Article detection device, article detection method, and program

Abstract

To improve detection accuracy of articles in images acquired by an image acquisition unit.SOLUTION: An article detection device is provided, comprising a direct illumination unit for irradiating an article with direct light from above the article being conveyed in a given conveyance direction, an indirect illumination unit for irradiating the article with indirect light from above, an image acquisition unit for acquiring an image of the article, and an article identification unit configured to identify an outline of the article based on the image of the article illuminated by the direct light from the direct illumination unit and the indirect light from the indirect illumination unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an article detection device, an article detection method, and a program. [Background technology]

[0002] Patent Document 1 discloses a labeling device that detects an article being conveyed in a conveyance direction and affixes a label to a predetermined position on the article while conveying the article.

[0003] In the labeling system disclosed in Patent Document 1, image data of the item to be adhered is acquired in a detection unit capable of capturing an image of the item, and a label can be attached to a predetermined position on the item based on the acquired image data. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-049479 Summary of the Invention [Problem to be solved by the invention]

[0005] In the labeling system disclosed in Patent Document 1, if it is difficult to detect the boundary between the item and the conveying section that is the background of the item in the acquired image data, it is not possible to identify the labeling position on the item, which can result in a labeling error. For this reason, there is room for further improvement in the labeling system.

[0006] Therefore, an object of the present invention is to improve the accuracy of detecting an article in an image acquired by an image acquisition unit. [Means for solving the problem]

[0007] According to one aspect of the present invention, there is provided an item detection device comprising: a direct lighting unit that irradiates light directly onto an item being transported in a predetermined transport direction from above the item; an indirect lighting unit that irradiates light indirectly onto the item from above the item; an image acquisition unit that acquires an image of the item; and an item identification unit that identifies the outer shape of the item based on an image of the item illuminated by direct light from the direct lighting unit and indirect light from the indirect lighting unit. [Effects of the Invention]

[0008] According to one aspect of the present invention, because direct light is irradiated onto an object, halation is likely to occur on the surface of the object irradiated with direct light in the image acquired by the image acquisition unit. Furthermore, the shadow of the object created by direct light is lightened by indirect light. Therefore, the image density value of the object's surface or outline in the acquired image can be reduced. This makes it easier to detect the object in the image acquired by the image acquisition unit.

[0009] Therefore, it is possible to improve the accuracy of detecting an article in an image acquired by the image acquisition unit. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram illustrating an object detection device according to this embodiment. [Figure 2] FIG. 2 is a plan view of the article detection device according to this embodiment as viewed from above the article detection device. [Figure 3] FIG. 3 is a side view of the article detection device according to this embodiment as seen from the article conveyance direction. [Figure 4] FIG. 4 is a side view of the article detection device according to this embodiment, as seen from a direction intersecting the article conveyance direction and along the conveyance plane. [Figure 5] FIG. 5 is a block diagram illustrating the object detection device according to this embodiment. [Figure 6] FIG. 6 is a flowchart illustrating the article detection method according to this embodiment. [Figure 7] FIG. 7 is a schematic diagram illustrating an article detected in the acquired image. [Figure 8] FIG. 8 is a schematic diagram illustrating the labeling system according to this embodiment. [Figure 9] FIG. 9 is a schematic diagram illustrating a label attached to an article by the label attachment system. DETAILED DESCRIPTION OF THE INVENTION

[0011] The embodiments described below are not limited to the drawings described by the brief description of the drawings.

[0012] A first aspect of the present invention is an item detection device that includes a direct lighting unit that irradiates light directly onto an item being transported in a predetermined transport direction from above the item, an indirect lighting unit that irradiates light indirectly onto the item from above the item, an image acquisition unit that acquires an image of the item, and an item identification unit that identifies the outer shape of the item based on an image of the item illuminated by direct light from the direct lighting unit and indirect light from the indirect lighting unit.

