Data structure for creating image-processing data and method for creating image-processing data

{
  "publication_number": "US11222417B2",
  "country": "US",
  "kind": "B2",
  "title": "Data structure for creating image-processing data and method for creating image-processing data",
  "abstract": "Data structure for image-processing data is for creating image-processing data necessary for performing image processing on captured images of multiple workpieces when an articulated robot extracts a workable target workpiece from among multiple supplied workpieces. The data structure includes workpiece shape data for recognizing a target workpiece by pattern matching and tool data configured to check whether there is interference between a tool mounted on the articulated robot and a peripheral workpiece. The data structure is configured such that the combination of the workpiece shape data and the tool data can be rearranged for each workpiece or for each tool.",
  "claims": [
    "1. A non-transitory medium storing instructions which when executed by a computer cause the computer to perform a method, the method comprising: creating image-processing data necessary for performing image processing on captured images of multiple workpieces when an articulated robot extracts a workable target workpiece from among multiple supplied workpieces based upon a data structure, wherein the data structure includes: workpiece shape data for recognizing the target workpiece by pattern matching; and tool data applicable to each of the multiple supplied workpieces for checking whether there is interference between a tool mounted on the articulated robot and a peripheral workpiece, the workpiece shape data for recognizing the target workpiece is usable in first different image-processing data for a different tool other than the tool, and the tool data for checking whether there is interference is usable in second different image-processing data for a different workpiece other than the target workpiece.",
    "2. The non-transitory medium according to claim 1, wherein the workpiece shape data includes an outer shape of the workpiece and a tool work position at which the tool performs work on the workpiece.",
    "3. The non-transitory medium according to claim 1, wherein the tool data includes an interference prohibition region in which interference of the peripheral workpiece with respect to the target workpiece is prohibited.",
    "4. The non-transitory medium according to claim 3, wherein the interference prohibition region is designated as a region obtained by setting a tool work position in which the tool performs work on the workpiece as a reference.",
    "5. The non-transitory medium according to claim 4, wherein the interference prohibition region is designated as a circular region or a rectangular region.",
    "6. The non-transitory medium according to claim 1, wherein the data structure further includes: process data including a sequence of the image processing and a parameter setting corresponding to an environmental condition, and the workpiece shape data for recognizing the target workpiece and the tool data for checking whether there is interference are usable in third different image-processing data for a different environmental condition other than the environmental condition.",
    "7. The non-transitory medium according to claim 6, wherein the environmental condition includes a supply method of the workpiece or a lighting condition of the workpiece.",
    "8. An image-processing data creation method for creating image-processing data necessary for performing image processing on captured images of multiple workpieces when an articulated robot extracts a workable target workpiece from among multiple supplied workpieces, the method comprising: creating workpiece shape data for recognizing the target workpiece by pattern matching; creating tool data applicable to each of the multiple supplied workpieces for checking whether there is interference between a tool mounted on the articulated robot and a peripheral workpiece in advance; creating the image-processing data by combining the workpiece shape data and the tool data; and saving the image-processing data, wherein the workpiece shape data for recognizing the target workpiece is usable in first different image-processing data for a different tool other than the tool, and the tool data for checking whether there is interference is usable in second different image-processing data for a different workpiece than the target workpiece.",
    "9. The image-processing data creation method according to claim 8, wherein the workpiece shape data includes an outer shape of the workpiece and a tool work position at which the tool performs work on the workpiece.",
    "10. The image-processing data creation method according to claim 8, wherein the tool data includes an interference prohibition region in which interference of the peripheral workpiece with respect to the target workpiece is prohibited.",
    "11. The image-processing data creation method according to claim 10, wherein the interference prohibition region is designated as a region obtained by setting a tool work position in which the tool performs work on the workpiece as a reference.",
