JP2023042233A - Imaging device - Google Patents

Abstract

To provide an imaging device which can properly capture an image of an article covered by a packaging film.SOLUTION: An imaging device comprises: a light source; a diffuser plate; and a camera. The light source is provided on the outer side with respect to the outermost contour of an inspection object in the plan view of the inspection object mounted on a tray and covered by a transparent packaging film, has the length equal to or greater than the length of the closest side of the outermost contour of the inspection object and emits light source light. The diffuser plate is installed on the outer side with respect to the outermost contour of the inspection object, has the length equal to or greater than the closest side of the outermost contour of the inspection object and diffuses the light source light from the light source. The camera images reflection light from the inspection object of planarly uniform light irradiated on the inspection object via the diffuser plate from the light source.SELECTED DRAWING: Figure 2A

Description

The present disclosure relates to imaging devices.

Items such as harvested vegetables or fruits (fruit vegetables) are placed on a tray, covered with a wrapping film or the like, packed in a box, and shipped.

Such items are desirably subjected to various inspections, such as for defects, prior to packaging. An imaging device may be used for this inspection.

Japanese Patent No. 3886006

Items such as fruits and vegetables are preferably inspected immediately prior to shipment, ie, placed on a tray and covered with a transparent packaging film. Normally, this type of inspection is performed by collecting images of fruits and vegetables placed on a tray with a camera while irradiating light from a light source in a dark box to eliminate the influence of external light. However, generally, the reflectance of the packaging film wrapping the fruit vegetables is higher than the reflectance of the fruit vegetables themselves. Also, packaging films are much smoother than fruit vegetables and have a higher refractive index. Furthermore, since the fruit vegetables placed on the tray are natural products, they have various shapes. Therefore, the shape of the packaging film covering the fruit vegetables can also take various shapes according to the shape of the fruit vegetables. Such variously shaped packaging films naturally reflect the light from the light source at various angles. As a result, the amount of reflected light that enters the camera varies, and the amount of reflected light that enters the camera from a specific angle is large, making image inspection difficult. .

An object of the present disclosure is to provide an imaging device that can appropriately capture an image of an article covered with a packaging film.

An imaging device according to one aspect includes a light source, a diffusion plate, and a camera. The light source is installed outside the outermost contour of the inspection object when the inspection object mounted on a tray and covered with a transparent packaging film is viewed from above, and the closest side of the outermost contour of the inspection object It has a length equal to or longer than the length of , and is irradiated with light from the light source. The diffusion plate is installed outside the outermost contour of the inspection object, has a length equal to or longer than the length of the nearest side of the outermost contour of the inspection object, and diffuses the light source light from the light source. The camera captures an image of reflected light from the inspection object of surface uniform light irradiated from the light source to the inspection object through the diffusion plate.

Advantageous Effects of Invention According to the present disclosure, it is possible to provide an imaging device that can appropriately capture an image of an article covered with a packaging film.

FIG. 1 is a diagram schematically showing one configuration example of an article boxing system including an imaging device according to an embodiment. FIG. 2A is a diagram schematically showing a first configuration example of an imaging device. FIG. 2B is a diagram schematically showing a first configuration example of the imaging device. FIG. 2C is a diagram showing the relationship between the transport direction and the absorption axis when the polarizer is an absorptive polarizer. FIG. 3A is a diagram schematically showing a second configuration example of the imaging device. FIG. 3B is a diagram schematically showing a second configuration example of the imaging device. FIG. 4 is a block diagram schematically showing one configuration example of the control system of the goods boxing system. FIG. 5 is a diagram for explaining an example of the operation of the imaging device. FIG. 6 is a flow chart showing the operation of adjusting the polarization direction.

