JPH1179399A - Vision recognition system in depalletizing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vision recognition system in depalletizing which can lower positions of a camera and a projector by ensuring a necessary field of vision and enables the maintenance work such as the adjustment and exchange of camera and projector at a low position. SOLUTION: In this system, a camera 2 and a projector A for recognizing vision which are arranged just above a workpiece 3 are arranged in such a way that they are directed obliquely and upward from a height at which the maintenance work can be done easily. A mirror 6 for bending optical axes of the camera 2 and the projector 4 and conducting them on the workpiece 3 is provided so that the maintenance work can be done easily by lowering positions of the camera 2 and the projector 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vision confirmation system for depalletizing industrial robots and the like.

[0002]

2. Description of the Related Art FIG. 7 is a diagram showing a configuration of a conventional vision confirmation system in depalletizing. In the figure,
Reference numeral 2 denotes a camera, 4 denotes a light projector, 5 denotes a top plate on which a device for collecting images necessary for vision recognition, such as the camera 2 and the light projector 4, is mounted, 1 is a column that supports and supports the top plate 5, and 3 is an image. The work 30 to be collected is a ladder used by the worker.

In such a conventional vision confirmation system, a top plate 5 for installing the camera 2 and the light projector 4 is installed above the work 3, and when performing maintenance work on the camera 2 and the light projector 4, After moving the work 3, the worker climbs on the step 3 using the stepladder or the ladder 30.

[0004]

In the above-described conventional vision confirmation system for depalletizing, the camera and the light emitter are fixedly installed above the work. However, depending on the size of the work, the camera is required to secure the field of view of the camera. And the height at which the floodlight is installed may be very high, and it may not be possible to install due to restrictions on the height of the factory ceiling,
In addition, since maintenance work such as adjustment and replacement of the camera and the projector is a work at a high place, there is a problem that the work is difficult and involves danger.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and can reduce the positions of a camera and a projector while securing a necessary field of view. It is an object of the present invention to obtain a vision recognition system in depalletizing in which maintenance work such as adjustment and replacement of a camera can be performed at a low position.

[0006]

SUMMARY OF THE INVENTION In view of the above object, the present invention provides an image collecting means for obtaining an image from above a work necessary for vision recognition, and a method for bending the optical axis of the image collecting means. Light reflecting means having a reflecting surface on the lower side for guiding upward, wherein the image collecting means is provided obliquely upward toward the light reflecting means at a position lower than the light reflecting means, and A vision recognition system in depalletizing, wherein an optical path length reflected by a reflection surface of a reflection means and reaching the work is provided at a position where the optical path length from a desired height right above the work is the same. .

Further, the present invention provides an image collecting means for obtaining an image from above a work required for vision recognition, a support plate on which equipment for collecting images by the image collecting means is mounted, and one end of the support plate. A horizontal rotating shaft that rotatably supports the horizontal axis, a wire connected to the other end of the support plate, and the support plate by rotating the support plate around the horizontal axis by feeding or winding up the wire. Moving means including a hoist for raising and lowering the plate; and a vision recognition system for depalletizing.

According to the present invention, there is provided an image collecting means for obtaining an image from above a work necessary for vision recognition, a supporting plate on which equipment for collecting images by the image collecting means is mounted, and a supporting plate and a screw. A vision recognition system for depalletizing, comprising: a ball screw to be combined; and moving means including a motor for rotating the ball screw to raise and lower the support plate.

According to the present invention, there is provided an image collecting means for obtaining an image from above a work necessary for vision recognition, a support plate on which equipment for collecting images by the image collecting means is mounted, and both ends of the support plate. And a moving means including a hoist that raises and lowers the support plate by feeding or winding up the wire, respectively, in the depalletizing vision recognition system.

