JP2015068683A - Position detection device of cylindrical coil - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position detection device of a cylindrical coil, which is capable of detecting a three-dimensional position and a shape of a cylindrical coil with high accuracy and then allows accurate management for transport and the like of the cylindrical coil.SOLUTION: A position detection device of a cylindrical coil includes: single imaging means 13 which takes an end part in an axial direction of a cylindrical coil 10 at least as a subject to capture a two-dimensional image of the cylindrical coil 10 in an oblique direction; arc extraction processing means which extracts an arc described by an outer peripheral edge of the end part in the axial direction of the cylindrical coil 10 on the basis of image data of the captured single two-dimensional image; position data calculation means which calculates position data by which a three-dimensional placement position of the cylindrical coil 10 placed in a prescribed area R can be specified, on the basis of shape data of the extracted arc and auxiliary data relating to the prescribed area R in which the cylindrical coil 10 is place; and output means which outputs the calculated position data.

Description

  The present invention relates to a position detection apparatus for a cylindrical coil that can specify a three-dimensional position of the cylindrical coil based on two-dimensional image data obtained by imaging the cylindrical coil as a subject.

  Conventional cylindrical coil position detection devices detect corresponding points in a predetermined area in a cylindrical coil image captured from different angles by a plurality of cameras, and based on the positional relationship between these predetermined areas, There is one that detects the three-dimensional position of a certain cylindrical coil (for example, see Patent Document 1).

  There is also a detection device that detects the center of the cylindrical coil in the plate width direction by taking an image of the cylindrical coil from the radial direction and performing image processing to calculate a portion having a large brightness difference as an edge portion of the cylindrical coil. (For example, refer to Patent Document 2).

JP-A-7-332944 (page 3, FIG. 2) JP 2009-250898 A (page 5, FIG. 3)

  However, in Patent Document 1, since there are differences in the focus, the angle of illumination, and the like for each image captured by a plurality of cameras, the detection accuracy of the three-dimensional position of the cylindrical coil is caused by the difference between the images. There exists a problem that it remains low and cannot perform the conveyance work of the object cylindrical coil accurately.

  Further, in Patent Document 2, only the two-dimensional position of the cylindrical coil in the plate width direction is detected, and the outer diameter of the cylindrical coil cannot be detected. There is a problem that it is not possible to satisfy the demand of detecting the three-dimensional position and shape of a cylindrical coil extending over the range.

  The present invention has been made paying attention to such problems, and can detect a three-dimensional position of a cylindrical coil with high accuracy, and by extension, can accurately manage the transfer and the like of the cylindrical coil. An object of the present invention is to provide a coil position detection device.

In order to solve the above-mentioned problem, a cylindrical coil position detection device according to the present invention includes:
A position detection device for detecting an arrangement position of a cylindrical coil arranged in a predetermined region,
A single imaging means for imaging a two-dimensional image from an oblique direction of the cylindrical coil with at least the axial end of the cylindrical coil as a subject;
Based on image data of a single two-dimensional image captured by the imaging means, an arc extraction processing means for extracting an arc that forms the outer peripheral edge of the axial end of the cylindrical coil;
Based on the arc shape data extracted by the arc extraction processing means and auxiliary data relating to the predetermined area where the cylindrical coil is arranged, the three-dimensional arrangement position of the cylindrical coil arranged in the predetermined area is determined. Position data calculating means for calculating identifiable position data;
Output means for outputting the position data calculated by the position data calculating means;
It is characterized by having.
According to this feature, an arc that forms the outer peripheral edge of the axial end of the cylindrical coil is extracted from a single image data, and the image is picked up by only a single imaging means that is imaged from the oblique direction of the cylindrical coil. Since position data that can specify the three-dimensional position of the cylindrical coil can be calculated based on the two-dimensional image, the three-dimensional position of the cylindrical coil can be obtained with high accuracy without an error between the images. Management such as gripping and transferring the cylindrical coil can be performed easily and accurately.

The cylindrical coil position detection apparatus of the present invention is
The circular arc extraction processing means extracts a plurality of points estimated as the outer peripheral edge of the axial end portion of the cylindrical coil in the single two-dimensional image, and specifies an arc that most closely matches the extracted plurality of points. By doing so, an arc forming the outer peripheral edge is extracted.
According to this feature, an arc that forms the outer peripheral edge of the axial end of the cylindrical coil can be extracted with high accuracy.

The cylindrical coil position detection apparatus of the present invention is
The arc extraction processing means extracts a pair of elliptical arcs that form the outer peripheral edges of both axial ends of the cylindrical coil from the image data,
The position data calculating means calculates an axial width dimension of the cylindrical coil from the pair of elliptical arcs,
The output means outputs the width data of the cylindrical coil calculated by the position data calculation means together with the position data.
According to this feature, by extracting and calculating a pair of elliptical arcs as the outer peripheral edges of both ends in the axial direction of the cylindrical coil, it is possible to output not only the three-dimensional position of the cylindrical coil but also the axial width.

