JP2012103957A - Component retrieval system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable easy retrieval of component data in a short time by acquiring necessary information from actual components.SOLUTION: A component retrieval system includes a table 2 where a component P is mounted, a weight meter 3 for measuring the weight of the component P mounted on the table 2, a light source 4 for irradiating light to the component P mounted on the table 2, a transmission type screen 5 allowing through-view where the component P is projected by irradiating the light from the light source 4, a camera 6 for imaging, from the opposite side of the light source across the transmission type screen 5, a projected image PI of the component P projected on the rear side of the transmission type screen 5 by projecting the component P to the transmission type screen 5 by the light, a measurement arm 7 where the light source 4, the transmission type screen 5 and the camera 6 are fixed, a robot 8 for moving the measurement arm 7, and a component retrieval device 9 for controlling the robot 8 and performing image processing to obtain a three-dimensional shape of the component P based on the projected image PI of the component P imaged by the camera 6.

Description

  The present invention relates to a parts retrieval system, and more particularly, to a parts retrieval system in which parts corresponding to the parts information can be retrieved from a database by inputting the parts information by a parts retrieval device such as a personal computer.

  2. Description of the Related Art Conventionally, there are known component retrieval systems and component retrieval devices that can retrieve large-capacity component data from a database (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3). Such a part retrieval system or part retrieval apparatus is used to search for large-capacity part data from a database, for example, by inputting part number and text information of a part with an input device of a personal computer, For example, shape information is input, and the information is used as a keyword related to a part to be searched.

JP 2010-128682 A JP 2008-234101 A JP 2007-140810 A

  However, in the parts search system and parts search apparatus described in the background art, even if there is an actual part to be searched, it is necessary to input a keyword for searching the part one by one using the input device. Therefore, there is a difficulty in that it is necessary to construct a keyword in the preliminary stage of searching, or that a part search cannot be performed if the keyword of the part to be searched is unknown. In addition, in the case of a person who cannot operate the personal computer, the part data search itself cannot be performed.

  The present invention has been made to solve such a conventional problem, and in advance, searches for text information such as a product number and a product name, which are keywords when searching for component data, and information on the three-dimensional shape of the component. It is another object of the present invention to provide a parts retrieval system that can easily retrieve parts data in a short time by obtaining necessary information from the actual product.

  A parts retrieval system that is a first aspect that achieves the above-described object includes a table on which an object to be searched is installed, a scale for measuring the weight of the object to be searched installed on the table, and a table installed on the table. A light source that irradiates the search target object with light, a transparent transmission screen on which the search target object is projected by irradiating light from the light source, and the search target object are projected onto the transmission screen by light. Thus, a camera that captures a projection image of the search target image displayed on the back side of the transmissive screen from the side opposite to the light source across the transmissive screen, and the light source, the transmissive screen, and the camera are fixed. A measurement arm, a robot that moves the measurement arm, and a robot for obtaining a three-dimensional shape of the search target object based on a projection image of the search target image captured by a camera Control and move the measurement arm to change the imaging direction of the camera, and each time the camera captures the projected image with the camera, and the control unit captures the number of times the camera imaging direction is changed A three-dimensional shape data generation unit that generates three-dimensional shape data by processing two-dimensional image data of a projection image of a search target object, and a target to be searched based on the three-dimensional shape data generated by the three-dimensional shape data generation unit The volume of the object to be searched and the weight of the object to be searched measured with a weigh scale is converted into mass, and the density of the object to be searched is calculated based on the volume and mass, and the material of the object to be searched is calculated. A material discriminating unit for discriminating the data and a database, and the three-dimensional shape data, mass data and material data of each of the plurality of parts are stored in the database. A storage unit in which a threshold value for searching for a part similar to the search target object from a plurality of parts is set and the threshold value is stored in the database, and three-dimensional shape data of the search target object is stored in the database. The first component search function that searches the database for a component group that falls within the threshold value of the three-dimensional shape data, and the component group searched by the first component search function, the material of the search target object A component retrieval unit having a second component retrieval function for retrieving a component group having material data stored in the same database as the material data from the database;

