Determination-area decision method, computer-readable recording medium storing program, and component feeding apparatus
In the first composite step, a plurality of images is superimposed. In the second composite step, a plurality of images of a second surface of the plurality of components is superimposed. In a first detection step, a feature amount of the first surface is detected using the plurality of images superimposed in the first composite step. In a second detection step, a feature amount of the second surface corresponding to the plurality of areas of the first surface is detected using the plurality of images superimposed in the second composite step. A difference in the feature amounts between each area of the first surface and each area of the second surface corresponding to each area of the first surface is calculated. In the determination-area decision step, an area where the difference in the feature amounts calculated in the calculation step is greater than a predetermined value is decided.
1 . A component feeding apparatus comprising:
a picking table;
a camera capable of photographing a component on the picking table;
a feeder that holds the component on the picking table and places the component at a feeding position; and
a hardware processor that controls an operation of the feeder according to a posture of the component on the picking table, wherein
the camera photographs a plurality of components having a same shape, and
the hardware processor creates a first composite image of a first surface of the plurality of components by superimposing a plurality of images of the first surface obtained by photographing the first surface at a plurality of photographing positions, detects, in the first composite image, a feature amount of a surface shape in each of a plurality of areas of the first surface, creates a second composite image of a second surface of the plurality of components by superimposing a plurality of images of the second surface obtained by photographing the second surface at a plurality of photographing positions, detects, in the second composite image, a feature amount of a surface shape in each of a plurality of areas of the second surface corresponding to the plurality of areas of the first surface, calculates a difference in the feature amounts between each area of the first surface and each area of the second surface corresponding to each area of the first surface, and decides an area where the calculated difference in the feature amounts is greater than a predetermined value as a determination area.
2 . The component feeding apparatus according to claim 1 , wherein
the camera photographs, before the feeder holds a component, the component on the picking table, and
the hardware processor determines a posture of the component based on the feature amount in the determination area of an image obtained by photographing the component, and updates the first composite image or the second composite image based on a determination result and the image obtained by photographing the component.
3 . The component feeding apparatus according to claim 2 , wherein
the hardware processor changes the determination area based on the image when the determination using the determination area is erroneous determination.
4 . The component feeding apparatus according to claim 1 , comprising
a displayer that displays a determination area decided by the hardware processor.
5 . The component feeding apparatus according to claim 4 , wherein
the displayer also serves as an input unit that accepts a correction instruction for the determination area.
6 . The component feeding apparatus according to claim 1 , wherein
the hardware processor decides the determination area for each production lot of the plurality of components having the same shape.
7 . The component feeding apparatus according to claim 1 , wherein
the plurality of components having the same shape is resin molded components, and
the hardware processor excludes, from an area where the feature amount is to be detected, a point where a resin cooling speed is relatively slow when the plurality of components having the same shape is molded.