JP7735136B2 - feeding device - Google Patents

Description

An embodiment of the present invention relates to a supply device.

A supply device is provided that lines up inserted parcels at a predetermined interval. Such a supply device separates overlapping parcels or parcels that have been inserted in clusters while transporting the items using a conveyor or the like.

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

However, throughput may not be stable depending on factors such as the size of the parcel or the condition of the parcel being placed.

Special table 2018-507149 publication

To solve the above problem, we provide a supply device that can maintain appropriate throughput.

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

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

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

The supply device 10 according to the embodiment will be described using Figures 1 to 4.

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

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

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

In this embodiment, the upstream end of the conveying path itself is referred to as the upstream end, and the downstream end is referred to as the downstream end.

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

The second conveying unit 16 is disposed downstream of the first conveying path 14a of the first conveying unit 14 and has a second conveying path 16a that is bent, for example, in a U-shape (including a J-shape). The second conveying path 16a of the second conveying unit 16 conveys the processing object S from upstream to downstream along the second conveying direction C21, C22, C23.

The third conveying unit 18 is disposed downstream of the second conveying path 16a and has a third conveying path 18a that conveys the processing object S from upstream to downstream along the third conveying direction C32. The third conveying unit 18 is straight along the X-axis direction. A sorting device, for example, is disposed downstream of the third conveying unit 18.

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

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

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

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

As shown in Figure 3, the inclination angle θ1 of the transport path 32a of the first inclined conveyor 32 with respect to the horizontal plane is preferably, for example, approximately 10° to 40°. The inclination angle θ2 of the transport path 34a of the second inclined conveyor 34 with respect to the horizontal plane is preferably, for example, approximately 10° to 40°.

It is preferable that the upstream end of the transport path 32a of the first inclined conveyor 32 be slightly below the downstream end of the transport path 22a of the first conveyor 22 and the upstream end of the first inclined conveyor 32. In this case, the processing object S can be easily transferred between the transport path 22a of the first conveyor 22 and the transport path 32a of the first inclined conveyor 32.

As shown in Figures 2 and 4, a first fall sign detection sensor 102a and a second fall sign detection sensor 102b are formed at the upstream end of the input conveyor 12.

The first fall sign detection sensor 102a detects the processing object S that is about to fall from the input conveyor 12 onto the transport path 22a. In other words, the first fall sign detection sensor 102a detects the signs that the processing object S is about to fall (just before it falls).

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

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

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

The configuration of the second fall sign detection sensor 102b is similar to that of the first fall sign detection sensor 102a, so a description will be omitted.

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

Here, the imaging means 101 captures an image of an imaging area 101A on the first conveyor 22. A first area ratio detection area 201 and a second area ratio detection area 202 are set in the imaging area 101A.

The first area ratio detection area 201 is set at a position close to the upstream end of the first conveyor 22. In other words, the first area ratio detection area 201 is the area into which the processing object S fed from the feeding conveyor 12 falls.

The second area ratio detection area 202 is set downstream of the first area ratio detection area 201. Here, the second area ratio detection area 202 is an area where the processing object S is loaded as it falls (or is about to fall) from the first conveyor 22.

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

The first biasing conveyor 42 of the second conveying section 16 is arranged downstream of the first conveying section 14 and along the first conveying direction C1. The second biasing conveyor 44 is installed downstream of the first biasing conveyor 42 and along a direction intersecting the first biasing conveyor 42. The third biasing conveyor 46 is installed downstream of the second biasing conveyor 44 and along a direction intersecting the second biasing conveyor 44.

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

If the conveying speed along the conveying direction C21 of the conveying path 42a of the first offset conveyor 42 is V21, the conveying path 42a of the first offset conveyor 42 moves the processing object S along the extension direction D21 of the first offset conveyor 42 at a speed of V21·cos θa. It is preferable that the conveying speed V21 along the conveying direction C21 of the conveying path 42a of the first offset conveyor 42 be faster than the conveying speed V12 along the conveying direction C12 of the conveying path 34a of the second inclined conveyor 34.

