WO2017038432A1 - Individual object identification device - Google Patents

Individual object identification device Download PDF

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Publication number
WO2017038432A1
WO2017038432A1 PCT/JP2016/073735 JP2016073735W WO2017038432A1 WO 2017038432 A1 WO2017038432 A1 WO 2017038432A1 JP 2016073735 W JP2016073735 W JP 2016073735W WO 2017038432 A1 WO2017038432 A1 WO 2017038432A1
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WO
WIPO (PCT)
Prior art keywords
pattern
individual identification
identification device
generation
individual
Prior art date
Application number
PCT/JP2016/073735
Other languages
French (fr)
Japanese (ja)
Inventor
石山　塁
高橋　徹
佑太 工藤
Original Assignee
日本電気株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本電気株式会社 filed Critical 日本電気株式会社
Priority to JP2017537707A priority Critical patent/JP6813807B2/en
Publication of WO2017038432A1 publication Critical patent/WO2017038432A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
    • B42D—BOOKS; BOOK COVERS; LOOSE LEAVES; PRINTED MATTER CHARACTERISED BY IDENTIFICATION OR SECURITY FEATURES; PRINTED MATTER OF SPECIAL FORMAT OR STYLE NOT OTHERWISE PROVIDED FOR; DEVICES FOR USE THEREWITH AND NOT OTHERWISE PROVIDED FOR; MOVABLE-STRIP WRITING OR READING APPARATUS
    • B42D25/00—Information-bearing cards or sheet-like structures characterised by identification or security features; Manufacture thereof
    • B42D25/30—Identification or security features, e.g. for preventing forgery
    • B42D25/36—Identification or security features, e.g. for preventing forgery comprising special materials
    • B42D25/378—Special inks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
    • B42D—BOOKS; BOOK COVERS; LOOSE LEAVES; PRINTED MATTER CHARACTERISED BY IDENTIFICATION OR SECURITY FEATURES; PRINTED MATTER OF SPECIAL FORMAT OR STYLE NOT OTHERWISE PROVIDED FOR; DEVICES FOR USE THEREWITH AND NOT OTHERWISE PROVIDED FOR; MOVABLE-STRIP WRITING OR READING APPARATUS
    • B42D25/00—Information-bearing cards or sheet-like structures characterised by identification or security features; Manufacture thereof
    • B42D25/40—Manufacture
    • B42D25/405—Marking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes

