JP2015197563A - Lighting system for image recognition - Google Patents

Lighting system for image recognition Download PDF

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JP2015197563A
JP2015197563A JP2014075076A JP2014075076A JP2015197563A JP 2015197563 A JP2015197563 A JP 2015197563A JP 2014075076 A JP2014075076 A JP 2014075076A JP 2014075076 A JP2014075076 A JP 2014075076A JP 2015197563 A JP2015197563 A JP 2015197563A
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light source
image recognition
uniform surface
surface light
illumination device
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森　俊二
Shunji Mori
俊二 森
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Fuji Electric Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To reduce the occupancy area of a lighting system for image recognition using a uniform surface light source, and reduce the price.SOLUTION: There is provided a lighting system for image recognition that irradiates an object with light to photograph the object with a camera and performs image recognition, the lighting system including a uniform surface light source that emits uniform light in all directions, and a cylindrical mirror reflection plate that has a first opening end in the shape along the outer periphery of the uniform surface light source and a second opening end arranged opposite to the object, and reflects the light from the uniform surface light source with the mirror and irradiates the object with the reflected light.

Description

本発明は、画像認識用照明装置に関する。   The present invention relates to a lighting device for image recognition.

近年、工場の製造ラインなどにおいて様々な産業用ロボットが用いられている。例えば、ワークをロボットハンドで把持して取り出すピッキング装置では、カメラで撮像された画像からワークを認識し、得られた位置・姿勢情報に基づいて、ワークを取り出している。そして、このようにワークなどの対象物をカメラで撮像して画像認識する場合、カメラと照明装置とを対象物の垂直上方に配置する場合が多い。   In recent years, various industrial robots have been used in factory production lines and the like. For example, in a picking device that grips and picks up a workpiece with a robot hand, the workpiece is recognized from an image captured by a camera, and the workpiece is taken out based on the obtained position / posture information. When an object such as a workpiece is imaged and recognized by the camera as described above, the camera and the illumination device are often arranged vertically above the object.

ところで、対象物をカメラで撮像する際に対象物がランダムな姿勢をとっている場合、対象物の表面が滑らかな平面で構成されていると、その平面に照明装置の光源が写り込む場合がある。また、光源として電球や蛍光灯などを用いた照明装置では、光源の発光面積が小さく、対象物から見た発光面内の輝度が均一でないため、対象物の滑らかな平面に光源が写り込むと、撮像された画像の当該平面内に明るさの違いが生じることもある。そのため、対象物の１つの平面が明るさの違いにより複数の面で構成されているものと誤認識される恐れがある。   By the way, when the target object takes a random posture when the target object is imaged with the camera, the light source of the lighting device may be reflected on the plane if the surface of the target object is configured with a smooth plane. is there. In addition, in a lighting device using a light bulb or a fluorescent lamp as a light source, since the light emitting area of the light source is small and the luminance in the light emitting surface viewed from the object is not uniform, the light source is reflected on the smooth plane of the object. A difference in brightness may occur in the plane of the captured image. Therefore, there is a possibility that one plane of the object is erroneously recognized as being composed of a plurality of planes due to the difference in brightness.

そこで、例えば特許文献１では、リング状光源からの直射光と、拡散反射外筒により拡散反射された拡散反射光との双方により照射面を照明する画像処理検査用リング状照明装置が開示されている。これにより、照射面での照射分布の均一性を高めるとともに、高い照度が得られ、はんだ付けの不良、欠損、異物の付着、印字ミスなどの画像処理検査を適切に行うことができる。また、リング状の透過性拡散板によりリング状光源からの直射光が被検物に照射されないようにして、鏡面性の表面を有する被検物により反射される鏡面反射成分がカメラに取り込まれないようにした画像処理検査用リング状照明装置も開示されている。   Therefore, for example, Patent Document 1 discloses a ring-shaped illumination device for image processing inspection that illuminates an irradiation surface with both direct light from a ring-shaped light source and diffusely reflected light diffusely reflected by a diffusely reflecting outer cylinder. Yes. As a result, the uniformity of the irradiation distribution on the irradiation surface can be improved, high illuminance can be obtained, and image processing inspections such as poor soldering, defects, foreign matter adhesion, and printing errors can be appropriately performed. Further, the direct reflection light from the ring-shaped light source is not irradiated on the test object by the ring-shaped transmissive diffuser, and the specular reflection component reflected by the test object having a specular surface is not taken into the camera. A ring-shaped illumination device for image processing inspection as described above is also disclosed.

