JP6922254B2 - Inspection device, inspection method, program - Google Patents

Description

The present invention relates to an inspection device, an inspection method, and a program.

A trader who ships products may ship a packaged product in which the same surface of the same product is stacked in the same direction and the bundle is packed with a transparent member such as a vinyl member. When carrying out the shipping work, the trader keeps the packed products in the warehouse, which are arranged according to the type of the unit product determined in advance and packed with the predetermined number of unit products. By doing so, the packing work at the time of shipment can be omitted.

As a technique related to the present application, Patent Document 1 discloses an image processing technique for accurately collating even when a large number of the same or similar subjects are included in the image.

International Publication No. 2014/002554

By the way, when shipping the above-mentioned packaged products, the packaged products in which a predetermined number of unit products of a predetermined type are packed are packed in a box and shipped. At this time, there was a need for a mechanism for more accurately checking whether the above-mentioned packaged products were shipped by mistake.

Therefore, an object of the present invention is to provide an inspection device, an inspection method, and a program that solve the above-mentioned problems.

According to the first aspect of the present invention, the inspection device acquires an image including a packaged product in which a plurality of the unit products in which the same surface of the same unit product is stacked facing in the same direction are collectively packed. The arrangement state of each of the unit, the type candidate specifying unit that specifies the type candidate of the packaged product included in the image based on the image of any surface of the unit product, and the unit product included in the packaged product. using geometric information representing a region specifying unit that specifies an area of the packaging products included in the image, identified characteristic information of the product unit and the packing product areas Oite the area specifying unit in the image And a packing type specifying unit that specifies the type of the packed product included in the area based on the geometric information.

According to the second aspect of the present invention, the inspection method obtains an image including a packaged product in which a plurality of the unit products in which the same surfaces of the same unit product are stacked facing in the same direction are collectively packed, and described above. Candidates for the type of the packaged product included in the image are specified based on the image of any surface of the unit product, and geometric information representing the arrangement state of each of the unit products included in the packaged product is used. the identified areas of packaging products included in the image, the image based on the Oite the specified the packed goods area and the unit characteristic information of the product and the geometry information of packaging products included in the region Specify the type.

According to a third aspect of the present invention, the program includes an image in which a computer of an inspection device is packed with a plurality of the unit products in which the same surface of the same unit product is stacked so as to face the same direction. The image acquisition means for acquiring the image, the type candidate specifying means for specifying the type candidate of the packaged product included in the image based on the image of any surface of the unit product, and the unit product included in the packaged product. of using geometric information representing the arrangement, the specific region specifying means an area of the packaging products included in the image, identified the packed product areas Oite said region specifying means to said image and of the product unit It functions as a packing type specifying means for specifying the type of the packed product included in the area based on the feature information and the geometric information.

According to the present invention, it is possible to more accurately check whether or not a packaged product in which the same surface of the same product is stacked in the same direction and the bundle is packed with a transparent member is not erroneously shipped.

It is a block diagram which shows the structure of the inspection system by one Embodiment of this invention. It is a figure which shows the hardware configuration example of the inspection apparatus by one Embodiment of this invention. It is a functional block diagram of the inspection apparatus according to one Embodiment of this invention. It is a figure which shows the example of the image by one Embodiment of this invention. It is a figure which shows the outline of the information stored in the inspection apparatus by one Embodiment of this invention. It is the first figure which shows the processing flow of the inspection apparatus by one Embodiment of this invention. It is the first figure which shows the example of the result of the area identification processing by one Embodiment of this invention. It is a second figure which shows the processing flow of the inspection apparatus by one Embodiment of this invention. It is a second figure which shows the example of the result of the area identification processing by one Embodiment of this invention. It is a figure which shows the minimum structure of the inspection apparatus by one Embodiment of this invention.

Hereinafter, an inspection device, an inspection method, and a program according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of an inspection system including an inspection device according to the same embodiment.
As shown in this figure, the inspection system 100 includes an inspection device 1, a camera 4 for photographing a packaged product 2, a display device 5, and an input device 6.

