OBJECT RECOGNITION DEVICE, ROBOT SYSTEM, AND OBJECT RECOGNITION METHOD

• Main Authors: ITO KIYOHITO, KIMURA NOBUTAKA, YANO TAIKI
• Format: Patent
• Language: English; Japanese
• Published: 26.03.2024
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; COUNTING; HAND TOOLS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

To provide an object recognition device capable of recognizing a lump of conveyed objects (the same article group) as a conveyance unit on the basis of the arrangement of individual articles in the article group.SOLUTION: An object recognition device that recognizes the same article group as a conveyance unit under an environment where a plurality of articles exist, includes: an input unit that acquires images of the plurality of articles; an article detection unit that detects an article region where the articles exist, from the images; and a same article group region estimation unit that acquires inter-article region information as information on the arrangement of the article region, calculates frequency distribution for the inter-article region information, and estimates a region of the same article group on the basis of the frequency distribution.SELECTED DRAWING: Figure 3 【課題】 物品群内の個々の物品の配置に基づいて、搬送単位である一塊の搬送対象物（同一物品群）を認識できる、物体認識装置を提供する。【解決手段】 複数の物品が存在する環境下で搬送単位である同一物品群を認識する物体認識装置であって、前記複数の物品の画像を取得する入力部と、前記物品が存在する物品領域を前記画像から検出する物品検出部と、前記物品領域の配置に関する情報である各物品領域間情報を取得し、該物品領域間情報の頻度分布を算出し、該頻度分布に基づいて前記同一物品群の領域を推定する同一物品群領域推定部と、を備えることを特徴とする物体認識装置。【選択図】 図３