JP3625237B2 - Concavity and convexity measurement method and component storage method using the same - Google Patents

Description

をＸ＝１〜ｎについて算出し、

をＹ＝１〜ｍについて算出する。図４（Ａ）及び（Ｂ）はそれぞれＢＸ及びＢＹの実際の分布を示す。
【００１４】
（４３）ＢＸの極小値の小さいほうから２つに対応したＸの値Ｘ１及びＸ２を求める。Ｘ１及びＸ２はそれぞれ、図３の底面２１と側面２３、２４との境界位置及び底面２１と側面２７、２８との境界位置であることが分かった。これは、段差部ではその周辺よりも輝度が小さく、かつ、上記総和により段差部とその周辺との輝度差が増幅されるからである。
【００１５】
（４４）ＢＹの極小値の小さいほうから２つに対応したＹの値Ｙ１及びＹ２を求める。Ｙ１及びＹ２は、図３の底面２１と側面２５、２６との境界位置及び底面２１と側面２２との境界位置であることが分かった。
（４５）Ｘ１とＸ２の平均値Ｘｍ及びＹ１とＹ２の平均値Ｙｍを算出し、収納凹部２０の代表位置Ｍの座標を（Ｘｍ，Ｙｍ）とする。
【００１６】
上記ステップ４１〜４５の処理を、図５（Ａ）に示すゴムケース１０上の四隅の収納凹部２０１〜２０４について繰り返し行い、収納凹部２０１〜２０４の各代表位置と、収納凹部２０のＸ軸方向の個数及びＹ軸方向の個数とから、全ての収納凹部２０の代表位置を算出し、これをロボット制御装置３３に供給する。
本実施形態では、収納凹部２０が浅くて段差部とその周辺との輝度差が小さくても、上記総和によりこの輝度差が増幅されるので、ＢＸの極小値の小さいほうから２つに対応したＸ１とＸ２の平均値Ｘｍ及びＢＹの極小値の小さいほうから２つに対応したＹ１とＹ２の平均値Ｙｍを求め、収納凹部２０の代表位置Ｍ（Ｘｍ，Ｙｍ）が正確になる。
【００１７】
なお、本発明には外にも種々の変形例が含まれる。
例えば、全ての収納凹部２０について上記ステップ４１〜４５の処理を繰り返す構成であってもよい。
また、収納凹部２０の位置の標準値をロボット制御装置３３に予め格納しておき、標準値からのずれを画像処理装置３２で計測し、これをロボット制御装置３３に供給するように構成してもよい。
【００１８】
さらに、上記実施形態では対象物に凹部が形成されている場合を説明したが、本発明は、一般に凹凸部が形成されている場合に適用可能である。この場合、凹凸部の、Ｘ軸及びＹ軸に沿った段差の数以下の極小値に対応した座標又はその平均値を凹凸部の代表位置とする。
【図面の簡単な説明】
【図１】部品収納装置の全体構成を示す概略図である。
【図２】図１の画像処理装置の処理手順を示すフローチャートである。
【図３】図２の画像処理の説明図である。
【図４】（Ａ）は図３中の領域ＯＡＢＣ内の輝度データＢ（Ｘ，Ｙ）の、Ｙについての総和ＢＸの分布図、（Ｂ）は輝度データＢ（Ｘ，Ｙ）のＸについての総和ＢＹの分布図である。
【図５】部品収納用ゴムケースの正面図、（Ｂ）は（Ａ）中の１つの収納凹部の拡大図である。
【符号の説明】
１０ ゴムケース
１１ 表面
２０、２０１〜２０４ 収納凹部
２１ 底面
２２〜２８ 側面
３０ ロボット
３１ 撮像装置
３２ 画像処理装置
３３ ロボット制御装置
Ｍ 代表位置[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a concavo-convex position measuring method for capturing an image of an object on which concavo-convex portions are formed, processing the image data, and measuring a representative position of the concavo-convex portions, and a component storage method using the same.
[0002]
[Prior art]
The rubber case 10 shown in FIG. 5A is an integrally molded product, and concave portions 20 for storing components are formed on the surface 11 in a lattice shape. FIG. 5B is an enlarged view of the storage recess 20. The storage recess 20 includes a bottom surface 21 having a constant depth and side surfaces. The side surfaces 22 to 28 are inclined surfaces for facilitating the insertion of the components, and the other side surfaces are upright surfaces to prevent the components from falling off the shallow storage recess 20. Since the clearance of the storage recess 20 is small so that the component does not rotate in the storage recess 20, the position of the storage recess 20 is accurately measured in order to store the component in the storage recess 20 using a robot. There is a need.
[0003]
[Problems to be solved by the invention]
The component is, for example, a magnetoresistive (MR) head for a hard disk, is thin, and the depth of the storage recess 20 is as shallow as 1 mm, for example, so that the difference in luminance between the storage recess 20 and its surroundings is small. For this reason, if the rubber case 10 is imaged, and the image data is binarized to attempt to measure the representative position of the storage recess 20, it is not easy to set the binarization threshold value. Even if it is set, the binary image of the storage recess 20 becomes inaccurate and the measurement accuracy of the position of the storage recess 20 is lowered, and it becomes impossible to store the component in the storage recess 20 using a robot.
[0004]
In view of such problems, an object of the present invention is to provide an uneven position measuring method capable of accurately measuring a representative position of an uneven portion having a small luminance difference and a component storage method using the same.
[0005]
[Means for solving the problems and their effects]
In the present invention, plurality of uneven portions, an X-axis direction and object formed thereto are arranged in a lattice perpendicular Y-axis direction, imaged by the imaging device, the uneven portion by processing the image data In the uneven position measurement method that measures the representative position of
For each of the four concavo-convex portions of the plurality of concavo-convex portions,
Brightness data B (X, Y) sides in a rectangular region parallel to the X-axis and Y-axis adjacent comprise a major portion of the concave convex part of, Y of the distribution and X summation along the X axis BX of Find the distribution along the Y-axis of the sum BY,
Calculated Me a representative position of the concavo-convex portion on the basis of the step portion Y coordinates corresponding to a predetermined minimum value of the distribution of the corresponding stepped portion X coordinate and said total sum BY to a predetermined minimum value of the distribution of said total sum BX,
Based on the obtained representative positions of the uneven portions at the four corners and the number in the X-axis direction and the number in the Y-axis direction of the arrangement of the plurality of uneven portions, the representative positions of the uneven portions other than the uneven portions at the four corners are also Ask.
[0006]
