Shape detection system

• US 8,660,697 B2
• Filed: 06/18/2010
• Issued: 02/25/2014
• Est. Priority Date: 06/19/2009
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Yaskawa Denki
• Original Assignee: Kabushiki Kaisha Yaskawa Denki
• Inventors: Handa, Hiroyuki, Arie, Takeshi, Ichimaru, Yuji
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): TESTARDI, DAVID A
• Application Number:
  US12/818,153
• Publication Number:
  US 20100324737A1
• Time in Patent Office: 1,348 Days
• Field of Search: 701/259, 700/259, 382/153
• US Class Current: 700/259
• CPC Class Codes: G06F 18/24765 Rule-based classification
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/765 using rules for classification or partitioning the feature space

Abstract

A shape detection system includes a distance image sensor that detects an image of a plurality of detection objects and distances to the detection objects, the detection objects being randomly arranged in a container, a sensor controller that detects a position and an orientation of each of the detection objects in the container on the basis of the result of the detection performed by the distance image sensor and a preset algorithm, and a user controller that selects the algorithm to be used by the sensor controller and sets the algorithm for the sensor controller.

Claims

1. A shape detection system comprising:

a distance image sensor configured to detect

an image of a plurality of detection objects randomly arranged in a container, and

distances from the distance image sensor to the detection objects;

a sensor controller configured to detect a position and an orientation of each of the detection objects in the container on the basis of the image and the distances detected by the distance image sensor and a preset algorithm;

an algorithm database including pre-registered shape patterns of the detection objects and detection algorithms corresponding to the pre-registered shape patterns, the pre-registered shape patterns and the detection algorithms being in association with each other;

a script database including a plurality of scripts that serve as parts of the detection algorithms; and

a user controller configured to select a detection algorithm from the algorithm database as the preset algorithm, the user controller comprising;

a selector configured to allow a user to select a desired shape pattern from the pre-registered shape patterns of the detection objects in order to set, as the preset algorithm, one of the detection algorithms in the algorithm database on the basis of the desired shape pattern;

a script selector configured to display the scripts in the script database and configured to allow the user to select desired scripts from the scripts and an order of execution of the desired scripts; and

an algorithm creator configured to create a new detection algorithm on the basis of a combination of the desired scripts and the order of execution of the desired scripts, and configured to register the new detection algorithm to the algorithm database.

2. The shape detection system according to claim 1,

wherein the user controller further comprises

a specification input device configured to receive an input of a specification of the desired shape pattern, and

an algorithm setter configured to set, as the preset algorithm, the one of the detection algorithms in the algorithm database on the basis of the desired shape pattern and the specification input through the specification input device.

3. The shape detection system according to claim 2,

wherein the algorithm database includes pre-scan algorithms to detect the position and the orientation of each of the detection objects on the basis of shape characteristics of the detection objects, the shape characteristics of the detection objects being stored in advance, and

wherein the sensor controller is configured to measure a three-dimensional shape of each of the detection objects on the basis of the image and the distances detected by the distance image sensor and is configured to output the three-dimensional shape to the user controller.

4. The shape detection system according to claim 2, further comprising:

a robot configured to perform an operation for the detection objects arranged in the container; and

a robot controller configured to control a movement of the robot on the basis of the position and the orientation of each of the detection objects detected by the sensor controller.

5. The shape detection system according to claim 1,

wherein the user controller comprises

an algorithm execution display device configured to transmit, when the new detection algorithm created by the algorithm creator is executed, the desired scripts included in the created new detection algorithm to the sensor controller one step at a time or a plurality of steps at a time, the algorithm execution display being configured to receive a result of execution of the desired scripts from the sensor controller, and configured to display the result of execution of the desired scripts.

6. The shape detection system according to claim 5, further comprising:

a robot configured to perform an operation for the detection objects arranged in the container; and

a robot controller configured to control a movement of the robot on the basis of the position and the orientation of each of the detection objects detected by the sensor controller.

7. The shape detection system according to claim 1, further comprising:

a robot configured to perform an operation for the detection objects arranged in the container; and

a robot controller configured to control a movement of the robot on the basis of the position and the orientation of each of the detection objects detected by the sensor controller.

8. The shape detection system according to claim 7,

wherein the robot is configured to successively hold the detection objects that are randomly arranged in the container and is configured to cause the detection objects to be conveyed to a section where a next process is performed.

9. A shape detection system comprising:

distance-image detection means for detecting

an image of a plurality of detection objects randomly arranged in a container, and

distances from the distance-image detection means to the detection objects;

position-and-orientation detection means for detecting a position and an orientation of each of the detection objects in the container on the basis the image and the distances detected by the distance-image detection means and a preset algorithm;

an algorithm database including pre-registered shape patterns of the detection objects and detection algorithms corresponding to the pre-registered shape patterns, the pre-registered shape patterns and the detection algorithms being in association with each other;

selecting means for allowing a user to select a desired shape pattern from the pre-registered shape patterns of the detection objects in order to set, as the preset algorithm, one of the detection algorithms in the algorithm database on the basis of the desired shape pattern;

a script database including a plurality of scripts that serve as parts of the detection algorithms;

script selecting means for displaying the scripts in the script database to allow the user to select desired scripts from the scripts and an order of execution of the desired scripts; and

algorithm creating means for creating a new detection algorithm on the basis of a combination of the desired scripts and the order of execution of the desired scripts, and for registering the new detection algorithm to the algorithm database.

10. The shape detection system according to claim 9, further comprising:

specification input means for receiving an input of a specification of the desired shape pattern, and

algorithm setting means for setting, as the preset algorithm, the one of the detection algorithms in the algorithm database on the basis of the desired shape pattern and the specification input through the specification input means.

11. The shape detection system according to claim 9, further comprising:

an algorithm execution display means for transmitting, when the new detection algorithm created by the algorithm creating means is executed, the desired scripts included in the new detection algorithm to the sensor controller one step at a time or a plurality of steps at a time, receiving a result of execution of the desired scripts from the sensor controller, and displaying the result of execution of the desired scripts.

12. The shape detection system according to claim 9, further comprising:

robot means for performing an operation on the detection objects arranged in the container; and

robot controlling means for controlling a movement of the robot means on the basis of the position and the orientation of each of the detection objects detected by the position-and-orientation detection means.

13. The shape detection system according to claim 12,

wherein the robot means is for holding the detection objects that are randomly arranged in the container and for causing the detection objects to be conveyed to a section where a next process is performed.