JPH05240629A - Method and device for detecting picture - Google Patents

Abstract

PURPOSE:To shorten the turned-on time of solid light emitting bodies above and below a light transmissive plate without lowering the picture detecting accuracy of a picture detecting device by detecting the silhouette image of an object placed on the light transmissive plate by turning on one of the solid light emitting bodies by a prescribed period of time required for picking up the picture of the object. CONSTITUTION:By respectively providing EL-surface light emitting bodies 3 and 4 above and below a light transmissive plate 2, parts 10 on the plate 2 are irradiated with light rays from the bodies 3 and 4 and the silhouette or reflected image of the parts 10 is take into a picture detecting section 6. Since the bodies 3 and 4 are made to emit light in a state where the intrusion of disturbing light from the bodies 3 and 4 sides for silhouette is prevented, a stable picture can be obtained when the bodies 3 and 4 are turned on without requiring a level of illuminance which is higher than that of the disturbing light. In addition, since the bodies 3 and 4 are provided in an atmosphere containing no gas and are excellent in stability and rising characteristics against the ambient temperature as compared with fluorescent lamps, the turned-on time of the bodies 3 and 4 can be shortened and their service lives can be prolonged.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image detecting method and an apparatus therefor, and more specifically, it detects light containing information on the state and shape of an object by an image detecting means when a light source is turned on. The present invention relates to an image detection method and its apparatus.

[0002]

2. Description of the Related Art Conventionally, in a component feeder having a bowl feeder as a main part, instead of providing a mechanical component aligning mechanism to align the components, components provided around a bowl for storing the components. A predetermined area of the transport truck is illuminated by an illuminating device, an image of the area illuminated by the illuminating device is detected by an image detection device such as a CCD camera, and based on the detected image, the type, position of parts,
There is known a configuration in which a desired component is supplied to a desired position by identifying the direction and the like and operating an industrial robot based on the identification result. However, in order to ensure the component identification by the image detection device, the white component is selected as the target component and black paint is applied to the component supply track to make the contrast clear. "Parts supply system used", Hitachi, Ltd. Institute of Industrial Science, Tetsuro Takahashi, January 29, 1988, 62nd Research Presentation, Automatic Assembly Special Committee, Japan Society for Precision Engineering).

If such a structure is adopted, since the image on the component conveying track is captured by the image detecting device in a state where the contrast is clear, the type of the component can be accurately identified, and the desired component can be used as the industrial robot. Can be captured by

[0004]

When the component supplying device having the above-mentioned configuration is adopted, there is no guarantee that the components are made of a white material depending on the products to which the components are applied, so that the contrast is not clear. However, because it has the disadvantage that the component identification accuracy decreases, and because reflected light is taken into the image detection device because it is illuminated by the illumination device from above the component transport track, it is caused by the material of the component. There is a disadvantage that the state of the reflected light changes depending on the surface state, and the component identification accuracy greatly changes. Therefore, the types of applicable components are significantly limited. Furthermore, since the illumination device and the image detection device are arranged above the component transport truck, there is a disadvantage that interference with the industrial robot that takes out the component is likely to occur. In order to eliminate this inconvenience, the illuminating device and the image detecting device must be arranged at extremely high positions, which makes the support of these devices unstable and tries to prevent the unstable support. In that case, it becomes necessary to strengthen the support portion, which leads to an increase in cost.

In order to eliminate such inconvenience, the inventors of the present invention form an opening at a predetermined position of the component transporting track, and provide a transparent plate in the opening. An illumination device is arranged above and below, and an image detection device including a CCD camera or the like at a predetermined position where reflected light caused by the illumination device below and transmitted light caused by the illumination device above can be taken in respectively. A component supply device having a configuration in which is arranged is considered.

In the case of the component supplying device of this structure, only the upper illuminating device is turned on, the silhouette image is captured by the image detecting device and binarization processing is performed, so that the influence of the material, color and surface condition of the component is exerted. It is possible to obtain an image in which only the silhouette image alone is used to perform accurate identification by obtaining only the silhouette image and illuminating only the lower illuminating device and capturing the reflected image by the image detecting device. For parts that are not achievable, images can be obtained that primarily show the surface condition of the part. Therefore, highly accurate identification of parts can be achieved based on only the silhouette image or based on the silhouette image and the reflection image.

