JPH06331334A - Image recognition device and part-supply device using it - Google Patents
Image recognition device and part-supply device using itInfo
- Publication number
- JPH06331334A JPH06331334A JP5116111A JP11611193A JPH06331334A JP H06331334 A JPH06331334 A JP H06331334A JP 5116111 A JP5116111 A JP 5116111A JP 11611193 A JP11611193 A JP 11611193A JP H06331334 A JPH06331334 A JP H06331334A
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- Japan
- Prior art keywords
- image
- area
- threshold value
- sample
- reflected light
- 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.)
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- Sorting Of Articles (AREA)
- Image Input (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Specific Conveyance Elements (AREA)
- Image Processing (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】Detailed Description of the Invention
【0001】[0001]
【産業上の利用分野】本発明は、認識対象物の姿勢を認
識する装置に関し、様々の姿勢にばらまかれた多数の部
品群から同じ姿勢の部品を取り出して、順次他の装置に
供給する部品供給装置等に応用される。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for recognizing the posture of an object to be recognized, and a component having the same posture taken out from a large number of parts scattered in various postures and sequentially supplied to other devices. It is applied to supply equipment.
【0002】[0002]
【従来の技術】対象物の姿勢を光学的手段で検知する方
法は、従来より種々提案されている。その一例として掲
げる特開平4−141325号公報では、パーツフィー
ダの部品搬送トラックの所定位置を透光板で構成し、そ
の上方と下方に照明装置を、その上方と下方のどちらか
一方に画像検出手段をそれぞれ配置する、部品供給装置
が開示されている。この装置は、透光板上に搬送されて
きた部品のシルエット像を取り込んで部品の姿勢と位置
を認識し、あるいは、シルエット像で姿勢を特定できな
い部品の場合、2値化のためのしきい値を反射光画像に
対応させて認識し、種々の部品の姿勢認識に対処してい
る。2. Description of the Related Art Conventionally, various methods for detecting the posture of an object by optical means have been proposed. In Japanese Unexamined Patent Publication (Kokai) No. 4-141325 cited as an example thereof, a predetermined position of a parts transporting track of a parts feeder is constituted by a translucent plate, an illuminating device is provided above and below the translucent plate, and image detection is performed either above or below it. A component supply device is disclosed, in which the respective means are arranged. This device captures a silhouette image of a component conveyed on a transparent plate and recognizes the posture and position of the component, or in the case of a component whose posture cannot be specified by the silhouette image, a threshold for binarization. The values are recognized in correspondence with the reflected light image to cope with the attitude recognition of various parts.
【0003】[0003]
【発明が解決しようとする課題】このような部品供給装
置では、照明光の変動や経時変化、外部から入射する散
乱光などの影響により、時として画像の2値化面積が実
体とそぐわないことがあり、違った姿勢の部品が供給さ
れてしまうことがあった。これに対処する方法の一例と
して、特開平4−141384号公報記載の手法が挙げ
られる。すなわち透光板上にキャリブレーション治具を
位置決めし、その治具に明けられた面積既知の穴を画像
認識して、その穴の2値化面積が既知の面積と等しくな
るようにしきい値を設定し、照明光に経時変化があって
も画像の2値化面積が実体から大きくずれないようにす
る方法である。本発明は、このような特別な治具を用い
ず、かつ短時間で照明条件の変動に対応する部品供給装
置を提供するものである。In such a component supply device, the binarized area of an image sometimes becomes inconsistent with the actual state due to influences of fluctuations in illumination light, changes over time, scattered light incident from the outside, and the like. There were times when parts with different attitudes were supplied. An example of a method for coping with this is the method described in Japanese Patent Laid-Open No. 4-141384. That is, the calibration jig is positioned on the light-transmitting plate, the hole of the known area opened in the jig is image-recognized, and the threshold value is set so that the binarized area of the hole becomes equal to the known area. This is a method of setting so that the binarized area of the image does not largely deviate from the actuality even if the illumination light changes with time. The present invention provides a component supply device which does not use such a special jig and can cope with a change in illumination condition in a short time.
