JPH042379A - Automatic pin-regulating machine for game board - Google Patents

Abstract

PURPOSE:To enable pins to be regulated exactly and efficiently by measuring the positional shift degrees of the pins on a game board with a video camera, to be stored it, and by measuring the positional shift degrees again after the poor pins of the positional shift degrees out of an allowable range are corrected to be bent, to repeat the correction. CONSTITUTION:By a manipulator 200, a CCD video camera 205 is moved above the first pin of a game board 500, and while image signal obtained by an image processor 400 ia processed, the camera 205 is moved to a following pin for standby. Through image processing, it is discriminated whether pins are good or poor, and it is discriminated whether the positional shift degrees of the pins are within. an allowable range, or not, and when the positional shift degrees are out of the allowable range, then the positional shift degrees in the X, Y directions are stored. In this manner, all the pins are repeatedly detected, and by the working of the manipulator 200, on the poor pins to be corrected, a pin correcting device 210 is engaged with the head section of the pins and is moved by the correcting degree of a bending increasing degree added to the stored positional shift degrees, and the poor pine are bent to be corrected. After the correction, by the image processing again, the positional shift degrees are detected, and the pins to be corrected are repeatedly corrected till they are completely regulated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic nail adjustment machine for a game board that measures and corrects the position of a nail driven into the game board of a pachinko machine.

[Conventional technology and its problems]

As is well known, the position and bending of the numerous nails driven into the game board of a pachinko machine greatly affect the winning rate of pachinko balls. For this reason, the winning rate is adjusted by hitting each nail on the game board with a hammer to adjust the degree of bending of the nail. However, in the past, the only way to do this adjustment was to use a gauge with pachinko balls attached to the end of a stick, pass it through the ball passage between the nails, and intuitively know how wide or narrow the spacing was, and change it by delicately hitting it with a hammer. It was time consuming and inaccurate. Therefore, improvement has been desired.

[Means to solve the problem]

The present invention aims to solve the above problems, and includes a manipulator that operates according to commands from a main controller, and a manipulator that operates according to commands from a main controller.
A video camera that moves on the game board surface by the operation of the manipulator to measure the position of the nail, a nail correction tool that bends and corrects the nail on the game board by the operation of the manipulator, and an image of the nail obtained from the video camera. This is an automatic nail adjustment machine for a game board, which is comprised of an image processing device that processes data into numerical values. A nail condition detection step in which the nail condition is memorized, a nail correction step in which a nail correction tool is operated to correct the defective nail by bending the defective nail whose deviation amount is outside of the allowable range, and a nail correction step in which the nail corrected in the nail correction step is again performed. A correction status detection step is provided to measure a new amount of deviation and store the new amount of deviation, and the nail correction step is repeated for a defective nail whose new amount of deviation is outside the allowable range, and the defective nail is bent and corrected. It is characterized by the fact that

(Example〕 Next, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows the main parts constituting the automatic nail adjustment machine for game boards of the present invention, in which 100 is a main controller, 200 is a manipulator that operates according to commands from the cough main controller, and 300 is the main controller 100. Personal computer inherited from 40
0 is an image processing device that supplies digitized image data to the main control device 100. As shown in FIG. 2, the manipulator 200 has a linear guide 202 fixed on the upper surface of a horizontally arranged board 201, and is perpendicular to the linear guide 202 so as to be moved along the linear guide 202 by a motor. A linear guide 203 is provided, and the linear guide 2
o3''2, the linear guide 203 is driven by a servo motor.
A head 204 is provided to move along the CCD video camera 205 via a mounting piece.
is attached so that its objective lens 206 faces downward, and a ring light 207 is attached concentrically around the objective lens 206 as shown in FIG. 5°O is a game board fixed immovably in a fixed position on the board 201 of the manipulator 200 by a clamp 501, and the game board 500
A large number of nails 502 have already been driven into the nail 502, and the objective lens 206 faces the spherical head 503 of the nail 502, and as shown in FIG. The light emitted from the 1ccD video camera 2
05, and the video signal is sent to the image processing device 11f4.
00 and is displayed on the monitor television 20B.

The white circular part 209 in the image in FIG. This allows the center position of the head 503 to be accurately measured, and the measurement results are input to the main controller 100 as digitized image data. Then, the image processing g it 400 digitizes and stores the amount of deviation of the head 503 in the X direction and the X direction.