Definitions

  • the present invention relates to an individual identification device, an identification device, a verification device, an individual identification method, an identification method, and a verification method.
  • patterns for individual identification are generated on various objects such as industrial products and products.
  • objects such as industrial products and products.
  • Patent Document 1 and Patent Document 2 a random distribution pattern of taggant particles is generated on an object.
  • imaging of a pattern generated on an object for individual identification is performed.
  • a pattern generated on an object for individual identification is performed.
  • a random distribution pattern on an object is captured by a camera.
  • Patent Document 3 describes a toner cartridge having a function of generating a predetermined pattern with colored ink on the head of the fastening portion so that it can be confirmed that the fastening member is fastened with a set torque value.
  • the wrench is listed.
  • patent document 3 when a fastening is completed, an inspector will image a fastening member with a camera, and will display the image obtained by imaging on a screen display part.
  • Patent Document 1 and Patent Document 2 describe generating a pattern on an object for individual identification and imaging the generated pattern, but for individual identification on an object. There is no mention of imaging the generated pattern immediately after generating the pattern.
  • Patent Document 3 has a description that the operation of generating a pattern on an object and the operation of imaging the generated pattern are continuously performed.
  • Patent Document 3 after a pattern is generated on an object, whether or not to image the generated pattern is left to the judgment of the person operating the camera. For this reason, even though a pattern is generated on an object, the generated pattern is not imaged, and conversely, an object is imaged even though a pattern is not generated. There may be a discrepancy between
  • An object of the present invention is to provide an individual identification apparatus that solves the above-described problems.
  • An individual identification device is: A generator for generating a pattern on an object; An imaging unit that detects generation of the pattern and images the generated pattern; including.
  • An individual identification method includes: An individual identification method executed by an apparatus having a generation unit and an imaging unit, The generating unit generates a pattern on the object; The imaging unit detects the generation of the pattern and images the generated pattern.
  • a pattern for individual identification is generated by the individual identification apparatus on a fastening member having an individual identification apparatus according to an embodiment of the present invention, and tightened with a set torque value, and the generated pattern is imaged.
  • a robot hand includes: An individual identification apparatus according to an embodiment of the present invention is provided, and a pattern for individual identification is generated by the individual identification apparatus on an object on which work has been performed, and the generated pattern is imaged.
  • the identification device performs identification using the individual identifier extracted by the individual identification device according to the embodiment of the present invention.
  • a collation device performs collation using the individual identifier extracted by the individual identification device according to the embodiment of the present invention.
  • the identification method according to another embodiment of the present invention performs identification using the individual identifier extracted by the individual identification method according to the embodiment of the present invention.
  • the collation method according to another embodiment of the present invention performs collation using the individual identifier extracted by the individual identification method according to the embodiment of the present invention.
  • the present invention has the above-described configuration, it is possible to prevent a discrepancy between pattern generation and imaging.
  • an individual identification apparatus 100 is an apparatus that generates a pattern 111 for individual identification on an object 110.
  • the individual identification device 100 is a device that captures the pattern 111 in order to acquire an image of the generated pattern 111.
  • the object 110 is an object that generates a pattern 111 for individual identification.
  • the object 110 is, for example, an industrial product or a product package.
  • the object 110 may be a personal belonging (such as a business card or a notebook) or a part of the personal body (such as a finger).
  • the individual identification device 100 includes a pattern generation unit 101 and a pattern imaging unit 102 as main functional units.
  • the pattern generation unit 101 has a function of generating a pattern 111 for individual identification on the object 110.
  • the pattern imaging unit 102 has a function of detecting the completion of the generation of the pattern 111 by the pattern generation unit 101 and a function of imaging the generated pattern 111.
  • FIG. 2 is a flowchart showing the procedure of the individual identification method executed using the individual identification device 100.
  • the individual identification method according to the present embodiment will be described with reference to FIGS. 1 and 2.
  • the pattern generation unit 101 of the individual identification device 100 generates a pattern 111 for individual identification on the object 110 (step S101).
  • the pattern imaging unit 102 of the individual identification device 100 detects whether or not the pattern generation by the pattern generation unit 101 is completed (step S102). Then, when the pattern imaging unit 102 detects the completion of pattern generation by the pattern generation unit 101, the pattern imaging unit 102 captures the pattern 111 in order to acquire an image of the generated pattern 111 (step S103).
  • the pattern imaging unit 102 detects the completion of pattern generation by the pattern generation unit 101 and performs imaging, so that the generation is performed even though the pattern is generated on the object 111.
  • the captured pattern is not imaged, and conversely, the image is not captured regardless of the generation of the pattern. Thereby, it is possible to prevent a discrepancy between pattern generation and imaging.
  • settings such as appropriate magnification / focusing / illumination lighting, shooting distance, exposure, etc. are optimally set in advance for the pattern at the time of imaging. Therefore, timely adjustment is not necessary and imaging errors can be prevented. Such an effect is the same in the embodiments described below.
  • the individual identification device 200 has a structure in which an ink pen 201 and a pattern imaging unit 202 are housed in a housing 203.
  • the ink pen 201 corresponds to the pattern generation unit 101
  • the pattern imaging unit 202 corresponds to the pattern imaging unit 102.
  • the housing 203 incorporates a pattern imaging unit 202, limit switches 209 and 210, which will be described later, and a battery for operating the illuminator 214.
  • the housing 203 is configured as a portable device that operates with a built-in battery.
  • the housing 203 includes a cylindrical container 204 and a lid 205 that fits loosely into the container 204. Both the upper surface and the lower surface of the container 204 are open, and a lighting window 206 and an illuminator 214 are provided at the lower part of the side surface.
  • the pattern imaging unit 202 is fixed inside the container 204, and a movable mirror 208 and limit switches 209 and 210 are attached. The on / off states of the limit switches 209 and 210 are transmitted to the pattern imaging unit 202 through a signal line (not shown).
  • the illuminator 214 is composed of a white light, a flash lamp, or the like, and is turned on and off by a signal transmitted from the pattern imaging unit 202 through a signal line (not shown).
  • the movable mirror 208 is attached to a location above the bottom surface of the container 204 by a predetermined length so as to be rotatable about a shaft 208a extending in the direction perpendicular to the paper surface.
  • the movable mirror 208 is urged counterclockwise by the tension spring 208b, and is stopped in a state where the end of the mirror is in contact with the limit switch 209. In this stopped state, the angle formed by the mirror surface of the movable mirror 208 and the bottom surface of the container 204 is approximately 45 degrees.
  • the pattern imaging unit 202 is fixed to the container 204 so that the imaging field of the built-in camera can be seen from the side of the mirror surface of the movable mirror 208.
  • the lid 205 is attached to the container 204 through an elastic body 211 such as a spring or a sponge so as to advance and retreat in the vertical direction.
  • a fixed plate 213 is attached to the inside of the lid 205 via a connecting member 212, and the ink pen 201 is mounted on the lower surface of the fixed plate 213 directly above the movable mirror 208.
  • the pen axis of the ink pen 201 extends directly below.
  • the pen tip of the ink pen 201 is at a position (standby position) where it does not contact the movable mirror 208, as shown in FIG.
  • the pen tip of the ink pen 210 that moves up and down integrally with the lid 205 pushes down one end of the movable mirror 208 and reaches the lower surface of the container 204 as shown in FIG. It is in the position (generation position).
  • the ink pen 201 is a pen that uses ink mixed with minute particles.
  • fine particles fine particles such as metal powder and glass powder, taggant described in Patent Documents 1 and 2, and the like can be used. It is desirable that the fine particles have different reflection characteristics from the material constituting the ink (excluding the fine particles). Moreover, it is desirable that the fine particles are contained in the ink nonuniformly.
  • a pen commercially available with a name such as a lame pen, a lame pen, or a lamellar fluorescent marker can be used.
  • a pen designed exclusively for the present invention may be used, or a commercially available pen ink may be used by replacing it with an ink mixed with fine particles.
  • the user When a user generates a pattern for individual identification on an object using the individual identification device 200, the user places the casing 203 on the object on which the pattern is to be generated so that the lower surface of the container 204 is in contact with the object.
  • the individual identification device 200 at this time is in a state as shown in FIG. 3, the limit switch 209 is in an on state, and the limit switch 210 is in an off state.
  • the state gradually changes from the state shown in FIG. 3 to the state shown in FIG.
  • the lid 205 is lowered downward against the repulsive force of the elastic body 211, one end of the movable mirror 208 is pushed down by the pen tip of the ink pen 201 interlocked with the movement of the lid 205, and the limit switch 209 is turned on. Change to off state.
  • the pen tip of the ink pen 201 built in the container 204 comes into contact with the surface of the object, and a small dot is formed on the object by the ink flowing out from the pen tip. Is drawn.
  • the drawn points are fine particles (represented by black circles in the drawing) as schematically shown in FIG.
  • the dots (dots) are contained at random positions.
  • the lid 205 rises toward the original position by the repulsive force of the elastic body 211.
  • the pen tip of the ink pen 201 rises away from the object, and the limit switch 210 changes from the on state to the off state.
  • the movable mirror 208 returns to the original position by the force of the tension spring 208b, and the limit switch 209 changes from the on state to the off state.
  • the pattern imaging unit 202 detects the generation of a pattern based on the state of the limit switches 209 and 210, and detects the timing for imaging the generated pattern. For example, when the limit switch 209 changes from the on state to the off state and the limit switch 210 changes from the off state to the on state after that, the pattern imaging unit 202 changes from the state of FIG. 3 to the state of FIG. It is determined that a pattern is drawn on the object by the ink pen 201. The pattern imaging unit 202 draws when the limit switch 209 changes from the off state to the on state after determining that the pattern is drawn by the ink pen 201, that is, when the state transitions from the state of FIG. 4 to the state of FIG. It is determined that it is time to capture the pattern, and an image of the drawn pattern is captured by the built-in camera. At this time, the pattern imaging unit 202 temporarily turns on the illuminator 214 as necessary.
  • FIG. 6 is a block diagram illustrating an example of a hardware configuration of the pattern imaging unit 202.
  • the pattern imaging unit 202 of this example includes a camera 2021, an MPU (Micro Processor Unit) 2022, a ROM (Read Only Memory) 2023, a RAM (Random Access Memory) 2024, an interface circuit 2025, a communication circuit 2026, The bus 2027 connects them to each other.
  • MPU Micro Processor Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • a camera using a CCD (Charge Coupled Devices) image sensor or a CMOS (Complementary Metal Oxide) image sensor can be used.
  • CCD Charge Coupled Devices
  • CMOS Complementary Metal Oxide
  • ROM 2023 stores a program executed by MPU 2022 and the like.
  • the RAM 2024 is used for storing image data captured by the camera 2021.
  • the interface circuit 2025 is connected to the limit switches 209 and 210 and the illuminator 214 through a signal line (not shown).
  • the communication circuit 2026 has a function of performing wireless communication with an external device.
  • FIG. 7 is a flowchart showing an example of processing executed by the MPU 2022. Hereinafter, processing executed by the MPU 2022 will be described with reference to FIGS. 3 to 7.
  • the MPU 2022 reads the state of the limit switch 209 through the interface circuit 2025 and monitors whether or not the limit switch 209 is turned off (step S201). As described above, when the individual identification device 200 is in the state shown in FIG. 3, the limit switch 209 is in an on state, and when the individual identification device 200 is placed on the object and the lid 205 is pushed down to generate a pattern. Then, one end of the movable mirror 208 is pushed down by the pen tip of the ink pen 201, and the limit switch 209 changes from the on state to the off state. When the MPU 2022 detects that the limit switch 209 has changed to an off state, the MPU 2022 detects whether or not the limit switch 210 has changed to an on state (step S202).
  • the MPU 2022 causes the pen tip of the ink pen 201 built in the container 204 to contact the surface of the object. Then, it is determined that a small dot pattern has been drawn on the object by the ink flowing out from the pen tip, and then it is monitored that the limit switch 209 is turned on (step S203). On the other hand, when the limit switch 209 returns to the on state before the limit switch 210 is turned on after the limit switch 209 is turned off (YES in step S204), the MPU 2022 is drawn by the ink pen 201. It is determined that the cover 205 has been returned to the original position without any return, and the process returns to step S201.
  • the MPU 2022 issues a command to the camera 2021 to take an image (step S205).
  • the camera 2021 captures an image in response to this command.
  • the camera 2021 temporarily turns on the illuminator 214 through the interface circuit 2025 during photographing.
  • the state of the individual identification device 200 at the time of shooting is as shown in FIG. 3, and the camera 2021 displays an image of the pattern shown in FIG. 5 drawn on the object with the ink pen 201 as a movable mirror.
  • the image is captured as an image from directly above through 208, and the image data obtained by capturing is stored in a predetermined area of the RAM 2024.
  • the image of the pattern is captured at the timing when the ink pen 201 returns to the state shown in FIG. 3, but is generated when the ink pen 201 moves upward by a certain distance from the state shown in FIG. 4.
  • an image of the pattern may be taken.
  • the MPU 2022 analyzes the image data stored in the RAM 2024 and extracts the individual identifier from the image of the drawn point (step S206).
  • the MPU 2022 transmits data including the extracted individual identifier to an external registration device (not shown) through the communication circuit 2026 (step S207).
  • the MPU 2022 may include information stored in the ROM 2023 and the RAM 2024 in the transmission data, for example, information on the object that generated the pattern, identification information of the individual identification device 200, and attribute information such as the current time. Then, the MPU 2022 returns to the process of step S201 in preparation for the next imaging.
  • the method for extracting the individual identifier from the pattern image such as a point is arbitrary.
  • a method may be used in which a feature quantity that depends on the distribution of grains is extracted from a pattern image and the extracted feature quantity is used as an individual identifier of an object.
  • a method may be used in which a feature quantity depending on the planar shape of the pattern and the distribution of grains is extracted as an individual identifier of the object from a pattern image such as a point.
  • an identifier extracted by an iris authentication algorithm may be used as an individual identifier of an object, assuming the annular pattern as an iris.
  • the pattern imaging unit 202 detects the pattern generated on the object by the ink pen 201 and performs imaging, there is a discrepancy between pattern generation and imaging. Can be prevented.
  • a pattern generated on an object can be captured as an image from directly above.
  • an individual identifier can be extracted from the captured pattern and transmitted to an external registration device.
  • the movable mirror 208 is used, but the movable mirror 208 may be omitted.
  • the ink pen 201 is attached to the fixing plate 213 obliquely so that the tip thereof is located above the center of the lower surface of the container 204.
  • the pattern imaging unit 202 is fixed to the container 204 so that the imaging direction of the built-in camera faces the center of the lower surface of the container 204.
  • the configuration is simplified because the movable mirror 208 is omitted.
  • the limit switch 215 is an alternative to the limit switch 209 and is turned on when the lid 205 is not pressed.
  • the imaging is performed in a state where the tip of the ink pen 201 is in contact with an object (for example, the state of FIG. 4 or FIG. 9). It may be. Further, the pen tip of the ink pen 201 is configured to be movable back and forth in the axial direction. In the state shown in FIG. 3 or FIG. 8, the pen tip reaches the lower surface of the container 204. When the lid 205 is pushed down, the pen tip is pushed against the object. You may be comprised so that it may shrink in the applied state.
  • the ink pen 201 is used.
  • an ink dropping device that drops an appropriate amount of ink (for example, one drop), an ink ejector that sprays an appropriate amount of ink, or a brush or felt for ink.
  • An applicator that applies an appropriate amount depending on the material may be used.
  • a laser processing machine that forms a random pattern on an object may be used instead of the ink pen 201.
  • each time a pattern is generated and the image is captured the individual identifier is extracted and transmitted to the registration device.
  • the captured image is temporarily stored in a memory (RAM or the like), and the individual is later displayed.
  • the identifier may be extracted and transmitted to the registration device.
  • the individual identifier is transmitted to the registration device.
  • an image of the captured pattern may be transmitted to the registration device.
  • the ink pen 201 of the individual identification device 200 according to the second embodiment described with reference to FIG. The nozzle 331, the first inkjet 332, the first ink cartridge 333, the second inkjet nozzle 341, the second inkjet 342, and the second ink cartridge 343 are replaced, and the pattern imaging unit 202 is replaced with the pattern imaging unit 351. It has been.
  • the same members as those of the individual identification device 200 according to the second embodiment are denoted by the same reference numerals.
  • the first ink-jet nozzle 331 and the second ink-jet nozzle 341 are arranged close to each other, and the nozzle extends directly below the lower surface of the container 204.
  • the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 are in a position (standby position) where they do not contact the movable mirror 208.
  • the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 that move up and down integrally with the lid 205 push down one end of the movable mirror 208.
  • the first ink cartridge 333 stores ink mixed with minute particles.
  • fine particles fine particles such as metal powder and glass powder, taggant described in Patent Documents 1 and 2, and the like can be used. It is desirable that the fine particles have different reflection characteristics from the material constituting the ink (excluding the fine particles). Moreover, it is desirable that the fine particles are contained in the ink nonuniformly.
  • the tip of the first inkjet nozzle 331 is supplied with the ink from the first ink cartridge 333 at a predetermined pressure for a certain period of time. From outside.
  • the second ink cartridge 343 stores ink that is not mixed with fine particles as described above.
  • the second ink cartridge 343 stores normal ink of a single color such as black.
  • the tip of the second inkjet nozzle 341 is supplied with the ink from the second ink cartridge 343 at a predetermined pressure for a certain period of time. From outside.
  • the size of the point drawn by the first inkjet nozzle 331 is set to be sufficiently larger than the size of the point drawn by the second inkjet nozzle 341.
  • the first ink-jet 332 and the second ink-jet 342 have an ink outflow amount so that the amount of ink ejected per unit time is larger in the first ink-jet nozzle 331 than in the second ink-jet nozzle 341.
  • the nozzle diameter of the first inkjet nozzle 331 may be larger than that of the second inkjet nozzle 341.
  • FIG. 12 schematically shows a pattern obtained by drawing a point on an object by the first ink jet nozzle 331 and drawing a small point by the second ink jet nozzle 341 immediately after that. .
  • a region 361 corresponds to a point drawn by the first inkjet nozzle 331
  • a region 362 corresponds to a point drawn by the second inkjet nozzle 341.
  • the region 361 contains minute grains (represented by black circles in the figure) at random positions, but does not contain the region 362. For this reason, the shape of the region 361 containing minute grains is annular.
  • the user When a user generates a pattern for individual identification on an object using the individual identification device 300, the user places the casing 203 on the object whose pattern is to be generated so that the lower surface of the container 204 is in contact with the object. At this time, the individual identification device 300 is in a state as shown in FIG. 10, the limit switch 209 is in the on state, and the limit switch 210 is in the off state.
  • the state gradually changes from the state shown in FIG. 10 to the state shown in FIG.
  • the lid 205 moves downward against the repulsive force of the elastic body 211, and one end of the movable mirror 208 is pushed down by the first inkjet nozzle 331 and the second inkjet nozzle 341 that are interlocked with the movement of the lid 205.
  • the limit switch 209 changes from the on state to the off state.
  • the fixing plate 213 comes into contact with the limit switch 210, and the limit switch 210 changes from the off state to the on state.
  • the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 reach the vicinity of the lower surface of the container 204. Therefore, by ejecting ink from the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341, a pattern as shown in FIG. 12 can be drawn on the object.
  • the lid 205 rises toward the original position by the repulsive force of the elastic body 211.
  • the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 rise, and the limit switch 210 changes from the on state to the off state.
  • the movable mirror 208 returns to the original position by the force of the tension spring 208b, and the limit switch 209 changes from the off state to the on state.
  • the pattern imaging unit 351 detects the generation timing of the pattern and the timing of imaging the generated pattern based on the state of the limit switches 209 and 210. For example, when the limit switch 209 changes from an on state to an off state and then the limit switch 210 changes from an off state to an on state, that is, the pattern imaging unit 351 changes from the state of FIG. 10 to the state of FIG. It is determined that the timing at which a pattern can be generated by the first inkjet nozzle 331 and the second inkjet nozzle 341 has arrived, and the first inkjet 332 and the second inkjet 342 are controlled to generate a pattern.
  • the pattern imaging unit 351 determines that it is time to capture the drawn pattern when the limit switch 209 changes from the off state to the on state after the pattern is generated, that is, when the state transitions from the state of FIG. 11 to the state of FIG. Then, the image is taken with the built-in camera.
  • FIG. 13 is a block diagram illustrating an example of a hardware configuration of the pattern imaging unit 351.
  • the pattern imaging unit 351 in this example includes a camera 3511, an MPU 3512, a ROM 3513, a RAM 3514, an interface circuit 3515, a communication circuit 3516, and a bus 3517 that connects them to each other.
  • the camera 3511, the ROM 3513, the RAM 3514, and the communication circuit 3516 have the same functions as the camera 2021, the ROM 2023, the RAM 2024, and the communication circuit 2026 described with reference to FIG.
  • the interface circuit 2025 is connected to the limit switches 209 and 210, the illuminator 214, the first inkjet 332, and the second inkjet 342 through signal lines (not shown).
  • FIG. 14 is a flowchart showing an example of processing executed by the MPU 3512. Hereinafter, processing executed by the MPU 3512 will be described with reference to FIGS. 10 to 14.
  • the MPU 3512 reads the state of the limit switch 209 through the interface circuit 3515 and monitors whether or not the limit switch 209 is turned off (step S301).
  • the limit switch 209 is in the on state in the state shown in FIG. 10, and when the lid 205 is pushed down to be placed on the object to generate the pattern, the first switch One end of the movable mirror 208 is pushed down by the tips of the first and second inkjet nozzles 331 and 341, and the limit switch 209 changes from the on state to the off state.
  • the MPU 3515 detects that the limit switch 209 has changed to an off state
  • the MPU 3515 detects whether or not the limit switch 210 has changed to an on state (step S302).
  • the MPU 3515 determines that the pattern can be generated on the object, and the pattern Generation is performed (step S303). Specifically, the MPU 3515 first issues a command to the first inkjet 332, and issues a command to the second inkjet 342 after a predetermined time has elapsed. The first inkjet 332 draws a large dot on the object by ejecting a predetermined amount of ink supplied from the ink cartridge 333 from the tip of the first inkjet nozzle 331 in response to the command.
  • the second inkjet 342 is small within a point drawn on the object by ejecting a predetermined amount of ink supplied from the ink cartridge 343 from the tip of the second inkjet nozzle 341 in response to the command. Draw a point. Then, the MPU 3515 monitors whether the limit switch 209 is turned on (step S304). On the other hand, if the limit switch 209 returns to the on state before the limit switch 210 is turned on after the limit switch 209 is turned off (YES in step S305), the MPU 3515 lowers the lid 205 being lowered. Is determined to have risen in the middle, and the process returns to step S301.
  • the MPU 3515 detects that the limit switch 209 is turned on in step S304, the MPU 3515 instructs the camera 3511 to take an image (step S306).
  • the camera 3511 captures an image of a pattern generated on the object in response to this command.
  • the state of the individual identification device 300 at this time is as shown in FIG. 10, and the camera 3511 picks up an image of a point drawn on the object as an image from directly above through the movable mirror 208, and picks up the image.
  • the obtained image data is stored in a predetermined area of the RAM 3514.
  • the MPU 3512 analyzes the image data stored in the RAM 3514, and extracts an individual identifier from the image of the drawn point (step S307).
  • the MPU 3512 transmits the extracted individual identifier to an external registration device (not shown) through the communication circuit 3516 (step S308). Then, the MPU 3512 returns to the process of step S301 in preparation for the generation and imaging of the next pattern.
  • the pattern imaging unit 351 detects the pattern generated on the object by the first and second inkjet nozzles 331 and 341, and performs image capturing. It is possible to prevent a discrepancy from occurring during imaging.
  • an annular pattern in which minute grains are randomly distributed can be generated on the object.
  • the orientation of the pattern at the time of photographing can be determined, so that alignment and direction estimation at the time of collation are unnecessary, and the collation process can be speeded up.
  • a pattern generated on an object can be captured as an image from directly above.
  • an individual identifier can be extracted from the captured pattern and transmitted to an external registration device.
  • the movable mirror 208 is used, but the movable mirror 208 may be omitted.
  • the inkjet nozzle 331 and the inkjet nozzle 341 are fixed so that their tips are located above the center of the lower surface of the container 204. Attach to 213 diagonally.
  • the pattern imaging unit 202 is fixed to the container 204 so that the imaging direction of the built-in camera faces the center of the lower surface of the container 204. According to such a configuration, since the movable mirror 208 is omitted, the configuration is simplified.
  • the state where the tip of the ink jet nozzle 331 and the ink jet nozzle 341 is located in the vicinity of the object for example, FIG. 11 state.
  • ink jet is used, but instead of ink jet, an ink drop device that can drop an appropriate amount of ink (for example, one drop), an ink ejector that can spray an appropriate amount of ink, You may use 2 sets of applicators which can apply
  • each time a pattern is generated and the image is captured the individual identifier is extracted and transmitted to the registration device.
  • the captured image is temporarily stored in a memory (RAM or the like), and the individual is later displayed.
  • the identifier may be extracted and transmitted to the registration device.
  • the individual identifier is transmitted to the registration device.
  • an image of the captured pattern may be transmitted to the registration device.
  • the ink pen 201 of the individual identification device 200 according to the second embodiment described with reference to FIG. The pattern imaging unit 202 is replaced with the pattern imaging unit 402. Further, a limit switch 403 is newly provided.
  • the same members as those of the individual identification device 200 according to the second embodiment are denoted by the same reference numerals.
  • the stamp 401 has a structure in which a felt material 411 having a hollow cylindrical shape is fitted and fixed to one end side of a cylindrical core material 413, and an ink tank 412 is attached to the upper core material portion of the felt material 411.
  • the other end side of the core material 413 is fixed to the lower surface of the fixing plate 213 so that it moves up and down in conjunction with the movement of the lid 203.
  • a fiber scope 414 extending from the pattern imaging unit 402 penetrates from the side surface at the upper end of the core material 413 to the lower end, and an image acquired by a lens attached to the tip portion is transmitted to the pattern imaging unit 402. Yes.
  • the ink tank 412 stores ink mixed with fine particles.
  • fine particles fine particles such as metal powder and glass powder, taggant described in Patent Documents 1 and 2, and the like can be used. It is desirable that the fine particles have different reflection characteristics from the material constituting the ink (excluding the fine particles). Moreover, it is desirable that the fine particles are contained in the ink nonuniformly.
  • the ink filled in the ink tank 432 always soaks into the felt material 431 due to a capillary phenomenon.
  • the lower surface of the felt material 411 When the lid 205 is not pressed from above, the lower surface of the felt material 411 is at a position (standby position) away from the bottom surface of the container 204. In this state, the upper surface of the fixed plate 213 contacts the limit switch 403, and the limit switch 403 is in an on state. On the other hand, in the state shown in FIG. 16 in which the lid 205 is pressed from above, the lower surface of the felt material 411 that moves up and down integrally with the lid 205 is at a position (generation position) that reaches the lower surface of the container 204. As a result, when the container 204 is placed on the object, a pattern is generated on the object by the ink that oozes from the lower surface of the felt material 411 of the hollow cylinder.
  • the pattern to be drawn includes fine particles (represented by black circles in the drawing) as schematically shown in FIG. It becomes an annular pattern containing at random positions.
  • the user When a user generates a pattern for individual identification on an object using the individual identification device 400, the user places the casing 203 on the object whose pattern is to be generated so that the lower surface of the container 204 is in contact with the object.
  • the individual identification device 400 at this time is in a state as shown in FIG. 15, where the limit switch 403 is in an on state and the limit switch 210 is in an off state.
  • the state gradually changes from the state shown in FIG. 15 to the state shown in FIG. Then, when the user pushes down the lid 205 to a position where it cannot be pushed down any more, the lower surface of the felt material 411 of the stamp 401 that descends in conjunction with the lid 205 is pressed against the object, and an annular pattern is formed on the object. Generated. In addition, since the fixed plate 213 descending in conjunction with the lid 205 comes into contact with the limit switch 210, the limit switch 210 changes to the on state.
  • the lid 205 rises toward the original position by the repulsive force of the elastic body 211.
  • the limit switch 210 changes from the on state to the off state.
  • the limit switch 403 changes from the off state to the on state.
  • the pattern imaging unit 402 detects the generation of a pattern based on the state of the limit switches 210 and 403, and detects the timing for imaging the generated pattern. For example, when the limit switch 403 changes from an on state to an off state and then the limit switch 210 changes from an off state to an on state, that is, the pattern imaging unit 402 changes from the state of FIG. 15 to the state of FIG. It is determined that the pattern is generated by the stamp 401. In addition, when the limit imaging switch 402 changes from the OFF state to the ON state after the pattern is generated, that is, when the transition from the state of FIG. 16 to the state of FIG. 15 occurs, it is time to capture the generated pattern. Judgment is performed, and an image of the generated pattern is captured by a camera built in through the fiberscope 414.
  • FIG. 18 is a block diagram illustrating an example of a hardware configuration of the pattern imaging unit 402.
  • the pattern imaging unit 402 in this example includes a camera 4021, an MPU 4022, a ROM 4023, a RAM 4024, an interface circuit 4025, a communication circuit 4026, and a bus 4027 that connects them to each other.
  • the ROM 4023, the RAM 4024, the interface circuit 4025, the communication circuit 4026, and the bus 4027 have the same functions as the ROM 2023, the RAM 2024, the interface circuit 2025, the communication circuit 2026, and the bus 2027 described with reference to FIG.
  • a fiberscope 414 is connected to the camera 4021, and an image acquired by the fiberscope 414 is captured by the camera 4021.
  • FIG. 19 is a flowchart showing an example of processing executed by the MPU 4022.
  • processing executed by the MPU 4022 will be described with reference to FIGS.
  • the MPU 4022 reads the state of the limit switch 403 through the interface circuit 4025 and monitors whether or not the limit switch 403 is turned off (step S401). As described above, in the state shown in FIG. 15, in the individual identification device 400, the limit switch 403 is in the on state. When the individual switch 400 is placed on the object and the lid 205 is pushed down to generate a pattern, the individual identification device 400 is fixed. Since the plate 213 is lowered, the limit switch 403 changes from the on state to the off state. When the MPU 4022 detects that the limit switch 403 has changed to an off state, the MPU 4022 detects whether or not the limit switch 210 has changed to an on state (step S402).
  • the MPU 4022 causes the felt material 411 of the stamp 401 built in the container 204 to be placed on the surface of the object. It is determined that the pattern is drawn on the object by the ink that is pressed and flows out of the felt material 411, and then the change of the limit switch 403 to the ON state is monitored (step S403). On the other hand, the MPU 4022 is drawn by the stamp 401 when the limit switch 403 is turned on after the limit switch 403 is turned off and before the limit switch 210 is turned on (YES in step S204). It is determined that the lid 205 has been returned to its original state, and the process returns to step S401.
  • the MPU 4022 instructs the camera 4021 to take an image (step S405).
  • the camera 4021 captures an image acquired by the fiberscope 414 in response to this command.
  • the camera 4021 temporarily turns on the illuminator 214 through the interface circuit 4025 at the time of photographing.
  • the state of the individual identification device 400 at the time of shooting is as shown in FIG. 15, and the camera 4021 displays a ring-shaped image as shown in FIG.
  • the image data obtained by imaging is stored in a predetermined area of the RAM 4024.
  • the MPU 4022 analyzes the image data stored in the RAM 4024 and extracts an individual identifier from the drawn circular image (step S406).
  • the MPU 4022 transmits data including the extracted individual identifier to an external registration device (not shown) through the communication circuit 4026 (step S407).
  • the MPU 4022 may include information stored in the ROM 4023 and the RAM 4024 in the transmission data, for example, attribute information such as identification information of the individual identification device 400 and the current time. Then, the MPU 4022 returns to the process of step S401 in preparation for the next imaging.
  • the pattern imaging unit 402 since the pattern imaging unit 402 detects the pattern generated on the object by the stamp 401 and performs imaging, there is a discrepancy between pattern generation and imaging. Can be prevented.
  • annular pattern can be generated on the object.
  • a pattern generated on an object can be imaged from directly above.
  • an individual identifier can be extracted from the captured pattern and transmitted to an external registration device.
  • an annular pattern is generated.
  • a pattern having a shape other than the annular shape can be generated.
  • FIG. 20 shows an example of a pattern having a shape other than an annular shape.
  • the example shown in FIG. 20 is a crescent moon pattern.
  • a rectangular pattern having a hole or the like at a position shifted from the center of gravity, a pattern having a notch in a part of an annular shape, or a pattern (character or the like) of a predetermined shape in an annular pattern by notching The formed pattern can be considered.
  • the felt material 411 is used.
  • the material is not limited to the felt material as long as it is a member that can form a pattern with ink by being pressed against an object, and a sponge, cloth, or the like may be used.
  • a fiberscope is used, but a fiberscope is not essential. A configuration may be adopted in which imaging is performed as in the first to third embodiments, and in that case, the present invention can be realized using a killer whale grouper.
  • each time a pattern is generated and the image is captured the individual identifier is extracted and transmitted to the registration device.
  • the captured image is temporarily stored in a memory (RAM or the like), and the individual is later displayed.
  • the identifier may be extracted and transmitted to the registration device.
  • the individual identifier is transmitted to the registration device.
  • an image of the captured pattern may be transmitted to the registration device.
  • the present embodiment relates to a torque wrench having a function of generating a pattern for individual identification on a fastening member that has been tightened with a set torque value and imaging the pattern.
  • the torque wrench 500 when the torque wrench 500 according to the fifth embodiment of the present invention reaches the set torque, the displacement of the head 509 is swung by the operation of the toggle mechanism 506 provided in the torque wrench body 508.
  • the pin 502 is protruded by a predetermined amount from the center of the lower surface of the square drive 501 attached to the head 509 via a mechanical link mechanism 507.
  • the deep socket 505 into which the individual identification device 504 is inserted is attached to the square drive 501.
  • the individual identification device 504 is inserted into the deep socket 505 so that the lid 205 is positioned on the pin 502 side.
  • a step may be provided in the inner diameter of the deep socket 505 or the tip of the pin 502 and the lid 205 may be coupled so that the individual identification device 504 does not fall out of the deep socket 505.
  • FIG. 22 shows a state of the torque wrench 500 at the time of starting tightening of the bolt 503.
  • the pin 502 and the lid 205 of the individual identification device 504 are in contact with each other, and the lower surface of the container 204 of the individual identification device 504 is It is in contact with the head of the bolt 503.
  • the state of the individual identification device 504 corresponds to the state shown in FIGS. 3, 10, and 15 in the second to fourth embodiments. In this state, the operator applies a load to the torque wrench and tightens the bolt 503.
  • FIG. 23 shows a state of the torque wrench 500 at the time when the set torque is reached, and the lid 205 of the individual identification device 504 is pushed down by being pushed by the projecting operating pin 502.
  • This state corresponds to the state shown in FIGS. 4, 11, and 16 in the second to fourth embodiments.
  • a pattern for individual identification is generated on the upper surface of the head of the bolt 503.
  • the individual identification device 200 of the second embodiment is used as the individual identification device 504
  • a dot-like pattern having minute particles randomly generated by the ink pen 201 is generated on the head of the bolt 503.
  • an annular pattern having minute particles randomly formed by the first and second inkjet nozzles 331 and 341 is a bolt 503. Generated on the head of.
  • an annular pattern having minute grains randomly generated by the felt material 411 is generated on the head of the bolt 503.
  • the toggle mechanism 506 When tightening of the bolt 503 is completed and the operator stops applying the load to the torque wrench, the toggle mechanism 506 is released, the link mechanism 507 is returned from the operating position to the initial position, and the pin 502 is retracted to the initial position.
  • the lid 205 of the individual identification device 504 returns to the initial position by the repulsive force of the elastic body 211.
  • This state corresponds to the return to the state shown in FIGS. 3, 10, and 15 in the second to fourth embodiments.
  • a pattern image generated on the head of the bolt 503 is captured by the pattern imaging unit of the individual identification device 504. Thereafter, an individual identifier is extracted from the image of the imaged pattern by the pattern imaging unit of the individual identification device 504 and transmitted to a registration device (not shown).
  • the present invention relates to a robot hand that has a function of generating a pattern for individual identification for an object that has been subjected to operations such as assembly and picking and imaging the generated pattern.
  • a robot hand 600 has a pair of finger portions 601 and 602 arranged to face each other on a base portion 605.
  • the robot hand 600 can grip the object 611 by sandwiching the object 611 from the side by the pair of finger portions 601 and 602.
  • the robot hand 600 has a pin 603 capable of adjusting the protruding amount on the base 605 between the finger 601 and the finger 602.
  • the individual identification device 604 is attached to the pin 603.
  • the individual identification device 604 is attached to the pin 603 so that the lid 205 faces the pin 603.
  • FIG. 24 shows a state when the protruding amount of the pin 603 is the minimum value. In this state, a sufficient space is secured between the lower surface of the container 204 of the individual identification device 604 and the object 611.
  • FIG. 25 shows a state when the protruding amount of the pin 603 is an intermediate value. In this state, the lower surface of the container 204 of the individual identification device 604 is in contact with the object 611. The state of the individual identification device 604 corresponds to the state shown in FIGS. 3, 10, and 15 in the second to fourth embodiments.
  • FIG. 26 shows a state when the protruding amount of the pin 603 is the maximum value.
  • the lid 205 is further pushed down by a predetermined amount with the lower surface of the container 204 of the individual identification device 604 in contact with the object 611.
  • This state corresponds to the state shown in FIGS. 4, 11, and 16 in the second to fourth embodiments.
  • a pattern for individual identification is generated on the object 611.
  • the individual identification device 200 of the second embodiment is used as the individual identification device 604
  • a dot-like pattern having minute particles randomly generated by the ink pen 201 is generated on the object 611.
  • an annular pattern having minute particles randomly formed by the first and second inkjet nozzles 331 and 341 is an object. 611 is generated.
  • an annular pattern having minute particles randomly generated by the felt material 411 is generated on the object 611.
  • FIG. 27 shows an example in which picking work is performed by the articulated robot 620 having the robot hand 600 of the present embodiment.
  • the robot 620 performs a task of packing a specific number of objects of a specific type from a group of objects stored on a shelf or the like into a box 630.
  • FIG. 27 shows a state where one first-type object 611-1 and one second-type object 611-2 have been stored in the box 630, respectively.
  • Patterns 641 and 642 for individual identification are generated on the upper surfaces of the objects 611-1 and 611-2 stored in the box 630.
  • a pattern 641 on the object 611-1 is a pattern generated by the individual identification device 604 attached to the robot hand 600 when the robot 620 places the object 611-1 in the box 630.
  • the pattern 642 on the object 611-2 is a pattern generated when the robot 620 places the object 611-2 in the box 630.
  • the robot 620 can generate a pattern for individual identification with respect to the target object 611 that has finished the picking operation, and can capture an image of the generated pattern. can do.
  • an individual identification apparatus 700 is connected to a registration apparatus 701 through a network such as Wi-fi.
  • a storage device 702 such as a magnetic disk device is connected to the registration device 701.
  • the individual identification device 700 has the same functions as the individual identification devices 200 to 600 according to the second to sixth embodiments of the present invention.
  • the registration device 701 has a function of receiving data including an individual identifier and attribute information transmitted from the individual identification device 700 through the network and storing the data in the storage device 702.
  • FIG. 27 shows an example of data stored in the storage device 702.
  • the storage device 702 stores data having an individual identifier of an object and one or more attribute values of the object.
  • the attribute value include a model number, a manufacturing lot number, a tool such as a torque wrench used for the operation of the object, a robot number, and the like.
  • the individual identifier is an N ( ⁇ 2) -dimensional vector, but the data structure is arbitrary.
  • data having an individual identifier of an object and an attribute value of the object is transmitted from the individual identification device 700 to the registration device 701.
  • the data on the object is transferred from the individual identification device 700 to the registration device 701.
  • data having the image data of the generated pattern and the attribute value of the object may be transmitted.
  • the registration device 701 extracts an individual identifier from the received pattern image data, and stores data having the extracted individual identifier and the received attribute value in the storage device 702.
  • the registration device 701 is provided outside the individual identification device 700.
  • the function of the registration device 701 may be provided in the individual identification device 700.
  • an identification and collation apparatus 800 has a function of identifying and collating an object 810.
  • the object 810 is an object to be identified and verified, such as an industrial product or a product package.
  • a pattern 811 is formed on any surface of the object 810. This pattern 811 corresponds to a pattern formed on the object 810 by any one of the individual identification devices according to the first to sixth embodiments of the present invention.
  • the identification verification device 800 includes a pattern imaging unit 801 and a determination unit 802.
  • the pattern imaging unit 801 has a function of acquiring an image of the pattern 810 formed on the object 810 and extracting an individual identifier from the image.
  • the pattern imaging unit 801 has the same function as the pattern imaging unit in the second to seventh identification / collation devices of the present invention, for example.
  • the determination unit 802 compares the individual identifier extracted by the pattern imaging unit 801 with the individual identifier of the registered object stored in the storage device 820, and determines object identification / collation based on the comparison result. Has the function to perform.
  • the storage device 820 for example, data having an individual identifier and an attribute value of an object registered by the registration device 701 according to the seventh embodiment is stored in advance.
  • the identification verification device 800 includes an information processing device 840 having an arithmetic processing unit 841 such as one or more microprocessors, a storage unit 842 such as a memory or a hard disk, and a camera 843, and a program 844. And can be realized.
  • the information processing device 840 may be a smartphone, for example.
  • the program 844 is read into the memory from an external computer-readable recording medium when the information processing apparatus 840 is started up, and the operation of the arithmetic processing unit 841 is controlled, whereby the pattern imaging unit is stored on the arithmetic processing unit 841.
  • Functional means such as 801 and determination unit 802 are realized.
  • FIG. 32 is a flowchart showing a procedure of an identification collation method executed using the identification collation apparatus 800.
  • the identification verification method according to the present embodiment will be described with reference to FIGS.
  • the pattern imaging unit 801 of the identification verification apparatus 800 acquires an image of the pattern 811 formed on the object 810 (step S801). Then, the pattern imaging unit 801 extracts the individual identifier of the object 810 from the acquired image of the pattern 811 (step S802).
  • the determination unit 802 of the identification verification apparatus 800 compares the extracted individual identifier of the object 810 with the individual identifier of the registered object stored in the storage unit 820, and based on the comparison result, Is identified and determined (step S803). For example, when the individual identifier is an N-dimensional vector, the determination unit 802 calculates the similarity (or distance) between the individual identifier of the object 810 and the individual identifier vector of the registered object, and the similarity is equal to or greater than a threshold value. If (if the distance is less than or equal to the threshold), it is determined that the two individual identifiers are the same, and the other is not the same.
  • the determination unit 802 finds an individual identifier of the registered object that is the same as the individual identifier of the object 810, or finishes comparison with the individual identifiers of all registered objects, whichever comes first The repetition of the object identification / determination process is terminated on the condition. Then, the determination unit 802 outputs a determination result 830.
  • the determination result 830 may indicate whether or not identification / collation is successful. Moreover, the determination result 830 may have the attribute value of the object memorize
  • the present invention can be used in the field of identifying and collating the identity of objects such as industrial products and products.
  • [Appendix 1] A generator for generating a pattern on an object; An imaging unit that detects generation of the pattern and images the generated pattern; An individual identification device comprising: [Appendix 2] The generation unit is configured to be movable from a standby position to a generation position for generating the pattern, The imaging unit detects the generation of the pattern by detecting that the generation unit has moved from the standby position to the generation position; The individual identification device according to attachment 1. [Appendix 3] The imaging unit performs imaging at a timing when the generation unit moves from the generation position to the standby position. The individual identification device according to attachment 2.
  • [Appendix 4] A movable mirror that is provided in the middle of the movement path of the generation unit and guides the image of the pattern generated by the generation unit to the imaging unit; The individual identification device according to any one of appendices 1 to 3.
  • [Appendix 5] Having a fiberscope that takes in an image of the pattern generated by the generation unit from the vicinity of the generation unit and guides it to the imaging unit; The individual identification device according to any one of appendices 1 to 3.
  • [Appendix 6] The generation unit generates the pattern by applying a liquid containing fine particles to the object.
  • [Appendix 7] The generation unit is a pen.
  • the generating unit is means for spraying liquid ink particles.
  • the means for spraying the liquid ink particles is an inkjet.
  • the inkjet includes a first inkjet that generates a circular first pattern by spraying ink containing fine particles onto the object, and the first ink by spraying ink that does not contain fine particles.
  • a second ink jet generating a second pattern having a circular shape smaller than the pattern on the first pattern,
  • the generation unit is a stamp.
  • [Appendix 12] The shape of the pattern formed on the object by the stamp is annular.
  • the generation unit is a laser processing machine that generates a random pattern on the object.
  • the imaging unit extracts, as an individual identifier of the object, a feature amount dependent on the grain distribution from the image of the pattern obtained by the imaging.
  • [Appendix 15] A registration unit that records the individual identifier in association with the attribute information of the object in a storage device; The individual identification device according to appendix 14.
  • [Appendix 16] A pattern for individual identification is generated by the individual identification apparatus on a fastening member having the individual identification apparatus according to any one of supplementary notes 1 to 15 and tightened with a set torque value, and the generated pattern is Tool to image.
  • [Appendix 17] A robot hand comprising the individual identification device according to any one of appendices 1 to 15 and generating a pattern for individual identification by the individual identification device on an object on which work has been performed, and imaging the generated pattern.
  • [Appendix 18] An identification device that performs identification using the individual identifier extracted by the individual identification device according to attachment 14.
  • [Appendix 19] A verification device that performs verification using the individual identifier extracted by the individual identification device according to attachment 14.
  • the generation unit moves from a standby position to a generation position for generating the pattern, In the detection of the generation of the pattern, the imaging unit detects the generation of the pattern by detecting that the generation unit has moved from the standby position to the generation position.
  • the pattern is generated by applying a liquid containing fine particles to the object.
  • the individual identification method according to any one of appendices 20 to 22.
  • the pattern is generated by generating a random pattern on the object by a laser processing machine, The individual identification method according to any one of appendices 20 to 22.
  • the imaging unit extracts, as an individual identifier of the object, a feature amount that depends on the grain distribution from the image of the pattern obtained by the imaging.
  • the individual identification method according to any one of appendices 20 to 24 [Supplement 26]
  • the individual identification device has a registration unit, The registration unit records the individual identifier in a storage device in association with attribute information of the object.
  • the individual identification method according to attachment 25 [Appendix 27] An identification method for performing identification using an individual identifier extracted by the individual identification method according to attachment 25.
  • Appendix 28 A verification method for performing verification using an individual identifier extracted by the individual identification method according to attachment 25.
  • Pattern imaging unit 400 ... Individual identification Device 402 ... Turn imaging unit 403 ... limit switch 411 ... felt material 412 ... ink tank 413 ... heart material 414 ... fiber scope 500 ... torque wrench 501 ... square drive 502 ... pin 503 ... bolt 504 ... individual identification device 505 ... deep socket 506 ... toggle mechanism 507 ... Link mechanism 508 ... Torque wrench body 509 ... Head 600 ... Robot hand 601 ... Finger part 602 ... Finger part 603 ... Pin 604 ... Individual identification device 605 ... Base 611 ...
  • Object 620 ... Articulated robot 630 ... Box 641 ... Pattern 642 ... Pattern 700 ... Individual identification device 701 ... Registration device 702 ... Storage device 800 ... Identification verification device 801 ... Pattern imaging unit 802 ... Determination unit 810 ... Object 811 ... Pattern 820 ... Storage device 830 ... Determination result 840 ... Information Management unit 841 ... processing unit 842 ... storage unit 843 ... camera 844 ... program

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  • Manufacturing & Machinery (AREA)
  • Geometry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Ink Jet (AREA)
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Abstract

The present invention addresses the problem of a discrepancy between the generation and imaging of a pattern. The individual object identification device has a generation unit and an imaging unit. The generation unit generates a pattern on an object. The imaging unit, upon detecting the generation of the pattern, captures an image of the generated pattern.

