Structure for recognizing article to be collected, and collection information recognition apparatus and collection processing apparatus that use the structure
First Claim
1. A structure for recognizing an article to be collected, wherein the structure is recognized by capturing a position and an attitude of the article to be recognized by an imaging tool, comprising:
- a recognition indicator plane that is included in the article to be recognized and that has four or more unit pattern marks at a predetermined positional relationship, in which each of the unit pattern marks is formed such that a density pattern sequentially changes with an increasing distance from a center position toward a periphery of the mark; and
a recognition indicator element indicates a change in density pattern of each of the unit pattern marks in the form of a dot image,wherein the position and the attitude of the article to be recognized are recognized by capturing the recognition indicator plane by the imaging tool.
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Abstract
A structure for recognizing an article to be collected includes a recognition reference plane that is provided in a part of a holding base which holds the article to be collected with a predetermined positional relationship and that serves as a reference used for recognizing layout information about a position and an attitude of the holding base. The structure also includes a recognition indicator element which is placed on the recognition reference plane in such a way that an imaging tool captures an image of the recognition indicator element and which has four or more unit pattern marks at a predetermined positional relationship, in which each of the unit pattern marks is formed such that a density pattern sequentially changes with an increasing distance from a center position toward a periphery of the mark.
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Citations
11 Claims
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1. A structure for recognizing an article to be collected, wherein the structure is recognized by capturing a position and an attitude of the article to be recognized by an imaging tool, comprising:
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a recognition indicator plane that is included in the article to be recognized and that has four or more unit pattern marks at a predetermined positional relationship, in which each of the unit pattern marks is formed such that a density pattern sequentially changes with an increasing distance from a center position toward a periphery of the mark; and a recognition indicator element indicates a change in density pattern of each of the unit pattern marks in the form of a dot image, wherein the position and the attitude of the article to be recognized are recognized by capturing the recognition indicator plane by the imaging tool. - View Dependent Claims (2, 3, 4)
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5. A structure for recognizing an article to be collected, comprising:
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a recognition reference plane that is provided in a portion of an article to be collected and that serves as a reference used for recognizing layout information about a position and an attitude of the article to be collected; and a recognition indicator element which is provided on the recognition reference plane in such a way that the imaging tool captures an image of the recognition indicator element and which has four or more unit pattern marks with a predetermined position relationship, each of which is formed such that the density pattern sequentially changes with an increasing distance from the center position toward the periphery of the mark, wherein the recognition indicator element indicates a change in density pattern of each of the unit pattern marks in the form of a dot image. - View Dependent Claims (6, 7, 8)
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9. A collection information recognition apparatus comprising:
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a recognition indicator element that is provided in a portion of the holding base for holding the article to be collected with a predetermined positional relationship or a portion of the article to be collected and that has four unit pattern marks or more, with a predetermined positional relationship, formed in such a way that the density pattern sequentially changes with an increasing distance from the center position toward the periphery of the mark; an imaging tool that captures an image of the recognition indicator element placed opposite the holding base or the article to be collected; and a layout information recognition block that recognizes layout information about the position and the attitude of the holding base or the article to be recognized made up of an article to be collected, by use of at least imaging information about the recognition indicator element whose image has been captured by the imaging tool, wherein the recognition indicator element indicates a change in density pattern of each of the unit pattern marks in the form of a dot image. - View Dependent Claims (10, 11)
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Specification