JPH07229726A - Method for detecting angle of object - Google Patents

Abstract

PURPOSE:To easily detect the angle of an object to be carried on a carrying device. CONSTITUTION:The contour line of an object is extracted as the binarized image V', and a plurality of lines L1, L2 crossing the binarized image V' are prepared in parallel to each other at appropriate space. Overlapped parts R1, R2, R3, R4 where the lines cross the image are extracted with labeling, and the position of the center of gravity and the maximum length D in X-axis or Y-axis direction according to the direction of the lines L1, L2 are obtained in each overlapped part. The point on the outer circumferential side by the distance of D/2 in X-axis or Y-axis direction from the center of gravity is judged as the outermost contour point of the object, and the gradient of either line connecting the adjacent outermost contour points is detected as the gradient of the object. The processing speed is fast because only the range of the overlapped parts is processed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object angle detecting method, and more particularly to an object angle detecting method for detecting a mounting angle of an object being conveyed on a conveyor such as a belt conveyor.

[0002]

2. Description of the Related Art Conventionally, as a method of detecting the mounting angle of an object being conveyed on a conveyor device such as a belt conveyor, the object is photographed and the contour line of the photographed image is traced by image analysis. , A method of detecting the angle of an object from the tracking direction is known.

[0003]

However, the above-described conventional detection method has a problem that it takes a long processing time to trace the contour line, and that the processing time increases as the size of the object increases.

The present invention has been made to solve the above problems, and an object of the present invention is to make it possible to detect the angle of an object without requiring a long processing time.

[0005]

In order to solve the above-mentioned problems, the method for detecting the angle of an object according to the present invention uses a binary image of the contour line of the target object by photographing the target object and image-processing the captured data. Extracted as a binarized image, a plurality of straight lines intersecting the binarized image are created in parallel on the binarized image at appropriate intervals, and an overlapping portion where the binarized image and each line overlap is extracted. The overlapping portions are each labeled, and the position of the center of gravity in each labeled overlapping portion and the maximum length D in the X-axis direction or the Y-axis direction according to the direction of the straight line are obtained,
A point on the outer peripheral side from the center of gravity in the X-axis direction or the Y-axis direction by a distance of D / 2 is determined as the outermost contour point of the object, and the inclination of any straight line connecting adjacent outermost contour points is determined. The feature is that it is detected as an angle of the object.

[0006]

According to the above construction, the overlapping portion in which the binarized image obtained by extracting the contour line of the target object and binarized and the plurality of parallel straight lines created on the binarized image overlap are extracted. However, the outermost contour points of the object are obtained at a plurality of positions from this overlapping portion, and the inclination of the straight line formed by the adjacent outermost contour points is detected as the angle of the object, so it is sufficient to process the area of the overlapping portion.
The processing speed is fast. The processing method is also simple.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An object angle detecting method according to an embodiment of the present invention will be described below with reference to the monitor screens shown in FIGS. 2 to 11 along the flow of the flow chart shown in FIG.

A) A target object being conveyed at a constant speed on a conveyor device such as a belt conveyor is photographed, and the photographed data is input as an image to obtain an image V of the target object as shown in FIG.

B) The contour line of the image V is extracted and binarized to obtain a binarized image V'of the contour line of the object as shown in FIG. c) Create a circumscribing quadrangle S (or a circumscribing circle) as shown in FIG. 4 on the binarized image V ′.

D) Parallel lines L ₁ and L ₂ that intersect the binarized image V ′ are created in the circumscribed quadrangle S at appropriate intervals. As shown in FIG. 5, the straight lines L ₁ and L ₂ are such that the inclination of the binarized image V ′ can be easily seen, for example, each is 2
It suffices that it intersects the sides V _a and V _{b of the} binarized image V ′, and the number is not limited as long as it is plural.

E) A portion where the binarized image V ′ and the straight lines L ₁ and L ₂ overlap is extracted, and the overlapping portion R as shown in FIG. 6 is extracted.
Images of ₁ , R ₂ , R ₃ and R ₄ are obtained. f) with the image of the overlapping portion _{R 1, R 2, R 3} , R ₄ and labeling, as shown in FIG. 7, the overlapping portions are labeled _{R 1, R 2, R 3} , an image of R ₄ obtain.

