Three-dimensional vision system
First Claim
1. A three-dimensional vision system, comprising:
- three-dimensional vision means for projecting slit-like light onto an object to-be-handled over each of a plurality of scanning lines and for reading image signals representing both a resulting slit image of the object while the slit-like light is projected over one of said plurality of scanning lines and a background image of the object along the same one of said plurality of scanning lines while no slit-like light is projected,an image input portion which controls illumination of the slit-like light to cause said vision means to sequentially project said slit-like light over each of said plurality of scanning lines, and also controls the reading of image signals representing both the slit-image and the background image along each of said scanning lines, and which performs extraction processing for each one of said plurality of scanning lines to obtain differential signals from the image signals representing a resulting slit image of the object along a scanning line and the image signals representing the background image of the object along the same scanning line to obtain said differential signals for each one of said scanning lines from the image signals read out, andmeans including means for extracting a position corresponding to a maximum value among said differential signals occurring along each of said scanning lines, for extracting a light segmentation line from each one of said differential signals,whereby an image processor can recognize a three-dimensional shape of the object on the basis of a plurality of said light segmentation lines extracted from said differential signals and the positions corresponding to the maximum value of each of one of said differential signals.
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Abstract
The present invention consists in a three-dimensional vision system comprising a three-dimensional vision sensor which projects slit-like light on an object to-be-handled and which reads out a resulting slit image, an image input portion which controls the slit-like light to be lit up and put out and also controls the read-out of the slit image and which performs extraction processing of differential signals as to image signals read out, and an image processor which performs required controls concerning said image input portion and which processes image data of said image input portion; an image with the projected slit-like light and an image without it being sequentially sampled on an identical scanning line of the read-out image so as to obtain the differential image between them, thereby to extract a light segmentation line based on the projected slit-like light.
100 Citations
25 Claims
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1. A three-dimensional vision system, comprising:
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three-dimensional vision means for projecting slit-like light onto an object to-be-handled over each of a plurality of scanning lines and for reading image signals representing both a resulting slit image of the object while the slit-like light is projected over one of said plurality of scanning lines and a background image of the object along the same one of said plurality of scanning lines while no slit-like light is projected, an image input portion which controls illumination of the slit-like light to cause said vision means to sequentially project said slit-like light over each of said plurality of scanning lines, and also controls the reading of image signals representing both the slit-image and the background image along each of said scanning lines, and which performs extraction processing for each one of said plurality of scanning lines to obtain differential signals from the image signals representing a resulting slit image of the object along a scanning line and the image signals representing the background image of the object along the same scanning line to obtain said differential signals for each one of said scanning lines from the image signals read out, and means including means for extracting a position corresponding to a maximum value among said differential signals occurring along each of said scanning lines, for extracting a light segmentation line from each one of said differential signals, whereby an image processor can recognize a three-dimensional shape of the object on the basis of a plurality of said light segmentation lines extracted from said differential signals and the positions corresponding to the maximum value of each of one of said differential signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A process for recognizing the three-dimensional shape of an object, comprising:
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projecting a beam of slit-like light upon an object during a first operational state and projecting no slit-like light upon the object during a second operational state; generating first and second image signals representative of images of the object formed along a scanning line during each of said first and second operational states; simultaneously processing said first and second image signals taken along said scanning line to provide differential signals representative of differences in amplitude between said first and second signals, whereby a light segmentation line based on the projected slit-like light beam is extracted from said images. - View Dependent Claims (17, 18)
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19. A three-dimensional vision system, comprising:
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three-dimensional vision means having a projector for projecting slit-like light defining a plane onto an object during a first operational state and projecting no slit-like light upon the object during a second operational state, having an image sensor including an array of pixels for detecting images of the object from a direction inclined against the plane and coverting the images of the object into image signals, and sensor signal reading means for reading the image signals, said images of the object including a slit image resulting from illumination of the object with the slit-like light during said first operational state and a background image occurring while no slit-like light is projected by aid projector onto the object; scanning control means for sequentially controlling over each of a plurality of scanning lines, the presence of said slit-like light emanating from the projector during said first operational state and the absence of said slit-like light during said second operational state, and for controlling the reading of image signals from said sensor signal reading means to provide image signals representing one of said images detected during said first operational state and one of said images formed during said second operational state for each of said plurality of scanning lines; converter means for converting the image signals into digital signals; memory means for storing the digital signals read-out from the sensor signal reading means; differential signal extracting means controlled by said scanning control means and coupled to said converter means and said memory means, for sequentially sampling the digital signals formed from said image signals for each of said scanning lines during both of said operational states, and for extracting a differential image signal for each of said scanning lines from the digital signals formed for each of said scanning lines; light segmentation line extracting means including means for extracting a position corresponding to the maximum value of said differential image signal along each of said scanning lines for extracting a light segmentation line from each said differential image signal obtained by the differential signal extracting means; and an image processor for recognizing the three-dimensional shape of the object in accordance with the light segmentation line extracted by the light segmentation line extracting means. - View Dependent Claims (20)
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21. A three-dimensional vision system, comprising:
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three-dimensional vision means for projecting planar light beams on objects to-be-handled and for reading from an array of pixels, image signals representing resulting images of the objects occurring over a plurality of scanning lines, with a first one of said images in each of said scanning lines being a resulting image occurring during illumination of the objects with projected slit-like light and a second one of said images being a background image occurring in the same scanning line during the absence of illumination of the objects with said slit-like light; an image input portion which sequentially controls illumination of objects by the light beams to provide one image of the objects during the first operational state and another image of the object during the second operational state for each one of said scanning lines, controls the reading of the images, and which performs extraction processing to obtain differential signals for each of said scanning lines from the image signals read representing a resulting slit image of the object along said scanning lines and representing the background image of the object along corresponding scanning lines; means for extracting a position corresponding to a maximum value among said differential signals for each of said scanning lines; means for determining a light segmentation line from each one of said differential signals extracted by said input portion; and an image processor can recognize a three-dimensional shape of the object on the basis of a plurality of said light segmentation line extracted from said differential signals and the positions corresponding to the maximum value of each one of said differential signals. - View Dependent Claims (22, 23, 24, 25)
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Specification