Hereinafter, embodiments will be described with reference to the drawings. FIG. 1 is a diagram schematically showing one configuration example of an article boxing system including an imaging device according to an embodiment. Here, in FIG. 1, x-direction, y-direction and z-direction are defined as three mutually orthogonal directions. The item cartoning system boxes the items into packaging boxes B1-B4. The item in the embodiments is envisioned as a package. The package in the embodiment is an article formed by placing food such as fruit vegetables, for example myoga, on a tray, packaging the tray with the food on it with a transparent packaging film, and attaching a label to the packaging film. Here, the transparent packaging film in the embodiment can be composed of at least one of polyolefin (polyethylene, polypropylene), polyvinyl chloride, polyester, cellulose, and the like. Placing the myoga on the tray, wrapping the tray with the packaging film, and labeling the packaging film may be performed automatically in a system further upstream of the boxing system according to the embodiment, or manually may be implemented.

The goods boxing system includes a belt conveyor 10, a conveying speed detector 20, an imaging device 30, a first robot R1 and a second robot R2.

The belt conveyor 10 includes a conveying belt and a pair of rotating supports. The conveying belt is a ring-shaped belt for conveying articles in the conveying direction. The conveying direction is, for example, the x direction in FIG. The rotary supports are arranged at respective upstream and downstream ends defined on the belt conveyor 10 . The pair of rotating supports are columnar or cylindrical supports inscribed in the conveying belt. The rotation axis of the rotary support is substantially parallel to the y direction in FIG. 1, which is the width direction of the conveyor belt. When the rotating support rotates between the upstream end and the downstream end, the conveying belt is sent out in the conveying direction by the cylindrical surface of the rotating support that is in contact with the conveying belt.

As will be described later, the imaging device 30 identifies the tray by the contrast between the tray and the conveyor belt in the image. Therefore, it is desirable that the transport belt has a high contrast with respect to the tray. Black is generally preferred as the color of trays for foods such as fruits and vegetables. In this case, it is desirable that the color of the conveyor belt is close to white. If the tray is colored, it is desirable that the color of the conveyor belt is complementary to the color of the tray.

The conveying speed detector 20 is a detector that detects the conveying speed of the conveying belt. The conveying speed is detected, for example, from the distance that the conveying belt is sent out in the conveying direction per unit time. This distance is detected by an encoder, for example. The conveying speed detector 20 transmits the detected value to the first controller CTR1 which will be explained later.

The imaging device 30 is installed near the upstream end of the belt conveyor 10 . The imaging device 30 captures an image of the article supplied to the conveyor belt of the belt conveyor 10 from above the conveyor belt. In addition, the imaging device 30 can detect the edge of the product tray from the image obtained by imaging, and can determine whether or not the packaging film has been peeled off. In addition, when the packaging film is labeled, the imaging device 30 detects the position of the label from the image obtained by imaging, and detects an abnormality in the shape of the label based on preset label information. and whether the position of the label is correct. Further, the imaging device 30 can detect the position and orientation of the conveyed article on the conveyor belt from the image obtained by imaging. Details of the imaging device 30 will be described later.

The first robot R1 and the second robot R2 may have the same configuration. Each of the first robot R1 and the second robot R2 includes a pedestal 40, a first arm A1, a second arm A2, a first axis AX1, a second axis AX2, a third axis AX3, and a fourth axis. It has an axis AX4 and a hand adjuster 50 .

The pedestal 40 is a pedestal for fixing the first robot R1 and the second robot R2.

A first axis AX1 is arranged on the base 40 . The first axis AX1 is supported by a pedestal 40 so as to be rotatable around a rotation axis extending in the z direction. The first axis AX1 is connected to one end of the first arm A1. The first arm A1 is a robot link connecting the first axis AX1 and the second axis AX2. The first arm A1 extends substantially parallel to the xy plane. The position of the first arm A1 is controlled by the rotation angle of the first axis AX1.

A second axis AX2 is connected to the other end of the first arm A1. The second axis AX2 is supported by the first arm A1 so as to be rotatable around a rotation axis extending in the z direction. The second axis AX2 is connected to one end of the second arm A2. The second arm A2 is a robot link that connects between the second axis AX2 and the third axis AX3 and between the second axis AX2 and the fourth axis AX4. The second arm A2 is arranged to extend substantially parallel to the xy plane. The position of the second arm A2 is controlled by the rotation angles of the first axis AX1 and the second axis AX2.

