US 12,148,178 B2
Workpiece detection device and workpiece detection method
Teruyuki Kubota, Kanagawa (JP); Takeshi Washio, Kanagawa (JP); Satoshi Takatsu, Kanagawa (JP); Naohumi Miura, Kanagawa (JP); and Shuuhei Terasaki, Kanagawa (JP)
Assigned to AMADA CO., LTD., Kanagawa (JP)
Appl. No. 17/616,739
Filed by AMADA CO., LTD., Kanagawa (JP)
PCT Filed Jun. 3, 2020, PCT No. PCT/JP2020/021864
§ 371(c)(1), (2) Date Dec. 6, 2021,
PCT Pub. No. WO2020/250761, PCT Pub. Date Dec. 17, 2020.
Claims priority of application No. 2019-109550 (JP), filed on Jun. 12, 2019.
Prior Publication US 2022/0335642 A1, Oct. 20, 2022
Int. Cl. G06T 7/60 (2017.01); B25J 9/16 (2006.01); G06T 1/00 (2006.01); G06T 7/00 (2017.01); G06T 7/10 (2017.01); G06T 7/20 (2017.01); G06T 7/30 (2017.01); G06T 7/70 (2017.01); G06V 10/24 (2022.01); G06V 10/75 (2022.01)
CPC G06T 7/70 (2017.01) [B25J 9/1694 (2013.01); G06T 1/0014 (2013.01); G06T 7/60 (2013.01); G06V 10/247 (2022.01); G06V 10/751 (2022.01); G06T 2207/30164 (2013.01); G06V 2201/06 (2022.01)] 6 Claims
OG exemplary drawing
 
1. A workpiece detection device comprising:
a trapezoid correction unit configured to perform trapezoid correction on photographed image data obtained by photographing one or more workpieces loaded on a mounting place with a monocular camera, an uppermost workpiece of the one or more workpieces being a target workpiece that is held by a gripper of a workpiece holding robot, and the workpiece holding robot including a surface detection sensor;
a pattern matching unit configured to carry out a first pattern matching between an image of the trapezoid-corrected photographed image data and a first plurality of models that show images of the target workpiece and have a plurality of sizes and a plurality of angles so as to select a model having a size and an angle with a highest degree of matching, each model showing a planar shape of the target workpiece viewed from above, the plurality of sizes being different in a stepwise manner from a smallest size corresponding to a size of the planar shape of the target workpiece in a state in which a single workpiece is arranged on the mounting place to a largest size corresponding to a size of the planar shape of the target workpiece in a state in which a maximum number of workpieces are loaded on the mounting place, and the plurality of angles being angles at which each size of the model is rotated in a plane containing the planar shape;
a primary detection unit configured to detect a position and an angle of the target workpiece from among the loaded workpieces based on the model selected by the pattern matching unit;
an actual load height calculation unit configured to calculate an actual load height of the target workpiece based on a hand height detected by the workpiece holding robot when the gripper is positioned above the target workpiece based on the position and the angle of the target workpiece detected by the primary detection unit; and
a secondary detection unit configured to re-detect the position and the angle of the target workpiece based on a model having a size and an angle with a highest degree of matching that the pattern matching unit selects by carrying out a second pattern matching between the image of the trapezoid-corrected photographed image data and a second plurality of models that are either selected from among the first plurality of models based on the actual load height or newly created based on the actual load height, the second plurality of models being less than the first plurality of models.