G) Overlapping parts R ₁ , R ₂ and R shown in FIG.
The images of ₃ and R ₄ are further processed to obtain the position of the center of gravity G ₁ in the overlapping portion R ₁ as shown in FIG. 8, and the Y-axis corresponding to the direction of the straight line L ₁ in the overlapping portion R ₁ is obtained. Find the maximum length D ₁ in the direction. Similarly, each overlapping portion R
In _2, R _3, R _4, determine the position of the center of gravity _{G 2, G 3, G 4} , the Y maximum length of axis _{D 2, D 3, D 4} .

H) As shown in FIG. 9, the center of gravity G ₁ ,
G _2, G _3, respectively from the _{G 4 D 1/2, D} 2/2, D 3
/ 2, D _4/2 of distance point P ₁ on the outer peripheral side in the Y-axis direction,
Seeking _{P 2, P 3, P 4} , to determine these points as the outermost contour point of an object.

[0014] i) adjacent the outermost contour point to each other, for example, P ₁ and P _2, and P ₃ and P ₄ are connected to give a straight line L _3, L _4, as shown in FIG. 10, the straight line L _3, Select one of L ₄ . Then, the inclination of the selected straight line L ₃ as shown in FIG. 11 is detected as the angle of the object.

As described above, the overlapping portion R ₁ in which the binarized image V ′ obtained by binarizing the contour line of the target object and the straight lines L ₁ and L ₂ created on the binarized image V ′ overlap _{each other} , R ₂ , R ₃ ,
R ₄ is extracted, and the overlapping portion is labeled and numerically processed to obtain outermost contour points P ₁ , P ₂ , P ₃ , P ₄ of the object,
Since this is the method of detecting the angle of the object from the outermost contour points, all that is required is to label the small area called the overlapping part,
The processing speed is fast. At this time, the processing can be performed regardless of the size of the target object, and even when there are a plurality of images. Furthermore, since it is a simple processing method,
It is also applicable to online processing.

[0016]

As described above, according to the present invention, the contour line of the target object is extracted as a binarized image, and the binarized image and a plurality of straight lines created on the binarized image are extracted. Since the overlapping portion is extracted and the angle of the object is detected by processing the small area called the overlapping portion, not only the processing speed is high, but also processing can be performed regardless of the size of the target object. Can be processed even when the image of.
Further, since it is a simple processing method, it can be applied to online processing.

[Brief description of drawings]

FIG. 1 is a flowchart illustrating an object angle detection method according to an embodiment of the present invention.

FIG. 2 is a first explanatory diagram showing the same embodiment along the flow of the flowchart of FIG.

FIG. 3 is a second explanatory diagram showing the same embodiment along the flow of the flowchart of FIG.

FIG. 4 is a third explanatory diagram showing the same embodiment along the flow of the flowchart of FIG.

5 is a fourth explanatory view showing the embodiment according to the flow of the flowchart of FIG. 1. FIG.

FIG. 6 is a fifth explanatory diagram showing the same embodiment along the flow of the flowchart in FIG. 1.

FIG. 7 is a sixth explanatory diagram showing the same embodiment as the flow of the flowchart in FIG. 1.

FIG. 8 is a seventh explanatory view showing the embodiment along the flow of the flowchart of FIG. 1.

9 is an eighth explanatory diagram showing the same embodiment as the flow of the flowchart in FIG. 1. FIG.

FIG. 10 is a ninth explanatory diagram showing the same embodiment as the flowchart of FIG. 1.

FIG. 11 is a tenth explanatory view showing the embodiment along the flow of the flowchart of FIG. 1.

[Explanation of symbols]

Binarized image L ₁ of the image V 'target object V _{object, L 2, L 3, L} 4 straight _{R 1, R 2, R 3} , R 4 overlapping portions _{G 1, G 2, G 3} , G 4 Center of gravity of overlapping part P ₁ , P ₂ , P ₃ , P ₄ Outermost contour point of object

Claims (1)

[Claims] 1. A contour line of a target object is extracted as a binarized image by photographing the target object and subjecting the photographed data to image processing, and a straight line intersecting with the binarized image is extracted on the binarized image. A plurality of parallel images are created at appropriate intervals to extract overlapping portions where the binarized image and each straight line are overlapped, and the overlapping portions are labeled respectively, and the position of the center of gravity at each labeled overlapping portion and the straight line X-axis direction or Y depending on direction
The maximum length D in the axial direction is obtained, and a point on the outer peripheral side from the center of gravity by a distance of D / 2 in the X-axis direction or the Y-axis direction is determined as the outermost contour point of the object, and the adjacent outermost contour points are determined. A method for detecting an angle of an object, which comprises detecting an inclination of any one of straight lines connecting the two as an angle of the object.