JPH0113582B2 - - Google Patents
Info
- Publication number
- JPH0113582B2 JPH0113582B2 JP58160108A JP16010883A JPH0113582B2 JP H0113582 B2 JPH0113582 B2 JP H0113582B2 JP 58160108 A JP58160108 A JP 58160108A JP 16010883 A JP16010883 A JP 16010883A JP H0113582 B2 JPH0113582 B2 JP H0113582B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- diffused
- output
- receivers
- light sources
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 239000000758 substrate Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 1
- 230000004397 blinking Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Landscapes
- Image Input (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Description
【発明の詳細な説明】
本発明は複数の光源とこれらに対向する複数の
受光器とによつて両者の間に置いた物体の形状を
認識する形状認識装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a shape recognition device that recognizes the shape of an object placed between a plurality of light sources and a plurality of light receivers facing the light sources.
第１図に示すように複数の光源１1〜１oとそれ
ぞれ対向した受光器２1〜２oとの間に被測定物Ｗ
を置き、被測定物Ｗが光源１1〜１oの光を遮ぎる
か否かを受光器２1〜２oによつて判定して被測定
物Ｗの形状認識を行なうには、１つの受光器に対
をなす１つの光源からの光のみを受光するように
する必要がある。このため各光源からの光は平行
光線を用いるレーザー光のように拡散しない光を
用いなければならないため構造が複雑となり且つ
高価となる欠点があつた。 As illustrated in FIG .
In order to recognize the shape of the object W by placing it and determining whether or not the object W blocks the light from the light sources 1 1 - 1 o using the receivers 2 1 - 2 o , there is one step. It is necessary that the light receiver receives only light from one light source paired with the light receiver. For this reason, the light from each light source must be light that is not diffused like laser light that uses parallel rays, resulting in a disadvantage that the structure is complicated and expensive.
本発明は上記の欠点を改め、安価な拡散光源を
用いながら高精度の形状認識を可能にした形状認
識装置を提供することを目的としている。 SUMMARY OF THE INVENTION An object of the present invention is to correct the above-mentioned drawbacks and provide a shape recognition device that enables highly accurate shape recognition while using an inexpensive diffused light source.
以下図面に示す本発明の実施例について説明す
る。 Embodiments of the present invention shown in the drawings will be described below.
第２，３図は本発明の一実施例を示すもので、
第２図ａは形状認識装置の光源及び受光器の配置
を示す斜視図、ｂは断面図、第３図は回路図であ
る。 Figures 2 and 3 show an embodiment of the present invention.
FIG. 2a is a perspective view showing the arrangement of a light source and a light receiver of the shape recognition device, FIG. 2b is a sectional view, and FIG. 3 is a circuit diagram.
第２図において３，４は所定間隔で互いに平行
に配置された平面状の基板である。 In FIG. 2, numerals 3 and 4 are planar substrates arranged parallel to each other at a predetermined interval.
一方の基板３には、基板４方向へ拡散光を発す
るように拡散光源５1〜５oが格子状に配列して取
付けられている。この拡散光源としては例えば発
光ダイオード、小型電球などを用いる。 On one of the substrates 3, diffused light sources 5 1 to 5 o are attached in a grid pattern so as to emit diffused light in the direction of the substrate 4 . As this diffused light source, for example, a light emitting diode, a small light bulb, etc. are used.
他方の基板４には例えばフオトトランジスタな
どから成る受光器６1〜６oがそれぞれ拡散光源５
１〜５oに対向するように、（即ち各拡散光源と受
光器５1と６1、５2と６2、……５oと６oとを結ぶ
線が互いに平行になるように）格子状に配列して
取付けられている。 On the other substrate 4, there are light receivers 61 to 6o each composed of a phototransistor, for example, and a diffused light source 5.
1 to 5 o (i.e., so that the lines connecting each diffused light source and the receivers 5 1 and 6 1 , 5 2 and 6 2 , ... 5 o and 6 o are parallel to each other) They are installed in an array.