Further, the present invention further comprises a light reflecting means having a reflecting surface on a lower side for guiding the light onto the work by bending the optical axis of the image collecting means, wherein the image collecting means faces the light reflecting means. At a position lower than the light reflecting means at the time of image collection, and an optical path length reaching the work after being reflected by the reflecting surface of the light reflecting means at a desired height directly above the work. A vision recognition system in depalletizing, wherein the vision recognition system is moved to a position which is the same as the optical path length.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a diagram showing a configuration of a vision recognition system in depalletizing according to an embodiment of the present invention. In the figure, 2 is a camera, 4 is a projector, 5a
Reference numeral denotes a support plate on which a device for collecting images necessary for vision recognition, such as the camera 2 and the light projector 4, is provided. The support plate is provided at a position lower than the mirror 6 and obliquely upward toward the same. 1 is a column fixedly supporting the support plate 5a, 3
Denotes a work to be image-collected, 6 denotes a camera 2 and a floodlight 4
B is a mirror provided above the work 3 having a reflecting surface 6a on the lower side for bending the optical axis B.

The camera 2 and the light projector 4 constitute an image collecting means, and the mirror 6 constitutes a light reflecting means.

In the system of this embodiment, the support plate 5a is located at a position lower than the mirror 6 of the column 1, and the camera 2 and the work 3 for taking an image necessary for vision recognition.
The light emitting device 4 for illuminating the mirror 6 has a reflecting surface 6a below the mirror 6.
It is provided diagonally upward so as to face. Therefore, the support plate 5a has a height at which maintenance work can be easily performed. A mirror 6 is installed obliquely right above the work 3 so that the light from the camera 2 and the light from the projector 4 are directed directly below.

By bending the optical axis of the camera 2 and the projector 4 with the mirror 6, the optical path length is maintained at L1 + L2 even if the camera 2 is installed at a low position. An image can be taken as if the image was taken from the position. Although not shown, the camera 2, the light projector 4, and the support plate 5a are provided with an XY, θ table mechanism for adjusting the reflection of the mirror 6 by giving a freedom of rotation in up, down, left, and right directions.

Embodiment 2 FIG. 2 is a diagram showing a configuration of a vision recognition system in depalletizing according to another embodiment of the present invention. In the figure, the same or corresponding parts as those in the above embodiment are denoted by the same reference numerals. 7 is a pulley,
8 is a wire, 9 is a hoist, 10 is a hook, 11 is a horizontal rotation axis, and T is a ceiling.

The support plate 5a, the pulley 7, the wire 8, the hoist 9, the hook 10 and the horizontal rotating shaft 11 constitute a moving means.

In the system of this embodiment, a camera 2 for taking an image necessary for vision recognition is mounted on a ceiling T.
And a support plate 5a for fixing the light projector 4 for illuminating the work 3 and the pulley 7, the wire 8 and the hoisting machine 9 to a height at which the support plate 5a on which the camera 2 and the light projector 4 are mounted can be maintained. Rotate 90 degrees and lower (shown by broken line)
Structured.

For ordinary vision recognition at the time of depalletizing, the support plate 5a is pulled up horizontally with respect to the ceiling T, and for example, the lock fitting 10 is engaged. If you want to maintain the camera 2 and the projector 4 attached to the support plate 5a,
The hoist 9 is pulled once, the lock fitting 10 is removed, and then the wire 8 is loosened. Since the support plate 5a descends while rotating about the horizontal rotation axis 11, maintenance work can be performed at a low position if the wire 8 is fixed at a position rotated by 90 degrees.

Embodiment 3 FIG. 3 is a diagram showing a configuration of a vision recognition system in depalletizing according to another embodiment of the present invention. In the figure, the same or corresponding parts as those in the above embodiment are denoted by the same reference numerals. Reference numeral 12 denotes a ball screw that is screwed with the support plate 5a, and reference numeral 13 denotes a motor that rotates the ball screw 12 to move the support plate 5a up and down.

Incidentally, the support plate 5a, the ball screw 12 and the motor 13 constitute a moving means.

