JPH1089919A - Method for recognizing object and its device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To recognize an object easily by emitting coherent waves to an object and a hologram recording plate respectively, recording the results on the holo gram recording plate, and recognizing a picture that a primary diffraction wave is formed at a specific position after emitting a coherent wave to the object only. SOLUTION: First, a coherent wave is emitted to an object 8 and a hologram recording plate 13 respectively through a recorder, and a standing wave is recorded as interference grid to the hologram recording plate 13 through interference between objective waves and reference waves. After the plate 13 is developped, stopped and fixed, it is set in a hologram sensor 18 for reproduction. When only the object 8 is irradiated with an illumination wave b and the plate 13 is referred by the objective wave d, a primary diffracted wave e as can be obtained as reproduced reference wave. A picture that the primary diffracted wave 2 is formed at a forming point f is detected by a light receiving element 25 so as to recognize the object 8. In addition, the forming point f cannot be obtained in the case of another object.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a hologram (ho
The present invention relates to a method and apparatus for recognizing an object such as a three-dimensional object by touching the object by using logram).

[0002]

2. Description of the Related Art Conventionally, a method and an apparatus for recognizing an object are described in, for example, JP-A-4-54574. That is, as shown in FIG.
01, CCD camera 102, monitor television 103, laser oscillator 104, liquid crystal display 105, collimator lens system 106, imaging lens 107, spatial light modulator 108, half mirror 109, Fourier transform lens 110, condenser lens 111, photoelectric A reference element 113 including a conversion element 112, a reference object 113, and a recognized object 114. The correlation value between the image of the recognized object 114 and the image of the reference object 113 is linear with respect to the rotation angle of the image of the recognized object 114. , An image of the complex conjugate of the Fourier transform of the image is obtained, only the phase information is extracted and displayed on the liquid crystal display 105, and converted into a Fourier transform spectrum image of the laser light corresponding to the image of the object 104 to be recognized. The rotation direction and the position of the object 114 to be recognized are obtained from the luminance level at this time. To form a filter of the reference object 113 also orientation of the object 113 is changed in the liquid crystal display products 105,
The reference object 11 of the object 114 to be recognized is
Although the apparatus is configured to recognize the rotation shift and the position shift with respect to No. 3, there is a problem that only a two-dimensional shading pattern can be recognized.

[0003]

According to the first aspect of the present invention, an object and a hologram recording plate are irradiated with coherent waves (for example, a laser beam) and recorded on the hologram recording plate. By irradiating a coherent wave to the object and recognizing an image (imaging point) where the first-order diffracted wave is formed at a specific position, the object can be easily recognized and the software processing can be shortened. The purpose is to provide a recognition method.

According to a second aspect of the present invention, in addition to the object of the first aspect, a lens movement for recognizing a direction of an object based on an image forming position of a first-order diffracted wave and obtaining an image is provided. An object of the present invention is to provide an object recognition method capable of reliably recognizing the direction and the perspective position of an object by recognizing the perspective position of the object based on the amount.

According to a third aspect of the present invention, in addition to the object of the first aspect, an object is recorded in different areas of a hologram recording plate from different directions, and the areas are switched for reproduction during reproduction. It is another object of the present invention to provide an object recognition method capable of reliably recognizing the orientation of a three-dimensional object by recognizing the orientation of the object based on an area where an image is obtained corresponding to a recording area.

According to a fourth aspect of the present invention, in addition to the object of the third aspect, by using a liquid crystal shutter as a means for switching an area during reproduction, the arrangement of the shutter is improved. Also, of course, the power consumption is small,
It is an object of the present invention to provide a method for recognizing an object that can secure a reliable area opening / closing operation.

[0007] The invention described in claim 5 of the present invention, in addition to the object of the invention described in claim 1, 2, 3, or 4 above,
It is an object of the present invention to provide a method for recognizing an object that can achieve high accuracy of recognition and measurement and high processing speed by setting a coherent wave to a laser beam.

According to a sixth aspect of the present invention, in addition to the object of the first aspect, by simultaneously irradiating a plurality of objects with coherent waves and simultaneously recognizing the plurality of objects, a plurality of objects are recognized. It is an object of the present invention to provide an object recognition method capable of recognizing the presence or absence of an object and the mutual relationship between a plurality of objects.

According to a seventh aspect of the present invention, in addition to the object of the first aspect, a coherent wave is simultaneously radiated to an assembly portion (position) and an assembly component (work). By simultaneously recognizing the assembly site and the assembly parts,
An object of the present invention is to provide a method for recognizing an object that can improve the assemblability and the assembling accuracy by recognizing the relative relationship between the two.

