portion 40c (steps S12 to S15 shown in Figure 7).

The determination unit 51 may take various forms as long as it is capable of making the above determination. The item recognition device 50 of the embodiment includes an imaging unit 52. When the item 21 is placed on the placement unit 40c, the imaging unit 52 causes the imaging device 50b to capture an image of a predetermined area AR2 including the placement unit 40c on which the recognition member 50a is provided (step S11a shown in FIG. 7).

The imaging device 50b only needs to be capable of imaging the specified area AR2, and a publicly known imaging device can be used. As described above, the storage facility 40 is equipped with a reading device 40d. As shown in FIG. 12, the reading device 40d is provided above the placement section 40c. When an item 21 is entered into the storage facility 40 through the opening 41a, the reading device 40d reads the identification code 22 attached to the item 21, and acquires at least the identification information out of the identification information and the item information.

The imaging device 50b of the embodiment is also used as the reading device 40d. When the reading device 40d used as the imaging device 50b acquires the identification information of the item 21, it determines that the item 21 has been placed on the placement section 40c, and images the specified area AR2. The specified area AR2 may be an area that includes at least the area of the placement section 40c where the recognition member 50a is provided, and the imaging area is not limited.

The judgment unit 51 attempts to recognize the recognition member 50a (step S12 shown in FIG. 7). In a configuration in which the item recognition device 50 includes an imaging unit 52, the judgment unit 51 performs image processing on the image PC1 acquired by the imaging unit 52 to judge whether the recognition member 50a can be recognized (step S13 shown in FIG. 7). The judgment unit 51 only needs to be able to judge whether the recognition member 50a can be recognized based on the image PC1, and the method of image processing is not limited. For example, the judgment unit 51 can perform binarization processing on the image PC1 to judge whether the recognition member 50a can be recognized.

If the recognition member 50a can be recognized (Yes in step S13), the judgment unit 51 judges that the first item 21f is placed on the placement section 40c (step S14 shown in FIG. 7). For example, the recognition member 50a is captured in the image PC1 shown in FIG. 10. Therefore, the judgment unit 51 can recognize the recognition member 50a and judges that the reel 21a of the first item 21f is placed on the placement section 40c.

If the recognition member 50a cannot be recognized (No in step S13), the judgment unit 51 judges that the second item 21s is placed on the placement section 40c (step S15 shown in FIG. 7). For example, the recognition member 50a is not captured in the image PC1 shown in FIG. 11. Therefore, the judgment unit 51 cannot recognize the recognition member 50a and judges that the reel 21a of the second item 21s is placed on the placement section 40c. In this way, the judgment unit 51 can judge whether the first item 21f or the second item 21s is placed on the placement section 40c.

1-4-3. Determination unit 51 and measurement unit 53
The modified article recognition device 50 includes a measuring unit 53. When the article 21 is placed on the placement unit 40c, the measuring unit 53 causes the measuring device 50c, which is provided above the recognition member 50a, to measure the distance L0 from the recognition member 50a to the recognition member 50a (step S11b shown in FIG. 8). The measuring device 50c only needs to be able to measure the distance L0 from the measuring device 50c to the recognition member 50a, and any known measuring device can be used.

As shown in FIG. 12, the measuring device 50c is provided above the placement section 40c, and may be, for example, a directional ultrasonic sensor. For example, when the reading device 40d acquires the identification information of the item 21, the measuring section 53 can determine that the item 21 has been placed on the placement section 40c, and can cause the measuring device 50c to measure the distance L0 from the measuring device 50c to the recognition member 50a.

The determination unit 51 attempts to recognize the recognition member 50a (step S12 shown in FIG. 8). In a configuration in which the item recognition device 50 includes a measurement unit 53, the determination unit 51 determines whether or not the recognition member 50a can be recognized based on the distance L0 from the measurement device 50c to the recognition member 50a acquired by the measurement unit 53 (step S13 shown in FIG. 8). For example, when the reel 21a of the first item 21f shown by the solid line in FIG. 12 is placed on the placement unit 40c, the recognition member 50a is exposed. In this case, the measurement device 50c can measure the normal distance L0 from the measurement device 50c to the recognition member 50a.

When the reel 21a of the second item 21s shown by the dashed line in FIG. 12 is placed on the placement section 40c, the recognition member 50a is shielded by the reel 21a of the second item 21s. In this case, the measuring device 50c cannot measure the normal distance L0 from the measuring device 50c to the recognition member 50a. Specifically, the measuring device 50c measures the distance L0 from the measuring device 50c to the recognition member 50a as a distance that is shorter than the normal distance L0 from the measuring device 50c to the recognition member 50a by the thickness of the reel 21a of the second item 21s.