Description

個体識別装置Individual identification device
　本発明は個体識別装置、識別装置、照合装置、個体識別方法、識別方法、および照合方法に関する。 The present invention relates to an individual identification device, an identification device, a verification device, an individual identification method, an identification method, and a verification method.
　流通する物体個体のトレーサビリティの確保等を目的として、工業製品や商品などの各種の物体上に個体識別のためのパターンを生成することが行われている。例えば特許文献１および特許文献２では、物体上にタガント粒子のランダム分布パターンを生成している。 For the purpose of ensuring traceability of distributed objects, patterns for individual identification are generated on various objects such as industrial products and products. For example, in Patent Document 1 and Patent Document 2, a random distribution pattern of taggant particles is generated on an object.
　また、個体識別のために物体上に生成したパターンを撮像することが行われている。例えば特許文献１および特許文献２では、物体上のランダム分布パターンをカメラで撮像している。 Also, imaging of a pattern generated on an object for individual identification is performed. For example, in Patent Document 1 and Patent Document 2, a random distribution pattern on an object is captured by a camera.
　他方、特許文献３には、設定トルク値で締付を行った締結部材であることを確認できるようにするために当該締結部の頭部に着色インクで所定のパターンを生成する機能を有するトルクレンチが記載されている。また、特許文献３では、締付が完了すると、検査員がカメラにより締結部材を撮像し、撮像して得られた画像を画面表示部に表示している。 On the other hand, Patent Document 3 describes a toner cartridge having a function of generating a predetermined pattern with colored ink on the head of the fastening portion so that it can be confirmed that the fastening member is fastened with a set torque value. The wrench is listed. Moreover, in patent document 3, when a fastening is completed, an inspector will image a fastening member with a camera, and will display the image obtained by imaging on a screen display part.
特表２００７－５３４０６７号公報JP-T 2007-534067 特開２０１３－６９１８８号公報JP 2013-69188 A 特許第５６３４１２１号公報Japanese Patent No. 5634121
　上述したように特許文献１および特許文献２には、個体識別のために物体上にパターンを生成すること、及び生成したパターンを撮像することが記載されているけれども、物体上に個体識別のためのパターンを生成した後、直ちにその生成したパターンを撮像することは言及されていない。 As described above, Patent Document 1 and Patent Document 2 describe generating a pattern on an object for individual identification and imaging the generated pattern, but for individual identification on an object. There is no mention of imaging the generated pattern immediately after generating the pattern.
　一方、特許文献３には、物体上にパターンを生成する作業と生成したパターンを撮像する作業とを連続的に行う旨の記載がある。しかしながら、特許文献３では、物体にパターンを生成した後、その生成したパターンを撮像するか否かはカメラを操作する人の判断に委ねられている。このため、物体上にパターンを生成したにもかかわらず、当該生成したパターンが撮像されなかったり、その反対に、パターンを生成していないのに物体が撮像されたりして、パターンの生成と撮像との間に食い違いが生じる可能性がある。 On the other hand, Patent Document 3 has a description that the operation of generating a pattern on an object and the operation of imaging the generated pattern are continuously performed. However, in Patent Document 3, after a pattern is generated on an object, whether or not to image the generated pattern is left to the judgment of the person operating the camera. For this reason, even though a pattern is generated on an object, the generated pattern is not imaged, and conversely, an object is imaged even though a pattern is not generated. There may be a discrepancy between
　本発明の目的は、上述した課題を解決する個体識別装置を提供することにある。 An object of the present invention is to provide an individual identification apparatus that solves the above-described problems.
　本発明の一実施形態に係る個体識別装置は、
　物体上にパターンを生成する生成部と、
　前記パターンの生成を検出し、前記生成されたパターンを撮像する撮像部と、
を含む。 An individual identification device according to an embodiment of the present invention is:
A generator for generating a pattern on an object;
An imaging unit that detects generation of the pattern and images the generated pattern;
including.
　本発明の他の実施形態に係る個体識別方法は、
　生成部と撮像部とを有する装置が実行する個体識別方法であって、
　前記生成部が、物体上にパターンを生成し、
　前記撮像部が、前記パターンの生成を検出し、前記生成されたパターンを撮像する。 An individual identification method according to another embodiment of the present invention includes:
An individual identification method executed by an apparatus having a generation unit and an imaging unit,
The generating unit generates a pattern on the object;
The imaging unit detects the generation of the pattern and images the generated pattern.
　本発明の他の実施形態に係る工具は、
　本発明の実施形態に係る個体識別装置を有し、設定トルク値で締付を行った締結部材上に前記個体識別装置によって個体識別のためのパターンを生成すると共に当該生成したパターンを撮像する。 A tool according to another embodiment of the present invention,
A pattern for individual identification is generated by the individual identification apparatus on a fastening member having an individual identification apparatus according to an embodiment of the present invention, and tightened with a set torque value, and the generated pattern is imaged.
　本発明の他の実施形態に係るロボットハンドは、
　本発明の実施形態に係る個体識別装置を有し、作業を行った対象物上に前記個体識別装置によって個体識別のためのパターンを生成すると共に当該生成したパターンを撮像する。 A robot hand according to another embodiment of the present invention includes:
An individual identification apparatus according to an embodiment of the present invention is provided, and a pattern for individual identification is generated by the individual identification apparatus on an object on which work has been performed, and the generated pattern is imaged.
　本発明の他の実施形態に係る識別装置は、本発明の実施形態に係る個体識別装置によって抽出された個体識別子を用いて識別を行う。 The identification device according to another embodiment of the present invention performs identification using the individual identifier extracted by the individual identification device according to the embodiment of the present invention.
　本発明の他の実施形態に係る照合装置は、本発明の実施形態に係る個体識別装置によって抽出された個体識別子を用いて照合を行う。 A collation device according to another embodiment of the present invention performs collation using the individual identifier extracted by the individual identification device according to the embodiment of the present invention.
　本発明の他の実施形態に係る識別方法は、本発明の実施形態に係る個体識別方法によって抽出された個体識別子を用いて識別を行う。 The identification method according to another embodiment of the present invention performs identification using the individual identifier extracted by the individual identification method according to the embodiment of the present invention.
　本発明の他の実施形態に係る照合方法は、本発明の実施形態に係る個体識別方法によって抽出された個体識別子を用いて照合を行う。 The collation method according to another embodiment of the present invention performs collation using the individual identifier extracted by the individual identification method according to the embodiment of the present invention.
　本発明は上述した構成を有するため、パターンの生成とその撮像との間に食い違いが生じるのを防ぐことができる。 Since the present invention has the above-described configuration, it is possible to prevent a discrepancy between pattern generation and imaging.
本発明の第１の実施形態に係る個体識別装置の構成図である。It is a lineblock diagram of the individual discernment device concerning a 1st embodiment of the present invention. 本発明の第１の実施形態に係る個体識別装置が実行する個体識別方法の手順を示すフローチャートである。It is a flowchart which shows the procedure of the individual identification method which the individual identification apparatus which concerns on the 1st Embodiment of this invention performs. 本発明の第２の実施形態に係る個体識別装置の構成図である。It is a block diagram of the identification apparatus which concerns on the 2nd Embodiment of this invention. 本発明の第２の実施形態に係る個体識別装置において蓋が押下された状態を示す図である。It is a figure which shows the state by which the lid | cover was pressed down in the individual identification device which concerns on the 2nd Embodiment of this invention. 本発明の第２の実施形態に係る個体識別装置によって物体上に生成したパターンを示す図である。It is a figure which shows the pattern produced | generated on the object by the individual identification apparatus which concerns on the 2nd Embodiment of this invention. 本発明の第２の実施形態に係る個体識別装置におけるパターン撮像ユニットのブロック図である。It is a block diagram of the pattern imaging unit in the individual identification device which concerns on the 2nd Embodiment of this invention. 本発明の第２の実施形態に係る個体識別装置におけるパターン撮像ユニットのＭＰＵの処理手順を示すフローチャートである。It is a flowchart which shows the process sequence of MPU of the pattern imaging unit in the identification apparatus which concerns on the 2nd Embodiment of this invention. 本発明の第２の実施形態に係る個体識別装置の変形例を示す構成図である。It is a block diagram which shows the modification of the identification apparatus which concerns on the 2nd Embodiment of this invention. 本発明の第２の実施形態に係る個体識別装置の変形例を示す構成図である。It is a block diagram which shows the modification of the identification apparatus which concerns on the 2nd Embodiment of this invention. 本発明の第３の実施形態に係る個体識別装置の構成図である。It is a block diagram of the identification apparatus which concerns on the 3rd Embodiment of this invention. 本発明の第３の実施形態に係る個体識別装置において蓋が押下された状態を示す図である。It is a figure which shows the state by which the lid | cover was pressed down in the identification apparatus which concerns on the 3rd Embodiment of this invention. 本発明の第３の実施形態に係る個体識別装置によって物体上に生成したパターンを示す図である。It is a figure which shows the pattern produced | generated on the object by the individual identification apparatus which concerns on the 3rd Embodiment of this invention. 本発明の第３の実施形態に係る個体識別装置におけるパターン撮像ユニットのブロック図である。It is a block diagram of the pattern imaging unit in the individual identification device which concerns on the 3rd Embodiment of this invention. 本発明の第３の実施形態に係る個体識別装置におけるパターン撮像ユニットのＭＰＵの処理手順を示すフローチャートである。It is a flowchart which shows the process sequence of MPU of the pattern imaging unit in the identification apparatus which concerns on the 3rd Embodiment of this invention. 本発明の第４の実施形態に係る個体識別装置の構成図である。It is a block diagram of the identification apparatus which concerns on the 4th Embodiment of this invention. 本発明の第４の実施形態に係る個体識別装置において蓋が押下された状態を示す図である。It is a figure which shows the state by which the lid | cover was pressed down in the identification apparatus which concerns on the 4th Embodiment of this invention. 本発明の第４の実施形態に係る個体識別装置によって物体上に生成したパターンを示す図である。It is a figure which shows the pattern produced | generated on the object by the individual identification apparatus which concerns on the 4th Embodiment of this invention. 本発明の第４の実施形態に係る個体識別装置におけるパターン撮像ユニットのブロック図である。It is a block diagram of the pattern imaging unit in the individual identification device concerning a 4th embodiment of the present invention. 本発明の第４の実施形態に係る個体識別装置におけるパターン撮像ユニットのＭＰＵの処理手順を示すフローチャートである。It is a flowchart which shows the process sequence of MPU of the pattern imaging unit in the identification apparatus which concerns on the 4th Embodiment of this invention. 本発明の第４の実施形態に係る個体識別装置によって物体上に生成したパターンの他の例を示す図である。It is a figure which shows the other example of the pattern produced | generated on the object by the individual identification apparatus which concerns on the 4th Embodiment of this invention. 本発明の第５の実施形態に係るトルクレンチの構成図である。It is a block diagram of the torque wrench which concerns on the 5th Embodiment of this invention. 本発明の第５の実施形態に係るトルクレンチによってボルトの締付を開始する時点の状態を示す図である。It is a figure which shows the state at the time of starting bolt fastening with the torque wrench which concerns on the 5th Embodiment of this invention. 本発明の第５の実施形態に係るトルクレンチが設定トルクに達した時点の状態を示す図である。It is a figure which shows the state at the time of the torque wrench which concerns on the 5th Embodiment of this invention reaching setting torque. 本発明の第６の実施形態に係るロボットハンドの構成図である。It is a block diagram of the robot hand which concerns on the 6th Embodiment of this invention. 本発明の第６の実施形態に係るロボットハンドのピンの突出量が中間値であるときの状態を示す図である。It is a figure which shows a state when the protrusion amount of the pin of the robot hand which concerns on the 6th Embodiment of this invention is an intermediate value. 本発明の第６の実施形態に係るロボットハンドのピンの突出量が最大値であるときの状態を示す図である。It is a figure which shows a state when the protrusion amount of the pin of the robot hand which concerns on the 6th Embodiment of this invention is the maximum value. 本発明の第６の実施形態に係るロボットハンドを有する多関節ロボットによってピッキング作業状況を示す図である。It is a figure which shows the picking work condition by the articulated robot which has the robot hand which concerns on the 6th Embodiment of this invention. 本発明の第７の実施形態に係る個体識別装置の構成図である。It is a block diagram of the identification apparatus which concerns on the 7th Embodiment of this invention. 本発明の第７の実施形態に係る個体識別装置で抽出された個体識別子を記憶する記憶装置のデータを示す図である。It is a figure which shows the data of the memory | storage device which memorize | stores the individual identifier extracted with the individual identification apparatus which concerns on the 7th Embodiment of this invention. 本発明の第８の実施形態に係る識別照合装置の構成図である。It is a block diagram of the identification collation apparatus which concerns on the 8th Embodiment of this invention. 本発明の第８の実施形態に係る識別照合装置を実現する情報処理装置のブロック図である。It is a block diagram of the information processing apparatus which implement | achieves the identification collation apparatus which concerns on the 8th Embodiment of this invention. 本発明の第８の実施形態に係る識別照合装置が実行する識別照合方法の手順を示すフローチャートである。It is a flowchart which shows the procedure of the identification collation method which the identification collation apparatus which concerns on the 8th Embodiment of this invention performs.
　次に本発明の実施の形態について図面を参照して詳細に説明する。
[第１の実施形態]
　図１を参照すると、本発明の第１の実施形態に係る個体識別装置１００は、物体１１０上に個体識別のためのパターン１１１を生成する装置である。また個体識別装置１００は、生成したパターン１１１の画像を取得するためにパターン１１１を撮像する装置である。 Next, embodiments of the present invention will be described in detail with reference to the drawings.
[First embodiment]
Referring to FIG. 1, an individual identification apparatus 100 according to the first embodiment of the present invention is an apparatus that generates a pattern 111 for individual identification on an object 110. The individual identification device 100 is a device that captures the pattern 111 in order to acquire an image of the generated pattern 111.
　物体１１０は、個体識別のためのパターン１１１を生成する対象物である。物体１１０は、例えば工業製品や商品パッケージである。また物体１１０は、個人の持ち物（名刺や手帳など）あるいは個人の身体の一部（例えば指など）であってもよい。 The object 110 is an object that generates a pattern 111 for individual identification. The object 110 is, for example, an industrial product or a product package. The object 110 may be a personal belonging (such as a business card or a notebook) or a part of the personal body (such as a finger).
　個体識別装置１００は、主な機能部として、パターン生成部１０１とパターン撮像部１０２とを有する。 The individual identification device 100 includes a pattern generation unit 101 and a pattern imaging unit 102 as main functional units.
　パターン生成部１０１は、物体１１０上に個体識別のためのパターン１１１を生成する機能を有する。 The pattern generation unit 101 has a function of generating a pattern 111 for individual identification on the object 110.
　パターン撮像部１０２は、パターン生成部１０１によるパターン１１１の生成の完了を検出する機能と、生成されたパターン１１１を撮像する機能とを有する。 The pattern imaging unit 102 has a function of detecting the completion of the generation of the pattern 111 by the pattern generation unit 101 and a function of imaging the generated pattern 111.
　図２は個体識別装置１００を用いて実行する個体識別方法の手順を示すフローチャートである。以下、図１および図２を参照して本実施形態に係る個体識別方法について説明する。 FIG. 2 is a flowchart showing the procedure of the individual identification method executed using the individual identification device 100. Hereinafter, the individual identification method according to the present embodiment will be described with reference to FIGS. 1 and 2.
　まず、個体識別装置１００のパターン生成部１０１は、物体１１０上に個体識別のためのパターン１１１を生成する（ステップＳ１０１）。 First, the pattern generation unit 101 of the individual identification device 100 generates a pattern 111 for individual identification on the object 110 (step S101).
　次に、個体識別装置１００のパターン撮像部１０２は、パターン生成部１０１によるパターンの生成が完了したか否かを検出する（ステップＳ１０２）。そして、パターン撮像部１０２は、パターン生成部１０１によるパターンの生成の完了を検出すると、生成されたパターン１１１の画像を取得するためにパターン１１１を撮像する（ステップＳ１０３）。 Next, the pattern imaging unit 102 of the individual identification device 100 detects whether or not the pattern generation by the pattern generation unit 101 is completed (step S102). Then, when the pattern imaging unit 102 detects the completion of pattern generation by the pattern generation unit 101, the pattern imaging unit 102 captures the pattern 111 in order to acquire an image of the generated pattern 111 (step S103).
　このように本実施形態によれば、パターン撮像部１０２は、パターン生成部１０１によるパターンの生成の完了を検出して撮像を行うため、物体１１１上にパターンを生成したにもかかわらず、当該生成したパターンが撮像されなかったり、その反対に、パターンを生成していないのにかかわらず撮像が行われることがない。これにより、パターンの生成と撮像との間に食い違いが生じるのを防ぐことができる。また、パターン生成部１０１とパターン撮像部１０２を対応付けておくことで、撮像時にパターンに対して適切な倍率・焦点合わせ・照明の点灯、撮影の距離、露出等の設定をあらかじめ最適に設定しておくことが可能であり、適時調整が不要で撮像ミスを防ぐことができる。このような効果は以下で説明する実施形態においても同様である。 As described above, according to the present embodiment, the pattern imaging unit 102 detects the completion of pattern generation by the pattern generation unit 101 and performs imaging, so that the generation is performed even though the pattern is generated on the object 111. The captured pattern is not imaged, and conversely, the image is not captured regardless of the generation of the pattern. Thereby, it is possible to prevent a discrepancy between pattern generation and imaging. In addition, by associating the pattern generation unit 101 and the pattern imaging unit 102, settings such as appropriate magnification / focusing / illumination lighting, shooting distance, exposure, etc. are optimally set in advance for the pattern at the time of imaging. Therefore, timely adjustment is not necessary and imaging errors can be prevented. Such an effect is the same in the embodiments described below.
[第２の実施形態]
　本実施形態では、第１の実施形態に係る個体識別装置１００をより具体化した実施形態について説明する。 [Second Embodiment]
In the present embodiment, a more specific embodiment of the individual identification device 100 according to the first embodiment will be described.
　図３を参照すると、本発明の第２の実施形態に係る個体識別装置２００は、インクペン２０１とパターン撮像ユニット２０２とを筐体２０３に収納した構造を有する。インクペン２０１はパターン生成部１０１に相当し、パターン撮像ユニット２０２はパターン撮像部１０２に相当する。図示していないが、筐体２０３には、パターン撮像ユニット２０２、後述するリミットスイッチ２０９、２１０、および照明器２１４を作動させるためのバッテリが内蔵されている。筐体２０３は、内蔵したバッテリによって動作する携帯型の機器として構成されている。 Referring to FIG. 3, the individual identification device 200 according to the second embodiment of the present invention has a structure in which an ink pen 201 and a pattern imaging unit 202 are housed in a housing 203. The ink pen 201 corresponds to the pattern generation unit 101, and the pattern imaging unit 202 corresponds to the pattern imaging unit 102. Although not shown, the housing 203 incorporates a pattern imaging unit 202, limit switches 209 and 210, which will be described later, and a battery for operating the illuminator 214. The housing 203 is configured as a portable device that operates with a built-in battery.
　筐体２０３は、円筒状の容器２０４とこの容器２０４に緩く嵌め合う蓋２０５とから構成される。容器２０４の上面と下面は共に開口しており、側面の下部に明かり取り用の窓２０６と照明器２１４とが設けられている。また容器２０４の内側には、パターン撮像ユニット２０２が固定され、さらに可動ミラー２０８、リミットスイッチ２０９、２１０が取り付けられている。リミットスイッチ２０９、２１０のオンオフ状態は、図示しない信号線によってパターン撮像ユニット２０２に伝達されている。照明器２１４は、白色灯あるいはフラッシュランプ等で構成され、図示しない信号線を通じてパターン撮像ユニット２０２から伝達される信号によって点灯および消灯が制御される。 The housing 203 includes a cylindrical container 204 and a lid 205 that fits loosely into the container 204. Both the upper surface and the lower surface of the container 204 are open, and a lighting window 206 and an illuminator 214 are provided at the lower part of the side surface. The pattern imaging unit 202 is fixed inside the container 204, and a movable mirror 208 and limit switches 209 and 210 are attached. The on / off states of the limit switches 209 and 210 are transmitted to the pattern imaging unit 202 through a signal line (not shown). The illuminator 214 is composed of a white light, a flash lamp, or the like, and is turned on and off by a signal transmitted from the pattern imaging unit 202 through a signal line (not shown).
　可動ミラー２０８は、容器２０４の底面から所定長だけ上方の箇所に、紙面垂直方向に延びる軸２０８ａを中心に回動自在に取り付けられている。また可動ミラー２０８は、引っ張りバネ２０８ｂによって反時計回りに付勢されており、ミラーの端部がリミットスイッチ２０９に当接した状態で停止している。この停止した状態において、可動ミラー２０８の鏡面と容器２０４の底面との成す角度は略４５度である。そして、パターン撮像ユニット２０２は、その内蔵するカメラの撮像視野が可動ミラー２０８の鏡面中央を真横から望むように、容器２０４に固定されている。 The movable mirror 208 is attached to a location above the bottom surface of the container 204 by a predetermined length so as to be rotatable about a shaft 208a extending in the direction perpendicular to the paper surface. The movable mirror 208 is urged counterclockwise by the tension spring 208b, and is stopped in a state where the end of the mirror is in contact with the limit switch 209. In this stopped state, the angle formed by the mirror surface of the movable mirror 208 and the bottom surface of the container 204 is approximately 45 degrees. The pattern imaging unit 202 is fixed to the container 204 so that the imaging field of the built-in camera can be seen from the side of the mirror surface of the movable mirror 208.
　一方、蓋２０５は、スプリングやスポンジ等の弾性体２１１を介して容器２０４に対して上下方向に進退自在に装着されている。また、蓋２０５の内側には、連結材２１２を介して固定板２１３が取り付けられており、可動ミラー２０８の真上の固定板２１３の下面に、インクペン２０１が装着されている。 On the other hand, the lid 205 is attached to the container 204 through an elastic body 211 such as a spring or a sponge so as to advance and retreat in the vertical direction. In addition, a fixed plate 213 is attached to the inside of the lid 205 via a connecting member 212, and the ink pen 201 is mounted on the lower surface of the fixed plate 213 directly above the movable mirror 208.
　インクペン２０１のペン軸は真下に延びている。蓋２０５が上から押下されていない状態のとき、インクペン２０１のペン先は、図３に示すように、可動ミラー２０８に接触しない位置（待機位置）にある。他方、蓋２０５が上から押下されている状態では、図４に示すように、蓋２０５と一体で上下するインクペン２１０のペン先は、可動ミラー２０８の一端を押し下げて、容器２０４の下面まで達する位置（生成位置）にある。ペン先によって可動ミラー２０８が押し下げられると、可動ミラー２０８の端部がリミットスイッチ２０９から離れ、リミットスイッチ２０９はオフ状態になる。またインクペン２０１のペン先が容器２０４の下面に達すると、図４に示すように、固定板２１３がリミットスイッチ２１０に当接し、リミットスイッチ２１０がオン状態になる。 ペ ン The pen axis of the ink pen 201 extends directly below. When the lid 205 is not pressed from above, the pen tip of the ink pen 201 is at a position (standby position) where it does not contact the movable mirror 208, as shown in FIG. On the other hand, when the lid 205 is pressed from above, the pen tip of the ink pen 210 that moves up and down integrally with the lid 205 pushes down one end of the movable mirror 208 and reaches the lower surface of the container 204 as shown in FIG. It is in the position (generation position). When the movable mirror 208 is pushed down by the pen tip, the end of the movable mirror 208 moves away from the limit switch 209, and the limit switch 209 is turned off. When the pen tip of the ink pen 201 reaches the lower surface of the container 204, as shown in FIG. 4, the fixing plate 213 comes into contact with the limit switch 210, and the limit switch 210 is turned on.