According to an eighth aspect of the present invention, in addition to the object of the first aspect, a plurality of objects are recorded (multiplex-recorded) on a hologram recording plate by changing the irradiation direction of a reference wave, During reproduction, by recognizing which of a plurality of objects according to the direction of the reference wave from which an image can be obtained, it is possible to reliably perform a plurality of types of object discrimination even with a single hologram recording plate. An object of the present invention is to provide a method for recognizing an object that can be performed.

According to a ninth aspect of the present invention, in addition to the object of the eighth aspect, a plurality of objects (coins) are provided.
The object of the present invention is to provide a method of recognizing an object that can determine a coin and determine whether it is a true currency or a fake currency by setting to.

According to a tenth aspect of the present invention, in addition to the object of the first or ninth aspect, the object attitude is changed by rotating the hologram recording plate in accordance with the object attitude. It is another object of the present invention to provide a method for recognizing an object that can reliably recognize such an object.

According to an eleventh aspect of the present invention, an object and a hologram recording plate are irradiated with a coherent wave (for example, a laser beam) at the time of recording, and recorded on the hologram recording plate. At the time of reproduction, only the object is irradiated with a coherent wave. The present invention provides an object recognition apparatus that can easily recognize an object by recognizing an image (imaging point) formed by a first-order diffracted wave at a specific position and can shorten software processing. Aim.

According to a twelfth aspect of the present invention, in addition to the object of the eleventh aspect, a lens movement amount for recognizing a direction of an object based on an image forming position of first-order diffraction and obtaining an image is obtained. By recognizing the perspective position of the object based on
It is an object of the present invention to provide an object recognition device capable of reliably recognizing a direction and a near-far position of an object.

According to a thirteenth aspect of the present invention, in addition to the object of the eleventh aspect, an object is recorded in different areas of the hologram recording plate from different directions, and the areas are switched at the time of reproduction for reproduction. It is another object of the present invention to provide an object recognition device capable of reliably recognizing the orientation of a three-dimensional object by recognizing the orientation of the object based on an area where an image is obtained corresponding to a recording area.

According to a fourteenth aspect of the present invention, in addition to the object of the thirteenth aspect, by using a liquid crystal shutter as a means for switching an area at the time of reproduction, the arrangement property of the shutter is improved. Another object of the present invention is to provide a device for recognizing an object that can secure a reliable area opening / closing operation in addition to low power consumption.

[0017]

According to a first aspect of the present invention, there is provided a method for recognizing an object, which comprises irradiating a coherent wave to the object and the hologram recording plate to record them on the hologram recording plate. The object recognition method is characterized by irradiating a coherent wave only to an object and recognizing an image in which a first-order diffracted wave is formed at a specific position.

According to a second aspect of the present invention, there is provided a lens for recognizing a direction of an object based on an image forming position of the first-order diffracted wave and obtaining an image in combination with the configuration of the first aspect of the present invention. It is a method of recognizing an object for recognizing a perspective position of the object based on a movement amount.

According to a third aspect of the present invention, in addition to the configuration of the first aspect, an object is recorded in different areas of the hologram recording plate from different directions, and a recording area is selected during reproduction. The object recognition method is characterized in that the area is switched by the selection means, and the posture of the object is recognized by the area where an image is obtained corresponding to the recording area.

According to a fourth aspect of the present invention, in addition to the configuration of the third aspect of the present invention, there is provided a method of recognizing an object in which the area to be selected is switched by a liquid crystal shutter.

The invention according to claim 5 of the present invention, together with the structure of the invention described in claim 1, 2, 3, or 4 above,
The method is a method for recognizing an object in which the coherent wave is set to a laser beam.

According to a sixth aspect of the present invention, there is provided an object recognition method for simultaneously recognizing a plurality of objects by simultaneously irradiating a plurality of objects with a coherent wave to the structure of the first aspect. It is characterized by being.

According to a seventh aspect of the present invention, in addition to the configuration of the first aspect of the present invention, a coherent wave is simultaneously radiated to the assembling part and the assembling component to thereby assemble the assembling part and the assembling part. It is a method of recognizing an object that simultaneously recognizes a part.

According to an eighth aspect of the present invention, in addition to the configuration of the first aspect of the present invention, a plurality of objects are recorded on a hologram recording plate by changing the irradiation direction of a reference wave to obtain an image. The method is characterized by an object recognition method for recognizing which one of a plurality of objects according to the direction of a given reference wave.