The cylindrical coil position detection apparatus of the present invention is
Input means for inputting data of the arrangement position of the pallet on which the cylindrical coil is placed as the auxiliary data;
The position data calculating means calculates position data that can specify a three-dimensional arrangement position of the cylindrical coil with reference to data of the arrangement position of the pallet input from the input means.
According to this feature, since the data of the arrangement position of the pallet can be obtained from the input means, the mounting position of the cylindrical coil on the pallet can be specified.

The cylindrical coil position detection apparatus of the present invention is
The output means outputs position data, which can be specified by the position data calculation means, that can specify a three-dimensional arrangement position of the cylindrical coil, to a conveying means that grips and conveys the cylindrical coil.
According to this feature, the conveying means that obtains position data capable of specifying the three-dimensional arrangement position of the cylindrical coil from the output means approaches the cylindrical coil, grips the cylindrical coil, and conveys it as desired. Can do.

The cylindrical coil position detection apparatus of the present invention is
The image pickup means includes control signal output means for outputting an illumination control signal for turning on the illumination means to the illumination means for the cylindrical coil when the image pickup means picks up the image of the cylindrical coil.
According to this feature, the illumination means that has received the illumination control signal from the control signal output means illuminates when taking an image of the cylindrical coil, thereby increasing the illuminance of the cylindrical coil that is the subject and clarifying the outer edge of the cylindrical coil. Therefore, image processing can be performed with high accuracy.

It is a perspective view which shows the building provided with the position detection apparatus of the cylindrical coil in an Example. It is a perspective view which shows the condition which images the cylindrical coil mounted in the predetermined area | region. It is a figure which shows the two-dimensional image which imaged the cylindrical coil. (A) is a figure which shows the area | region of the pallet in which the cylindrical coil was mounted, (b) is a figure which shows the auxiliary data for estimation, (c) is a figure which shows the conditions regarding a pallet. It is a block diagram explaining the position detection of a cylindrical coil. It is a block diagram explaining the image processing of a cylindrical coil. (A) is a flowchart explaining the position detection process of a cylindrical coil, (b) is a figure which shows the storage area set to the storage medium. It is a flowchart explaining an elliptical arc extraction process. It is a flowchart explaining an ellipse fitting process. It is a flowchart which shows a coil position estimation process. It is a figure which shows the elliptical arc extracted based on the two-dimensional image, and its tangent.

  EMBODIMENT OF THE INVENTION The form for implementing the position detection apparatus of the cylindrical coil which concerns on this invention is demonstrated below based on an Example.

  A cylindrical coil position detection apparatus according to an embodiment will be described with reference to FIGS.

  As shown in FIGS. 1 and 2, a plurality of cylindrical coils 10, 10,... Formed by winding a long steel plate are carried in the building 1, and these cylindrical coils 10, 10,. In the building 1, a transport crane 5 that transports each cylindrical coil 10 is provided.

  A trailer 2 for pulling a rectangular pallet 3 on which a plurality of cylindrical coils 10 can be placed stops in a predetermined region R in the vicinity of a carry-in entrance (not shown) in the building 1, and a loading platform on which the pallet 3 is mounted is separated. It is left in the predetermined area R in the building 1. In the present embodiment, two pallets 3 can be left in the longitudinal direction of the building 1 in the predetermined region R.

  Hereinafter, the width direction of the building 1 is the x-axis direction, the longitudinal direction of the building 1 orthogonal to the x-axis direction in plan view is the y-axis direction, and the vertical direction orthogonal to the xy plane is the z-axis direction. The overall space coordinates are described as xyz space coordinates.

  As shown in FIGS. 1 and 3, the pallet 3 is formed in a rectangular plate shape having a long side and a short side with a predetermined dimension, and the short side is y so that the long side is along the x-axis direction. It arrange | positions in the predetermined area | region R so that an axial direction may be followed. On the upper surface of the pallet 3, a plurality of grooves 4 are formed so as to expand in a substantially V shape vertically upward and are spaced apart from each other in parallel. The cylindrical coil 10 is placed in a stable state with its circumferential surface facing downward in the groove 4. The pallet 3 can place a plurality of cylindrical coils 10 in one groove 4.

  The pallet 3 has a plurality of pallet-specific specifications with different long side widths, short side widths, the number of grooves 4 or the separation distance of the grooves 4, and each pallet 3 has a specification unique to the pallet 3. An identifier (not shown) such as a nameplate is provided. For example, in the pallet 3 shown in FIG. 3, the number of the grooves 4 is five, and each of the grooves 4 has a short side width in which a maximum of two cylindrical coils 10 can be placed.

  Since the pallet 3 is pulled by the trailer 2 as described above and disposed in the predetermined region R, the long side and the short side of the pallet 3 do not coincide with the x-axis and y-axis of the building 1 and are slightly misaligned. In this state, it is arranged in the predetermined region R. The upper surface of the pallet 3 is assumed to be in a horizontal state regardless of the position where the pallet 3 is arranged.

  Hereinafter, the long side direction of the pallet 3 arranged in the predetermined region R is defined as the x′-axis direction, the longitudinal direction of the building 1 orthogonal to the x′-axis direction in plan view is defined as the y′-axis direction, and the x′-y ′ plane. A vertical direction perpendicular to the z axis direction is defined as a z-axis direction, and local space coordinates with reference to the pallet 3 arranged in the predetermined region R are described as x′-y′-z space coordinates.