　インクペン２０１は、微小な粒を混入したインクを使用したペンである。微小な粒としては、金属粉やガラス粉などの微粒子や、特許文献１および２に記載されるタガントなどが使用できる。微小な粒は、インクを構成する材料（当該微小な粒を除く）と反射特性が異なる粒であることが望ましい。また微小な粒は、インクに不均一に含有していることが望ましい。インクペン２０１としては、例えば、ラメペン、ラメ入りペン、ラメ入り蛍光マーカーなどの名称で市販されているペンを使用することができる。勿論、本発明のために専用に設計されたペンを使用してもよいし、市販のペンのインクを微小な粒を混入したインクに交換して利用してもよい。 The ink pen 201 is a pen that uses ink mixed with minute particles. As fine particles, fine particles such as metal powder and glass powder, taggant described in Patent Documents 1 and 2, and the like can be used. It is desirable that the fine particles have different reflection characteristics from the material constituting the ink (excluding the fine particles). Moreover, it is desirable that the fine particles are contained in the ink nonuniformly. As the ink pen 201, for example, a pen commercially available with a name such as a lame pen, a lame pen, or a lamellar fluorescent marker can be used. Of course, a pen designed exclusively for the present invention may be used, or a commercially available pen ink may be used by replacing it with an ink mixed with fine particles.
　次に、図３および図４を参照して個体識別装置２００の動作を説明する。 Next, the operation of the individual identification device 200 will be described with reference to FIG. 3 and FIG.
　利用者は、個体識別装置２００を使って物体に個体識別のためのパターンを生成する場合、パターンを生成したい物体の上に、容器２０４の下面が接するように筐体２０３を載置する。このときの個体識別装置２００は図３に示すような状態であり、リミットスイッチ２０９はオン状態、リミットスイッチ２１０はオフ状態になっている。 When a user generates a pattern for individual identification on an object using the individual identification device 200, the user places the casing 203 on the object on which the pattern is to be generated so that the lower surface of the container 204 is in contact with the object. The individual identification device 200 at this time is in a state as shown in FIG. 3, the limit switch 209 is in an on state, and the limit switch 210 is in an off state.
　利用者が、物体上に載置した筐体２０３の蓋２０５を下方に押し下げていくと、図３に示す状態から図４に示す状態へと徐々に遷移していく。まず、蓋２０５が弾性体２１１の反発力に抗して下方に下がっていき、蓋２０５の動きに連動するインクペン２０１のペン先によって可動ミラー２０８の一端が押し下げられ、リミットスイッチ２０９がオン状態からオフ状態に変化する。利用者が、それ以上押し下げることができない位置まで蓋２０５をさらに押し下げると、容器２０４に内蔵されたインクペン２０１のペン先が物体の表面に接触し、ペン先から流出するインクによって物体上に小さな点が描画される。前述したように、インクには微小は粒が不均一に混入しているため、描画される点は、図５に模式的に示すように、微小な粒（図では黒丸で表している）をランダムな位置に含有する点（ドット）となる。またインクペン２０１のペン先が物体の表面に接触するまで蓋２０５が降下すると、リミットスイッチ２１０がオフ状態からオン状態に変化する。 When the user pushes down the lid 205 of the housing 203 placed on the object downward, the state gradually changes from the state shown in FIG. 3 to the state shown in FIG. First, the lid 205 is lowered downward against the repulsive force of the elastic body 211, one end of the movable mirror 208 is pushed down by the pen tip of the ink pen 201 interlocked with the movement of the lid 205, and the limit switch 209 is turned on. Change to off state. When the user further depresses the lid 205 to a position where the user cannot depress further, the pen tip of the ink pen 201 built in the container 204 comes into contact with the surface of the object, and a small dot is formed on the object by the ink flowing out from the pen tip. Is drawn. As described above, since fine particles are mixed non-uniformly in the ink, the drawn points are fine particles (represented by black circles in the drawing) as schematically shown in FIG. The dots (dots) are contained at random positions. When the lid 205 is lowered until the pen tip of the ink pen 201 comes into contact with the surface of the object, the limit switch 210 changes from the off state to the on state.
　次に利用者が、蓋２０５を押し下げていた力を抜くと、弾性体２１１の反発力によって蓋２０５が元の位置に向かって上昇していく。その過程で、まずインクペン２０１のペン先が物体から離れて上昇していき、リミットスイッチ２１０がオン状態からオフ状態へ変化する。蓋２０５がさらに上昇していって図３に示す状態にいたると、可動ミラー２０８が引っ張りバネ２０８ｂの力によって元の位置に復帰し、リミットスイッチ２０９がオン状態からオフ状態に変化する。 Next, when the user removes the force that has pushed down the lid 205, the lid 205 rises toward the original position by the repulsive force of the elastic body 211. In the process, first, the pen tip of the ink pen 201 rises away from the object, and the limit switch 210 changes from the on state to the off state. When the lid 205 is further raised and the state shown in FIG. 3 is reached, the movable mirror 208 returns to the original position by the force of the tension spring 208b, and the limit switch 209 changes from the on state to the off state.
　パターン撮像部２０２は、リミットスイッチ２０９、２１０の状態に基づいて、パターンの生成を検出し、生成したパターンを撮像するタイミングを検出する。例えば、パターン撮像部２０２は、リミットスイッチ２０９がオン状態からオフ状態へ変化し、その後にリミットスイッチ２１０がオフ状態からオン状態へ変化すると、即ち図３の状態から図４の状態へ遷移すると、インクペン２０１によって物体上にパターンが描画されたと判断する。またパターン撮像部２０２は、インクペン２０１によるパターンの描画が行われたと判断した後に、リミットスイッチ２０９がオフ状態からオン状態に変化すると、即ち図４の状態から図３の状態へ遷移すると、描画されたパターンを撮像できるタイミングになったと判断し、内蔵するカメラによって上記描画されたパターンの画像を撮像する。このとき、パターン撮像部２０２は必要に応じて照明器２１４を一時的に点灯させる。 The pattern imaging unit 202 detects the generation of a pattern based on the state of the limit switches 209 and 210, and detects the timing for imaging the generated pattern. For example, when the limit switch 209 changes from the on state to the off state and the limit switch 210 changes from the off state to the on state after that, the pattern imaging unit 202 changes from the state of FIG. 3 to the state of FIG. It is determined that a pattern is drawn on the object by the ink pen 201. The pattern imaging unit 202 draws when the limit switch 209 changes from the off state to the on state after determining that the pattern is drawn by the ink pen 201, that is, when the state transitions from the state of FIG. 4 to the state of FIG. It is determined that it is time to capture the pattern, and an image of the drawn pattern is captured by the built-in camera. At this time, the pattern imaging unit 202 temporarily turns on the illuminator 214 as necessary.
　次にパターン撮像ユニット２０２について詳細に説明する。 Next, the pattern imaging unit 202 will be described in detail.
　図６はパターン撮像ユニット２０２のハードウェア構成の一例を示すブロック図である。この例のパターン撮像ユニット２０２は、カメラ２０２１と、ＭＰＵ（Ｍｉｃｒｏ　Ｐｒｏｃｅｓｓｏｒ　Ｕｎｉｔ）２０２２と、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）２０２３と、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）２０２４と、インターフェイス回路２０２５と、通信回路２０２６と、それらを相互に接続するバス２０２７とから構成される。 FIG. 6 is a block diagram illustrating an example of a hardware configuration of the pattern imaging unit 202. The pattern imaging unit 202 of this example includes a camera 2021, an MPU (Micro Processor Unit) 2022, a ROM (Read Only Memory) 2023, a RAM (Random Access Memory) 2024, an interface circuit 2025, a communication circuit 2026, The bus 2027 connects them to each other.
　カメラ２０２１は、例えば、ＣＣＤ（Ｃｈａｒｇｅ　Ｃｏｕｐｌｅｄ　Ｄｅｖｉｃｅｓ）イメージセンサやＣＭＯＳ（Ｃｏｍｐｌｅｍｅｔａｒｙ　Ｍｅｔａｌ　Ｏｘｉｄｅ）イメージセンサを使用したカメラを使用することができる。 As the camera 2021, for example, a camera using a CCD (Charge Coupled Devices) image sensor or a CMOS (Complementary Metal Oxide) image sensor can be used.
　ＲＯＭ２０２３は、ＭＰＵ２０２２が実行するプログラム等を記憶する。ＲＡＭ２０２４は、カメラ２０２１で撮像された画像データ等を記憶するために使用される。インターフェイス回路２０２５は、図示しない信号線を通じてリミットスイッチ２０９、２１０および照明器２１４に接続されている。通信回路２０２６は、外部装置との間で無線通信する機能を有する。 ROM 2023 stores a program executed by MPU 2022 and the like. The RAM 2024 is used for storing image data captured by the camera 2021. The interface circuit 2025 is connected to the limit switches 209 and 210 and the illuminator 214 through a signal line (not shown). The communication circuit 2026 has a function of performing wireless communication with an external device.
　図７はＭＰＵ２０２２が実行する処理の一例を示すフローチャートである。以下、図３乃至図７を参照して、ＭＰＵ２０２２が実行する処理を説明する。 FIG. 7 is a flowchart showing an example of processing executed by the MPU 2022. Hereinafter, processing executed by the MPU 2022 will be described with reference to FIGS. 3 to 7.
　ＭＰＵ２０２２は、リミットスイッチ２０９の状態を、インターフェイス回路２０２５を通じて読み取り、オフ状態になったか否かを監視している（ステップＳ２０１）。前述したように個体識別装置２００は図３に示したような状態ではリミットスイッチ２０９はオン状態になっており、パターンを生成するために物体上に載置されて蓋２０５が下方に押し下げられると、インクペン２０１のペン先によって可動ミラー２０８の一端が押し下げられ、リミットスイッチ２０９がオン状態からオフ状態に変化する。ＭＰＵ２０２２は、リミットスイッチ２０９がオフ状態に変化したことを検出すると、リミットスイッチ２１０がオン状態に変化したか否かを検出する（ステップＳ２０２）。 The MPU 2022 reads the state of the limit switch 209 through the interface circuit 2025 and monitors whether or not the limit switch 209 is turned off (step S201). As described above, when the individual identification device 200 is in the state shown in FIG. 3, the limit switch 209 is in an on state, and when the individual identification device 200 is placed on the object and the lid 205 is pushed down to generate a pattern. Then, one end of the movable mirror 208 is pushed down by the pen tip of the ink pen 201, and the limit switch 209 changes from the on state to the off state. When the MPU 2022 detects that the limit switch 209 has changed to an off state, the MPU 2022 detects whether or not the limit switch 210 has changed to an on state (step S202).
　利用者が、それ以上押し下げることができない位置まで蓋２０５をさらに押し下げたことによって、リミットスイッチ２１０がオン状態になると、ＭＰＵ２０２２は、容器２０４に内蔵されたインクペン２０１のペン先が物体の表面に接触し、ペン先から流出するインクによって物体上に小さな点のパターンが描画されたと判断し、次に、リミットスイッチ２０９がオン状態に変化するのを監視する（ステップＳ２０３）。他方、ＭＰＵ２０２２は、リミットスイッチ２０９がオフ状態になった後、リミットスイッチ２１０がオン状態になる前にリミットスイッチ２０９がオン状態に復帰した場合には（ステップＳ２０４でＹＥＳ）、インクペン２０１によって描画されることなく蓋２０５が元の位置に戻されたと判断し、ステップＳ２０１の処理へと戻る。 When the limit switch 210 is turned on because the user further depresses the lid 205 to a position where the user cannot depress further, the MPU 2022 causes the pen tip of the ink pen 201 built in the container 204 to contact the surface of the object. Then, it is determined that a small dot pattern has been drawn on the object by the ink flowing out from the pen tip, and then it is monitored that the limit switch 209 is turned on (step S203). On the other hand, when the limit switch 209 returns to the on state before the limit switch 210 is turned on after the limit switch 209 is turned off (YES in step S204), the MPU 2022 is drawn by the ink pen 201. It is determined that the cover 205 has been returned to the original position without any return, and the process returns to step S201.
　次にＭＰＵ２０２２は、ステップＳ２０３においてリミットスイッチ２０９がオン状態になったことを検出すると、カメラ２０２１に対して撮像するように指令を出す（ステップＳ２０５）。カメラ２０２１は、この指令に応じて画像を撮像する。なお、カメラ２０２１は照度が不足する場合には、インターフェイス回路２０２５を通じて照明器２１４を撮影時に一時的に点灯させる。撮影が行われる時点の個体識別装置２００の状態は図３に示すようになっており、カメラ２０２１は、インクペン２０１で物体上に描かれた図５に示したようなパターンの画像を、可動ミラー２０８を通じて真上からの画像として撮像し、撮像して得た画像データをＲＡＭ２０２４の所定の領域に保存する。なお、本実施形態では、インクペン２０１が図３に示す状態に復帰したタイミングでパターンの画像を撮像したが、インクペン２０１が図４に示す状態から一定の距離だけ上方に移動したタイミングで、生成されたパターンの画像を撮像するようにしてもよい。 Next, when detecting that the limit switch 209 is turned on in step S203, the MPU 2022 issues a command to the camera 2021 to take an image (step S205). The camera 2021 captures an image in response to this command. Note that when the illuminance is insufficient, the camera 2021 temporarily turns on the illuminator 214 through the interface circuit 2025 during photographing. The state of the individual identification device 200 at the time of shooting is as shown in FIG. 3, and the camera 2021 displays an image of the pattern shown in FIG. 5 drawn on the object with the ink pen 201 as a movable mirror. The image is captured as an image from directly above through 208, and the image data obtained by capturing is stored in a predetermined area of the RAM 2024. In this embodiment, the image of the pattern is captured at the timing when the ink pen 201 returns to the state shown in FIG. 3, but is generated when the ink pen 201 moves upward by a certain distance from the state shown in FIG. 4. Alternatively, an image of the pattern may be taken.
　次にＭＰＵ２０２２は、ＲＡＭ２０２４に保存された画像データを解析して、描画された点の画像から個体識別子を抽出する（ステップＳ２０６）。次に、ＭＰＵ２０２２は、抽出した個体識別子を含むデータを、通信回路２０２６を通じて外部の登録装置（図示せず）へ送信する（ステップＳ２０７）。ＭＰＵ２０２２は、送信データにＲＯＭ２０２３やＲＡＭ２０２４に記憶された情報、例えばパターンを生成した物体に関する情報や当該個体識別装置２００の識別情報や現在時刻等の属性情報を含めるようにしてもよい。そして、ＭＰＵ２０２２は、次の撮像に備えてステップＳ２０１の処理へと戻る。 Next, the MPU 2022 analyzes the image data stored in the RAM 2024 and extracts the individual identifier from the image of the drawn point (step S206). Next, the MPU 2022 transmits data including the extracted individual identifier to an external registration device (not shown) through the communication circuit 2026 (step S207). The MPU 2022 may include information stored in the ROM 2023 and the RAM 2024 in the transmission data, for example, information on the object that generated the pattern, identification information of the individual identification device 200, and attribute information such as the current time. Then, the MPU 2022 returns to the process of step S201 in preparation for the next imaging.
　ステップＳ２０６において、点等のパターンの画像から個体識別子を抽出する方法は任意である。例えば特許文献１や特許文献２に記載されるように、パターンの画像から粒の分布に依存する特徴量を抽出し、この抽出した特徴量を物体の個体識別子とする方法を使用してよい。また、点等のパターンの画像から、パターンの平面形状および粒の分布に依存する特徴量を、物体の個体識別子として抽出する方法を使用してよい。あるいは、パターンが後述する実施形態におけるような環状パターンである場合、環状パターンを虹彩に見立てて、虹彩認証アルゴリズムによって抽出される識別子を物体の個体識別子としてもよい。 In step S206, the method for extracting the individual identifier from the pattern image such as a point is arbitrary. For example, as described in Patent Document 1 and Patent Document 2, a method may be used in which a feature quantity that depends on the distribution of grains is extracted from a pattern image and the extracted feature quantity is used as an individual identifier of an object. Further, a method may be used in which a feature quantity depending on the planar shape of the pattern and the distribution of grains is extracted as an individual identifier of the object from a pattern image such as a point. Alternatively, when the pattern is an annular pattern as in an embodiment described later, an identifier extracted by an iris authentication algorithm may be used as an individual identifier of an object, assuming the annular pattern as an iris.
　このように本実施形態によれば、パターン撮像ユニット２０２は、インクペン２０１によって物体上にパターンが生成されたことを検出して撮像を行うため、パターンの生成と撮像との間に食い違いが生じるのを防ぐことができる。 As described above, according to the present embodiment, since the pattern imaging unit 202 detects the pattern generated on the object by the ink pen 201 and performs imaging, there is a discrepancy between pattern generation and imaging. Can be prevented.
　また本実施形態によれば、物体上に生成したパターンをその真上からの画像として撮像することができる。 Further, according to the present embodiment, a pattern generated on an object can be captured as an image from directly above.
　また本実施形態によれば、撮像したパターンから個体識別子を抽出し、外部の登録装置へ送信することができる。 Further, according to this embodiment, an individual identifier can be extracted from the captured pattern and transmitted to an external registration device.
　本実施形態では、可動ミラー２０８を使用したが、可動ミラー２０８を省略する構成にしてもよい。この場合、図８および図９に示すように、例えば、インクペン２０１は、その先端が容器２０４の下面中央の上方に位置するように固定板２１３に斜めに取り付ける。また、パターン撮像ユニット２０２は、その内蔵するカメラの撮像方向が容器２０４の下面中央を向くように、容器２０４に固定する。図８および図９に示す構成によれば、可動ミラー２０８が省略されるため構成が簡易になる。なお、図８および図９において、リミットスイッチ２１５は、リミットスイッチ２０９の代替であり、蓋２０５が押下されていない場合にオン状態になる。 In this embodiment, the movable mirror 208 is used, but the movable mirror 208 may be omitted. In this case, as shown in FIGS. 8 and 9, for example, the ink pen 201 is attached to the fixing plate 213 obliquely so that the tip thereof is located above the center of the lower surface of the container 204. The pattern imaging unit 202 is fixed to the container 204 so that the imaging direction of the built-in camera faces the center of the lower surface of the container 204. According to the configuration shown in FIG. 8 and FIG. 9, the configuration is simplified because the movable mirror 208 is omitted. 8 and 9, the limit switch 215 is an alternative to the limit switch 209 and is turned on when the lid 205 is not pressed.
　また、描画したパターンの画像にインクペン２０１の一部が写っても支障がないならば、インクペン２０１の先端が物体に接触している状態（例えば図４或いは図９の状態）で撮像を行うようにしてもよい。さらに、インクペン２０１のペン先を軸方向に進退自在に構成し、図３或いは図８の状態においてペン先が容器２０４の下面まで達するようにしておき、蓋２０５を押し下げるとペン先が物体に押し当てられた状態のまま縮むように構成されていてもよい。 Further, if there is no problem even if a part of the ink pen 201 is reflected in the drawn pattern image, the imaging is performed in a state where the tip of the ink pen 201 is in contact with an object (for example, the state of FIG. 4 or FIG. 9). It may be. Further, the pen tip of the ink pen 201 is configured to be movable back and forth in the axial direction. In the state shown in FIG. 3 or FIG. 8, the pen tip reaches the lower surface of the container 204. When the lid 205 is pushed down, the pen tip is pushed against the object. You may be comprised so that it may shrink in the applied state.
　また本実施形態では、インクペン２０１を使用したが、インクペン２０１の代わりに、インクを適量（例えば１滴）だけ滴下させるインク滴下器や、インクを適量だけ吹き付けるインク噴射器や、インクを刷毛やフェルト材によって適量だけ塗布する塗布器を使用してもよい。あるいはインクペン２０１の代わりに、物体上にランダムパターンを形成するレーザ加工機を使用してもよい。 In this embodiment, the ink pen 201 is used. However, instead of the ink pen 201, an ink dropping device that drops an appropriate amount of ink (for example, one drop), an ink ejector that sprays an appropriate amount of ink, or a brush or felt for ink. An applicator that applies an appropriate amount depending on the material may be used. Alternatively, a laser processing machine that forms a random pattern on an object may be used instead of the ink pen 201.
　また本実施形態では、パターンを生成しその画像を撮像する毎に、個体識別子の抽出と登録装置への送信を行ったが、撮像した画像を一旦メモリ（ＲＡＭ等）に蓄積し、後刻に個体識別子の抽出と登録装置への送信を行うようにしてもよい。また本実施形態では、登録装置へ個体識別子を送信したが、それに代えて或いはそれに加えて、撮像したパターンの画像を登録装置へ送信するようにしてもよい。 In this embodiment, each time a pattern is generated and the image is captured, the individual identifier is extracted and transmitted to the registration device. However, the captured image is temporarily stored in a memory (RAM or the like), and the individual is later displayed. The identifier may be extracted and transmitted to the registration device. In this embodiment, the individual identifier is transmitted to the registration device. However, instead of or in addition to this, an image of the captured pattern may be transmitted to the registration device.
[第３の実施形態]
　本実施形態では、第１の実施形態に係る個体識別装置１００をより具体化した他の実施形態について説明する。 [Third embodiment]
In the present embodiment, another embodiment in which the individual identification device 100 according to the first embodiment is more specific will be described.
　図１０を参照すると、本発明の第３の実施形態に係る個体識別装置３００は、図３を参照して説明した第２の実施形態に係る個体識別装置２００のインクペン２０１が、第１のインクジェットノズル３３１、第１のインクジェット３３２、第１のインクカートリッジ３３３、第２のインクジェットノズル３４１、第２のインクジェット３４２、第２のインクカートリッジ３４３に置き換えられ、パターン撮像ユニット２０２がパターン撮像ユニット３５１に置き換えられている。その他、第２の実施形態に係る個体識別装置２００と同じ部材には同じ符号を付している。 Referring to FIG. 10, in the individual identification device 300 according to the third embodiment of the present invention, the ink pen 201 of the individual identification device 200 according to the second embodiment described with reference to FIG. The nozzle 331, the first inkjet 332, the first ink cartridge 333, the second inkjet nozzle 341, the second inkjet 342, and the second ink cartridge 343 are replaced, and the pattern imaging unit 202 is replaced with the pattern imaging unit 351. It has been. In addition, the same members as those of the individual identification device 200 according to the second embodiment are denoted by the same reference numerals.
　第１のインクジェットノズル３３１と第２のインクジェットノズル３４１は、近接して配置されており、そのノズルは容器２０４の下面に向かって真下に延びている。蓋２０５が上から押下されていない図１０に示す状態のとき、第１のインクジェットノズル３３１および第２のインクジェットノズル３４１の先端は、可動ミラー２０８に接触しない位置（待機位置）にある。他方、蓋２０５が上から押下されている図１１に示す状態では、蓋２０５と一体で上下する第１のインクジェットノズル３３１および第２のインクジェットノズル３４１の先端は、可動ミラー２０８の一端を押し下げて、容器２０４の下面近傍まで達する位置（生成位置）にある。これらのノズルによって可動ミラー２０８の一端が押し下げられると、可動ミラー２０８の端部がリミットスイッチ２０９から離れ、リミットスイッチ２０９はオフ状態になる。またノズルの先端が容器２０４の下面近傍に達すると、図１１に示すように、固定板２１３がリミットスイッチ２１０に当接し、リミットスイッチ２１０がオン状態になる。 The first ink-jet nozzle 331 and the second ink-jet nozzle 341 are arranged close to each other, and the nozzle extends directly below the lower surface of the container 204. In the state shown in FIG. 10 where the lid 205 is not pressed from above, the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 are in a position (standby position) where they do not contact the movable mirror 208. On the other hand, in the state shown in FIG. 11 where the lid 205 is pushed down from above, the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 that move up and down integrally with the lid 205 push down one end of the movable mirror 208. In the position (generation position) reaching the vicinity of the lower surface of the container 204. When one end of the movable mirror 208 is pushed down by these nozzles, the end of the movable mirror 208 is separated from the limit switch 209, and the limit switch 209 is turned off. When the tip of the nozzle reaches the vicinity of the lower surface of the container 204, the fixing plate 213 comes into contact with the limit switch 210 as shown in FIG. 11, and the limit switch 210 is turned on.
　第１のインクカートリッジ３３３は、微小な粒を混入したインクを蓄えている。微小な粒としては、金属粉やガラス粉などの微粒子や、特許文献１および２に記載されるタガントなどが使用できる。微小な粒は、インクを構成する材料（当該微小な粒を除く）と反射特性が異なる粒であることが望ましい。また微小な粒は、インクに不均一に含有していることが望ましい。第１のインクジェット３３２は、図示しない信号線を通じてパターン撮像ユニット３５１から出力指令を受けると、第１のインクカートリッジ３３３から供給されるインクを所定の圧力で一定時間だけ第１のインクジェットノズル３３１の先端から外部に噴出させる。 The first ink cartridge 333 stores ink mixed with minute particles. As fine particles, fine particles such as metal powder and glass powder, taggant described in Patent Documents 1 and 2, and the like can be used. It is desirable that the fine particles have different reflection characteristics from the material constituting the ink (excluding the fine particles). Moreover, it is desirable that the fine particles are contained in the ink nonuniformly. When the first inkjet 332 receives an output command from the pattern imaging unit 351 through a signal line (not shown), the tip of the first inkjet nozzle 331 is supplied with the ink from the first ink cartridge 333 at a predetermined pressure for a certain period of time. From outside.
　他方、第２のインクカートリッジ３４３は、上述したような微小な粒が混入していないインクを蓄えている。例えば、第２のインクカートリッジ３４３は、黒等の単一色の通常のインクを蓄えている。第２のインクジェット３４２は、図示しない信号線を通じてパターン撮像ユニット３５１から出力指令を受けると、第２のインクカートリッジ３４３から供給されるインクを所定の圧力で一定時間だけ第２のインクジェットノズル３４１の先端から外部に噴出させる。 On the other hand, the second ink cartridge 343 stores ink that is not mixed with fine particles as described above. For example, the second ink cartridge 343 stores normal ink of a single color such as black. When the second inkjet 342 receives an output command from the pattern imaging unit 351 through a signal line (not shown), the tip of the second inkjet nozzle 341 is supplied with the ink from the second ink cartridge 343 at a predetermined pressure for a certain period of time. From outside.
　ここで、第１のインクジェットノズル３３１により描画する点のサイズは、第２のインクジェットノズル３４１により描画する点のサイズより十分に大きくなるように設定されている。例えば、単位時間当たりに噴出するインク量が第２のインクジェットノズル３４１に比べて第１のインクジェットノズル３３１の方が多くなるように、第１のインクジェット３３２および第２のインクジェット３４２がインクの流出量を調整するように構成されている。また、第１のインクジェットノズル３３１のノズル径が第２のインクジェットノズル３４１よりも大きくなっていてもよい。 Here, the size of the point drawn by the first inkjet nozzle 331 is set to be sufficiently larger than the size of the point drawn by the second inkjet nozzle 341. For example, the first ink-jet 332 and the second ink-jet 342 have an ink outflow amount so that the amount of ink ejected per unit time is larger in the first ink-jet nozzle 331 than in the second ink-jet nozzle 341. Configured to adjust. Further, the nozzle diameter of the first inkjet nozzle 331 may be larger than that of the second inkjet nozzle 341.