According to a ninth aspect of the present invention, there is provided a method of recognizing an object in which the plurality of objects are set as coins, in addition to the configuration of the eighth aspect of the present invention.

According to a tenth aspect of the present invention, in addition to the configuration of the first or ninth aspect, there is provided an object recognition method for rotating the hologram recording plate in accordance with an object posture. Features.

According to an eleventh aspect of the present invention, there is provided an apparatus for recognizing an object, comprising: recording means for irradiating a coherent wave to the object and the hologram recording plate to record a standing wave on the hologram recording plate as interference fringes. And an object recognizing device provided with a recognizing means for recognizing an image in which a first-order diffracted wave is formed at a specific position by irradiating only an object with a coherent wave.

According to a twelfth aspect of the present invention, in addition to the configuration of the eleventh aspect of the present invention, a direction detecting means for recognizing the direction of an object based on an image forming position of a primary diffracted wave, The object recognition apparatus is provided with perspective detection means for recognizing the perspective position of the object based on the amount of lens movement.

According to a thirteenth aspect of the present invention, in addition to the structure of the eleventh aspect of the present invention, a recording means for recording an object in a different area of a hologram recording plate from a different direction and a recording area selected at the time of reproduction are selected. And an object recognizing device for recognizing a posture of an object by an area where an image is obtained corresponding to a recording area by switching an area by the selecting means.

According to a fourteenth aspect of the present invention, in addition to the configuration of the thirteenth aspect, the present invention is an object recognizing device in which the selection means is set to a liquid crystal shutter.

[0031]

According to the first aspect of the present invention, at the time of recording, the object and the hologram recording plate are irradiated with coherent waves, and the hologram recording plate records standing waves as interference fringes. Thereafter, during reproduction, a method of irradiating only the object with a coherent wave and recognizing an image (imaging point) where the first-order diffracted wave is formed at a specific position is performed. The object can be easily recognized, and the object can be easily recognized as in the conventional image processing.
This eliminates the need for any value processing or the like, and has the effect of reducing the time for software processing.

According to the invention described in claim 2 of the present invention,
In addition to the effect of the first aspect of the present invention, at the time of reproduction, the direction of the object is recognized based on the imaging position of the first-order diffracted wave,
Since the perspective position of the object is recognized based on the amount of lens movement for obtaining an image, there is an effect that the direction and the perspective position of the object can be reliably recognized.

According to the third aspect of the present invention,
In addition to the effect of the first aspect of the present invention, at the time of recording, the object is recorded in different areas of the hologram recording plate from different directions, and at the time of reproduction, the area is switched by the selecting means and reproduced. In this case, the posture of the object is recognized based on the area in which the image is obtained in accordance with (1). Therefore, there is an effect that the posture of the three-dimensional object can be reliably recognized.

According to the fourth aspect of the present invention,
In addition to the effect of the third aspect of the present invention, since the liquid crystal shutter is used as a means for switching the area at the time of reproduction, the arrangement of the shutter is good, the power consumption is small, and the reliable area opening / closing operation can be performed. There is an effect that can be secured.

According to the fifth aspect of the present invention,
In addition to the effects of the first, second, third, and fourth aspects of the present invention, the coherent wave is set to the laser beam, so that the effects of achieving higher recognition and measurement accuracy and higher processing speed can be achieved. is there.

According to the invention described in claim 6 of the present invention,
In addition to the effect of the first aspect of the present invention, since a plurality of objects are simultaneously recognized by simultaneously irradiating a plurality of objects with coherent waves, the presence or absence of a plurality of objects and the correlation between the plurality of objects can be recognized. There is an effect that can be.

According to the invention of claim 7 of the present invention,
In addition to the effect of the first aspect of the present invention, the assembly site (position) and the assembly component (work) are simultaneously irradiated with coherent waves, and the assembly site and the assembly component are simultaneously recognized. By recognizing the relative relationship between the two, there is an effect that the assemblability can be improved and the assembling accuracy can be improved.

According to the invention described in claim 8 of the present invention,
In addition to the effect of the first aspect of the present invention, at the time of recording, a plurality of objects are recorded on the hologram recording plate by changing the irradiation direction of the reference wave (multiplex recording), and at the time of reproduction, the plurality of objects are changed according to the direction of the reference wave at which an image is obtained. Since any one of the plurality of objects is recognized, there is an effect that a plurality of types of object discrimination can be reliably executed even though the object is a single hologram recording plate.

According to the ninth aspect of the present invention,
In addition to the effect of the invention of claim 8, since the object is set for a plurality of objects (coins), it is possible to discriminate coins and discriminate between true money and fake money.