In the present embodiment, the inspection system 100 inspects a packaged product in which a plurality of unit products in which the same surface of the same unit product is stacked facing in the same direction are collectively packed. In the present embodiment, the packaged product is a unit product packed together with a transparent member such as vinyl. Specifically, the inspection system 100 determines whether or not the type of unit product to be packaged as a packaged product and the number of packaged products match the shipping information. This determination is defined as inspection processing. In this inspection process, the camera 4 photographs the packaged product 2. The camera 4 outputs the image data generated by the photographing to the inspection device 1. As shown in FIG. 1, the packaged product 2 may be put in the box 3 and shipped and managed. The inspection device 1 may inspect the packaged product 2 contained in the box 3. The display device 5 outputs the inspection result and the like. The input device 6 outputs the information input by the operator to the inspection device 1. The camera 4 may be mounted at a position where the packaged product 2 can be photographed.

FIG. 2 is a diagram showing a hardware configuration example of the inspection device according to the first embodiment.
As shown in FIG. 2, the inspection device 1 has a hardware configuration of a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, an HDD (Solid State Drive) 104, and an interface 105. May be provided as an example. The interface 105 is, for example, a liquid crystal touch panel or a button. The inspection device 1 may be configured to further include other hardware.

FIG. 3 is a functional block diagram of the inspection device.
The CPU 101 of the inspection device 1 executes an inspection processing program stored in advance. As a result, the inspection device 1 is provided with the functions of the control unit 111, the image acquisition unit 112, the type candidate identification unit 113, the area identification unit 114, and the packaging type identification unit 115.

The control unit 111 controls other functional units.
The image acquisition unit 112 acquires an image including the packaged product 2.
The type candidate identification unit 113 identifies the type candidate of the packaged product 2 included in the image based on the image of any surface of the unit product.
The area specifying unit 114 specifies the area of the packaged product 2 included in the image by using the geometric information representing the arrangement state of each unit product included in the packaged product 2.
The packing type specifying unit 115 at least specifies the type of the packed product 2 included in the candidate area based on the candidate area of the packed product 2 in the image, the feature information of the unit product, and the geometric information.

FIG. 4 is a diagram showing an example of an image.
The image shown in FIG. 4 shows an image of the inside of the box 3 in which the packaged product 2 is placed and shipped and managed. The image of FIG. 4 is taken as an example of the inside of a box 3 containing two packaged products 2. One of the two packaged products 2 shown in the image of FIG. 4 is referred to as a packaged product 2A, and the other is referred to as a packaged product 2B. In this case, the inspection device 1 detects that there are two packaged products 2. Further, the inspection device 1 detects the types of the packaged product 2A and the packaged product 2B. The type of the packed product 2 may be defined by the type of the unit product packed as the packed product 2 and the number of the unit products packed. As an example, the packed product 2A and the packed product 2B are the same product, but each unit product such as a chemical having a different content capacity is packed separately. A lot of unified chemical information is printed on the surface of the unit products of different capacities packed in the packaged product 2A and the packaged product 2B, but only the capacity printing may be different for each. The inspection device 1 according to the present embodiment detects such a difference in the type of the packaged product 2 and performs an inspection process to see if it matches the shipping information.

