JP2018120388A - Workpiece detecting device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece detecting device capable of appropriately detecting each of multiple workpieces.SOLUTION: An image arithmetic processing device acquires a picked-up image of a mount location where multiple workpieces are disposed and where the image is picked up (step S1). The image arithmetic processing device executes a pre-process that is an image process causing the picked-up image to express the contour of the workpiece as a line image (step S2). The image arithmetic processing device executes a labelling process that puts a label to each region formed by the closed line image contained in the picked-up image having undergone the image process (step S3). The image arithmetic processing device calculates an area of an external-contact figure (e.g., a rectangular) that externally contacts a labelling region to which the label is put (step S4). The image arithmetic processing device registers, as the labelling region where the workpiece is present, the labeling region that has the calculated area within a pre-set reference range (steps S6 and S7).SELECTED DRAWING: Figure 4

Description

  The present invention relates to a workpiece detection apparatus and method capable of detecting each of a plurality of mountain workpieces arranged at a placement location.

  When processing a metal workpiece with a processing machine such as a bending machine, a workpiece placed on a pallet, for example, as a placement place may be held by a workpiece holding robot and conveyed to the processing machine. In order to process a large amount of workpieces with a processing machine, a plurality of workpieces having the same shape may be arranged on a pallet, and workpieces arranged on the plurality of peaks may be sequentially held and carried out by a workpiece holding robot.

  Conventionally, when two ridges of a work are arranged on a pallet, the hills of the work must be arranged in each of divided areas divided into two predetermined areas such as before and after the pallet or on the left and right. Further, when four hills of a work are arranged on a pallet, the work hills need to be arranged in each of divided areas obtained by dividing the pallet into four areas of front and rear and left and right.

JP 7-319525 A JP 2000-288974 A

  Conventionally, when a work is arranged on a virtual dividing line that is a boundary obtained by dividing a pallet into two or four areas, or a plurality of works are arranged in one divided area, the work is correctly detected. I can't.

  For this reason, conventionally, an operator has to place a pile of workpieces in consideration of the dividing line set in the photographed image obtained by photographing the palette by the workpiece detection device. When the worker places the workpiece mountain on the pallet, the dividing line cannot be seen. Therefore, after the worker places the workpiece mountain on the pallet, the operator can check whether the workpiece mountain is located in the divided area. Must be confirmed. Such an operation conscious of the dividing line deteriorates the work efficiency of the setup operation of arranging the workpiece piles on the pallet.

  The present invention provides a workpiece detection apparatus and method capable of accurately detecting each of a plurality of mountain workpieces regardless of the position on the placement location when the plurality of mountain workpieces are arranged at the placement location. Objective.

  According to the present invention, a photographed image obtained by photographing a mounting place where a plurality of workpieces formed by loading a plurality of workpieces is imaged so that the outline of the workpiece is expressed as a line image. A pre-processing unit, a labeling processing unit for labeling each of the regions formed by the closed line images included in the captured image image-processed by the pre-processing unit, and each labeled by the labeling processing unit An area calculation unit for calculating the area of the labeling region or the area of the circumscribed figure circumscribing each labeled region, and a labeling region in which the area calculated by the area calculation unit is within a preset reference range A labeling area registration unit for registering as a labeling area in which a work exists, and an overall captured image of the above-described installation place A divided region information generating unit that sets divided regions including the respective labeling regions registered by the labeling region registration unit and generates divided region information that is position information indicating the position of each of the divided regions. There is provided a workpiece detection device characterized by the above.

  Further, the present invention acquires a photographed image obtained by photographing a placement place where a plurality of workpieces formed by loading a plurality of workpieces are arranged, and the contour of the workpiece is a line image. Image processed to be expressed as, labeled each of the areas formed by the closed line images contained in the image processed captured image, and the area of each labeled labeling area or labeled Calculate the area of the circumscribed figure circumscribing each labeling area, and register the labeling area where the calculated area is within the preset reference range as the labeling area where the workpiece exists, In the captured image, a divided area including each registered labeling area is set, and position information indicating the position of each of the divided areas is provided. Providing a work detection method characterized by generating the area information.

  According to the workpiece detection apparatus and method of the present invention, it is possible to accurately detect each of a plurality of mountain workpieces regardless of the position on the placement location when the plurality of workpieces are placed on the placement location.