In the system of this embodiment, a ball screw 12 is provided in parallel with a support 1 built from a floor B, and a camera 2 for taking an image necessary for vision recognition and a projector for illuminating a work 3 are provided on the ball screw 12. The support plate 5a for fixing the camera 4 is screwed and the motor 13 is rotated to lower the support plate 5a on which the camera 2 and the projector 4 are mounted to a height at which maintenance work can be performed.

For normal vision recognition at the time of depalletizing, the support plate 5a is used by raising the support plate 5a to a position at which the visual field of the camera 2 can be secured. When it is desired to maintain the camera 2 and the projector 4 installed on the support plate 5a, it is possible to lower the camera 2 and the projector 4 to a position where maintenance work is easy by rotating the motor 13.

Embodiment 4 FIG. 4 is a diagram showing a configuration of a vision recognition system in depalletizing according to another embodiment of the present invention. In the figure, the same or corresponding parts as those in the above embodiment are denoted by the same reference numerals. Support plate 5a
Are provided with a wire 8 and a hoisting machine 9, respectively.

Incidentally, the support plate 5a, the wire 8 and the hoisting machine 9 constitute moving means.

In the system of this embodiment, a camera 2 for taking an image necessary for vision recognition
A support plate 5a for fixing the projector 4 for illuminating the workpiece 3 is installed via the wire 8 and the hoisting machine 9, and the supporting plate on which the camera 2 and the projector 4 are mounted by rotating the hoisting machine 9. 5a was lowered to a level where maintenance work was possible.

For ordinary vision recognition at the time of depalletization, the support plate 5a is used by raising the support plate 5a to a position at which the visual field of the camera 2 can be secured. When it is desired to maintain the camera 2 and the projector 4 installed on the support plate 5a, it is possible to lower the camera 2 and the projector 4 to a position where maintenance work is easy by rotating the hoisting machines 9 on both sides.

Embodiment 5 FIG. As shown in FIGS. 5 and 6, the support plate 5a in which the camera 2 and the projector 4 are directed obliquely upward toward the mirror 6 of the first embodiment,
It may be moved by a mechanism that moves up and down in the third and fourth embodiments.

[0028]

As described above, according to the present invention, there is provided an image collecting means for obtaining an image from above the work necessary for vision recognition, and a lower means for bending the optical axis of the image collecting means to guide the image on the work. Light reflection means having a reflection surface on the side, the image collection means is provided obliquely upward toward the light reflection means at a position lower than the light reflection means, and the reflection surface of the light reflection means Since the optical path length that is reflected and reaches the work is provided at a position that is the same as the optical path length from a desired height directly above the work, the position of the image collecting means including the camera and the projector is required. It is possible to provide a vision recognition system in depalletization that can be lowered while maintaining the field of view and that can easily and safely perform maintenance work such as adjustment and replacement of cameras and floodlights at low positions.

Further, according to the present invention, an image collecting means for obtaining an image from above the work necessary for vision recognition, a support plate on which equipment for collecting images by the image collecting means is mounted, and one end of the support plate A horizontal rotating shaft that rotatably supports the horizontal axis, a wire connected to the other end of the support plate, and the support plate by rotating the support plate around the horizontal axis by feeding or winding up the wire. And moving means including a hoist that raises and lowers the plate, so that the image collecting means can be raised and lowered with one hoist, and maintenance work such as adjustment and replacement of the camera and the projector of the image collecting means can be performed. There are obtained effects such as provision of a vision recognition system in depalletizing that can be easily and safely performed at a low position.

Further, according to the present invention, an image collecting means for obtaining an image from above the work necessary for vision recognition, a support plate on which equipment for collecting images by the image collecting means is mounted, and the support plate and the screw A moving means including a motor for rotating the ball screw and raising and lowering the support plate by rotating the ball screw. The present invention has the advantage of providing a vision recognition system in depalletizing that realizes easy and safe maintenance work such as adjustment and replacement at a low position.

