Image processing system, image processing apparatus, workpiece pickup method, and workpiece pickup program
First Claim
1. An image processing system for determining a workpiece pickup order in which overlapping workpieces being transported on a conveyor are picked up by a robot, the system comprising:
- an imaging unit comprising a projector and arranged to have an imaging field of view containing the conveyor, and configured to;
image a subject comprising a plurality of the overlapping workpieces included in the imaging field of view; and
generate, based on linear light projected from the projector and reflected from the subject and natural light reflected from the subject, a luminance image representing the subject and a range image comprising height information indicating a height of at least one point on the subject; and
a processor configured with a program to perform operations comprising;
operation as a measurement unit configured to measure a position of each of the plurality of workpieces in the subject, based on the luminance image;
operation as an obtaining unit configured to obtain an overlap order in which the plurality of workpieces overlap one another based on the height information in the range image corresponding to the position of each of the plurality of workpieces in the luminance image; and
operation as a determination unit configured to;
determine the workpiece pickup order for the plurality of workpieces such that a workpiece having a highest place in the overlap order is picked up with a higher priority than other workpieces; and
determine, in response to the luminance image comprising at least one workpiece that does not overlap another workpiece and a plurality of overlapping workpieces, the workpiece pickup order for the at least one workpiece that does not overlap another workpiece and a workpiece having a highest place in the overlap order among the plurality of overlapping workpieces such that a workpiece more downstream in a transport path on the conveyor is picked up with a higher priority than other workpieces.
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Accused Products
Abstract
An imaging unit has its imaging field of view containing the conveyor, and images a subject in the imaging field. The imaging unit generates a luminance image representing the subject and a range image including height information indicating a height of at least one point on the subject from the conveyor by imaging the subject. A measurement unit measures a position of each workpiece in the luminance image. An obtaining unit obtains an overlap order of the workpieces based on the height information in the range image corresponding to the position of each workpiece in the luminance image. A determination unit determines the workpiece pickup order to allow a workpiece having a highest place in the overlap order to be picked up with a higher priority than other workpieces.
16 Citations
12 Claims
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1. An image processing system for determining a workpiece pickup order in which overlapping workpieces being transported on a conveyor are picked up by a robot, the system comprising:
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an imaging unit comprising a projector and arranged to have an imaging field of view containing the conveyor, and configured to; image a subject comprising a plurality of the overlapping workpieces included in the imaging field of view; and generate, based on linear light projected from the projector and reflected from the subject and natural light reflected from the subject, a luminance image representing the subject and a range image comprising height information indicating a height of at least one point on the subject; and a processor configured with a program to perform operations comprising; operation as a measurement unit configured to measure a position of each of the plurality of workpieces in the subject, based on the luminance image; operation as an obtaining unit configured to obtain an overlap order in which the plurality of workpieces overlap one another based on the height information in the range image corresponding to the position of each of the plurality of workpieces in the luminance image; and operation as a determination unit configured to; determine the workpiece pickup order for the plurality of workpieces such that a workpiece having a highest place in the overlap order is picked up with a higher priority than other workpieces; and determine, in response to the luminance image comprising at least one workpiece that does not overlap another workpiece and a plurality of overlapping workpieces, the workpiece pickup order for the at least one workpiece that does not overlap another workpiece and a workpiece having a highest place in the overlap order among the plurality of overlapping workpieces such that a workpiece more downstream in a transport path on the conveyor is picked up with a higher priority than other workpieces. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An image processing apparatus for determining a workpiece pickup order in which overlapping workpieces being transported on a conveyor are picked up by a robot, the apparatus comprising:
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an imaging unit comprising a projector and arranged to have an imaging field of view containing the conveyor, and configured to; image a subject comprising a plurality of the overlapping workpieces and included in the imaging field of view; and generate, based on linear light projected from the projector and reflected from the subject and natural light reflected from the subject, a luminance image representing the subject and a range image comprising height information indicating a height of at least one point on the subject; and a processor configured with a program to perform operations comprising; operation as a measurement unit configured to measure a position of each of the plurality of workpieces in the subject, based on the luminance image; operation as an obtaining unit configured to obtain an overlap order in which the plurality of workpieces overlap one another based on the height information in the range image corresponding to the position of each of the plurality of workpieces in the luminance image; and operation as a determination unit configured to; determine the workpiece pickup order for the plurality of workpieces such that a workpiece having a highest place in the overlap order is picked up with a higher priority than other workpieces; and determine, in response to the luminance image comprising at least one workpiece that does not overlap another workpiece and a plurality of overlapping workpieces, the workpiece pickup order for the at least one workpiece that does not overlap another workpiece and a workpiece having a highest place in the overlap order among the plurality of overlapping workpieces such that a workpiece more downstream in a transport path on the conveyor is picked up with a higher priority than other workpieces.
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11. A pickup method for determining a workpiece pickup order in which overlapping workpieces being transported on a conveyor are picked up by a robot, the method comprising:
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imaging a subject comprising a plurality of the overlapping workpieces included in an imaging field of view using an imaging unit comprising a projector and arranged to have the imaging field of view containing the conveyor by generating, based on linear light projected from the projector and reflected from the subject and natural light reflected from the subject, a luminance image representing the subject and a range image comprising height information indicating a height of at least one point on the subject from the conveyor by imaging the subject; measuring a position of each of the plurality of workpieces in the subject, based on the luminance image; obtaining an overlap order in which the plurality of workpieces overlap one another based on the height information in the range image corresponding to the position of each of the plurality of workpieces in the luminance image; determining the workpiece pickup order for the plurality of workpieces such that a workpiece having a highest place in the overlap order is picked up with a higher priority than other workpieces; and determining, in response to the luminance image comprising at least one workpiece that does not overlap another workpiece and a plurality of overlapping workpieces, the workpiece pickup order for the at least one workpiece that does not overlap another workpiece and a workpiece having a highest place in the overlap order among the plurality of overlapping workpieces such that a workpiece more downstream in a transport path on the conveyor is picked up with a higher priority than other workpieces.
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12. A non-transitory computer-readable recording medium storing a pickup program for determining a workpiece pickup order in which overlapping workpieces being transported on a conveyor are picked up by a robot, the program causing a computer to perform operations comprising:
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imaging a subject comprising a plurality of overlapping workpieces included in an imaging field of view using an imaging unit comprising a projector and arranged to have the imaging field of view containing the conveyor by generating, based on linear light projected from the projector and reflected from the subject and natural light reflected from the subject, a luminance image representing the subject and a range image comprising height information indicating a height of at least one point on the subject from the conveyor by imaging the subject; measuring a position of each of the plurality of workpieces in the subject, based on the luminance image; obtaining an overlap order in which the plurality of workpieces overlap one another based on the height information in the range image corresponding to the position of each of the plurality of workpieces in the luminance image; determining the workpiece pickup order for the plurality of workpieces such that a workpiece having a highest place in the overlap order is picked up with a higher priority than other workpieces; and determining, in response to the luminance image comprising at least one workpiece that does not overlap another workpiece and a plurality of overlapping workpieces, the workpiece pickup order for the at least one workpiece that does not overlap another workpiece and a workpiece having a highest place in the overlap order among the plurality of overlapping workpieces such that a workpiece more downstream in a transport path on the conveyor is picked up with a higher priority than other workpieces.
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Specification