Therefore, the judgment unit 51 can judge that the recognition member 50a has been recognized when the distance L0 from the measuring device 50c to the recognition member 50a acquired by the measuring unit 53 is included in a predetermined range. The judgment unit 51 can judge that the recognition member 50a has not been recognized when the distance L0 from the measuring device 50c to the recognition member 50a acquired by the measuring unit 53 is not included in the predetermined range. For example, the predetermined range can be set by adding or subtracting a measurement error from the normal distance L0 from the measuring device 50c to the recognition member 50a measured when the first item 21f (the reel 21a of the first item 21f) is placed on the placement unit 40c.

If the recognition member 50a can be recognized (Yes in step S13), the judgment unit 51 judges that the first item 21f is placed on the placement section 40c (step S14 shown in FIG. 8). If the recognition member 50a cannot be recognized (No in step S13), the judgment unit 51 judges that the second item 21s is placed on the placement section 40c (step S15 shown in FIG. 8). Even in this form, the judgment unit 51 can judge whether the first item 21f or the second item 21s is placed on the placement section 40c.

1-4-4. Multiple recognition members 50a
The article recognition device 50 may also include a plurality of recognition members 50a. FIG. 13 shows an example of the positional relationship between the plurality of (two in FIG. 13) recognition members 50a and the article 21 (reel 21a). For example, the plurality of (two) recognition members 50a are disposed outside the outer edge (outer periphery of the reel 21a) of the first article 21f and inside the outer edge (outer periphery of the reel 21a) of the second article 21s. The plurality of (two) recognition members 50a are disposed symmetrically in a direction (left-right direction in FIG. 13) perpendicular to the moving direction (up-down direction in FIG. 13) of the pair of grippers GP1 and GP2.

The position of the first item 21f (reel 21a) shown by the solid line in FIG. 13 placed on the placement section 40c is appropriate, and the multiple (two) recognition members 50a are all exposed. Also, the position of the second item 21s (reel 21a) placed on the placement section 40c is appropriate, and the multiple (two) recognition members 50a are all shielded by the second item 21s (reel 21a).

In this embodiment, the determination unit 51 determines whether or not all of the multiple (two) recognition members 50a have been recognized (step S13a shown in FIG. 9). If the determination unit 51 has recognized all of the multiple (two) recognition members 50a (Yes in step S13a), it can determine that the first item 21f (reel 21a) is placed on the placement unit 40c (step S14 shown in FIG. 9). If the determination unit 51 has not recognized all of the multiple (two) recognition members 50a (No in steps S13a and S13b), it can determine that the second item 21s (reel 21a) is placed on the placement unit 40c (step S15 shown in FIG. 9).

13, the first item 21f (reel 21a) placed on the placement section 40c is shifted to the right of the paper in FIG. 13 compared to the first item 21f (reel 21a) shown by the solid line. In other words, the position of the first item 21f (reel 21a) placed on the placement section 40c is inappropriate, and one of the multiple (two) recognition members 50a (the recognition member 50a on the left side of the paper in FIG. 13) is exposed. The other of the multiple (two) recognition members 50a (the recognition member 50a on the right side of the paper in FIG. 13) is shielded by the first item 21f (reel 21a). In addition, the judgment unit 51 may erroneously recognize a foreign object (e.g., dust, etc.) different from the recognition member 50a as the recognition member 50a. In this case, the judgment unit 51 often erroneously recognizes a part of the multiple recognition members 50a.

Therefore, when the judgment unit 51 is able to recognize some of the multiple (two) recognition members 50a (Yes in step S13b shown in FIG. 9), it can judge that the position of the item 21 placed on the placement unit 40c is inappropriate or that the recognition member 50a has been erroneously recognized (step S16 shown in FIG. 9). Cases in which the position of the item 21 placed on the placement unit 40c is inappropriate include cases in which the position of the first item 21f (reel 21a) is inappropriate, and cases in which the position of the second item 21s (reel 21a) is inappropriate.

The determination unit 51 can process the image PC1 acquired by the imaging unit 52 to determine whether the recognition member 50a can be recognized (steps S11a and S12 shown in FIG. 9). The determination unit 51 can also determine whether the recognition member 50a can be recognized based on the distance L0 from the measuring device 50c to the recognition member 50a acquired by the measuring unit 53 (corresponding to steps S11b and S12 shown in FIG. 8).

1-4-5. Guide section 54
The guidance unit 54 prompts the worker to check the state of the placement unit 40c when the determination unit 51 determines that the position of the article 21 is inappropriate or that the recognition member 50a has erroneously recognized the article 21.

