Device for estimating shape of work and method for estimating shape of work
A workpiece and process technology, applied in the field of workpiece shape estimation device, can solve the problems of difficult identification and connection into one part, large amount of data, and difficulty in matching CAD data, etc., and achieve the effect of easy identification and rapid estimation
Inactive Publication Date: 2013-08-14
HONDA MOTOR CO LTD
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Problems solved by technology
As a result, there is a problem that the amount of data increases
[0010] In addition, in the latter related art, there are also problems in that bulk workpieces often overlap, and it is difficult to match with CAD data in a state where only a part is visible.
Also, there is a problem that parts of overlapped workpieces are cut off when edge detection is performed, so it is difficult to recognize which parts are connected into one part
Method used
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[0029] Embodiments of the present invention will be described below with reference to the drawings.
[0030] figure 1 It is a block diagram of the workpiece shape estimation device. The camera 1 senses (photographs) and acquires two-dimensional image information in which a plurality of identical workpieces loaded on the bucket 2 are viewed from above. The image information acquired by the camera 1 is stored in the image information storage unit 3 . Here, "image information" means, for example, RGB values of each pixel as luminance information. In addition, image information of brightness and image information of distance can also be obtained for each corresponding pixel. In this case, it is necessary to use a camera for three-dimensional imaging that can also acquire distance information.
[0031] An edge detection unit 4 is connected to the image information storage unit 3, and the edge detection unit 4 is used for performing edge detection of an image based on the stor...
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A device for estimating the shape of a work comprises an image information acquiring means which senses a plurality of the same works in bulk and thereby acquires image information, an edge detecting section which detects an edge from the image information acquired by the image information acquiring means, a dividing section which divides the work into partial images on the basis of the image information acquired by the edge detecting section, a work sorting section which sorts the divided partial images of the works, and a work estimated shape generating section which supplements information relating to the partial images of the work sorted by the work sorting section, thereby generating an estimated shape of the work.
Description
technical field [0001] The present invention relates to a workpiece shape estimation device and a workpiece shape estimation method. In particular, the present invention is characterized in that, when recognizing a plurality of similar workpieces in a bulk state, the shape of the workpieces is statistically analyzed from images obtained by a camera without using CAD (Computer Aided Design) data of the workpieces. processing, and can automatically generate shape models. [0002] this application claims priority based on Japanese Patent Application No. 2008-262034 for which it applied in Japan on October 8, 2008, and uses the content here. Background technique [0003] Conventionally, there is known an alignment device for confirming whether or not an object created based on CAD data is being produced according to CAD data. Patent Document 1 discloses a technique for aligning an alignment plane of reference CAD data and a target point group corresponding to an alignment plan...
Claims
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IPC IPC(8): G01B11/24B25J13/08G06V10/422G06V20/10
CPCG06K9/00B07C5/10G06T2207/30164G01B11/028G01B11/24G06T7/001G06K2209/19G06T7/0044G06T7/74G06V2201/06G06V10/422G06V20/10
Inventor 古川诚
Owner HONDA MOTOR CO LTD