It is a perspective view showing the example of the whole composition of a processing system. It is a block diagram showing the example of the whole composition of the processing system containing the work detection device of one embodiment. It is a block diagram which shows the functional internal structural example of the image arithmetic processing apparatus 3 of FIG. 4 is a flowchart showing automatic area division processing by the image processing unit 3; It is a figure which shows notionally the picked-up image which image | photographed the mounting location where the workpiece | work of several mountains is arrange | positioned. It is a figure which shows notionally an example of the result of labeling processing based on the picked-up image shown in FIG. It is a figure which shows that the area of the rectangle which circumscribes a labeling area | region changes with direction of a workpiece | work. It is a figure which shows notionally the division area information which shows the position of the rectangular division area containing a labeling area | region. 3 is a flowchart showing a workpiece detection process by the image arithmetic processing unit 3 that is necessary for the robot control device 5 of FIG. 2 to control the workpiece holding robot 20 to carry out the workpiece on the placement place. 9A is a flowchart showing a workpiece detection process by the image arithmetic processing device 3 necessary for the robot control device 5 of FIG. 2 to control the workpiece holding robot 20 and carry out the workpiece on the placement place, following FIG. 9A. is there.

  Hereinafter, a workpiece detection apparatus and method according to an embodiment will be described with reference to the accompanying drawings. First, an example of the overall configuration of a machining system configured to hold a workpiece W arranged at a placement place with a workpiece holding robot and transport the workpiece W to a machining machine will be described with reference to FIG. To do. In the configuration example shown in FIG. 1, the processing machine 10 is a bending machine, and the workpiece holding robot 20 is a workpiece transfer robot that sucks or grips the workpiece W and transfers it to the bending machine.

  The processing machine is not limited to a bending machine, and may be any processing machine such as a punching machine or a laser machine.

  The processing machine 10 includes an upper table 101 that is movable in the vertical direction and a fixed lower table 102. A punch die Tp is attached to the upper table 101, and a die die Td is attached to the lower table 102. The processing machine 10 is equipped with a display / operation unit 21 (operation pendant) connected to an NC device 2 (shown in FIG. 2) described later.

  An articulated workpiece holding robot 20 is installed in front of the processing machine 10. The workpiece holding robot 20 is disposed on the guide rail 200 and is configured to be movable in the left-right direction of the processing machine 10 along the guide rail 200. The workpiece holding robot 20 is not movable in the left-right direction, and the position in the left-right direction may be fixed.

  In front of the workpiece holding robot 20, a pallet 30 that is a place where the workpiece W is placed is installed. The workpiece W is a metal plate material having a predetermined shape. Here, the case where the shape of the workpiece W is a trapezoid is shown. On the pallet 30, a plurality of workpieces W are stacked at a plurality of locations. That is, a plurality of workpieces W are arranged on the pallet 30.

  In the vicinity of the pallet 30, a support column 401 extending to a predetermined height with respect to the installation surface of the pallet 30 is disposed. The support column 401 extends in the vertical direction up to a predetermined height, is bent in the horizontal direction toward the pallet 30 side, and is further bent in the direction of the processing machine 10. The camera 4 is attached to the tip of the column 401. The camera 4 is a so-called monocular camera. The camera 4 includes an image pickup device such as a CMOS and a plurality of lenses.

  For example, a lighting fixture 62 containing a plurality of light emitting diodes (LEDs) is attached to the upper end of the side wall 61 sandwiching the pallet 30. The lighting fixture 62 illuminates the pallet 30 as necessary. The angle of illumination by the luminaire 62 is adjusted in advance.

  The camera 4 is configured to photograph the entire pallet 30 and photograph the workpiece W placed on the pallet 30. For example, the position of the corner portion P0 of the pallet 30 is set as the origin of the photographed image obtained by photographing the pallet 30 by the camera 4. The origin position of the workpiece holding robot 20 is set to coincide with the origin of the photographed image.

  When the pallet 30 on which the workpiece W is arranged is illuminated by the lighting fixture 62, a shadow can be added to the workpiece W. Therefore, it is possible to improve the detection accuracy when the image arithmetic processing device 3 (illustrated in FIG. 2) described later detects the position of the workpiece W based on the image taken by the camera 4.

  The configuration and operation of a control device that controls the processing machine 10 and the workpiece holding robot 20 will be described with reference to FIG. In FIG. 2, the CAM 1 holds CAD data indicating the product shape of the workpiece W generated by a CAD (not shown). The CAD data is composed of, for example, a CSV file. The CAM 1 creates a machining program for machining the workpiece W. The CAM 1 transfers a machining program and a file indicating the product shape to the NC device 2.

  Connected to the NC device 2 are an image arithmetic processing device 3, a robot control device 5, a processing machine 10, and a display / operation unit 21. The NC device 2 controls the processing of the workpiece W by the processing machine 10 based on the processing program. The NC device 2 transfers a file indicating the product shape to the image arithmetic processing device 3.