A third axis AX3 and a fourth axis AX4 are connected to the other end of the second arm A2. The third axis AX3 has, for example, a columnar axis extending in a direction substantially parallel to the xy plane, and contacts the shaft SFT held at the other end of the second arm A2 to move the shaft SFT to the z direction. move in the direction The fourth axis AX4 has, for example, a cylindrical axis extending in the z-direction, and by contacting the shaft SFT held at the other end of the second arm A2, rotates the shaft SFT around the rotation axis extending in the z-direction. rotate.

The hand adjustment unit 50 includes a shaft SFT which is movable in the z-direction by a third axis AX3 and rotatable around a rotation axis extending in the z-direction by a fourth axis AX4, and a hand fixed to one end of the shaft SFT. and HND.

The first arm A1, the second arm A2, and the hand adjusting section 50 adjust the positions and rotation angles of the first axis AX1, the second axis AX2, the third axis, the fourth axis AX4, and the shaft SFT, thereby adjusting the hand section. It controls the three-dimensional position of the HND and its inclination with respect to the transport direction. The hand part HND has a suction part. The hand part HND holds the article by sucking the article with the suction part. Then, the hand unit HND packs the articles into the packing boxes B1-B4 by releasing the suction at the positions of the packing boxes B1-B4.

Next, the imaging device 30 will be described. 2A and 2B are diagrams schematically showing a first configuration example of the imaging device 30. FIG. Here, FIG. 2A is a top view of the imaging device 30 of the first configuration example viewed from the positive side in the z direction, and FIG. 2B is a view of the imaging device 30 of the first configuration example viewed from the negative side in the y direction. It is sectional drawing seen from the certain right side. The imaging device 30 includes a light shielding housing 301 , a light source 302 , a diffusion plate 303 , a camera 304 , a vision system VS, and a polarizer 305 . The vision system VS will be explained later.

The light-shielding housing 301 is arranged as close to the conveying belt as possible without interfering with the conveying of the article by the belt conveyor 10, in order to prevent external light from entering the article as the inspection object O of the imaging device 30. ing. The light-shielding housing 301 is made of a light-shielding member and accommodates therein a light source 302 , a diffusion plate 303 , a camera 304 , a vision system VS, and a polarizer 305 . The light shielding housing 301 is configured by stacking two boxes of different sizes in the z direction. A light source 302 and a diffusion plate 303 are housed in the lower box. Also, the upper box houses a camera 304, a vision system VS, and a polarizer 305. FIG. A hole is provided in the ceiling of the lower box, and a camera 304 and a polarizer 305 are arranged so that the camera 304 can receive light incident through the hole. In this embodiment, at least the inner wall of the lower box of the light shielding housing 301 is white. Since the inner wall of the light shielding housing 301 is white, the light from the light source is easily scattered and reflected on the inner wall of the light shielding housing 301 . As a result, an improvement in the amount of light with which the object to be inspected O is irradiated is expected. Here, the description of the configuration of the light shielding housing 301 including the color of the inner wall is merely a preferred example and is not necessarily limited to this.

Here, in the embodiment, in order to accommodate the camera 304, the vision system VS, and the polarizer 305, the light shielding housing 301 is configured by a two-stage box. On the other hand, for example, when the vision system VS is built in the camera 304 or when the vision system VS is provided separately from the imaging device 30, the upper box can be omitted.

Also, the shape of the light shielding housing 301 may be determined according to the shape of the inspection object O. FIG. For example, if the object to be inspected O is an article including a tray for food, it has a substantially rectangular outer shape when viewed from above. Therefore, the light shielding housing 301 is also formed in a substantially rectangular box shape when viewed from above. On the other hand, depending on the shape of the inspection object O, the outer shape of the light shielding housing 301 when viewed from above may be a shape other than a rectangle.