特開２００５−１５８４９０号公報JP 2005-158490 A

しかしながら、拡散反射光は直射光と比べて照射面での照度が低いため、特許文献１の画像処理検査用リング状照明装置では、直射光の輝度の不均一による対象物平面内の明るさの違いを十分に抑えることができない場合もあり得る。また、特許文献１の透過性拡散板を用いた画像処理検査用リング状照明装置では、拡散反射光のみにより照射面を照明するため、はんだ付けの不良などの画像処理検査を行うことは可能であっても、対象物の画像認識に対して十分な照度が得られない可能性がある。   However, since diffuse reflected light has lower illuminance on the irradiated surface than direct light, the ring illumination device for image processing inspection in Patent Document 1 has a brightness in an object plane due to uneven brightness of direct light. There are cases where the difference cannot be sufficiently suppressed. Further, in the ring illumination device for image processing inspection using the transmissive diffusion plate of Patent Document 1, since the irradiated surface is illuminated only by diffuse reflected light, it is possible to perform image processing inspection such as defective soldering. Even if it exists, there is a possibility that sufficient illuminance cannot be obtained for image recognition of the object.

これに対して、画像認識用照明装置の光源として発光面内の輝度が全方向に略均一な光を発する面光源（以下、均一面光源と称する）を用いることによって、画像認識における上記のような誤認識を防止することができる。しかしながら、対象物がランダムな姿勢をとっている場合、あらゆる姿勢の対象物に対して、カメラにとって有効な光を照射するためには、大きな面積の均一面光源を用いる必要があり、画像認識用照明装置の占有面積が大きくなるとともに、価格も高くなる。   On the other hand, by using a surface light source (hereinafter, referred to as a uniform surface light source) that emits light with substantially uniform luminance in the light emitting surface in all directions as a light source of the image recognition illumination device, as described above in image recognition. Misrecognition can be prevented. However, when the object has a random posture, it is necessary to use a uniform surface light source with a large area in order to irradiate the object in any posture with light effective for the camera. As the area occupied by the lighting device increases, the price also increases.

ここで、均一面光源を備えた画像認識用照明装置の構成を図８および図９に示す。なお、図８は斜視図であり、図９はカメラ４の位置で切断した垂直断面図である。対象面８は、対象物が置かれる平面上におけるカメラ４の画像認識範囲を表しており、対象面８の垂直上方には、均一面光源１が配置され、均一面光源１の中央部には、対象面８（に置かれた対象物）をカメラ４で撮像するための開口部が設けられている。図８および図９においては、あらゆる姿勢の対象物に対して、カメラ４にとって有効な光を照射するため、十分に大きな面積の均一面光源１が用いられている。   Here, FIG. 8 and FIG. 9 show the configuration of an image recognition illumination device provided with a uniform surface light source. 8 is a perspective view, and FIG. 9 is a vertical sectional view cut at the position of the camera 4. The target surface 8 represents the image recognition range of the camera 4 on the plane on which the target object is placed. The uniform surface light source 1 is disposed vertically above the target surface 8, and the central surface of the uniform surface light source 1 is located at the center. An opening for capturing an image of the object plane 8 (object placed on the object surface) with the camera 4 is provided. In FIGS. 8 and 9, the uniform surface light source 1 having a sufficiently large area is used to irradiate the object in any posture with light effective for the camera 4.

また、水平方向の均一面光源と垂直方向の均一面光源とを組み合わせて用いた画像認識用照明装置の構成を図１０および図１１に示す。なお、図１０は斜視図であり、図１１はカメラ４の位置で切断した垂直断面図である。当該画像認識用照明装置は、水平方向の均一面光源１とともに、均一面光源１の外周を囲むように垂直方向の均一面光源２ａないし２ｄを筒状に配置した筒状均一面光源（以下、筒状均一面光源２と称する）を備えている。これにより、画像認識用照明装置の占有面積を小さくすることができる。   Further, FIGS. 10 and 11 show the configuration of an illumination device for image recognition using a combination of a uniform light source in the horizontal direction and a uniform light source in the vertical direction. 10 is a perspective view, and FIG. 11 is a vertical cross-sectional view taken at the position of the camera 4. The illumination device for image recognition includes a horizontal uniform surface light source 1 and a cylindrical uniform surface light source (hereinafter, referred to as a cylindrical uniform surface light source) in which vertical uniform surface light sources 2a to 2d are arranged in a cylindrical shape so as to surround the outer periphery of the uniform surface light source 1. A cylindrical uniform surface light source 2). Thereby, the occupation area of the illumination device for image recognition can be made small.