  The image arithmetic processing device 3 can be constituted by a personal computer, for example. A camera 4 is connected to the image arithmetic processing device 3. The image arithmetic processing device 3 constitutes the workpiece detection device of the present embodiment. As will be described later, the image calculation processing device 3 detects the positions of the workpieces W of the respective mountains arranged on the pallet 30 and supplies the detected position information to the robot control device 5. The robot control device 5 controls the workpiece holding robot 20 based on the position information of the workpiece W.

  The image arithmetic processing device 3 has a memory 301 for holding various information described later. A sensor for detecting the actual load height of the workpiece W is attached to a portion of the workpiece holding robot 20 that sucks or grips the workpiece W. That is, the workpiece holding robot 20 includes an actual loading height detection unit 201 of the workpiece W.

  In the configuration example shown in FIG. 2, the NC device 2 that controls the processing machine 10, the image arithmetic processing device 3 that constitutes the workpiece detection device, and the robot control device 5 that controls the workpiece holding robot 20 are provided separately. This is just an example.

  The NC device 2 may constitute a workpiece detection device by providing the NC device 2 with the function of the image arithmetic processing device 3. The NC device 2 and the robot control device 5 may be integrated. The robot control device 5 may constitute a workpiece detection device by providing the robot control device 5 with the function of the image arithmetic processing device 3.

  A functional internal configuration example of the image arithmetic processing device 3 and a schematic operation of the image arithmetic processing device 3 will be described with reference to FIG. In FIG. 3, the preprocessing unit 302 preprocesses image data of a captured image obtained by capturing the palette 30 by the camera 4. The labeling processing unit 303 labels areas to be described later included in the captured image indicated by the preprocessed image data. The area calculation unit 304 calculates the area of a circumscribed figure that circumscribes each labeled region.

  The area calculation unit 304 refers to the area reference range information stored in the memory 301 and determines whether or not the calculated area is within a preset reference range. The labeling area registration unit 305 is supplied with information on a labeling area whose area is within the reference range. The labeling area registration unit 305 registers the information of the labeling area in the memory 301 as a labeling area where the workpiece W exists.

  The divided area information generation unit 306 is position information that sets the divided areas including the respective labeling areas registered by the labeling area registration unit 305 in the entire captured image of the pallet 30 and indicates the position of each divided area. Generate divided area information. The divided area information generation unit 306 stores the divided area information in the memory 301.

  The work presence / absence detection unit 307 refers to the divided area information held in the memory 301 and detects the presence / absence of the work W in each divided area indicated by the divided area information in the captured image preprocessed by the preprocessing unit 302. The loading height detection unit 308 detects the loading height of the workpiece W in each of the divided areas detected as having the workpiece W based on the size of the captured image of the workpiece W, and causes the memory 301 to hold it.

  The position information transmission unit 309 refers to the loading height information of the workpiece W held in the memory 301, and among the plurality of divided regions, the divided region (hereinafter referred to as the loading height of the workpiece W detected as the maximum) is detected. , The maximum loading height division area) is extracted. The position information transmission unit 309 receives position information indicating the actual position on the pallet 30 corresponding to the maximum load height division area in order to hold the workpiece W in the maximum load height division area by the work holding robot 20. It transmits to the control apparatus 5.

  The actual loading height detection unit 201 of the workpiece holding robot 20 detects the actual loading height of the workpiece W when the workpiece holding robot 20 holds the workpiece W in the maximum loading height division region. Information indicating the actual loading height of the workpiece W is supplied to the image arithmetic processing device 3 via the robot control device 5. The actual loading height receiving unit 310 receives information indicating the actual loading height of the workpiece W.

  The loading height update unit 311 indicates the actual loading height of the workpiece W received by the actual loading height receiving unit 310 and the loading height of the workpiece W in the maximum loading height division area held in the memory 301. Update with the latest actual loading height calculated based on

  Next, automatic region division processing, which is a specific operation of the image arithmetic processing device 3, will be described with reference to the flowchart shown in FIG. 4 and FIGS. In FIG. 4, when the processing is started, the image arithmetic processing device 3 acquires image data obtained by photographing the pallet 30 on which the work W is arranged in step S <b> 1. FIG. 5 conceptually shows an image indicated by the image data.

  In step S2, the preprocessing unit 302 performs preprocessing on the image data. Specifically, the preprocessing unit 302 removes noise, binarizes image data by, for example, adaptive threshold processing, and performs erosion processing, which is one of morphological processing. When the preprocessing unit 302 performs these preprocessing, it is possible to obtain an image in which a contour line of an object such as the workpiece W is connected. The preprocessing unit 302 may perform image processing so that the outline of the workpiece W is expressed as a line image.