[0013] According to a first aspect of the present invention, indirect light is applied to the shadow of an object created by direct light, thereby reducing the shadow on the surface or contour of the object. This reduces the image density of the surface or contour of the object in the acquired image. This makes it easier to detect the object in the image acquired by the image acquisition unit.

[0014] Therefore, according to the first aspect of the present invention, it is possible to improve the accuracy of detecting an article in an image acquired by the image acquisition unit.

[0015] Furthermore, a second aspect of the present invention is an object detection device described in the first aspect, wherein the direct lighting unit has a plurality of direct light sources and is arranged so that light emitted from the plurality of direct light sources is irradiated onto the object in a direction perpendicular to the conveying direction, and the indirect lighting unit has a plurality of indirect light sources and is arranged so that light emitted from the plurality of indirect light sources is irradiated onto the object in the conveying direction.

[0016] According to a second aspect of the present invention, direct light from the direct lighting unit is irradiated onto the article in a direction perpendicular to the conveyance direction, so that shadows of the article are less likely to appear upstream or downstream in the conveyance direction of the article. Also, indirect light from the indirect lighting unit is irradiated onto the shadows of the article that are formed by the direct light.

[0017] Therefore, according to the second aspect of the present invention, it is possible to reduce the image density value at the contour of the article on the upstream and downstream sides in the conveyance direction of the article in the acquired image.

[0018] Furthermore, indirect light from above the object reduces the shadow of the object extending in a direction perpendicular to the conveying direction. This reduces the image density of the shadow of the object extending in a direction perpendicular to the conveying direction in the acquired image. This makes it easier to identify the outline of the object.

[0019] Therefore, according to the second aspect of the present invention, it is possible to improve the accuracy of detecting an article.

[0020] In addition, a third aspect of the present invention is an object detection device described in the first or second aspect, wherein the direct lighting unit has a first direct lighting unit arranged on one side of the object in a direction perpendicular to the conveying direction, and a second direct lighting unit arranged on the other side of the object in a direction perpendicular to the conveying direction, and the indirect lighting units are arranged upstream and downstream of the conveying direction so as to cancel out the shadow of the object cast by the first direct lighting unit and the shadow of the object cast by the second direct lighting unit.

[0021] According to a third aspect of the present invention, a shadow extending in a direction perpendicular to the conveyance direction of the article is canceled by direct light from a first direct lighting unit and a second direct lighting unit, which are arranged on one side of the article in a direction perpendicular to the conveyance direction. Further, the shadow extending in a direction perpendicular to the conveyance direction of the article is irradiated from above the article with indirect light from indirect lighting units arranged upstream and downstream in the conveyance direction.

[0022] Therefore, according to the third aspect of the present invention, it is possible to reduce the image density value at the contour of the article in the acquired image, making it easier to identify the outer shape of the article.

[0023] Therefore, according to the third aspect of the present invention, it is possible to improve the accuracy of detecting an article.

[0024] Furthermore, a fourth aspect of the present invention is an object detection device according to the third aspect, in which the optical axis of the indirect lighting unit is directed upward, and the optical axes of the first direct lighting unit and the second direct lighting unit are arranged opposite each other in a direction perpendicular to the conveying direction.

[0025] According to a fourth aspect of the present invention, the optical axis of the indirect lighting unit is directed upward, so that interference between the indirect light for generating the indirect light and the direct light can be avoided.

[0026] According to a fourth aspect of the present invention, the optical axis of the first direct illumination unit and the optical axis of the second direct illumination unit are arranged to face each other in a direction perpendicular to the conveyance direction, thereby canceling out shadows extending in a direction perpendicular to the conveyance direction of the article. Therefore, according to the fourth aspect of the present invention, it is easier to identify the outline of the article in the acquired image.

[0027] Therefore, according to the fourth aspect of the present invention, it is possible to improve the accuracy of detecting an article.

[0028] Furthermore, a fifth aspect of the present invention is an object detection device described in any one of the first to fourth aspects, wherein at least a portion of the object is the same color as the background of the image of the object acquired by the image acquisition unit.

