Posture judgement system in image processing

Details Posture judgement system in image processing Posture judgement system in image processing

1985-12-23

1987-07-14

Boudreau, Leo H.

Image analysis

Histogram processing

For setting a threshold

358101, 358107, 364559, 382 25, G06K 900

Patent

active

046808027

DESCRIPTION:

BRIEF SUMMARY
DESCRIPTION

1. Technical Field
This invention relates to a method of recognizing component parts or the like by image processing, and more particularly to a posture judgement system suitable for the recognition of a position change or the side of a posture due to the rotation of a component parts.
2. Background Art
In conventional image processing, a method of judging a posture which determines the relation of position of a hole of a component parts and a moment has been employed. In the selection of parameters, however, suitable parameters are determined by a user in accordance with an object whenever recognition is made. For this reason, the judgement system greatly relies upon the user itself and system development has not necessarily been satisfactory and efficient.


DISCLOSURE OF INVENTION

With the background described above, the present invention contemplates to provide a posture judgement system having a high operation speed and high accuracy in the recognition of component parts by image processing.
The posture judgement system in accordance with the present invention first determines the combinations of those parameters which are used for posture judgement at the time of preparation of standard data, then classifies types by these combinations, and processes the parameter combination designated for each type at the time of recognition in order to judge the posture of a desired component parts.
Since the present invention automatically generates recognition data for "an" arbitrary component parts, it does not need programming relating to the posture judgement for each object. Since the present invention calculates only necessary and sufficient parameters at the time of recognition, the operating speed can be improved. Furthermore, since the accuracy of each parameter is evaluated and guaranteed, the accuracy of judgement becomes high.
These and other objects, features and effects of the present invention will become more apparent from the following description when taken in conjunction with the accompanying drawings.


BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 shows an example of a system to which the posture judgement system of the present invention is applied;
FIG. 2 shows the construction of an image processor;
FIG. 3 is a flowchart showing the processing flows of the posture judgement in the present invention;
FIG. 4 is an explanatory view of posture judgement parameters in the present invention;
FIG. 5 shows a table for storing posture judgement parameters;
FIG. 6 is a flowchart showing the processing flows for determining the posture judgement parameters at the time of preparation of the standard data; and
FIG. 7 is a flowchart useful for explaining further definitely a part of the processing flows shown in FIG. 6.


Best Mode for Carrying Out the Invention

Hereinafter, an embodiment of the invention will be described with reference to the accompanying drawings.
FIG. 1 shows the construction of an automatic assembly system embodying the posture judgement system of the present invention.
This system assembles those component parts which are being supplied by a rotary parts feeder 1 to chassis that is being carried on a belt conveyor 2. First of all, the image of a component parts on the rotary parts feeder 1 is inputted by a TV camera 3 and is transferred to an image processor 4. The image processor 4 recognizes the existence of the component parts to be assembled from the input image, and if such "a" parts exists, it calculates the position and posture of the component parts and transfers the data to an assembly robot 5. The assembly robot 5 picks up and assembles the component parts on the basis of the data sent from the image processor 4. The rotary parts feeder 1 supplies the component parts piled up on a disc at the center to a truck around its outer periphery. The component parts assume two-dimensionally arbitrary positions and postures on the truck. Therefore, the directions of the component parts must be known in order that the assembly robot 5 can pick them up.
The construction of the

REFERENCES:
patent: 3986007 (1976-10-01), Ruoff et al.
patent: 4325125 (1982-04-01), Buchfeld
patent: 4435835 (1984-03-01), Sakow et al.
patent: 4437114 (1984-03-01), LaRussa
patent: 4550432 (1985-10-01), Andersson
Persoon, "A System That can Learn to Recognize Two-Dimensional Shapes", Philips Tech. Rev., 11/12, 1978/79, pp. 356-363.
Bolles et al., "Robust Feature Matching Through Maximal Cliques", Proc. SPIE Tech. Symposium on Imaging and Assembly, Apr. 1979, pp. 1-9.

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