JP2011118539A - Image processing method and image processing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To correctly grasp the number of containers 2 by photographing by cameras 10, 12, and counting the number of the containers 2 conveyed in a multi-lined and a random state. <P>SOLUTION: Two cameras 10, 12 installed on an imaging conveyor 6 image the containers 2 that are conveyed. A detection region G is set in the imaged image, and furthermore, a count region H is set in the detection region G. The images photographed by the cameras 10, 12 are sent to an image processing unit 18 and the containers 2 entering the count region H are counted and checked. The containers are kept checked even if the checked containers 2 are returned to the detection region J at the upstream side, so that the number of containers 2 that are conveyed can be correctly grasped by preventing the containers re-entering the count region H from being counted. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a technique for counting the number of articles that are conveyed in multiple rows on a conveyor in a random state by using a camera, and in particular, an image processing method and image processing characterized by processing of images captured by a camera. It relates to the device.

  There is already known a technique in which containers conveyed in multiple rows on a conveyor in a random state are photographed by a camera and the number of containers is counted (see Patent Document 1).

  In the invention described in Patent Document 1, containers are transported in a random distribution in the first wide conveyor coupled to the filler capper, and the second wide conveyor on the downstream side of the first wide conveyor is received from the first wide conveyor. The containers having the same width convey the containers in close contact with the width and length of the conveyor, and further have a configuration in which a camera serving as a container counting means is installed above the second wide conveyor.

  The CCD camera installed above the second wide conveyor can photograph a container within a certain length in the feeding direction full of the width of the second wide conveyor from above. The image captured by the CCD camera is scanned, the number of containers is counted, and converted into the number of containers per unit length.

JP 2006-56793 A

The invention described in Patent Document 1 has a configuration in which the image taken by the CCD camera is scanned and the number of containers is counted, and there is a problem that accurate counting cannot be performed when the container performs an irregular operation. There is. For example, since the containers are transported in a dense state, a container once entering the imaging area of the camera hits another container and exits the imaging area, and then enters the imaging area twice. This causes the problem that the exact number of containers cannot be measured.
An object of the present invention is to provide an image processing method capable of accurately counting even when a container being transported moves irregularly in an imaging region.

  The present invention provides an image processing method in which an article conveyed by a conveyor is photographed from above by an imaging means, and an image obtained by the imaging means is processed by an image processing means to count the number of articles. In the image photographed by the means, a detection area is set by the image processing means, and further, a count area is set in the detection area, the articles present in the count area are counted, and a check is given, Articles once checked are not counted even if they enter the count area again.

  According to a second aspect of the present invention, there is provided a conveyor for conveying an article, an imaging unit for imaging an article placed and conveyed above the conveyor, and an image obtained from the imaging unit. An image processing means for processing the image obtained by the photographing means by the image processing means and counting the number of articles, wherein the image processing means is included in the image photographed by the photographing means. A detection area is set, a count area is set in the detection area, articles existing in the count area are counted, a check is given, and the article once checked enters the count area again. However, they are not counted.

  The image processing method according to the present invention counts articles existing in the count area, adds a check, and does not count even if articles coming out of the count area enter the count area again. Even if the article moves irregularly, it is possible to grasp an accurate number without erroneously counting.

FIG. 1 is a plan view in which a part of the conveyor is omitted. Example 1 FIG. 2 is a sectional view taken along line II-II in FIG. FIG. 3 is an explanatory diagram showing a photographing range by the photographing means. FIG. 4 is a diagram illustrating the configuration of the control means. FIGS. 5A and 5B are diagrams illustrating the movement state of articles in the detection area and the count area. FIGS. 6A to 6D are diagrams for explaining a case where the count process is performed on an article that moves irregularly in the detection area and the count area.

  Provided above the transport conveyor is a photographing means for photographing the container conveyed on the conveyor, and performs processing by sending an image photographed by the photographing means to the image processing means, A detection area is provided in the photographed image, a count area for counting the number of containers is set in the detection area, and containers existing in the count area are counted and a check is added to the container. Even if the checked container once exits the count area and enters the count area again, even if the container being transported moves irregularly, it is configured not to count. Achieve the goal of counting accurately.