【0004】[0004]
【課題を解決するための手段】本発明では、認識する対
象物に光を照射する照明手段と、そこからの反射光画像
を撮像する撮像手段と、対象物と同形状のサンプルを特
定の姿勢に保持するサンプル保持部を設ける。そして、
撮像手段が取り込んだ反射光画像を2値化して、その画
像の面積を検出する特徴検出手段と、その2値化を行う
しきい値を、サンプルからの反射光画像の2値化面積が
あらかじめ規定した面積値と等しくなるように設定する
しきい値設定手段と、サンプルの反射光画像を所定の周
期で撮像手段に取り込ませ、しきい値設定手段にしきい
値の再設定を行わせるしきい値更新手段とを設け、特徴
検出手段が検出する対象物の反射光画像面積が、規定面
積値の許容公差内にあるかどうかを判別することによ
り、対象物の姿勢がサンプルと同じ姿勢であるかどうか
を認識する。According to the present invention, an illuminating means for irradiating an object to be recognized with light, an imaging means for picking up a reflected light image from the illuminating means, and a sample having the same shape as the object have a specific posture. A sample holding section for holding the sample is provided. And
The characteristic detection means for binarizing the reflected light image captured by the imaging means to detect the area of the image and the threshold value for binarizing the reflected light image are set in advance by the binarized area of the reflected light image from the sample. A threshold setting means for setting the area equal to the specified area value, and a threshold for causing the reflected light image of the sample to be captured by the imaging means at a predetermined cycle and causing the threshold setting means to reset the threshold. By providing the value updating means and determining whether or not the reflected light image area of the object detected by the feature detecting means is within the allowable tolerance of the specified area value, the attitude of the object is the same as that of the sample. Recognize whether or not.
【0005】また、本発明では、部品を複数個載置し、
自身の一部に部品と同形状のサンプルを特定の姿勢に載
置させるサンプルエリアを有した認識テーブル、その上
の部品を所定の位置に取り出す移載手段、認識テーブル
に光を照射する照明手段、そこからの反射光画像を撮像
する撮像手段を設ける。そして、撮像手段が取り込んだ
反射光画像を2値化し、撮像画面内の個々の部品画像を
区別して、各部品画像の面積と向きを検出する特徴検出
手段と、その2値化を行うしきい値を、サンプルの反射
光画像の2値化面積があらかじめ規定した面積値と等し
くなるように設定するしきい値設定手段と、サンプルの
反射光画像を所定の周期で撮像手段に取り込ませて、し
きい値設定手段にしきい値の再設定を行わせるしきい値
更新手段とを設け、特徴検出手段が検出する各部品画像
の内、面積が規定面積値の許容公差内にあるものを選び
出し、それに該当する部品の位置と向きに応じ移載手段
に部品を取り上げさせ、所定の位置に向きを揃えて移載
させる。Further, in the present invention, a plurality of parts are placed,
A recognition table having a sample area for mounting a sample having the same shape as the part in a specific posture on its part, a transfer means for picking out the part on a predetermined position, and an illumination means for irradiating the recognition table with light. An image pickup unit for picking up a reflected light image from the image pickup unit is provided. Then, the reflected light image captured by the imaging means is binarized, the individual component images in the imaging screen are distinguished, and the feature detection means for detecting the area and orientation of each component image, and the threshold for performing the binarization. A threshold value setting means for setting a value so that the binarized area of the reflected light image of the sample is equal to a predetermined area value; and the reflected light image of the sample is captured by the imaging means at a predetermined cycle, The threshold value setting means is provided with a threshold value updating means for resetting the threshold value, and among the component images detected by the feature detecting means, one having an area within the allowable tolerance of the specified area value is selected, The transfer means picks up the component according to the position and orientation of the corresponding component, and aligns the component at a predetermined position for transfer.
【0006】[0006]
【作用】特定の姿勢に保持された部品サンプルの画像が
一定の周期で所定の方向から取り込まれ、その姿勢にお
ける部品画像がとるべき規定の面積に、取り込まれたサ
ンプルの画像面積が一致するよう、その周期毎に、2値
化のためのしきい値が更新されて行く。そして、更新さ
れたしきい値で部品画像が認識され、サンプルと同じ姿
勢の部品のみが、所定の位置に取り出される。The image of the part sample held in a specific posture is taken in from a predetermined direction at a constant cycle, and the image area of the taken sample matches the prescribed area that the part image in that posture should take. , The threshold for binarization is updated every cycle. Then, the part image is recognized with the updated threshold value, and only the part having the same posture as the sample is taken out to a predetermined position.