７は基板３，４の間にあつて被測定物Ｗを測定
位置まで移動させるコンベアである。 A conveyor 7 is located between the substrates 3 and 4 and moves the object W to be measured to a measurement position.
第３図において８は拡散光源５1〜５oを順次点
滅させるための駆動信号を発生させる駆動信号発
生回路であつて、各出力端子１〜ｎが拡散光源５
１〜５oにそれぞれ接続され、出力端子１〜ｎに第
４図に示すようにタイミングをずらして駆動信号
を出力して拡散光源５1〜５oを順次タイミングを
ずらして発光させる。 In FIG. 3, 8 is a drive signal generation circuit that generates a drive signal for sequentially blinking the diffused light sources 51 to 5o , and each output terminal 1 to n is connected to the diffused light source 5.
As shown in FIG. 4 , drive signals are output to the output terminals 1 to n at staggered timings to cause the diffused light sources 51 to 5o to emit light at sequentially staggered timings.
９1〜９oはそれぞれ駆動信号発生回路８の出力
端子１〜ｎの出力信号と受光器６1〜６oの出力信
号との論理積をとるアンドゲートである。１０1
〜１０oはアンドゲート９1〜９oの出力信号を一
時記憶するためのＲ−Ｓフリツプフロツプであつ
て、各Ｒ−Ｓフリツプフロツプ１０1〜１０oのリ
セツト端子は共通してリセツト信号が入力される
ように接続されている。１１は各アンドゲート９
１〜９oの出力を受領して被測定物Ｗの形状を判定
する判定装置である。 Reference numerals 9 1 to 9 o are AND gates that perform a logical product of the output signals of the output terminals 1 to n of the drive signal generating circuit 8 and the output signals of the light receivers 6 1 to 6 o , respectively. 10 1
-10o are R-S flip-flops for temporarily storing the output signals of the AND gates 91-9o , and the reset terminals of each R-S flip - flop 101-10o are commonly input with a reset signal. connected so that 11 is each AND gate 9
This is a determination device that receives outputs from 1 to 9 o and determines the shape of the object W to be measured.
次に上記実施例による形状認識の動作を説明す
る。 Next, the shape recognition operation according to the above embodiment will be explained.
第４図に示すように駆動信号発生回路８の出力
端子１〜ｎからはタイミングをずらして順次駆動
信号が出力され、拡散光源５1〜５oは順次タイミ
ングをずらして発光する。 As shown in FIG. 4, drive signals are sequentially output from the output terminals 1 to n of the drive signal generation circuit 8 with shifted timings, and the diffused light sources 5 1 to 5 o emit light with sequentially shifted timings.
１つの拡散光源（例えば５1）からの光は平行
光線でなく拡散光なので、被測定物Ｗに遮られな
い限り、対向した対をなす１つの受光器６1以外
の受光器にも受光される。このため複数の受光器
から同時に受光信号が出力される。しかし、各受
光器に接続されているアンドゲートのうち対をな
す受光器６1が接続されているアンドゲート９1に
のみ駆動信号発生回路８からの駆動信号が同期し
て入力しているので、このアンドゲートの出力端
子にのみ“１”の信号が出力され、駆動信号の入
力されない他のアンドゲートからは“１”の信号
は出力されない。従つて拡散光源５1が発光して
いるタイミングでは拡散光源５1が出す光は対を
なす受光器６1以外の受光器に受光されても完全
に無視され、対をなす受光器に受光されたか否か
をアンドゲートの出力によつて取り出すことがで
きる。このようにして順次光源５1〜５oをタイミ
ングをずらして一時的に点灯し、各光源５1〜５o
と対をなす各受光器６1〜６oが受光したか否か
（即ち対をなす光源と受光器とを結ぶ直線上に被
測定物が存在しているか否か）を各アンドゲート
９1〜９oの出力によつて取り出す。各アンドゲー
ト９1〜９oの出力は各Ｒ−Ｓフリツプフロツプ１
０1〜１０oに記憶される。各Ｒ−Ｓフリツプフロ
ツプの出力が“１”であるか“０”であるかは対
をなす光源と受光器とを結ぶ直線上に被測定物が
存在するか否かを意味するから、判定装置１１は
各Ｒ−Ｓフリツプフロツプ１０1〜１０oの出力を
受領すれば、被測定物Ｗを基板３，４に平行に切