[0029] According to a fifth aspect of the present invention, the image density value of the surface or contour of the article can be reduced in the acquired image, making it easier to identify the outline of the article. Therefore, even if at least a part of the article is the same color as the background of the article, it is easier to identify the outline of the article in the acquired image.

[0030] Therefore, according to the fifth aspect of the present invention, it is possible to improve the accuracy of detecting an article.

[0031] A sixth aspect of the present invention is the object detection device according to any one of the first to fifth aspects, wherein at least a portion of the object is transparent.

[0032] According to a sixth aspect of the present invention, the image density value of the surface or the outline of the article can be reduced in the acquired image, making it easier to identify the outline of the article, even if at least a part of the article is transparent.

[0033] Therefore, according to the sixth aspect of the present invention, it is possible to improve the accuracy of detecting an article.

[0034] Furthermore, a seventh aspect of the present invention is an object detection method that includes irradiating an object being transported in a predetermined transport direction with direct light from above the object and irradiating the object with indirect light, obtaining images of the object illuminated by the direct light and the indirect light, and identifying the outer shape of the object based on the images of the object illuminated by the direct light and the indirect light.

[0035] According to a seventh aspect of the present invention, the image density value of the surface or contour of the article can be reduced in the acquired image, making it easier to identify the outer shape of the article.

[0036] Therefore, according to the seventh aspect of the present invention, it is possible to improve the accuracy of detecting an article.

[0037] In addition, an eighth aspect of a certain aspect of the present invention is a program executable by a computer of an object detection device, which causes the computer to execute the following steps: irradiating an object with direct light from above the object being transported in a predetermined transport direction and irradiating the object with indirect light; acquiring an image of the object illuminated by the direct light and the indirect light; and identifying the outer shape of the object based on the image of the object illuminated by the direct light and the indirect light.

[0038] According to an eighth aspect of the present invention, it is possible to reduce the image density value on the surface of an article or on the outline of an article in an acquired image, making it easier to identify the outer shape of the article.

[0039] Therefore, according to the eighth aspect of the present invention, it is possible to improve the accuracy of detecting an article.

[0040] [Item detection device] An object detection device 1 according to an embodiment of the present invention will be described.

[0041] Fig. 1 is a schematic diagram illustrating an article detection device 1 according to this embodiment. Fig. 2 is a plan view of the article detection device 1 according to this embodiment, viewed from above the article detection device 1. Fig. 3 is a side view of the article detection device 1, viewed in the article conveying direction. Fig. 4 is a side view of the article detection device 1, viewed in a direction intersecting the article conveying direction and parallel to the conveying plane.

[0042] In this embodiment, the object M to be detected by the object detection device 1 is a food product or a part packaged in a packaging material. Therefore, the outer shape of the object M is the outer shape of the packaging material that covers the food product or part.

[0043] As shown in FIG. 1, the item detection device 1 includes a direct illumination unit 11 that directly irradiates the item M with light from above the item M, and an indirect illumination unit 12 that indirectly irradiates the item M with light from above the item M.

[0044] The article detection device 1 includes an image acquisition unit 10 that acquires an image of the article M. The article detection device 1 also includes a controller 15 that performs specific image processing on the image data of the article M acquired by the image acquisition unit 10.

[0045] In this embodiment, as shown in Fig. 1, a conveying device 20 is also provided to convey an article M. The article M is conveyed by the conveying device 20 in a conveying direction F at a predetermined speed.

[0046] At the destination of the conveying device 20, which is not shown in FIG. 1, for example, a sorting device that sorts the items M or a labeling system that sticks labels to the items M can be disposed.

[0047] 1 to 4, a direction intersecting the conveying direction F (X direction) is represented as a width direction Y of the conveying surface 20a of the conveying device 20, and a height direction Z of the conveying device 20 from the conveying surface 20a.

