JP2018114029A - Camera system for cloth piece gripping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a camera system for a cloth piece gripping device regarding the start and end of the operation of a pair of gripping hands for the cloth piece gripping device for gripping a cloth piece. A cloth piece gripping device camera system (30) photographs a hanging piece of cloth before the operation of a pair of gripping hands of the cloth piece gripping device starts, and a pair of cloth piece gripping devices after the operation starts. Based on the camera 32 that photographs the state in which the gripping hand is gripping the cloth piece, and whether or not the cloth piece is within the predetermined range based on the image of the suspended cloth piece, A pair of gripping hands based on an operation start determination unit 34 that judges the start of movement of the pair of gripping hands and an image of a state in which the cloth piece is gripped by the pair of gripping hands of the cloth gripping device. And an operation end determination unit 37 that determines whether or not the cloth piece being gripped has been unfolded and determines whether the pair of gripping hands of the cloth piece gripping device has ended. [Selection diagram] Figure 1

Description

  The present invention relates to a camera system for a cloth gripping device relating to the start and end of operation of a pair of gripping hands for a cloth gripping device for gripping a cloth such as a towel or towel.

  In the so-called linen supply business, towels, towels and sheets are supplied to hotels, restaurants and medical facilities. Many pieces of cloth collected from suppliers are washed and dried, and are supplied to suppliers again in a folded state for each piece of cloth. The cloth pieces are hand towels, towels, sheets, and the like having various sizes, and are often rectangular shapes such as squares and rectangles.

  An apparatus for automation is introduced in a series of work steps in which the large number of cloth pieces are washed, dried and folded. However, automation is often not divided into a washing device, a drying device, a folding device, and the like from the viewpoint of cost and compactness, rather than covering all processes with a single device.

  Furthermore, an operator who passes a piece of cloth from the apparatus for each process to the apparatus for the next process is often interposed between the above processes. In particular, because of the process of folding each piece of cloth, it may be necessary to perform operations such as spreading each piece of cloth that has been rolled up or overlaid and aligning it in a certain direction.

  Therefore, the applicant has developed a device that automatically detects the edge of the suspended cloth piece (see, for example, Patent Document 1). By using this device, the edge of the cloth piece can be detected, and the work of spreading the cloth piece can be automated by the robot holding the edge.

JP 2014-45801 A

  However, the above-described device relates to a device that automatically detects the edge of a suspended cloth piece, and is premised on the start of operation, and does not particularly take into account the determination of the operation start and operation end.

  An object of the present invention is to provide a camera system for a cloth gripping device relating to the start and end of operation of a pair of gripping hands for the cloth gripping device that grips the cloth.

The camera system for a cloth gripping device according to the present invention grips a suspended cloth piece with a pair of gripping hands, and linearly unfolds the sides of the cloth piece gripped with the pair of gripping hands. A cloth gripping device camera system related to an operation start and an operation end of the pair of gripping hands of the cloth gripping device.
Photographing the cloth piece suspended before starting the operation of the pair of gripping hands of the cloth gripping device, and holding the cloth piece with the pair of gripping hands of the cloth gripping device after starting the operation. A camera to shoot,
Based on the image of the suspended cloth piece, it is confirmed whether or not the cloth piece is within a predetermined range, and an operation start determination is made to determine the start of operation of the pair of gripping hands of the cloth piece gripping device. And
Whether or not the cloth piece gripped by the pair of gripping hands is unfolded based on the image in a state where the cloth piece is gripped by the pair of gripping hands of the cloth piece gripping device. An operation end determination unit for confirming and determining the operation end of the pair of gripping hands of the cloth gripping device;
Is provided.

  According to the camera system for the cloth gripping device according to the present invention, since the operation start and the operation end of the pair of gripping hands can be clearly determined, it is possible to appropriately control the cloth gripping device incorporating this.