  As shown in FIGS. 1 and 5, the position of the short side and the long side of the pallet 3 arranged in the predetermined region R are detected in the vicinity of the predetermined region R in the building 1 and detected. The distance measurement sensors 11 and 12 for outputting the data of the arrangement position of the pallet 3, the pallet arrival information transmitting unit 16 capable of transmitting information indicating that the pallet 3 has arrived by the operator, and the pallet 3 input by the operator A pallet specific information input unit 17 capable of transmitting the specific information is provided.

  In this embodiment, each pallet 3 includes a distance measuring sensor 11 for detecting the short side position at one place, and distance measuring sensors 12 and 12 for detecting the long side position at two places. The height position of the pallet 3 is assumed to be known, but the detection position of the pallet 3 is not necessarily limited to the present embodiment. You may have.

  Furthermore, the detecting means for detecting the pallet has a reading unit capable of automatically reading and transmitting information indicating that the pallet has arrived or information unique to the pallet in addition to the data on the arrangement position of the pallet 3. May be.

  Next, as illustrated in FIGS. 1 and 5, the conveyance device 22 of the present invention will be described. The conveyance crane 5 constituting the conveyance device 22 extends in parallel to the longitudinal direction at a height position near the ceiling of the building 1. A pair of support rails 6, 6 installed, a base 7 movably installed in the longitudinal direction of the building 1 along the support rails 6, 6, and a building 1 orthogonal to the base 7 in the longitudinal direction The movable table 8 is provided mainly so as to be movable in the width direction, and the grip 9 is provided so as to be movable in the vertical vertical direction with respect to the movable table 8. Further, the gripping portion 9 includes a pair of tongues 9a and 9a facing each other in a substantially L shape, and these tongues 9a and 9a are controlled so that their tips can be close to or separated from each other in the horizontal direction.

  That is, the gripping unit 9 is controlled in the building 1 in the width direction (x-axis direction) and the longitudinal direction (y-axis) under the control of the crane control unit 24 that has input the position data calculated by the calculation unit 23 of the transfer device 22 described later. Direction) and vertical direction (z-axis direction), and the pair of tongues 9a, 9a of the gripping part 9 grips and lifts the cylindrical coil 10 from the outside in the cylindrical axis direction, and transports the cylindrical coil 10. .

  As shown in FIG. 3, the cylindrical coil 10 is a substantially cylindrical shape in which a long steel plate having a predetermined width is wound, and the inner diameter of the hollow portion 10 b that is the central portion in the radial direction is about several tens of centimeters to several tens of centimeters. The outer peripheral edge of the end portion 10a in the axial direction is formed in a substantially perfect circle when viewed in the axial direction. The steel sheet constituting each cylindrical coil 10 has a wide variety of width dimensions and scale dimensions. Therefore, there are many types of width dimensions and outer diameter dimensions in the cylinder axis direction of each cylindrical coil 10.

  Next, as shown in FIGS. 1 and 2, the camera 13 constituting the imaging means of the present invention has a base member 14 provided on a wall surface or the like in the vicinity of a predetermined area in the building 1 on the y-axis direction and the z-axis. It is fixedly installed at a predetermined inclination angle with respect to the direction, so that one pallet 3 on which a plurality of cylindrical coils 10 are placed can be imaged from above obliquely at a predetermined angle of view that can image a subject on one screen. It has become. In this embodiment, two cameras 13, 13 are installed on the wall surface of the building 1, and the upper camera 13 images the pallet 3 that is separated from the wall surface of the building 1, and the lower camera 13 is the wall surface. It is inclined so as to image the near pallet 3. The tilt angle of the camera 13 is an angle at which the outer peripheral edges of both end portions in the axial direction of each cylindrical coil 10 can be imaged. The degree is more preferable.

  Note that the camera 13 may obtain a single image data by capturing only one still image of a two-dimensional image having a plurality of cylindrical coils 10, 10,. Single image data may be generated by averaging a plurality of image data obtained by capturing a plurality of still images or moving images of a predetermined time.

  In addition, an illuminating device 15 that constitutes an illuminating unit that illuminates each pallet 3 is provided on the lower surface of the support rail 6 and is controlled so as to illuminate the cylindrical coil 10 that is a subject during imaging. The illumination device 15 is preferably a device that uniformly illuminates a wide range from one direction, or a device that illuminates from multiple directions in a plurality of directions, and in this way, the cylindrical coil 10 and the pallet 3 that are subjects. Therefore, it is possible to increase the overall illuminance without shadows and to perform more accurate image processing.

  As shown in FIG. 5, the camera 13 and the illumination device 15 are connected to an image processing device 20, and the image processing device 20 is connected to a control computer 21 so that each data can be transmitted and received. Further, the control computer 21 is connected to a calculation unit 23 that controls the transfer device 22 so that each data can be transmitted and received.

