JP3646478B2 - Object position recognition device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an object position recognizing device, and in particular, when a plurality of bags are stacked on a pallet in a clockwise or counterclockwise manner so that a part of the bag overlaps another part, the bag is overlaid on top. This is useful when specifying
[0002]
[Prior art]
When the bag is placed on the pallet, it is necessary to give a weight so as not to cause the collapse of the load (a part of the upper bag must be put on a part of the lower bag). Further, the order of stacking is inevitably determined, and as shown in FIG. 5, for example, the bags are stacked on the pallet 1 in the order of the bags B, C, and D from the upper right bag A in the counterclockwise direction. At this time, a part of the bags B to D overlaid thereon is overlaid on a part of the bags A to C. Therefore, when the bag items A to D placed on the pallet 1 are handled by the robot and transferred to the conveyor, it is necessary to recognize the uppermost bag item D and sequentially transfer the bag items D from the bag item D.
[0003]
[Problems to be solved by the invention]
When the positional relationship between the bags A to D prior to handling as described above is realized by image processing, it is conceivable to recognize a specific mark or the like by feature correlation or use an object recognition method by a model-based matching method. Since the bags A to D have a large change in shape, recognition by these methods is difficult. By the way, as a method of object recognition, a method of recognizing by object feature correlation or a method of recognizing by object image correlation has been proposed and used in reality, but in this feature correlation, image filtering processing is applied to the object. The edge is obtained, and the edge is represented by a straight line or an arc, and the object is described using this as a feature.
[0004]
An object of the present invention is to provide an object position recognition device that can easily identify the uppermost object by image processing when an object such as a bag is partially overlapped and stacked in view of the above-described prior art. And
[0005]
[Means for Solving the Problems]
The configuration of the present invention that achieves the above object is as follows.
A plurality of objects such as bags or the like, which are sequentially clockwise or counterclockwise so that a part of an object having a plurality of specific marks on the surface thereof overlaps a part of another similar object. In the object position recognition device when superimposed,
The position of the mark is detected by extracting the entire image of the object and extracting the feature based on the image signal at this time, and the overlapping direction of the object is detected based on the mark. It is characterized by detecting the above.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0007]
FIG. 1 is a plan view showing bags (formed of kraft paper) of bag items A to D that are subjected to recognition processing in this embodiment. As shown in the figure, rectangular red marks 2a and 2b, each having a long side in the longitudinal direction of the bag 2, are attached to the left and right side portions of the bag 2, respectively, A rectangular red mark 2c similar to the marks 2a and 2b and a mark 2d made of blue and light blue are attached. Further, perforations are formed in the opening 2e of the bag 2 and red is applied. As a result, when the contents are packed in the bag 2, the side marks 2a and 2b are not visible from above, but only the marks 2c and 2d are visible. On the other hand, as shown in FIG. 5, when the bag items A to D in which the contents are packed in the bag 2 are stacked with a part (side portions of the bag body 2) stacked, the bag 2 is inclined, The mark 2a or the mark 2b can be seen. In this embodiment, the mark 2a or the mark 2b and the mark 2c are detected to detect the relationship between the mark 2a, 2b, 2c and the objects A to D.
[0008]
FIG. 2 is a block diagram showing a position recognition apparatus according to this embodiment. As shown in the figure, the camera 3 is configured such that the bags A to D placed on the pallet 1 are photographed from above and the image signal is processed by the image processing device 4. The image signal at this time is reproduced on the screen of the monitor 5.
[0009]
The image processing apparatus 4 performs the following processing. Now, consider a case where the bags A to D are stacked on the pallet 1 so that a part of one bag overlaps a part of another bag as shown in FIG. In this case, the bag A is placed so that the left end in the figure, the bag B is the lower end, the bag C is the right end, and the bag D is the upper end 2e (see FIG. 1). The image processing apparatus 4 measures the position by object recognition, and measures the positions of the red marks 2a to 2c by feature extraction of binarization processing. Thereafter, the pairs (1), (2), and (3) of the red marks 2a and 2c of the bags B to D are extracted by the binarization method. Further, the rotational direction of the bags A to D is measured by model-based matching. This can be measured based on the positional correlation of the pairs (1), (2), and (3). As a result, from the information on the rotation direction of the pairs (1) to (3) and the bag items A to D, it can be recognized that the bag item D is at the top in this case.
[0010]
FIG. 4 is an explanatory diagram conceptually showing the loading state of the second-stage bag items E, F, G, and H loaded on the first level of the bag items A to D shown in FIG. As shown in the figure, in the second stage, the bag items E to H are stacked so that a part of a bag overlaps a part of another bag by turning clockwise. That is, the stacking direction of the bags A to D is reversed with respect to the case of FIG. In the case shown in FIG. 4, the bag E is the lower end in the figure, the bag F is the left end, the bag G is the upper end, and the bag H is the opening 2 e (see FIG. 1). It is placed on D. In the image processing apparatus 4 (see FIG. 2), the pair (4), (5), (6) of the red mark 2b and mark 2c of each bag F to H is extracted by the binarization method, and FIG. By performing the same processing as shown, the uppermost bag H is specified from the information on the rotational directions of the pairs (4) to (6) and the bags F to H. In other words, in the case of this example, the mark 2a is detected in the case of FIG. 2, but the same processing as in the case shown in FIG. 2 is performed except that the mark 2b is detected.
[0011]
2 and 3, the mark 2a of the bag B or the mark 2b of the bag F may be hidden by the bag D or the bag H, but the mark 2a of the bag C, D, the bag G, H The mark 2b can always be detected, and the above recognition can be performed satisfactorily by using these marks.
[0012]
【The invention's effect】
As specifically described in conjunction with the above embodiments, the present invention is not normally visible from above, but is attached to the side of an object that can be seen when part of it overlaps with another object. Since the overlapping direction of the objects is detected by image processing using the marked mark, the uppermost object can be easily identified. Therefore, handling and the like by the robot can be easily performed in the process of transferring the object.
[Brief description of the drawings]
FIG. 1 is a plan view showing a bag of a bag that performs recognition processing according to an embodiment of the present invention. FIG. 2 is a block diagram showing a position recognition device according to an embodiment of the present invention. Explanatory drawing which shows notionally an example of the 1st-stage bag in the state piled up so that it might recognize by a form.
FIG. 4 is an explanatory diagram conceptually showing an example of a second-stage bag in a state of being stacked so as to be recognized according to an embodiment of the present invention.
FIG. 5 is an explanatory diagram conceptually showing an example of a bag in a state where it is stacked so as to be handled by a robot and transferred to a conveyor, for example.
[Explanation of symbols]
A, B, C, D, E, F, G Bag 1 Pallet 2 Bag 2a, 2b, 2c, 2d Mark

Claims (1)

A plurality of objects such as bags or the like, which are sequentially clockwise or counterclockwise so that a part of an object having a plurality of specific marks on the surface thereof overlaps a part of another similar object. In the object position recognition device when superimposed,
The position of the mark is detected by extracting the entire image of the object and extracting the feature based on the image signal at this time, and the overlapping direction of the object is detected based on the mark. An apparatus for recognizing a position of an object, characterized in that the apparatus is configured to detect an object.

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