  In the component search system according to the first aspect as described above, the search target object is set on a table, and the three-dimensional search target object is based on the projection image of the search target object captured by the camera at the control unit. To obtain the shape, the robot moves the measurement arm to change the imaging direction by the camera, and each time a projected image is captured by the camera, the three-dimensional shape data generation unit The three-dimensional shape data can be generated by performing image processing on the two-dimensional image data of the projected image of the search target image captured by the camera as many times as the imaging direction of the image is changed. The volume of the search target object is calculated based on the three-dimensional shape data generated by the generation unit, and the weight of the search target object measured by the weigh scale is converted into mass, and the search target object is calculated based on the volume and mass. Calculate the density of objects It is possible to determine the material of the object to be searched object by. Then, the component retrieval unit retrieves a component group within the threshold of the three-dimensional shape data stored in the database with the three-dimensional shape data of the search target object from the database by using the first component retrieval function. The component search function searches the component group having the material data stored in the same database as the material data of the material to be searched from the component group searched by the first component search function. be able to. Therefore, the component search system according to the first aspect can easily obtain information on the search target object from the actual product in a short time.

  In the component search system according to the second aspect of the present invention, the component search unit is configured to obtain mass data of the mass of the search target object from the component group searched by the second component search function. It has a third part search function for searching a part group within the threshold of mass data stored in the database from the database.

  According to the component search system which is such a 2nd aspect, the component group applicable to a to-be-searched object can be narrowed down further.

  According to a third aspect of the present invention, in the component search system according to the first or second aspect, the component search system includes a display unit for displaying a component group searched based on mass by the component search unit.

  According to the component search system which is such a third aspect, an operator who is searching for a component can easily select an optimal component.

  According to a fourth aspect of the present invention, in the component search system according to any one of the first to third aspects, the table is made of a transparent material at a site where the search target object is placed. .

  The reason for applying the component search system according to the fourth aspect is to prevent a shadow from being formed by a part where the search target object is placed when light is irradiated to the search target object with a light source. This is because the shadow may adversely affect the imaging of the camera depending on the imaging position of the camera.

  According to a fifth aspect of the present invention, in the component search system according to any one of the first to fourth aspects, the robot is an articulated industrial robot.

  According to the component retrieval system as the fifth aspect, the measurement arm on which the light source, the transmissive screen, and the camera are fixed can be moved with the optimum minimum locus.

  According to the parts retrieval system of the present invention, necessary information can be obtained from the actual product without checking in advance text information such as a product number and a product name, which are keywords when retrieving parts data, and information on the three-dimensional shape of the parts. Thus, data retrieval of parts can be easily performed in a short time.

It is explanatory drawing which shows the example of preferable embodiment of the components search system of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the industrial robot which is a specific example of the robot which is a component of the components search system of this invention, (A) is a whole perspective view which shows an industrial robot, (B), (C) is an industrial robot. It is a fragmentary perspective view which shows the arm of a front-end | tip and the fixing | fixed part provided in this arm. FIG. 4 is an explanatory view of the operation of a measurement arm to which a light source, a transmission screen, and a camera, which are components of the component retrieval system of the present invention, are fixed. FIG. (B) is a diagram in which the measurement arm is rotated 90 degrees in the horizontal direction from the position (A), and (C) is a diagram in which the measurement arm is 90 degrees in the vertical direction from the position (B). It is the figure which rotated and stopped. It is a flowchart figure which shows operation | movement of the components search system of this invention.

  Hereinafter, an example for carrying out a parts retrieval system of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the component retrieval system of the present invention includes a table 2 on which a component P that is a search target object is installed, a weight meter 3 that measures the weight of the component P installed on the table 2, and a table 2. A light source 4 that irradiates light to the installed component P, a transparent transmission screen 5 on which the component P is projected by irradiating light from the light source 4, and the component P is projected onto the transmission screen 5 by light. Thus, the camera 6 that images the projection image PI of the component P projected on the back side of the transmissive screen 5 from the opposite side of the light source 4 across the transmissive screen 5, the light source 4, the transmissive screen 5, and A measuring arm 7 to which the camera 6 is fixed, a robot 8 for moving the measuring arm 7, and a parts retrieval device 9 that is electrically connected to the weighing scale 3, the camera 6, and the robot 8 are provided. .