The light source 302 is positioned at a position where the object to be inspected O can be uniformly irradiated with light without interfering with the transportation of the article as the object to be inspected O, more specifically, at the maximum position of the object to be inspected O when viewed in the planar direction. It is installed outside the outline. The outermost contour is the outermost contour of the inspection object O when the inspection object O is viewed from above. For example, in the first configuration example, as shown in FIG. 2A, the light source 302 extends along the x direction, which is the transport direction, on each of the two wall surfaces of the light shielding housing 301 parallel to the x direction, which is the transport direction. This is a linear light source installed in the On the other hand, the installation height of the light source 302 may be any position that does not interfere with the transportation of the article, for example, the position near the center of the wall surface of the light shielding housing 301 as shown in FIG. 2B.

The emission color of the light source 302, that is, the emission wavelength, can be appropriately selected according to the hue of the article as the inspection object O. FIG. For example, if the object to be inspected O is an item including a tray for food, the light source 302 is selected because of the ease of availability, the uniform reflection wavelength of the packaging film, and the preferred color of the tray, which is black. may use a white light source. As the white light source, an incandescent lamp, a cold cathode tube, a light emitting diode (LED), or the like can be appropriately selected according to restrictions on the installation method, power consumption, and the like. However, in the present embodiment, food is assumed to be the item to be inspected O, so it is more preferable to select a white LED that generates less heat as the white light source. In this case, the light source 302 can be configured by arranging a plurality of white LEDs in the x direction.

Here, the light source 302 in the embodiment has a length sufficient for the length of the closest side of the outermost contour of the inspection object O. FIG. Specifically, in the first configuration example, the length of the light source 302 along the x direction is sufficiently longer than the length of the tray having a substantially rectangular shape as the outermost contour of the inspection object O along the x direction.

The diffuser plate 303 is located at a position where the light source light emitted from the light source 302 can be diffused, more specifically, at a position outside the outermost contour of the inspection object O when viewed in the planar direction, and at a position where the light source 302 It is installed at a position where light from the light source is incident. For example, in the first configuration example, the diffusion plate 303 is arranged parallel to the light source 302, for example, at the light exit portion of the light source 302, as shown in FIG. 2A. This diffuser plate 303 is arranged to convert the light source light into surface uniform light.

The diffuser plate 303 must be able to sufficiently diffuse the light source light from the light source 302 . For this reason, the diffuser plate 303 can be appropriately selected according to the combination with the light source 302, but it is desirable that the diffuser plate has a large degree of scattering.

Moreover, the diffusion plate 303 in the embodiment also has a length sufficient for the length of the closest side of the outermost contour of the inspection object O. FIG. Specifically, in the first configuration example, the length of the diffusion plate 303 along the x direction is sufficiently longer than the length of the tray serving as the inspection object O in the x direction. More preferably, as shown in FIGS. 2A and 2B, the length of the diffusion plate 303 along the x-direction is sufficiently longer than the length of the light source 302 along the x-direction. Thereby, the light source light from the light source 302 can enter the diffusion plate 303 without leakage.

Camera 304 has a lens and an imaging device. The lens of the camera 304 is arranged in a hole in the upper surface of the lower box of the light shielding housing 301, and captures the reflected light from the inspection object O of the light emitted from the light source 302 through the diffusion plate 303. An image is formed on the element. The imaging device generates image data by converting light received through a lens into an electrical signal. Then, the imaging device outputs data of the generated image to the vision system VS. The image pickup device in the embodiment may be an image pickup device having a resolution, ie, the number of pixels, at which the tray can be identified on the image. Further, the image pickup device may be an image pickup device that has a color filter and can generate a color image, or an image pickup device that does not have a color filter and can generate a monochrome image.

A polarizer 305 is placed in the optical path of the camera 304 lens. For example, in FIG. 2A, polarizer 305 is placed just before the lens of camera 304 . Polarizer 305 may be configured to be attached to the lens of camera 304 . Various polarizers such as a polarizing film can be used as the polarizer 305 .