さらに、図１２の垂直断面図に示すように、水平方向の均一面光源１と斜め方向の筒状均一面光源２とを設けた画像認識用照明装置では、均一面光源１の面積を小さくすることができる。   Furthermore, as shown in the vertical sectional view of FIG. 12, in the illumination device for image recognition provided with the uniform light source 1 in the horizontal direction and the cylindrical uniform surface light source 2 in the oblique direction, the area of the uniform surface light source 1 is reduced. be able to.

しかしながら、水平方向の均一面光源１と、垂直方向あるいは斜め方向の筒状均一面光源２とを設けた画像認識用照明装置は、占有面積を小さくすることができるものの、用いる均一面光源の合計面積が却って大きくなり、価格を抑えることはできない。   However, the image recognition illumination apparatus provided with the horizontal uniform surface light source 1 and the vertical or oblique cylindrical uniform surface light source 2 can reduce the occupied area, but the total number of uniform surface light sources to be used. On the contrary, the area becomes larger and the price cannot be held down.

前述した課題を解決する主たる本発明は、対象物をカメラで撮像して画像認識するために前記対象物に光を照射する画像認識用照明装置であって、全方向に略均一な光を発する均一面光源と、前記均一面光源の外周に沿った形状の第１開口端と、前記対象物と対向する第２開口端とを有し、前記均一面光源からの光を鏡面反射して前記対象物に照射する筒状鏡面反射板と、を備えることを特徴とする画像認識用照明装置である。   A main aspect of the present invention that solves the above-described problem is an image recognition illumination device that emits light to an object in order to recognize the image by imaging the object with a camera, and emits substantially uniform light in all directions. A uniform surface light source, a first opening end having a shape along an outer periphery of the uniform surface light source, and a second opening end facing the object, and the light from the uniform surface light source is specularly reflected to An illumination device for image recognition, comprising: a cylindrical specular reflector that irradiates an object.

本発明の他の特徴については、添付図面及び本明細書の記載により明らかとなる。   Other features of the present invention will become apparent from the accompanying drawings and the description of this specification.

本発明によれば、均一面光源を用いた画像認識用照明装置の占有面積を小さくするとともに、価格を抑えることができる。   According to the present invention, the area occupied by the illumination device for image recognition using a uniform surface light source can be reduced and the price can be reduced.