【0007】[0007]
【実施例】本発明の画像認識装置及びそれを用いた部品
供給装置の一実施例について説明する。図1は本実施例
における部品供給装置の主要な構成を示す説明図で、部
品供給装置1は、認識テーブル2、ロボット3、照明手
段4、撮像手段5、画像認識部6、制御部7で構成され
ている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the image recognition apparatus of the present invention and the component supply apparatus using the same will be described. FIG. 1 is an explanatory diagram showing the main configuration of the component supply device according to the present embodiment. The component supply device 1 includes a recognition table 2, a robot 3, a lighting unit 4, an image pickup unit 5, an image recognition unit 6, and a control unit 7. It is configured.
【0008】認識テーブル2は、四角い筒状の枠体21
と、枠体21の内面の同一高さに設けられた突起部22
に支持される透光板23からなり、図示しない揺動機構
を介してロボットベース31に取り付けられる。透光板
23は、枠体21の内空間の水平断面と同じ面積をも
ち、枠体21の上端面から少し下がったところに内蓋状
に固定され、その上面に同一形状の部品Pが、図示しな
いホッパ等から無作為にばらまかれる。この状態を平面
図で示したものが図3である。透光板23の上面の1コ
ーナーには透光性を有した断面L字形の仕切り板231
を取り付け、これと枠体21の内側壁面とで囲まれた空
間をサンプルエリア230としている。The recognition table 2 has a rectangular cylindrical frame body 21.
And a protrusion 22 provided at the same height on the inner surface of the frame body 21.
The transparent plate 23 is supported by the robot base 31 and is attached to the robot base 31 via a swing mechanism (not shown). The translucent plate 23 has the same area as the horizontal cross section of the inner space of the frame body 21, is fixed to the inner lid shape at a position slightly lower than the upper end surface of the frame body 21, and the component P having the same shape is provided on the upper surface thereof. It is randomly scattered from a hopper (not shown). FIG. 3 is a plan view showing this state. A partition plate 231 having an L-shaped cross section and having a light-transmitting property is provided at one corner on the upper surface of the light-transmitting plate 23.
Is attached, and the space surrounded by this and the inner wall surface of the frame 21 is defined as a sample area 230.
【0009】照明手段4は、枠体21の突起部22より
さらに下がった位置の、図1で云う左右の内側面に支持
され、透光板23を一様に照らすべく下方より光を照射
している。41は照明手段4の光を上方に反射する反射
板であるが、同時に下方への光を遮蔽する働きもする。
撮像手段5は、透光板23の真下に上向きに保持され、
その光軸は垂直に透光板23の中心を通り、視野内に透
光板全面が取り込めるような焦点距離に配置されてい
る。The illuminating means 4 is supported on the left and right inner side surfaces in FIG. 1 at a position further lower than the projecting portion 22 of the frame 21, and irradiates light from below so as to uniformly illuminate the translucent plate 23. ing. Reference numeral 41 is a reflecting plate that reflects the light of the illumination means 4 upward, but at the same time, it also functions to shield the light downward.
The image pickup means 5 is held right below the translucent plate 23 so as to face upward,
The optical axis passes vertically through the center of the transparent plate 23, and is arranged at a focal length such that the entire transparent plate can be taken into the visual field.
【0010】ロボット3は水平多関節ロボットで、エン
ドエフェクターとしてチャック31を装着して部品Pを
取り出し、図示しない他の装置に供給したり、直接、搬
送コンベア上に位置決めされたワークに組み付けたりす
る。チャック31は、ロボットアームの旋回動作によ
り、認識テーブル2の透光板上の任意の位置に移動し、
上下移動とその上下移動軸線まわりのθ回転を与えられ
ることにより、任意のθ角度で部品Pを挟んで持ち上げ
る。The robot 3 is a horizontal articulated robot, and is equipped with a chuck 31 as an end effector to take out a component P and supply it to another device (not shown) or directly attach it to a work positioned on a conveyor. . The chuck 31 moves to an arbitrary position on the translucent plate of the recognition table 2 by the turning motion of the robot arm,
The component P is sandwiched and lifted at an arbitrary θ angle by being given vertical movement and θ rotation about the vertical movement axis.