1 is a block diagram illustrating a configuration of a camera system for a cloth gripping device according to Embodiment 1. FIG. 1 is a schematic perspective view showing an example of a configuration of a cloth gripping apparatus including a camera system for a cloth gripping apparatus according to Embodiment 1. FIG. It is the schematic which shows the cloth piece suspended from the conveyor. 5 is a flowchart relating to determination of the start of operation of a pair of gripping hands of the cloth gripping apparatus by the cloth gripping apparatus camera system according to the first embodiment. 5 is a detailed flowchart of operation start / no-go determination of FIG. It is the schematic which shows a mode that the edge | side of a cloth piece is expand | deployed linearly, after gripping two corner | angular parts of a cloth piece with a pair of holding hands. FIG. 6B is a schematic diagram showing a relationship between a pair of gripping hands and a piece of cloth after being deployed in a straight line in FIG. 6A. 6 is a flowchart relating to determination of the end of the operation of a pair of gripping hands of the cloth gripping device by the camera system for the cloth gripping device according to the first embodiment. FIG. 8 is a detailed flowchart of determining whether or not to end an operation in FIG. 7. FIG. It is the schematic of the double arm type robot which provided the camera in the trunk | drum upper part.

The camera system for a cloth gripping apparatus according to the first aspect grips a suspended cloth piece with a pair of gripping hands, and the sides of the cloth piece gripped with the pair of gripping hands are linear. A cloth gripping device camera system related to an operation start and an operation end of the pair of gripping hands of the cloth gripping device deployed in
The cloth piece suspended before the operation of the pair of grasping hands of the cloth grasping device is photographed to acquire an image, and the cloth piece is grasped by the pair of grasping hands of the cloth grasping device after the operation starts. A camera that captures the image and captures images
Based on the image of the suspended cloth piece, it is confirmed whether or not the cloth piece is within a predetermined range, and an operation start determination is made to determine the start of operation of the pair of gripping hands of the cloth piece gripping device. And
Whether or not the cloth piece gripped by the pair of gripping hands is unfolded based on the image in a state where the cloth piece is gripped by the pair of gripping hands of the cloth piece gripping device. An operation end determination unit for confirming and determining the operation end of the pair of gripping hands of the cloth gripping device;
Is provided.

In the cloth gripping device camera system according to the second aspect, in the first aspect, the operation start determination unit includes:
A lowermost point detection unit for detecting a lowermost point of the cloth piece from the image of the suspended cloth piece;
An operation start availability determination unit that determines whether or not the pair of gripping hands of the cloth gripping device can start operation based on whether or not the lowest point of the cloth piece is within a predetermined range;
May be provided.

In the camera system for a cloth gripping device according to a third aspect, in the first or second aspect, the operation end determination unit includes:
The operation end determination unit
A straight line connecting a tip portion of the pair of gripping hands that grips the cloth piece from the image in a state in which the cloth hand is gripped by the gripping hand of the cloth piece gripping device, and the cloth piece A distance detection unit for detecting a maximum distance from the curve of the side;
An operation end availability determination unit that checks whether the maximum distance of the side is equal to or less than a predetermined value and determines whether the operation of the pair of gripping hands of the cloth gripping device is ended;
May be provided.

  In the cloth gripping device camera system according to a fourth aspect, in any one of the first to third aspects, the camera may be provided on an intermediate surface of the pair of gripping hands.

  Hereinafter, a cloth gripping device camera according to an embodiment will be described with reference to the accompanying drawings. In the drawings, substantially the same members are denoted by the same reference numerals.

(Embodiment 1)
FIG. 1 is a block diagram illustrating a configuration of a cloth gripping device camera system 30 according to the first embodiment. FIG. 2 is a schematic perspective view showing an example of the configuration of the cloth gripping apparatus 20 including the cloth gripping apparatus camera system 30 according to the first embodiment. FIG. 3 is a schematic view showing the piece of cloth 22 suspended from the conveyor 23. FIG. 6A is a schematic diagram illustrating a state in which the side 29 of the cloth piece 22 is linearly developed after the two corners 26a and 26b of the cloth piece 22 are held by the pair of holding hands 10a and 10b. FIG. 6B is a schematic diagram showing the relationship between the pair of gripping hands 10a and 10b and the cloth piece 22 after being deployed in a straight line in FIG. 6A.