Further, regarding the illuminating device used in the component supplying device considered by the present inventors, a fluorescent lamp having a high illuminance is used as the lower illuminating device in order to obtain a sufficient amount of light for capturing the reflected image. Adopted, as a lighting device above, to obtain a silhouette image requires a relatively small amount of light,
Further, in order to have an advantage that a background need not be specially provided at the time of capturing a reflected image, a surface light emitter such as an EL (electroluminescence) light emitter is adopted.

However, in a fluorescent lamp, the radiation efficiency of light of a predetermined wavelength is maximized when the temperature of the wall of the fluorescent lamp is about 40 degrees, and the radiation efficiency is maximized by lighting in the still air at 20 to 25 degrees. It is set to obtain the temperature. Therefore, the following inconvenience occurs due to the illuminance of the fluorescent lamp varying depending on the ambient temperature in which the fluorescent lamp is used. For example, in capturing the reflected image by the image detection means, if the fluorescent lamp is turned on for a time required for capturing the reflected image, the tube wall temperature does not rise sufficiently, so the emission efficiency of light of a predetermined wavelength becomes low, 2 reflection images
The binarized image obtained by binarization varies, and the identification accuracy decreases. Further, since the variation amount may change each time the process based on the reflected image is repeated, the identification accuracy further deteriorates. To solve this problem, the present inventors
The fluorescent lamp is turned off only while the surface light-emitting body is turned on, and the fluorescent lamp is turned on for the rest of the time, so that the temperature of the tube wall is prevented from lowering and binarization is performed. We are already thinking of an invention in which there is almost no variation in the binarized image.

However, if this fluorescent lamp driving method is adopted, there is a disadvantage that the fluorescent lamp remains lit even during the period when image detection is not required, and the life is shortened. In addition,
Although the case where the invention is applied to the component supply device has been described above, a device other than the component supply device is a device that captures the silhouette image and the reflection image by the image detection device and performs the binarization process. The same problem occurs when a fluorescent lamp is used as the lighting device for the vehicle.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an image capable of shortening the lighting time to a necessary minimum time without lowering the image detection accuracy and eventually achieving a long life. An object is to provide a detection method and an apparatus thereof.

[0011]

In order to achieve the above-mentioned object, the image detecting method according to claim 1 requires one of the solid-state light-emitting bodies arranged above and below the transparent plate for image capturing. For a certain period of time, the silhouette image of the object on the translucent plate is detected, and the other solid-state light emitter is used for image capture while preventing the entry of ambient light from at least one solid-state light emitter side. The light is turned on for a required predetermined time to detect the reflected image of the object on the transparent plate.

An image detecting apparatus according to a second aspect of the present invention is a solid-state light-emitting body disposed above and below a light-transmitting plate, and an object on the light-transmitting plate by light from the solid-state light-emitting body. An image detecting means for detecting a silhouette image or a reflected image, a casing for accommodating two solid light-emitting bodies, a light-transmitting plate and the image detecting means to shield ambient light, and a predetermined amount required for image capturing by the image detecting means. And a solid-state light emitter driving means for turning on the solid-state light emitter corresponding to the type of the captured image for a time.

In the present specification, the solid light-emitting body means
This is a generic term for light-emitting bodies that do not require the presence of gas, and is an EL (electroluminescence) light-emitting body, LE.
It includes a light source such as D (light emitting diode).

[0014]

According to the image detecting method of claim 1, in detecting the reflected image, the solid light-emitting body is caused to emit light in a state in which the disturbance light is prevented from entering from the side of the solid-state light emitting body for the silhouette image. It is possible to obtain a sufficiently stable image by turning on the solid-state light-emitting body without striking and illuminance. In addition, the solid-state light emitter has better stability at ambient temperature and better start-up characteristics than a fluorescent lamp due to the absence of gas, so the light source drive is turned on for a predetermined time required to capture an image. It can be shortened only by making it possible to extend the life.