Further, 210 is a nail correction tool provided on the head 204, and the nail correction tool 210 is connected to an operating shaft 21 that moves up and down of a mini cylinder 211 vertically fixed to the head 204, as shown in FIG.
A retaining shaft 213 having a tapered recessed hole at the tip is fixedly attached to the retaining shaft 2. When the mini cylinder 211 operates, the retaining shaft 2
13, the nail 502 is inserted into the concave hole of the cough support stand shaft 213.
The head 503 of can be fitted.

Note that the personal computer 300 teaches the main control device 100 the positional data of a large number of nails hit on the game board 500 and data on whether or not each nail needs to be corrected.

Next, the present invention will be explained in detail according to the flowcharts shown in FIGS. 5 to 8.

FIG. 5 shows the main routine of this automatic nail adjustment machine for game boards. In the same figure, in steps 1 and 2, the initial settings and the movement of the head 204 of the manipulator 200 to the origin are performed, and in step 3, there is a temporary stop, so the game board 500 that requires correction is placed on the board 201. It is fixed with a replacement clamp 501.

In the nail condition detection step of step 4, as shown in the subroutine of FIG.
00 is activated and the CCD video camera 205 is connected to the game board 50.
Move it one needle above 0. Then, in step 11, the image processing device 400 is instructed to start nail position detection, and while the image signal obtained by the CCD video camera 205 is processed in step 12, the CCD video camera 205 moves to the next nail to save time. Move and wait. In step 13, it is determined whether or not there has been a loss of sales in the image processing, and if there has been a loss of sales, detection is retried up to three times, and if there is still a loss of sales, the process returns to step 15. If the image processing is successful, it is determined in steps 16 and 17 whether or not it is necessary to judge whether the nail is good or bad and whether the amount of deviation is within the allowable range.
If no pass/fail judgment is necessary and the deviation is within the allowable range, "good" is stored in both the XX directions in step 18, and in step 26, whether or not detection has been completed for all nails on the game board 500. If the process is not completed, the process returns to step 11. If the deviation is outside the allowable range, step 19.21 determines whether it is defective in the X direction or defective in the X direction, and step 21.24 calculates the amount of additional bending in the X direction and the amount of additional bending in the X direction, respectively. Remember. This additional bending amount means that when the head of the nail is held by the retaining shaft 213 and moved to the correct position (when bent), when the retaining shaft 213 is released, the nail returns to its original direction due to its elasticity. Therefore, taking into consideration the amount of return, it refers to the amount by which the locking shaft 213 should be moved beyond the correct position. In this case, X
The amount of additional bending is approximately 2fi in both the direction and the X direction. Then, in step 24, the already detected X-direction deviation amount and the X-direction deviation amount are stored. In this way, it is determined in step 5 whether or not all the detections were successful until all the nails on the game board 500 are detected and the detection is completed. If the detection is not successful, the process is stopped in step 6. The game board with the numbers is repelled here. If the detection is successful, it is further determined in step 7 whether or not there are any poorly adjusted nails, that is, nails whose displacement is outside the allowable range.If there are nails outside the allowable range, the nails are corrected in step 8. For defective nails that require correction due to the amount of deviation in the nail correction stroke being outside of the allowable range, the engagement shaft 2 of the nail correction tool 210 is activated by the operation of the manipulator 200.
13 to its head and move the cough stand shaft 213 to step 25.
This is done by correcting the bending of the defective nail by moving it only by a correction movement amount which is the deviation amount stored in step 21 and the additional bending amount stored in step 24. After all the defective nails have been corrected, the state of the correction is detected in step 9. This modification status detection process is performed in steps 32 to 39 as shown in FIG.
Then, the amount of deviation is again detected by image processing and it is determined whether it is within or outside the allowable range. If it is within the allowable range, the process moves to the next nail in step 52, and if it is outside the allowable range, the process proceeds to step 4146. It is determined whether the defect is in the X direction or in the X direction.

In the case of a defect in the X direction or in the case of a defect in the If so, step 44.49
The amount of additional bending is reduced and stored in step 45. If it is excessive, the amount of additional bending is increased and stored in step 45.50.