  Hereinafter, the present invention will be described with reference to embodiments shown in the drawings. FIG. 1 is a transport conveyor (indicated by reference numeral 1 as a whole) for transporting a large number of articles (containers 2 in this embodiment) in a random state and in multiple rows from the upstream side, and facing the same transport direction. A supply conveyor 4, an imaging conveyor 6 and an accumulation conveyor 8 which are arranged in series and have the same width are provided. The container 2 transported by the transport conveyor 1 is filled with, for example, an upstream filler (not shown), capped in the capper, and then transported by the supply conveyor 4 to the imaging conveyor 6. Delivered.

  Two cameras (a first camera 10 and a second camera 12) are installed above the imaging conveyor 6 as imaging means for imaging the containers 2 on the imaging conveyor 6. These two cameras 10 and 12 perform imaging within a predetermined length in the entire width of the imaging conveyor 6 and in the conveying direction (see arrows in FIG. 1). The container 2 photographed from above by the cameras 10 and 12 on the photographing conveyor 6 is transferred to the next accumulation conveyor 8 and sent to a downstream container processing apparatus (not shown). Further, when the downstream container processing apparatus stops due to trouble or slows down, the container 2 is stored on the accumulator 8 and the supply of the container 2 to the downstream side is stopped or the supply amount is controlled. To do. In this embodiment, during normal operation, the three conveyors of the supply conveyor 4, the imaging conveyor 6, and the accumulator conveyor 8 constituting the conveyor 1 are operated at a constant speed. The conveyance speeds of 4, 6, and 8 are appropriately controlled.

  As shown in FIG. 2, the two cameras 10 and 12 are attached to an attachment body 14 that is installed above the imaging conveyor 6 so as to face the direction crossing the imaging conveyor. As will be described later, these two cameras 10 and 12 are partially overlapped to capture the entire width of the imaging conveyor 6 (see FIG. 3). Image data photographed by the two cameras 10 and 12 are sent to the control device 16 for image processing. In this embodiment, the container 2 filled with a liquid such as water or tea is photographed, and the container body 2a is not reflected and only the cap 2b is reflected and can be recognized. The number of 2 is counted.

  As shown in FIG. 4, the control device 16 stores an image processing unit 18 that processes images taken by the cameras 10 and 12, and a storage that stores position data of the container 2 obtained by the image processing unit 18. A command unit 22 that outputs a shooting signal to the unit 20 and the cameras 10 and 12 and instructs the timing of shooting the container 2 being transported is provided, and is shot by the first camera 10 and the second camera 12. By processing the image by the image processing unit 18, the number of containers 2 conveyed on the imaging conveyor 6 and sent to the accumulation conveyor 8 is counted.

  As shown in FIG. 3, each of the two cameras 10 and 12 takes an image of a range from one end in the width direction of the imaging conveyor 6 to a position slightly beyond the center, and these two cameras 10 and 12 are used to image the entire width of the imaging conveyor 6. The first camera 10 captures a range from one end A to a position C beyond the center in the width direction, and the second camera 12 captures a range from the other end B to a position D beyond the center. Do. Accordingly, the two cameras 10 and 12 are used to capture images between positions C to D near the center in the width direction of the imaging conveyor 6. 3 is a front view showing the imaging range in the width direction on the imaging conveyor 6 by the two cameras 10 and 12, and the lower part of FIG. 3 is the imaging of the two cameras 10 and 12, respectively. It is a top view which shows a range.