Further, according to the present invention, an image collecting means for obtaining an image from above a work necessary for vision recognition, a support plate on which equipment for collecting images by the image collecting means is mounted, and both ends of the support plate And a moving means including a hoist that raises and lowers the support plate by feeding or winding up the wire, respectively, so that the camera of the image collecting means is raised and lowered by raising and lowering the image collecting means. Maintenance work such as adjustment and replacement of the projector can be performed easily and safely in a low position.In addition, since the image collecting means is raised and lowered with the hoist on both sides, large images including many equipment for image collection An effect is obtained such that a vision recognition system in depalletizing that can be raised and lowered by the collecting means can be provided.

Further, according to the present invention, there is further provided a light reflecting means having a reflecting surface on a lower side for guiding an optical axis of the image collecting means to the work by bending the optical axis, and the image collecting means faces the light reflecting means. At a position lower than the light reflecting means at the time of image collection, and an optical path length reaching the work after being reflected by the reflecting surface of the light reflecting means at a desired height directly above the work. The position of the image collecting means, including the camera and the projector, can be lowered while securing the required field of view, and adjustment and replacement of the camera and the projector can be performed. Effects such as providing a vision recognition system in depalletizing in which maintenance work can be easily and safely performed at a lower position can be obtained.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a vision recognition system in depalletizing according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a vision recognition system in depalletizing according to a second embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a vision recognition system in depalletizing according to a third embodiment of the present invention.

FIG. 4 is a diagram showing a configuration of a vision recognition system in depalletizing according to a fourth embodiment of the present invention.

FIG. 5 is a diagram showing a configuration of a vision recognition system in depalletizing according to a fifth embodiment of the present invention.

FIG. 6 is a diagram showing a configuration of a vision recognition system in depalletizing according to a fifth embodiment of the present invention.

FIG. 7 is a diagram showing a configuration of a conventional vision recognition system in depalletizing.

[Explanation of symbols]

1 support, 2 camera, 3 work, 4 floodlight, 5
Support plate, 6 mirror, 6a reflection surface, 7 pulley, 8 wire, 9 hoisting machine, 10 lock fitting, 11 horizontal rotation axis, 12 ball screw, 13 motor.

Claims (5)

[Claims] 1. An image collecting means for obtaining an image from above a work required for vision recognition, and a light reflection having a lower reflecting surface on a lower side for guiding an optical axis of the image collecting means to the work. And an optical path in which the image collecting means is provided obliquely upward toward the light reflecting means at a position lower than the light reflecting means, and is reflected by the reflecting surface of the light reflecting means to reach the work. A vision recognition system in depalletizing, wherein the length is provided at a position where the length is the same as the optical path length from a desired height directly above the work. 2. An image collecting means for obtaining an image from above a work necessary for vision recognition, a supporting plate on which equipment for collecting images by the image collecting means is mounted, and one end of the supporting plate is connected to a horizontal axis. A horizontal rotation shaft rotatably supported with respect to a wire connected to the other end of the support plate, and the wire is fed or wound to rotate the support plate around the horizontal axis to raise and lower the support plate. 1. A vision recognition system for depalletizing, comprising: a moving means including a hoist. 3. An image collecting means for obtaining an image from above a work necessary for vision recognition, a support plate on which equipment for collecting images by the image collecting means is mounted, and a ball screw screwed with the support plate. And a moving means including a motor for rotating the ball screw to move the support plate up and down. A vision recognition system for depalletizing. 4. An image collecting means for obtaining an image from above a work necessary for vision recognition, a support plate on which equipment for collecting images by the image collecting means is mounted, and connected to both ends of the support plate, respectively. And a moving means including a hoist that raises and lowers the support plate by feeding or winding the wire. A vision recognition system in depalletizing. 5. A light reflecting means having a reflecting surface on a lower side for guiding an optical axis of the image collecting means onto the work by bending the image collecting means, wherein the image collecting means is inclined upward toward the light reflecting means. At a position lower than the light reflecting means at the time of image collection, and the optical path length reaching the work after being reflected by the reflecting surface of the light reflecting means from a desired height directly above the work. The vision recognition system for depalletizing according to claim 3, wherein the vision recognition system is moved to a position that is the same as the optical path length.