[0048] In this embodiment, the image acquisition unit 10 is a 2D camera that can acquire an image of the item M. The image acquisition unit 10 acquires an image of the item M that is conveyed by the conveying device 20. Note that, for ease of explanation, the image acquisition unit 10 is not shown in FIG. 2.

[0049] In this embodiment, an image not only means a visible image displayed on a display device such as a monitor, but also means data used for display or storage in a digital device such as a computer or monitor.

[0050] The image acquisition unit 10 is provided perpendicular to the placement surface (transport surface 20a) on which the article M is placed in the transport device 20, facing the transport surface 20a.

[0051] Next, a description will be given of the direct illumination section 11. As shown in Figures 1, 2 and 3, the direct illumination section 11 includes a first direct illumination section 11A and a second direct illumination section 11B.

[0052] The first direct lighting section 11A has a plurality of direct light sources. In this embodiment, an example of a light source applicable to the direct light source is an LED (Light Emitting Diode) unit L. In this embodiment, the first direct lighting section 11A is configured by arranging a plurality of LED units L in a line at predetermined intervals.

[0053] Similar to the first direct lighting section 11A, the second direct lighting section 11B is also configured by arranging a plurality of LED units L in a line.

[0054] The first direct illumination unit 11A and the second direct illumination unit 11B are arranged at predetermined positions in the article detection device 1 so that the arrangement direction of the multiple LED units L is along the conveyance direction F. In other words, the direct illumination unit 11 is arranged so that the emitted light is irradiated onto the article in a direction perpendicular to the conveyance direction.

[0055] In this embodiment, as shown in Figure 3, the first direct illumination unit 11A and the second direct illumination unit 11B are arranged at predetermined positions of the item detection device 1 so that the optical axis 11Aa of the first direct illumination unit 11A and the optical axis 11Ba of the second direct illumination unit 11B face each other in the width direction Y.

[0056] Next, a description will be given of the indirect lighting section 12. As shown in Figures 1, 2 and 4, in this embodiment, the indirect lighting section 12 includes a first indirect lighting section 12A and a second indirect lighting section 12B.

[0057] Similar to the first direct lighting section 11A, a plurality of LED units L are arranged in a line at predetermined intervals to form the first indirect lighting section 12A and the second indirect lighting section 12B.

[0058] The first indirect illumination section 12A is disposed upstream of the image acquisition section 10 so that the arrangement direction of the plurality of LED units L arranged in a line is along the width direction Y.

[0059] The second indirect illumination section 12B is disposed downstream of the image acquisition section 10 so that the arrangement direction of the plurality of linearly arranged LED units L is along the width direction Y.

[0060] 4, a reflector 14 is provided above the indirect lighting section 12 to reflect light from the multiple LED units L of the indirect lighting section 12 toward the item M. For ease of explanation, the reflector 14 is not shown in FIGS. 1 and 2.

[0061] The reflector 14 is subjected to a surface treatment to facilitate diffusion of the irradiated light. For example, the reflector 14 is subjected to a matte coating using a paint of a color that easily reflects light.

[0062] In this embodiment, the first indirect lighting unit 12A is arranged so that its optical axis 12Aa is oriented upward by 90° relative to the transport surface 20a. The second indirect lighting unit 12B is also arranged so that its optical axis 12Ba is oriented upward by 90° relative to the transport surface 20a.

[0063] With the above-described indirect lighting section 12 and reflector 14, light from the first indirect lighting section 12A and the second indirect lighting section 12B is reflected by the reflector 14, and the reflected light (diffused light) is irradiated onto the article M.

[0064] FIG. 5 is a block diagram illustrating the object detection device 1 according to this embodiment.

[0065] Although not shown, the controller 15 is a computer that includes a microprocessor, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), an input / output interface, and a bus that connects these.

[0066] As shown in FIG. 5, the controller 15 includes an image processing unit 16 and an item identification unit 17 as functional components.

