Recess detection device, transport device, and recess detecting method

{
  "publication_number": "US10692229B2",
  "country": "US",
  "kind": "B2",
  "title": "Recess detection device, transport device, and recess detecting method",
  "abstract": "A recess detection device includes a reference value decision processor that extracts, from distance image information, pieces of reference information respectively corresponding to reference regions at different positions within a detection range with a distance from a three-dimensional sensor being within a predetermined range, and determines a reference value based on the reference information, and a presence identification processor that extracts, from the distance image information, pieces of comparison information respectively corresponding to comparison regions within the same detection range, respectively, derives comparison values based on the respective pieces of comparison information, and indicates a presence of a recess when a difference between the reference value and the comparison value exceeds a predetermined threshold.",
  "claims": [
    "1. A recess detection device for detecting a recess in a flat portion intersecting with a visual field plane of a three-dimensional sensor, based on distance image information of a detection target including the flat portion, the recess detection device comprising: a reference value decision processor that extracts, from the distance image information, a plurality of pieces of reference information respectively corresponding to a plurality of reference regions located at different positions within a detection range with a distance from the three-dimensional sensor being within a predetermined range, and determines a reference value based on the plurality of pieces of reference information; and a presence identification processor that extracts, from the distance image information, pieces of comparison information respectively corresponding to a plurality of comparison regions within the detection range, derives comparison values based on the respective pieces of comparison information, and indicates a presence of a recess when a difference between the reference value and the comparison value exceeds a predetermined threshold; wherein the detection target is a pallet with one or more boxes stacked on the pallet in a cubic or substantially cubic shape; and the flat portion is an upper surface of the detection target.",
    "2. The recess detection device according to claim 1, wherein the plurality of reference regions are evenly disposed along the detection range.",
    "3. The recess detection device according to claim 1, wherein the plurality of reference regions are regions obtained by evenly dividing the detection range.",
    "4. The recess detection device according to claim 1, wherein each of the plurality of reference regions and each of the plurality of comparison regions are the same region.",
    "5. The recess detection device according to claim 1, wherein the reference value decision processor acquires distance image information of a parallel portion that is a portion of the detection target along the visual field plane of the three-dimensional sensor, and identifies a shape of the flat portion from the distance image information.",
    "6. A transport device comprising: a recess detection device that detects a recess in a flat portion intersecting with a visual field plane of a three-dimensional sensor, based on distance image information of a detection target including the flat portion; the recess detection device including: a reference value decision processor that extracts, from the distance image information, a plurality of pieces of reference information respectively corresponding to a plurality of reference regions located at different positions within a detection range with a distance from the three-dimensional sensor being within a predetermined range, and determines a reference value based on the plurality of pieces of reference information; and a presence identification processor that extracts, from the distance image information, pieces of comparison information respectively corresponding to a plurality of comparison regions within the detection range, derives comparison values based on the respective pieces of comparison information, and indicates a presence of a recess when a difference between the reference value and the comparison value exceeds a predetermined threshold; a vehicle, to which the recess detection device is attached, and which moves autonomously; and a holder that is attached to the vehicle and holds a placement target placed on the detection target; wherein the detection target is a pallet with one or more boxes stacked on the pallet in a cubic or substantially cubic shape; and the flat portion is an upper surface of the detection target.",
    "7. The transport device according to claim 6, wherein the holder includes a plurality of forks; the recess detection device includes a plurality of three-dimensional sensors; and each of the plurality of three-dimensional sensors is attached to each of tips of the forks and attempts to detect a recess.",
    "8. The transport device according to claim 6, wherein the plurality of reference regions are evenly disposed along the detection range.",
    "9. The transport device according to claim 6, wherein the plurality of reference regions are regions obtained by evenly dividing the detection range.",