For example, if the amount of additional bending in step 21.24 is 2 cranes and this additional amount of bending is insufficient, it is determined that the return is large due to the strong elasticity of the nail, so a new additional amount of bending is required. is set to 2.5 cranes, and on the other hand, if the nail is corrected too much because the amount of additional bending is excessive, the new amount of additional bending is set to 1.50, which is smaller than the previous one. In this way, the new bending amount is calculated and stored in step 51, and at the same time, in step 5
In step 2, the new amount of deviation is stored. By performing this for all nails corrected in step 4 (I), the correction letter ? Regarding the defective nail, the engagement shaft 213 of the nail correction tool 210 is again moved by the new correction movement amount, which is the new deviation amount plus the new bending increase amount, to correct the bending of the defective nail. Then, go through the correction status detection step again in step 9. In this way, steps 5 to 9 are repeated until the nails that require correction are completely adjusted (if there are no nails that are poorly adjusted, the process returns to step 23 and stops. do.

〔Effect of the invention〕

In this way, the automatic nail adjustment machine for game boards of the present invention detects the nail position by image processing, and if there is a deviation, repeatedly corrects it until the amount of deviation falls within the allowable range, and automatically adjusts the nail. This has the beneficial effect of making it possible to process accurately and efficiently without requiring any skill.

[Brief explanation of drawings]

The drawings show an embodiment of the automatic nail adjustment machine for game boards according to the present invention, and FIG. 1 is a block diagram of the entire automatic nail adjustment machine for game boards, FIG. 2 is a plan view of the manipulator, and FIG. Figure 4 is a side view of the video camera, Figure 4 is a side view of the nail correction tool, and Figure 5 is a side view of the video camera.
7 to 7 are flowcharts of the automatic nail adjustment machine for game boards. 100... Main controller, 200... Manipulator,
300... Personal computer, 400... Image processing device, 500... Game board, 205... Video camera, 210... Nail correction tool, 502... Nail, 50
3...Head. Figure 3

Claims (1)

[Claims] 1. A manipulator that operates according to commands from a main controller;
A video camera that moves on the game board surface by the operation of the manipulator to measure the position of the nail; a nail correction tool that bends and corrects the nail on the game board by the operation of the manipulator; This is an automatic nail adjustment machine for a game board, which includes an image processing device that processes image data into numerical values, and detects the nail of the game board set at a predetermined position using the video camera, and measures the amount of deviation. a nail condition detection step in which the nail condition is memorized; a nail correction step in which a nail correction tool is activated to correct the defective nail by bending the defective nail whose deviation amount is outside the allowable range; and a nail correction step in which the defective nail is bent and corrected in the nail correction step. A correction status detection step is provided to measure a new amount of deviation again and store the new amount of deviation, and the nail correction step is repeated for a defective nail whose new amount of deviation is outside the allowable range to correct the bending of the defective nail. An automatic nail adjustment machine for game boards, which is characterized by: 2. A manipulator that operates according to commands from the main controller;
A video camera that moves on the game board surface by the operation of the manipulator to measure the position of the nail; a nail correction tool that bends and corrects the nail on the game board by the operation of the manipulator; This is an automatic nail adjustment machine for a game board that includes an image processing device that processes image data into numerical values, and detects the presence or absence of all nails on a game board set at a predetermined position using the video camera, and at the same time determines the acceptability of a predetermined nail. and a nail condition detection step of measuring the amount of deviation, calculating the required amount of additional bending based on the amount of deviation when the amount of deviation is outside the allowable range, and storing the amount of additional bending together with the amount of deviation;
For defective nails whose deviation amount is outside the allowable range, a nail correction process is performed to correct the bending of the defective nail by operating the nail correction tool by a correction movement amount that is the deviation amount plus the additional bending amount; Measure the new amount of deviation for the nail again, and when the new amount of deviation is outside the allowable range, determine whether the corrected movement amount is excessive or insufficient, calculate the new amount of additional bending, and calculate the new amount of additional bending. and a correction status detection process that stores the new deviation amount together with the new deviation amount, and repeats the nail correction process for defective nails whose new deviation amount is outside the allowable range, and then uses the nail correction tool again to make a new correction by adding the new bending amount to the new deviation amount. 1. An automatic nail adjustment machine for a game board, characterized in that the defective nail is bent and corrected by operating by the amount of movement.