A first wall portion 52 is provided at the outer end portion 42b of the first offset conveyor 42 in one width direction perpendicular to the extension direction D21. This wall prevents the objects S from falling off the first offset conveyor 42 in one direction. The first wall portion 52 extends, for example, parallel to the extension direction D21 of the transport path 42a of the first offset conveyor 42. The presence of the first wall portion 52 prevents the objects S from falling off the end portion of the first offset conveyor 42 in one direction.

The first wall portion 52 has an auxiliary conveying portion 52a that actively or passively conveys the workpiece S from the upstream side to the downstream side of the conveying path 42a of the first offset conveyor 42 along the first extension direction D21. The auxiliary conveying portion 52a of the first wall portion 52 faces the other inner end portion 42c in the width direction perpendicular to the extension direction D21 of the first offset conveyor 42.

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

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

As shown in Figure 3, it is preferable to form a step H of, for example, approximately 10 cm between the downstream end of the second inclined conveyor 34 and the upstream end of the first offset conveyor 42.

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

If the conveying speed along the conveying direction C22 of the conveying path 44a of the second biasing conveyor 44 is V22, the conveying path 44a of the second biasing conveyor 44 operates to move the processing object S along the extension direction D22 of the second biasing conveyor 44 at a speed of V22·cos θb (≧V21·cos θa). It is preferable that the conveying speed V22 along the conveying direction C22 of the conveying path 44a of the second biasing conveyor 44 be faster than the conveying speed V21 along the conveying direction C21 of the conveying path 42a of the first biasing conveyor 42.

A second wall portion 54 is provided at the outer end portion 44b of the second offset conveyor 44 in one width direction perpendicular to the extension direction D22. This wall prevents the objects S from falling off the second offset conveyor 44 in that direction. The second wall portion 54 extends, for example, parallel to the extension direction D22 of the transport path 44a of the second offset conveyor 44. The presence of the second wall portion 54 prevents the objects S from falling off the second offset conveyor 44.

The second wall portion 54 has an auxiliary conveying portion 54a that actively or passively conveys the workpiece S from the upstream side to the downstream side of the conveying path 44a of the second offset conveyor 44 along the second extension direction D22. The auxiliary conveying portion 54a of the second wall portion 54 faces the other end (inner end) 44c in the width direction perpendicular to the extension direction D22 of the second offset conveyor 44.

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

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

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

If the conveying speed along the conveying direction C23 of the conveying path 46a of the third biasing conveyor 46 is V23, the conveying path 46a of the third biasing conveyor 46 operates to move the processing object S along the extension direction D23 of the third biasing conveyor 46 at a speed of V23·cos θc (≧V22·cos θb). It is preferable that the conveying speed V23 along the conveying direction C23 of the conveying path 46a of the third biasing conveyor 46 be faster than the conveying speed V22 along the conveying direction C22 of the conveying path 44a of the second biasing conveyor 44.

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

The third wall portion 56 has an auxiliary conveying portion 56a that actively or passively conveys the workpiece S from the upstream side to the downstream side of the conveying path 46a of the third biasing conveyor 46 along the third extension direction D23. The auxiliary conveying portion 56a of the third wall portion 56 faces the other end (inner end) 46c in the width direction perpendicular to the extension direction D23 of the third biasing conveyor 46.

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

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

The third conveying section 18 has a narrow conveyor 62, a speed-controlling conveyor 64, and a collection section 66. The third conveying section 18 is equipped with a camera (sensor) (not shown) for, for example, detecting the speed of the conveying path 62a of the narrow conveyor 62 and the distance between the processing objects S before and after on the conveying path 62a.

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

A fourth wall portion 68 is provided at the outer end portion 62b of the narrow conveyor 62 in one width direction perpendicular to the extension direction D31 (conveyance direction C31). This wall prevents the object S from falling off the narrow conveyor 62 in that direction. The fourth wall portion 68 extends, for example, parallel to the extension direction D31 of the conveyance path 62a of the narrow conveyor 62. The presence of the fourth wall portion 68 prevents the object S from falling off the narrow conveyor 62.