Here, the polarization direction of the polarizer 305 is adjusted to reduce the incidence of specularly reflected light from the packaging film on the camera 304 . According to a study by the applicant, when the inspection object O includes a long item and the inspection object O is conveyed so that the long direction of the item faces the x direction parallel to the conveying direction, the polarizer 305 It has been confirmed that by setting the polarization direction parallel to the conveying direction, the incidence of specularly reflected light from the packaging film on the camera 304 is reduced. In other words, in the case of a long product, the reflected light from the long direction of the product has a large effect, so the polarization direction of the polarizer 305 is the direction in which the incidence of the reflected light from the long direction of the product is reduced. It is desirable to set in a direction parallel to the longitudinal direction of the article. When a long item is placed on a rectangular tray, the item is normally placed so that the long side of the rectangular tray is the long side, and the long side of the rectangular tray is parallel to the conveying direction. It is often conveyed so as to be in the x direction. In this case, the polarization direction of the polarizer 305 can also be said to be the x-direction parallel to the transport direction.

FIG. 2C is a diagram showing the relationship between the longitudinal direction of the article and the absorption axis when the polarizer 305 is an absorptive polarizer. As shown in FIG. 2C, the polarizer 305 is adjusted such that the absorption axis A of the polarizer 305 is in the x direction when the item is transported so that the long direction is in the x direction. Note that the transmission axis T of the polarizer 305 is also shown in FIG. 2C. Since the absorption axis A is in the x direction, the direction of the transmission axis T is in the y direction.

Polarizer 305 may be a reflective polarizer. In this case, the polarizer 305 is adjusted so that the reflection axis of the polarizer 305 is in the x-direction when the article is transported so that the longitudinal direction is in the x-direction.

The imaging device 30 as described above irradiates the inspection object O with surface-uniform light. When a tray packed with food such as fruits and vegetables and wrapped with a packaging film is identified by image recognition, reflected light from the packaging film has an adverse effect on recognition. This reflected light is generated when the light source light from a light source with a limited range, such as a point light source or a linear light source, is reflected at a specific angle on the surface of the packaging film deformed according to the shape of the fruit vegetable. In the embodiment, since the light source light is converted into surface uniform light by the diffusion plate 303, the incidence of the light source light only from a specific angle is mitigated. This reduces variations in the amount of reflected light to the camera 304 . In addition, in the embodiment, since the light source light is converted into surface uniform light by the diffusion plate 303, even if a linear light source is used as the light source 302, the reflection of the light source 302 on the packaging film does not occur. .

Furthermore, packaging films have a higher reflectance than fruit vegetables. Therefore, the light source light incident on the packaging film can enter the camera 304 as a large amount of reflected light. On the other hand, in the embodiment, by adjusting the polarization direction of the polarizer 305, incidence of a large amount of reflected light from the packaging film on the camera 304 is reduced. In fact, the polarizer 305 can also absorb reflected light from the trayed food. However, since the reflectance of the packaging film is generally higher than that of the food, the amount of light reflected from the packaging film is greater than the amount of light reflected from the food. Therefore, the amount of light absorbed by the polarizer 305 is greater for the light reflected by the packaging film than for the light reflected by the food. Therefore, most of the reflected light from the packaging film is absorbed by the polarizer 305 , whereas the reflected light from the food is hardly affected by the polarizer 305 .

In this manner, the imaging device of the embodiment can appropriately capture an image of an item loaded with food such as fruits and vegetables and wrapped with a packaging film.

3A and 3B are diagrams schematically showing a second configuration example of the imaging device 30. FIG. Here, FIG. 3A is a diagram of the imaging device 30 of the second configuration example viewed from above, which is the positive side in the z direction, and FIG. It is sectional drawing seen from the certain right side. Here, in the second configuration example, descriptions of configurations similar to those in the first configuration example are omitted or simplified. Specifically, descriptions of configurations other than the light source 302 and the diffusion plate 303 are omitted.

In the second configuration example, as shown in FIG. 3A, the light source 302 is arranged on each of the two wall surfaces of the light shielding housing 301 perpendicular to the x direction, which is the transport direction, in the y direction, which is the direction orthogonal to the transport direction. It is a linear light source installed so as to extend along. On the other hand, the installation height of the light source 302 may be any position that does not interfere with the transportation of the article, for example, the position near the center position of the wall surface of the light shielding housing 301 as shown in FIG. 3B.