　図１２は、第１のインクジェットノズル３３１によって物体上に点を描画し、その直後にその点の上に第２のインクジェットノズル３４１によって小さな点を描画して得られるパターンを模式的に示している。図１２において、領域３６１が第１のインクジェットノズル３３１によって描画された点に相当し、領域３６２が第２のインクジェットノズル３４１によって描画された点に相当する。領域３６１は微小な粒（図では黒丸で表している）をランダムな位置に含有するが、領域３６２は含有していない。そのため、微小な粒を含有する領域３６１の形状が環状になっている。 FIG. 12 schematically shows a pattern obtained by drawing a point on an object by the first ink jet nozzle 331 and drawing a small point by the second ink jet nozzle 341 immediately after that. . In FIG. 12, a region 361 corresponds to a point drawn by the first inkjet nozzle 331, and a region 362 corresponds to a point drawn by the second inkjet nozzle 341. The region 361 contains minute grains (represented by black circles in the figure) at random positions, but does not contain the region 362. For this reason, the shape of the region 361 containing minute grains is annular.
　次に、図１０乃至図１２を参照して個体識別装置３００の動作を説明する。 Next, the operation of the individual identification device 300 will be described with reference to FIGS.
　利用者は、個体識別装置３００を使って物体に個体識別のためのパターンを生成する場合、パターンを生成したい物体の上に、容器２０４の下面が接するように筐体２０３を載置する。このときの個体識別装置３００は図１０に示すような状態であり、リミットスイッチ２０９はオン状態、リミットスイッチ２１０はオフ状態になっている。 When a user generates a pattern for individual identification on an object using the individual identification device 300, the user places the casing 203 on the object whose pattern is to be generated so that the lower surface of the container 204 is in contact with the object. At this time, the individual identification device 300 is in a state as shown in FIG. 10, the limit switch 209 is in the on state, and the limit switch 210 is in the off state.
　利用者が、物体上に載置した筐体２０３の蓋２０５を下方に押し下げていくと、図１０に示す状態から図１１に示す状態へと徐々に遷移していく。まず、蓋２０５が弾性体２１１の反発力に抗して下方に下がっていき、蓋２０５の動きに連動する第１のインクジェットノズル３３１および第２のインクジェットノズル３４１によって可動ミラー２０８の一端が押し下げられ、リミットスイッチ２０９がオン状態からオフ状態に変化する。利用者が、それ以上押し下げることができない位置まで蓋２０５をさらに押し下げると、固定板２１３がリミットスイッチ２１０に当接し、リミットスイッチ２１０がオフ状態からオン状態に変化する。この時点で、第１のインクジェットノズル３３１および第２のインクジェットノズル３４１の先端が容器２０４の下面近傍に達する。このため、第１のインクジェットノズル３３１および第２のインクジェットノズル３４１の先端からインクを噴出させることにより、物体上に図１２に示したようなパターンを描画することができる。 When the user pushes down the lid 205 of the housing 203 placed on the object downward, the state gradually changes from the state shown in FIG. 10 to the state shown in FIG. First, the lid 205 moves downward against the repulsive force of the elastic body 211, and one end of the movable mirror 208 is pushed down by the first inkjet nozzle 331 and the second inkjet nozzle 341 that are interlocked with the movement of the lid 205. The limit switch 209 changes from the on state to the off state. When the user further depresses the lid 205 to a position where it cannot be depressed further, the fixing plate 213 comes into contact with the limit switch 210, and the limit switch 210 changes from the off state to the on state. At this point, the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 reach the vicinity of the lower surface of the container 204. Therefore, by ejecting ink from the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341, a pattern as shown in FIG. 12 can be drawn on the object.
　次に利用者が、蓋２０５を押し下げていた力を抜くと、弾性体２１１の反発力によって蓋２０５が元の位置に向かって上昇していく。その過程で、まず第１のインクジェットノズル３３１および第２のインクジェットノズル３４１の先端が上昇していき、リミットスイッチ２１０がオン状態からオフ状態へ変化する。蓋２０５がさらに上昇して図１０に示す状態にいたると、可動ミラー２０８が引っ張りバネ２０８ｂの力によって元の位置に復帰し、リミットスイッチ２０９がオフ状態からオン状態に変化する。 Next, when the user removes the force that has pushed down the lid 205, the lid 205 rises toward the original position by the repulsive force of the elastic body 211. In the process, first, the tips of the first inkjet nozzle 331 and the second inkjet nozzle 341 rise, and the limit switch 210 changes from the on state to the off state. When the lid 205 is further raised to the state shown in FIG. 10, the movable mirror 208 returns to the original position by the force of the tension spring 208b, and the limit switch 209 changes from the off state to the on state.
　パターン撮像部３５１は、リミットスイッチ２０９、２１０の状態に基づいて、パターンの生成タイミング、生成したパターンを撮像するタイミングを検出する。例えば、パターン撮像部３５１は、リミットスイッチ２０９がオン状態からオフ状態へ変化し、その後にリミットスイッチ２１０がオフ状態からオン状態へ変化すると、即ち図１０の状態から図１１の状態へ遷移すると、第１のインクジェットノズル３３１および第２のインクジェットノズル３４１によるパターンの生成が可能なタイミングが到来したと判断し、第１のインクジェット３３２および第２のインクジェット３４２を制御してパターンを生成する。またパターン撮像部３５１は、パターンの生成後に、リミットスイッチ２０９がオフ状態からオン状態に変化すると、即ち図１１の状態から図１０の状態へ遷移すると、描画したパターンを撮像できるタイミングになったと判断し、内蔵するカメラにより撮像を行う。 The pattern imaging unit 351 detects the generation timing of the pattern and the timing of imaging the generated pattern based on the state of the limit switches 209 and 210. For example, when the limit switch 209 changes from an on state to an off state and then the limit switch 210 changes from an off state to an on state, that is, the pattern imaging unit 351 changes from the state of FIG. 10 to the state of FIG. It is determined that the timing at which a pattern can be generated by the first inkjet nozzle 331 and the second inkjet nozzle 341 has arrived, and the first inkjet 332 and the second inkjet 342 are controlled to generate a pattern. The pattern imaging unit 351 determines that it is time to capture the drawn pattern when the limit switch 209 changes from the off state to the on state after the pattern is generated, that is, when the state transitions from the state of FIG. 11 to the state of FIG. Then, the image is taken with the built-in camera.
　次にパターン撮像ユニット３５１について詳細に説明する。 Next, the pattern imaging unit 351 will be described in detail.
　図１３はパターン撮像ユニット３５１のハードウェア構成の一例を示すブロック図である。この例のパターン撮像ユニット３５１は、カメラ３５１１と、ＭＰＵ３５１２と、ＲＯＭ３５１３と、ＲＡＭ３５１４と、インターフェイス回路３５１５と、通信回路３５１６と、それらを相互に接続するバス３５１７とから構成される。このうち、カメラ３５１１、ＲＯＭ３５１３、ＲＡＭ３５１４、および通信回路３５１６は、図６を参照して説明したカメラ２０２１、ＲＯＭ２０２３、ＲＡＭ２０２４、および通信回路２０２６と同様の機能を有する。インターフェイス回路２０２５は、図示しない信号線を通じてリミットスイッチ２０９、２１０、照明器２１４、第１のインクジェット３３２、第２のインクジェット３４２に接続されている。 FIG. 13 is a block diagram illustrating an example of a hardware configuration of the pattern imaging unit 351. The pattern imaging unit 351 in this example includes a camera 3511, an MPU 3512, a ROM 3513, a RAM 3514, an interface circuit 3515, a communication circuit 3516, and a bus 3517 that connects them to each other. Among these, the camera 3511, the ROM 3513, the RAM 3514, and the communication circuit 3516 have the same functions as the camera 2021, the ROM 2023, the RAM 2024, and the communication circuit 2026 described with reference to FIG. The interface circuit 2025 is connected to the limit switches 209 and 210, the illuminator 214, the first inkjet 332, and the second inkjet 342 through signal lines (not shown).
　図１４はＭＰＵ３５１２が実行する処理の一例を示すフローチャートである。以下、図１０乃至図１４を参照して、ＭＰＵ３５１２が実行する処理を説明する。 FIG. 14 is a flowchart showing an example of processing executed by the MPU 3512. Hereinafter, processing executed by the MPU 3512 will be described with reference to FIGS. 10 to 14.
　ＭＰＵ３５１２は、リミットスイッチ２０９の状態を、インターフェイス回路３５１５を通じて読み取り、オフ状態になったか否かを監視している（ステップＳ３０１）。前述したように個体識別装置３００は図１０に示した状態ではリミットスイッチ２０９はオン状態になっており、パターンを生成するために物体上に載置されて蓋２０５が下方に押し下げられると、第１および第２のインクジェットノズル３３１、３４１の先端によって可動ミラー２０８の一端が押し下げられ、リミットスイッチ２０９がオン状態からオフ状態に変化する。ＭＰＵ３５１５は、リミットスイッチ２０９がオフ状態に変化したことを検出すると、リミットスイッチ２１０がオン状態に変化したか否かを検出する（ステップＳ３０２）。 The MPU 3512 reads the state of the limit switch 209 through the interface circuit 3515 and monitors whether or not the limit switch 209 is turned off (step S301). As described above, in the individual identification device 300, the limit switch 209 is in the on state in the state shown in FIG. 10, and when the lid 205 is pushed down to be placed on the object to generate the pattern, the first switch One end of the movable mirror 208 is pushed down by the tips of the first and second inkjet nozzles 331 and 341, and the limit switch 209 changes from the on state to the off state. When the MPU 3515 detects that the limit switch 209 has changed to an off state, the MPU 3515 detects whether or not the limit switch 210 has changed to an on state (step S302).
　利用者が、それ以上押し下げることができない位置まで蓋２０５をさらに押し下げたことによって、リミットスイッチ２１０がオン状態になると、ＭＰＵ３５１５は、物体上へのパターンの生成が可能になったと判断し、パターンの生成を行う（ステップＳ３０３）。具体的には、ＭＰＵ３５１５は、最初に第１のインクジェット３３２に対して指令を出し、所定時間経過後に第２のインクジェット３４２に対して指令を出す。第１のインクジェット３３２は、指令に応答してインクカートリッジ３３３から供給されるインクを所定量だけ第１のインクジェットノズル３３１の先端から噴出させることにより、物体上に大きな点を描画する。また第２のインクジェット３４２は、指令に応答してインクカートリッジ３４３から供給されるインクを所定量だけ第２のインクジェットノズル３４１の先端から噴出させることにより、上記物体上に描かれた点内に小さな点を描画する。そして、ＭＰＵ３５１５は、リミットスイッチ２０９がオン状態に変化するのを監視する（ステップＳ３０４）。他方、ＭＰＵ３５１５は、リミットスイッチ２０９がオフ状態になった後、リミットスイッチ２１０がオン状態になる前にリミットスイッチ２０９がオン状態に復帰した場合には（ステップＳ３０５でＹＥＳ）、下降中の蓋２０５が途中で上昇したと判断し、ステップＳ３０１の処理へと戻る。 When the limit switch 210 is turned on because the user further depresses the lid 205 to a position where the user cannot depress it further, the MPU 3515 determines that the pattern can be generated on the object, and the pattern Generation is performed (step S303). Specifically, the MPU 3515 first issues a command to the first inkjet 332, and issues a command to the second inkjet 342 after a predetermined time has elapsed. The first inkjet 332 draws a large dot on the object by ejecting a predetermined amount of ink supplied from the ink cartridge 333 from the tip of the first inkjet nozzle 331 in response to the command. Further, the second inkjet 342 is small within a point drawn on the object by ejecting a predetermined amount of ink supplied from the ink cartridge 343 from the tip of the second inkjet nozzle 341 in response to the command. Draw a point. Then, the MPU 3515 monitors whether the limit switch 209 is turned on (step S304). On the other hand, if the limit switch 209 returns to the on state before the limit switch 210 is turned on after the limit switch 209 is turned off (YES in step S305), the MPU 3515 lowers the lid 205 being lowered. Is determined to have risen in the middle, and the process returns to step S301.
　次にＭＰＵ３５１５は、ステップＳ３０４においてリミットスイッチ２０９がオン状態になったことを検出すると、カメラ３５１１に対して撮像するように指令を出す（ステップＳ３０６）。カメラ３５１１は、この指令に応じて物体上に生成されたパターンの画像を撮像する。このときの個体識別装置３００の状態は図１０に示すようになっており、カメラ３５１１は、物体上に描かれた点の画像を可動ミラー２０８を通じて真上からの画像として撮像し、撮像して得た画像データをＲＡＭ３５１４の所定の領域に保存する。 Next, when the MPU 3515 detects that the limit switch 209 is turned on in step S304, the MPU 3515 instructs the camera 3511 to take an image (step S306). The camera 3511 captures an image of a pattern generated on the object in response to this command. The state of the individual identification device 300 at this time is as shown in FIG. 10, and the camera 3511 picks up an image of a point drawn on the object as an image from directly above through the movable mirror 208, and picks up the image. The obtained image data is stored in a predetermined area of the RAM 3514.
　次にＭＰＵ３５１２は、ＲＡＭ３５１４に保存された画像データを解析して、描画された点の画像から個体識別子を抽出する（ステップＳ３０７）。次に、ＭＰＵ３５１２は、抽出した個体識別子を、通信回路３５１６を通じて外部の登録装置（図示せず）へ送信する（ステップＳ３０８）。そして、ＭＰＵ３５１２は、次のパターンの生成と撮像に備えてステップＳ３０１の処理へと戻る。 Next, the MPU 3512 analyzes the image data stored in the RAM 3514, and extracts an individual identifier from the image of the drawn point (step S307). Next, the MPU 3512 transmits the extracted individual identifier to an external registration device (not shown) through the communication circuit 3516 (step S308). Then, the MPU 3512 returns to the process of step S301 in preparation for the generation and imaging of the next pattern.
　このように本実施形態によれば、パターン撮像ユニット３５１は、第１および第２のインクジェットノズル３３１、３４１によって物体上にパターンが生成されたことを検出して撮像を行うため、パターンの生成と撮像との間に食い違いが生じるのを防ぐことができる。 As described above, according to the present embodiment, the pattern imaging unit 351 detects the pattern generated on the object by the first and second inkjet nozzles 331 and 341, and performs image capturing. It is possible to prevent a discrepancy from occurring during imaging.
　また本実施形態によれば、微小な粒がランダムに分布する環状のパターンを物体上に生成することができる。また、図１２に示すような非対称パターンにすると、パターンの撮影時の向きが決定できるため、照合時における位置合わせや向きの推定が不要になり、照合処理の高速化が可能になる。 Further, according to the present embodiment, an annular pattern in which minute grains are randomly distributed can be generated on the object. In addition, when the asymmetric pattern as shown in FIG. 12 is used, the orientation of the pattern at the time of photographing can be determined, so that alignment and direction estimation at the time of collation are unnecessary, and the collation process can be speeded up.
　また本実施形態によれば、物体上に生成したパターンをその真上からの画像として撮像することができる。 Further, according to the present embodiment, a pattern generated on an object can be captured as an image from directly above.
　また本実施形態によれば、撮像したパターンから個体識別子を抽出し、外部の登録装置へ送信することができる。 Further, according to this embodiment, an individual identifier can be extracted from the captured pattern and transmitted to an external registration device.
　本実施形態では、可動ミラー２０８を使用したが、可動ミラー２０８を省略する構成にしてもよい。この場合、第２の実施形態の変形例を示す図８および図９と同様に、例えば、インクジェットノズル３３１およびインクジェットノズル３４１は、その先端が容器２０４の下面中央の上方に位置するように固定板２１３に斜めに取り付ける。また、パターン撮像ユニット２０２は、その内蔵するカメラの撮像方向が容器２０４の下面中央を向くように、容器２０４に固定する。このような構成によれば、可動ミラー２０８が省略されるため構成が簡易になる。 In this embodiment, the movable mirror 208 is used, but the movable mirror 208 may be omitted. In this case, similarly to FIG. 8 and FIG. 9 showing the modification of the second embodiment, for example, the inkjet nozzle 331 and the inkjet nozzle 341 are fixed so that their tips are located above the center of the lower surface of the container 204. Attach to 213 diagonally. The pattern imaging unit 202 is fixed to the container 204 so that the imaging direction of the built-in camera faces the center of the lower surface of the container 204. According to such a configuration, since the movable mirror 208 is omitted, the configuration is simplified.
　また、描画した点の画像にインクジェットノズル３３１およびインクジェットノズル３４１の一部が写っても支障がないならば、インクジェットノズル３３１およびインクジェットノズル３４１の先端が物体の近傍に位置している状態（例えば図１１の状態）で撮像を行うようにしてもよい。 Further, if there is no problem even if a part of the ink jet nozzle 331 and the ink jet nozzle 341 is reflected in the image of the drawn point, the state where the tip of the ink jet nozzle 331 and the ink jet nozzle 341 is located in the vicinity of the object (for example, FIG. 11 state).
　本実施形態では、インクジェットを使用したが、インクジェットの代わりに、インクを適量（例えば１滴）だけ滴下させることができるインク滴下器や、インクを適量だけ吹き付けることができるインク噴射器や、インクを刷毛によって適量だけ塗布することができる塗布器を２組使用してもよい。あるいはインクジェットの代わりに、物体上に環状のランダムパターンを形成するレーザ加工機を使用してもよい。 In this embodiment, ink jet is used, but instead of ink jet, an ink drop device that can drop an appropriate amount of ink (for example, one drop), an ink ejector that can spray an appropriate amount of ink, You may use 2 sets of applicators which can apply | coat only an appropriate amount with a brush. Or you may use the laser processing machine which forms a cyclic | annular random pattern on an object instead of an inkjet.
　また本実施形態では、パターンを生成しその画像を撮像する毎に、個体識別子の抽出と登録装置への送信を行ったが、撮像した画像を一旦メモリ（ＲＡＭ等）に蓄積し、後刻に個体識別子の抽出と登録装置への送信を行うようにしてもよい。また本実施形態では、登録装置へ個体識別子を送信したが、それに代えて或いはそれに加えて、撮像したパターンの画像を登録装置へ送信するようにしてもよい。 In this embodiment, each time a pattern is generated and the image is captured, the individual identifier is extracted and transmitted to the registration device. However, the captured image is temporarily stored in a memory (RAM or the like), and the individual is later displayed. The identifier may be extracted and transmitted to the registration device. In this embodiment, the individual identifier is transmitted to the registration device. However, instead of or in addition to this, an image of the captured pattern may be transmitted to the registration device.
[第４の実施形態]
　本実施形態では、第１の実施形態に係る個体識別装置１００をより具体化した他の実施形態について説明する。 [Fourth Embodiment]
In the present embodiment, another embodiment in which the individual identification device 100 according to the first embodiment is more specific will be described.
　図１５を参照すると、本発明の第４の実施形態に係る個体識別装置４００は、図３を参照して説明した第２の実施形態に係る個体識別装置２００のインクペン２０１が、スタンプ４０１に置き換えられ、パターン撮像ユニット２０２がパターン撮像ユニット４０２に置き換えられている。また、リミットスイッチ４０３が新たに設けられている。その他、第２の実施形態に係る個体識別装置２００と同じ部材には同じ符号を付している。 Referring to FIG. 15, in the individual identification device 400 according to the fourth embodiment of the present invention, the ink pen 201 of the individual identification device 200 according to the second embodiment described with reference to FIG. The pattern imaging unit 202 is replaced with the pattern imaging unit 402. Further, a limit switch 403 is newly provided. In addition, the same members as those of the individual identification device 200 according to the second embodiment are denoted by the same reference numerals.
　スタンプ４０１は、円柱状の心材４１３の一端側に、中空円柱の形状を有するフェルト材４１１を嵌め込んで固定し、またフェルト材４１１の上側の心材部分にインクタンク４１２を取り付けた構造を有しており、心材４１３の他端側を固定板２１３の下面に固定することにより、蓋２０３の動きに連動して上下動するように構成されている。また、パターン撮像ユニット４０２から延びるファイバースコープ４１４が心材４１３の上端の側面から下端まで貫通し、その先端部分に装着されたレンズによって取得された画像がパターン撮像ユニット４０２まで伝達されるようになっている。 The stamp 401 has a structure in which a felt material 411 having a hollow cylindrical shape is fitted and fixed to one end side of a cylindrical core material 413, and an ink tank 412 is attached to the upper core material portion of the felt material 411. The other end side of the core material 413 is fixed to the lower surface of the fixing plate 213 so that it moves up and down in conjunction with the movement of the lid 203. Further, a fiber scope 414 extending from the pattern imaging unit 402 penetrates from the side surface at the upper end of the core material 413 to the lower end, and an image acquired by a lens attached to the tip portion is transmitted to the pattern imaging unit 402. Yes.
　インクタンク４１２は、微小な粒を混入したインクを蓄えている。微小な粒としては、金属粉やガラス粉などの微粒子や、特許文献１および２に記載されるタガントなどが使用できる。微小な粒は、インクを構成する材料（当該微小な粒を除く）と反射特性が異なる粒であることが望ましい。また微小な粒は、インクに不均一に含有していることが望ましい。インクタンク４３２に充填してあるインクは、毛細現象によりフェルト材４３１に常に染み込むようになっている。 The ink tank 412 stores ink mixed with fine particles. As fine particles, fine particles such as metal powder and glass powder, taggant described in Patent Documents 1 and 2, and the like can be used. It is desirable that the fine particles have different reflection characteristics from the material constituting the ink (excluding the fine particles). Moreover, it is desirable that the fine particles are contained in the ink nonuniformly. The ink filled in the ink tank 432 always soaks into the felt material 431 due to a capillary phenomenon.
　蓋２０５が上から押下されていない図１５に示す状態のとき、フェルト材４１１の下面は、容器２０４の底面から離れた位置（待機位置）にある。また、この状態では、固定板２１３の上面がリミットスイッチ４０３に当接し、リミットスイッチ４０３はオン状態になっている。他方、蓋２０５が上から押下されている図１６に示す状態では、蓋２０５と一体で上下するフェルト材４１１の下面は、容器２０４の下面まで達する位置（生成位置）にある。その結果、容器２０４が物体上に載置されている場合、中空円柱のフェルト材４１１の下面から染み出るインクによって、物体上にパターンが生成される。前述したように、インクには微小は粒が不均一に混入しているため、描画されるパターンは、図１７に模式的に示すように、微小な粒（図では黒丸で表している）をランダムな位置に含有する環状のパターンになる。またフェルト材４１１の下面が物体の表面に接触するまで蓋２０５が降下すると、リミットスイッチ２１０がオフ状態からオン状態に変化する。 When the lid 205 is not pressed from above, the lower surface of the felt material 411 is at a position (standby position) away from the bottom surface of the container 204. In this state, the upper surface of the fixed plate 213 contacts the limit switch 403, and the limit switch 403 is in an on state. On the other hand, in the state shown in FIG. 16 in which the lid 205 is pressed from above, the lower surface of the felt material 411 that moves up and down integrally with the lid 205 is at a position (generation position) that reaches the lower surface of the container 204. As a result, when the container 204 is placed on the object, a pattern is generated on the object by the ink that oozes from the lower surface of the felt material 411 of the hollow cylinder. As described above, since fine particles are mixed unevenly in the ink, the pattern to be drawn includes fine particles (represented by black circles in the drawing) as schematically shown in FIG. It becomes an annular pattern containing at random positions. When the lid 205 is lowered until the lower surface of the felt material 411 contacts the surface of the object, the limit switch 210 changes from the off state to the on state.
　次に、図１５および図１６を参照して個体識別装置４００の動作を説明する。 Next, the operation of the individual identification device 400 will be described with reference to FIGS. 15 and 16.
　利用者は、個体識別装置４００を使って物体に個体識別のためのパターンを生成する場合、パターンを生成したい物体の上に、容器２０４の下面が接するように筐体２０３を載置する。このときの個体識別装置４００は図１５に示すような状態であり、リミットスイッチ４０３はオン状態、リミットスイッチ２１０はオフ状態になっている。 When a user generates a pattern for individual identification on an object using the individual identification device 400, the user places the casing 203 on the object whose pattern is to be generated so that the lower surface of the container 204 is in contact with the object. The individual identification device 400 at this time is in a state as shown in FIG. 15, where the limit switch 403 is in an on state and the limit switch 210 is in an off state.
　利用者が、物体上に載置した筐体２０３の蓋２０５を下方に押し下げていくと、図１５に示す状態から図１６に示す状態へと徐々に遷移していく。そして、利用者が、それ以上押し下げることができない位置まで蓋２０５を押し下げると、蓋２０５と連動して下降するスタンプ４０１のフェルト材４１１の下面が物体に押し当てられ、物体上に環状のパターンが生成される。また、蓋２０５と連動して下降する固定板２１３がリミットスイッチ２１０に当接するため、リミットスイッチ２１０がオン状態に変化する。 When the user pushes down the lid 205 of the housing 203 placed on the object downward, the state gradually changes from the state shown in FIG. 15 to the state shown in FIG. Then, when the user pushes down the lid 205 to a position where it cannot be pushed down any more, the lower surface of the felt material 411 of the stamp 401 that descends in conjunction with the lid 205 is pressed against the object, and an annular pattern is formed on the object. Generated. In addition, since the fixed plate 213 descending in conjunction with the lid 205 comes into contact with the limit switch 210, the limit switch 210 changes to the on state.
　次に利用者が、蓋２０５を押し下げていた力を抜くと、弾性体２１１の反発力によって蓋２０５が元の位置に向かって上昇していく。その過程で、まずリミットスイッチ２１０がオン状態からオフ状態へ変化する。蓋２０５がさらに上昇して図１５に示す状態にいたると、リミットスイッチ４０３がオフ状態からオン状態に変化する。 Next, when the user removes the force that has pushed down the lid 205, the lid 205 rises toward the original position by the repulsive force of the elastic body 211. In the process, first, the limit switch 210 changes from the on state to the off state. When the lid 205 is further raised to the state shown in FIG. 15, the limit switch 403 changes from the off state to the on state.