  When measuring the weight of the component P together with the table 2, the weigh scale 3 may output the data signal with a value obtained by subtracting the weight of the table 2. You may make it deduct. The transmissive screen 5 can visually recognize the projection image PI of the component P projected by the light of the light source 4 from the opposite side of the light source 4 with the transmissive screen 5 interposed therebetween. The camera 6 is a digital device that generates digital image data using an image sensor such as a CCD or CMOS in order to perform image processing on a projection image PI of a component P projected on the back side of the transmission screen 5 by a component search device 9 described later. A camera is preferred. In this way, the light source 4, the transmissive screen 5, and the camera 6 are provided with the measurement arm 7 so that the projection image PI of the component P projected onto the transmissive screen 5 by the light of the light source 4 can be captured by the camera 6. Is arranged. For example, the light source 4 is fixed to the measurement arm 7 alone, and the transmission screen 5 and the camera 6 are fixed to the frame 10 fixed to the measurement arm 7.

  The robot 8 to which the measurement arm 7 is fixed moves the measurement arm 7 so that the three-dimensional shape of the component P can be obtained based on the projection image PI of the component P imaged by the camera 6. That is, if the projection image PI of the component P projected on the transmission screen 5 is not captured by the camera 6 so that the component P can be captured as a two-dimensional image from at least three directions, the three-dimensional shape of the component P is obtained. Therefore, the robot 8 is preferably an automatic control and programmable manipulator having three or more degrees of freedom. Accordingly, the more the imaging direction by the camera 6 is, the more accurately the three-dimensional shape of the article having a complicated shape can be obtained. Such a robot 8 is a multi-joint type industrial robot in which a plurality of arms are respectively connected by joints, and a fixed part for fixing the measuring arm 7 is rotatably provided at the tip arm. Is applicable. By using such an articulated industrial robot, the measurement arm 7 on which the light source 4, the transmission screen 5 and the camera 6 are fixed can be moved with an optimum minimum locus.

  For example, as shown in FIG. 2, the industrial robot 8 is a 6-axis robot that rotates on a base 81 in the horizontal direction about one axis and a rotary table 82 that rotates in two directions perpendicular to the 1 axis. The first arm 83 connected to the tip of the first arm 83 and pivoting about the two axes, and connected to the tip of the first arm 83 by three axes parallel to the two axes and pivoting about the three axes 2nd arm 84, 4 axis | shafts provided in the 2nd arm 84 so that rotation was possible, and orthogonal to 3 axis | shafts, 3rd arm 85 fixed to the front-end | tip of 4 axes | shafts, 5 axis | shafts orthogonal to 4 axis | shafts The fourth arm 86 connected to the tip of the third arm 85 and rotating around the five axes is connected to the tip of the fourth arm 86 with six axes orthogonal to the five axes. The measuring arm 7 is fixed to the fixing portion 87.

  The component search device 9 includes a control unit 91, a three-dimensional shape data generation unit 92, a material determination unit 93, a storage unit 94, a component search unit 95, an operation unit 96 and a display unit 97. The control unit 91 is electrically connected to transmit a signal, and the control unit 91 includes a three-dimensional shape data generation unit 92, a material determination unit 93, a storage unit 94, a component search unit 95, an operation unit 96, and a display unit 97, respectively. The three-dimensional shape data generation unit 92 is electrically connected so as to transmit an electric signal to the camera 6, and the material determination unit 93 transmits the electric signal to the weighing scale 3. It is electrically connected so that it can.

  The control unit 91 controls the robot 8 and moves the measurement arm 7 to obtain the three-dimensional shape of the component P based on the projection image PI of the component P imaged by the camera 6, thereby capturing the image by the camera 6. Each time, the camera 6 has a control processing function for capturing the projected image PI.

  The three-dimensional shape data generation unit 92 performs image processing on the two-dimensional image data of the projected image PI of the component P imaged by the camera 6 as many times as the imaging direction of the camera 6 is changed by the control unit 91 to obtain the three-dimensional shape data. It has an image processing function to generate.

The material determination unit 93 calculates the volume of the part P based on the three-dimensional shape data generated by the three-dimensional shape data generation unit 92, converts the weight of the part P measured by the weighing scale 3 into mass, An arithmetic processing function for calculating the density of the part P based on the volume and mass and determining the material of the part P is provided. This calculation processing function obtains the density (g / cm ³ ) by obtaining the volume (cm ³ ) of the three-dimensional shape from the three-dimensional shape data and dividing the mass by the volume. A database indicating the relationship between density and material is registered in advance in a storage unit 94 described later, and the material determination unit 93 can determine the material of the component P based on the database.