Further, in the second configuration example, the length of the light source 302 along the y direction is sufficiently longer than the length of the tray as the inspection object O in the y direction.

In the second configuration example, the diffusion plate 303 is arranged parallel to the light source 302, that is, in a direction orthogonal to the arrangement direction of the first configuration example, as shown in FIG. 3A. In the second configuration example, the length of the diffusion plate 303 along the y direction is sufficiently longer than the length of the tray serving as the inspection object O in the y direction. More preferably, the length of the diffusion plate 303 along the y-direction is sufficiently longer than the length of the light source 302 along the y-direction, as shown in FIG. 3A. Thereby, the light source light from the light source 302 can enter the diffusion plate 303 without leakage.

Even in the second configuration example, the same effect as in the first configuration example is expected. Furthermore, the first configuration example and the second configuration example may be used in combination. That is, the light sources 302 may be installed on each of the four wall surfaces of the light shielding housing 301 that are parallel and orthogonal to the x direction, which is the transport direction, and the diffusion plate 303 may be installed parallel to each of the light sources 302. .

FIG. 4 is a block diagram schematically showing one configuration example of the control system of the goods boxing system. The goods cartoning system of this embodiment comprises a first controller CTR1, a second controller CTR2, a vision system VS, and a network hub HUB.

The first controller CTR1 uses the transport speed information obtained from the transport speed detector 20 and the information obtained from the vision system VS of the imaging device 30 to perform various functions for controlling the first robot R1 and the second robot R2. It is the master controller that performs calculations. The first controller CTR1 includes, for example, at least one processor such as a CPU (central processing unit) or MPU (micro processing unit), and a memory in which programs executed by the processor are recorded.

The second controller CTR2 is a slave controller that controls the second robot R2 according to information obtained from the first controller CTR1. The second controller CTR2 includes, for example, at least one processor such as a CPU or MPU, and a memory in which programs executed by the processor are recorded.

The vision system VS uses the data of the image obtained by the camera 304 to detect the edge of the item and the shape of the label, and to calculate the position and inclination of the item on the belt conveyor 10 . The vision system VS includes, for example, at least one processor such as a CPU or MPU, and a memory in which programs executed by the processor are recorded.

The network hub HUB is connected to the first controller CTR1, the second controller CTR2, and the vision system VS via a network cable such as an Ethernet (registered trademark) cable. The first controller CTR1, the second controller CTR2, and the vision system VS can communicate via the network hub HUB.

The control block of the item cartoning system of the present embodiment is not limited to the configuration shown in FIG. For example, the first controller CTR1, the second controller CTR2 and the vision system VS may be communicatively connected without going through the network hub HUB. If the first controller CTR1, the second controller CTR2 and the vision system VS are capable of communicating wirelessly, the network cables may be omitted.

Also, the first controller CTR1 and the second controller CTR2 may have an equivalent relationship instead of a master-slave relationship. For example, an item cartoning system may include a system controller that coordinates the overall system and may also be configured to control the operation of the first controller CTR1, the second controller CTR2 and the vision system VS by the system controller.

Next, an example of the operation of the imaging device according to the embodiment will be described. FIG. 5 is a diagram for explaining an example of the operation of the imaging device. When an article is supplied to the upstream end of the belt conveyor 10, the belt conveyor 10 operates to convey the article in the x direction, which is the conveying direction. When the item is conveyed, the image of the item is captured by the camera 304 of the imaging device 30 . The imaging frame rate of the camera 304 is a frame rate synchronized with the transport speed.

At step S 1 , the vision system VS acquires data of an image input by the camera 304 .

In step S2, the vision system VS performs image processing to detect the edge of the product tray and the shape of the label from the image data. As described above, the light source 302 and the diffusion plate 303 irradiate the article as the inspection object O with uniform light, and the polarizer 305 reduces the reflected light from the packaging film entering the camera 304. . Therefore, the vision system VS can perform image processing without being affected by the packaging film.

