JPH04336994A - Scaling jig - Google Patents

Abstract

PURPOSE:To shorten scaling time and to make easy response even when the height of a camera from the work or the sort of the lens is changed. CONSTITUTION:At the startup time of a production line in which an image is input from a camera and a process is carried out, a scaling jig 11 is placed in the field of view of the camera, and the input image is shown in an image receiving machine 15. The scaling jig 11 has an outer white part 12, a black part 13, and an inner white part 14, making three concentric circles. Of the circles in the field of view of the camera, the part where the circumference is in the field of view perfectly is made as the scaling jig. Then a frame 6 to surround the scaling jig 11 is displayed, it is calculated to what picture element on the image receiving machine 15 the diameter of the scaling jig 11 corresponds, and the actual length per one picture element is calculated.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scaling jig used for scaling an image input from a camera by displaying it on a receiver.

0002

[Prior Art] In the case of a system in which a robot's hand grasps a workpiece and moves it to a predetermined position, if the position of the workpiece is fixed, the desired operation can be carried out by teaching the position of the workpiece to the robot in advance. It is possible. However, if the workpieces are placed randomly, the robot does not know the position of the workpieces, and therefore it is impossible to make the robot perform the desired operation.

[0003] In this case, for example, if a camera is attached to the robot's hand, the desired operation can be executed as follows. ■ Move the camera, or hand, to the position where the workpiece is thought to be. ■ Input the image of the workpiece from the camera. ■ The visual sensor calculates the position of the workpiece from the above image. ■ Teach the robot the position of the workpiece using a visual sensor. ■ The position of the workpiece is now known, and the robot grasps the workpiece and moves it to the specified position.

For this reason, when starting up a production line in which this robot is used, scaling (described later) is performed using a scaling jig as shown in FIG. That is, the scaling jig 4 is imaged by a camera 2 attached to a robot hand 1 through a lens 3, and the image is displayed on a television receiver (hereinafter referred to as a receiver) for scaling.

FIGS. 4 and 5 are diagrams showing a conventional scaling procedure. FIG. 4 is a plan view of a scaling jig, and FIG. 5 is an image taken by a receiver. In the figure, 4 is a scaling jig with a square shape, 5 is a receiver, and 6 is a camera 2.
7 is the X axis, and 7 is the Y axis.

[0006] Scaling is an operation necessary to convert the length per unit pixel of the camera 2. Assuming that the result of this scaling corresponds to approximately 2 mm per pixel, and from the input image, if the length of the workpiece is 10 pixels, the actual length is approximately 20 mm.
It can be seen that this corresponds to Similarly, the coordinates (position) of the workpiece
I also understand.

That is, when starting up the production line, the scaling jig 4 is placed within the field of view of the camera 2, and the input image is projected onto the receiver 5. The orientation of the scaling jig 4 is adjusted so that each side of the scaling jig 4 is parallel to the X axis 6 and Y axis 7 of the image receiver 5. Next, it is determined how many pixels one side of the scaling jig 4 has on the receiver 5, and the actual length per pixel (scaling data) is calculated. Scaling is done when starting up a production line.
This is because the scaling data similarly changes when the height from the workpiece to the camera 2 changes.

[0008]

[Problems to be Solved by the Invention] Since the conventional scaling jig as described above has a square shape, the scaling jig is scaled so that each side thereof is parallel to the X-axis 6 and Y-axis 7 of the image receiver 5.
There is a problem in that adjustments must be made while looking at the receiver 5. Another problem is that since there is only one type of shape, if the height of the camera 2 from the workpiece changes or the lens 3 is changed, it is necessary to prepare an appropriate scaling jig each time. There is a point.

[0009] This invention was made to solve the above-mentioned problems, and the adjustment of the direction of the jig can be omitted, and
The purpose of the present invention is to provide a scaling jig that can be prevented from being affected by changes in camera height or lens.

0010

[Means for Solving the Problems] A scaling jig according to the present invention has a perfect circular shape.