  The storage unit 94 has a database, in which the three-dimensional shape data, mass data, and material data of each of the plurality of parts are stored, and the three-dimensional shape data and mass data of the parts are respectively received from the plurality of parts. A threshold for searching for a part similar to the part P that is the search target is set, and the threshold is also stored in the database. The threshold value of the three-dimensional shape data is set to a value that allows selection of shapes having substantially the same shape but different sizes. The threshold value of the three-dimensional shape data is, for example, a shape feature parameter obtained by quantifying the contour shape feature based on the input two-dimensional shape data. The threshold value of the mass data is set to a value that can narrow down the corresponding parts by mass. As the threshold value of the mass data, for example, an allowable error of the part described in the technical standard of the part standardized in the automobile industry or in-house is used.

  The part search unit 95 has a first part search function for searching a part group within the threshold of the three-dimensional shape data in which the three-dimensional shape data of the part P is stored in the database. Further, the component search unit 95 searches the component group having the material data stored in the same database as the material data of the component P from the component group searched by the first component search function. 2 has a component search function. Further, the component search unit 95 searches the component group searched by the second component search function for a component group in which the mass data of the component P is within the threshold of the mass data stored in the database. A third component search function is provided.

  The display unit 97 displays the component group searched based on the mass by the component search unit 95. By displaying on the display unit 97 the group of parts searched based on the mass by the parts search unit 95, an operator who is searching for parts can easily select an optimal part.

  The component search device 9 configured as described above includes an arithmetic processing device such as a CPU, a display device having a display screen such as a liquid crystal display, an input device such as a keyboard, a mouse, and a touch panel, and a hard disk drive. A personal computer composed of a storage device such as a ROM or a RAM is preferable.

  The operation of the component search system 1 including the measurement arm 7 to which the light source 4, the transmission screen 5 and the camera 6 are fixed, the robot 8, and the component search device 9 is shown in FIG. 7 will be described with reference to FIG. 7 and a flowchart shown in FIG.

  When the target part PI that is the search target is placed on the table 2 (step 101), the weigh scale 3 measures the weight of the part P (step 102). Here, when an operation for starting the component search is performed by the operation unit 96 of the component search device 9, the control unit 91 of the component search device 9 uses the component P as the light source in the horizontal direction L as shown in FIG. The measuring arm 7 is moved by the robot 8 so as to be positioned between the transmission screen 4 and the transmission screen 5 (step 103).

  At this position, the control unit 91 projects the projection image PI of the component P projected on the back side of the transmissive screen 5 by projecting the component P onto the transmissive screen 5 by light (step 104). When the imaging at this position is completed, the controller 91 moves the component P between the light source 4 and the transmission screen 5 in the horizontal direction W orthogonal to the horizontal direction L in the horizontal plane, as shown in FIG. The measuring arm 7 is moved by the robot 8 so as to be positioned at (step 105). At this position, the control unit 91 projects the projection image PI of the component P projected on the back side of the transmissive screen 5 by projecting the component P onto the transmissive screen 5 by light (step 104). When the imaging at this position is completed, the controller 91 moves the component P between the light source 4 and the transmissive screen 5 in the vertical direction H perpendicular to the horizontal direction W in the vertical plane, as shown in FIG. The measurement arm 7 is moved by the robot 8 so as to be positioned between them (step 105). At this position, the control unit 91 projects the projection image PI of the component P projected on the back side of the transmissive screen 5 by projecting the component P onto the transmissive screen 5 by light (step 104). Two-dimensional image data from three directions from which the three-dimensional shape of the component P can be obtained by capturing the projected image PI of the component P projected on the back side of the transmissive screen 5 at these three positions with the camera 6 The three-dimensional shape data generation unit 92 of the search device 9 acquires (step 106). In addition, the part which installs the component P of the table 2 is preferably made of a transparent material. This is to prevent a shadow from being formed by a part where the component P is placed when the component P is irradiated with light by the light source 4, and this shadow may adversely affect the imaging of the camera 6 depending on the imaging position of the camera 6. This is because there is a fear.

  When the three-dimensional shape data generation unit 92 acquires two-dimensional image data from three directions from which the three-dimensional shape of the component P can be obtained, the three-dimensional shape data is subjected to image processing to form a three-dimensional shape ( Steps 107 and 108) and 3D shape data are generated from the 3D shape (step 109). As this image processing, binarization processing and edge detection processing are suitable, and the two-dimensional shape of the component P can be detected with high accuracy by performing detection processing so as to emphasize the edge.