  When the shooting ranges of the two cameras 10 and 12 are partially overlapped, for example, as shown in the upper part of FIG. 3, the center of the overlapping range (the center in the width direction of the shooting conveyor 6) passes. When the container 2B, the container 2C passing through the limit position C of the shooting range by the first camera 10 and the container 2A passing through the limit position D of the shooting range by the second camera 12, are photographed, the limits of the shooting ranges of both the cameras 10 and 12 The containers 2C and 2A that pass through are not recognized because the cap 2b is not photographed (the container 2C cannot be recognized by the first camera 10, but can be photographed and detected by the second camera 12, and conversely, the container 2A The two cameras 12 cannot be recognized and can be detected by being photographed by the first camera 10), and the container 2 </ b> B passing through the center is a recognizable limit of the cameras 10 and 12. Accordingly, in the area outside the range (A to E and F to B) that can be photographed and recognized by the cameras 10 and 12 (the areas E to C and D to F), the container 2 is counted in the count area described later. Not performed.

  Further, in this embodiment, a detection region (region indicated by symbol G in FIGS. 3 and 5A) for detecting the container 2 being transported is set in the images taken by the two cameras 10 and 12. Further, a count area (area indicated by symbol H in the figure) for counting the containers 2 to be conveyed is set inside the detection area G. The count area H is set inside the detection area G, and an upstream detection area J and a downstream detection area K that are not the count area H are provided on the upstream and downstream sides of the count area H, respectively.

  In addition, photographing by the cameras 10 and 12 is performed at regular intervals. This photographing cycle is an interval at which the amount of movement of the article is shorter than the size of the article. In this embodiment, as described above, the container 2 filled with a liquid such as water or tea is photographed. Since the container body 2a is not reflected and only the cap 2b is reflected, the cap 2b can be recognized. Is recognized and counted. Therefore, the timing of shooting by the cameras 10 and 12 is also set so that the next shooting is performed while the container 2 does not move by the size of the cap 2b after shooting once. The photographing timing is set to satisfy the timing Tsec ≦ Amm ÷ Vmm / sec, where the diameter of the cap is Amm and the speed of the photographing conveyor 6 is Vmm / sec. FIG. 5B is a diagram showing images taken by the cameras 10 and 12 at this photographing timing. When the container 2 (cap 2b in this embodiment) indicated by a broken line is the n-th photographing, the (n + 1) -th photographing is performed. The imaging container 2 (cap 2b) is in a position indicated by a solid line, and the next imaging is performed before moving by one cap. The timing of this shooting is instructed by outputting shooting signals from the command unit 20 of the control device 16 to the cameras 10 and 12.

  Images taken by both cameras 10 and 12 are sent to the image processing unit 18 of the control device 16. The image processing unit 18 includes a coordinate calculation unit 24, a movement position recognition unit 26, and a check addition unit 28. First, the cap 2b is recognized from the image sent to the image processing unit 18, and the cap 2b The image is binarized by the coordinate calculation unit 24 to calculate the center coordinates (Xn, Yn). The calculated center coordinates (Xn, Yn) of the cap 2b are stored in the storage unit 20. Further, when the next photographed image is sent to the image processing unit 18 and binarization processing is performed by the coordinate calculation unit 24 to calculate the center coordinates (Xn + 1, Yn + 1), the movement position recognition unit 26 The newly calculated center coordinates (Xn + 1, Yn + 1) are compared with the previous data stored in the storage unit 20, and the movement position of the container 2 is recognized. When the container 2 photographed by the cameras 10 and 12 at a predetermined interval and whose movement position is recognized enters the count area H from the upstream detection area J, it is counted in the image processing section 18 and in the check section 28. A check is given.

  An article photographing method using the apparatus according to the above configuration will be described. A number of containers 2 processed by an upstream container processing apparatus (not shown) are conveyed by the supply conveyor 4 in a standing posture, in multiple rows, and in a random state. When the container 2 transferred from the supply conveyor 4 to the photographing conveyor 6 reaches below the photographing means (two cameras 10 and 12) installed above the photographing conveyor 6, the two cameras 10 and 12 photograph it. Is done. When the container 2 that has entered the detection region G is photographed, the image data is sent to the control device 16, and binarization processing is performed by the coordinate calculation unit 24 of the image processing unit 18, so that the center coordinates (Xn, Yn) are processed. ) Is calculated (see FIG. 5A) and stored in the storage unit 20. Photographing by the cameras 10 and 12 is repeatedly performed at a timing that does not move more than the diameter of the container 2 (the cap 2b in this embodiment because the cap 2b is recognized).