It is preferable that the outer end 62b of the narrow conveyor 62 and the outer end 46b of the third offset conveyor 46 are aligned in a straight line along the X-axis.

The fourth wall portion 68 has an auxiliary transport portion 68a that actively or passively transports the workpiece S from the upstream side to the downstream side of the transport path 62a of the narrow conveyor 62 along the extension direction D31. The auxiliary transport portion 68a of the fourth wall portion 68 faces the other inner end portion 62c in the width direction perpendicular to the extension direction D23 of the narrow conveyor 62.

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

The auxiliary conveying unit 68a is formed in the same manner as, for example, the auxiliary conveying units 52a, 54a, and 56a. Therefore, the conveying surface 68b of the endless belt of the auxiliary conveying unit 68a moves the processing object S from the upstream side to the downstream side parallel to the extension direction D31, for example, at a speed V31.

Note that the horizontal component of the first conveying direction C1 of the first conveying path 14a and the horizontal component of the third conveying direction C32 of the third conveying path 18a are both straight.

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

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

The configuration of the pre-removal passage detection sensor 106 is similar to that of the first fall sign detection sensor 102a, so a description will be omitted.

Further, downstream of the exclusion mechanism 105, a post-exclusion passage detection sensor 107 is formed.
The post-rejection passage detection sensor 107 detects the processing objects S that have not been rejected by the rejection mechanism 105. That is, the post-rejection passage detection sensor 107 is a sensor for counting the processing objects S that have not been rejected by the rejection mechanism 105.

The configuration of the post-removal passage detection sensor 107 is similar to that of the first fall sign detection sensor 102a, so a description will be omitted.

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

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

A fifth wall portion 70 is provided at the outer end portion 64b of the speed-controlled conveyor 64 in one width direction perpendicular to the extension direction D32 (conveying direction C32). This wall prevents the processing object S from falling off the speed-controlled conveyor 64 in one direction. The fifth wall portion 70 extends, for example, parallel to the extension direction D32 of the conveying path 64a of the speed-controlled conveyor 64. The presence of the fifth wall portion 70 prevents the processing object S from falling off the speed-controlled conveyor 64.

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

The fifth wall portion 70 has an auxiliary conveying portion 70a that actively or passively conveys the processing object S along the extension direction D32 from the upstream side to the downstream side of the conveying path 64a of the speed-controlled conveyor 64. The auxiliary conveying portion 70a of the fifth wall portion 70 faces the other inner end portion 64c in the width direction perpendicular to the extension direction D32 of the speed-controlled conveyor 64.

The auxiliary transport unit 70a may be formed as a transport surface that actively transports the workpiece S, similar to the transport surfaces 52b, 54b, 56b, and 68b of the auxiliary transport units 52a, 54a, 56a, and 68a. Here, the auxiliary transport unit 70a has multiple rollers 70b that passively rotate when the workpiece S comes into contact with them. The rollers 70b in Figure 3 are arranged, for example, in a grid pattern or in a single row. Each roller 70b is formed spherically and can freely rotate in its position.

In addition, the rollers 70b may be configured to rotate around an axis parallel to the Z axis, like the rollers (wheels) of a roller conveyor.

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

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

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

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

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

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

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

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

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

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

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

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

Memory 302 also temporarily stores data currently being processed by processor 301. Memory 302 may also store data required for executing application programs and the execution results of application programs.

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

Next, we will explain the functions realized by the supply device 10. The functions realized by the supply device 10 are realized by the processor 301 executing programs stored in the memory 302, etc.

First, we will explain an example of the operation of the supply device 10 to separate the processing object S.

In this embodiment, the conveying speed of the first conveying unit 14 along the first conveying direction C1 (C10, C11, C12) is equal to the moving speed of the processing object S contacting the first conveying unit 14. Similarly, the conveying speed of the second conveying unit 16 along the second conveying direction C21, C22, C23 is equal to the moving speed of the processing object S contacting the second conveying unit 16 when the processing object S is not contacting the first wall 52, the second wall 54, or the third wall 56. The conveying speed of the third conveying unit 18 along the third conveying direction C31, C32 is equal to the moving speed of the processing object S contacting the third conveying unit 18 when the processing object S is not contacting the fourth wall 68 or the fifth wall 70.