Furthermore, the shape of the jig is black and white concentric circles.

0012

[Operation] In this invention, since the jig has a perfect circular shape, there is no relationship with the X-axis and Y-axis of the camera.

Furthermore, since the jig is made of black and white concentric circles, the part to be used as the jig can be determined to be either black or white.

[0014]

[Embodiment] FIGS. 1 to 3 are views showing an embodiment of the present invention. FIG. 1 is a plan view of a scaling jig, and FIGS. 2 and 3 are views of the scaling jig projected onto a receiver. Portions similar to those of the conventional device are designated by the same reference numerals. Note that FIG. 4 is also used in this embodiment.

In the figure, 11 is a scaling jig formed into a perfect circle, 12 is an outer white part of the scaling jig 11, 13 is a black part, and 14 is an inner white part. , the outer circumferential lines of the black portion 13 and the inner white portion 14 are concentric circles. 15 is a receiver, 16
is a frame displayed on the receiver 15 in order to calculate the number of pixels of the scaling jig 11 reflected on the receiver 15.

Next, the procedure for using this embodiment will be explained with reference to FIG. When starting up a production line where images are input from camera 3 and processed, scaling jig 11 is attached to camera 2.
The input image is projected onto the receiver 15. Among the circles within the field of view of the camera 2, the part whose circumference is completely within the field of view is used as a scaling jig. In Figure 2, the outer white part 1
2 is a scaling jig. Next, outer white part 1
A frame 16 surrounding the outer circumferential circle of the outer white portion 12 is displayed, and it is checked how many pixels the diameter of the outer circumferential circle of the outer white portion 12 corresponds to on the receiver 15. Then, calculate the actual length per pixel.

Next, a case where the entire scaling jig 11 is not visible within the field of view of the camera 2 will be explained with reference to FIG. In this case, the portion of the circle whose circumference is completely within the field of view of the camera 2 is used as the scaling jig. In FIG. 3, the black portion 13 is a scaling jig. Next, as in FIG. 2, a frame 1 surrounding the outer circumference of the black part 13
6 is displayed, and the diameter of the outer circle of the black part 13 is the same as that of the receiver 15.
Check how many pixels correspond to the above and calculate the actual length per pixel.

In the above embodiment, the colors of the scaling jig 11 are arranged in the order of white, black, and white from the outside, but the order of colors may be black, white, and black. In addition, the color classification was divided into 3 categories, but 4 categories,
It may be divided into 5 categories, etc.

[0019]

As explained above, in the present invention, the shape of the scaling jig is made into a perfect circle, so there is no relationship with the X-axis and Y-axis of the camera, and the adjustment of the orientation can be omitted.

Furthermore, since the shape of the jig is made into black and white concentric circles, the part to be used as the jig can be determined to be either black or white, and the scaling jig can be used in any way depending on the height of the camera or the change of the lens. It saves the effort of preparing types, and has the effect of completing scaling in a short time.

[Brief explanation of drawings]

FIG. 1 is a plan view showing an embodiment of a scaling jig according to the present invention.

FIG. 2 is a diagram showing the scaling jig of FIG. 1 projected on a receiver.

FIG. 3 is a diagram showing another example of FIG. 2;

FIG. 4 is an explanatory diagram of conventional scaling.

FIG. 5 is a plan view of the scaling jig shown in FIG. 4.

FIG. 6 is a diagram showing the scaling jig shown in FIG. 5 projected on a receiver.

[Explanation of symbols]

2 Camera 11 Scaling jig 12 Concentric circles (outer white part) 13 Concentric circles (black part) 14 Concentric circles (inner white part) 15 Receiver

Claims (2)

[Claims] Claim 1: Used for scaling an image input from a camera by displaying it on a receiver, and having a predetermined shape to be imaged by the camera, characterized in that the predetermined shape is a perfect circle shape. scaling jig. 2. The scaling jig according to claim 1, wherein the predetermined shape is black and white concentric circles.