The cloth gripping device camera system 30 grips a suspended cloth strip 22 with a pair of gripping hands 10a and 10b, and a side 24 of the cloth strip 22 gripped with a pair of gripping hands 10a and 10b. The operation start and the operation end of the pair of gripping hands 10a and 10b of the cloth gripping device 20 that expands the straight line are determined. The cloth gripping device camera system 30 includes a sub camera 32, an operation start determination unit 34, and an operation end determination unit 37. The camera 32 captures an image by photographing the cloth piece 22 (FIG. 3) suspended before the operation of the pair of grasping hands 10a and 10b of the cloth grasping device 20 is started. In addition, the camera 32 captures an image by capturing a state (FIG. 6B) of gripping the cloth piece 22 with the pair of gripping hands 10 a and 10 b of the cloth gripping apparatus 20 after the operation is started. Further, the operation start determination unit 34 confirms whether or not the vertically lower side 24 of the cloth piece 22 is within a predetermined range based on the image of the suspended cloth piece 22, and a pair of cloth piece gripping devices 20. The operation start of the gripping hands 10a and 10b is determined. The “start of operation” means “start of gripping operation of the cloth piece 22 by the pair of gripping hands 10a and 10b”. Further, the operation end determination unit 37 recognizes whether or not the side 29 of the cloth piece 22 being gripped is linear based on the image in a state of gripping the cloth piece 22. It is confirmed whether or not the operation of the pair of gripping hands 10a and 10b of the cloth gripping device 20 is confirmed by confirming whether or not 22 has been deployed. The “operation end” means “end of the unfolding operation of the cloth piece 22 by the pair of gripping hands 10a, 10b”.
According to the camera system 30 for the cloth gripping device, since the operation start and the operation end of the pair of gripping hands can be clearly determined, it is possible to appropriately control the cloth gripping device incorporating the same.

  This cloth gripping device camera system 30 can be used as, for example, a part of the cloth gripping device 20 shown in the schematic perspective view of FIG. 2 is a conveyor 23 for suspending a cloth piece 22, a camera system 30, a three-dimensional measuring device 25, a pair of gripping hands 10a and 10b, and a control for controlling each device. The unit 40 is provided. In the present embodiment, the operation start determination unit 34 and the operation end determination unit 37 are mounted in the control unit 40 of the cloth gripping device 20, but not limited thereto, may be provided separately from the control unit, The camera 32 may be integrated with the camera 32 by mounting an image processing function in the camera 32 or the like. In this cloth gripping device 20, the camera system 30 detects a vertically lower side 24 of the cloth 22 suspended from the conveyor 23 to determine the start of operation. When it is determined that the operation is started, the three-dimensional measuring device 25 acquires the three-dimensional shape of the cloth piece 22. The pair of gripping hands 10a and 10b are attached to the first and second robot arms 27a and 27b, respectively, and grip the two corners 26a and 26b of the cloth piece 22. Next, the cloth piece 22 is pulled out from the conveyor 23 while grasping the two corners 26a and 26b of the cloth piece 22 by the pair of grasping hands 10a and 10b, and as shown in FIG. Are supported by the gripping hands 10a and 10b. In this case, the vertically lower side is inverted vertically with respect to FIG. Next, as shown in FIGS. 6A and 6B, the pair of gripping hands 10a and 10b are moved relative to each other in the direction away from each other (arrows in FIG. 6A), and the cloth gripped by the pair of gripping hands 10a and 10b. The side 29 of the piece 22 is developed into a straight line. If it can be confirmed that the side 29 of the cloth piece 22 has been developed in a straight line, it can be determined that the operation of the pair of gripping hands 10a and 10b of the cloth gripping apparatus 20 has been completed.

  Each component constituting the camera system 30 for the cloth gripping device will be described.