つた形状を判定できる。 Since the light from one diffused light source (for example, 5 1 ) is not parallel rays but diffused light, unless it is blocked by the object W to be measured, it will not be received by any of the light receivers other than the one light receiver 6 1 that forms the opposing pair. Ru. Therefore, light reception signals are simultaneously output from the plurality of light receivers. However, among the AND gates connected to each photoreceiver, the drive signal from the drive signal generation circuit 8 is input synchronously only to the AND gate 91 to which the paired photoreceiver 61 is connected. A "1" signal is output only to the output terminal of this AND gate, and "1" signals are not output from other AND gates to which no drive signal is input. Therefore, at the timing when the diffused light source 51 is emitting light, even if the light emitted by the diffused light source 51 is received by a light receiver other than the paired light receiver 61 , it is completely ignored and is not received by the paired light receiver. It is possible to determine whether or not the result is obtained by using the output of the AND gate. In this way, the light sources 5 1 to 5 o are sequentially turned on temporarily with different timing, and each light source 5 1 to 5 o
Each AND gate 9 1 determines whether or not each of the light receivers 6 1 to 6 o paired with has received light (that is, whether the object to be measured exists on a straight line connecting the paired light source and the light receiver ) . Take out by the output of ~9 o . The output of each AND gate 91 to 9o is connected to each R-S flip-flop 1.
0 1 to 10 o . The judgment device 11 can determine the shape of the object W cut parallel to the substrates 3 and 4 by receiving the outputs of the R-S flip-flops 10 1 to 10 o .
従つて判定装置１１には、例えばまずマスター
ワークをコンベア７で測定位置へ運んで各フリツ
プフロツプ１０1〜１０oの出力によつて形状を記
憶させておき、次にワークを順次コンベア７で測
定位置へ運んで、予め記憶されたマスターワーク
との形状が一致するか否かを判定させることがで
きる。１つの被測定物Ｗについての判定が終了す
ると、リセツト端子によつてＲ−Ｓフリツプフロ
ツプ１０1〜１０oがリセツトされ、コンベア７で
次の被測定物が測定位置へと運ばれ、同様に形状
の判定が行なわれる。 Therefore, in the determination device 11, for example, the master workpiece is first conveyed to the measurement position by the conveyor 7, the shape is memorized by the output of each flip-flop 101 to 10o , and then the workpiece is sequentially conveyed to the measurement position by the conveyor 7. It is possible to determine whether the shape matches the master work stored in advance. When the judgment for one object to be measured W is completed, the reset terminal resets the R-S flip-flops 10 1 to 10 o , and the next object to be measured is carried to the measurement position by the conveyor 7, and the shape is similarly determined. A determination is made.
第５図は１つの受光器から出力される受光信号
が対をなす光源からの光を受けたか否かを弁別す
るための他の実施例を示す回路図である。 FIG. 5 is a circuit diagram showing another embodiment for determining whether a light reception signal output from one light receiver receives light from a pair of light sources.
第５図において、１２1〜１２oはf1〜foの各異
なつた周波数の交流信号を発生させる発振器、１
３1〜１３oは発振器１２1〜１２oから出力される
交流信号に応じて各拡散光源５1〜５oに加える電
圧の振幅を変化させる変調器である。 In FIG. 5, 12 1 to 12 o are oscillators that generate alternating current signals of different frequencies f 1 to f o ;
3 1 to 13 o are modulators that change the amplitude of the voltage applied to each of the diffused light sources 5 1 to 5 o in accordance with the AC signals output from the oscillators 12 1 to 12 o .