[0067] The controller 15 causes the image processing unit 16 and the item identification unit 17 to operate by executing a control program stored in a storage unit such as a ROM in a microprocessor.

[0068] The image processing unit 16 performs predetermined image processing on the image acquired by the image acquisition unit 10. In this embodiment, background subtraction processing can be applied as an example of the image processing.

[0069] The image acquired by the image acquisition unit 10 is a collection of pixels having RGB digital information. In this embodiment, as an example, the luminance value obtained from the information possessed by the pixels and the information on the luminance gradation value can be used in the background subtraction process.

[0070] When background subtraction processing is applied, the item detection device 1 stores in a storage unit an image of the conveying surface of the conveying device 20 (hereinafter referred to as a background image) that has been acquired in advance.

[0071] The controller 15 can extract image regions that do not exist in the background image by comparing the background image with the image acquired by the image acquisition unit 10.

[0072] The article identification unit 17 identifies the outer shape of the article M based on an image area extracted from an image of the article M acquired by irradiating the article M with direct light and indirect light.

[0073] [Item detection method] Next, a method for detecting the article M by the article detection device 1 will be described.

[0074] In the item detection method, direct light is irradiated onto the item M from above as it is being transported in the transport direction F, and indirect light is also irradiated onto the item M, an image of the item M illuminated by the direct light and the indirect light is obtained, and the outer shape of the item M is identified based on the image of the item M illuminated by the direct light and the indirect light.

[0075] Fig. 6 is a flowchart illustrating an article detection method by the article detection device 1. In Fig. 6, image processing of an image acquired by the image acquisition unit 10 will be described.

[0076] In step S1, the controller 15 causes the image acquisition unit 10 to acquire an image of the item M being conveyed by the conveying device 20.

[0077] In step S2, the controller 15 causes the image processing unit 16 to execute a process for extracting an area having characteristic pixel information from the image acquired from the image acquisition unit 10.

[0078] In this embodiment, as an example, background subtraction processing is performed using brightness values ​​obtained from information held by pixels in the acquired image and brightness gradation value information.

[0079] Next, in step S3, the controller 15 identifies the outer shape of the article using the image obtained by the background subtraction process.

[0080] [Effects of the item detection device and item detection method] According to the item detection device 1 and item detection method of this embodiment, direct light is irradiated onto the item M from above by the direct lighting unit 11 while the item M is being transported in the transport direction F, and indirect light from the indirect lighting unit 12 via the reflector 14 is irradiated onto the item M from above.

[0081] Fig. 7 is a schematic diagram illustrating an article M detected in an image acquired by the image acquisition unit 10. Fig. 7 is a diagram viewed from above of the article M being conveyed in the conveying direction F. For ease of explanation, the article M is shown in Fig. 7 as a rectangle.

[0082] FIG. 7 schematically shows direct light L1 from the first direct illumination unit 11A and direct light L2 from the second direct illumination unit 11B.

[0083] In this embodiment, the direct light L1 irradiated from the first direct illumination unit 11A in the width direction Y strikes the article M being transported in the transport direction F. As a result, in the image acquired by the image acquisition unit 10, halation is likely to occur on the surface of the article M irradiated with the direct light L1 and L2.

[0084] Because the direct light L1, L2 is irradiated in the Y direction, shadows are unlikely to appear on the upstream end Mu and downstream end Md of the article M in the conveying direction F. On the other hand, the direct light L1, L2 causes shadows Sa, Sb to appear extending in the Y direction from the sides of the conveying direction of the article M. The ranges and shapes of the shadows Sa, Sb shown in the figure are for ease of explanation and are not necessarily limited to these.

[0085] However, in this embodiment, the optical axis 11Aa of the first direct illumination unit 11A and the optical axis 11Ba of the second direct illumination unit 11B are arranged at predetermined positions of the item detection device 1 opposite each other in the width direction Y, and therefore the shadows Sa and Sb extending in the Y direction across the item M are canceled out by the first direct illumination unit 11A and the second direct illumination unit 11B.