<Camera>
The camera 32 shoots the cloth piece 22 suspended before the operation of the pair of grasping hands 10a and 10b of the cloth piece grasping apparatus 20 is started, and acquires an image. In addition, the camera 32 captures the image of the state in which the cloth piece 22 is held by the pair of holding hands 10a and 10b of the cloth holding apparatus 20 after the operation is started, and acquires an image. The camera 32 may be a two-dimensional camera. Further, the camera 32 may be provided on an intermediate surface of the pair of gripping hands 10a and 10b. By providing it on the intermediate surface of the pair of gripping hands 10a and 10b, an image in which the pair of gripping hands 10a and 10b are arranged on both sides with respect to the sides 24 and 29 of the cloth piece 22 can be acquired. Specifically, the camera 32 may be provided between the first and second robot arms 27a and 27b to which the pair of gripping hands 10a and 10b are attached. Further, the robot arms 27a and 27b may be configured using a double-arm robot, and as shown in the schematic diagram of FIG. 9, a camera 32 may be provided on the upper body of the dual-arm robot (FIG. 9). In this case, since the bases of the two robot arms and the shooting direction of the camera are always linked, it is easy to take an image of the cloth piece 22 (FIGS. 6A and 6B).

<Operation start determination unit>
The operation start determination unit 34 includes a lowest point detection unit 35 and an operation start availability determination unit 36. The lowest point detection unit 35 detects the lowest point 21 of the cloth piece 22 from the image of the suspended cloth piece 22. Whether the pair of gripping hands 10a and 10b of the cloth gripping device 20 can start the operation based on whether or not the operation start enable / disable determination unit 36 has the lowest point 21 of the cloth 22 within a predetermined range. Judging. Specifically, for example, if the length L to the lowest point of the cloth piece 22 is within a predetermined range, it is determined that the operation can be started. On the other hand, when the length L is out of the predetermined range, it is determined that the operation cannot be started. The predetermined range of the length L may be set to an appropriate value depending on the size of the cloth piece 22 and the movable range of the robot arm.

<Operation start determination flowchart>
FIG. 4 is a flowchart regarding determination of the start of operation of the pair of gripping hands 10a and 10b of the cloth gripping device 20 by the cloth gripping device camera system 30 according to the first embodiment. FIG. 5 is a detailed flowchart of the operation start permission determination in FIG.

The determination of the operation start of the pair of gripping hands 10a and 10b is performed as shown in the flowchart of FIG.
(1) An image is acquired by photographing the suspended fabric piece 22 (S01). For example, as shown in FIG. 2, the cloth piece 22 is photographed from vertically below, and an image including the side 24 of the cloth piece 22 is obtained.
(2) Based on the image of the suspended cloth piece 22, it is confirmed whether or not the vertically lower side 24 of the cloth piece 22 is within a predetermined range, and a pair of gripping hands 10 a of the cloth piece gripping device 20, The operation start of 10b is determined (S02).
Specifically, it is shown in the flowchart of FIG.
2-1) The lowest point 21 of the cloth piece 22 is detected from the image of the suspended cloth piece 22 (S11). The lowest point can be detected by normal edge detection. For example, in the image of the cloth piece 22, binarization is performed on the cloth piece 22 and other parts, and the lowest point 21 is determined by examining the coordinates of the lowest pixel among the pixels recognized as the cloth piece 22. It can be detected.
2-2) It is determined whether the lowest point 21 of the cloth piece 22 is within a predetermined range (S12). When the lowest point 21 of the cloth piece 22 is within the predetermined range (YES), it is determined that the pair of gripping hands 10a and 10b can start operation (S13). On the other hand, when the lowest point 21 of the cloth piece 22 is outside the predetermined range (NO), it is determined that the pair of gripping hands 10a and 10b cannot start operation (S14).
As described above, it is determined whether or not the operation of the pair of gripping hands 10a and 10b can be started.