According to the present invention, even if the uneven step is small and the luminance difference between the step portion and its periphery is small, the luminance difference is amplified by obtaining the sums BX and BY. The step position X coordinate corresponding to the minimum value and the step position Y coordinate corresponding to the predetermined minimum value of the distribution of the sum BY can be obtained accurately.
[0007]
In the first aspect of the present invention, the stepped portion X coordinates corresponding to the predetermined minimum value of the distribution of the sum BX are the X coordinates X1 and X2 corresponding to the smallest two of the minimum values of the distribution of the sum BX. The step Y coordinate corresponding to the predetermined minimum value of the distribution of the sum BY is Y coordinates Y1 and Y2 corresponding to the smallest two of the minimum values of the distribution of the sum BY, and Xm = (X1 + X2) / 2 and Ym = (Y1 + Y2) / 2 are calculated, and the coordinates (Xm, Ym) are set as the representative positions.
[0008]
According to the first aspect, since the average value of the stepped portion coordinates is obtained as the representative position, the measurement errors of the averaged stepped portion coordinates cancel each other, and the obtained representative position becomes more accurate. Play.
In the second aspect of the present invention, a storage case formed by arranging a plurality of recesses in a grid pattern in the X-axis direction and the Y-axis direction perpendicular to the X-axis direction is imaged by an imaging device, and the image data is processed to each Measure the representative position of the recess,
A component storage method for gripping a component with a robot and storing the component in a corresponding recess based on the representative position,
In the processing of the image data, for each of the four corners of the plurality of recesses,
Distribution along the X-axis of the sum BX with respect to Y of the luminance data B (X, Y) in the rectangular region including the main part of the recess and having adjacent sides parallel to the X- axis and the Y-axis, and the sum with respect to X Find the distribution of BY along the Y axis,
Step X coordinates X1 and X2 corresponding to the smallest two of the minimum values of the distribution of the sum BX are obtained, and the step Y coordinates corresponding to the smallest two of the minimum values of the distribution of the total BY Find Y1 and Y2,
Xm = (X1 + X2) / 2 and Ym = (Y1 + Y2) / 2 is calculated, determined by the coordinates (Xm, Ym) and representative position of the recess,
Based on the obtained representative positions of the concave portions at the four corners and the number of the plurality of concave portions arranged in the X-axis direction and the number in the Y-axis direction, the representative positions of the concave portions other than the concave portions at the four corners are also obtained.
[0009]
According to the second aspect, since the obtained representative position is accurate as described above, there is an effect that it is possible to automate component storage by the robot.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows the overall configuration of the component storage device.
As shown in FIG. 5 (A), storage recesses 20 are formed in a lattice shape on the surface 11 of the rubber case 10 arranged horizontally, and the parts that are sequentially fed by the transport device to the storage recesses 20. It is stored by the robot 30. Before the storage is started, the rubber case 10 is imaged by the imaging device 31, the image data is processed by the image processing device 32, the representative position of the storage recess 20 is measured, and the measurement result is supplied to the robot control device 33. . Based on this, the robot control device 33 controls the robot 30 to store the components in the storage recess 20 of the rubber case 10.
[0011]
Next, processing in the image processing apparatus 32 will be described with reference to FIGS. Hereinafter, the numerical values in parentheses are step identification numbers in FIG.
(40) One frame of image data obtained by the imaging device 31 is input and stored in the frame memory.
(41) From the stored image data, as shown in FIG. 3, the luminance data B (X, Y) in the rectangular area OABC including the main part of the storage recess 20 is cut out to the work area of the RAM. OA is the X axis and OC is the Y axis.
[0012]
The rubber case 10 has at least two sides positioned by stoppers, and has a standard rubber case 10 size, one on the surface 11, for example, the position of the storage recess 20 in the lower left corner, and the pitch of the storage recess 20 And the number of arrays are input to the image processing device 32 in advance, and the area OABC is determined based on the input value. Let the number of pixels in the X-axis direction and the number of pixels in the Y-axis direction of the region OABC be n and m, respectively.
[0013]
(42) The projection distribution on the X-axis and the projection distribution on the Y-axis of the luminance data B (X, Y) are obtained. That is,