According to the tenth aspect of the present invention, in addition to the effect of the first or ninth aspect, the hologram recording plate is rotated in accordance with the object attitude. By rotating the hologram recording plate even if the value fluctuates, such an object can be surely recognized.

According to the eleventh aspect of the present invention, at the time of recording, the recording means irradiates the object and the hologram recording plate with coherent waves, respectively, and records the standing waves as interference fringes on the hologram recording plate. During reproduction, the above-described recognition means irradiates only the object with a coherent wave to recognize an image (imaging point) where the first-order diffracted wave is formed at a specific position.

As a result, the object can be easily recognized based on the presence or absence or the position of the image forming point, and a complicated binarizing process as in the conventional image processing apparatus is not required at all.
There is an effect that the time for software processing can be reduced.

According to the twelfth aspect of the present invention, in addition to the effect of the eleventh aspect of the present invention, at the time of reproduction, the above-mentioned direction detecting means determines the position of the object based on the imaging position of the first-order diffracted wave. In addition to recognizing the direction, the above-described perspective detection means recognizes the perspective position of the object based on the amount of lens movement for obtaining an image, so that there is an effect that the direction and perspective position of the object can be reliably recognized. .

According to the thirteenth aspect of the present invention, in addition to the effect of the eleventh aspect, at the time of recording, the recording means makes the hologram recording plate move the object from different directions (preferably, multiple directions). Each in a separate area,
At the time of reproduction, a selection means for selecting a recording area is driven, and the area to be reproduced is switched by the selection means, and an object (three-dimensional object) is formed by an area where an image is obtained corresponding to the recording area.
Since the posture of the three-dimensional object is recognized, there is an effect that the posture of the three-dimensional object can be reliably recognized.

According to the fourteenth aspect of the present invention, in addition to the effect of the thirteenth aspect, the liquid crystal shutter is used as the means (selection means) for switching the area during reproduction. The arrangement is good and the power consumption is small. Of course, the liquid crystal shutter can ensure a reliable opening and closing operation of the area.

[0046]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. Prior to the description of the object recognition method of the present invention, the configuration of an object recognition device will be described first with reference to FIGS. This object recognition device is a recording device 1 shown in FIG.
And a hologram sensor 18 as recognition means shown in FIG.
And

The recording apparatus 1 is provided with a laser projector 3 for projecting a laser beam a as an example of a coherent continuous wave (coherent wave) in a housing 2 as shown in FIG. 1, and the laser projector 3 and a convex lens Between 4 (single lens)
A shutter 5, a half mirror 6, and an objective lens 7 are provided.
The half mirror 6 splits the laser beam a into two beams, one of the laser beams a is converted into an illumination wave b via the objective lens 7 and the convex lens 4, and the object 8 is irradiated with the illumination wave b.

The other laser beam a split by the half mirror 6 is changed in direction by another half mirror 9 to form a reference wave c via the objective lens 10 and the filter 11. Is formed into a parallel wave by the convex lens 12 and is irradiated on the hologram recording plate 13. When the above-mentioned illumination wave b hits the object 8, the wave is reflected and becomes an object wave d, and the object wave d is applied to the hologram recording plate 13 via the convex lens 14.

By causing the object wave d and the reference wave c to interfere with each other, the two light waves c and d are coherent with each other, so that a standing wave is generated by the interference. Record as interference fringes. As the hologram recording plate 13, a high-resolution photosensitive material such as a silver halide emulsion is used. After recording, the hologram recording plate 13 is set on the hologram sensor 18 in FIG. In FIG. 1, reference numeral 15 denotes a partition plate, 1
Reference numerals 6 and 17 denote lens moving devices (moving stages) used to absorb manufacturing errors and the like.

Next, referring to FIG.
The hologram sensor 18 has a coherent continuous wave (coherent wave) inside a housing 19.
As one example, a laser projector 20 for projecting a laser beam a is provided, an objective lens 22 is provided between the laser projector 20 and the convex lens 21, and the laser beam a is transmitted through the objective lens 22 and the convex lens 21 through an illumination wave. b and this illumination wave b
Is applied to the object 8.

When the above-mentioned illumination wave b hits the object 8, the wave is reflected and becomes an object wave d.
A primary diffracted wave e, which is diffracted by the hologram recording plate 13 and reproduced as a reference wave, is obtained, so that an image forming point f is obtained on the light receiving element 25 such as a photodiode by condensing the light by the convex lens 24. It is composed. When the object 8 at the time of recording and the object 8 at the time of reproduction have the same shape and the same position, the above-mentioned imaging point f forms an image at a position corresponding to the point g in FIG. 1, and the position of the object 8 at the time of reproduction is recorded. If the position of the object 8 is shifted at the time, the imaging point f is shifted due to aberration.