<Operation end determination unit>
The operation end determination unit 37 includes a distance detection unit 38 and an operation end availability determination unit 39. The tip which is grasping the cloth piece 22 of the pair of grasping hands 10a, 10b from the image of the state in which the cloth hand 22 is grasped by the grasping hands 10a, 10b of the cloth grasping device 20 by the distance detection unit 38. The maximum distances d ₁ and d ₂ between the straight line 28 connecting the portions and the curve of the side 29 of the cloth piece 22 are detected. The operation end possibility determination unit 39 confirms whether or not the maximum distances d ₁ and d _{2 of} the side 29 are within a predetermined range (below a predetermined value), and a pair of gripping hands 10a of the cloth gripping device 20; It is determined whether or not the operation of 10b is finished.
Specifically, the maximum distance d2 between the straight line 28 that connects the tip portions of the pair of gripping hands 10a and 10b that grip the cloth piece 22 and the curve of the side 29 of the cloth piece 22 is within a predetermined range (predetermined value). In the case of the following), it is determined that the curve of the side 29 of the cloth piece 22 has been developed into a straight line. Accordingly, it is determined that the operation of the pair of gripping hands 10a and 10b can be finished. Thereafter, the cloth piece 22 can be aligned in a predetermined direction by placing the side 29 of the cloth piece 22 that has been developed linearly by the pair of gripping hands 10a and 10b at a predetermined location.
On the other hand, the maximum distance d2 between the straight line 28 connecting the tips of the pair of gripping hands 10a and 10b holding the cloth piece 22 and the curve of the side 29 of the cloth piece 22 is out of a predetermined range (exceeds a predetermined value). If it is, it is determined that the development of the curve of the side 29 of the cloth piece 22 is insufficient, and the unfolding operation of the cloth piece 22 by the gripping hand is continued.

<Operation end determination flowchart>
FIG. 7 is a flowchart regarding determination of the end of the operation of the pair of gripping hands 10a and 10b of the cloth gripping device 20 by the cloth gripping device camera system 30 according to the first embodiment. FIG. 8 is a detailed flowchart of the operation end possibility determination of FIG. Actually, the “photographing → determination” process shown in the flowchart of FIG. 7 is repeatedly executed in real time until the gripping hand finishes unfolding the cloth piece 22.

Determination of the end of the operation of the pair of gripping hands 10a and 10b is performed as shown in the flowchart of FIG.
(1) An image is acquired by photographing the state in which the cloth piece 22 is being held by the pair of holding hands 10a and 10b of the cloth piece holding apparatus 20 (S21). As shown to FIG. 6A, the edge | side 24 of the cloth piece 22 is expand | deployed linearly from the state which hold | gripped the two corner | angular parts 26a and 26b of the cloth piece 22 with a pair of holding hands 10a and 10b. Thereafter, as shown in FIG. 6B, the cloth piece 22 that is gripped by the pair of gripping hands 10 a and 10 b after being linearly expanded is photographed.
(2) Based on the image of the state in which the cloth piece 22 is held by the pair of holding hands 10a and 10b of the cloth holding apparatus 20 (FIG. 6B), the cloth holding apparatus 10 holds the pair of holding hands 10a and 10b. It is determined whether or not the side 29 of the cloth piece 22 is linear, and it is determined whether the operation of the pair of gripping hands 10a and 10b of the cloth gripping apparatus 20 is finished (S22).
Specifically, it is shown in the flowchart of FIG.
2-1) From the image of the state in which the cloth hand 22 is gripped by the gripping hands 10a and 10b of the cloth gripping device 20, the tip end portion that grips the cloth piece 22 of the pair of gripping hands 10a and 10b. a straight line 28 connecting to detect the maximum distance _{d 2} between the curve of the side 29 of the fabric piece 22 (S31). If the relative positional relationship between the camera and the gripping hand is the same, the straight line 28 may be set as a predetermined coordinate, or a marker may be placed on the hand and extracted from the coordinate. The side 29 may be extracted from the image by binarizing the cloth piece 22 portion and the background portion.
2-2) the maximum distance _{d 2} sides 29 determines that it is within the predetermined range (below a predetermined value) (S32). For example, the maximum distance _{d 2} sides 29 determines whether it is 10mm or less. Maximum distance _{d 2} sides 29 within the case is within a predetermined range (below a predetermined value) (YES), it is determined the pair of gripping hands 10a, 10b operate termination possible with the. On the other hand, the maximum distance d ₂ sides 29 in a case where a predetermined range (exceeds a predetermined value) (NO), it is determined that the pair of gripping hands 10a, 10b operation end impossible. In this case, for example, when the pair of gripping hands 10a and 10b are moving, and the side 29 can be expanded in a straight line, the side 29 is expanded. Alternatively, when the side 29 cannot be further developed by the pair of gripping hands 10a and 10b, the gripping of the cloth piece 22 is released and the cloth piece 22 is discarded. For example, when performing the deployment by the pair of gripping hands 10a and 10b, when a load exceeding a predetermined value is detected in the gripping hands 10a and 10b, the deployment may be stopped and the gripping of the cloth piece 22 may be released.
As described above, it is determined whether or not the operation of the pair of gripping hands 10a and 10b is finished.