For example, the tipper tilts and the processing object S is fed onto the feeding conveyor 12. Instead of or in addition to the tipper, an operator may feed the processing object S onto the feeding conveyor 12.

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

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

The processing object S is transferred from the transport path 22a of the first conveyor 22 to the transport path 32a of the first inclined conveyor 32 of the second conveyor section 24.

The transport path 32a of the first inclined conveyor 32 is inclined downward. A processing object S, for example a rectangular parallelepiped processing object S, placed on top of the transport path 32a of the first inclined conveyor 32 is subjected to a horizontally inclined component parallel to the top surface of the processing object S. Therefore, other processing objects S stacked on top of the processing object S in contact with the transport path 32a are more likely to slide relative to the processing object S in contact with the transport path 32a than if the processing object S were horizontal, like the transport path 22a of the first conveyor 22.

The conveying speed V11 of the conveying path 32a of the first inclined conveyor 32 is slower than the conveying speed V10 of the conveying path 22a of the first conveyor 22. Therefore, due to the difference in conveying speed between the horizontal conveying path 22a of the first conveyor 22 and the conveying path 32a of the first inclined conveyor 32, the processing object S in contact with the conveying path 32a is braked, and the processing object S above the processing object S in contact with the conveying path 32a slides relative to the processing object S in contact with the conveying path 32a due to the law of inertia, causing the multiple layers of processing object S to collapse.

As a result, due to the inclined surface of the downward-sloping conveying path 32a and the law of inertia, the multi-layered processing object S is broken down on the first inclined conveyor 32. As a result, for example, some of the multi-layered processing object S separates and breaks apart.

Depending on the shape of the object S to be processed that comes into contact with the transport path 32a of the first inclined conveyor 32, the object S to be processed that comes into contact with the transport path 32a of the first inclined conveyor 32 may roll, causing multiple layers of object S to be broken down, such as two layers.

A portion of the processing object S is transferred, for example in multiple layers, from the transport path 32a of the first inclined conveyor 32 of the second conveyor section 24 to the transport path 34a of the second inclined conveyor 34 of the second conveyor section 24.

The transport path 34a of the second inclined conveyor 34 is inclined upward. Therefore, other processing objects S stacked on top of the processing object S in contact with the transport path 34a are more likely to slide relative to the processing object S in contact with the transport path 34a than if the transport path 22a of the first conveyor 22 were horizontal.

The conveying speed V12 of the conveying path 34a of the second inclined conveyor 34 is faster than the conveying speed V11 of the conveying path 32a of the first inclined conveyor 32. Therefore, due to the difference in conveying speed between the conveying path 32a of the first inclined conveyor 32 and the conveying path 34a of the second inclined conveyor 34, the processing object S in contact with the conveying path 34a is accelerated, and the processing object S above the processing object S in contact with the conveying path 34a slides relative to the processing object S in contact with the conveying path 34a due to the law of inertia, causing the multiple layers of processing object S to collapse.

As a result, the inclined surface of the uphill conveying path 34a and the law of inertia further break down the multi-layered processing objects S on the second inclined conveyor 34. As a result, for example, some of the multi-layered processing objects S separate and break apart.

In this way, the first conveyor 22 and the second conveyor 24 break down the multi-layered processing object S and separate it into individual pieces. These multi-layered processing objects S may be parts of the same type or different types.

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

The individually spaced processing objects S move on the transport path 42a of the first offset conveyor 42 in a transport direction C21 that is inclined relative to the extension direction D21 of the first offset conveyor 42 as they move from upstream to downstream. As a result, the multiple processing objects S are shifted toward the first wall portion 52 on the transport path 42a of the first offset conveyor 42. As a result, the widthwise distance between the multiple processing objects S gradually narrows from upstream to downstream. Some of the processing objects S then come into contact with the first wall portion 52 between the upstream and downstream ends of the transport path 42a of the first offset conveyor 42.