The guidance unit 54 may take various forms as long as it allows the worker to check the state of the placement unit 40c. For example, the storage facility 40 is equipped with a display device 40e. The guidance unit 54 can display on the display device 40e so that the worker can check the state of the placement unit 40c. This allows the worker to check the state of the placement unit 40c. If the result of the check is that the position of the item 21 is inappropriate, the worker corrects the position of the item 21. Also, if foreign matter such as dirt is attached to the placement unit 40c, the worker cleans the placement unit 40c.

The guidance unit 54 can provide various information, not limited to the above cases. For example, the guidance unit 54 can provide information on the placement state of the item 21 (step S17 shown in FIG. 9). When the determination unit 51 determines that the first item 21f is placed on the placement unit 40c (step S14 shown in FIG. 9), the guidance unit 54 can provide information that the first item 21f is placed on the placement unit 40c. When the determination unit 51 determines that the second item 21s is placed on the placement unit 40c (step S15 shown in FIG. 9), the guidance unit 54 can provide information that the second item 21s is placed on the placement unit 40c.

Similarly, when the determination unit 51 determines that the first item 21f is placed on the placement unit 40c (in the case of step S14 shown in FIG. 7 or FIG. 8), the guidance unit 54 can provide guidance that the first item 21f is placed on the placement unit 40c. When the determination unit 51 determines that the second item 21s is placed on the placement unit 40c (in the case of step S15 shown in FIG. 7 or FIG. 8), the guidance unit 54 can provide guidance that the second item 21s is placed on the placement unit 40c.

1-4-6. Confirmation member 50d
The confirmation member 50d is exposed when the article 21 is not placed on the placement section 40c, and is covered by the article 21 when the article 21 is placed on the placement section 40c. The confirmation member 50d is provided on the placement section 40c. There may be one confirmation member 50d or multiple confirmation members 50d.

The confirmation member 50d may take various forms as long as it is exposed when the item 21 is not placed on the placement section 40c and is covered by the item 21 when the item 21 is placed on the placement section 40c. The confirmation member 50d may be made of a material similar to the recognition member 50a. The confirmation member 50d may differ from the recognition member 50a in at least one of the shape, size, and color.

The confirmation member 50d in the embodiment and modified form is made of the same material as the recognition member 50a described above. However, the confirmation member 50d is arranged differently from the recognition member 50a. The confirmation member 50d is exposed when the item 21 is not placed on the placement section 40c, and is arranged in a position where it is blocked by the item 21 when the item 21 is placed on the placement section 40c. FIG. 13 shows an example of the positional relationship between the confirmation member 50d and the item 21 (reel 21a). For example, the confirmation member 50d is arranged inside the outer edge of the first item 21f (the outer periphery of the reel 21a) and inside the outer edge of the second item 21s (the outer periphery of the reel 21a).

In the figure, when the first item 21f (reel 21a) or the second item 21s (reel 21a) is not placed on the placement section 40c, the confirmation member 50d is exposed. Also, when the first item 21f (reel 21a) is placed on the placement section 40c, the confirmation member 50d is shielded by the first item 21f (reel 21a). Similarly, when the second item 21s (reel 21a) is placed on the placement section 40c, the confirmation member 50d is shielded by the second item 21s (reel 21a).

Then, the determination unit 51 determines that the item 21 (reel 21a) is not placed on the placement section 40c if the confirmation member 50d can be recognized, and determines that the item 21 (reel 21a) is placed on the placement section 40c if the confirmation member 50d cannot be recognized. This allows the determination unit 51 to confirm the presence or absence of the item 21 (reel 21a) on the placement section 40c. The determination unit 51 can process the image PC1 acquired by the imaging unit 52 to determine whether or not the confirmation member 50d can be recognized. The determination unit 51 can also determine whether or not the confirmation member 50d can be recognized based on the distance from the measuring device 50c to the confirmation member 50d acquired by the measurement unit 53.

2. Others In the above-described embodiment, the case where the item 21 is the reel 21a has been mainly described as an example. However, the item 21 may be, for example, the above-described feeder 21b, the parts tray 21c, or a storage case for storing these items. The item recognition device 50 can also recognize three or more types of items 21. For example, an item 21 having an outer dimension larger than that of the second item 21s is defined as a third item.

In this case, the item recognition device 50 is equipped with a recognition member 50a that is exposed when the second item 21s is placed on the placement section 40c and is covered by the third item when the third item is placed on the placement section 40c. The determination section 51 determines that the second item 21s is placed on the placement section 40c when the recognition member 50a can be recognized, and determines that the third item is placed on the placement section 40c when the recognition member 50a cannot be recognized. In this way, the item recognition device 50 can recognize three or more types of items 21 in a manner similar to that already described.

