CONVEYED OBJECT DETECTOR, CONVEYANCE DEVICE, DEVICE INCLUDING MOVABLE HEAD, CONVEYED OBJECT DETECTING METHOD, AND NON-TRANSITORY RECORDING MEDIUM STORING PROGRAM OF SAME
First Claim
1. A conveyed object detector comprising:
- a first image obtaining unit disposed at a first position to image a conveyed object to obtain first image data;
a second image obtaining unit disposed at a second position different from the first position in a conveyance direction of the conveyed object, the second image obtaining unit configured to image the conveyed object to obtain second image data,each of the first image obtaining unit and the second image obtaining unit including;
a light source to irradiate the conveyed object with light;
an area sensor to receive reflected light reflected from the conveyed object; and
an optical element disposed between the area sensor and the conveyed object;
a recognition unit configured to;
recognize an object adhering to the first image obtaining unit based on imaging at the first position to generate first stain data; and
recognize an object adhering to the second image obtaining unit based imaging at the second position to generate second stain data;
a removal unit configured to;
remove the first stain data from the first image data, to generate first corrected image data; and
remove the second stain data from the second image data to generate second corrected image data; and
a calculator configured to generate, as a calculation result, at least one of a position, a movement amount, and a moving speed of the conveyed object based on the first corrected image data and the second corrected image data.
1 Assignment
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Accused Products
Abstract
A conveyed object detector includes first and second image obtaining units disposed at first and second positions different in a conveyance direction, to image a conveyed object to obtain first and second image data; respectively; a recognition unit to recognize an object adhering to the first and second image obtaining units based on imaging at the first and second positions to generate first and second stain data, respectively; a removal unit to remove the first and second stain data from the first and second image data, respectively; and a calculator to generate at least one of a position, a movement amount, and a moving speed of the conveyed object based on first and second corrected image data. Each of the first and second image obtaining units include a light source, an area sensor, and an optical element disposed between the area sensor and the conveyed object.
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Citations
17 Claims
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1. A conveyed object detector comprising:
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a first image obtaining unit disposed at a first position to image a conveyed object to obtain first image data; a second image obtaining unit disposed at a second position different from the first position in a conveyance direction of the conveyed object, the second image obtaining unit configured to image the conveyed object to obtain second image data, each of the first image obtaining unit and the second image obtaining unit including; a light source to irradiate the conveyed object with light; an area sensor to receive reflected light reflected from the conveyed object; and an optical element disposed between the area sensor and the conveyed object; a recognition unit configured to; recognize an object adhering to the first image obtaining unit based on imaging at the first position to generate first stain data; and recognize an object adhering to the second image obtaining unit based imaging at the second position to generate second stain data; a removal unit configured to; remove the first stain data from the first image data, to generate first corrected image data; and remove the second stain data from the second image data to generate second corrected image data; and a calculator configured to generate, as a calculation result, at least one of a position, a movement amount, and a moving speed of the conveyed object based on the first corrected image data and the second corrected image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A conveyed object detector comprising:
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image obtaining means for imaging a conveyed object at a first position and a second position to obtain first image data and second image data, respectively, the second position different from the first position in a conveyance direction of the conveyed object; recognition means for recognizing; an adhering object based on imaging at the first position to generate first stain data; and an adhering object based on imaging at the second position to generate second stain data; removal means for removing the first stain data from the first image data to generate first corrected image data and removing the second stain data from the second image data to generate second corrected image data; and calculating means for generating, as a calculation result, at least one of a position, a movement amount, and a moving speed of the conveyed object based on the first corrected image data and the second corrected image data.
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16. A conveyed object detecting method comprising:
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imaging, with a first area sensor and a second area sensor, a conveyed object at a first position and a second position to obtain first image data and second image data, respectively, the second position different from the first position in a conveyance direction of the conveyed object; recognizing an adhering object adhering to the first area sensor based on imaging at the first position, to generate first stain data; recognizing an adhering object adhering to the second area sensor based imaging at the second position, to generate second stain data; removing the first stain data from the first image data, to generate first corrected image data; removing the second stain data from the second image data, to generate second corrected image data; and generating, as a calculation result, at least one of a position, a movement amount and a moving speed of the conveyed object based on the first corrected image data and the second corrected image data. - View Dependent Claims (17)
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Specification