【0011】画像認識部6は、特徴検出手段61、しき
い値設定手段62、しきい値更新手段63からなる。特
徴検出手段61は、撮像手段5が取り込んだ照明手段4
による反射光画像を2値化し、撮像画面内の個々の部品
Pの画像を区別して(ラベル付け)、各部品画像の面積
と向きを検出(特徴抽出)する。このラベル付けと特徴
抽出については、本発明の主旨ではないため詳細な説明
を省略する。しきい値設定手段62は、特徴検出手段6
1において2値化を行う際のしきい値を設定するもの
で、前述したサンプルエリア230内に特定の姿勢で載
置された、部品P(以降、部品Psと称する)の反射光
画像における2値化面積と、あらかじめ算出した、その
姿勢の部品Pが透光板23上に接触する面の面積(以
降、規定面積と称する)とが等しくなるように、しきい
値を設定する。しきい値更新手段63は、サンプルエリ
ア内の部品Psの反射光画像を所定の周期で撮像手段5
に取り込ませて、しきい値設定手段62にしきい値の再
設定を行わせる。The image recognition section 6 comprises a feature detecting means 61, a threshold setting means 62 and a threshold updating means 63. The feature detection means 61 is the illumination means 4 captured by the imaging means 5.
The reflected light image by is binarized, the images of the individual components P in the imaging screen are distinguished (labeled), and the area and orientation of each component image are detected (feature extraction). This labeling and feature extraction are not the gist of the present invention, and thus detailed description thereof is omitted. The threshold setting means 62 is the feature detecting means 6
The threshold for setting binarization in 1 is set, and 2 in the reflected light image of the component P (hereinafter, referred to as the component Ps) placed in a specific posture in the sample area 230 described above. The threshold value is set so that the value-converted area is equal to the area of the surface of the component P in that posture that is in contact with the light-transmitting plate 23 (hereinafter, referred to as a prescribed area), which is calculated in advance. The threshold updating means 63 captures the reflected light image of the part Ps in the sample area at a predetermined cycle.
Then, the threshold value setting means 62 is caused to reset the threshold value.
【0012】制御部7は、特徴検出手段61が検出する
各部品画像の内、2値化面積が前述した規定面積値の許
容公差内にあるものを選び出し、それについて特徴検出
手段61に画像の重心位置や向きの検出を行わせる。そ
して、制御部7は、選ばれた各部品の認識テーブル2に
おける位置と向きに応じ、順次、ロボット3に部品Pを
取り上げさせ、図示しない他の装置に供給させたり、直
接、搬送コンベア上に位置決めされたワークに組み込ま
せたりする。The control unit 7 selects one of the component images detected by the characteristic detecting unit 61, the binarized area of which is within the allowable tolerance of the specified area value described above, and the characteristic detecting unit 61 detects the image of the binarized area. The center of gravity position and orientation are detected. Then, the control unit 7 causes the robot 3 to sequentially pick up the component P and supply it to another device (not shown) according to the position and orientation of the selected component in the recognition table 2, or directly onto the transport conveyor. It can be incorporated into a positioned work.
【0013】本実施例の動作について図に基づいて説明
する。図2は本実施例に用いる部品Pを拡大した斜視図
であり、この部品Pが図3のように、認識テーブル2の
透光板23上に、図示しないホッパ等から無作為にばら
まかれている。また、認識テーブルのサンプルエリア2
30内には、部品Pを特定の姿勢(図2の姿勢)にした
部品Psを載置する。この姿勢サンプルPsは、図示し
ないクランプ機構等により透光板23上に拘束される。The operation of this embodiment will be described with reference to the drawings. FIG. 2 is an enlarged perspective view of a component P used in the present embodiment. As shown in FIG. 3, the component P is randomly scattered on the translucent plate 23 of the recognition table 2 from a hopper (not shown) or the like. There is. Also, sample area 2 of the recognition table
A component Ps in which the component P has a specific posture (the posture shown in FIG. 2) is placed inside the unit 30. The posture sample Ps is restrained on the transparent plate 23 by a clamp mechanism or the like (not shown).