FIG. 5 is a diagram showing an outline of information stored in the inspection device.
The inspection device 1 stores geometric information used for determining the types of a plurality of different packaged products 2 in a storage unit such as the HDD 104. The geometric information is a three-dimensional arrangement state of a reference solid indicating one of the unit products collected as the packaged product 2 to be arranged at a reference position and one or a plurality of other individuals to be packaged in layers. It is information which shows the relationship of. The geometric information may appear on the surface of the packed product 2 when the ID of the packed product 2, the ID of the unit product packed in the packed product 2, and the unit product as the packed product 2 are packed. It is recorded in a storage unit such as HDD 104 in association with the feature information of the packaged product constituent surface indicating any surface of the unit product and the identifier (surface ID) of the surface. Information consisting of the ID of the packaged product, the ID of the unit product, the feature information of the unit product, the geometric information, and the surface ID is referred to as the determination usage information for determining the packaged product. The packed product ID included in the determination usage information is an ID that can uniquely identify the unit product constituting the packed product 2 shown in the image and the packed product constituent surface of the unit product shown in the image. Therefore, even if the same packaged product 2 is used, the packaged product ID is determined so that the packaged product ID is different when the packaged product composition surface of the unit product constituting the packaged product 2 shown in the image is different. And.

As an example, it is assumed that a part of the packaged product 2 is in a state as shown in FIG. 5 in which the same unit product A forming a cube is arranged two underneath and two on top of each other, for a total of four. In this case, the geometric information includes the feature information of the surface (packed product constituent surface) constituting the overview of the packaged product 2 of the unit product B. In addition, the geometric information is the other three individuals arranged adjacent to the reference solid B1-1 when the reference solid B1-1 of one unit product (upper left in FIG. 5) is superimposed on the top. It contains vector information b2, b3 and b4 indicating the relative positions of B1-2, B1-3 and B1-4 from the reference solid B1. Further, the geometric information includes the ID (identification information) of the packaged product 2 corresponding to the geometric information.

The inspection device 1 further stores information on the detailed display area feature amount on the packaged product configuration surface of the unit product as determination usage information in a storage unit such as the HDD 104. As an example, the unit product ID, the surface ID, and the detailed display area feature amount information are stored in association with each other. The detailed display area feature amount information may be included in the geometric information. Further, the feature information included in the geometric information may include information on the detailed display area feature amount.

It is assumed that a plurality of unit products B1 are packed in the packed product 2A, and a plurality of unit products B2 are packed in the packed product 2B. When the unit product B1 and the unit product B2 are products having different capacities of the same product, the information printed on the unit product B1 and the unit product B2 is almost the same, and the capacity is displayed and the product is identified. The barcode information printed on is different. The detailed display area feature amount information indicates the feature amount of a local image in a limited small area of a surface on which such a capacity is displayed or a region in which bar code information is displayed.

The inspection device 1 generates and stores the first list information and the second list information in the process of processing. Details of the first list information and the second list information will be described later.

Inspection apparatus 1 of this embodiment acquires images of packaging items 2 from the camera 4, identified based candidates of the types of packing products 2 contained in its image to an image of one side of the product unit. At this time, a plurality of types of packaged products 2 can be obtained. The inspection device 1 identifies the area of the packaged product 2 included in the image by using the geometric information representing the arrangement state of each of the unit products B included in the packaged product 2. As a result, the inspection device 1 grasps where in the image the packaged product 2 is located. The inspection device 1 specifies the type of the packaged product included in the candidate area based on the candidate area of the packaged product 2 in the image, the detailed display area feature amount information (feature information) of the unit product, and the geometric information.

According to such processing, the inspection device 1 first determines where the packed product 2 is, and is included in the packed product 2 according to the detailed display area feature amount information of the plurality of unit products included in the packed product 2. Since the unit product is specified, it is possible to improve the accuracy of identification of the packaged product 2.

Hereinafter, the processing of the inspection device 1 will be described step by step.
FIG. 6 is a first diagram showing a processing flow of the inspection device.
In the inspection system 100, the camera 4 first photographs the packaged product 2 and outputs the image to the inspection device 1. The image acquisition unit 112 of the inspection device 1 acquires an image (step S101). The image acquisition unit 112 outputs an image to the type candidate identification unit 113.