  In step S <b> 3, the labeling processing unit 303 performs a labeling process for assigning numbers to areas formed by closed line images in which pixel values included in the captured image are continuous. FIG. 6 conceptually shows an example of the result of the labeling process in step S3. As shown in FIG. 6, the areas of the workpieces W at the ten peaks are areas of closed line images, and numbers 1 to 10 are assigned respectively. In FIG. 6, the area surrounded by the works W of numbers 1 to 3 and 5 to 9 is also a closed line image area, and the state where the number 11 is assigned is shown.

  In step S4, the area calculation unit 304 calculates the area of each rectangle circumscribing the labeled region (hereinafter, labeled region). The rectangle is an example of a circumscribed figure that circumscribes the labeling area. The area calculation unit 304 may calculate the area of a circumscribed circle that circumscribes the labeling region. The area calculation unit 304 may calculate the area of each labeling region itself. It is preferable to calculate the area of the circumscribed figure circumscribing the labeling region rather than calculating the area of the labeling region itself because the calculation process is simplified. The circumscribed figure is preferably a rectangle.

  FIG. 7 shows a rectangle circumscribing the labeling area assigned number 1 and a rectangle circumscribing the labeling area assigned number 5. The labeling areas to which the numbers 1 to 10 are assigned are areas corresponding to the positions of the workpieces W, and the areas of the respective labeling areas are substantially the same. However, if the direction of the workpiece W is different in the plane of the pallet 30, the area of the rectangle circumscribing the labeling region is different.

  In step S5, the area calculation unit 304 selects one of the labeling regions. For example, the area calculation unit 304 selects a labeling region to which the number 1 is assigned. In step S6, the area calculation unit 304 refers to the area reference range information and determines whether or not the rectangular area circumscribing the labeling region is within the reference range.

  The area of the workpiece W is known, and the rectangular area circumscribing the workpiece W when the workpiece W is rotated at a predetermined angle within the plane of the pallet 30 can be obtained in advance. In the pallet 30, only one workpiece W may be arranged in the height direction, and a plurality of workpieces W may be stacked and arranged as a mountain having a predetermined height. The area of the work W in the photographed image decreases as the mountain height decreases, and increases as the mountain height increases. The maximum height of the mountain (the number of workpieces W loaded) is assumed in advance.

  The image processing unit 3 rotates the rectangular minimum and maximum areas when only one workpiece W is arranged in the height direction and the workpieces W stacked at the maximum height. A rectangular area reference range is obtained in advance so as to include the minimum area and the maximum area of the rectangle. The memory 301 may hold the area reference range information obtained in this way.

  The NC apparatus 2 may obtain a rectangular area reference range in advance and supply the area reference range information to the image arithmetic processing apparatus 3.

  If the area of the rectangle circumscribing the labeling region is within the reference range in step S6 (YES), the labeling region registration unit 305 registers in the memory 301 as a labeling region where the workpiece W exists in step S7. If the rectangular area circumscribing the labeling area is not within the reference range (NO), the labeling area registration unit 305 excludes the labeling area from the labeling area in step S8.

  When a circumscribed circle is used instead of a rectangle circumscribing the workpiece W, the area of the circumscribed circle does not change even if the orientation of the workpiece W is different in the plane of the pallet 30. When determining whether or not the workpiece W is a labeling region on the basis of the circumscribed circle or the area of the labeling region, an area reference range in consideration of a change in the loading height (mountain height) of the workpiece W is set. You only have to set it.

  In step S9, the area calculation unit 304 determines whether there is an unselected labeling region. If there is an unselected labeling region (YES), the area calculation unit 304 repeats the processing of steps S5 and S6, and the labeling region registration unit 305 repeats the processing of step S7 or S8.

  In FIG. 6, since the labeling areas to which the numbers 1 to 10 are assigned are areas corresponding to the positions of the workpieces W, the rectangular area circumscribing each labeling area is within the reference range, and the labeling area in which the workpieces W exist Is registered in the memory 301. On the other hand, the labeling area to which the number 11 is assigned is not an area corresponding to the position of the workpiece W, and the area of the rectangle circumscribing the labeling area is not within the reference range, and thus is excluded from the labeling area.

  If there is no unselected labeling area in step S9 (NO), the divided area information generation unit 306 includes the respective labeling areas registered in the entire captured image of the pallet 30 in step S10. An area is set and divided area information is generated. In the example in which the area calculation unit 304 calculates a rectangle circumscribing the labeling region, the rectangle is a divided region including the labeling region.