  As shown in FIG. 6, the image processing apparatus 20 inputs an image signal obtained by converting the two-dimensional image data from the camera 13 into a signal according to a transmission standard such as HD-SDI, and the illumination apparatus 15. A control signal output unit 20c that outputs an illumination control signal, a RAM 20e and ROM 20f that store image data and the like, an interface unit 20d that outputs and inputs signals to and from the control computer 21, and a later-described acquired from the control computer 21. An auxiliary storage unit 20g for storing recognition auxiliary data and a CPU 20a for controlling signal input / output of these units and image processing are connected to each other via a bus 20h. The above-described CPU 20a constitutes the arc extraction processing means and position data calculation means of the present invention, the control signal output unit 20c constitutes the control signal output means of the present invention, and the interface unit 20d represents the input means and output means of the present invention. Is configured.

  The transport device 22 constituting the transport means receives each information of the pallet 3 from the pallet arrival information transmission unit 16, the distance measurement sensors 11, 12 and the pallet specific information input unit 17 in addition to the transport crane 5 described above, and will be described later. Receiving the three-dimensional position data of the cylindrical coil 10 calculated by the image processing device 20, and calculating the gripping position of the cylindrical coil 10 based on such information, and a transport crane toward the calculated gripping position And a crane control unit 24 that drives and controls the five gripping units 9.

  The position detection apparatus for the cylindrical coil 10 according to the present invention includes an image processing apparatus 20 including a camera 13 which is an imaging means of the present embodiment, a CPU 20a (arc extraction processing means, position data calculation means), and an interface unit 20d (output means). It is comprised by. Note that the cylindrical coil position detection device of the present invention may have a control computer as, for example, an arc extraction processing unit, or may have a transport device as a position data calculation unit.

  Next, as shown in FIG. 7A, the flow of detecting the position of the cylindrical coil 10 using the position detection apparatus for the cylindrical coil 10 of the present invention will be described.

  First, when the control computer 21 receives information indicating that the pallet 3 has arrived from the pallet arrival information transmitting unit 16 and receives identification information specific to the pallet 3 from the pallet specific information input unit 17 (S1), the image is displayed. An imaging command signal is transmitted to the camera 13 via the processing device 20, and an illumination command signal is transmitted to the illumination device 15 (S2).

  As shown in FIG. 3, in the horizontally long two-dimensional image captured by the camera 13 fixedly installed obliquely above the cylindrical coil 10, a plurality of cylindrical coils 10 placed on the pallet 3 are arranged in the axial direction. The subject includes the outer periphery of both ends. In the following description, the horizontal direction of the two-dimensional image plane shown in FIG. 3 is taken as the U-axis direction, and the vertical direction perpendicular to the U-axis direction is taken as the U-V plane coordinate.

  Next, the control computer 21 extracts the elliptic arc in the image based on the acquired two-dimensional image data of the cylindrical coil 10 to the image processing apparatus 20 (S3), The ellipse fitting process (S4) for performing the fitting calculation on the elliptical arc and the coil position estimation process (S5) for calculating the three-dimensional position and shape of the cylindrical coil based on the elliptic arc calculated in the above process are performed. Subsequently, the control computer 21 outputs the three-dimensional position and shape information of the cylindrical coil calculated by the image processing device 20 through these processes to the transport device 22 (S6).

  Next, as shown in FIG. 8, an elliptic arc extraction process (S3) for extracting an elliptic arc in an image forming the cylindrical coil 10 based on a two-dimensional image captured by the camera 13 will be described.

  The “elliptical arc” extracted in this elliptical arc extraction process (S3) is an arc that forms the outer peripheral edge portion of each cylindrical coil 10 at both ends in the cylinder axis direction, that is, the edge portion of the cylindrical coil 10, as described above. In a two-dimensional image taken from obliquely above, it means an arc drawn in an ellipse rather than a perfect circle.

The image processing apparatus 20 acquires image data of a two-dimensional image of the cylindrical coil 10 captured by the camera 13 (Sa01). Also, the image processing apparatus 20 acquires, as auxiliary data for elliptical arc recognition, specification information unique to the pallet, data on the position of the pallet placed in the predetermined area R, and the like from the pallet detection means via the control computer (Sa02). . As shown in FIGS. 4A and 4B, as auxiliary data for circular arc recognition, in addition to the above data, the pallet mounting surface includes a plurality of rows (m ₁ , m ₂ ,...) And a plurality of data. Information on whether or not the cylindrical coil 10 exists in each region (m _N , n _N ) partitioned in a row (n ₁ , n ₂ ,...), And roughly outside the existing cylindrical coil 10 The diameter dimension and approximate width dimension data may be input by the operator.

  The image processing device 20 specifies an elliptical arc detection region in the two-dimensional image based on the auxiliary data acquired above (Sa03). Specifically, the image processing device 20 uses the pallet-specific specification information and pallet arrangement position data shown in FIGS. 4A to 4C and the groove 4 on which the cylindrical coil 10 on the image is placed. Assuming that the center point of the ellipse that forms the elliptic arc to be extracted exists on the straight deepest part 4a, the detection area of the elliptic arc is specified.