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

As the objects S move from upstream to downstream on the transport path 44a of the second offset conveyor 44, they move in a transport direction C22 that is inclined relative to the extension direction D22 of the second offset conveyor 44. At this time, the transport direction of the objects S changes from a direction along the extension direction D21 or the transport direction C21 to a direction along the transport direction C22. As a result, the multiple objects S are shifted toward the second wall portion 54 on the transport path 44a of the second offset conveyor 44. As a result, the widthwise distance between the multiple objects S gradually narrows. Some of the objects S then come into contact with the second wall portion 54 between the upstream and downstream ends of the transport path 44a of the second offset conveyor 44. As a result, the multiple objects S approach being lined up in a single file.

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

As the objects S move from upstream to downstream on the transport path 46a of the third offset conveyor 46, they move in a transport direction C23 that is inclined relative to the extension direction D23 of the third offset conveyor 46. At this time, the transport direction of the objects S changes from a direction along the extension direction D22 or the transport direction C22 to a direction along the transport direction C23. As a result, the multiple objects S are shifted toward the third wall portion 56 on the transport path 46a of the third offset conveyor 46. As a result, the widthwise distance between the multiple objects S is gradually narrowed. Some of the objects S then come into contact with the third wall portion 56 between the upstream and downstream ends of the transport path 46a of the third offset conveyor 46. The multiple objects S are arranged in a single line.

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

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

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

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

The processing objects S pass through the removal mechanism 105 while being transported by the narrow conveyor 62. The removal mechanism 105 deposits some of the processing objects S from the narrow conveyor 62 into the recovery section 66.

After passing through the removal mechanism 105, the processing objects S are transferred from the transport path 62a of the narrow conveyor 62 to the transport path 64a of the speed-controlled conveyor 64. When the processing objects S are transferred from the transport path 62a of the narrow conveyor 62 of the third conveyor unit 18 to the transport path 64a of the speed-controlled conveyor 64 of the third conveyor unit 18, the transport speed V32 of the transport path 64a of the speed-controlled conveyor 64 of the third conveyor unit 18 is appropriately controlled based on information about the processing objects S before and after on the transport path 62a recognized by, for example, a camera. In other words, the acceleration and deceleration of the transport speed V32 of the transport path 64a of the speed-controlled conveyor 64 of the third conveyor unit 18 along the predetermined transport direction C32 (extension direction D32) is controlled, and the processing objects S arranged in a row on the transport path 64a of the speed-controlled conveyor 64 of the third conveyor unit 18 are spaced apart at a predetermined pitch.

The processing objects S, arranged in a row at a specified pitch, are fed into a device downstream of the third conveying section 18.

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

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

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

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

Next, we will explain the function of the supply device 10 to control the conveying speed of each conveyor. Here, the supply device 10 controls the conveying speeds of the input conveyor 12, the first conveyor 22, and the third offset conveyor 46.

First, the processor 301 of the supply device 10 has the function of photographing the first conveyor 22 using the photographing means 101.

When the processor 301 starts the operation of separating the processing object S, it causes the imaging means 101 to start capturing images. When the imaging means 101 starts capturing images, the processor 301 acquires the captured images (captured images) from the imaging means 101. The processor 301 acquires the captured images from the imaging means 101 in real time.

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

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

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

Once the object region is identified, the processor 301 calculates the area of the object region that overlaps the first area ratio detection region 201. For example, the processor 301 calculates the number of pixels in the object region that overlaps the first area ratio detection region 201.

After calculating the area of the object region overlapping the first area ratio detection region 201, the processor 301 divides the calculated area by the area of the first area ratio detection region 201 to calculate the area ratio in the first area ratio detection region 201 (first area ratio). For example, the processor 301 calculates the first area ratio by subtracting the number of pixels in the object region overlapping the first area ratio detection region 201 from the number of pixels in the first area ratio detection region 201.

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

Figure 7 shows an example of the operation of processor 301 to calculate the area ratio. As shown in Figure 7, processor 301 identifies the object region (the shaded area in Figure 7) from the captured image. Once the object region is identified, processor 301 calculates the area of the object region that overlaps with first area ratio detection region 201 to calculate the first area ratio. Similarly, processor 301 calculates the area of the object region that overlaps with second area ratio detection region 202 to calculate the second area ratio.