【0014】透光板上の部品群と姿勢サンプルPsは、
照明手段4とその反射板41によって、透光板23を介
し下方から照らされており、それらからの反射光が撮像
手段5に取り込まれる。図4は取り込んだ反射光画像を
示す図で、取り込まれた画像情報は、画像認識部6の特
徴検出手段61に送られ、ラベル付けが行われる。すな
わち、一画面内に複数の認識対象画像があるため、形状
の解析に移る前に個々の画像を区別し、区別された画像
毎に形状の特徴抽出へと進行する。The group of parts on the transparent plate and the posture sample Ps are
The illumination means 4 and its reflection plate 41 are illuminated from below via the translucent plate 23, and the reflected light from them is taken into the imaging means 5. FIG. 4 is a diagram showing a captured reflected light image. The captured image information is sent to the feature detection means 61 of the image recognition unit 6 and labeled. That is, since there are a plurality of images to be recognized in one screen, individual images are distinguished before proceeding to shape analysis, and shape feature extraction is performed for each distinguished image.
【0015】特徴検出手段61が画像の特徴抽出を行う
に際し、まず、しきい値設定手段62が特徴検出手段6
1において2値化を行う際のしきい値を設定するため、
図5の上側に示すように、縦軸を画素数N、横軸を濃度
Dとし、サンプルエリア230内の画像の濃度ヒストグ
ラムを作成する。そして、濃度値の小さい方からの累積
分布(姿勢サンプル画像Vsが占める面積)が、あらか
じめ算出している規定面積と等しくなる濃度値を見つ
け、これをしきい値d1とする。When the feature detecting means 61 performs feature extraction of an image, first, the threshold setting means 62 causes the feature detecting means 6 to operate.
In order to set the threshold value for binarization in 1,
As shown in the upper side of FIG. 5, the vertical axis is the number of pixels N and the horizontal axis is the density D, and a density histogram of the image in the sample area 230 is created. Then, a density value at which the cumulative distribution from the smaller density value (the area occupied by the posture sample image Vs) is equal to the predetermined area calculated in advance is found, and this is set as the threshold value d1.
【0016】ここで、L1のラベルが付された領域内の
画像V1を例に取って説明する。特徴検出手段61は、
しきい値設定手段62が設定したしきい値d1で、L1領
域の濃淡画像を2値化し、濃度の小さい方の2値化面積
V1を算出する。そして、制御部7は、この面積V1が前
述の規定面積の許容公差内にある場合に、領域L1内の
部品Pが姿勢サンプルPsと同一姿勢にあると判別す
る。特徴検出手段61は、同様にラベル付けされた他の
領域についても2値化面積を算出し、制御部7は姿勢判
別を行い、同一姿勢にあるもののみについて、特徴検出
手段61に部品の重心位置と方位を検出させる。こうし
て、制御部7は、姿勢サンプルと同一姿勢の部品に関す
る位置と方位データを入手する。The image V1 in the area labeled L1 will be described as an example. The feature detection means 61 is
The grayscale image in the L1 region is binarized with the threshold value d1 set by the threshold value setting means 62, and the binarized area V1 of the smaller density is calculated. Then, the control unit 7 determines that the part P in the region L1 has the same posture as the posture sample Ps when the area V1 is within the tolerance of the specified area described above. The feature detection means 61 also calculates the binarized area for the other similarly labeled areas, and the control unit 7 determines the posture, and the feature detection means 61 determines the center of gravity of the component only for those having the same posture. Detect position and orientation. In this way, the control unit 7 obtains the position and orientation data regarding the component having the same orientation as the orientation sample.