The type candidate identification unit 113 selects one of the IDs of the packaged product 2 in the determination usage information recorded in advance in the storage unit such as the HDD 104, and records the ID in association with the ID of the packaged product 2. Acquire the feature information of the unit product (step S102). The type candidate identification unit 113 calculates the degree of coincidence between the acquired feature information and the feature information of the region estimated to be the unit product in the image (step S103). Type candidate identifying unit 113 in the calculation of the degree of coincidence, the characteristic information acquired from the storage unit, sequentially compares the feature information of each product unit areas identified while shifting the pixel positions in the image. Then, in this comparison, the type candidate identification unit 113 calculates the converted feature information obtained by rotating the feature information acquired from the storage unit to a predetermined rotation angle by a geometric conversion matrix, and calculates a plurality of feature information with different rotation angles and an image. The feature information of each unit product area in the inside is sequentially compared. The type candidate identification unit 113 calculates the degree of matching of the feature information by comparison. Any method may be used to calculate the degree of coincidence as long as it is a method of comparing two feature information and obtaining the degree of coincidence.

The type candidate identification unit 113 determines whether the degree of agreement is equal to or greater than a predetermined threshold value (step S104). The type candidate identification unit 113 includes the ID of the packaged product 2 linked to the feature information of the unit product whose matching degree is equal to or higher than the threshold value, the position of the unit product area in the image whose matching degree is equal to or higher than the threshold value, and the rotation angle. And the value of the degree of agreement are associated with the list number (No.) and recorded in the first list information (step S105). The type candidate identification unit 113 outputs the first list information to the area identification unit 114. The type candidate identification unit 113 determines whether or not the matching degree has been calculated for all the IDs of the packaged products 2 included in the determination usage information (step S106). If the type candidate identification unit 113 has not calculated the degree of matching for all the IDs of the packaged products 2, the processes of steps S102 to S106 are repeated.

The area specifying unit 114 identifies the ID of the first packaged product 2 included in the first list information (step S107). The area specifying unit 114 acquires the position and the rotation angle of the unit product area in the image included in the first list information corresponding to the ID of the packaged product 2. Further, the area specifying unit 114 acquires the geometric information recorded in association with the ID of the packaged product 2 from the storage unit (step S108).

The area specifying unit 114 identifies the position of the unit product area in the image as the position of the reference solid. Further, the area specifying unit 114 identifies an individual area of another unit product located in a direction in which the vector direction included in the geometric information is corrected by the rotation angle with reference to the reference solid. The area specifying unit 114 calculates each characteristic information of each of the specified one or a plurality of individual areas, and is a unit product included in the usage determination information in association with the characteristic information and the ID of the packaged product 2 specified in step S107. It is determined whether or not all the degrees of agreement with the feature information of the above are equal to or higher than a predetermined threshold value (step S109). When all the characteristic information of each identified individual area matches the characteristic information of the unit product, the area specifying unit 114 determines that the geometric information matches.

The area specifying unit 114 is a packaged product candidate area including the ID of the packaged product 2 specified in step S106, the reference solid area in the image in which the geometric information of the packaged product 2 matches, and the area of another individual. The information and the list number (No.) are associated with each other and recorded in the second list information (step S110). The first list information and the second list information are associated with the corresponding information by the list number. Therefore, it is assumed that the second list information does not include the list number information excluded from the processing target by the processing using the first list information.

If the feature information of all the identified individual regions does not match the feature information of the unit product, the region specifying unit 114 determines that the geometric information does not match, and the packaged product 2 corresponding to the geometric information. ID is excluded from the processing target (step S111). The area specifying unit 114 determines whether or not the IDs of all the packaged products 2 included in the first list information have been similarly processed using the geometric information (step S112). If not, the process from step S106 is repeated. The area specifying unit 114 outputs the second list information to the packing type specifying unit 115.

By the above processing, the type candidate of the packaged product 2 shown in the image and the area of the packaged product 2 can be estimated. In the above-mentioned processing, in the actual area of the packaged product 2 shown in the image, it may be determined that it is a candidate area of a plurality of different packaged products 2.