  If the previous (n-th) photographed image is shown in FIG. 5A, the next (n + 1) -th photograph is performed at a timing when the container 2 does not move by the size of the diameter of the cap 2b. In the image, the cap 2b has moved to the position indicated by the solid line in FIG. 5B, and a part of the image of the cap 2b is overlapped in the transport direction in two consecutive photographing operations (FIG. 5). The cap 2b shown by a broken line in (b) is the nth image). The next (n + 1) th shooting data is also binarized by the coordinate calculation unit 24 to calculate center coordinates (Xn + 1, Yn + 1). The center coordinates (Xn + 1, Yn + 1) are compared with the previous center coordinate data (Xn, Yn) stored in the storage unit 20 and linked to data having the closest center coordinate distance. In this embodiment, since the photographing means (cameras 10 and 12) are controlled so that the movement distance from the previous photographing is less than the length (diameter) of the article (cap 2b), Center coordinate data (Xn, Yn) and current center coordinate data (Xn + 1, Yn + 1) can be reliably linked, and the number of containers 2 can be accurately counted.

  When the center coordinates of the cap 2b of the container 2 that has been conveyed are within the count area H, the container 2 is counted and a check is given by the check giving unit 28 (the cross in FIG. 5B). (Refer to the cap 2bA). 6A to 6D, the upper side of the horizontal straight line is the detection area J on the upstream side, the lower side is the count area H, and the state shown in FIG. 6A (the cap 2b is the count area H). 6B (a state where the cap 2b enters the count area H) is changed to a state where the container 2 is counted and a check is given. (Check mark is shown with a cross). Even if the container 2 hits another container 2 and returns to the detection area J upstream of the count area H, the check given to the cap 2b (2bA) is not removed ( (Refer FIG.6 (c)). The container 2 then enters the count area H again, but does not count because it is checked. Thus, even when the container 2 counted for the first time in the count area H returns to the upstream side once and then enters the count area H again, the cap 2b of the container 2 once counted is checked. Therefore (see the cap indicated by reference numeral 2bA in FIG. 5B and FIG. 6), there is no fear of being counted again, and the number of containers 2 to be conveyed can be accurately counted. When the container 2 counted in the count area H is once transported to the downstream detection area K and then returned to the count area H again, it returns to the upstream detection area J. Will not be counted again. In the above embodiment, the count area H is set at the center of the entire detection area G, and the areas J and K that are not counted are set on the upstream side and the downstream side, respectively. For example, a count area may be set on the upstream side of the entire detection area, and a non-counting area may be set on the downstream side, or a count area may be set on the downstream side of the entire detection area and An area not counted may be set on the side.

G detection area H count area 1 transport conveyor 2 container 10 imaging means (first camera)
12 Shooting means (second camera)
18 Image processing means (image processing unit)

Claims (2)

In an image processing method for photographing an article being conveyed by a conveyer from above by an imaging unit, processing an image obtained by the imaging unit by an image processing unit, and counting the number of articles,
In the image photographed by the photographing means, a detection area is set by the image processing means, and further, a count area is set in the detection area, and an article existing in the count area is counted and a check is added. An article that has been checked once is not counted even if it enters the count area again. A conveyance conveyor for conveying the article, an imaging unit for imaging the article arranged and conveyed above the conveyor, and an image processing unit for processing an image obtained from the imaging unit. In the image processing apparatus that processes the obtained image by the image processing means and counts the number of articles,
The image processing means sets a detection area in the image photographed by the photographing means, further sets a count area in the detection area, counts articles present in the count area, and gives a check The image processing apparatus is characterized in that an article once checked is not counted even if it enters the count area again.

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