　パターン撮像部４０２は、リミットスイッチ２１０、４０３の状態に基づいて、パターンの生成を検出し、また、生成したパターンを撮像するタイミングを検出する。例えば、パターン撮像部４０２は、リミットスイッチ４０３がオン状態からオフ状態へ変化し、その後にリミットスイッチ２１０がオフ状態からオン状態へ変化すると、即ち図１５の状態から図１６の状態へ遷移すると、スタンプ４０１によってパターンの生成が行われたと判断する。またパターン撮像部４０２は、パターンの生成後に、リミットスイッチ４０３がオフ状態からオン状態に変化すると、即ち図１６の状態から図１５の状態へ遷移すると、生成されたパターンを撮像できるタイミングになったと判断し、ファイバースコープ４１４を通じて内蔵するカメラにより、生成されたパターンの画像を撮像する。 The pattern imaging unit 402 detects the generation of a pattern based on the state of the limit switches 210 and 403, and detects the timing for imaging the generated pattern. For example, when the limit switch 403 changes from an on state to an off state and then the limit switch 210 changes from an off state to an on state, that is, the pattern imaging unit 402 changes from the state of FIG. 15 to the state of FIG. It is determined that the pattern is generated by the stamp 401. In addition, when the limit imaging switch 402 changes from the OFF state to the ON state after the pattern is generated, that is, when the transition from the state of FIG. 16 to the state of FIG. 15 occurs, it is time to capture the generated pattern. Judgment is performed, and an image of the generated pattern is captured by a camera built in through the fiberscope 414.
　次にパターン撮像ユニット４０２について詳細に説明する。 Next, the pattern imaging unit 402 will be described in detail.
　図１８はパターン撮像ユニット４０２のハードウェア構成の一例を示すブロック図である。この例のパターン撮像ユニット４０２は、カメラ４０２１と、ＭＰＵ４０２２と、ＲＯＭ４０２３と、ＲＡＭ４０２４と、インターフェイス回路４０２５と、通信回路４０２６と、それらを相互に接続するバス４０２７とから構成される。このうち、ＲＯＭ４０２３、ＲＡＭ４０２４、インターフェイス回路４０２５、通信回路４０２６、およびバス４０２７は、図６を参照して説明したＲＯＭ２０２３、ＲＡＭ２０２４、インターフェイス回路２０２５、通信回路２０２６、およびバス２０２７と同様の機能を有する。 FIG. 18 is a block diagram illustrating an example of a hardware configuration of the pattern imaging unit 402. The pattern imaging unit 402 in this example includes a camera 4021, an MPU 4022, a ROM 4023, a RAM 4024, an interface circuit 4025, a communication circuit 4026, and a bus 4027 that connects them to each other. Among these, the ROM 4023, the RAM 4024, the interface circuit 4025, the communication circuit 4026, and the bus 4027 have the same functions as the ROM 2023, the RAM 2024, the interface circuit 2025, the communication circuit 2026, and the bus 2027 described with reference to FIG.
　カメラ４０２１は、例えば、ＣＣＤイメージセンサやＣＭＯＳイメージセンサを使用したカメラを使用することができる。カメラ４０２１にはファイバースコープ４１４が接続されており、ファイバースコープ４１４で取得した画像をカメラ４０２１で撮像する構造になっている。 As the camera 4021, for example, a camera using a CCD image sensor or a CMOS image sensor can be used. A fiberscope 414 is connected to the camera 4021, and an image acquired by the fiberscope 414 is captured by the camera 4021.
　図１９はＭＰＵ４０２２が実行する処理の一例を示すフローチャートである。以下、図１５乃至図１９を参照して、ＭＰＵ４０２２が実行する処理を説明する。 FIG. 19 is a flowchart showing an example of processing executed by the MPU 4022. Hereinafter, processing executed by the MPU 4022 will be described with reference to FIGS.
　ＭＰＵ４０２２は、リミットスイッチ４０３の状態を、インターフェイス回路４０２５を通じて読み取り、オフ状態になったか否かを監視している（ステップＳ４０１）。前述したように個体識別装置４００は図１５に示した状態ではリミットスイッチ４０３はオン状態になっており、パターンを生成するために物体上に載置されて蓋２０５が下方に押し下げられると、固定板２１３が下降するためリミットスイッチ４０３がオン状態からオフ状態に変化する。ＭＰＵ４０２２は、リミットスイッチ４０３がオフ状態に変化したことを検出すると、リミットスイッチ２１０がオン状態に変化したか否かを検出する（ステップＳ４０２）。 The MPU 4022 reads the state of the limit switch 403 through the interface circuit 4025 and monitors whether or not the limit switch 403 is turned off (step S401). As described above, in the state shown in FIG. 15, in the individual identification device 400, the limit switch 403 is in the on state. When the individual switch 400 is placed on the object and the lid 205 is pushed down to generate a pattern, the individual identification device 400 is fixed. Since the plate 213 is lowered, the limit switch 403 changes from the on state to the off state. When the MPU 4022 detects that the limit switch 403 has changed to an off state, the MPU 4022 detects whether or not the limit switch 210 has changed to an on state (step S402).
　利用者が、それ以上押し下げることができない位置まで蓋２０５をさらに押し下げたことによって、リミットスイッチ２１０がオン状態になると、ＭＰＵ４０２２は、容器２０４に内蔵されたスタンプ４０１のフェルト材４１１が物体の表面に押し付けられ、フェルト材４１１から流出するインクによって物体上にパターンが描画されたと判断し、次に、リミットスイッチ４０３がオン状態に変化するのを監視する（ステップＳ４０３）。他方、ＭＰＵ４０２２は、リミットスイッチ４０３がオフ状態になった後、リミットスイッチ２１０がオン状態になる前にリミットスイッチ４０３がオン状態に復帰した場合には（ステップＳ２０４でＹＥＳ）、スタンプ４０１によって描画されることなく蓋２０５が元に戻されたと判断し、ステップＳ４０１の処理へと戻る。 When the limit switch 210 is turned on because the user further depresses the lid 205 to a position where the user cannot depress further, the MPU 4022 causes the felt material 411 of the stamp 401 built in the container 204 to be placed on the surface of the object. It is determined that the pattern is drawn on the object by the ink that is pressed and flows out of the felt material 411, and then the change of the limit switch 403 to the ON state is monitored (step S403). On the other hand, the MPU 4022 is drawn by the stamp 401 when the limit switch 403 is turned on after the limit switch 403 is turned off and before the limit switch 210 is turned on (YES in step S204). It is determined that the lid 205 has been returned to its original state, and the process returns to step S401.
　次にＭＰＵ４０２２は、ステップＳ４０３においてリミットスイッチ４０３がオン状態になったことを検出すると、カメラ４０２１に対して撮像するように指令を出す（ステップＳ４０５）。カメラ４０２１は、この指令に応じてファイバースコープ４１４によって取得した画像を撮像する。なお、カメラ４０２１は照度が不足する場合には、インターフェイス回路４０２５を通じて照明器２１４を撮影時に一時的に点灯させる。撮影が行われる時点の個体識別装置４００の状態は図１５に示すようになっており、カメラ４０２１は、スタンプ４０１で物体上に描かれた図１７に示したような環状の画像を真上から撮像し、撮像して得た画像データをＲＡＭ４０２４の所定の領域に保存する。 Next, when detecting that the limit switch 403 is turned on in step S403, the MPU 4022 instructs the camera 4021 to take an image (step S405). The camera 4021 captures an image acquired by the fiberscope 414 in response to this command. Note that when the illuminance is insufficient, the camera 4021 temporarily turns on the illuminator 214 through the interface circuit 4025 at the time of photographing. The state of the individual identification device 400 at the time of shooting is as shown in FIG. 15, and the camera 4021 displays a ring-shaped image as shown in FIG. The image data obtained by imaging is stored in a predetermined area of the RAM 4024.
　次にＭＰＵ４０２２は、ＲＡＭ４０２４に保存された画像データを解析して、描画された環状の画像から個体識別子を抽出する（ステップＳ４０６）。次に、ＭＰＵ４０２２は、抽出した個体識別子を含むデータを、通信回路４０２６を通じて外部の登録装置（図示せず）へ送信する（ステップＳ４０７）。ＭＰＵ４０２２は、送信データにＲＯＭ４０２３やＲＡＭ４０２４に記憶された情報、例えば当該個体識別装置４００の識別情報や現在時刻等の属性情報を含めるようにしてもよい。そして、ＭＰＵ４０２２は、次の撮像に備えてステップＳ４０１の処理へと戻る。 Next, the MPU 4022 analyzes the image data stored in the RAM 4024 and extracts an individual identifier from the drawn circular image (step S406). Next, the MPU 4022 transmits data including the extracted individual identifier to an external registration device (not shown) through the communication circuit 4026 (step S407). The MPU 4022 may include information stored in the ROM 4023 and the RAM 4024 in the transmission data, for example, attribute information such as identification information of the individual identification device 400 and the current time. Then, the MPU 4022 returns to the process of step S401 in preparation for the next imaging.
　このように本実施形態によれば、パターン撮像ユニット４０２は、スタンプ４０１によって物体上にパターンが生成されたことを検出して撮像を行うため、パターンの生成と撮像との間に食い違いが生じるのを防ぐことができる。 As described above, according to the present embodiment, since the pattern imaging unit 402 detects the pattern generated on the object by the stamp 401 and performs imaging, there is a discrepancy between pattern generation and imaging. Can be prevented.
　また本実施形態によれば、物体上に環状のパターンを生成することができる。 Further, according to this embodiment, an annular pattern can be generated on the object.
　また本実施形態によれば、物体上に生成したパターンをその真上から撮像することができる。 Further, according to the present embodiment, a pattern generated on an object can be imaged from directly above.
　また本実施形態によれば、撮像したパターンから個体識別子を抽出し、外部の登録装置へ送信することができる。 Further, according to this embodiment, an individual identifier can be extracted from the captured pattern and transmitted to an external registration device.
　本実施形態では、環状のパターンを生成するようにしたが、スタンプ４０１のフェルト材４１１の下面の形状を変更することにより、環状以外の形状のパターンを生成することができる。図２０は環状以外の形状のパターン例を示す。図２０に示す例は三日月型のパターンである。その他、図示していないが、重心からずれた位置に穴等を有する矩形型のパターン、環状の一部に切欠きを有するパターン、環状のパターンに所定形状のパターン（文字等）を切欠きによって形成したパターンなどが考えられる。これらのような非対称パターンにすると、パターンの撮影時の向きが決定できるため、照合時における位置合わせや向きの推定が不要になり、照合処理の高速化が可能になる。 In this embodiment, an annular pattern is generated. However, by changing the shape of the lower surface of the felt material 411 of the stamp 401, a pattern having a shape other than the annular shape can be generated. FIG. 20 shows an example of a pattern having a shape other than an annular shape. The example shown in FIG. 20 is a crescent moon pattern. In addition, although not shown, a rectangular pattern having a hole or the like at a position shifted from the center of gravity, a pattern having a notch in a part of an annular shape, or a pattern (character or the like) of a predetermined shape in an annular pattern by notching The formed pattern can be considered. When such an asymmetric pattern is used, since the orientation of the pattern at the time of photographing can be determined, alignment at the time of collation and estimation of the orientation become unnecessary, and the collation process can be accelerated.
　また本実施形態では、フェルト材４１１を使用したが、物体に押し当てることでインクによるパターンを形成できる部材であればフェルト材に限定されず、スポンジや布等を使用してもよい。また本実施形態では、ファイバースコープを使用したが、ファイバースコープは必須ではない。第１乃至第３の実施形態のように撮像させる構成としてもよく、その場合、シャチハタを使って本発明を実現することができる。 In this embodiment, the felt material 411 is used. However, the material is not limited to the felt material as long as it is a member that can form a pattern with ink by being pressed against an object, and a sponge, cloth, or the like may be used. In this embodiment, a fiberscope is used, but a fiberscope is not essential. A configuration may be adopted in which imaging is performed as in the first to third embodiments, and in that case, the present invention can be realized using a killer whale grouper.
　また本実施形態では、パターンを生成しその画像を撮像する毎に、個体識別子の抽出と登録装置への送信を行ったが、撮像した画像を一旦メモリ（ＲＡＭ等）に蓄積し、後刻に個体識別子の抽出と登録装置への送信を行うようにしてもよい。また本実施形態では、登録装置へ個体識別子を送信したが、それに代えて或いはそれに加えて、撮像したパターンの画像を登録装置へ送信するようにしてもよい。 In this embodiment, each time a pattern is generated and the image is captured, the individual identifier is extracted and transmitted to the registration device. However, the captured image is temporarily stored in a memory (RAM or the like), and the individual is later displayed. The identifier may be extracted and transmitted to the registration device. In this embodiment, the individual identifier is transmitted to the registration device. However, instead of or in addition to this, an image of the captured pattern may be transmitted to the registration device.
[第５の実施形態]
　本実施形態では、本発明の個体識別装置を有する工具の実施形態について説明する。具体的には、本実施形態は、設定トルク値で締付を行った締結部材に個体識別のためのパターンを生成すると共に当該パターンを撮像する機能を有するトルクレンチに関する。 [Fifth Embodiment]
In this embodiment, an embodiment of a tool having the individual identification device of the present invention will be described. Specifically, the present embodiment relates to a torque wrench having a function of generating a pattern for individual identification on a fastening member that has been tightened with a set torque value and imaging the pattern.
　図２１を参照すると、本発明の第５の実施形態に係るトルクレンチ５００は、設定トルクに達した際、トルクレンチ本体５０８内に設けたトグル機構５０６の動作によるヘッド５０９の首振りの変位を利用し、機械的なリンク機構５０７を介し、ヘッド５０９に取り付けた角ドライブ５０１の下面中央部からピン５０２を所定量だけ突出させる構造を有している。このトルクレンチ５００を使用してボルト５０３の締付を行う場合、個体識別装置５０４を挿入したディープソケット５０５を角ドライブ５０１に取り付ける。個体識別装置５０４は、蓋２０５がピン５０２側に位置するようにディープソケット５０５内に挿入しておく。このとき、個体識別装置５０４がディープソケット５０５から抜け落ちないように、ディープソケット５０５の内径に段差を設けるか、ピン５０２の先端と蓋２０５とを結合しておいてよい。 Referring to FIG. 21, when the torque wrench 500 according to the fifth embodiment of the present invention reaches the set torque, the displacement of the head 509 is swung by the operation of the toggle mechanism 506 provided in the torque wrench body 508. The pin 502 is protruded by a predetermined amount from the center of the lower surface of the square drive 501 attached to the head 509 via a mechanical link mechanism 507. When tightening the bolt 503 using the torque wrench 500, the deep socket 505 into which the individual identification device 504 is inserted is attached to the square drive 501. The individual identification device 504 is inserted into the deep socket 505 so that the lid 205 is positioned on the pin 502 side. At this time, a step may be provided in the inner diameter of the deep socket 505 or the tip of the pin 502 and the lid 205 may be coupled so that the individual identification device 504 does not fall out of the deep socket 505.
　図２２は、ボルト５０３の締付を開始する時点のトルクレンチ５００の状態を示しており、ピン５０２と個体識別装置５０４の蓋２０５とが接触し、また個体識別装置５０４の容器２０４の下面がボルト５０３の頭部に接触している。この個体識別装置５０４の状態は、第２乃至第４の実施形態における図３、図１０、図１５に示す状態に相当する。このような状態で作業者がトルクレンチへ加重を加えてボルト５０３の締め付けを行う。 FIG. 22 shows a state of the torque wrench 500 at the time of starting tightening of the bolt 503. The pin 502 and the lid 205 of the individual identification device 504 are in contact with each other, and the lower surface of the container 204 of the individual identification device 504 is It is in contact with the head of the bolt 503. The state of the individual identification device 504 corresponds to the state shown in FIGS. 3, 10, and 15 in the second to fourth embodiments. In this state, the operator applies a load to the torque wrench and tightens the bolt 503.
　トルクレンチ５００は、設定されたトルクに達すると、前述したようにピン５０２が所定量だけ下方に突出する。図２３は、設定トルクに達した時点のトルクレンチ５００の状態を示しており、突出した作動ピン５０２により押されて個体識別装置５０４の蓋２０５が押し下げられている。この状態は、第２乃至第４の実施形態における図４、図１１、図１６に示す状態に相当する。その結果、ボルト５０３の頭部の上面に個体識別のためのパターンが生成される。例えば個体識別装置５０４として第２の実施形態の個体識別装置２００を使用した場合には、インクペン２０１によって微小な粒をランダムに有する点状のパターンがボルト５０３の頭部に生成される。また、例えば個体識別装置５０４として第３の実施形態の個体識別装置３００を使用した場合には、第１および第２のインクジェットノズル３３１、３４１によって微小な粒をランダムに有する環状のパターンがボルト５０３の頭部に生成される。さらに、例えば個体識別装置５０４として第４の実施形態の個体識別装置４００を使用した場合には、フェルト材４１１によって微小な粒をランダムに有する環状のパターンがボルト５０３の頭部に生成される。 When the torque wrench 500 reaches the set torque, the pin 502 projects downward by a predetermined amount as described above. FIG. 23 shows a state of the torque wrench 500 at the time when the set torque is reached, and the lid 205 of the individual identification device 504 is pushed down by being pushed by the projecting operating pin 502. This state corresponds to the state shown in FIGS. 4, 11, and 16 in the second to fourth embodiments. As a result, a pattern for individual identification is generated on the upper surface of the head of the bolt 503. For example, when the individual identification device 200 of the second embodiment is used as the individual identification device 504, a dot-like pattern having minute particles randomly generated by the ink pen 201 is generated on the head of the bolt 503. For example, when the individual identification device 300 according to the third embodiment is used as the individual identification device 504, an annular pattern having minute particles randomly formed by the first and second inkjet nozzles 331 and 341 is a bolt 503. Generated on the head of. Further, for example, when the individual identification device 400 of the fourth embodiment is used as the individual identification device 504, an annular pattern having minute grains randomly generated by the felt material 411 is generated on the head of the bolt 503.
　ボルト５０３の締付が終了し、作業者がトルクレンチへの加重をやめるとトグル機構５０６が開放され、リンク機構５０７が作動位置から初期位置に戻ってピン５０２が初期位置まで後退し、それに応じて個体識別装置５０４の蓋２０５が弾性体２１１の反発力により初期の位置に復帰する。この状態は、第２乃至第４の実施形態における図３、図１０、図１５に示す状態に復帰したことに相当する。その復帰のタイミングで、個体識別装置５０４のパターン撮像ユニットによってボルト５０３の頭部に生成されたパターンの画像が撮像される。また、その後、個体識別装置５０４のパターン撮像ユニットによって、上記撮像されたパターンの画像から個体識別子が抽出され、図示しない登録装置へ送信される。 When tightening of the bolt 503 is completed and the operator stops applying the load to the torque wrench, the toggle mechanism 506 is released, the link mechanism 507 is returned from the operating position to the initial position, and the pin 502 is retracted to the initial position. Thus, the lid 205 of the individual identification device 504 returns to the initial position by the repulsive force of the elastic body 211. This state corresponds to the return to the state shown in FIGS. 3, 10, and 15 in the second to fourth embodiments. At the return timing, a pattern image generated on the head of the bolt 503 is captured by the pattern imaging unit of the individual identification device 504. Thereafter, an individual identifier is extracted from the image of the imaged pattern by the pattern imaging unit of the individual identification device 504 and transmitted to a registration device (not shown).
　このように本実施形態によれば、設定トルク値で締付を行った締結部材に個体識別のためのパターンを生成し、そして、生成したパターンの画像を撮像することができる。 As described above, according to this embodiment, it is possible to generate a pattern for individual identification on the fastening member that has been tightened with the set torque value, and to capture an image of the generated pattern.
[第６の実施形態]
　本実施形態では、本発明の個体識別装置を有するロボットハンドの実施形態について説明する。具体的には、組み付けやピッキングなどの作業を行った対象物に対して個体識別のためのパターンを生成すると共に生成したパターンを撮像する機能を有するロボットハンドに関する。 [Sixth Embodiment]
In this embodiment, an embodiment of a robot hand having the individual identification device of the present invention will be described. More specifically, the present invention relates to a robot hand that has a function of generating a pattern for individual identification for an object that has been subjected to operations such as assembly and picking and imaging the generated pattern.
　図２４を参照すると、本発明の第６の実施形態に係るロボットハンド６００は、基部６０５上に対向配置された一対のフィンガー部６０１、６０２を有している。ロボットハンド６００は、この一対のフィンガー部６０１、６０２で対象物６１１をその側方から挟み込むことによって、対象物６１１を把持することができる。またロボットハンド６００は、フィンガー部６０１とフィンガー部６０２との間の基部６０５上に突出量を調整可能なピン６０３を有する。そして、このピン６０３に個体識別装置６０４が装着されている。個体識別装置６０４は、その蓋２０５がピン６０３に対向するようにピン６０３に装着される。 Referring to FIG. 24, a robot hand 600 according to the sixth embodiment of the present invention has a pair of finger portions 601 and 602 arranged to face each other on a base portion 605. The robot hand 600 can grip the object 611 by sandwiching the object 611 from the side by the pair of finger portions 601 and 602. Further, the robot hand 600 has a pin 603 capable of adjusting the protruding amount on the base 605 between the finger 601 and the finger 602. The individual identification device 604 is attached to the pin 603. The individual identification device 604 is attached to the pin 603 so that the lid 205 faces the pin 603.
　図２４は、ピン６０３の突出量が最小値であるときの状態を示している。この状態では、個体識別装置６０４の容器２０４の下面と対象物６１１との間に十分な空間が確保されている。他方、図２５は、ピン６０３の突出量が中間値であるときの状態を示している。この状態では、個体識別装置６０４の容器２０４の下面が対象物６１１に接触している。この個体識別装置６０４の状態は、第２乃至第４の実施形態における図３、図１０、図１５に示す状態に相当する。また、図２６は、ピン６０３の突出量が最大値であるときの状態を示している。この状態では、個体識別装置６０４の容器２０４の下面が対象物６１１に当接した状態でさらに蓋２０５が所定量押し下げられている。この状態は、第２乃至第４の実施形態における図４、図１１、図１６に示す状態に相当する。その結果、対象物６１１に個体識別のためのパターンが生成される。例えば個体識別装置６０４として第２の実施形態の個体識別装置２００を使用した場合には、インクペン２０１によって微小な粒をランダムに有する点状のパターンが対象物６１１に生成される。また、例えば個体識別装置６０４として第３の実施形態の個体識別装置３００を使用した場合には、第１および第２のインクジェットノズル３３１、３４１によって微小な粒をランダムに有する環状のパターンが対象物６１１に生成される。さらに、例えば個体識別装置６０４として第４の実施形態の個体識別装置４００を使用した場合には、フェルト材４１１によって微小な粒をランダムに有する環状のパターンが対象物６１１に生成される。 FIG. 24 shows a state when the protruding amount of the pin 603 is the minimum value. In this state, a sufficient space is secured between the lower surface of the container 204 of the individual identification device 604 and the object 611. On the other hand, FIG. 25 shows a state when the protruding amount of the pin 603 is an intermediate value. In this state, the lower surface of the container 204 of the individual identification device 604 is in contact with the object 611. The state of the individual identification device 604 corresponds to the state shown in FIGS. 3, 10, and 15 in the second to fourth embodiments. FIG. 26 shows a state when the protruding amount of the pin 603 is the maximum value. In this state, the lid 205 is further pushed down by a predetermined amount with the lower surface of the container 204 of the individual identification device 604 in contact with the object 611. This state corresponds to the state shown in FIGS. 4, 11, and 16 in the second to fourth embodiments. As a result, a pattern for individual identification is generated on the object 611. For example, when the individual identification device 200 of the second embodiment is used as the individual identification device 604, a dot-like pattern having minute particles randomly generated by the ink pen 201 is generated on the object 611. For example, when the individual identification device 300 according to the third embodiment is used as the individual identification device 604, an annular pattern having minute particles randomly formed by the first and second inkjet nozzles 331 and 341 is an object. 611 is generated. Further, for example, when the individual identification device 400 of the fourth embodiment is used as the individual identification device 604, an annular pattern having minute particles randomly generated by the felt material 411 is generated on the object 611.
　図２６に示す状態からピン６０３の突出量を中間値に戻すと、図２５に示す状態になる。即ち、個体識別装置６０４の容器２０４の下面が対象物６１１に接したまま、蓋２０５が弾性体２１１の反発力により初期の位置に復帰する状態になる。この状態は、第２乃至第４の実施形態における図３、図１０、図１５に示す状態に復帰したことに相当する。その復帰のタイミングで、個体識別装置６０４のパターン撮像ユニットによって対象物６１１に生成されたパターンの画像が撮像される。また、その後、個体識別装置６０４のパターン撮像ユニットによって、上記撮像されたパターンの画像から個体識別子が抽出され、図示しない登録装置へ送信される。 26. When the protrusion amount of the pin 603 is returned to the intermediate value from the state shown in FIG. 26, the state shown in FIG. 25 is obtained. That is, the lid 205 returns to the initial position by the repulsive force of the elastic body 211 while the lower surface of the container 204 of the individual identification device 604 is in contact with the object 611. This state corresponds to the return to the state shown in FIGS. 3, 10, and 15 in the second to fourth embodiments. At the return timing, a pattern image generated on the object 611 is captured by the pattern imaging unit of the individual identification device 604. Thereafter, an individual identifier is extracted from the image of the imaged pattern by the pattern imaging unit of the individual identification device 604 and transmitted to a registration device (not shown).
　図２７は、本実施形態のロボットハンド６００を有する多関節ロボット６２０によってピッキング作業を行う例を示している。ロボット６２０は、棚等に格納されている対象物群から特定の種類の対象物を特定の数だけ箱６３０に箱詰めする作業を行っている。図２７は、第１の種類の対象物６１１－１を１個、第２の種類の対象物６１１－２を１個、それぞれ箱６３０に収納し終えた状態を示している。箱６３０に収納された対象物６１１－１、６１１－２の上面には個体識別のためのパターン６４１、６４２が生成されている。対象物６１１－１上のパターン６４１は、ロボット６２０が当該対象物６１１－１を箱６３０に納めた際に、ロボットハンド６００に装着されている個体識別装置６０４により生成したパターンである。同様に、対象物６１１－２上のパターン６４２は、ロボット６２０が当該対象物６１１－２を箱６３０に納めた際に生成したパターンである。 FIG. 27 shows an example in which picking work is performed by the articulated robot 620 having the robot hand 600 of the present embodiment. The robot 620 performs a task of packing a specific number of objects of a specific type from a group of objects stored on a shelf or the like into a box 630. FIG. 27 shows a state where one first-type object 611-1 and one second-type object 611-2 have been stored in the box 630, respectively. Patterns 641 and 642 for individual identification are generated on the upper surfaces of the objects 611-1 and 611-2 stored in the box 630. A pattern 641 on the object 611-1 is a pattern generated by the individual identification device 604 attached to the robot hand 600 when the robot 620 places the object 611-1 in the box 630. Similarly, the pattern 642 on the object 611-2 is a pattern generated when the robot 620 places the object 611-2 in the box 630.