Is calculated for X = 1 to n,

Is calculated for Y = 1 to m. 4A and 4B show the actual distribution of BX and BY, respectively.
[0014]
(43) X values X1 and X2 corresponding to two of the smallest BX minimum values are obtained. It has been found that X1 and X2 are the boundary position between the bottom surface 21 and the side surfaces 23 and 24 and the boundary position between the bottom surface 21 and the side surfaces 27 and 28 in FIG. This is because the stepped portion has lower luminance than the periphery thereof, and the difference between the stepped portion and the periphery thereof is amplified by the above sum.
[0015]
(44) Find Y values Y1 and Y2 corresponding to two of the smallest BY minimum values. Y1 and Y2 were found to be the boundary position between the bottom surface 21 and the side surfaces 25 and 26 and the boundary position between the bottom surface 21 and the side surface 22 in FIG.
(45) The average value Xm of X1 and X2 and the average value Ym of Y1 and Y2 are calculated, and the coordinates of the representative position M of the storage recess 20 are (Xm, Ym).
[0016]
The processes of steps 41 to 45 are repeated for the storage recesses 201 to 204 at the four corners on the rubber case 10 shown in FIG. 5A, and the representative positions of the storage recesses 201 to 204 and the X-axis direction of the storage recess 20 The representative positions of all of the storage recesses 20 are calculated from the number of and the number in the Y-axis direction and supplied to the robot controller 33.
In the present embodiment, even if the storage recess 20 is shallow and the luminance difference between the stepped portion and the periphery thereof is small, this luminance difference is amplified by the above summation, so the two corresponding to the smaller one of the minimum values of BX are supported. The average value Ym of Y1 and Y2 corresponding to the two of the average values Xm of X1 and X2 and the minimum value of BY is determined, and the representative position M (Xm, Ym) of the storage recess 20 becomes accurate.
[0017]
Note that the present invention includes various other modifications.
For example, a configuration in which the processes in steps 41 to 45 are repeated for all the storage recesses 20 may be employed.
Further, a standard value of the position of the storage recess 20 is stored in advance in the robot control device 33, a deviation from the standard value is measured by the image processing device 32, and this is supplied to the robot control device 33. Also good.
[0018]
Furthermore, although the said embodiment demonstrated the case where the recessed part was formed in the target object, this invention is applicable when the uneven | corrugated | grooved part is generally formed. In this case, the coordinates corresponding to the minimum value equal to or less than the number of steps along the X axis and the Y axis of the uneven portion or the average value thereof are set as the representative positions of the uneven portion.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing an overall configuration of a component storage device.
FIG. 2 is a flowchart showing a processing procedure of the image processing apparatus of FIG. 1;
FIG. 3 is an explanatory diagram of the image processing of FIG. 2;
4A is a distribution diagram of the sum BX of Y of luminance data B (X, Y) in the area OABC in FIG. 3, and FIG. 4B is X of luminance data B (X, Y). It is a distribution map of sum total BY.
FIG. 5 is a front view of a rubber case for storing components, and (B) is an enlarged view of one storage recess in (A).
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 Rubber case 11 Front surface 20, 201-204 Storage recessed part 21 Bottom surface 22-28 Side surface 30 Robot 31 Imaging device 32 Image processing device 33 Robot control device M Representative position