In step S3, the vision system VS extracts an image of the tray portion from the detected edge of the tray, and compares the extracted image of the tray portion with a pre-stored reference image of the tray portion to perform packaging. Determine whether the film is peeled off. When it is determined in step S3 that the packaging film is peeled off, the vision system VS regards the product currently being processed as a defective product and does not pack it into a box. In this case, the vision system VS shifts the process to step S7 without transferring data to the first controller CTR1. If no data has been transferred, the first controller CTR1 and the second controller CTR2 wait for processing. Alternatively, if the data has not been transferred, the first controller CTR1 and the second controller CTR2 make the first robot R1 and the second robot R2 wait. When it is determined in step S3 that the packaging film has not been peeled off, the vision system VS shifts the process to step S4.

In step S4, the vision system VS detects the label from the image of the tray portion, and determines whether or not the label has an abnormality based on the shape of the detected label. For example, the vision system VS determines whether the shape of the detected label is a preset shape, and whether the position where the label is pasted is a preset position. The vision system VS determines that the label is abnormal when the shape of the label is not the preset shape or when the position where the label is pasted is not the preset position. When it is determined in step S4 that there is an abnormality in the label, the vision system VS shifts the process to step S7 without transferring data to the first controller CTR1. When it is determined in step S4 that there is no abnormality in the label, the vision system VS shifts the process to step S5.

In step S5, the vision system VS detects the position and tilt of the item on the conveyor belt from the tilt of the edge of the tray in the image.

In step S6, the vision system VS transfers the detected item position and tilt data to the first controller CTR1. After that, the vision system VS shifts the processing to step S7. The first controller CTR1 controls the first arm A1, the second arm A2, and the hand adjuster 50 based on the data on the position and inclination of the article, and packs the article by the hand section HND. In addition, the first controller CTR1 transfers data on the position and inclination of the article to the second controller CTR2 as necessary. The second controller CTR2 controls the first arm A1, the second arm A2, and the hand adjuster 50 based on the data on the position and inclination of the article, and packs the article by the hand section HND.

At step S7, the vision system VS determines whether or not to end the process. The vision system VS determines not to end the processing when it determines that the packing system is in operation according to the operation continuation command supplied from the first controller CTR1, for example. In this case, the vision system VS returns the process to step S1. In step S7, when it is determined that the packing system is not in operation due to an operation interruption command supplied from the first controller CTR1, for example, it is determined to end the processing. In this case, the vision system VS terminates the processing of FIG.

As described above, according to the embodiment, an image of an item such as fruit and vegetables mounted on a tray and covered with a packaging film can be captured appropriately. Therefore, the inspection of the article using the image can be performed properly, and the article mounted on the tray can be accurately grasped, sucked, and boxed.

In addition, the imaging device of the embodiment can reduce the influence of the reflected light from the packaging film by using the light source that irradiates surface uniform light and the polarizer arranged on the lens of the camera. As described above, the imaging apparatus of the embodiment has a simple structure, and can be installed in a small space. Also, maintenance of the imaging device can be easily performed.

[Modification]
Modifications of the embodiment will be described below. In embodiments, the light source is located on the side of the light-tight enclosure. On the other hand, the light source can also be arranged on the upper surface of the light shielding housing by a coaxial epi-illumination structure using a half mirror or the like. As described above, the configuration of the light source of the embodiment is not limited to a specific configuration as long as it can irradiate uniform light wider than the outermost contour of the object to be inspected.

Also, in the embodiment, the polarization direction of the polarizer 305 is adjusted according to the longitudinal direction of the article. This has been adjusted based on the results of applicant's studies. The polarizer 305 may be configured such that such adjustment of the polarization direction can be performed sequentially prior to packaging the item. For example, when the polarizer 305 is placed on the lens of the camera 304, the polarizer 305 is configured such that the direction of polarization can be adjusted by rotating the polarizer 305 about the optical axis of the lens under the control of the vision system VS. may

FIG. 6 is a flow chart showing the operation of adjusting the polarization direction. The operations of FIG. 6 are performed before the operations of FIG. The operations of FIG. 6 may be performed every time the operations of FIG. 5 are performed, or may be performed only before the first operation of FIG.