According to the image detecting device of the second aspect, the silhouette image of the object on the transparent plate is image-detected by the light emitted from one of the solid state light emitters by driving the solid state light emitter drive means. The reflected image of the object on the translucent plate is taken into the image detecting means by the light emitted from the other means. In this case, since the two solid-state light emitters, the translucent plate, and the image detection means are housed in the casing that shields ambient light, the influence of ambient light can be eliminated when detecting the reflected image, and the solid-state light emission can be performed. It is possible to obtain a sufficiently stable image with light of relatively low illuminance from the body. In addition, since the solid-state light emitter does not have gas,
Since it has better stability due to ambient temperature and better start-up characteristics than fluorescent lamps, it is possible to shorten the driving time of the light source by only turning on the light for a predetermined time necessary for image capture, and thus to achieve a long life.

[0016]

Embodiments will now be described in detail with reference to the accompanying drawings showing embodiments. First, a component image detecting method as an embodiment of the image detecting method of the present invention will be described. In this component image detecting method, as shown in FIG. 3, the EL surface light-emitting members 3 and 4 are arranged above and below the transparent plate 2, respectively, and the component 10 on the transparent plate 2 is arranged. Light from each of the EL surface light-emitting bodies 3 and 4 is radiated to the image pickup section 6 to capture the silhouette image or the reflection image of the component 10.

FIG. 1 is a flow chart for explaining the processing operation of the component image detecting method. First, in step SP1, it is determined whether or not the component 10 is set on the light-transmissive plate 2. If it is determined that the component 10 is set, in step SP2, the EL for silhouette image is used. The surface light emitter 3 is turned on, the silhouette image is captured by the image detection unit 6 in step SP3, and the step S3 is performed.
At P4, the silhouette image EL surface light emitter 3 is turned off. Next, in step SP5, it is determined whether or not the reflected image of the component 10 needs to be detected. When it is determined that the reflected image needs to be detected, in step SP6, the EL surface light-emitting body 4 for the reflected image is obtained. Lights up, step SP
In step 7, the image detection unit 6 captures the reflected image, and in step SP8, the reflected surface EL surface light-emitting body 4 is turned off, and a series of processing is terminated. When it is determined in step SP5 that the reflected image is not detected, the series of processes is ended.

The details of the discrimination processing in step SP5 will be described. 2 obtained by capturing a silhouette image
If it is determined that the identification of the component 10 is sufficiently accurate based on the feature value (area, perimeter, etc.) based on the binarized image, the reflected image is not captured, and the component 10 is identified only by capturing the silhouette image. When it is determined that the accuracy of is insufficient, the reflected image is detected.

As is apparent from the above description, the silhouette image EL surface light-emitting body 3 and the reflection image EL surface light-emitting body 4 need only be turned on for a predetermined time required for image capturing, and the EL surface light-emitting body is The startup characteristics are good, and the fluctuation of illuminance due to ambient temperature is significantly smaller than that of fluorescent lamps, so the lighting time of the light source can be greatly shortened.
The life can be extended. Further, since disturbance light is shielded when a reflected image is captured, a sufficiently clear reflected image can be obtained even with an EL light source having a lower illuminance than a fluorescent lamp.

[0020]

[Embodiment 2] FIG. 2 is a flow chart for explaining a component image detecting method as another embodiment of the image detecting method of the present invention. This part image detection method differs from the method of the first embodiment in that a step of determining whether or not disturbance light is shielded when a reflected image is captured is provided, and if the disturbance light is not shielded, a shielded state is provided. Only the point that the reflection image is not captured until the above is ensured.

