JPH1139420A - Code reader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device that reads a code whose distance in a specific area is different and which has a different size and moves in the distance. SOLUTION: This device is provided with a universal head 2 that supports a CCD camera, a camera zoom and focus adjustment mechanism 3, an image input device 4, a universal head controller 5 which controls the direction of a camera, a controller 6 which controls the scale factor and focus of the camera and an image processor 7. The processor 7 first makes the scale factor of the camera small to recognize the existence of a code and code information, detects the existence of a code 8 that is an object in a wide range, turns the camera to the position where the code 8 that is the object exists when it recognizes the existence of the code 8 that is the object, increases the scale factor of the camera of that code information can be read sufficiently and also focuses the camera on it so that the code 8 that is the object can be read.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for reading a code written on a surface of a target member in a distribution system, a work robot, or the like.

[0002]

2. Description of the Related Art FIG. 6 shows a conventional code reader. In the image processing type code reader using the CCD camera 32 shown in FIG. 6, the code 38 is moved so that the target code 38 falls within a specific range of the reader.

[0003]

The prior art has the following problems. (1) In the conventional device (FIG. 6), if the target code 38 is out of the field of view of the CCD camera 32, the target code 38 cannot be recognized.

That is, since the conventional code reader has only a narrow specific recognition range, the code 38 passing through a plurality of wide-ranging points having different distances does not enter the field of view of the CCD camera 32 or is out of focus. It didn't fit and I couldn't recognize it. (2) In the conventional apparatus (FIG. 6), if water droplets or dust at the time of rain adhere to the target code 38, the target code 38 cannot be recognized or the recognition rate is low. Fall. An object of the present invention is to provide a device that can solve these problems.

[0005]

[Means for Solving the Problems]

(First Means) A code reading device according to the present invention is a device for reading a bar code or a two-dimensional code by image input such as a camera, wherein (A) a camera platform 2 supporting a CCD camera 1; B) a camera zoom and focus adjustment mechanism 3, (C) an image input device 4, (D) a camera platform control device 5 for controlling the direction of the camera, and (E) a control device for controlling the magnification and focus of the camera. 6; and (F) an image processing device 7. (G) The image processing device 7 first reduces the magnification of the camera and recognizes the presence or absence of the code and the code information. And the target code 8
When the presence or absence of the target code 8 is detected and the camera is pointed at a position where the target code 8 exists, the magnification of the camera is increased and the focus is adjusted so that the code information can be sufficiently read. The code 8 can be read. (Second Means) The code reading apparatus according to the present invention, in the first means, comprises: (A) a camera platform 2 supporting a CCD camera 1; (B) a zoom and focus adjustment mechanism 3 of the camera; (C) an image input device 4, (D) a camera platform control device 5 for controlling the direction of the camera, (E) a control device 6 for controlling the magnification and focus of the camera, and (F) an image processing device 7.
And (G) an eye camera 13 that captures the movements of the human eyes,
(H) Terminal 1 for processing data of eye camera 13
(I) the head control device 5 includes a terminal 1
The angle of the camera platform 2 is calculated using the data processed in step 5 as an input value, the angle of the CCD camera 1 is adjusted based on the calculated value, and the search for the two-dimensional code is performed using an eye camera utilizing the movement of the human eye. 13, the CCD
Automatically change the direction of the camera and find the two-dimensional code in the symmetrical object when the CCD camera 1 focuses on the eye camera 13 to find the two-dimensional code automatically. The code reading device according to claim 1, wherein a code from a long distance is recognized.

Therefore, the operation is as follows. A two-dimensional code attached to a member and a CCD camera as a device for reading the two-dimensional code. As a device for automatically detecting the two-dimensional code, an eye camera is used to automatically detect the two-dimensional code. Also, the device for automatically detecting the two-dimensional code is operated, so that the code recognition work from a long distance can be facilitated. (Third Means) In the code reading apparatus according to the present invention, in the first means, (A) a CCD camera 22 for reading a target code 21;
(C) The air blower 23 blows off water droplets and dust attached to the cord in rainy weather and can read the cord accurately. I do.