【0017】制御部7は、入手した同一姿勢部品の認識
テーブル2における位置と向きに応じ、例えばL1領域
の部品Pの真上にロボット3のチャック31を位置させ
る。そして、チャック31の先端が部品Pのウェブ部分
を挟むように、方位データによってチャック31を必要
量θ回転させながら透光板23上に下降させ、部品Pを
挟持させる。さらに、制御部7は、部品Pを挟持したチ
ャック31を上昇させ、ロボット3に、図示しない他の
装置に所定の向きに揃えて供給させたり、直接、搬送コ
ンベア上に位置決めされたワークに組み込ませたりす
る。The control unit 7 positions the chuck 31 of the robot 3 directly above the part P in the L1 region, for example, according to the position and orientation of the acquired same-position part in the recognition table 2. Then, the chuck 31 is lowered by the necessary amount θ according to the orientation data so that the tip of the chuck 31 sandwiches the web portion of the component P, and is lowered onto the transparent plate 23 to clamp the component P. Further, the control unit 7 raises the chuck 31 holding the component P, causes the robot 3 to supply the robot 3 by aligning it in another device (not shown) in a predetermined direction, or directly incorporating the work into a workpiece positioned on the conveyor. To be
【0018】透光板23上の姿勢サンプルPsと同一姿
勢の部品が、全てロボット3によって取り去られると、
制御部7は図示しない揺動機構を駆動して、他の姿勢の
部品群を排出させてしまい、新たにホッパに部品を供給
させる。制御部7は、この部品供給サイクル毎に、ある
いは数部品供給サイクル毎にしきい値更新手段63を駆
動し、適正なしきい値をしきい値設定手段62に再設定
させる。例えば、図5の下側に示すように、サンプルエ
リアの濃度ヒストグラムにずれが生じていると、(この
場合、全体的に画像濃度が濃くなっている)しきい値設
定手段62は、前述と同様に、姿勢サンプル画像Vsが
占める面積が、あらかじめ算出している規定面積と等し
くなるしきい値d2を設定する。このしきい値d2は、図
5の上側で示したしきい値d1よりも、濃度の濃い方に
(図中左方向)Δdだけずれた濃度値となる。こうし
て、部品供給装置1は、常に適正なしきい値による画像
認識により、特定の姿勢の部品を供給し続ける。When all the parts having the same posture as the posture sample Ps on the transparent plate 23 are removed by the robot 3,
The control unit 7 drives a swing mechanism (not shown) to eject the component group in another posture, and newly supplies the component to the hopper. The control unit 7 drives the threshold value updating means 63 for each component supply cycle or every several component supply cycles, and causes the threshold value setting means 62 to reset an appropriate threshold value. For example, as shown in the lower side of FIG. 5, when there is a deviation in the density histogram of the sample area, the threshold value setting means 62 (in this case, the image density is dark as a whole) is Similarly, a threshold value d2 is set such that the area occupied by the posture sample image Vs becomes equal to the predetermined area calculated in advance. This threshold value d2 is a density value that is shifted from the threshold value d1 shown on the upper side of FIG. In this way, the component supply device 1 continues to supply the component in the specific posture by the image recognition based on the appropriate threshold value.
【0019】本実施例では、照明手段と撮像手段を認識
テーブルの下方に固定して部品の反射光画像を撮像し、
判別した部品を認識テーブルの上方からロボットによっ
て取り出す構成としたが、ロボットアームに照明手段と
撮像手段を取り付けて部品の上方から反射光画像を撮像
したり、ロボットアームに撮像手段を取り付け、部品の
上方からシルエット画像を撮像する構成としてもよい。
また、本実施例では多数の部品群の中から特定の姿勢の
部品を取り出すものについて述べたが、本発明の画像認
識装置は、本実施例に限らず、認識対象物と撮像手段と
照明手段との位置関係を一定とすれば、個々の物品毎に
姿勢判別するような装置にも適用可能である。In the present embodiment, the illumination means and the image pickup means are fixed below the recognition table, and the reflected light image of the component is picked up,
The configuration is such that the determined parts are taken out by the robot from above the recognition table. However, the illumination means and the imaging means are attached to the robot arm to capture the reflected light image from above the parts, or the imaging means is attached to the robot arm to detect the parts. The silhouette image may be picked up from above.
Further, in the present embodiment, the one in which a component having a specific posture is taken out from a large number of component groups has been described, but the image recognition apparatus of the present invention is not limited to this embodiment, and the recognition target object, the image pickup means, and the illumination means. If the positional relationship between and is constant, it can be applied to an apparatus that determines the posture of each individual article.
【0020】[0020]
【発明の効果】特定の姿勢に保持された部品サンプルの
画像が一定の周期で取り込まれ、その姿勢における部品
の規定面積に、取り込まれた画像面積が一致するよう、
その周期毎に、2値化のためのしきい値が更新されて行
くため、照明手段の経時変化や外部の照明光の変化等に
より画像の濃淡レベルが変化しても、サンプルと同一姿
勢の部品選出を誤ることが少ない。According to the present invention, the image of the part sample held in a specific posture is captured at a constant cycle, and the captured image area matches the specified area of the component in that posture.