In FIG. 2, reference numeral 26 denotes a partition plate;
Reference numeral 28 denotes a lens moving device (moving stage) used to absorb a production error or the like. An object recognition method for recognizing the object 8 using the recording device 1 (see FIG. 1) and the hologram sensor 18 configured as described above will be described below.

First, the object 8 and the hologram recording plate 13 are irradiated with coherent waves (laser light in this embodiment) by the recording apparatus 1 of FIG.
After the standing wave is recorded as interference fringes on the hologram recording plate 13 due to the interference with the hologram recording plate 13, the hologram recording plate 13 is subjected to a predetermined process (phenomenon, stop, fixation). set.

At the time of reproduction, the hologram sensor 18 shown in FIG. 2 is used to irradiate only the object 8 with the illumination wave b. When the hologram recording plate 13 is referred to by the object wave d, the reproduced primary diffraction wave e as a reference wave is obtained. The object 8 is recognized by detecting, by the light receiving element 25, an image (imaging point f) obtained by obtaining the primary diffraction wave e at a specific position. In the case of a different object (another object), although the first-order diffraction is performed, the imaging point f cannot be obtained, so that the object 8 can be accurately recognized.

That is, when the object 8 at the time of recording and the object 8 at the time of reproduction have the same shape and the same position, an imaging point f is obtained on the light receiving element 25 corresponding to the point g in FIG.
By detecting at 5 and outputting an electric signal, it is possible to easily recognize that the object 8 has the same three-dimensional shape. In addition, there is no need to perform any binarization processing or the like as in the conventional image processing, which has the effect of reducing the time required for software processing, and it is possible to determine whether the same three-dimensional object 8 or another three-dimensional object. Can be easily done.

FIG. 3 shows another embodiment of the hologram sensor. In place of the light receiving element 2 in FIG. 2, a PSD (Position Sensitive Deviation) for outputting an analog signal corresponding to a detection position is provided.
ice (semiconductor position detector) or CCD (Charge Coupled Device) that outputs a digital signal corresponding to the detected position
e, a charge-coupled device) Preferably, a position detecting element 29 such as a CCD array is provided, and by utilizing the fact that the imaging point f also shifts in the direction in which the object 8 shifts due to aberration characteristics, this shift amount (that is, (The amount of displacement in the vertical and horizontal directions of the object 8), and if the object 8 is displaced in the perspective direction (the depth direction), the imaging point f cannot be obtained. And adjust the imaging point f
Is configured to recognize the perspective position (perspective distance) of the object 8 based on the obtained lens movement amount. In addition,
When the object 8 approaches, the imaging point f moves away, and when the object 8 moves away, the imaging point f approaches.
When a CPU is connected to the CPU via a movement amount detection sensor, the above-described lens movement amount can be calculated by the CPU.

Even when the object 8 is recognized by the hologram sensor shown in FIG. 3, at the time of recording, interference fringes are recorded on the hologram recording plate 13 by the recording apparatus 1 shown in FIG. The hologram recording plate 13 on which predetermined processing (development, stop, fixation) has been performed is connected to the hologram sensor 1 shown in FIG.
Set to 8.

At the time of reproduction, only the object 8 is irradiated with the illumination wave b by using the hologram recording plate 13 shown in the figure, and when the hologram recording plate 13 is referred to by the object wave d, a first-order diffraction wave e is obtained. The position of the imaging point f of the diffracted wave e is detected by the position detection element 29 to detect the displacement of the object 8 in the vertical and horizontal directions, and to determine the amount of movement of the lens 23 for obtaining the imaging point f. Based on this, the perspective position of the object 8 is recognized by the perspective detection means such as a CPU.

With such a configuration, there is an effect that the direction of the object 8 can be reliably recognized by the position detecting element 29 and the perspective position can be reliably recognized by the perspective detection means such as a CPU. In FIG. 3, the same parts as those in the previous figure are denoted by the same reference numerals, and detailed description thereof will be omitted. 4, 5 and 6 show another embodiment of the object recognition method and apparatus.