Therefore, the operation is as follows. In a two-dimensional code attached to a member and a CCD camera as a device for reading the two-dimensional code, an air blower as a device for blowing off the water droplets with air when there is a water droplet on the code is provided by a CCD camera. In this case, the instability of the code recognition rate when water droplets adhere to the code can be stabilized, and the code can be read reliably. Thus, the code can be read accurately even in an environment where water droplets adhere to the code outdoors.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 shows a first embodiment of the present invention.
3 to FIG. FIG. 1 is an explanatory diagram of a code reading device according to a first embodiment.

FIG. 2 is a diagram showing control blocks of the image processing apparatus 7 according to the first embodiment. FIG. 3 is an explanatory diagram of an image input processing step according to the first embodiment. In FIG. 1, 1 is a CCD camera (with a zoom mechanism), 2 is a pan head for moving the camera in two axes, up and down, left and right, 3 is a zoom and focus adjustment mechanism of the camera, 4 is an image input device, and 5 is a pan head control. Device, 6 is a control device for a zoom and focus adjustment mechanism, 7 is an image processing device, 8 is a target code, 10
Is an ultrasonic sensor.

As shown in FIG. 2, the image processing device 7 includes a code shape pattern matching section 71, a camera direction calculation section 72, a camera magnification calculation section 73, and a code reading section 74.
, A code position analysis unit 75, and a code area calculation unit 76.

An image signal from the camera 1 having a zoom mechanism is input to an image input device 4, subjected to appropriate processing, and sent to an image processing device 7. Necessary signals are sent from the image processing device 7 to the camera platform control device 5 and the zoom mechanism control device 6. The camera platform control device 5 drives the camera platform 2 of the camera 1, and the zoom mechanism control device 6 controls the camera. The zoom mechanism 3 is driven.

Each control block of the image processing device 7 includes:
The configuration allows parallel processing. According to the apparatus of the present invention, (A1) When a product, a member, or the like to which the code 8 is attached enters the field of view of the camera 1 of the recognition apparatus, the image information of FIG. 7 and the control block 71 (code shape pattern matching unit)
The presence or absence of the code 8 is recognized by the pattern matching method from the shape characteristics of (1). (A2) If the code 8 exists, the position of the code 8 is specified by the control block 75 (code position analysis unit). (A3) Then, the control block 72 (camera azimuth calculation unit) sets the camera 1 so that the code 8 is located at the center of the camera screen.
Is calculated, and an azimuth signal is transmitted to the pan head controller 5. (A4) The pan head controller 5 drives the pan head 2 so that the camera 1 faces the control target position.

As a result, an image shown in FIG. 3B is obtained. (B1) If the code is not larger than a certain number with respect to the number of pixels, the information of the code 8 is a distance at which the information cannot be read. (B2) Then, the control block 76 (code area calculation unit) calculates the area of the code on the image, and
6 (code area calculation unit) calculates the relative magnification of the camera from the required code area. (B3) Further, the ultrasonic sensor 10 calculates the distance between the camera 1 having the zoom mechanism and the target code 8; These values are input to the control unit 6 of the zoom and focus adjustment mechanism, and the control unit 6 of the zoom and focus adjustment mechanism operates the zoom and focus adjustment mechanism 3 of the camera to change the magnification of the camera to the target code size. Is adjusted to a predetermined size or more, and focusing is performed.

As a result, an image shown in FIG. 3C is obtained.
The control block 74 (code reading unit) reads information of the target code 8. (C1) When the information reading of the target code 8 is completed,
The camera platform control device 5 and the control device 6 for the zoom and focus adjustment mechanism drive the camera with the zoom mechanism to return to a predetermined state. (C2) Then, until the next target code 8 comes,
Wait in this state.

In this way, even a code 8 that moves in a specific area at different distances, different sizes, and moves far away can be read. (Second Embodiment) FIG. 4 shows a second embodiment of the present invention.
Show.