  Next, the image processing device 20 sets a parameter to extract a boundary portion (edge) such as luminance between the cylindrical coil 10 and the background portion in the two-dimensional image (Sa04), and from the two-dimensional image according to this parameter. An edge point sequence forming a boundary portion is extracted from the identified elliptical arc detection region (Sa05), and the plurality of extracted edge point sequences are further divided or integrated (Sa06).

  The image processing apparatus 20 determines whether or not the number of extracted edge point sequences satisfies a predetermined required number (Sa07). If the number of edge point sequences is less than the required number, the image processing apparatus 20 sets the parameters. A change is made under a predetermined condition (Sa08), an edge point sequence is extracted again according to the changed parameter (Sa05), and the edge point sequence is divided and integrated (Sa06).

  Hereinafter, the image processing apparatus 20 repeats parameter change, extraction of edge point sequences, and division / integration until the number of edge point sequences satisfies the required number (Sa05 to Sa08). When it is satisfied, the edge point sequence is output and stored in a storage medium such as the RAM 20e (Sa09). More specifically, in the storage medium such as the RAM 20e, as shown in FIG. 7B, for example, the cylindrical coil existing area (m1, n1), (m1, n1), ( A predetermined storage area is set for each of m1, n2), (m2, n1),..., and edge point sequences d1 (u, v); d2 (u, v); d3 ( u, v);... are stored.

  Next, the image processing apparatus 20 determines whether or not an unprocessed extraction area remains (Sa10). If there is an unprocessed extraction area, the above-described elliptic arc detection area is identified (Sa03) to The edge point sequence is output / stored (Sa09). When the process is completed for all the detection areas (Sa10), the elliptical arc extraction process (S3) is terminated, and the process proceeds to the next elliptical fitting process (S4).

  Next, as shown in FIG. 9, the ellipse fitting process (S4) for fitting the elliptic arc extracted by the elliptic arc extraction process (S3) will be described.

  First, the image processing apparatus 20 acquires, as auxiliary data for elliptical fitting, specification information unique to the pallet, pallet placement position data, coil outer diameter and coil width dimension data, etc. from the pallet detection means ( Sb01), an assumed ellipse parameter is calculated with reference to the acquired auxiliary data (Sb02). The ellipse parameters calculated here are five-dimensional parameters of the ellipse center coordinates (u, v), the major axis length (a), the minor axis length (b), and the rotation angle (θ).

  Next, the image processing apparatus 20 selects an edge point sequence group composed of arbitrary edge point sequences from the predetermined number of edge point sequences stored in the above-described elliptic arc extraction processing (S3) (Sb03), and the selected edge Ellipse fitting is performed on the point sequence group by a known calculation method such as the least square method (Sb04). The elliptical fitting is preferably a fitting in which the calculation speed is more important than the calculation accuracy.

  Next, the image processing apparatus 20 extracts an edge point sequence group existing within a predetermined error range from the circumference or circumference of the ellipse calculated in step Sb04 described above (Sb05). It is determined whether or not all the edge point sequence groups that have reached the specified number are reached (Sb06). When all the extracted edge point sequence groups do not reach the specified number, the image processing apparatus 20 arbitrarily selects the edge point sequence group (Sb03), and elliptically fits the selected edge point sequence group (Sb04). The edge point sequence group within the error range is extracted (Sb05).

  Hereinafter, the image processing apparatus 20 repeats arbitrary selection of edge point sequence groups, elliptical fitting, and extraction of edge point sequence groups within an error range until all or a predetermined number of extracted edge point sequence groups have reached (Sb02 to Sb02). Sb06) When all or a predetermined number of extracted edge point sequence groups have been reached, ellipse fitting is performed on the extracted edge point sequence groups (Sb07). The elliptical fitting is preferably a fitting that emphasizes calculation accuracy and robustness rather than calculation speed. By this ellipse fitting (Sb07), the center coordinates, the major axis length, the minor axis length, and the rotation angle, which are five-dimensional parameters of the ellipse, can be calculated, that is, the shape of the ellipse can be specified.

  Next, the image processing apparatus 20 uses the ellipse calculated in step Sb07 as a five-dimensional ellipse parameter, specifically, the center coordinates (u, v) of the ellipse in the U-V plane coordinates of the two-dimensional image plane, and the major axis length. (A) The short axis length (b) and the rotation angle (θ) are output and stored in a storage medium such as the RAM 20e (Sb08). More specifically, in the storage medium such as the RAM 20e, as shown in FIG. 7B, for example, the cylindrical coil existing area (m1, n1), (m1, n1), ( A predetermined storage area is set for each of m1, n2), (m2, n1),..., center coordinates (u, v) that are ellipse parameters; long axis length (a); short Axis length (b); rotation angle (θ);

  As described above, since only the above-described five-dimensional parameters are stored as ellipse data whose shape is specified by ellipse fitting (Sb07), it is stored rather than storing coordinate data of a large number of edge point sequences forming an ellipse. Since the capacity can be remarkably reduced, and the ellipse can be identified by simply applying parameters to the ellipse formula, effective data processing becomes possible.

  Next, the image processing apparatus 20 determines whether or not an unprocessed ellipse remains (Sb09). If there is an unprocessed ellipse, the above-described calculation of the assumed ellipse parameters (Sb02) to the ellipse is performed. Parameter output / storage (Sb08) processing is performed. When the process is completed for all ellipses (Sb09), the ellipse fitting process (S4) is terminated, and the process proceeds to the next coil position estimation process (S5).