  The divided area information generation unit 306 stores the divided area information in the memory 301. FIG. 8 conceptually shows the divided area information held in the memory 301.

  As described above, even if an area formed by a closed line image other than the outline of the work W is generated in step S2 and labeling is performed in step S3, a labeling area that does not correspond to the work W is excluded. The Therefore, only the divided area information indicating the mountain of each work W is registered in the memory 301.

  Furthermore, using FIG. 9A and FIG. 9B, detection processing of the workpiece W by the image arithmetic processing device 3 necessary for the robot control device 5 to control the workpiece holding robot 20 and carry out the workpiece W on the pallet 30. Will be explained. Note that the processing illustrated in FIGS. 9A and 9B is processing that is executed after the registration of the divided region information described with reference to FIG. 3 is completed. 9A and 9B, some processes are executed by the robot control device 5.

  In FIG. 9A, the workpiece presence / absence detection unit 307 determines whether or not there is a divided region with reference to the divided region information held in the memory 301 in step S11. If there is a divided area (YES), the workpiece presence / absence detection unit 307 shifts the process to step S12, and if there is no divided area (NO), the workpiece presence / absence detection unit 307 ends the workpiece W detection process.

  In step S12, the workpiece presence / absence detection unit 307 selects one of the divided regions, and in step S13, detects the presence / absence of the workpiece W in the selected divided region in the photographed image processed by the preprocessing unit 302. To do. The workpiece presence / absence detection unit 307 may detect the workpiece W using a known pattern matching method using a workpiece reference image.

  The workpiece presence / absence detection unit 307 determines whether or not the workpiece W is detected in step S14. Information indicating whether or not the workpiece W has been detected is supplied to the loading height detection unit 308. If the workpiece W is detected (YES), the loading height detection unit 308 detects the loading height of the workpiece W based on the photographed image of the workpiece W in step S15, and divides the detected loading height. It is stored in the memory 301 in correspondence with the area. If the workpiece W is not detected (NO), the stack height detection unit 308 excludes the selected divided region in step S16.

  In step S17, the work presence / absence detection unit 307 determines whether or not the work W has been detected in all the divided areas. If the detection of the work W in all the divided areas has not been completed (NO), the work presence / absence detection unit 307 repeats the processing of steps S12 to S14, and the stacking height detection unit 308 performs the processing of step S15 or S16. Repeat the process.

  If the detection of the workpieces W in all the divided areas has been completed (YES), the position information transmitting unit 309 displays the position information on the pallet 30 corresponding to the maximum stacked height divided area in step S18. It transmits to the control apparatus 5. Since the position in the captured image of the pallet 30 and the actual position on the pallet 30 are associated with each other, the position information transmission unit 309 converts the position information of the divided area in the captured image into the position information on the actual pallet 30. What is necessary is just to convert and to transmit to the robot control apparatus 5.

  In step S19, the robot control device 5 is supplied from the position information transmission unit 309 so that the workpiece holding robot 20 holds the workpiece W having the maximum loading height and transports it to the processing machine 10. The workpiece holding robot 20 is controlled based on the position information. When the workpiece W is conveyed to the processing machine 10, the NC device 2 controls the processing machine 10 to process the workpiece W based on the processing program.

  In step S20, the actual stacked height receiving unit 310 receives information indicating the actual stacked height of the workpiece W detected by the actual stacked height detecting unit 201. The actual loading height of the workpiece W indicated by the information received by the actual loading height receiving unit 310 is the height at which the actual loading height detection unit 201 detects the height of the workpiece W located at the top of the peak of the workpiece W. It is.

  The workpiece W located at the top has already been carried out in step S19. Therefore, in step S21, the loading height update unit 311 obtains the latest value obtained by subtracting the thickness of one workpiece W from the actual loading height of the workpiece W indicated by the information received by the actual loading height receiving unit 310. The actual loading height is obtained, and the loading height of the workpiece W held in the memory 301 is updated with the latest actual loading height.

  Subsequently, in FIG. 9B, the workpiece presence / absence detection unit 307 refers to the divided region information held in the memory 301 in step S22 to determine whether there is a valid divided region. An effective divided area is a divided area excluding the divided areas excluded in step S16 in FIG. 9A. If it is determined that there is an effective divided area (YES), the workpiece presence / absence detection unit 307 selects a divided area where the loading height of the workpiece W is the highest in step S23.