During the operation of adjusting the polarization direction, the imaging device 30 images the article for adjusting the polarization direction placed on the conveyor belt. The product for adjusting the polarization direction is prepared by placing food such as fruit and vegetables, such as myoga ginger, on a tray, wrapping the tray with the fruit and vegetables in a wrapping film, and attaching a label to the wrapping film. It may be an article that is formed.

In step S 11 , the vision system VS acquires image data input by the camera 304 .

In step S12, the vision system VS determines from the data of the image whether the flare in the image is small. The vision system VS determines that the flare in the image is small, for example, when the number of saturated luminance pixels in the image is equal to or less than a threshold. When it is determined in step S12 that the flare is not small, it means that the polarizer 305 is not properly adjusted and the influence of the reflected light from the packaging film is increasing. In this case, the vision system VS shifts the process to step S13. On the other hand, when it is determined in step S12 that the flare is small, it means that the polarizer 305 is properly adjusted. In this case, the vision system VS terminates the processing of FIG. Note that the determination in step S12 may be made visually by a person. In this case, the vision system VS causes the image obtained by the camera 304 to be displayed on the display device. Looking at this image, a person determines whether the flare is small.

In step S13, the vision system VS rotates the polarizer 305 by a predetermined minute angle. After that, the vision system VS returns the process to step S11. Note that the adjustment of the polarization direction of the polarizer 305 may be performed by a person.

According to the modification described above, the polarization direction of the polarizer can be adjusted more appropriately. By appropriately adjusting the polarization direction of the polarizer, the reflected light from the packaging film can be reduced more reliably.

The present invention is not limited to the above-described embodiments, and can be modified in various ways without departing from the scope of the present invention at the implementation stage. Further, each embodiment may be implemented in combination as appropriate, in which case the combined effect can be obtained. Furthermore, various inventions are included in the above embodiments, and various inventions can be extracted by combinations selected from a plurality of disclosed constituent elements. For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiments, if the problem can be solved and effects can be obtained, the configuration with the constituent elements deleted can be extracted as an invention.

10 belt conveyor, 20 conveying speed detector, 30 imaging device, 40 pedestal, 50 hand adjustment unit, 301 light shielding housing, 302 light source, 303 diffusion plate, 304 camera, 305 polarizer.

Claims (9)

When the inspection object mounted on a tray and covered with a transparent packaging film is viewed from above, it is installed outside the outermost contour of the inspection object, and is the closest side of the outermost contour of the inspection object. a light source having a length equal to or greater than the length and emitting light source light;
a diffusion plate installed outside the outermost contour of the inspection object, having a length equal to or longer than the length of the nearest side of the outermost contour of the inspection object, and diffusing the light source light from the light source; ,
a camera that captures the reflected light from the inspection object of the surface uniform light irradiated from the light source to the inspection object through the diffusion plate;
An imaging device comprising: The imaging device according to claim 1, wherein the diffusion plate is longer than the light source. 3. The imaging device according to claim 1, further comprising a polarizer that polarizes the reflected light incident on the camera. The inspection object includes a long item,
4. The imaging device according to claim 3, wherein the polarization direction of said polarizer is set parallel to the longitudinal direction of said article. 4. The imaging device according to claim 3, wherein the polarizing direction of the polarizer is adjustable. The light source and the diffusion plate are arranged in a light shielding housing,
6. The imaging apparatus according to any one of claims 1 to 5, wherein the camera is arranged in a hole formed in the light shielding housing. 7. The imaging apparatus according to claim 6, wherein the inner wall of said light shielding housing is white. 8. The imaging apparatus according to claim 1, wherein the color of said tray is black or white. 9. The imaging apparatus according to any one of claims 1 to 8, wherein the light source emits white light from the light source.

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