OBJECT PEAKING SYSTEM, OBJECT DETECTING DEVICE AND METHOD THEREOF

• Main Authors: KIM, KYE KYUNG, KANG, SANG SEUNG, KIM, JAE HONG, LEE, JAE YEON, KIM, JOONG BAE, PARK, JONG HYUN
• Format: Patent
• Language: English; Korean
• Published: 22.09.2015
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; CONVEYING; COUNTING; HAND TOOLS; HANDLING THIN OR FILAMENTARY MATERIAL; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MANIPULATORS; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PACKING; PERFORMING OPERATIONS; PHYSICS; PNEUMATIC TUBE CONVEYORS; PORTABLE POWER-DRIVEN TOOLS; SHOP CONVEYOR SYSTEMS; STORING; TESTING; TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING ORTIPPING; TRANSPORTING

The present invention relates to a device and a method to detect piled objects and a device and a method to pick the detected objects, capable of detecting object areas by extracting unique local characteristic parts which the objects have using a visual sensor and then estimating the posture therefrom. According to the present invention, the object detection device comprises: an image acquisition part to acquire an object image from a visual sensor; a local characteristic extraction part to extract at least one local characteristic part from the image; an object area detection part to detect at least one object area by the combination of at least one extracted local characteristic part; a storage part to store the rotation angle of an object model on the objects and the object area of the object model acquired at a predetermined rotation angle; an object area comparison part to extract at least one candidate object area by comparing at least one object area detected by the object area detection part and the object area of the object model stored in the storage part; a worked object area selection part to select the candidate object area matched with predetermined criteria among at least one candidate object area; and an output part to output the rotation angle of the object model compared with the worked object area as the worked object information.