　このようにロボット６２０は、本実施形態に係るロボットハンド６００を使用することにより、ピッキング作業を終えた対象物６１１に対して個体識別のためのパターンを生成でき、また生成したパターンの画像を撮像することができる。 As described above, by using the robot hand 600 according to the present embodiment, the robot 620 can generate a pattern for individual identification with respect to the target object 611 that has finished the picking operation, and can capture an image of the generated pattern. can do.
[第７の実施形態]
　図２８を参照すると、本発明の第７の実施形態に係る個体識別装置７００は、Ｗｉ－ｆｉ等のネットワークを通じて登録装置７０１に接続されている。また登録装置７０１には磁気ディスク装置等の記憶装置７０２が接続されている。 [Seventh Embodiment]
Referring to FIG. 28, an individual identification apparatus 700 according to the seventh embodiment of the present invention is connected to a registration apparatus 701 through a network such as Wi-fi. A storage device 702 such as a magnetic disk device is connected to the registration device 701.
　個体識別装置７００は、本発明の第２乃至第６の実施形態に係る個体識別装置２００～６００と同様の機能を有する。 The individual identification device 700 has the same functions as the individual identification devices 200 to 600 according to the second to sixth embodiments of the present invention.
　登録装置７０１は、個体識別装置７００からネットワークを通じて送信された個体識別子と属性情報とを含むデータを受信し、記憶装置７０２に保存する機能を有する。 The registration device 701 has a function of receiving data including an individual identifier and attribute information transmitted from the individual identification device 700 through the network and storing the data in the storage device 702.
　図２７は記憶装置７０２に保存されているデータの例を示す。この例では、記憶装置７０２は、物体の個体識別子とその物体の１以上の属性値とを有するデータが記憶されている。例えば、物体が工業製品や商品パッケージなどの場合、型番、製造ロット番号、当該物体の作業に使用したトルクレンチ等の工具やロボット等の番号などが属性値の例である。また個体識別子は、Ｎ（≧２）次元のベクトルとしているが、そのデータ構造は任意である。 FIG. 27 shows an example of data stored in the storage device 702. In this example, the storage device 702 stores data having an individual identifier of an object and one or more attribute values of the object. For example, when the object is an industrial product or a product package, examples of the attribute value include a model number, a manufacturing lot number, a tool such as a torque wrench used for the operation of the object, a robot number, and the like. The individual identifier is an N (≧ 2) -dimensional vector, but the data structure is arbitrary.
　本実施形態では、個体識別装置７００から登録装置７０１へ物体の個体識別子とその物体の属性値とを有するデータを送信したが、他の実施形態として、個体識別装置７００から登録装置７０１へ物体上に生成したパターンの画像データとその物体の属性値とを有するデータを送信するようにしてもよい。その場合、登録装置７０１は、受信したパターンの画像データから個体識別子を抽出し、その抽出した個体識別子と受信した属性値とを有するデータを記憶装置７０２に保存する。 In this embodiment, data having an individual identifier of an object and an attribute value of the object is transmitted from the individual identification device 700 to the registration device 701. However, as another embodiment, the data on the object is transferred from the individual identification device 700 to the registration device 701. Alternatively, data having the image data of the generated pattern and the attribute value of the object may be transmitted. In this case, the registration device 701 extracts an individual identifier from the received pattern image data, and stores data having the extracted individual identifier and the received attribute value in the storage device 702.
　また本実施形態では、個体識別装置７００の外部に登録装置７０１を設けたが、他の実施形態として、登録装置７０１の機能を個体識別装置７００に設けるようにしてもよい。 In this embodiment, the registration device 701 is provided outside the individual identification device 700. However, as another embodiment, the function of the registration device 701 may be provided in the individual identification device 700.
[第８の実施形態]
　図３０を参照すると、本発明の第７の実施形態に係る識別照合装置８００は、物体８１０の識別・照合を行う機能を有する。 [Eighth embodiment]
Referring to FIG. 30, an identification and collation apparatus 800 according to the seventh embodiment of the present invention has a function of identifying and collating an object 810.
　物体８１０は、工業製品や商品パッケージなど、識別・照合の対象となる物体である。物体８１０の何れかの面上には、パターン８１１が形成されている。このパターン８１１は、本発明の第１乃至第６の実施形態の何れかの個体識別装置によって物体８１０上に形成されたパターンに相当する。 The object 810 is an object to be identified and verified, such as an industrial product or a product package. A pattern 811 is formed on any surface of the object 810. This pattern 811 corresponds to a pattern formed on the object 810 by any one of the individual identification devices according to the first to sixth embodiments of the present invention.
　識別照合装置８００は、パターン撮像部８０１と判定部８０２とを有する。 The identification verification device 800 includes a pattern imaging unit 801 and a determination unit 802.
　パターン撮像部８０１は、物体８１０上に形成されたパターン８１０の画像を取得し、その画像から個体識別子を抽出する機能を有する。このパターン撮像部８０１は、例えば、本発明の第２乃至第７の識別照合装置におけるパターン撮像ユニットと同様の機能を有する。 The pattern imaging unit 801 has a function of acquiring an image of the pattern 810 formed on the object 810 and extracting an individual identifier from the image. The pattern imaging unit 801 has the same function as the pattern imaging unit in the second to seventh identification / collation devices of the present invention, for example.
　判定部８０２は、パターン撮像部８０１により抽出された個体識別子と記憶装置８２０に記憶されている登録済みの物体の個体識別子とを比較し、比較結果に基づいて、物体の識別・照合の判定を行う機能を有する。記憶装置８２０には、例えば、第７の実施形態に係る登録装置７０１により、登録済みの物体の個体識別子とその属性値とを有するデータが予め記憶されている。 The determination unit 802 compares the individual identifier extracted by the pattern imaging unit 801 with the individual identifier of the registered object stored in the storage device 820, and determines object identification / collation based on the comparison result. Has the function to perform. In the storage device 820, for example, data having an individual identifier and an attribute value of an object registered by the registration device 701 according to the seventh embodiment is stored in advance.
　識別照合装置８００は、例えば図３１に示すように、１以上のマイクロプロセッサ等の演算処理部８４１と、メモリやハードディスク等の記憶部８４２と、カメラ８４３とを有する情報処理装置８４０と、プログラム８４４とで実現することができる。情報処理装置８４０は、例えばスマートフォンであってよい。プログラム８４４は、情報処理装置８４０の立ち上げ時等に外部のコンピュータ読み取り可能な記録媒体からメモリに読み込まれ、演算処理部８４１の動作を制御することにより、演算処理部８４１上に、パターン撮像部８０１、判定部８０２といった機能的手段を実現する。 For example, as shown in FIG. 31, the identification verification device 800 includes an information processing device 840 having an arithmetic processing unit 841 such as one or more microprocessors, a storage unit 842 such as a memory or a hard disk, and a camera 843, and a program 844. And can be realized. The information processing device 840 may be a smartphone, for example. The program 844 is read into the memory from an external computer-readable recording medium when the information processing apparatus 840 is started up, and the operation of the arithmetic processing unit 841 is controlled, whereby the pattern imaging unit is stored on the arithmetic processing unit 841. Functional means such as 801 and determination unit 802 are realized.
　図３２は識別照合装置８００を用いて実行する識別照合方法の手順を示すフローチャートである。以下、図３０及び図３２を参照して本実施形態に係る識別照合方法について説明する。 FIG. 32 is a flowchart showing a procedure of an identification collation method executed using the identification collation apparatus 800. Hereinafter, the identification verification method according to the present embodiment will be described with reference to FIGS.
　まず、識別照合装置８００のパターン撮像部８０１は、物体８１０上に形成されたパターン８１１の画像を取得する（ステップＳ８０１）。そして、パターン撮像部８０１は、取得したパターン８１１の画像から、物体８１０の個体識別子を抽出する（ステップＳ８０２）。 First, the pattern imaging unit 801 of the identification verification apparatus 800 acquires an image of the pattern 811 formed on the object 810 (step S801). Then, the pattern imaging unit 801 extracts the individual identifier of the object 810 from the acquired image of the pattern 811 (step S802).
　次に、識別照合装置８００の判定部８０２は、上記抽出された物体８１０の個体識別子と記憶部８２０に記憶されている登録済みの物体の個体識別子とを比較し、比較結果に基づいて、物体の識別・判定を行う（ステップＳ８０３）。判定部８０２は、例えば、個体識別子がＮ次元のベクトルである場合、物体８１０の個体識別子と登録済みの物体の個体識別子のベクトル間の類似度（あるいは距離）を算出し、類似度が閾値以上であれば（距離が閾値以下であれば）、２つの個体識別子は同一と判定し、それ以外は同一でないと判定する。判定部８０２は、物体８１０の個体識別子と同一の登録済みの物体の個体識別子が発見されるか、または、全ての登録済みの物体の個体識別子との比較を終えるか、何れか早く成立した方を条件として、物体の識別・判定処理の繰り返しを終了する。そして、判定部８０２は、判定結果８３０を出力する。判定結果８３０は、識別・照合の成功の有無を表すものであってよい。また判定結果８３０は、成功の場合、同一と判定した登録済みの物体の個体識別子に対応して記憶部８２０に記憶されている物体の属性値を有していてよい。 Next, the determination unit 802 of the identification verification apparatus 800 compares the extracted individual identifier of the object 810 with the individual identifier of the registered object stored in the storage unit 820, and based on the comparison result, Is identified and determined (step S803). For example, when the individual identifier is an N-dimensional vector, the determination unit 802 calculates the similarity (or distance) between the individual identifier of the object 810 and the individual identifier vector of the registered object, and the similarity is equal to or greater than a threshold value. If (if the distance is less than or equal to the threshold), it is determined that the two individual identifiers are the same, and the other is not the same. The determination unit 802 finds an individual identifier of the registered object that is the same as the individual identifier of the object 810, or finishes comparison with the individual identifiers of all registered objects, whichever comes first The repetition of the object identification / determination process is terminated on the condition. Then, the determination unit 802 outputs a determination result 830. The determination result 830 may indicate whether or not identification / collation is successful. Moreover, the determination result 830 may have the attribute value of the object memorize | stored in the memory | storage part 820 corresponding to the individual identifier of the registered object determined to be the same in the case of success.
　以上、本発明を幾つかの実施形態を挙げて説明したが、本発明は以上の実施形態にのみ限定されず、その他、各種の付加変更が可能である。本発明の構成や詳細には、本発明の範囲内で当業者が理解しうる様々な変更をすることができる。 As described above, the present invention has been described with some embodiments, but the present invention is not limited to the above embodiments, and various additions and modifications can be made. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.
　なお、本発明は、日本国にて２０１５年８月３１日に特許出願された特願２０１５－１７０１１４の特許出願に基づく優先権主張の利益を享受するものであり、当該特許出願に記載された内容は、全て本明細書に含まれるものとする。 The present invention enjoys the benefit of the priority claim based on the patent application of Japanese Patent Application No. 2015-170114 filed on August 31, 2015 in Japan, and is described in the patent application. The contents are all included in this specification.
　本発明は、工業製品や商品等の物体の同一性を識別したり、照合したりする分野に利用できる。 The present invention can be used in the field of identifying and collating the identity of objects such as industrial products and products.
　上記の実施形態の一部又は全部は、以下の付記のようにも記載され得るが、以下には限られない。
［付記１］
　物体上にパターンを生成する生成部と、
　前記パターンの生成を検出し、前記生成されたパターンを撮像する撮像部と、
を備える個体識別装置。
［付記２］
　前記生成部は、待機位置から前記パターンの生成を行う生成位置まで移動可能に構成され、
　前記撮像部は、前記生成部が前記待機位置から前記生成位置まで移動したことを検出することにより前記パターンの生成を検出する、
付記１に記載の個体識別装置。
［付記３］
　前記撮像部は、前記生成部が前記生成位置から前記待機位置に移動したタイミングで撮像を行う、
付記２に記載の個体識別装置。
［付記４］
　前記生成部の移動経路の途中に設けられ、前記生成部によって生成された前記パターンの画像を前記撮像部に案内する可動ミラーを有する、
付記１乃至３の何れかに記載の個体識別装置。
［付記５］
　前記生成部の近傍から前記生成部によって生成された前記パターンの画像を取り込んで前記撮像部まで案内するファイバースコープを有する、
付記１乃至３に何れかに記載の個体識別装置。
［付記６］
　前記生成部は、微小な粒を含む液体を前記物体に付与することにより前記パターンを生成する、
付記１乃至５の何れかに記載の個体識別装置。
［付記７］
　前記生成部は、ペンである、
付記１乃至６の何れかに記載の個体識別装置。
［付記８］
　前記生成部は、液状のインク粒子を噴き付ける手段である、
付記１乃至６の何れかに記載の個体識別装置。
［付記９］
　前記液状のインク粒子を噴き付ける手段は、インクジェットである、
付記８に記載の個体識別装置。
［付記１０］
　前記インクジェットは、微小な粒を含むインクを前記物体に吹き付けることにより円形状の第１のパターンを生成する第１のインクジェットと、前記微小な粒を含まないインクを噴きつけることにより前記第１のパターンより小さな円形状の第２のパターンを前記第１のパターン上に生成する第２のインクジェットとを有する、
付記９に記載の個体識別装置。
［付記１１］
　前記生成部は、スタンプである、
付記１乃至６の何れかに記載の個体識別装置。
［付記１２］
　前記スタンプによって前記物体上に形成される前記パターンの形状は環状である、
付記１１に記載の個体識別装置。
［付記１３］
　前記生成部は、前記物体上にランダムパターンを生成するレーザ加工機である、
付記１乃至５の何れかに記載の個体識別装置。
［付記１４］
　前記撮像部は、前記撮像して得た前記パターンの画像から、前記粒の分布に依存する特徴量を前記物体の個体識別子として抽出する、
付記１乃至１３の何れかに記載の個体識別装置。
［付記１５］
　前記個体識別子を前記物体の属性情報に関連付けて記憶装置に記録する登録部を有する、
付記１４に記載の個体識別装置。
［付記１６］
　付記１乃至１５の何れかに記載の個体識別装置を有し、設定トルク値で締付を行った締結部材上に前記個体識別装置によって個体識別のためのパターンを生成すると共に当該生成したパターンを撮像する工具。
［付記１７］
　付記１乃至１５の何れかに記載の個体識別装置を有し、作業を行った対象物上に前記個体識別装置によって個体識別のためのパターンを生成すると共に当該生成したパターンを撮像するロボットハンド。
［付記１８］
　付記１４に記載の個体識別装置によって抽出された個体識別子を用いて識別を行う識別装置。
［付記１９］
　付記１４に記載の個体識別装置によって抽出された個体識別子を用いて照合を行う照合装置。
［付記２０］
　生成部と撮像部とを有する装置が実行する個体識別方法であって、
　前記生成部が、物体上にパターンを生成し、
　前記撮像部が、前記パターンの生成を検出し、前記生成されたパターンを撮像する、
個体識別方法。
［付記２１］
　前記パターンの生成では、前記生成部が、待機位置から前記パターンの生成を行う生成位置まで移動し、
　前記パターンの生成の検出では、前記撮像部が、前記待機位置から前記生成位置まで前記生成部が移動したことを検出することにより、前記パターンの生成を検出する、
付記２０に記載の個体識別方法。
［付記２２］
　前記パターンの撮像では、前記生成部が、前記生成位置から前記待機位置に前記生成部が移動したタイミングで撮像を行う、
付記２１に記載の個体識別方法。
［付記２３］
　前記パターンの生成では、微小な粒を含む液体を前記物体に付与することにより前記パターンを生成する、
付記２０乃至２２の何れかに記載の個体識別方法。
［付記２４］
　前記パターンの生成では、レーザ加工機により前記物体上にランダムパターンを生成することにより前記パターンを生成する、
付記２０乃至２２の何れかに記載の個体識別方法。
［付記２５］
　前記撮像部が、前記撮像して得た前記パターンの画像から、前記粒の分布に依存する特徴量を前記物体の個体識別子として抽出する、
付記２０乃至２４の何れかに記載の個体識別方法
［付記２６］
　前記個体識別装置は登録部を有し、
　前記登録部が、前記個体識別子を前記物体の属性情報に関連付けて記憶装置に記録する、
付記２５に記載の個体識別方法。
［付記２７］
　付記２５に記載の個体識別方法によって抽出された個体識別子を用いて識別を行う識別方法。
［付記２８］
　付記２５に記載の個体識別方法によって抽出された個体識別子を用いて照合を行う照合方法。 A part or all of the above embodiments can be described as in the following supplementary notes, but is not limited thereto.
[Appendix 1]
A generator for generating a pattern on an object;
An imaging unit that detects generation of the pattern and images the generated pattern;
An individual identification device comprising:
[Appendix 2]
The generation unit is configured to be movable from a standby position to a generation position for generating the pattern,
The imaging unit detects the generation of the pattern by detecting that the generation unit has moved from the standby position to the generation position;
The individual identification device according to attachment 1.
[Appendix 3]
The imaging unit performs imaging at a timing when the generation unit moves from the generation position to the standby position.
The individual identification device according to attachment 2.
[Appendix 4]
A movable mirror that is provided in the middle of the movement path of the generation unit and guides the image of the pattern generated by the generation unit to the imaging unit;
The individual identification device according to any one of appendices 1 to 3.
[Appendix 5]
Having a fiberscope that takes in an image of the pattern generated by the generation unit from the vicinity of the generation unit and guides it to the imaging unit;
The individual identification device according to any one of appendices 1 to 3.
[Appendix 6]
The generation unit generates the pattern by applying a liquid containing fine particles to the object.
The individual identification device according to any one of appendices 1 to 5.
[Appendix 7]
The generation unit is a pen.
The individual identification device according to any one of appendices 1 to 6.
[Appendix 8]
The generating unit is means for spraying liquid ink particles.
The individual identification device according to any one of appendices 1 to 6.
[Appendix 9]
The means for spraying the liquid ink particles is an inkjet.
The individual identification device according to appendix 8.
[Appendix 10]
The inkjet includes a first inkjet that generates a circular first pattern by spraying ink containing fine particles onto the object, and the first ink by spraying ink that does not contain fine particles. A second ink jet generating a second pattern having a circular shape smaller than the pattern on the first pattern,
The individual identification device according to appendix 9.
[Appendix 11]
The generation unit is a stamp.
The individual identification device according to any one of appendices 1 to 6.
[Appendix 12]
The shape of the pattern formed on the object by the stamp is annular.
The individual identification device according to appendix 11.
[Appendix 13]
The generation unit is a laser processing machine that generates a random pattern on the object.
The individual identification device according to any one of appendices 1 to 5.
[Appendix 14]
The imaging unit extracts, as an individual identifier of the object, a feature amount dependent on the grain distribution from the image of the pattern obtained by the imaging.
The individual identification device according to any one of appendices 1 to 13.
[Appendix 15]
A registration unit that records the individual identifier in association with the attribute information of the object in a storage device;
The individual identification device according to appendix 14.
[Appendix 16]
A pattern for individual identification is generated by the individual identification apparatus on a fastening member having the individual identification apparatus according to any one of supplementary notes 1 to 15 and tightened with a set torque value, and the generated pattern is Tool to image.
[Appendix 17]
A robot hand comprising the individual identification device according to any one of appendices 1 to 15 and generating a pattern for individual identification by the individual identification device on an object on which work has been performed, and imaging the generated pattern.
[Appendix 18]
An identification device that performs identification using the individual identifier extracted by the individual identification device according to attachment 14.
[Appendix 19]
A verification device that performs verification using the individual identifier extracted by the individual identification device according to attachment 14.
[Appendix 20]
An individual identification method executed by an apparatus having a generation unit and an imaging unit,
The generating unit generates a pattern on the object;
The imaging unit detects the generation of the pattern and images the generated pattern;
Individual identification method.
[Appendix 21]
In the generation of the pattern, the generation unit moves from a standby position to a generation position for generating the pattern,
In the detection of the generation of the pattern, the imaging unit detects the generation of the pattern by detecting that the generation unit has moved from the standby position to the generation position.
The individual identification method according to attachment 20.
[Appendix 22]
In imaging of the pattern, the generation unit performs imaging at a timing when the generation unit moves from the generation position to the standby position.
The individual identification method according to attachment 21.
[Appendix 23]
In the generation of the pattern, the pattern is generated by applying a liquid containing fine particles to the object.
The individual identification method according to any one of appendices 20 to 22.
[Appendix 24]
In the generation of the pattern, the pattern is generated by generating a random pattern on the object by a laser processing machine,
The individual identification method according to any one of appendices 20 to 22.
[Appendix 25]
The imaging unit extracts, as an individual identifier of the object, a feature amount that depends on the grain distribution from the image of the pattern obtained by the imaging.
The individual identification method according to any one of appendices 20 to 24 [Supplement 26]
The individual identification device has a registration unit,
The registration unit records the individual identifier in a storage device in association with attribute information of the object.
The individual identification method according to attachment 25.
[Appendix 27]
An identification method for performing identification using an individual identifier extracted by the individual identification method according to attachment 25.
[Appendix 28]
A verification method for performing verification using an individual identifier extracted by the individual identification method according to attachment 25.
１００…個体識別装置
１０１…パターン生成部
１０２…パターン撮像部
１１０…物体
１１１…パターン
２００…個体識別装置
２０１…ペン
２０２…パターン撮像ユニット
２０３…筐体
２０４…容器
２０５…蓋
２０６…明かり取り用の窓
２０８…可動ミラー
２０８ａ…軸
２０８ｂ…引っ張りバネ
２０９…リミットスイッチ
２１０…リミットスイッチ
２１１…弾性体
２１２…連結材
２１３…固定板
２１４…照明器
２１５…リミットスイッチ
３００…個体識別装置
３３１…第１のインクジェットノズル
３３２…第１のインクジェット
３３３…第１の第１のインクカートリッジ
３４１…第２のインクジェットノズル
３４２…第２のインクジェット
３４３…第２の第１のインクカートリッジ
３５２…パターン撮像ユニット
４００…個体識別装置
４０２…パターン撮像ユニット
４０３…リミットスイッチ
４１１…フェルト材
４１２…インクタンク
４１３…心材
４１４…ファイバースコープ
５００…トルクレンチ
５０１…角ドライブ
５０２…ピン
５０３…ボルト
５０４…個体識別装置
５０５…ディープソケット
５０６…トグル機構
５０７…リンク機構
５０８…トルクレンチ本体
５０９…ヘッド
６００…ロボットハンド
６０１…フィンガー部
６０２…フィンガー部
６０３…ピン
６０４…個体識別装置
６０５…基部
６１１…対象物
６２０…多関節ロボット
６３０…箱
６４１…パターン
６４２…パターン
７００…個体識別装置
７０１…登録装置
７０２…記憶装置
８００…識別照合装置
８０１…パターン撮像部
８０２…判定部
８１０…物体
８１１…パターン
８２０…記憶装置
８３０…判定結果
８４０…情報処理装置
８４１…演算処理部
８４２…記憶部
８４３…カメラ
８４４…プログラム DESCRIPTION OF SYMBOLS 100 ... Individual identification apparatus 101 ... Pattern generation part 102 ... Pattern imaging part 110 ... Object 111 ... Pattern 200 ... Individual identification apparatus 201 ... Pen 202 ... Pattern imaging unit 203 ... Case 204 ... Container 205 ... Lid 206 ... For light removal Window 208 ... Moving mirror 208a ... Axis 208b ... Tension spring 209 ... Limit switch 210 ... Limit switch 211 ... Elastic body 212 ... Connecting member 213 ... Fixing plate 214 ... Illuminator 215 ... Limit switch 300 ... Individual identification device 331 ... first Inkjet nozzle 332 ... 1st inkjet 333 ... 1st 1st ink cartridge 341 ... 2nd inkjet nozzle 342 ... 2nd inkjet 343 ... 2nd 1st ink cartridge 352 ... Pattern imaging unit 400 ... Individual identification Device 402 ... Turn imaging unit 403 ... limit switch 411 ... felt material 412 ... ink tank 413 ... heart material 414 ... fiber scope 500 ... torque wrench 501 ... square drive 502 ... pin 503 ... bolt 504 ... individual identification device 505 ... deep socket 506 ... toggle mechanism 507 ... Link mechanism 508 ... Torque wrench body 509 ... Head 600 ... Robot hand 601 ... Finger part 602 ... Finger part 603 ... Pin 604 ... Individual identification device 605 ... Base 611 ... Object 620 ... Articulated robot 630 ... Box 641 ... Pattern 642 ... Pattern 700 ... Individual identification device 701 ... Registration device 702 ... Storage device 800 ... Identification verification device 801 ... Pattern imaging unit 802 ... Determination unit 810 ... Object 811 ... Pattern 820 ... Storage device 830 ... Determination result 840 ... Information Management unit 841 ... processing unit 842 ... storage unit 843 ... camera 844 ... program