  Among the above components, the functional start determination unit 34, the lowest point detection unit 35, the operation start availability determination unit 36, the operation end determination unit 37, the distance detection unit 38, the operation end availability determination unit 39, etc. The constituent members are not limited to the case where the whole is realized by a mechanical configuration, and at least a part thereof may be realized by a computer program. In this case, the computer may include normal physical components such as a CPU, a memory, a storage unit, a display unit, an input unit, an interface, and the like.

  It should be noted that the present disclosure includes appropriately combining any of the various embodiments and / or examples described above, and each of the embodiments and / or examples. The effect which an Example has can be show | played.

  According to the camera system for the cloth gripping device according to the present invention, since the operation start and the operation end of the pair of gripping hands can be clearly determined, it is possible to appropriately control the cloth gripping device incorporating this.

10a, 10b Grasp hand 20 Cloth piece gripping device 22 Towel (cloth piece)
23 Cloth piece hanging part (conveyor)
24 side 25 three-dimensional measuring device 26a, 26b corner 27a first robot arm 27b second robot arm 28 straight line between gripping hands 29 cloth side curve 30 cloth piece gripping device camera system 32 camera 34 operation start judgment Unit 35 lowest point detection unit 36 operation start availability determination unit 37 operation end determination unit 38 distance detection unit 39 operation end availability determination unit 40 control unit

Claims (4)

The pair of gripping hands of the cloth gripping device that grips the suspended cloth pieces with a pair of gripping hands and linearly develops the sides of the cloth pieces gripped by the pair of gripping hands. A camera system for a cloth gripping device related to operation start and operation end,
The cloth piece suspended before the operation of the pair of grasping hands of the cloth grasping device is photographed to acquire an image, and the cloth piece is grasped by the pair of grasping hands of the cloth grasping device after the operation starts. A camera that captures the image and captures images
Based on the image of the suspended cloth piece, it is confirmed whether or not the cloth piece is within a predetermined range, and an operation start determination is made to determine the start of operation of the pair of gripping hands of the cloth piece gripping device. And
Whether or not the cloth piece gripped by the pair of gripping hands is unfolded based on the image in a state where the cloth piece is gripped by the pair of gripping hands of the cloth piece gripping device. An operation end determination unit for confirming and determining the operation end of the pair of gripping hands of the cloth gripping device;
A camera system for a cloth gripping device. The operation start determination unit
A lowermost point detection unit for detecting a lowermost point of the cloth piece from the image of the suspended cloth piece;
An operation start availability determination unit that determines whether or not the pair of gripping hands of the cloth gripping device can start operation based on whether or not the lowest point of the cloth piece is within a predetermined range;
The camera system for a cloth gripping apparatus according to claim 1, comprising: The operation end determination unit
A straight line connecting a tip portion of the pair of gripping hands that grips the cloth piece from the image in a state in which the cloth hand is gripped by the gripping hand of the cloth piece gripping device, and the cloth piece A distance detection unit for detecting a maximum distance from the curve of the side;
An operation end availability determination unit that checks whether the maximum distance of the side is equal to or less than a predetermined value and determines whether the operation of the pair of gripping hands of the cloth gripping device is ended;
The camera system for a cloth gripping apparatus according to claim 1, comprising:   The cloth camera device system according to any one of claims 1 to 3, wherein the camera is provided on an intermediate surface of the pair of gripping hands.

Images