Claims (3)

Uneven portion is more, the X-axis direction and object formed thereto are arranged in a lattice perpendicular Y-axis direction, imaged by the imaging device, a representative position of each uneven portion by processing the image data In the uneven position measurement method to measure,
For each of the four concavo-convex portions of the plurality of concavo-convex portions,
Brightness data B (X, Y) sides in a rectangular region parallel to the X-axis and Y-axis adjacent comprise a major portion of the concave convex part of, Y of the distribution and X summation along the X axis BX of Find the distribution along the Y-axis of the sum BY,
Calculated Me a representative position of the concavo-convex portion on the basis of the step portion Y coordinates corresponding to a predetermined minimum value of the distribution of the corresponding stepped portion X coordinate and said total sum BY to a predetermined minimum value of the distribution of said total sum BX,
Based on the obtained representative positions of the uneven portions at the four corners and the number in the X-axis direction and the number in the Y-axis direction of the arrangement of the plurality of uneven portions, the representative positions of the uneven portions other than the uneven portions at the four corners are also uneven position measurement wherein the <br/> sought. The step portion X coordinate corresponding to the predetermined minimum value of the distribution of the sum BX is the X coordinates X1 and X2 corresponding to the smallest two of the minimum values of the distribution of the sum BX, and the distribution of the sum BY Are Y coordinates Y1 and Y2 corresponding to the smallest two of the minimum values of the distribution of the total sum BY, and Xm = (X1 + X2) / 2 and Ym = (Y1 + Y2) / 2 is calculated, and coordinates (Xm, Ym) are set as the representative positions.
The uneven position measuring method according to claim 1 . A storage case formed by a plurality of recesses arranged in a grid in the X-axis direction and the Y-axis direction perpendicular to the X-axis direction is imaged with an imaging device, the image data is processed to measure the representative position of each recess,
A component storage method for gripping a component with a robot and storing the component in a corresponding recess based on the representative position,
In the processing of the image data, for each of the four corners of the plurality of recesses,
Distribution along the X-axis of the sum BX with respect to Y of the luminance data B (X, Y) in the rectangular region including the main part of the recess and having adjacent sides parallel to the X- axis and the Y-axis, and the sum with respect to X Find the distribution of BY along the Y axis,
Step X coordinates X1 and X2 corresponding to the smallest two of the minimum values of the distribution of the sum BX are obtained, and the step Y coordinates corresponding to the smallest two of the minimum values of the distribution of the total BY Find Y1 and Y2,
Xm = (X1 + X2) / 2 and Ym = (Y1 + Y2) / 2 is calculated, determined by the coordinates (Xm, Ym) and representative position of the recess,
Based on the obtained representative positions of the concave portions at the four corners and the number of the plurality of concave portions arranged in the X-axis direction and the number of the Y-axis directions, the representative positions of the concave portions other than the concave portions at the four corners are also obtained <br / > Parts storage method characterized by that.

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