Explaining in accordance with the flow chart, first, in step SP1, it is determined whether or not the component 10 is set on the transparent plate 2, and if it is determined that the component 10 is set, Step SP
2, the EL surface light emitter 3 for the silhouette image is turned on,
In step SP3, the silhouette image is captured by the image detection unit 6, and in step SP4, the silhouette image EL surface light emitter 3 is turned off. Then, step SP5
In step S6, it is determined whether or not the reflected image of the component 10 needs to be detected. If it is determined that the reflected image needs to be detected, in step SP6 it is determined whether or not the ambient light is blocked. When it is determined that the ambient light is shielded, the EL surface light-emitting body 4 for reflected image is turned on in step SP7, the reflected image is captured by the image detection unit 6 in step SP8, and the reflected image EL surface luminous body is read in step SP9. The EL surface light-emitting body 4 is turned off and a series of processing is ended. When it is determined in step SP5 that the reflected image is not detected, the series of processes is ended. When it is determined in step SP6 that the ambient light is not shielded, the ambient light is shielded in step SP10, and the process of step SP6 is performed again.

According to this embodiment, there is provided a step of judging whether or not the ambient light is surely shielded, and shielding the ambient light when the ambient light is not shielded. Therefore, the identified component 10 is taken out. Even if the light is not shielded after performing the above, the reflected image detection can be achieved with the ambient light being surely shielded.

[0023]

[Third Embodiment] FIG. 3 is a block diagram showing an embodiment of the image detecting apparatus of the present invention. This image detecting device is provided above a transparent plate 2 such as a transparent acrylic plate provided at a predetermined position of the component transport track 1 and above the transparent plate 2, and is turned on when a silhouette image is captured. EL surface light emitter 3 that functions as a background when the reflected image is captured
And an EL surface light-emitting body 4 which is provided below the light-transmitting plate 2 and is turned on when a reflected image is taken in, and a half which is installed between the light-transmitting plate 2 and the EL surface light-emitting body 4. Mirror 5
And an image detection unit 6 including a CCD camera or the like arranged at a predetermined position in the optical path of the light reflected by the half mirror 5.
And a casing 7 for shielding ambient light, which accommodates the two EL surface light-emitting bodies 3 and 4, the translucent plate 2, and the image detection unit 6.
And an image signal processing unit 8 that receives the image signal from the image detection unit 6 and performs image processing such as binarization processing, and two E signals that receive the image processing instruction signal from the image signal processing unit 8 as input.
The lighting control unit 9 controls the lighting of the L-surface light emitters 3 and 4.

FIG. 4 is a block diagram showing the details of the configuration of the lighting control unit 9. The image processing instruction signal is a signal instructing the first image processing or a signal instructing the second image processing. Based on a discrimination signal from the discrimination unit 9a that discriminates whether or not it is a signal instructing the first image processing, the EL surface light-emitting body 3 is driven for the time required to capture the silhouette image. E for silhouette image to be lit
The L surface light emitter drive unit 9b and the reflection image E for turning on the EL surface light emitter 4 in response to the signal instructing the second image processing.
It has an L-plane light emitter driving unit 9c.

The operation of the image detecting apparatus having the above structure will be described with reference to the time chart shown in FIG. If it moves on the component transport track 1 and reaches the transparent plate 2, the transport of the component 10 is temporarily stopped (t in FIG. 5).
0), the image signal processing unit 8 outputs an image processing instruction signal for instructing that the first image processing should be performed, to the lighting control unit 9.
To the EL surface light emitter drive unit 9 for the silhouette image.
The EL surface light-emitting body 3 is turned on by b. This lighting duration time is a predetermined time (see T1 in FIG. 5) necessary for the image detection unit 6 to capture an image, and is set longer than the image capture required time (see T0 in FIG. 5). Then, the silhouette image of the component 10 obtained by the light from the EL surface light-emitting body 3 is captured by the image detection unit 6, and the image signal processing unit 8 performs binarization processing, feature value extraction processing, and the like to identify the type of the component 10. Identify. As a result of this identification, when it is determined that the front and back sides are discriminated, for example, in order to accurately identify the component with low identification accuracy of the component 10, the image signal processing unit 8 performs the second image processing. Since the image processing signal instructing what to do is supplied to the lighting control unit 9, the reflected image EL surface light emitter drive unit 9c causes
The EL surface light emitter 4 is turned on. The lighting duration time is a predetermined time (see T2 in FIG. 5) required for the image detection unit 6 to capture an image, and is set longer than the image capture required time (see T0 in FIG. 5). Then, the component 10 obtained by the light from the EL surface light-emitting body 4
The reflected image of is captured by the image detection unit 6, and the image signal processing unit 8 performs binarization processing, feature value extraction processing, and the like to determine the front and back of the component 10.