  In step S <b> 24, the image calculation processing device 3 acquires a captured image obtained by newly capturing the palette 30 by the camera 4. In step S25, the workpiece presence / absence detection unit 307 detects the presence / absence of the workpiece W in the selected divided region. At this time, since the loading height of the workpiece W in the selected divided area is detected, the size corresponding to the loading height of the workpiece W when detecting the presence or absence of the workpiece W using the pattern matching method. And the presence or absence of the workpiece | work W is detected using the workpiece | work reference image of the magnitude | size of the vicinity. In this way, it is possible to speed up the process for detecting the presence or absence of the workpiece W.

  The workpiece presence / absence detection unit 307 determines whether or not the workpiece W is detected in step S26. If the workpiece W is not detected (NO), the workpiece presence / absence detector 307 excludes the selected divided region in step S32 and returns the process to step S22.

  If the workpiece W is detected (YES), the loading height detection unit 308 detects the loading height of the workpiece W based on the photographed image of the workpiece W in step S27, and divides the detected loading height. It is stored in the memory 301 in correspondence with the area.

  In step S28, the position information transmission unit 309 transmits position information on the pallet 30 corresponding to the maximum stacking height division area to the robot control device 5. In step S29, the robot controller 5 is supplied from the position information transmission unit 309 so that the workpiece holding robot 20 holds the workpiece W having the maximum loading height and transports it to the processing machine 10. The workpiece holding robot 20 is controlled based on the position information. When the workpiece W is conveyed to the processing machine 10, the NC device 2 controls the processing machine 10 to process the workpiece W based on the processing program.

  The actual loading height receiving unit 310 receives information indicating the actual loading height of the workpiece W detected by the actual loading height detection unit 201 in step S30. In step S31, the loading height update unit 311 updates the latest actual loading by subtracting the thickness of one workpiece W from the actual loading height of the workpiece W indicated by the information received by the actual loading height receiving unit 310. The height is obtained, and the loading height of the workpiece W stored in the memory 301 is updated with the latest actual loading height.

  When the loading height of the workpiece W stored in the memory 301 is updated, the image arithmetic processing device 3 repeats the processing after step S22. If the processing after step S22 is repeated and it is not determined in step S22 that there is an effective divided area (NO), it means that the transfer of all the workpieces W on the pallet 30 to the processing machine 10 has been completed. . If there is no effective divided area in step S22, the image arithmetic processing device 3 ends the work W detection processing.

As described above, the workpiece detection apparatus according to the present embodiment performs image processing on a photographed image obtained by photographing a placement place where a plurality of workpieces are arranged so that the outline of the workpiece W is expressed as a line image. The processing unit 302 includes a labeling processing unit 303 that labels an area formed by the closed line image.

The workpiece detection apparatus of this embodiment includes an area calculation unit 304 that calculates the area of a labeling region or the area of a circumscribed figure circumscribing a labeled labeling region. The workpiece detection apparatus according to the present embodiment includes a labeling region registration unit 305 that registers a labeling region where the workpiece W exists based on the calculated area, and a segmented region that generates segmented region information indicating the position of the segmented region including the labeling region. An information generation unit 306 is provided.

The workpiece detection method according to the present embodiment executes a captured image acquisition process that captures a placement place where a plurality of workpieces are arranged, and an image process that expresses the outline of the workpiece W as a line image. The workpiece detection method of the present embodiment executes a labeling process for labeling an area formed by a closed line image, and a calculation process for the area of a circumscribed figure circumscribing the labeling area or the labeling area. The workpiece detection method according to the present embodiment executes registration processing for registering a labeling region where the workpiece W exists based on the calculated area, and generation processing for divided region information indicating the position of the divided region including the labeling region.

Therefore, according to the workpiece detection apparatus and method of the present embodiment, each of the plurality of workpieces W is accurately detected regardless of the position on the placement location when the plurality of workpieces W are placed on the placement location. be able to. According to the workpiece detection apparatus and method of the present embodiment, the position is not restricted when the pile of the workpiece W is placed at the placement location, so the work of the setup work in which the worker places the pile of the workpiece W at the placement location. Efficiency can be improved.

  According to the workpiece detection apparatus and method of the present embodiment, it is possible to place a large number of piles of workpieces W on the mounting place. Therefore, the workpieces W are transferred to the processing machine 10 and processed to produce products. The number of production can be increased. Since the frequency of exchanging the pallet 30 as a mounting place can be reduced, production efficiency can be improved.

  Furthermore, the workpiece detection apparatus according to the present embodiment includes a workpiece presence / absence detection unit 307 that detects the presence / absence of a workpiece W in each divided region, and a loading height detection unit 308 that detects the loading height of the workpiece W in each divided region. The workpiece detection apparatus according to the present embodiment includes a position information transmission unit 309 that transmits position information indicating the position on the pallet 30 corresponding to the maximum stacking height division area to the robot control apparatus 5.