The hologram sensor 30 shown in FIG. 6 serves both as recording means and recognition means, and has an object 8 of an arbitrary shape (see FIG. 4).
Are recorded in different areas A, B, and C of the hologram recording plate 13 from different directions (see FIG. 5). That is, at the time of recording, the laser beam a from the laser projector 20 is split into two by the half mirror 6, and one of the laser beams a
Is diffused by the convex lens 21 to form an illumination wave b, and this illumination wave b is applied to the object 8 and the object wave d reflected from the object 8
Hologram recording plate 1 via an interference filter 31 and a convex lens 23 that allows only laser light to pass through (removal of disturbance light).
3 and the other laser beam a split by the half mirror 6 is formed as a reference wave c via the convex lens 12,
The hologram recording plate 13 is irradiated with the reference wave c via another half mirror 9. However, a liquid crystal shutter 3 described later
Due to the provision of 2, the reference wave c is applied to the hologram recording plate 13 from the same direction as the object wave d.

At this time, the liquid crystal shutter 3 as a selecting means for selecting an exposure area (selecting an imaging surface) on the front side of the hologram recording plate 13 so that the areas A, B, and C are not exposed at one time.
2 is provided, only the region to be exposed is opened by the liquid crystal shutter 32, and the other portions are masked by the liquid crystal shutter 32, and recording is sequentially performed for each region. Thus, the hologram recording plate 13 in which the interference fringes from different directions of the object are recorded in the respective areas A, B, and C is set on the hologram sensor 30 again after the developing, stopping, and fixing processes.

Since the reference wave c is unnecessary at the time of reproduction, for example, a shutter (not shown) is arranged between the half mirror 6 and the convex lens 12 to shield light, while the illumination wave b is applied only to the object 8 to illuminate the object. The hologram recording plate 13 is referred to by the wave d. At this time, the liquid crystal shutter 32 is sequentially opened corresponding to the regions A, B, and C, and the region where the imaging point f is obtained by the first-order diffracted wave e corresponds to the attitude of the object 8. The object posture can be recognized by the open area, and the object position can be recognized by the electric signal from the position detection element 29.

With such a configuration, the object 8 of an arbitrary shape is recorded in different areas A, B, and C of the hologram recording plate 13 from different directions during recording, and is reproduced by the liquid crystal shutter 32 as selection means during reproduction. Play by switching the area,
Since the orientation of the object 8 is recognized by the area where the image is obtained corresponding to the recording area (the attitude is recognized by comparing the area at the time of recording and the area opened to obtain the imaging point f at the time of reproduction). There is an effect that the orientation of the three-dimensional object can be reliably recognized.

FIG. 7 shows an embodiment in which the hologram sensor 30 shown in FIGS. 4 to 6 is used to execute an assembly inspection of a wiper motor 34, a battery 35, and a headlamp 36 as objects attached to a vehicle 33. . First, the wiper motor 34, the battery 35, and the head lamp 36 of the normally assembled vehicle 33 are recorded in each area of the hologram recording plate 13, and then the vehicle to be inspected is transported on a line, and the above-described wiper motor 34, battery 35 It is possible to recognize whether or not the headlamp 36 is correctly assembled, or whether or not parts having different specifications are assembled. The recording method and the reproducing method in this case are the same as those of the embodiment shown in FIGS.

FIG. 8 shows an embodiment in which the assembly component 37 is assembled to the assembly site 39 of the vehicle 33 by the robot 38 using the hologram sensor 30 described above. At the time of recording, the assembling part 37 and the assembling part 39 are recorded in advance on the hologram recording plate 13 (however, recorded in a normal assembling state). When the coherent wave (illumination wave b by laser light in this embodiment) is simultaneously radiated to 39 and the assembly component 37,
When the positions 9 and 37 match, the image forming point f is formed at one point on the position detecting element 29. However, when there is a positional deviation between the two 39 and 37, two image forming points are formed on the position detecting element 29. Since the robot 38 appears, a feedback signal is sent to the robot 38 so that the two imaging points coincide with each other, so that the robot 38 is driven by an amount corresponding to the displacement and the assembly part 37 is moved to the assembly site 39. Even if the vehicle 33 is slightly swung by the hanger device 40, the robot 38 can be followed by light speed processing, and normal assembly can be performed without accumulated errors. The downsizing of the robot 38 can also be achieved.

As described above, at the time of reproduction, a plurality of objects (see the respective elements 34, 35, 36 in FIG. 7, and the respective elements 37, 39 in FIG. 8) are simultaneously irradiated with coherent waves to simultaneously recognize the plurality of objects. Therefore, there is an effect that the presence or absence of a plurality of objects and the mutual positional relationship between the plurality of objects can be recognized.

In the embodiment shown in FIG. 8, the assembly site 39 and the assembly component 37 are simultaneously irradiated with coherent waves to simultaneously recognize the assembly site 39 and the assembly component 37. By recognizing the relative relationship, there is an effect that the assemblability can be improved.

