Posture judgement system in image processing

• US 4,680,802 A
• Filed: 12/23/1985
• Issued: 07/14/1987
• Est. Priority Date: 03/26/1984
• Status: Expired due to Term

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Hata, Seiji, Miyakawa, Akira, Nishida, Yoshie
• Primary Examiner(s): Boudreau, Leo H.
• Assistant Examiner(s): Mancuso, Joseph
• Application Number:
  US06/807,880
• Time in Patent Office: 568 Days
• Field of Search: 382/8, 382/25, 358/101, 358/107, 356/399, 364/559
• US Class Current: 382/141
• CPC Class Codes: G06F 18/211 Selection of the most significant subset of features

Abstract

This invention relates to a system which improves an operation speed and accuracy of judgement when the posture of an object component parts is judged by an image processor. This system determines a combination of parameters used for the posture judgement at the time of the preparation of standard data, classifies the types in accordance with the parameter combinations and makes processing for a parameter combination designated for each type at the time of recognition, thereby judging the posture of the object component parts at a high speed and with a high level of accuracy.

Claims

1. A posture judgement system in an image processor which recognizes the existence, position and posture of an object and assembles the object by a robot, comprising:

means for imaging objects to provide an input image signal;

means for preparing standard data from the image input signal by classifying the image input signal as representing a;

first type of object if the posture of the object part can be determined on the basis of angles and distances between the centroid of the object and the centroid of each hole included within the object;

second type of object if the posture of the object can be determined on the basis of a ratio |Y² /X² -1| of a major axis to a minor axis and a single longest distance connecting the centroid of the object to the periphery of the object;

third type of object if the posture of the object can be determined on the basis of the ratio of a major axis to a minor axis and a pattern of positions of a plurality of holes in the object;

fourth type of component part if the component part is neither a first, second nor third type and if the posture can be determined on the basis of the points at which successive lengths connecting the centroid on the component part and the periphery change from increasing to decreasing values, and the ratio of a major axis to a minor axis;

fifth type of component part if the component part is neither a first, second, third nor fourth type and if the posture of the component part can be determined on the basis of the ratio of a major axis to a minor axis after the posture has been changed by 180 degrees;

sixth type of component part if the posture of the component part can be determined on the basis of the ratio of a major axis to a minor axis and angles and distances between lines connecting the centroid of the component part and the centroids of each hole in the component part;

seventh type of component part if the component part is neither a first nor sixth type and if the posture of the component part can be determined on the basis of points at which the lengths connecting the centroid of the component part and the periphery of the component part change from increasing to decreasing values;

eighth type of component part if the component part is neither a first, sixth nor seventh and if the posture of the component part can be determined on the basis of a determination of senmetry;

unrecognizable pattern if the component part is neither a first, second, third, fourth, fifth, sixth, seventh nor eighth type;

and

means for recognizing the posture of the desired component parts by comparing the standard data with parameters providing a basis for determining the type of component part represented by said image input signals.

2. The posture judgement system as defined in claim 1 wherein said preparing means evaluates the accuracy of each parameter at the time of the preparation of the standard data, and selects a combination of parameters that ensures the accuracy exceeding a predetermined value at the time of posture judgement.

3. The posture judgement system as defined in claim 1 wherein said parameters are a hole position of the object component parts, in direction of major axis, the remotest point, and a value pattern.