１４1〜１４oは各受光器６1〜６oから出力され
る受光信号からそれぞれf1〜fo付近の周波数のみ
を選択通過させるための帯域フイルタ、１５1〜
１５oは帯域フイルタ１４1〜１４oで選択された
周波数成分の電圧を検知するための検波回路、１
６1〜１６oは検波回路１５1〜１５oによつて該当
する周波数の信号が検知されるとその結果を一時
記憶しておくためのＲ−Ｓフリツプフロツプであ
つて、各Ｒ−Ｓフリツプフロツプ１６1〜１６oの
リセツト端子は共通してリセツト信号が入力され
るように接続されている。 14 1 to 14 o are band filters for selectively passing only frequencies in the vicinity of f 1 to f o from the light reception signals output from each of the light receivers 6 1 to 6 o , respectively; 15 1 to 14 o;
15 o is a detection circuit for detecting the voltage of the frequency component selected by the band filters 14 1 to 14 o ;
6 1 to 16 o are R-S flip-flops for temporarily storing the results when a signal of a corresponding frequency is detected by the detection circuits 15 1 to 15 o , and each R-S flip-flop 16 The reset terminals 1 to 16o are commonly connected to receive a reset signal.
第５図に示す実施例によれば各光源５1〜５oに
は、各変調器１３1〜１３oによつてそれぞれ異な
る周波数f1〜foで変調された電圧が印加されるの
で、各光源５1〜５oからの拡散光はそれぞれ異な
る周波数f1〜foで輝度が変化する。従つて受光器
からの受光信号は輝度の変化に応じて変動する交
流信号となる。１つの受光器には拡散光のため、
被測定物Ｗによつて遮られない限り、対をなす光
源の他に複数の光源からの光も同時に受光する。 According to the embodiment shown in FIG. 5, voltages modulated by respective modulators 13 1 to 13 o at different frequencies f 1 to fo are applied to each of the light sources 5 1 to 5 o , so that The luminance of the diffused light from each of the light sources 5 1 to 5 o changes at different frequencies f 1 to fo . Therefore, the light reception signal from the light receiver becomes an alternating current signal that fluctuates according to changes in brightness. Due to the diffused light in one receiver,
Unless blocked by the object W to be measured, light from a plurality of light sources in addition to the paired light sources is simultaneously received.
しかして、各受光器６1〜６oからの各受光信号
はそれぞれ帯域フイルタ１４1〜１４oに入力する
ので、それぞれf1〜fo付近の周波数のみが選択通
過する。このため例えば受光器６1からの受光信
号では対をなす光源５1以外の光源からの光は無
視され、対をなす光源５1からの光による受光信
号のみが選択される。各帯域フイルタ１４1〜１
４oの出力信号は検波回路１５1〜１５oで検波さ
れ、対をなす光源からの受光が検知されれば、Ｒ
−Ｓフリツプフロツプ１６1〜１６oに記憶され
る。このようにして判定装置１１で被測定物Ｗの
形状が判定できる。 Since each light reception signal from each of the light receivers 6 1 to 6 o is input to the band filters 14 1 to 14 o , respectively, only frequencies around f 1 to fo are selectively passed. For this reason, for example, in the light reception signal from the light receiver 6 1 , light from light sources other than the paired light source 5 1 is ignored, and only the light reception signal due to the light from the paired light source 5 1 is selected. Each band filter 14 1 to 1
The output signal of 4 o is detected by the detection circuits 15 1 to 15 o , and if the light received from the paired light sources is detected, R
-S stored in flip-flops 16 1 to 16 o . In this way, the shape of the object to be measured W can be determined by the determination device 11.
第３図、第５図に示した２つの方法以外にも、
例えば各光源５1〜５oの点灯時間の長さを違える
方法によつても対をなす光源からの受光を弁別す
ることができる。 In addition to the two methods shown in Figures 3 and 5,
For example, light received from a pair of light sources can be discriminated by varying the length of lighting time of each of the light sources 5 1 to 5 o .