[0086] Furthermore, depending on the shape of the item M, the shadows Sa and Sb extending in the Y direction may not be canceled out and may remain faint, but they may become even fainter when illuminated by the light (indirect light) reflected from above the item M by the first indirect lighting section 12A and the second indirect lighting section 12B.

[0087] This allows the boundary between the outline of the article M and the shadow cast by the article M to be clearly defined.

[0088] Therefore, in the image acquired by the image acquisition unit 10, halation can be generated by the irradiation of light, and the image density value due to the shadow can be reduced, making the shading in the image clearer.

[0089] As a result, the item detection device 1 makes it easy to detect, in the image acquired by the image acquisition unit 10, the boundary between the upstream edge of the item M in the conveying direction F and the conveying surface 20a, which is the background of the item M, and the boundary between the downstream edge of the item M in the conveying direction F and the conveying surface 20a, which is the background of the item M.

[0090] Therefore, according to the article detection device 1, the detection accuracy of the article M in the image acquired by the image acquisition unit 10 can be improved.

[0091] Furthermore, in the item detection device 1, the first indirect illumination unit 12A is disposed so that its optical axis 12Aa faces upward by 90° relative to the transport surface 20a. The second indirect illumination unit 12B is also disposed so that its optical axis 12Ba faces upward by 90° relative to the transport surface 20a.

[0092] As a result, the light emitted from the first indirect illumination section 12A and the second indirect illumination section 12B is less likely to interfere with each other, and the reflector 14 is more likely to produce diffused light (indirect light) without bright and dark spots.

[0093] The item detection device 1 according to this embodiment is particularly suitable for use when at least a portion of the packaging material is transparent or when at least a portion of the packaging material is the same color as the conveying surface. Here, "at least a portion of the packaging material is transparent" means that in the image acquired by the image acquisition unit 10, it is difficult to distinguish between the packaging material covering the item M and the background image both visually and in terms of pixel information. The same applies when at least a portion of the packaging material is the same color as the conveying surface.

[0094] [program] The program of this embodiment is a program that can be executed by the computer of the item detection device 1, and causes the computer to execute the following steps: irradiating the item M with direct light from above the item M being transported in the transport direction F and irradiating the item M with indirect light; acquiring an image of the item M illuminated by the direct light and indirect light; and identifying the outer shape of the item M based on the image of the item M illuminated by the direct light and indirect light.

[0095] The program is stored in a storage unit that can be used by the controller 15 of the item detection device 1. Alternatively, the program is stored in a storage medium that is detachable from the item detection device 1 and provided.

[0096] [Labeling system] The above-described item detection device 1 can constitute a labeling system 100 that affixes a label LB to an item M, for example.

[0097] FIG. 8 is a schematic diagram illustrating a labeling system 100 according to this embodiment.

[0098] The label sticking system 100 according to this embodiment is used in combination with the article detection device 1 shown in FIGS. 1 to 5, and is a system that sticks a label LB to an article M detected by the article detection device 1.

[0099] The label application system 100 comprises an item detection device 1, a conveying device 20, an application arm 30, a printer 40, a label conveying unit 50, and a downstream detection unit 60, and each of the above components is controlled by a controller 70.

[0100] The article detection device 1 and the transport device 20 shown in FIG. 8 are the same as the article detection device 1 and the transport device 20 shown in FIG.

[0101] The application arm 30 includes a label holding portion 31. The tip of the label holding portion 31 is provided with a structure for sucking and holding the label LB.

[0102] The application arm 30 is provided with an actuator that allows movement in the vertical, horizontal and height directions and angle adjustment around an axis.

[0103] This allows the application arm 30 to pick up and hold the label LB conveyed by the label conveying unit 50 with the adhesive surface facing the article M. The application arm 30 can also move the label LB to the article M being conveyed and apply the label LB to a predetermined position on the article M.