Since the threshold value for binarization is updated every cycle, even if the gray level of the image changes due to a change with time of the illuminating means or a change of external illumination light, the same posture as that of the sample is obtained. There are few mistakes in component selection.
【図1】本発明の一実施例における部品供給装置の構成
を示す説明図である。FIG. 1 is an explanatory diagram showing a configuration of a component supply device according to an embodiment of the present invention.
【図2】実施例に用いる部品の斜視図である。FIG. 2 is a perspective view of components used in the embodiment.
【図3】認識テーブル上の部品群の状態を説明する斜視
図である。FIG. 3 is a perspective view illustrating a state of a component group on a recognition table.
【図4】撮像手段が撮像する図3の部品群の反射光画像
を示す図である。FIG. 4 is a diagram showing a reflected light image of the component group of FIG. 3 captured by an image capturing unit.
【図5】しきい値設定・更新方法を示す説明図である。FIG. 5 is an explanatory diagram showing a threshold setting / updating method.
1 部品供給装置 2 認識テーブル 3 水平多関節ロボット(移載手段) 4 照明手段 5 撮像手段 6 画像認識部 61 特徴検出手段 62 しきい値設定手段 63 しきい値更新手段 7 制御部 P 部品 V 部品の反射光画像 1 Parts Supply Device 2 Recognition Table 3 Horizontal Articulated Robot (Transfer Means) 4 Illumination Means 5 Imaging Means 6 Image Recognition Unit 61 Image Recognition Unit 61 Feature Detection Means 62 Threshold Setting Means 63 Threshold Updating Means 7 Control Parts P Parts V Parts Reflected light image
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.5 識別記号 庁内整理番号 FI 技術表示箇所 G06F 15/62 400 9287−5L 15/64 400 J 15/70 355 8837−5L // B65G 47/90 Z 8010−3F ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 5 Identification number Office reference number FI technical display location G06F 15/62 400 9287-5L 15/64 400 J 15/70 355 8837-5L // B65G 47 / 90 Z 8010-3F
Claims (2)
姿勢を認識する装置であって、 前記対象物に所定の方向から光を照射する照明手段と、 前記対象物からの反射光画像を所定の方向から撮像する
撮像手段と、 前記対象物と同形状のサンプルを特定の姿勢に保持する
サンプル保持部と、 前記撮像手段が取り込んだ反射光画像を2値化して、そ
の画像の面積を検出する特徴検出手段と、 前記特徴検出手段において2値化を行うしきい値を、前
記サンプルからの反射光画像の2値化面積があらかじめ
規定した面積値と等しくなるように設定する、しきい値
設定手段と、 前記サンプルの反射光画像を所定の周期で前記撮像手段
に取り込ませ、前記しきい値設定手段にしきい値の再設
定を行わせるしきい値更新手段とを備え、 前記特徴検出手段が検出する対象物の反射光画像面積
が、前記規定面積値の許容公差内にあるかどうかを判別
することにより、対象物の姿勢が前記サンプルと同じ姿
勢であるかどうかを認識することを特徴とする画像認識
装置。1. A device for imaging an object to be recognized and recognizing the posture of the object, the illumination unit irradiating the object with light from a predetermined direction, and a reflected light image from the object. An image capturing unit that captures the image from a predetermined direction, a sample holding unit that holds a sample having the same shape as the target object in a specific posture, the reflected light image captured by the image capturing unit is binarized, and the area of the image And a threshold value for binarizing in the feature detecting means are set so that the binarized area of the reflected light image from the sample becomes equal to a predetermined area value. A threshold value setting unit; and a threshold value updating unit that causes the threshold value setting unit to reset the threshold value by capturing the reflected light image of the sample in the imaging unit at a predetermined cycle. Detection means The reflected light image area of the object to be detected is characterized by recognizing whether or not the posture of the target object is the same as that of the sample by determining whether or not the reflected light image area of the target object is within the tolerance of the specified area value. Image recognition device.