  When the three-dimensional shape data of the component P is generated by the three-dimensional shape data generation unit 92, the component search unit 95 of the component search device 9 stores the three-dimensional shape data of the component P in the storage unit 94 using the first component search function. A part group within the threshold value of the three-dimensional shape data stored in the database included in the database is searched from the database (step 110). Thereby, it is possible to narrow down to a part group similar in shape to the part P from a plurality of parts stored in the database.

  When the weight meter 3 measures the weight of the component P in step 102, the material determination unit 93 of the component search device 9 converts the weight of the component P into mass (step 111) and the three-dimensional shape data generation unit 92. The volume of the part P is calculated on the basis of the three-dimensional shape data generated in step S1, and the density of the part P is calculated on the basis of the mass and the volume to determine the material of the part P (steps 112 and 113).

  When the material determination unit 93 determines the material of the component P, the component search unit 95 uses the second component search function to search for the material data of the component P from the component group searched by the first component search function. A part group having the material data stored in the database of the same storage unit 94 is searched from the database (step 114). As a result, it is possible to narrow down the component group having the same material as the component P from the component group narrowed down to the component group similar in shape to the component P by the first component search function.

  When the part search unit 95 is narrowed down to a part group having the same material as that of the part P, the part search unit 95 uses the third part search function to select a material determination unit from the part group searched by the second part search function. A part group in which the mass data of the part P obtained in 93 is within the threshold value of the mass data stored in the database of the storage unit 94 is searched from the database (step 115). Thereby, it is possible to further narrow down the component group similar to the component P in terms of mass from the component group narrowed down to the component group having the same material as the component P by the second component search function.

  Although the present invention has been described with the specific embodiments shown in the drawings, the present invention is not limited to the embodiments shown in the drawings, and is known so far as long as the effects of the present invention are achieved. It goes without saying that any configuration can be adopted.

1 …… Part search system 2 …… Table 3 …… Weigh scale 4 …… Light source 5 …… Transparent screen 6 …… Camera 7 …… Measurement arm 8 …… Robot 91 …… Control unit 92 …… 3D shape Data generation unit 93 …… Material discrimination unit 94 …… Storage unit 95 …… Part search unit 97 …… Display unit P …… Part (object to be searched)
PI …… Projected image

Claims (5)

A table on which the object to be searched is placed;
A weigh scale for measuring the weight of the search object installed on the table;
A light source for irradiating light to the search target object installed on the table;
A see-through transmissive screen on which the search object is projected by irradiating the light from the light source;
The projected object projected on the back side of the transmissive screen is projected onto the transmissive screen by the light, and the projected image of the sought object is opposite to the light source across the transmissive screen. A camera that captures images from the side,
A measuring arm to which the light source, the transmissive screen and the camera are fixed;
A robot for moving the measurement arm;
In order to obtain the three-dimensional shape of the search target object based on the projection image of the search target object imaged by the camera, the robot is controlled and the measurement arm is moved to capture the image by the camera. A control unit that captures the projected image with the camera each time the direction is changed;
Three-dimensional shape data for generating three-dimensional shape data by performing image processing on the two-dimensional image data of the projection image of the search target image captured by the camera as many times as the number of times that the imaging direction of the camera is changed by the control unit A generator,
The volume of the search target object is calculated based on the three-dimensional shape data generated by the three-dimensional shape data generation unit, and the weight of the search target object measured by the weighing scale is converted into mass. A material discriminating unit for calculating a density of the search target object based on the volume and the mass and determining a material of the search target object;
A three-dimensional shape data, mass data, and material data of each of a plurality of parts are stored in the database, and the three-dimensional shape data and the mass data of the parts are respectively received from the plurality of parts; A storage unit in which a threshold for searching for parts similar to the search object is set and the threshold is stored in the database;
A first part search function for searching a part group within the threshold of the three-dimensional shape data stored in the database for the three-dimensional shape data of the search target; and the first part A second part that searches the database for a part group having the material data stored in the same database as the material data of the material of the object to be searched out of the part group searched by the search function. A component search system comprising a component search unit having a search function.   The component search unit includes the mass data of the mass of the search target within the threshold value of the mass data stored in the database from the component group searched by the second component search function. 2. The component retrieval system according to claim 1, further comprising a third component retrieval function for retrieving a certain component group from the database.   The component search system according to claim 1, further comprising a display unit configured to display the component group searched by the component search unit.   The part search system according to any one of claims 1 to 3, wherein the table is made of a transparent material at a portion where the search target object is placed.   The component retrieval system according to claim 1, wherein the robot is an articulated industrial robot.

Images