[0104] The printer 40 comprises a printer body 41 for printing necessary information on a label LB, a label roll 42 in which the pre-printed label LB is temporarily attached to a continuous body of separator, and a backing roll 43 in which the continuous body of separator is collected after the label LB has been peeled off.

[0105] In this embodiment, the printer 40 is a printer that can independently set and print the print content related to the item M without being connected to an information processing terminal such as a personal computer.

[0106] The labeling system 100 is equipped with a printer 40, which allows information about the item M to be printed on the label LB before it is attached. For example, the information about the item M may include, in the case of a food product, the date of manufacture, expiration date, names of ingredients, etc.

[0107] The label conveying unit 50 includes a conveying belt 51 that conveys the labels LB peeled off from the separator continuum, and conveys the plurality of labels LB individually and continuously.

[0108] The downstream detection unit 60 is disposed downstream of the application arm 30 in the conveying device 20. In this embodiment, the downstream detection unit 60 is a camera that captures an image of the item M after the label LB has been applied. The image data acquired by the downstream detection unit 60 is used in the controller 70 in a process of determining the application state of the label LB.

[0109] The controller 70 is a computer that includes a microprocessor, storage units such as ROM and RAM, an input / output interface, and a bus that connects these.

[0110] In this embodiment, the controller 70 can determine the position where the label LB is to be attached to the item M based on the result of identifying the outer shape of the item M obtained from the item detection device 1.

[0111] FIG. 9 is a schematic diagram illustrating a label LB that is attached to an item M by the label attachment system 100. As shown in FIG.

[0112] 9 shows states (a), (b), and (c). State (a) is a state in which the label LB is being conveyed by the conveyor belt 51. State (b) is a state in which the label LB is being picked up by the application arm 30 and is being conveyed to the article M while being rotated so that it is oriented in a predetermined direction. State (c) is a state in which the label LB is being applied to the article M.

[0113] The item detection device 1 can detect the item M with high accuracy, and by applying it to the label application system 100, as shown in Figure 9, for example, the label LB can be rotated so that one side of the outer shape of the item M is parallel to one side of the label LB, and the label LB can be moved toward the item M, and the label LB can be applied to the item M.

[0114] Therefore, the aesthetic appearance of the article M and the label LB attached to the article M can be improved.

[0115] [Other embodiments] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0116] The image acquisition unit 10 may be equipped with a 3D camera capable of acquiring height information. In this case, the item identification unit 17 identifies the outer shape of the item based on the height information in addition to the acquired image. Note that instead of the 3D camera, a sensor may be applied that irradiates detection light such as infrared light or laser light onto the item M and acquires height information based on the reflection time.

[0117] In the item detection device 1, the first direct illumination unit 11A may be arranged upstream in the conveying direction F so that the arrangement direction of the LED units L is along the Y direction intersecting the conveying direction F. The second direct illumination unit 11B may be arranged downstream in the conveying direction F so that the arrangement direction of the LED units L is along the Y direction. In addition, the first indirect illumination unit 12A and the second indirect illumination unit 12B may be arranged above both sides in the width direction of the conveying direction F so that the arrangement direction of the LED units L is along the conveying direction F.

[0118] In addition, the item detection device 1 may be equipped with a first lighting set as shown in Figure 2, in which the first direct lighting unit 11A and the second direct lighting unit 11B are arranged along the conveying direction F and the first indirect lighting unit 12A and the second indirect lighting unit 12B are arranged along the Y direction, and the above-mentioned second lighting set, in which the first direct lighting unit 11A and the second direct lighting unit 11B are arranged along the Y direction and the first indirect lighting unit 12A and the second indirect lighting unit 12B are arranged along the conveying direction F.

[0119] The two lighting sets may be interchangeable depending on the shape of the article M, the reflection of light on the surface of the article M, etc. Also, the two lighting sets may be switchable depending on the shape of the article M, the reflection of light on the surface of the article M, etc.