  The workpiece detection method of the present embodiment executes a detection process for detecting the presence or absence of a workpiece W in each divided area and a detection process for detecting the loading height of the workpiece W in each divided area. The workpiece detection method of the present embodiment includes an extraction process for extracting the maximum stacking height division area, and a transmission process for transmitting position information indicating the position on the pallet 30 corresponding to the maximum stacking height division area to the robot controller 5. Run.

  Therefore, according to the workpiece detection apparatus and method of this embodiment, the robot controller 5 can control the workpiece holding robot 20 so that the workpiece holding robot 20 holds the workpiece W in the maximum loading height division region. it can. If the workpiece holding robot 20 holds the workpiece W in the maximum loading area divided area, the workpiece holding robot 20 may mistakenly convey the workpiece W to the processing machine 10 without touching the mountain of the workpiece W in the other divided area. Can do.

  Furthermore, the workpiece detection apparatus according to the present embodiment includes an actual loading height receiving unit 310 that receives information indicating the actual loading height of the workpiece W, and the loading height of the workpiece W in the maximum loading height division area. A loading height update unit 311 that updates the actual loading height is provided.

  The workpiece detection method according to the present embodiment includes a reception process for receiving information indicating the actual loading height of the workpiece W, a calculation process for obtaining the latest actual loading height based on the information indicating the actual loading height, and a maximum loading height. Update processing for updating the loading height of the work W in the divided area with the latest actual loading height is executed.

  Therefore, according to the workpiece detection apparatus and method of the present embodiment, the loading height of the mountain from which the uppermost workpiece W is carried out by the workpiece holding robot 20 can be set to the latest height. According to the workpiece detection apparatus and method of the present embodiment, the loading height of the workpiece W can be set to an accurate height based on the actual loading height.

  The present invention is not limited to the embodiment described above, and various modifications can be made without departing from the scope of the present invention.

  In the present embodiment, the majority of the configuration of the workpiece detection device is configured by software by the image arithmetic processing device 3, but may be configured by hardware or a configuration in which software and hardware are mixed. The use of software and hardware is arbitrary. The hardware may be an integrated circuit.

1 CAM
2 NC device 3 Image processing unit (work detection device)
4 Camera 5 Robot Control Device 10 Processing Machine 20 Workpiece Holding Robot 30 Pallet (Place)
201 Actual loading height detection unit 301 Memory 302 Pre-processing unit 303 Labeling processing unit 304 Area calculation unit 305 Labeling region registration unit 306 Division region information generation unit 307 Work presence / absence detection unit 308 Loading height detection unit 309 Position information transmission unit 310 Actual Load height receiving unit 311 Load height update unit W Workpiece

According to the present invention, a photographed image obtained by photographing a mounting place where a plurality of workpieces formed by loading a plurality of workpieces is imaged so that the outline of the workpiece is expressed as a line image. A pre-processing unit, a labeling processing unit for labeling each of the regions formed by the closed line images included in the captured image image-processed by the pre-processing unit, and each labeled by the labeling processing unit An area calculation unit for calculating the area of the labeling region or the area of the circumscribed figure circumscribing each labeled region, and a labeling region in which the area calculated by the area calculation unit is within a preset reference range A labeling area registration unit for registering as a labeling area in which a work exists, and an overall captured image of the above-described installation place Within, said labeling region registering portion by setting the divided regions including the respective labeling area registered, the a position information indicating a division region for each position to produce a divided area information division region information generation unit, wherein A workpiece presence / absence detecting unit that detects the presence / absence of a workpiece in each of the divided regions indicated by the divided region information in the captured image image-processed by the preprocessing unit, and the divided region detected by the workpiece presence / absence detecting unit as having a workpiece A loading height detection unit that detects the loading height of each workpiece based on the size of a photographed image of the workpiece and holds the workpiece in a memory, and the loading height detection unit among a plurality of the divided areas, The maximum loading height division area detected as the maximum loading height is extracted, and the workpiece in the maximum loading height division area is extracted. To retain the Robots, position information indicating the position on the front wherein local disks corresponding to the stacking height maximum division region, a position information transmitting unit that transmits to the robot controller for controlling said work holding robot There is provided a work detection apparatus comprising:

Further, the present invention acquires a photographed image obtained by photographing a placement place where a plurality of workpieces formed by loading a plurality of workpieces are arranged, and the contour of the workpiece is a line image. Image processed to be expressed as, labeled each of the areas formed by the closed line images contained in the image processed captured image, and the area of each labeled labeling area or labeled Calculate the area of the circumscribed figure circumscribing each labeling area, and register the labeling area where the calculated area is within the preset reference range as the labeling area where the workpiece exists, In the captured image, a divided area including each registered labeling area is set, and position information indicating the position of each of the divided areas is provided. To generate area information, to detect the presence or absence of a workpiece in each of the divided region indicated by the divided region information in the image-processed captured image, of each of the segmented regions detected that there is a workpiece loading height of the workpiece the Detecting based on the size of the photographed image of the work and holding it in the memory, and extracting the load height maximum divided area detected from the plurality of the divided areas as the maximum load height of the work, In order to hold the workpiece in the maximum loading height division region by the workpiece holding robot, the workpiece holding robot controls position information indicating the position on the placement position corresponding to the maximum loading height division region. Provided is a workpiece detection method characterized by transmitting to a robot controller .

Claims (6)

A pre-processing unit that performs image processing on a photographed image obtained by photographing a mounting place where a plurality of workpieces formed by loading a plurality of workpieces are arranged so that the outline of the workpiece is expressed as a line image When,
A labeling processing unit for labeling each of the regions formed by the closed line images included in the captured image image-processed by the pre-processing unit;
An area calculation unit for calculating an area of each labeling region labeled by the labeling processing unit or an area of a circumscribed figure circumscribing each labeling region labeled;
A labeling region registration unit that registers a labeling region in which the area calculated by the area calculation unit is within a preset reference range as a labeling region in which a workpiece exists;
A divided region including each labeling region registered by the labeling region registration unit is set in the entire captured image of the above-described placement place, and divided region information that is position information indicating the position of each divided region is set. A divided region information generation unit to be generated;
A workpiece detection apparatus comprising: A workpiece presence / absence detection unit that detects the presence / absence of a workpiece in each of the divided regions indicated by the divided region information in the captured image subjected to image processing by the preprocessing unit;
A loading height detection unit that detects a loading height of each of the divided areas detected by the workpiece presence / absence detection unit based on a photographed image of the workpiece and holds the workpiece in a memory;
Among the plurality of divided areas, the maximum loaded height divided area detected by the loaded height detection unit as the maximum loaded height of the work is extracted, and the workpiece in the maximum loaded height divided area is extracted from the workpiece. A position information transmitting unit that transmits position information indicating a position on the placement location corresponding to the maximum stacking height division region to a robot control device that controls the workpiece holding robot, in order to be held by the holding robot. When,
The work detection apparatus according to claim 1, further comprising: An actual loading height receiving unit that receives information indicating the actual loading height of the workpiece detected when the workpiece holding robot holds the workpiece of the maximum loading height division area;
Based on the information indicating the actual loading height received by the actual loading height receiving unit, the latest actual loading height excluding the uppermost work in the maximum loading height division area is obtained, and the loading height detection is performed. A loading height update unit that updates the loading height of the workpiece in the loading height maximum divided area detected by the unit with the latest actual loading height; and
The work detection apparatus according to claim 2, further comprising: Acquire a photographed image of a place where a plurality of workpieces formed by loading a plurality of workpieces are placed,
Processing the captured image so that the outline of the workpiece is expressed as a line image;
Label each of the areas formed by the closed line images contained in the imaged processed image;
Calculate the area of each labeled area or the area of a circumscribed figure that circumscribes each labeled area,
Register the labeling area where the calculated area is within the preset reference range as the labeling area where the workpiece exists,
A division area including each registered labeling area is set in the entire captured image of the above-described placement location, and division area information which is position information indicating the position of each of the division areas is generated. Work detection method. Detecting the presence or absence of a workpiece in each of the divided areas indicated by the divided area information in the captured image that has undergone image processing;
The loading height of each of the divided areas detected as having a workpiece is detected based on the photographed image of the workpiece and held in the memory,
From among the plurality of divided areas, extract the loading height maximum divided area detected that the workpiece loading height is maximum,
In order to hold the workpiece in the maximum loading height division area by the workpiece holding robot, the workpiece holding robot controls position information indicating the position on the placement place corresponding to the maximum loading height division area. The workpiece detection method according to claim 4, wherein the workpiece detection method is transmitted to a robot controller. Receiving information indicating the actual loading height of the workpiece detected when the workpiece holding robot holds the workpiece in the loading height maximum division area;
Based on the received information indicating the actual loading height, obtain the latest actual loading height excluding the uppermost workpiece of the loading height maximum division area,
The workpiece detection method according to claim 5, wherein the workpiece loading height in the maximum loading height division area held in the memory is updated with the latest actual loading height.

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