にある部品のみを所定の位置に供給する部品供給装置で
あって、 部品を複数個載置し、自身の一部に前記部品と同形状の
サンプルを特定の姿勢に載置させる、サンプルエリアを
有する認識テーブルと、 前記認識テーブル上の部品を所定の位置に取り出す移載
手段と、 前記認識テーブルに所定の方向から光を照射する照明手
段と、 前記認識テーブルからの反射光画像を所定の方向から撮
像する撮像手段と、 前記撮像手段が取り込んだ反射光画像を2値化し、撮像
画面内の個々の部品画像を区別して、各部品画像の面積
と向きを検出する特徴検出手段と、 前記特徴検出手段において2値化を行うしきい値を、前
記サンプルの反射光画像の2値化面積があらかじめ規定
した面積値と等しくなるように設定する、しきい値設定
手段と、 前記サンプルの反射光画像を所定の周期で前記撮像手段
に取り込ませて、前記しきい値設定手段にしきい値の再
設定を行わせるしきい値更新手段と、 前記特徴検出手段が検出する各部品画像の内、面積が前
記規定面積値の許容公差内にあるものを選び出し、それ
に該当する部品の位置と向きに応じ前記移載手段に部品
を取り上げさせ、所定の位置に向きを揃えて移載させる
制御手段とを備えることを特徴とする部品供給装置。2. A component supply device for image-recognizing a plurality of components and supplying only a component in a specific posture to a predetermined position, wherein a plurality of components are placed and the component is part of itself. A recognition table having a sample area for placing a sample of the same shape in a specific posture, a transfer means for taking out components on the recognition table to a predetermined position, and irradiating the recognition table with light from a predetermined direction. Illuminating means, imaging means for imaging the reflected light image from the recognition table from a predetermined direction, and the reflected light image captured by the imaging means is binarized to distinguish individual component images in the imaging screen, The feature detecting means for detecting the area and orientation of each component image and the threshold value for binarizing in the feature detecting means are set so that the binarized area of the reflected light image of the sample is equal to the area value defined in advance. And a threshold value setting unit that causes the image pickup unit to capture the reflected light image of the sample in a predetermined cycle, and causes the threshold value setting unit to reset the threshold value. Among the part images detected by the updating means and the feature detecting means, one having an area within the allowable tolerance of the specified area value is selected, and the parts are transferred to the transfer means according to the position and orientation of the corresponding parts. A component supply device, comprising: a control unit that causes the component to be picked up and transferred to a predetermined position with its orientation aligned.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5116111A JP2896043B2 (en) | 1993-05-18 | 1993-05-18 | Image recognition device and component supply device using the same |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5116111A JP2896043B2 (en) | 1993-05-18 | 1993-05-18 | Image recognition device and component supply device using the same |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH06331334A true JPH06331334A (en) | 1994-12-02 |
JP2896043B2 JP2896043B2 (en) | 1999-05-31 |
Family
ID=14678970
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP5116111A Expired - Lifetime JP2896043B2 (en) | 1993-05-18 | 1993-05-18 | Image recognition device and component supply device using the same |
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JP (1) | JP2896043B2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101016971B1 (en) * | 2002-07-11 | 2011-02-28 | 르노 라제르 | System and method of machining objects using a laser |
JP2017205841A (en) * | 2016-05-19 | 2017-11-24 | ファナック株式会社 | Article conveying device |
CN115072051A (en) * | 2022-07-06 | 2022-09-20 | 珠海格力智能装备有限公司 | Transfer equipment |
-
1993
- 1993-05-18 JP JP5116111A patent/JP2896043B2/en not_active Expired - Lifetime
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101016971B1 (en) * | 2002-07-11 | 2011-02-28 | 르노 라제르 | System and method of machining objects using a laser |
JP2017205841A (en) * | 2016-05-19 | 2017-11-24 | ファナック株式会社 | Article conveying device |
CN107399599A (en) * | 2016-05-19 | 2017-11-28 | 发那科株式会社 | Article carrying apparatus |
CN107399599B (en) * | 2016-05-19 | 2020-01-10 | 发那科株式会社 | Article conveying device |
CN115072051A (en) * | 2022-07-06 | 2022-09-20 | 珠海格力智能装备有限公司 | Transfer equipment |
CN115072051B (en) * | 2022-07-06 | 2023-12-01 | 珠海格力智能装备有限公司 | Transfer equipment |
Also Published As
Publication number | Publication date |
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JP2896043B2 (en) | 1999-05-31 |
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