[0120] In this embodiment, the optical axis 12Aa of the first indirect lighting unit 12A and the optical axis 12Ba of the second indirect lighting unit 12B are described as being arranged facing upward at 90° with respect to the conveying surface 20a, but they are not limited to being facing upward at 90° as long as they do not interfere with direct light.

[0121] In this embodiment, image processing other than background subtraction processing can also be applied. Examples of image processing include algorithms that detect objects of known shapes from acquired images. For example, there is a method of acquiring bounding boxes (external shapes) for multiple images using R-CNN and YOLO.

[0122] Another method is to use image processing such as optical flow or known conveyance speed information to superimpose multiple images that are presumed to be the item M, and find the area in the image where the item M exists. [Explanation of symbols]

[0123] 1. Item detection device 10 Image acquisition unit 11 Direct lighting section 11A First direct lighting section 11B Second direct lighting section 12 Indirect lighting section 12A First indirect lighting section 12Aa optical axis 12B Second indirect lighting section 12Ba optical axis 14 Reflector 15 Controller 16 Image processing section 17 Article Specification Department 20. Conveyor 20a Conveying surface 30 Adhesive Arm 31 Label holder 40 Printers 41 Printer body 42 label rolls 43 Mounting Paper Roll 50 Label transport unit 51 Conveyor belt 60 Lower detection section 70 Controller 100 Labeling System L1,L2 Direct light LB Label M Goods Mu end (upstream end in the conveying direction) Md end (end on the downstream side in the conveying direction) Sa,Sb shadow

Claims

1. a direct illumination unit that irradiates light directly onto an article being conveyed in a predetermined conveyance direction from above the article; an indirect lighting unit that indirectly irradiates light from above the item; an image acquisition unit that acquires an image of the article; an article identification unit that identifies the outer shape of the article based on an image of the article illuminated by direct light from the direct lighting unit and indirect light from the indirect lighting unit, Item detection device.

2. The object detection device according to claim 1 , the direct illumination unit has a plurality of direct light sources and is arranged so that light emitted from the plurality of direct light sources is irradiated onto the article in a direction perpendicular to the conveyance direction, The indirect lighting unit has a plurality of indirect light sources and is arranged so that light emitted from the plurality of indirect light sources is irradiated onto the object. Item detection device.

3. The object detection device according to claim 1 , The direct lighting unit includes: a first direct illumination unit disposed on one side of the article in a direction perpendicular to the conveying direction; a second direct illumination unit arranged on the other side of the article in a direction perpendicular to the conveying direction, the indirect lighting units are disposed on the upstream side and the downstream side in the transport direction, The light source is arranged so as to cancel out a shadow of the article caused by the first direct lighting unit and a shadow of the article caused by the second direct lighting unit. Item detection device.

4. 4. The object detection device according to claim 3, The optical axis of the indirect lighting unit is directed upward, the optical axes of the first direct illumination unit and the second direct illumination unit are arranged to face each other in a direction perpendicular to the transport direction; Item detection device.

5. The object detection device according to claim 1 , At least a portion of the article has the same color as the background of the image of the article acquired by the image acquisition unit. Item detection device.

6. The object detection device according to claim 1 , At least a portion of the article is transparent; Item detection device.

7. Direct light is irradiated onto an object being conveyed in a predetermined conveyance direction from above the object, and indirect light is irradiated onto the object; acquiring images of the item illuminated by the direct light and the indirect light; identifying an outer shape of the article based on images of the article illuminated by the direct light and the indirect light; Item detection methods.

8. A program executable by a computer of an item detection device, a step of irradiating an object with direct light from above the object being conveyed in a predetermined conveyance direction and irradiating the object with indirect light; acquiring images of the item illuminated by the direct light and the indirect light; identifying an outer shape of the object based on images of the object illuminated by the direct light and the indirect light; A program for causing the computer to execute the above.

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