As shown in FIG. 4, the recognition technique of the apparatus of the present invention is the same as that of the first embodiment. The CCD camera used as a device for reading the target code 8 is the same as that of the first embodiment. The device automatically moves and can recognize the target code 8.

First, there is a CCD camera 1 as a device for reading a target code 8 and a camera platform 2 for moving the camera, and a camera platform controller 5 for sending commands to the camera. (D1) First, the movement of the human eye is captured by the eye camera 13, and (D2) the data of the eye camera 13 is transferred to the terminal 1
(D3) The data is transferred to the pan head controller 5 therefrom, and the angle adjustment command value is calculated there. (D4) The angle adjustment command is sent to the pan head 2. (D5) That is, in FIG. 4, first, the eye camera 13 is set in front of a person who recognizes the position where the two-dimensional code is attached.

Since the eye camera 13 can catch the movement of the eyes of the person, the reading by the CCD camera 1 is started when the person finds the code. That is, the data in the code read by the CCD camera 1 facing the same position can be recognized by the camera platform 2 linked to the movement of the human eye.

As a result, the target code 8 is CCD
The CCD camera 1 can be automatically operated so as to be within the field of view of the camera 1, and the functions of FIGS.
Code recognition from a long distance is also possible. (Third Embodiment) FIG. 5 shows a third embodiment of the present invention.
Shown in

As shown in FIG. 5, according to the recognition technique of the apparatus of the present invention, the CCD camera 22 used as a device for reading the target code 21 is not different from that of the first embodiment. By arranging the air blower 23 next to the air blower 22, the air blower 23 blows off water droplets and dust attached to the cord in rainy weather, so that the code can be read accurately.

That is, in FIG. 5, first, an air blower 23 is juxtaposed beside the CCD camera 22. If water droplets or dust are attached to the target cord 21,
When the operator turns on the blower, the air blower 23 blows off water droplets and dust attached to the cord 21 in the case of rain, etc.
Can be read accurately.

Therefore, an outdoor code recognition technology can be established. In addition, the code can be recognized indoors at a high humidity. As a result, the range of use of the target cord 21 can be expanded, and the demand thereof can be increased. The type of code can be applied to a one-dimensional code, a two-dimensional code, and various other codes.

[0023]

Since the present invention is configured as described above, it has the following effects. (1) According to the apparatus of the present invention, when a product, a member, or the like to which the code 8 is attached enters the field of view of the camera 1 of the recognition device, the image information is transmitted from the image input device 4 to the image input device 4. The code 8 is sent to the processing device 7, and the code shape pattern matching unit 71 recognizes the presence or absence of the code 8 by the pattern matching method from the shape characteristics of the code 8, and if the code 8 exists, the code position analysis unit 75 specifies the position of the code 8. I do.

Therefore, the azimuth of the camera 1 is calculated by the camera azimuth calculation unit 72 so that the code 8 is located at the center of the camera screen, and the azimuth signal is transmitted to the pan head controller 5. The camera platform control device 5 drives the camera platform 2 so that the camera 1 faces the control target position.

If the code is not larger than a certain number with respect to the number of pixels, the information of the code 8 is at an unreadable distance, so the code area calculator 76 calculates the area of the code on the image. Then, the code area calculation unit 76 calculates the relative magnification of the camera from the required code area, and further calculates the distance between the camera 1 with the zoom mechanism and the target code 8 by the ultrasonic sensor 10, and calculates those values. It is input to the control device 6 of the zoom and focus adjustment mechanism, and the zoom and focus adjustment mechanism 3 of the camera is operated by the control device 6 of the zoom and focus adjustment mechanism so that the magnification of the camera becomes larger than a predetermined size. The code reading unit 74 reads the information of the target code 8.