FIG. 7 is a first diagram showing an example of the result of the area identification process.
An example showing a candidate area of the packaged product 2 indicated by the second list information generated by the process up to step S109 is shown. The area specifying unit 114 is a packaged product 2 in which eight unit products of the same B1-1 to B1-8 appearing in the image are packed, and different areas such as a candidate area 71, a candidate area 72, and a candidate area 73 are used. May be recorded in the second list information as an area of one packaged product 2 based on the geometric information.

As an example, the candidate area 71 shown in FIG. 7 is a packaged product 2 including eight identical unit products of B1-1 to B1-8 shown in the image, B1-1, B1-2, B1-5, and B1-1. The area where B1-6 is reflected is shown. Further, as an example, the candidate region 72 shown in FIG. 7 is a packaged product 2 including eight identical unit products of B1-1 to B1-8 shown in the image, B1-2, B1-3, B1-6. , B1-7 is reflected in the area. Further, as an example, the candidate region 73 shown in FIG. 7 is a packaged product 2 including eight identical unit products of B1-1 to B1-8 shown in the image, B1-3, B1-4, B1-7. , B1-8 is reflected in the area.

When the second list information is created, the packing type identification unit 115 indicates whether the entire area indicated by the candidate areas 71, 72, 73 indicates the area of one packaged product 2, or one or a plurality of different packages. It must be determined whether it indicates the area of product 2.

Therefore, the packing type specifying unit 115 acquires the ID of the packed product 2 recorded in the second list information, and determines whether or not a plurality of IDs of the same packed product 2 exist (step S113). When a plurality of IDs of the same packaged product 2 exist in the second list information, the packaged product area determination process for determining the area of the packaged product 2 shown in the image is started (step S114). The details of this process are shown below.

Further, in the packing type specifying unit 115, when a plurality of IDs of the same packing product 2 do not exist in the second list information, or after the processing of step S114 is completed, the candidate areas for the packing products 2 having different IDs overlap. It is determined whether or not it is connected (step S115). In the packing type specifying unit 115, if the candidate areas recorded in the second list information are overlapped or connected to the packed products 2 having different IDs, they are overlapped or connected to each other. It is determined which area of the packaged product 2 is the whole area by using the detailed display area feature amount information (step S116).

For example, in the second list information, it is assumed that the ID = 1 of the packaged product 2 and the candidate area associated with the information of the ID = 2 of the packaged product 2 overlap. In this case, the packing type specifying unit 115 reads the detailed display area feature amount information of the unit product packed as each packing product 2 having ID = 1 and ID = 2 from the storage unit. The detailed display area feature amount information is the feature information of the detailed display area area in the unit product area. The detailed display area feature amount information may be information indicating the coordinates of the feature points in the detailed display area.

The packing type specifying unit 115 displays the feature amount information of the detailed display area set in the integrated area where the candidate areas of the packed products 2 having ID = 1 and ID = 2 overlap or are connected to each other in the detailed display area. Calculate sequentially while shifting the pixels. The packing type specifying unit 115 is based on the detailed display area feature amount information of each unit product packed in each packed product 2 with ID = 1 and ID = 2 and the candidate area of each packed product 2 with ID = 1 and ID = 2. The detailed display area feature amount information calculated for the detailed display area included in the integrated area is sequentially compared. In this comparison, the packing type specifying unit 115 calculates the detailed display area feature amount information after conversion by rotating the detailed display area feature amount information acquired from the storage unit to a predetermined rotation angle by a geometric conversion matrix, and uses different rotation angles. The feature amount information of a plurality of detailed display areas is sequentially compared with the feature information of each detailed display area set in the integrated area in the image. The type candidate identification unit 113 calculates the degree of matching of the detailed display area feature amount information by comparison, and of the packaged product 2 including the unit product corresponding to the detailed display area feature amount information used for calculating the highest value matching degree. The ID is determined in step S116 with the ID of the packaged product 2 displayed in the integrated area.