FIGS. 9 and 10 show an embodiment in which a semiconductor wafer 41 as an object is recognized using the apparatus shown in FIGS. 9 and 10, for convenience of illustration,
Although the lens is omitted, the configuration is the same as in FIGS.

A semiconductor wafer 41 (a wafer, a thin semiconductor section) as an object and a hologram recording plate 13 are irradiated with coherent waves (laser light in this embodiment) by the recording apparatus 1 of FIG. After the standing wave is recorded as interference fringes on the hologram recording plate 13 by the interference between the object wave d and the reference wave c, the hologram recording plate 1
3 is subjected to predetermined processing (phenomenon, stop, fixation), and the hologram recording plate 13 is set on the hologram sensor 18 in FIG.

At the time of reproduction, the hologram sensor 18 shown in FIG.
Is used to irradiate the illumination wave b only to the semiconductor wafer 41 as an object, and when the hologram recording plate 13 is referred to by the object wave d, a reproduced first-order diffraction wave e is obtained as a reference wave, and this first-order diffraction wave is obtained. By detecting, by the light receiving element 25, an image formed by e at a specific position (imaging point f), it is recognized whether or not the semiconductor wafer 41 is properly burned.

FIGS. 11 and 12 show coins 43A and 43B as an example of money as objects using the apparatus of FIGS.
An example in the case of recognizing 43C will be described. Note that FIG.
In FIG. 12, the lens is omitted for convenience of illustration, but the configuration is the same as in FIGS.

During recording, the coin 43A and the hologram recording plate 13 are irradiated with a coherent wave (laser light in this embodiment) by the recording device 1 of FIG. The standing wave is recorded as an interference fringe on the hologram recording plate 13 by the interference of
The interference fringe of the coin 43B is recorded on the hologram recording plate 13 by changing the irradiation direction of the coin 43B. Further, the irradiation direction of the reference wave c is changed, and interference fringes of the coin 43C are recorded on the hologram recording plate 13.

That is, each coin 43A, 43B, 43C
(Specifically, a three-dimensional pattern of coins) is multiplex-recorded on the hologram recording plate 13 with different irradiation directions of the reference wave c. On the other hand, on the hologram sensor 18 side, each coin 4
Since the directions of the primary diffracted waves e as the reference waves reproduced by 3A, 43B, and 43C are different, light receiving elements 25A, 25A, 25B, and 25C are arranged corresponding to these directions, and coins 43A, 43B, and 43C are provided. The hologram recording plate 13 is configured to rotate because the hologram recording plate 13 cannot be determined in what orientation the positioning device 44 such as a positioning pin enters.

At the time of reproduction, the irradiation wave b is applied only to the coins that have entered the position where the positioning means 44 is disposed, and the hologram recording plate 13 is rotated. Indicates that a detection signal is obtained at the light receiving element 25A, and when the inserted coin is the coin 43B, a detection signal is obtained at the light receiving element 25B, and the inserted coin is the coin 43C.
, A detection signal is obtained at the light receiving element 25C. When the inserted coin is a counterfeit coin, any of the light receiving elements 25C is detected.
Since no detection signal is obtained for A, 25B, and 25C, the type and authenticity recognition of the inserted coin can be determined regardless of the inserted attitude. Therefore, vending machines,
The present invention can be applied to coin discrimination of an apparatus that performs coin processing, such as an automatic teller machine or an automatic ticket vending machine.

In the correspondence between the configuration of the present invention and the above-described embodiment, the object of the present invention is the object 8, the wiper motor 34, the battery 35, the headlamp 36, the mounting portion 39, the mounting portion 37, Semiconductor wafer 41, coin 43
A, 43B, and 43C, and similarly, a coherent wave corresponds to a laser beam, a recording unit corresponds to the recording device 1, a recognition unit corresponds to the hologram sensors 18 and 30, and a direction detection unit. Corresponds to the position detecting element 29, the perspective detecting means corresponds to the CPU, and the selecting means corresponds to the liquid crystal shutter 32. However, the present invention is not limited to only the configuration of the above embodiment. .

For example, as the coherent wave, another coherent wave such as an ultrasonic wave, a radio wave, or a microwave can be used in place of the above-described laser light. In particular, when the ultrasonic wave is used, a hologram recording plate of a silver salt emulsion can be used. Instead, using a hologram recording plate made of silicon rubber, vibrating the silicon rubber by air vibration, vibrating and diffracting by the double pulse method, detecting the amplitude distribution with a laser, and performing etching (baking), The reflection of the sound is preferably configured to be diffracted into holograms. When an ultrasonic wave is used as a coherent wave, there is an effect of being hardly affected by color.