  Next, as shown in FIGS. 10 and 11, the coil position estimation process (S5) for estimating the three-dimensional position of the cylindrical coil based on the ellipse parameters obtained in the ellipse fitting process (S4) will be described.

  First, the image processing apparatus 20 acquires, as auxiliary data for estimating the coil position, specification information specific to the pallet, data on the arrangement position of the pallet 3, data on the outer diameter of the cylindrical coil 10, dimension data on the coil width, and the like from the pallet detection means. (Sc01) With reference to the acquired auxiliary data, the three-dimensional position of the pallet 3 in the captured two-dimensional image, that is, x on the upper surface which is the placement surface of the pallet 3 in the local x′-y′-z space. The '-y' plane coordinate system T (z = constant) is calculated (Sc02).

  That is, by associating the parameters of the ellipse of the cylindrical coil 10 in the U-V plane coordinates of the two-dimensional image plane with the data of the arrangement position of the pallet 3 as auxiliary data, the U-V plane is related to the position data of the cylindrical coil 10. Coordinate conversion can be performed from the coordinate system to the local x′-y′-z space coordinate system.

  Next, the image processing apparatus 20 acquires the ellipse parameter obtained and stored in the above-described ellipse fitting process (S4) (Sc03), and the ellipse formed by the ellipse parameter is the periphery of the end surface in the cylinder axis direction of the cylindrical coil 10. A tangent line L1 of the ellipse D is specified under the condition of passing through the contact point between D and the upper surface of the pallet 3 calculated in step Sc02 and parallel to the x ′ axis (Sc04).

  That is, the third order is obtained under the condition (auxiliary data) that the ellipse D whose shape is specified by each parameter obtained in the above ellipse fitting process (S4) is in contact with the upper surface of the pallet 3 arranged in the predetermined region R. Since it is associated with the original spatial coordinates, position data capable of specifying the three-dimensional position of the cylindrical coil 10 is calculated as described later.

  Since the pallet 3 is formed with the groove 4 having a predetermined depth as described above, and the cylindrical coil 10 is placed so that the peripheral surface thereof is fitted into the groove 4, the groove 4 is taken into consideration. The z coordinate of the contact point of the tangent line L1 is lower than the upper surface T of the pallet 3. Further, the x ′ coordinate of the contact point described above is uniquely determined as the x ′ coordinate of the deepest portion 4 a of the groove 4 extending in the y′-axis direction. Under the above conditions, the z-coordinate of the contact point of the tangent line L1 can be obtained.

  Furthermore, when the depth dimension of the groove 4 is sufficiently smaller than the shape dimension of the cylindrical coil 10, the depth of the groove 4 cannot be taken into account as an error, and the tangent line L <b> 1 serves as a flat surface of the pallet 3. You may calculate as what touches the upper surface T. FIG.

  Subsequently, the image processing device 20 calculates an x′-z plane coordinate system P (y = constant) including the ellipse D in the two-dimensional image (Sc05), and tangents L2, L3, which are orthogonal to the tangent L1 of the ellipse D, And the tangent L4 parallel to the tangent L1 is specified (Sc06).

  Next, the image processing apparatus 20 determines whether or not an unprocessed ellipse exists on the same line of the pallet 3, that is, the same groove (Sc07). If there is an unprocessed ellipse, the image processing apparatus 20 For the unprocessed ellipse, the x′-y ′ plane coordinate system T of the upper surface of the pallet 3 is calculated (Sc02), the ellipse parameters are obtained (Sc03), and the tangents L1 to L4 of the ellipse and x including the ellipse are obtained. The '-z plane coordinate system P is calculated (Sc04, Sc05).

  Thereafter, the image processing apparatus 20 calculates the x′-y ′ plane coordinate system of the palette 3, acquires the ellipse parameters, acquires the tangent of the ellipse and the ellipse until there is no unprocessed ellipse in the same row of the palette 3. When the calculation of the x′-z plane coordinate system including it is repeated (Sc02 to Sc07) and there is no unprocessed ellipse, the image processing device 20 is positioned at the end of the plurality of ellipses that have been processed. An ellipse and its adjacent ellipses, for example, ellipse D and ellipse D ′ in FIG. 11, are recognized as a pair of ellipses forming the peripheral edges of one cylindrical coil 10, and then the two adjacent ellipses are identified as another cylindrical coil 10. It is recognized as a pair of ellipses forming the peripheral edges of '(Sc08).

  Next, the image processing apparatus 20 determines the three-dimensional position (x ′, y ′, z) of the cylindrical coil 10 based on the two ellipses D and D ′ that form the peripheral edges of one cylindrical coil 10. The width dimension and the diameter dimension are calculated (Sc09). Here, as for the actual cylindrical coil 10, the three-dimensional position (x ', y', z), the width dimension, and the diameter dimension are calculated on the assumption that the peripheral edges of both ends are perfectly circular.