The packing type specifying unit 115 determines whether or not there is another target in which the candidate areas overlap or are connected with respect to the ID of the packed product 2 recorded in the second list information (step S117), and from step S113. Repeat the process.

The packing type specifying unit 115 of the packing product 2 recorded in the shipping slip information based on the ID of the packing product 2 in the image specified by step S114 or step S116 and the information indicating the candidate area of the packing product 2. It is determined whether the ID and the number of the IDs match (step S118). When the ID of the packaged product 2 determined based on the image and the number of the packaged product 2 according to the candidate area match the information recorded in the shipping slip information, the packing type specifying unit 115 displays the shipping permission. Output to the display device 5 (step S119). When the ID of the packaged product 2 determined based on the image and the number of the packaged products 2 according to the candidate area do not match the information recorded in the shipping slip information, the packing type specifying unit 115 indicates shipping permission is not permitted. The display is output to the display device 5 (step S120).

The inspection device 1 may determine whether the received packaged product 2 matches the received slip information, instead of the process of determining whether the packed product 2 to be shipped matches the shipping slip information. Further, the inspection device 1 may determine whether or not the parts for which some work such as the assembly work is packed is the packaged product 2 which matches the assembly work information. That is, the inspection device 1 may perform any determination as long as it determines whether the type of the unit that is collectively packed as a package and the work information match.

FIG. 8 is a second diagram showing a processing flow of the inspection device.
Next, the details of the packaged product area determination process in step S114 described above will be described. When it is determined that the candidate areas for the packaged product 2 having the same ID overlap or are connected as shown in FIG. 7 based on the second list information, the package type specifying unit 115 determines the packaged product 2 The packaged product area determination process for determining the area of is started (step S114). The packing type specifying unit 115 acquires the second list information (step S1141).

The packing type specifying unit 115 specifies the list number (No.) of the same packed product ID among the packed product IDs included in the second list information (step S1142). The packing type specifying unit 115 acquires the coordinates indicated by the candidate area of the packing product 2 from the second list information based on the list number of the specified packing product ID. The packing type specifying unit 115 identifies a list number indicating another candidate area in which the areas overlap based on the coordinate information, and links each of the specified list numbers to each information included in the second list information. Generate the third list information including (step S1143).

The packing type specifying unit 115 determines some candidate areas including the coordinates far from the center of each area in the area among the candidate areas indicated by the list number included in the third list information. The packing type specifying unit 115 sets a starting point flag for the list number having the highest degree of matching among the list numbers corresponding to the candidate areas (step S1144). Since the candidate areas shown in FIG. 7 overlap each other, when the third list information is generated based on the second list information as shown in FIG. 7, for example, the candidate area 71 and the candidate area 73 are determined. Will be done. When the value of the degree of matching of the candidate area 71 is higher than the degree of matching of each list number indicated by those candidate areas, the packing type specifying unit 115 sets a starting point flag in the list number corresponding to the candidate area 71.

The packing type specifying unit 115 identifies a list number indicating a candidate area in which the candidate area of the packed product 2 of the packed product 2 with the starting point flag is set from the third list information, and sets a deletion flag in the list number. (Step S1145). For example, to explain with reference to FIG. 7, the packing type specifying unit 115 sets a deletion flag in the list number corresponding to the candidate area 72 whose area overlaps with the candidate area 71 among the list numbers recorded in the third list information.

The packing type specifying unit 115 identifies the list number of the candidate area closest to the candidate area of the list number for which the starting point flag is set, among other list numbers for which neither the starting point flag nor the deletion flag is set, and sets the list number as the list number. A confirmation flag is set (step S1146). For example, to explain with reference to FIG. 7, the packing type identification unit 115 sets the list number of the candidate area 73 close to the candidate area 71 of the list number for which the starting point flag is set among the list numbers recorded in the third list information. Set a confirmation flag.