以上説明したように本発明の形状認識装置で
は、平平面に複数の拡散光源を配列し、各光源に
対向して対をなす複数の受光器を平面上に配列
し、対をなす光源と受光器との光の授受を弁別す
るようにしたので、光源としてレーザー光源の如
き高価なものを用いることなく安価な発光ダイオ
ード、電球などの通常の拡散光源を用いることが
できるから、極めて安価な装置で高精度の形状認
識を可能にすることができる。 As explained above, in the shape recognition device of the present invention, a plurality of diffused light sources are arranged on a flat plane, a plurality of light receivers are arranged on a plane in pairs facing each light source, and the light receiving device and the light receiving device are arranged on a plane. Since the system distinguishes the transmission and reception of light to and from the vessel, it is possible to use ordinary diffused light sources such as inexpensive light emitting diodes and light bulbs as the light source without using expensive items such as laser light sources, making it an extremely inexpensive device. can enable highly accurate shape recognition.
第１図は従来の形状認識装置を示す原理図、第
２図ａは本発明の一実施例の構造を示す斜視図、
同図ｂは断面図、第３図は回路図、第４図は駆動
信号を示すタイムチヤート、第５図は本発明の他
の実施例の回路図である。
１1〜１o……光源、２1〜２o……受光器、Ｗ…
…被測定物、３，４……基板、５1〜５o……拡散
光源、６1〜６o……受光器、７……コンベア、８
……駆動信号発生回路、９1〜９o……アンドゲー
ト、１０1〜１０o……Ｒ−Ｓフリツプフロツプ、
１１……判定装置、１２1〜１２o……発振器、１
３1〜１３o……変調器、１４1〜１４o……帯域フ
イルタ、１５1〜１５o……検波回路、１６1〜１
６o……Ｒ−Ｓフリツプフロツプ。
FIG. 1 is a principle diagram showing a conventional shape recognition device, FIG. 2a is a perspective view showing the structure of an embodiment of the present invention,
3 is a sectional view, FIG. 3 is a circuit diagram, FIG. 4 is a time chart showing drive signals, and FIG. 5 is a circuit diagram of another embodiment of the present invention. 1 1 ~ 1 o ... light source, 2 1 ~ 2 o ... light receiver, W...
...Object to be measured, 3, 4...Substrate, 5 1 to 5 o ... Diffuse light source, 6 1 to 6 o ... Light receiver, 7... Conveyor, 8
... Drive signal generation circuit, 9 1 to 9 o ... AND gate, 10 1 to 10 o ... R-S flip-flop,
11... Determination device, 12 1 to 12 o ... Oscillator, 1
3 1 to 13 o ... Modulator, 14 1 to 14 o ... Band filter, 15 1 to 15 o ... Detection circuit, 16 1 to 1
6 o ...R-S flip-flop.
Claims (1)
数の受光器にそれぞれ対向して平面上に配列され
た複数の拡散光源と；前記複数の拡散光源をそれ
ぞれ互いに区別して点灯する点灯手段と；前記複
数の受光器にそれぞれ対応して設けられ、前記そ
れぞれの受光器が、それぞれ対向した前記拡散光
源からの光を受光したときのみ受光信号を出力す
る弁別手段とを備え、拡散光源と受光器との間の
空間に置いた物体の形状を認識するようにしたこ
とを特徴とする形状認識装置。1 a plurality of light receivers arranged on a plane; a plurality of diffused light sources arranged on a plane facing each of the plurality of light receivers; a lighting means for lighting each of the plurality of diffused light sources to distinguish them from each other; ; discriminating means provided corresponding to each of the plurality of light receivers and outputting a light reception signal only when each of the light receivers receives light from the diffused light source facing each other; A shape recognition device characterized in that it recognizes the shape of an object placed in a space between it and a container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58160108A JPS6051977A (en) | 1983-08-31 | 1983-08-31 | Shape recognizing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58160108A JPS6051977A (en) | 1983-08-31 | 1983-08-31 | Shape recognizing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6051977A JPS6051977A (en) | 1985-03-23 |
| JPH0113582B2 true JPH0113582B2 (en) | 1989-03-07 |
Family
ID=15708021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58160108A Granted JPS6051977A (en) | 1983-08-31 | 1983-08-31 | Shape recognizing device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6051977A (en) |
-
1983
- 1983-08-31 JP JP58160108A patent/JPS6051977A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6051977A (en) | 1985-03-23 |
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