  Next, the image processing apparatus 20 acquires the estimated auxiliary data again (Sc10), and compares the already calculated three-dimensional position of the cylindrical coil 10 with the width dimension and the diameter dimension of the cylindrical coil 10, thereby causing an error in the estimated auxiliary data. Is detected (Sc11), the image processing apparatus 20 outputs the RAM 20e by outputting the three-dimensional position of the cylindrical coil 10, the width and diameter dimensions of the cylindrical coil 10, and the presence or absence of errors in the estimated auxiliary data. Or the like (Sc12). More specifically, in the storage medium such as the RAM 20e, as shown in FIG. 7B, for example, the cylindrical coil existing area (m1, n1), (m1, n1), ( A predetermined storage area is set for each of m1, n2), (m2, n1),..., and the center coordinates C1 (x ′, y ′, z) of both end portions 10a, 10a of the cylindrical coil 10 are set in the storage area. C2 (x ′, y ′, z); presence / absence of error (error: 0);

  Next, the image processing apparatus 20 determines whether or not an unprocessed row remains in the two-dimensional image (Sc13). If there is an unprocessed row, x′−y ′ of the palette 3 described above. Calculation of plane coordinate system (Sc02) to calculation of tangent of ellipse and x′-z plane coordinate system including the ellipse (Sc06), and recognition of two adjacent ellipses as one cylindrical coil (Sc08) to cylinder The three-dimensional position of the coil 10, the width dimension and the diameter dimension of the cylindrical coil 10, and the output of the presence / absence of error in the estimated auxiliary data, and storage (Sc12) are performed. When the process is completed for all rows (Sc13), the coil position estimation process (S5) is terminated.

  As shown in FIG. 7, the three-dimensional position (x ′, y ′, z) and the shape data of the cylindrical coil 10 output from the image processing device 20 are input to the calculation unit 23 of the transport device 22 via the control computer 21. (S6). Based on the three-dimensional position (x ′, y ′, z) in the local space coordinates with reference to the pallet 3 of each of the input cylindrical coils 10 and the shape data, the calculation unit 23 is configured so that the gripping unit 9 illustrated in FIG. Coordinate conversion is performed on the three-dimensional coordinates (x, y, z) in the entire space coordinates in the building 1 which are targeted for the position where the cylindrical coil 10 can be gripped. More specifically, the three-dimensional coordinates (x, y, z) of the cylindrical coil 10 targeted by the gripping portion 9 are such that the tip ends of the pair of tongues 9a, 9a are both end portions 10a, 10a in the cylindrical axis direction of the cylindrical coil 10. This is a coordinate that is approached from the outside to the inside and is inserted into the hollow portions 10b and 10b that are the central portions in the radial direction of the both end portions 10a and 10a.

  Next, the crane control unit 24 of the transport device 22 moves the gripping unit of the transport crane 5 toward the three-dimensional coordinates (x, y, z) of the hollow portions 10b and 10b of the cylindrical coil 10 that is the target calculated by the calculation unit 23. 9 is driven. The gripping part 9 that has reached the target three-dimensional coordinates (x, y, z) is gripped by the tongs 9a and 9a inserted into the hollow parts 10b and 10b under the control of the crane control part 24. In this state, it is lifted vertically upward, and the cylindrical coil 10 is transported to a desired position in the building 1 by the movement of the base 7 and the moving base 8.

  As described above, according to the cylindrical coil position detection apparatus of the present invention, the circular arc that forms the outer peripheral edge of the axial end portion 10a of the cylindrical coil 10 is extracted from a single image data. Since the position data that can specify the three-dimensional position of the cylindrical coil 10 can be calculated based on the two-dimensional image captured by only the single camera 13 captured from the oblique direction, the three-dimensional position of the cylindrical coil 10 is determined between the images. It can be obtained with high accuracy without errors, and management such as outputting and transferring the position data to grip and transfer the cylindrical coil can be performed easily and accurately.

  In addition, based on the two-dimensional image data of the cylindrical coil 10 in which the outer peripheral edge of the edge is captured in an ellipse by the CPU 20a included in the image processing device 20, the actual cylindrical coil 10 whose outer peripheral edge of the end 10a is substantially circular. Can be calculated accurately.

  Further, by extracting a plurality of points estimated as the outer peripheral edge of the axial end portion 10a of the cylindrical coil 10 in a single two-dimensional image, the outer peripheral edge is identified by specifying an arc that most closely matches the extracted plurality of points. Can be extracted with high accuracy by extracting the circular arc forming the outer peripheral edge of the axial end 10a of the cylindrical coil 10.

  Furthermore, by extracting and calculating a pair of elliptical arcs as the outer peripheral edges of both ends 10a and 10a in the axial direction of the cylindrical coil 10, not only the three-dimensional position of the cylindrical coil 10 but also the axial width dimension can be output.

  Moreover, since the data of the arrangement position of the pallet 3 can be obtained from the interface unit 20d of the image processing apparatus 20, the placement position of the cylindrical coil 10 on the pallet 3 can be specified.

  Furthermore, the conveying means 22 that has obtained the position data of the three-dimensional arrangement position of the cylindrical coil 10 from the interface unit 20d of the image processing apparatus 20 approaches the cylindrical coil 10 and grips the cylindrical coil 10 to make it desired. Can be transported.