As the above-mentioned hologram recording plate, a photoresist, a CCD, an ultrasonic sensor array or the like can be used in addition to the silver salt emulsion. Still another application of the present invention is a method for recognizing whether or not a polished camshaft has a regular shape at the time of polishing a camshaft, a method for recognizing whether or not an automobile part is assembled at a regular position, and other various fields. Can be applied to the recognition of

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a recording device used for an object recognition method according to the present invention.

FIG. 2 is an explanatory diagram of a hologram sensor in the object recognition method of the present invention.

FIG. 3 is an explanatory view showing another embodiment of the hologram sensor.

FIG. 4 is an explanatory diagram showing a relationship between an arbitrary object and a recording area.

FIG. 5 is an explanatory diagram showing an example of area division on a hologram recording plate.

FIG. 6 is an explanatory view showing still another embodiment of the hologram sensor.

FIG. 7 is an explanatory diagram showing simultaneous recognition of a plurality of objects.

FIG. 8 is an explanatory view showing simultaneous recognition of an assembly member and an assembly component.

FIG. 9 is an explanatory diagram at the time of recording a semiconductor wafer by a recording device.

FIG. 10 is an explanatory diagram when a hologram sensor recognizes a semiconductor wafer.

FIG. 11 is an explanatory diagram at the time of coin multiplex recording by the recording device.

FIG. 12 is an explanatory diagram at the time of coin discrimination by a hologram sensor.

FIG. 13 is a system diagram showing a conventional object recognition method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Recording device 8 ... Object 18, 30 ... Hologram sensor 29 ... Position detection element 32 ... Liquid crystal shutter 34 ... Wiper motor 35 ... Battery 36 ... Headlamp 37 ... Assembly parts 39 ... Assembly members 41 ... Semiconductor wafers 43A-43C ... Coin b ... illumination wave c ... reference wave d ... object wave e ... first-order diffraction wave f ... imaging point

Claims (14)

[Claims] 1. A method for recognizing an object, comprising: irradiating a coherent wave onto an object and a hologram recording plate to record on the hologram recording plate; and thereafter irradiating only the object with a coherent wave to specify a first-order diffraction wave. Object recognition method for recognizing an image formed at a position. 2. The object recognition method according to claim 1, wherein the direction of the object is recognized based on the image forming position of the first-order diffracted wave, and the distance position of the object is recognized based on the amount of lens movement for obtaining the image. 3. An object is recorded in different areas of the hologram recording plate from different directions, and at the time of reproduction, the area is switched by a selection means for selecting a recording area. 2. The object recognition method according to claim 1, wherein the posture is recognized. 4. The object recognition method according to claim 3, wherein the area to be selected is switched by a liquid crystal shutter. 5. An object recognition method according to claim 1, wherein said coherent wave is set to a laser beam. 6. The object recognition method according to claim 1, wherein a plurality of objects are simultaneously irradiated with coherent waves to simultaneously recognize the plurality of objects. 7. The object recognition method according to claim 1, wherein a coherent wave is simultaneously radiated to the assembly site and the assembly component to simultaneously recognize the assembly site and the assembly component. 8. A plurality of objects are recorded on a hologram recording plate by changing the irradiation direction of a reference wave, and which of the plurality of objects is recognized based on the direction of the reference wave from which an image is obtained. The method of recognizing the described object. 9. The system according to claim 8, wherein said plurality of objects are set as coins.
The method of recognizing the described object. 10. The method for recognizing an object according to claim 1, wherein the hologram recording plate is rotated in accordance with the posture of the object. 11. A device for recognizing an object, comprising: recording means for irradiating an object and a hologram recording plate with coherent waves to record a standing wave on the hologram recording plate as interference fringes; and irradiating only the object with a coherent wave. And an object recognizing device provided with recognizing means for recognizing an image formed by a first-order diffracted wave at a specific position. 12. An image forming apparatus comprising: direction detecting means for recognizing a direction of an object based on an image forming position of a first-order diffracted wave; The apparatus for recognizing an object according to claim 11. 13. A recording means for recording an object in different areas of a hologram recording plate from different directions, and a selecting means for selecting a recording area at the time of reproduction, wherein the selecting means switches the area to correspond to the recording area. The object recognition apparatus according to claim 11, wherein the posture of the object is recognized based on a region where an image is obtained. 14. An object recognition apparatus according to claim 13, wherein said selection means is set to a liquid crystal shutter.