The packing type specifying unit 115 identifies a list number indicating a candidate area in which the candidate area of the list number to which the confirmation flag is set overlaps with the candidate area from the third list information, and sets a deletion flag in the list number (step S1147). ..

FIG. 9 is a second diagram showing an example of the result of the area identification process.
For example, instead of FIG. 7, it is assumed that the third list information in which each candidate area of the packaged product 2 as shown in FIG. 9 is specified is generated. In this case, as a result of the same processing after step S1141 described above, the list number indicating the candidate area 71 has the starting flag, the list number indicating the candidate area 72 has the deletion flag, and the list indicating the candidate area 73. The confirmation flag is set on the number. The candidate area 74 is an area connected to the candidate area 73, and the area does not overlap with the candidate area 73. Therefore, there is no candidate area that overlaps the candidate area 73 indicated by the list number with the confirmation flag, and the packing type specifying unit 115 does not set the deletion flag in the list number indicating the candidate area 74.

The packing type identification unit 115 is a list number in which none of the starting flag, the deletion flag, and the confirmation flag is set in the third list information, and is a candidate that overlaps with the candidate area indicated by the list number of the confirmation flag set last. It is determined whether there is another list number indicating the region (step S1148). If the process of step S1148 is Yes, the package type specifying unit 115 repeats the processes of step S1146 and step S1147. If the process of step S1148 is No, the process proceeds to step S1149. As described with reference to FIG. 7, since there is no list number indicating another candidate area overlapping the candidate area 73, the process proceeds to step S1149. On the other hand, when the description is made with reference to FIG. 9, the packing type identification unit 115 is an area indicated by a list number in which no flag is set for the candidate area 74, and the candidate area 73 in which the confirmation flag is finally set. Since it is a candidate area that does not overlap with the above, the process proceeds to step S1149.

The packing type identification unit 115 determines whether another list number having a candidate area that does not belong to the candidate area of each list number of the start point flag and the confirmation flag specified in the third list information is recorded in the third list information. (Step S1149). Explaining with reference to FIG. 9, since the candidate area 74 indicates an area having a candidate area that does not belong to the candidate area of each list number of the start point flag and the confirmation flag, in this case, Yes in step S1149. In the case of Yes, the packing type specifying unit 115 determines whether or not there is a list number for which the starting point flag has not been set in the third list information (step S1150). In the above process, the packing type specifying unit 115 does not set the starting point flag in the candidate areas other than the candidate area 71. Therefore, the determination result in step S1150 is Yes.

If the determination result in step S1150 is Yes, the packing type identification unit 115 repeats the process using the third list information. Therefore, the determination result holding the information of the flag set in each list number using the third list information. Candidates are temporarily recorded and all their flags are reset (step S1151). The packing type specifying unit 115 repeats the process from step S114.

If No in step S1150, the packing type specifying unit 115 specifies the best determination result by repeating the processes of steps S1144 to S1151. In this identification, the packing type identification unit 115 selects the determination result candidate having the smallest number of other list numbers having a candidate area that does not belong to the candidate area of each list number of the start point flag and the confirmation flag specified in the third list information. , Identify as the determination result (step S1152).

Then, the packing type specifying unit 115 deletes the information of the list number for which the deletion flag is set in the third list information indicated by the specified determination result (step S1153). The packing type specifying unit 115 determines whether or not all the packed product IDs have been processed (step S1154).

By the above processing, the inspection device 1 can identify the packaged product 2 shown in the image based on the image acquired from the camera 4.

More specifically, according to the above processing, the inspection device 1 first estimates where the packaged product 2 is in the image, and features a detailed display area of a plurality of unit products included in the packaged product 2. The unit product included in the packaged product 2 is specified by the quantity information. Since the constituent surface of the packaged product 2 including a plurality of unit products is a surface having a plurality of predetermined surfaces of the unit product, when there is a difference from the detailed display area feature amount in a plurality of areas of the entire constituent surface of the packaged product 2. The value of the difference increases by the number of unit products constituting the packaged product 2. Therefore, after specifying the candidate area of the packed product 2 in the image, the unit product included in the packed product 2 is specified by the detailed display area feature amount information of the plurality of unit products included in the packed product 2, and the packaging is further performed. It is possible to improve the accuracy of identification of the product 2.