The processor 301 also has the function of detecting signs that the processing object S is about to fall from the input conveyor 12.

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

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

The processor 301 sets the conveying speed of the input conveyor 12 to 0 (stop), low speed (input conveyor low speed), or high speed (input conveyor high speed). The input conveyor high speed is faster than the input conveyor low speed.

The transport speed of the first conveyor can be set to 0 (stop), low speed (low first conveyor speed, low receiving conveyor speed), or high speed (high first conveyor speed, high receiving conveyor speed). The high first conveyor speed is faster than the low first conveyor speed.

The input conveyor low speed may or may not be the same as the first conveyor low speed. The input conveyor high speed may or may not be the same as the first conveyor high speed.

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

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

Figure 8 shows an example of a speed table showing the relationship between the first judgment result, second judgment result, first detection result, and second detection result and the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor.

For example, memory 302 stores a speed table in advance.

In the example shown in Figure 8, the speed table shows the first detection result and the second detection result in the items for the first fall sign detection sensor 102a and the second fall sign detection sensor 102b, respectively. The first detection result and the second detection result each store a value indicating the detection of the processing object S (here, 1) or a value indicating the non-detection of the processing object S (here, 0).

The speed table also shows the first judgment result and the second judgment result in the items for the first area ratio and the second area ratio, respectively. The first judgment result stores a value (here, 1) indicating excess (the first area ratio is equal to or greater than a predetermined threshold) or a value (here, 0) indicating non-excess (the first area ratio is less than the predetermined threshold). The second judgment result stores a value (here, 1) indicating excess (the second area ratio is equal to or greater than a predetermined threshold) or a value (here, 0) indicating non-excess (the second area ratio is less than the predetermined threshold).

The speed table shows the conveying speed of the input conveyor 12 as an item for the input conveyor 12. "H" indicates a high input conveyor speed. "L" indicates a low input conveyor speed.

The speed table shows the conveying speed of the first conveyor 22 as an item for the first conveyor 22. "H" indicates a high speed for the first conveyor. "L" indicates a low speed for the first conveyor.

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

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

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

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

Furthermore, when the second judgment result indicates that the limit has not been exceeded (excluding states m2, m4, m6, m8, m10, and m13, and state m0), processor 301 sets the transport speed of first conveyor 22 to the high first conveyor speed. In other words, when there are few processing objects S that are likely to fall from the first conveyor 22 onto the first inclined conveyor 32, processor 301 increases the transport speed of the first conveyor 22 to adjust the amount of objects falling onto the first inclined conveyor 32.

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

Note that the configuration of the speed table is not limited to a specific configuration. The speed table may also be updated as appropriate.

The processor 301 refers to the speed table and acquires the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor corresponding to the first judgment result, the second judgment result, the first detection result, and the second detection result. Upon acquiring the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor, the processor 301 sets the acquired conveying speed of the input conveyor 12 and the conveying speed of the first conveyor. In other words, the processor 301 drives the input conveyor 12 at the acquired conveying speed of the input conveyor 12 and drives the first conveyor 22 at the acquired conveying speed of the first conveyor.

The processor 301 also has the function of calculating the rejection rate at which the rejection mechanism 105 rejects the processing target object S.

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

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

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

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

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

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

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

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

Next, we will explain an example of the operation in which the processor 301 controls the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor.

Figure 9 is a flowchart illustrating an example of the operation of the processor 301 to control the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor.

First, the processor 301 starts the operation of separating the processing object S based on an operation from the operator, etc. (S11). Once the operation of separating the processing object S has started, the processor 301 acquires a captured image from the imaging means 101 (S12). Once the captured image has been acquired, the processor 301 extracts the object area from the captured image (S13).

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

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

After acquiring the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor 22, the processor 301 sets the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor 22 (S17).

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

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

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

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

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

Once the conveying speed of the third offset conveyor 46 has been reduced by a predetermined value, the processor 301 returns to S21.