3. Item Recognition Method What has already been described about the item recognition device 50 can also be said about the item recognition method. Specifically, the item recognition method includes a judgment process. The control performed by the judgment unit 51 corresponds to the judgment process. In the judgment process, the recognition member 50a can be recognized. In the judgment process, the confirmation member 50d can also be recognized. The item recognition method can also include an imaging process. The control performed by the imaging unit 52 corresponds to the imaging process. The item recognition method can also include a measurement process. The control performed by the measurement unit 53 corresponds to the measurement process. The item recognition method can also include a guidance process. The control performed by the guidance unit 54 corresponds to the guidance process.

4. Example of Effects of the Embodiment and Modified Forms According to the item recognition device 50, the item recognition device 50 includes a recognition member 50a and a determination unit 51. This allows the item recognition device 50 to recognize items 21 with different outside dimensions placed on the placement unit 40c of the storage 40. What has been described above about the item recognition device 50 also applies to the item recognition method.

10: substrate-related operation machine, 21: item, 21f: first item, 21s: second item,
40: storage, 40c: placement unit, 50: item recognition device, 50a: recognition member,
50b: imaging device, 50c: measuring device, 50d: confirmation member, 51: determination unit,
52: imaging section, 53: measuring section, 54: guiding section, 90: substrate, AR1: peripheral area,
AR2: Predetermined area, L0: Distance, PC1: Image.

Claims (9)

a recognition member provided on a placement section on which an article used in a substrate-related operation machine that performs a predetermined substrate-related operation on a substrate is temporarily placed when the article is stored in a storage facility, the recognition member being exposed when a first article, which is an article having a predetermined outer dimension or less, is placed on the placement section and being covered by the second article, which is an article having an outer dimension larger than that of the first article, when the second article is placed on the placement section;
a plurality of pin members that are provided on the placement portion on an arc and that position the second article;
a determination unit that determines that the first article is placed on the placement section when an outer edge of the article is detected and the recognition member can be recognized, and that determines that the second article is placed on the placement section when the recognition member cannot be recognized in a state in which the article is placed along the multiple pin members ;
An article recognition device comprising: The item recognition device according to claim 1, wherein the recognition member is colored so that the difference in brightness between the recognition member and the surrounding area of the placement section on which the recognition member is provided is equal to or greater than a predetermined value. the article recognition device includes an imaging unit that, when the article is placed on the placement unit, causes an imaging device to image a predetermined area including the placement unit on which the recognition member is provided,
The article recognition device according to claim 1 or 2, wherein the determination unit performs image processing on the image acquired by the imaging unit to determine whether or not the recognition member can be recognized. The article recognition device includes a measurement unit that causes a measuring device provided above the recognition member to measure a distance from the recognition member to the recognition member when the article is placed on the placement unit,
The article recognition device according to claim 1 or 2, wherein the determination unit determines whether or not the recognition member can be recognized based on a distance from the measurement device to the recognition member acquired by the measurement unit. The article recognition device includes a plurality of the recognition members,
An item recognition device as described in any one of claims 1 to 4, wherein the judgment unit judges that the first item is placed on the placement section when all of the multiple recognition members can be recognized, and judges that the second item is placed on the placement section when all of the multiple recognition members cannot be recognized. The item recognition device according to claim 5, wherein the determination unit determines that the position of the item placed on the placement unit is inappropriate or that the recognition member has been erroneously recognized when some of the recognition members are recognized. The item recognition device according to claim 6, further comprising a guide unit that allows an operator to check the state of the placement unit when the determination unit determines that the position of the item is inappropriate or that the recognition member has been erroneously recognized. the article recognition device includes a confirmation member that is exposed when the article is not placed on the placement section and is covered by the article when the article is placed on the placement section;
An item recognition device as described in any one of claims 1 to 7, wherein the judgment unit judges that the item is not placed on the placement section if the confirmation member can be recognized, and judges that the item is placed on the placement section if the confirmation member cannot be recognized. 1. An article recognition method for recognizing an article using a recognition member provided on a placement section on which an article used in a substrate-related operation machine for performing a predetermined substrate-related operation on a substrate is temporarily placed when the article is stored in a storage facility, the recognition member being exposed when a first article, which is an article having a predetermined outer dimension or less, is placed on the placement section and being covered by the second article, which is an article having an outer dimension larger than that of the first article,
An item recognition method comprising a determination step of determining that the first item is placed on the placement section when the outer edge of the item is detected and the recognition member can be recognized, and determining that the second item is placed on the placement section when the recognition member cannot be recognized in a state in which the item is placed along a plurality of pin members which are members arranged on an arc on the placement section and which position the second item.

Images