Claims (28)

  1. 　物体上にパターンを生成する生成部と、
    　前記パターンの生成を検出し、前記生成されたパターンを撮像する撮像部と、
    を備える個体識別装置。     A generator for generating a pattern on an object;
    An imaging unit that detects generation of the pattern and images the generated pattern;
    An individual identification device comprising:
  2. 　前記生成部は、待機位置から前記パターンの生成を行う生成位置まで移動可能に構成され、
    　前記撮像部は、前記生成部が前記待機位置から前記生成位置まで移動したことを検出することにより前記パターンの生成を検出する、
    請求項１に記載の個体識別装置。     The generation unit is configured to be movable from a standby position to a generation position for generating the pattern,
    The imaging unit detects the generation of the pattern by detecting that the generation unit has moved from the standby position to the generation position;
    The individual identification device according to claim 1.
  3. 　前記撮像部は、前記生成部が前記生成位置から前記待機位置に移動したタイミングで撮像を行う、
    請求項２に記載の個体識別装置。     The imaging unit performs imaging at a timing when the generation unit moves from the generation position to the standby position.
    The individual identification device according to claim 2.
  4. 　前記生成部の移動経路の途中に設けられ、前記生成部によって生成された前記パターンの画像を前記撮像部に案内する可動ミラーを有する、
    請求項１乃至３の何れかに記載の個体識別装置。     A movable mirror that is provided in the middle of the movement path of the generation unit and guides the image of the pattern generated by the generation unit to the imaging unit;
    The individual identification device according to claim 1.
  5. 　前記生成部の近傍から前記生成部によって生成された前記パターンの画像を取り込んで前記撮像部まで案内するファイバースコープを有する、
    請求項１乃至３に何れかに記載の個体識別装置。     Having a fiberscope that takes in an image of the pattern generated by the generation unit from the vicinity of the generation unit and guides it to the imaging unit;
    The individual identification device according to claim 1.
  6. 　前記生成部は、微小な粒を含む液体を前記物体に付与することにより前記パターンを生成する、
    請求項１乃至５の何れかに記載の個体識別装置。     The generation unit generates the pattern by applying a liquid containing fine particles to the object.
    The individual identification device according to claim 1.
  7. 　前記生成部は、ペンである、
    請求項１乃至６の何れかに記載の個体識別装置。     The generation unit is a pen.
    The individual identification device according to any one of claims 1 to 6.
  8. 　前記生成部は、液状のインク粒子を噴き付ける手段である、
    請求項１乃至６の何れかに記載の個体識別装置。     The generating unit is means for spraying liquid ink particles.
    The individual identification device according to any one of claims 1 to 6.
  9. 　前記液状のインク粒子を噴き付ける手段は、インクジェットである、
    請求項８に記載の個体識別装置。     The means for spraying the liquid ink particles is an inkjet.
    The individual identification device according to claim 8.
  10. 　前記インクジェットは、微小な粒を含むインクを前記物体に吹き付けることにより円形状の第１のパターンを生成する第１のインクジェットと、前記微小な粒を含まないインクを噴きつけることにより前記第１のパターンより小さな円形状の第２のパターンを前記第１のパターン上に生成する第２のインクジェットとを有する、
    請求項９に記載の個体識別装置。     The inkjet includes a first inkjet that generates a circular first pattern by spraying ink containing fine particles onto the object, and the first ink by spraying ink that does not contain fine particles. A second ink jet generating a second pattern having a circular shape smaller than the pattern on the first pattern,
    The individual identification device according to claim 9.
  11. 　前記生成部は、スタンプである、
    請求項１乃至６の何れかに記載の個体識別装置。     The generation unit is a stamp.
    The individual identification device according to any one of claims 1 to 6.
  12. 　前記スタンプによって前記物体上に形成される前記パターンの形状は環状である、
    請求項１１に記載の個体識別装置。     The shape of the pattern formed on the object by the stamp is annular.
    The individual identification device according to claim 11.
  13. 　前記生成部は、前記物体上にランダムパターンを生成するレーザ加工機である、
    請求項１乃至５の何れかに記載の個体識別装置。     The generation unit is a laser processing machine that generates a random pattern on the object.
    The individual identification device according to claim 1.
  14. 　前記撮像部は、前記撮像して得た前記パターンの画像から、前記粒の分布に依存する特徴量を前記物体の個体識別子として抽出する、
    請求項１乃至１３の何れかに記載の個体識別装置。     The imaging unit extracts, as an individual identifier of the object, a feature amount dependent on the grain distribution from the image of the pattern obtained by the imaging.
    The individual identification device according to claim 1.
  15. 　前記個体識別子を前記物体の属性情報に関連付けて記憶装置に記録する登録部を有する、
    請求項１４に記載の個体識別装置。     A registration unit that records the individual identifier in association with the attribute information of the object in a storage device;
    The individual identification device according to claim 14.
  16. 　請求項１乃至１５の何れかに記載の個体識別装置を有し、設定トルク値で締付を行った締結部材上に前記個体識別装置によって個体識別のためのパターンを生成すると共に当該生成したパターンを撮像する工具。 A pattern for individual identification is generated by the individual identification device on a fastening member having the individual identification device according to any one of claims 1 to 15 and tightened with a set torque value, and the generated pattern A tool to image.
  17. 　請求項１乃至１５の何れかに記載の個体識別装置を有し、作業を行った対象物上に前記個体識別装置によって個体識別のためのパターンを生成すると共に当該生成したパターンを撮像するロボットハンド。 A robot hand comprising the individual identification device according to any one of claims 1 to 15, wherein a pattern for individual identification is generated by the individual identification device on an object on which work has been performed, and the generated pattern is imaged. .
  18. 　請求項１４に記載の個体識別装置によって抽出された個体識別子を用いて識別を行う識別装置。 An identification device that performs identification using the individual identifier extracted by the individual identification device according to claim 14.
  19. 　請求項１４に記載の個体識別装置によって抽出された個体識別子を用いて照合を行う照合装置。 A verification device that performs verification using the individual identifier extracted by the individual identification device according to claim 14.
  20. 　生成部と撮像部とを有する装置が実行する個体識別方法であって、
    　前記生成部が、物体上にパターンを生成し、
    　前記撮像部が、前記パターンの生成を検出し、前記生成されたパターンを撮像する、
    個体識別方法。     An individual identification method executed by an apparatus having a generation unit and an imaging unit,
    The generating unit generates a pattern on the object;
    The imaging unit detects the generation of the pattern and images the generated pattern;
    Individual identification method.
  21. 　前記パターンの生成では、前記生成部が、待機位置から前記パターンの生成を行う生成位置まで移動し、
    　前記パターンの生成の検出では、前記撮像部が、前記待機位置から前記生成位置まで前記生成部が移動したことを検出することにより、前記パターンの生成を検出する、
    請求項２０に記載の個体識別方法。     In the generation of the pattern, the generation unit moves from a standby position to a generation position for generating the pattern,
    In the detection of the generation of the pattern, the imaging unit detects the generation of the pattern by detecting that the generation unit has moved from the standby position to the generation position.
    The individual identification method according to claim 20.
  22. 　前記パターンの撮像では、前記生成部が、前記生成位置から前記待機位置に前記生成部が移動したタイミングで撮像を行う、
    請求項２１に記載の個体識別方法。     In imaging of the pattern, the generation unit performs imaging at a timing when the generation unit moves from the generation position to the standby position.
    The individual identification method according to claim 21.
  23. 　前記パターンの生成では、微小な粒を含む液体を前記物体に付与することにより前記パターンを生成する、
    請求項２０乃至２２の何れかに記載の個体識別方法。     In the generation of the pattern, the pattern is generated by applying a liquid containing fine particles to the object.
    The individual identification method according to any one of claims 20 to 22.
  24. 　前記パターンの生成では、レーザ加工機により前記物体上にランダムパターンを生成することにより前記パターンを生成する、
    請求項２０乃至２２の何れかに記載の個体識別方法。     In the generation of the pattern, the pattern is generated by generating a random pattern on the object by a laser processing machine,
    The individual identification method according to any one of claims 20 to 22.
  25. 　前記撮像部が、前記撮像して得た前記パターンの画像から、前記粒の分布に依存する特徴量を前記物体の個体識別子として抽出する、
    請求項２０乃至２４の何れかに記載の個体識別方法     The imaging unit extracts, as an individual identifier of the object, a feature amount that depends on the grain distribution from the image of the pattern obtained by the imaging.
    25. The individual identification method according to any one of claims 20 to 24.
  26. 　前記個体識別装置は登録部を有し、
    　前記登録部が、前記個体識別子を前記物体の属性情報に関連付けて記憶装置に記録する、
    請求項２５に記載の個体識別方法。     The individual identification device has a registration unit,
    The registration unit records the individual identifier in a storage device in association with attribute information of the object.
    The individual identification method according to claim 25.
  27. 　請求項２５に記載の個体識別方法によって抽出された個体識別子を用いて識別を行う識別方法。 An identification method for performing identification using an individual identifier extracted by the individual identification method according to claim 25.
  28. 　請求項２５に記載の個体識別方法によって抽出された個体識別子を用いて照合を行う照合方法。 A collation method for performing collation using the individual identifier extracted by the individual identification method according to claim 25.
PCT/JP2016/073735 2015-08-31 2016-08-12 Individual object identification device WO2017038432A1 (en)

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Cited By (2)

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US20220036530A1 (en) * 2018-11-29 2022-02-03 Nec Corporation Individual identification apparatus
US11403834B2 (en) 2017-09-28 2022-08-02 Nec Corporation Sound recording device, recording medium, and image recording device

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JPH09174825A (en) * 1995-11-08 1997-07-08 Imaje Sa Method and apparatus for controlling character printed by printer
JP2004153405A (en) * 2002-10-29 2004-05-27 Fuji Xerox Co Ltd Method and apparatus for confirming document

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JPH09174825A (en) * 1995-11-08 1997-07-08 Imaje Sa Method and apparatus for controlling character printed by printer
JP2004153405A (en) * 2002-10-29 2004-05-27 Fuji Xerox Co Ltd Method and apparatus for confirming document

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11403834B2 (en) 2017-09-28 2022-08-02 Nec Corporation Sound recording device, recording medium, and image recording device
US20220036530A1 (en) * 2018-11-29 2022-02-03 Nec Corporation Individual identification apparatus
US11854185B2 (en) * 2018-11-29 2023-12-26 Nec Corporation Individual identification apparatus

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