  The illumination device 15 that has received the illumination control signal from the control signal output unit 20c of the image processing device 20 illuminates when imaging the cylindrical coil 10, thereby increasing the illuminance of the cylindrical coil 10 that is the subject, Since the outer edge can be made clear, image processing can be performed with high accuracy.

  Although the embodiments of the present invention have been described with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and additions within the scope of the present invention are included in the present invention. It is.

  For example, in the above-described embodiment, the CPU 20a of the image processing device 20 uses the image processing as a cylinder in the local space coordinates of the pallet 3 as position data that can specify the three-dimensional arrangement position of the cylindrical coil 10 arranged in the predetermined region R. The three-dimensional coordinate position (x ′, y ′, z) of the coil 10 is calculated, and the calculation unit 24 of the transport device 22 that has input the data calculates the three-dimensional coordinate position of the cylindrical coil 10 in the overall space coordinates in the building 1. For example, the image processing apparatus 20 can specify the three-dimensional arrangement position of the cylindrical coil 10 arranged in the predetermined region R. The calculation is performed to convert the coordinates to (x, y, z). As the position data, the three-dimensional coordinate position (x, y, z) of the cylindrical coil 10 in the entire space coordinates in the building 1 may be directly calculated.

  For example, data transmission / reception between devices such as the image processing device 20, the illumination device 15, the camera 13, the distance measuring sensors 11, 12, the control computer 21, and the transport device 22 in the above embodiment may be wired or wireless. It does not matter.

  Further, for example, in the above embodiment, as the auxiliary data for calculating the position data that can specify the three-dimensional position of the cylindrical coil 10, the data of the arrangement position of the pallet 3 on which the cylindrical coil 10 is placed is the image processing device 20. As auxiliary data other than the image data, for example, the three-dimensional position coordinate data of the viewpoint of the camera 13, the diameter dimension data of the actual cylindrical coil 10, or the three-dimensional center coordinate data of the actual cylindrical coil 10 is given. Etc. may be given.

DESCRIPTION OF SYMBOLS 1 Building 3 Pallet 4 Groove 5 Conveying crane 6 Support rail 9 Grasping part 10 Cylindrical coil 11 Distance measuring sensor 12 Distance measuring sensor 13 Camera (imaging means)
15 Illumination device (illumination means)
16 Pallet arrival information transmission unit 17 Pallet specific information input unit 20 Image processing device 20a CPU (arc extraction processing means, position data calculation means)
20b Image signal input unit 20c Control signal output unit (control signal output means)
20d interface unit (output means, input means)
20e RAM
20f ROM
20g Auxiliary storage unit 20h Bus 21 Control computer 22 Conveying device (conveying means)
23 Calculation unit 24 Crane control unit

Claims (6)

A position detection device for detecting an arrangement position of a cylindrical coil arranged in a predetermined region,
A single imaging means for imaging a two-dimensional image from an oblique direction of the cylindrical coil with at least the axial end of the cylindrical coil as a subject;
Based on image data of a single two-dimensional image captured by the imaging means, an arc extraction processing means for extracting an arc that forms the outer peripheral edge of the axial end of the cylindrical coil;
Based on the arc shape data extracted by the arc extraction processing means and auxiliary data relating to the predetermined area where the cylindrical coil is arranged, the three-dimensional arrangement position of the cylindrical coil arranged in the predetermined area is determined. Position data calculating means for calculating identifiable position data;
Output means for outputting the position data calculated by the position data calculating means;
A position detection apparatus for a cylindrical coil, comprising:   The circular arc extraction processing means extracts a plurality of points estimated as the outer peripheral edge of the axial end portion of the cylindrical coil in the single two-dimensional image, and specifies an arc that most closely matches the extracted plurality of points. The cylindrical coil position detection apparatus according to claim 1, wherein an arc that forms the outer peripheral edge is extracted. The arc extraction processing means extracts a pair of elliptical arcs that form the outer peripheral edges of both axial ends of the cylindrical coil from the image data,
The position data calculating means calculates an axial width dimension of the cylindrical coil from the pair of elliptical arcs,
3. The cylindrical coil position detection apparatus according to claim 2, wherein the output means outputs the width data of the cylindrical coil calculated by the position data calculation means together with the position data. Input means for inputting data of the arrangement position of the pallet on which the cylindrical coil is placed as the auxiliary data;
The position data calculation means calculates position data that can specify a three-dimensional arrangement position of the cylindrical coil with reference to the arrangement position data of the pallet input from the input means. Item 4. The cylindrical coil position detection device according to any one of Items 1 to 3.   The output means outputs position data that can specify the three-dimensional arrangement position of the cylindrical coil calculated by the position data calculating means to a conveying means that grips and conveys the cylindrical coil. Item 5. The cylindrical coil position detection device according to any one of Items 1 to 4.   2. A control signal output means for outputting an illumination control signal for turning on the illumination means to the illumination means for the cylindrical coil when the imaging means images the cylindrical coil. The position detection apparatus of the cylindrical coil in any one of 5 thru | or 5.

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