FIG. 10 is a diagram showing the minimum configuration of the inspection device.
The inspection device 1 may have at least the functions of the image acquisition unit 112, the type candidate identification unit 113, the area identification unit 114, and the packaging type identification unit 115.

The above-mentioned inspection device 1 has a computer system inside. A program for causing the inspection device 1 to perform each of the above-described processes is stored in a computer-readable recording medium of the inspection device 1, and the computer of the inspection device 1 reads and executes this program. , The above processing is performed. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Further, this computer program may be distributed to a computer via a communication line, and the computer receiving the distribution may execute the program.

Further, the above program may be for realizing a part of the functions of the above-mentioned processing units. Further, a so-called difference file (difference program) may be used, which can realize the above-mentioned functions in combination with a program already recorded in the computer system.

1 ... Inspection device, 2 ... Packed product, 3 ... Box, 4 ... Camera, 5 ... Display device, 6 ... Input device, 101 ... CPU, 102 ... ROM, 103 ... RAM, 104 ... HDD, 105 ... interface, 111 ... control unit, 112 ... image acquisition unit, 113 ... type candidate identification unit, 114 ... area identification Part, 115 ... Packing type identification part

Claims (6)

An image acquisition unit that acquires an image including a packaged product in which a plurality of the unit products in which the same surface of the same unit product is stacked so as to face the same direction are collectively packed.
A type candidate identification unit that specifies a type candidate of the packaged product included in the image based on an image of any surface of the unit product.
Using geometric information representing the arrangement state of each of the unit products included in the packaged product, an area specifying portion for specifying the area of the packaged product included in the image, and
A packing type specifying unit for specifying a type of packaging products included in the area based specified the packed product areas Oite the area specifying unit in the image and the unit characteristic information of the item into said geometrical information ,
Inspection device equipped with. The packing type specifying unit constitutes a packed product when it indicates that a plurality of areas set in the area of the packed product specified by the area specifying part are areas related to identification information of different packed products. The inspection device according to claim 1, wherein the type of the packaged product corresponding to the region is specified based on the local feature quantity information of the predetermined surface of the unit product. The type candidate identification unit identifies a candidate for the type of the packaged product included in the image based on the degree of agreement between the feature information of the surface of the unit product and the feature information of the surface constituting the packaged product. The inspection device according to claim 1 or 2. The packing type specifying unit according to any one of claims 1 to 3, further comprising determining whether the type of the unit product packed together as the packed product and the work information match. Inspection device. An image including a packaged product in which a plurality of the unit products in which the same surface of the same unit product is stacked facing in the same direction is collectively packed is acquired.
Candidates for the type of the packaged product included in the image are specified based on the image of any surface of the unit product.
The area of the packaged product included in the image is specified by using the geometric information representing the arrangement state of each of the unit products included in the packaged product.
Inspection method for identifying the type of packaging products included in the area based region of the packaging products that Oite the specific to the image and the unit characteristic information of the item into said geometrical information. Computer of inspection device,
An image acquisition means for acquiring an image including a packaged product in which a plurality of the unit products in which the same surface of the same unit product is stacked so as to face the same direction are collectively packed.
A type candidate specifying means for specifying a type candidate of the packaged product included in the image based on an image of any surface of the unit product.
An area specifying means for specifying an area of a packaged product included in the image by using geometric information representing an arrangement state of each of the unit products included in the packaged product.
Packing type specifying means for specifying the type of packaging products included in the area based on the specified and the packing goods area and the unit characteristic information of the product and the geometric information of Oite said area specifying means in the image,
A program that functions as.

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