    "10. The transport device according to claim 6, wherein each of the plurality of reference regions and each of the plurality of comparison regions are the same region.",
    "11. The transport device according to claim 6, wherein the reference value decision processor acquires distance image information of a parallel portion that is a portion of the detection target along the visual field plane of the three-dimensional sensor, and identifies a shape of the flat portion from the distance image information.",
    "12. A recess detecting method for detecting a recess in a flat portion intersecting with a visual field plane of a three-dimensional sensor, based on distance image information of a detection target including the flat portion, the recess detecting method comprising: causing a reference value decision processor to extract, from the distance image information, a plurality of pieces of reference information respectively corresponding to a plurality of reference regions located at different positions within a detection range in the flat portion with a distance from the three-dimensional sensor being within a predetermined range; causing the reference value decision processor to determine a reference value based on the plurality of pieces of reference information; causing a presence identification processor to extract, from the distance image information, pieces of comparison information respectively corresponding to a plurality of comparison regions within the detection range in the flat portion; causing the presence identification processor to derive comparison values based on the respective pieces of comparison information; and causing the presence identification processor to indicate a presence of a recess when a difference between the reference value and the comparison value exceeds a predetermined threshold; wherein the detection target is a pallet with one or more boxes stacked on the pallet in a cubic or substantially cubic shape; and the flat portion is an upper surface of the detection target.",
    "13. The recess detecting method according to claim 12, wherein the plurality of reference regions are evenly disposed along the detection range.",
    "14. The recess detecting method according to claim 12, wherein the plurality of reference regions are regions obtained by evenly dividing the detection range.",
    "15. The recess detecting method according to claim 12, wherein each of the plurality of reference regions and each of the plurality of comparison regions are the same region.",
    "16. The recess detecting method according to claim 12, wherein the reference value decision processor acquires distance image information of a parallel portion that is a portion of the detection target along the visual field plane of the three-dimensional sensor, and identifies a shape of the flat portion from the distance image information."
  ],
  "description_excerpt": "The present invention relates to a recess detection device, a transport device, and a recess detecting method to detect whether or not a recess is present on a predetermined surface.\n\nThere have been proposed a variety of methods to acquire distance image information respectively including pieces of distance information in a plurality of two-dimensionally disposed points constituting an image by using a three-dimensional sensor such as a TOF (Time of Flight) camera, an LRF (Laser Range Finder) or a stereo camera, and inspection is made as to whether foreign matter or a recess is located on a predetermined plane such as a floor surface or an upper surface of a cardboard box stacked on the floor surface.\n\nFor example, Japanese Unexamined Patent Publication No. 2006-301962 describes a technique in which, from a setting of a position in a two-dimensional coordinate system formed by excessively dividing captured distance image information into regions and taking a depth distance as vertical axis coordinates, a plurality of objects, images of which have been captured, are separated.\n\nWhen foreign matter located on a predetermined surface is to be detected using the three-dimensional sensor, the foreign matter can be easily identified because the shape of the foreign matter is present as a point group at a position different from the predetermined surface in the distance image information.",
  "cpc": [
    "G06T 7/50",
    "B66F 9/0755",
    "G01B 11/03",
    "G01B 11/303",
    "G01N 2021/8887",
    "G01N 2021/8924",
    "G01N 21/8851",
    "G05D 1/0246",
    "G05D 1/2435",
    "G05D 1/667",
    "G05D 2105/28",
    "G05D 2107/70",
    "G05D 2109/10",
    "G05D 2111/10",
    "G05D 2111/64",
    "G06T 2207/30164",
    "G06T 7/0008",
    "H04N 13/239"
  ],
  "ipc": [
    "B66F 9/075",
    "G05D 1/02",
    "G06T 7/00",
    "G06T 7/50",
    "H04N 13/239"
  ],
  "assignees": [
    "Murata Machinery Ltd"
  ],
  "inventors": [
    "Masaomi IIDA",
    "Shoji Tanaka"
  ],
  "filing_date": "2018-03-19",
  "publication_date": "2020-06-23",
  "grant_date": "2020-06-23",
  "priority_date": "2017-04-05",
  "application_number": "US-201815924552-A",
  "family_id": "63710512",
  "cited_by_count": 0,
  "citations": [
    "JP2006301962A",
    "US20150294473A1",
    "US20140362184A1",
    "US20150347840A1",
    "US20160090283A1",
    "US20180155169A1",
    "JP2017015601A",
    "US20170285644A1",
    "US20170316253A1",
    "US20180089517A1",
    "US20180089616A1"
  ]
}