    "12. The image-processing data creation method according to claim 11, wherein the interference prohibition region is designated as a circular region or a rectangular region.",
    "13. The image-processing data creation method according to claim 8, further comprising: creating process data including a sequence of the image processing and a parameter setting corresponding to an environmental condition; and creating the image-processing data by combining the workpiece shape data, the tool data, and the process data, wherein the workpiece shape data for recognizing the target workpiece and the tool data for checking whether there is interference are usable in third different image-processing data for a different environmental condition other than the environmental condition.",
    "14. The image-processing data creation method according to claim 13, wherein the environmental condition includes a supply method of the workpiece or a lighting condition of the workpiece.",
    "15. The image-processing data creation method according to claim 8, wherein the image-processing data is created before images of the target workpiece are captured for extraction processing to extract the workable target workpiece from among the multiple supplied workpieces.",
    "16. The image-processing data creating method according to claim 8, wherein creating the tool data includes creating tool data for each of a plurality of different types of tool.",
    "17. The image-processing data creating method according to claim 8, wherein creating the workpiece shape data includes creating workpiece shape data for each of a plurality of different types of workpiece.",
    "18. The non-transitory medium according to claim 1, wherein the tool data includes tool data for each of a plurality of different types of tool.",
    "19. The non-transitory medium according to claim 1, wherein the workpiece shape data includes workpiece shape data for each of a plurality of different types of workpiece.",
    "20. The non-transitory medium according to claim 1, wherein the workpiece shape data for recognizing the target workpiece is usable without the tool data for checking whether there is interference in the first different image-processing data for the different tool other than the tool, and the tool data for checking whether there is interference is usable without the workpiece shape data for recognizing the target workpiece in the second different image-processing data for the different workpiece other than the target workpiece."
  ],
  "description_excerpt": "The present description discloses a data structure for creating image-processing data and a method for creating image-processing data.\n\nConventionally, an industrial articulated robot capable of working on a workpiece has been known (for example, see Patent Literature 1).\n\nPatent Literature 1: JP-A-2004-362018\n\nTechnical Problem Since the production of a large number of product types is often mixed in a modern multiproduct variable cell production line, it is desirable to have a large number of components (workpieces) of various product types supplied at the same time without changeover, and the method for arranging and supplying the workpieces is a major concern. One of the basic operations of an articulated robot is the operation of picking up and conveying a target workpiece. In the industrial robot in the related art, in order to facilitate picking up a workpiece with the articulated robot, the workpieces are often supplied in a state in which the direction and position of each workpiece are aligned by using a dedicated supply device. However, a dedicated supply device is not suitable for multiproduct variable cell production lines because it requires a dedicated design for each workpiece, and the space and costs of installation are not small. For this reason, a simpler form of supplying workpieces is desired in which the workpieces are simply placed separately on a general-purpose supply device such as a case (component box) or a small conveyor so that a larger number of workpieces can be supplied with a small installation area without using a dedicated supply device.",
  "cpc": [
    "G06T 7/74",
    "B25J 15/04",
    "B25J 19/023",
    "B25J 9/0093",
    "B25J 9/1697",
    "G05B 2219/40053",
    "G06F 18/22",
    "G06K 2209/19",
    "G06K 9/6201",
    "G06T 1/00",
    "G06T 2207/30164",
    "G06T 7/001",
    "G06T 7/12",
    "G06T 7/136",
    "G06T 7/70",
    "G06V 2201/06"
  ],
  "ipc": [
    "B25J 9/16",
    "G06K 9/62",
    "G06T 7/00",
    "G06T 7/70"
  ],
  "assignees": [
    "FUJI CORP"
  ],
  "inventors": [
    "OISHI NOBUO"
  ],
  "filing_date": "2017-03-06",
  "publication_date": "2022-01-11",
  "grant_date": "2022-01-11",
  "priority_date": "2017-03-06",
  "application_number": "US-201716483575-A",
  "family_id": "63447382",
  "citations": [
    "CN104057459A",
    "CN104057459B",
    "JP2004362018A",
    "JP2015044274A",
    "JP2017030135A",
    "US2007282485A1",
    "US2013211593A1",
    "US2015003678A1",
    "US2017129066A1"
  ]
}