As is clear from the above description, when the first image processing for detecting a silhouette image is performed, there is no influence of the material of the parts, the surface condition, etc. Therefore, the range of applicable parts is limited. In addition to being able to remarkably enlarge, the processing based on the reflected light is performed only when the first image processing is insufficient to perform front / back discrimination, so that even if the outer shape is the same, there are recesses, holes, protrusions, bending directions, etc. It is possible to reliably identify the different states, and it is possible to significantly improve the component identification accuracy.

Further, in this image detecting apparatus, the casing 7 houses the two EL surface illuminants 3 and 4, the transparent plate 2, and the image detecting section 6 all in the inside to shield ambient light. Even when the EL surface light emitter 4 having low illuminance is used, the accuracy of component identification can be improved without lowering the S / N ratio of the reflected image taken in, and an EL surface light emitter having a good rising characteristic can be obtained. By adopting both the silhouette image light source and the reflection image light source, the lighting duration can be greatly shortened and the life can be extended.

When the image detecting device is applied to the component supplying device, it is necessary to take out the component 10 by the industrial robot based on the result of the component identification. It is also preferably used as a lid for taking out parts.

[0029]

As described above, according to the first aspect of the invention, since a reflected image is obtained in a state in which the influence of ambient light is greatly reduced, it is sufficiently clear even if a solid light-emitting body with relatively low illumination is used. Since a stable reflection image can be obtained, and the solid-state light-emitting body has a good rising characteristic and the temperature dependence of the illuminance is small, the lighting duration can be shortened and a long life can be achieved.

According to the second aspect of the invention, since the reflected image is obtained in a state where the influence of the ambient light is greatly reduced, a sufficiently clear and stable reflected image can be obtained even if a solid-state light-emitting body with relatively low illumination is used. Moreover, since the solid-state light-emitting device has a good rising characteristic and the temperature dependence of the illuminance is small, the lighting duration can be shortened and a long life can be achieved.

[Brief description of drawings]

FIG. 1 is a flowchart as an embodiment of an image detecting method of the present invention.

FIG. 2 is a flow chart as another embodiment of the image detecting method of the present invention.

FIG. 3 is a vertical cross-sectional view showing an outline of a main part of a component supply device as an embodiment of the image detection device of the present invention.

FIG. 4 is a block diagram showing details of a lighting control unit.

FIG. 5 is a time chart showing the operation of the image detecting apparatus of the present invention.

[Explanation of symbols]

2 Light-transmissive plate 3,4 EL surface light emitter 6 Image detection unit 7 Casing 9 Lighting control unit 10 Article

Claims (2)

[Claims] 1. A light-transmitting plate (2) having a light-transmitting property by lighting one of solid-state light-emitting bodies (3) (4) arranged above and below the light-transmitting plate (2) for a predetermined time necessary for image capturing. The silhouette image of the object (10) on the plate (2) is detected, and the other solid-state light-emitting body is lit for a predetermined time necessary to capture an image while preventing disturbance light from entering from at least one of the solid-state light-emitting body side. An image detecting method characterized by detecting the reflection image of the object (10) on the transparent plate (2). 2. A solid light-emitting body (3) (4) arranged above and below a light-transmitting plate (2), and a light-transmitting property by light from the solid light-emitting body (3) (4). An image detecting means (6) for detecting a silhouette image or a reflection image of an object (10) on a plate (2) with a light source, two solid state light emitters (3) and (4), and a transparent plate (2). ) And an image detecting means (6), and a casing (7) for shielding ambient light.
And an image pickup means (6) for driving the solid-state light-emitter driving means (9) for turning on the solid-state light-emitter corresponding to the kind of the image captured for a predetermined time required for image capture by the image detection means (6). Detection device.