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

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

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

The processor 301 may increase or decrease the conveying speed of the first low speed conveyor or the third offset conveyor 46 by a certain percentage. The processor 301 may also increase or decrease the conveying speed of the first low speed conveyor or the third offset conveyor 46 based on the difference between the rejection rate and the first threshold value or the difference between the rejection rate and the second threshold value.

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

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

The processor 301 may not need to calculate the second area ratio. In this case, the processor 301 sets the conveying speed of the input conveyor 12 and the conveying speed of the first conveyor 22 based on the first area ratio.

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

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

The supply device also controls the conveying speed of the first conveyor and the conveying speed of the third offset conveyor so that the rejection rate is an appropriate value. As a result, the supply device can maintain throughput at an appropriate value.

While several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments may be embodied in a variety of other forms, and various omissions, substitutions, and modifications may be made without departing from the spirit of the invention. These embodiments and their variations are within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as set forth in the claims.

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

Claims (11)

an input conveyor for inputting articles;
a receiving conveyor that receives the items input by the input conveyor;
a camera that photographs the items loaded on the receiving conveyor;
extracting an object area in which the object appears from the image captured by the camera;
calculating an area ratio of the object region in the captured image based on the object region;
setting a conveying speed of the input conveyor and a conveying speed of the receiving conveyor based on a detection result of detecting a sign of dropping from the input conveyor to the receiving conveyor and the calculated area ratio;
a processor;
A supply device comprising: The processor sets a first area ratio detection region in the captured image where the articles fall from the input conveyor;
the area ratio includes a first area ratio that the item region occupies in the first area ratio detection region;
2. The feeding device of claim 1. the processor sets a second area ratio detection area downstream of the first area ratio detection area in the captured image;
the area ratio includes a second area ratio that the item region occupies in the second area ratio detection region;
3. The feeding device of claim 2. the processor sets the transport speed of the input conveyor and the transport speed of the receiving conveyor based on a first determination result indicating whether the first area ratio is equal to or greater than a predetermined threshold and a second determination result indicating whether the second area ratio is equal to or greater than a predetermined threshold.
4. The feeding device of claim 3. a drop sign detection sensor that detects a sign of dropping from the input conveyor to the receiving conveyor and outputs the detection result;
5. The feeding device of claim 4. the fall sign detection sensor is composed of a first fall sign detection sensor that detects the item loaded at a predetermined position on the input conveyor, and a second fall sign detection sensor that detects the item loaded upstream of the predetermined position,
the detection result is composed of a first detection result from the first fall sign detection sensor and a second detection result from the second fall sign detection sensor;
6. The feeding device of claim 5. a storage unit that stores a speed table indicating a transport speed of the input conveyor and a transport speed of the receiving conveyor corresponding to the first detection result, the second detection result, the first determination result, and the second determination result;
the processor sets the conveying speed of the input conveyor and the conveying speed of the receiving conveyor based on the speed table;
7. The feeding device of claim 6. The processor:
The conveying speed of the feeding conveyor is set to 0, a low feeding conveyor speed, or a high feeding conveyor speed;
The conveying speed of the receiving conveyor is set to 0, a low receiving conveyor speed, or a high receiving conveyor speed.
8. A supply device according to claim 6 or 7. the processor sets the transport speed of the input conveyor to 0 or a low speed of the input conveyor when at least one of the first detection result and the second detection result indicates detection of the item and the first determination result indicates that the first area ratio is equal to or greater than a predetermined threshold.
9. The feeding device of claim 8. a downstream conveyor formed downstream of the receiving conveyor;
a removal mechanism that removes the articles downstream of the downstream conveyor;
Equipped with
The processor:
calculating a rejection rate at which the rejection mechanism rejects the articles;
controlling the low speed of the receiving conveyor and the conveying speed of the downstream conveyor based on the rejection rate;
10. A supply device according to claim 8 or 9. The processor:
If the rejection rate exceeds a first threshold, reduce the receiving conveyor slow speed and the downstream conveyor conveying speed;
If the rejection rate is less than a second threshold value that is lower than the first threshold value, increasing the low speed of the receiving conveyor and the conveying speed of the downstream conveyor.
11. The feeding device of claim 10.