In this manner, it is possible to read the code 8 moving at a distance different in size and different in the specific area. (2) Advantageous Effects of Claim 2 An eye camera 13 for capturing the movement of the human eye, a terminal 15 for processing the data, and a camera platform control device 5 for calculating an angle using the data processed there as an input value. ,
In the two-dimensional code recognition device having the camera platform 2 for adjusting the angle of the CCD camera 1 based on the calculated value,
By using the eye camera 13 which utilizes the movement of the human eye to search for a dimensional code, the direction of the CCD camera can be automatically changed, and the code can be recognized, and the code can be recognized from a long distance. Technology can be established. (3) Effect of the Invention of Claim 3 In a code recognition device having an air blower 23 provided next to a CCD camera 22 for reading a target code 21 and a controller 26 for giving a command to the air blower 23, By juxtaposition, it is possible to blow off water droplets and dust attached to the target cord 21 in the rainy weather or in places with high humidity even indoors by the force of air, and to clearly recognize the target cord 21. This makes it possible to construct a code recognition device that has a wide range of uses both outdoors and indoors.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a code reading device according to a first embodiment of the present invention.

FIG. 2 is a diagram showing control blocks of the image processing apparatus 7 according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram of an image input processing step according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of a code reading device according to a second embodiment of the present invention.

FIG. 5 is an explanatory diagram of a code reading device according to a third embodiment of the present invention.

FIG. 6 is an explanatory diagram of a conventional code reading device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... CCD camera (with a zoom mechanism) 2 ... Pan head which moves a camera by two axes of up, down, left and right 3 ... Camera zoom and focus adjustment mechanism 4 ... Image input device 5 ... Pan head control apparatus 6 ... Zoom and focus adjustment mechanism Control device 7 ... image processing device 8 ... target code 10 ... ultrasonic sensor 11 ... ultrasonic wave 13 ... eye camera 14 ... camera with zoom mechanism 15 ... terminal 21 ... target code 22 ... CCD camera 23 ... Air blower 24 ... Air 25 ... CCD camera reading area 26 ... Controller 32 ... CCD camera 38 ... Target code 71 ... Code shape pattern matching unit 72 ... Camera azimuth calculation unit 73 ... Camera magnification calculation unit 74 ... Code reading unit 75: code position analysis unit 76: code area calculation unit

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G06K 7/015 G06K 7/015 C

Claims (3)

[Claims] An apparatus for reading a bar code or a two-dimensional code by image input such as a camera, comprising: (A) a platform (2) supporting a CCD camera (1); A focus adjustment mechanism (3), (C) an image input device (4), (D) a camera platform control device (5) for controlling the direction of the camera, and (E) a control device for controlling the magnification and focus of the camera. (6) and (F) an image processing device (7). (G) The image processing device (7) first reduces the magnification of the camera in order to recognize the presence or absence of a code and the code information. Then, in a wide area, the target code (8)
When the presence of the target code (8) is detected by detecting the presence or absence of the target, the camera is pointed at a position where the target code (8) exists, and the magnification of the camera is increased and the focus is adjusted so that the code information can be sufficiently read. A code reading device for reading a target code (8). 2. An apparatus for reading a bar code or a two-dimensional code by image input such as a camera, comprising: (A) a camera platform (2) supporting a CCD camera (1); A focus adjustment mechanism (3), (C) an image input device (4), (D) a camera platform control device (5) for controlling the direction of the camera, and (E) a control device for controlling the magnification and focus of the camera. (6), (F) an image processing device (7),
(G) an eye camera (13) that captures the movement of the human eye,
(H) a terminal (15) for processing data of the eye camera (13), and (I) the pan head controller (5)
Using the data processed in the terminal (15) as an input value, the angle of the camera platform (2) is calculated, and C
An eye camera (13) that adjusts the angle of the CD camera (1) and uses the movement of the human eye to search for the two-dimensional code.
Is used to automatically change the orientation of the CCD camera, and when finding the portion of the symmetric object on which the two-dimensional code is printed, the focus of the CCD camera (1) is linked with the eye camera (13). The code reading apparatus according to claim 1, wherein the two-dimensional code can be automatically found, whereby the code from a long distance is recognized. 3. A camera comprising: (A) a CCD camera (22) for reading a target code (21); and (B) an air blower (23) juxtaposed next to the CCD camera (22). C) The code reading device according to claim 1, wherein the air blower (23) blows off water droplets and dust attached to the target code (8) and can read the code accurately. .