本発明の一実施形態における画像認識用照明装置の構成を示す斜視図である。It is a perspective view which shows the structure of the illuminating device for image recognition in one Embodiment of this invention. 図１に示した画像認識用照明装置をカメラ４の位置で切断した垂直断面図である。FIG. 2 is a vertical sectional view of the image recognition illumination device shown in FIG. 図１に示した画像認識用照明装置において、均一面光源１とカメラ４との関係の一例を示す図である。FIG. 2 is a diagram illustrating an example of a relationship between a uniform surface light source 1 and a camera 4 in the image recognition illumination device illustrated in FIG. 1. 画像認識用照明装置の他の構成例を示す斜視図である。It is a perspective view which shows the other structural example of the illuminating device for image recognition. 図４に示した画像認識用照明装置において、均一面光源１とカメラ４との関係の一例を示す図である。FIG. 5 is a diagram illustrating an example of a relationship between a uniform surface light source 1 and a camera 4 in the image recognition illumination device illustrated in FIG. 4. 筒状鏡面反射板３の対象物９側開口面積が均一面光源１側開口面積より大きい画像認識用照明装置の構成を示す斜視図である。It is a perspective view which shows the structure of the illuminating device for image recognition whose opening area by the side of the target object 9 of the cylindrical specular reflector 3 is larger than the opening area of the uniform surface light source 1 side. 図６に示した画像認識用照明装置において、均一面光源１とカメラ４との関係の一例を示す図である。FIG. 7 is a diagram illustrating an example of a relationship between a uniform surface light source 1 and a camera 4 in the image recognition illumination device illustrated in FIG. 6. 対象面８の上方に水平方向の均一面光源１を設けた画像認識用照明装置の構成を示す斜視図である。FIG. 2 is a perspective view showing a configuration of an image recognition illumination device in which a horizontal uniform surface light source 1 is provided above a target surface 8. 図８に示した画像認識用照明装置をカメラ４の位置で切断した垂直断面図である。FIG. 9 is a vertical sectional view of the image recognition lighting device shown in FIG. 対象面８の上方に水平方向の均一面光源１と垂直方向の筒状均一面光源２とを設けた画像認識用照明装置の構成を示す斜視図である。2 is a perspective view showing a configuration of an illumination device for image recognition in which a horizontal uniform surface light source 1 and a vertical cylindrical uniform surface light source 2 are provided above a target surface 8. FIG. 図１０に示した画像認識用照明装置をカメラ４の位置で切断した垂直断面図である。It is the vertical sectional view which cut | disconnected the illuminating device for image recognition shown in FIG. 対象面８の上方に水平方向の均一面光源１と斜め方向の筒状均一面光源２とを設けた画像認識用照明装置の構成を示す斜視図である。It is a perspective view showing a configuration of an illumination device for image recognition in which a horizontal uniform surface light source 1 and an oblique cylindrical uniform surface light source 2 are provided above a target surface 8.

本明細書および添付図面の記載により、少なくとも以下の事項が明らかとなる。   At least the following matters will become apparent from the description of this specification and the accompanying drawings.

＝＝＝画像認識用照明装置の構成＝＝＝
以下、図１および図２を参照して、本発明の一実施形態における画像認識用照明装置の構成について説明する。なお、図１は斜視図であり、図２はカメラ４の位置で切断した垂直断面図である。 === Configuration of Illumination Device for Image Recognition ===
Hereinafter, with reference to FIG. 1 and FIG. 2, the structure of the illuminating device for image recognition in one Embodiment of this invention is demonstrated. 1 is a perspective view, and FIG. 2 is a vertical cross-sectional view taken at the position of the camera 4.

図１および図２に示されている画像認識用照明装置は、対象面８（に置かれた対象物）をカメラ４で撮像して画像認識するための装置であり、均一面光源１、および鏡面反射板３ａないし３ｄを含んで構成されている。   The image recognition illumination device shown in FIGS. 1 and 2 is a device for recognizing an image by imaging a target surface 8 (an object placed on the target surface) with a camera 4, and the uniform surface light source 1 and The mirror reflectors 3a to 3d are included.

水平方向の均一面光源１は、対象面８の垂直上方に配置され、その中央部には、対象面８をカメラ４で撮像するための開口部が設けられている。また、垂直方向の鏡面反射板３ａないし３ｄは、筒状に配置されて筒状鏡面反射板（以下、筒状鏡面反射板３と称する）を構成している。さらに、筒状鏡面反射板３の均一面光源１側の開口端（第１開口端）は、均一面光源１の外周を囲むように配置され、均一面光源１の外周に沿った形状をしている。一方、対象面８側の開口端（第２開口端）は、対象面８の近傍に位置するように配置され、対象面８と対向している。そして、筒状鏡面反射板３は、均一面光源１からの光を鏡面反射して対象面８に照射する。   The horizontal uniform surface light source 1 is arranged vertically above the target surface 8, and an opening for imaging the target surface 8 with the camera 4 is provided at the center thereof. Further, the vertical specular reflectors 3a to 3d are arranged in a cylindrical shape to constitute a cylindrical specular reflector (hereinafter referred to as a cylindrical specular reflector 3). Further, the opening end (first opening end) of the cylindrical specular reflector 3 on the uniform surface light source 1 side is disposed so as to surround the outer periphery of the uniform surface light source 1 and has a shape along the outer periphery of the uniform surface light source 1. ing. On the other hand, the opening end (second opening end) on the target surface 8 side is disposed so as to be positioned in the vicinity of the target surface 8 and faces the target surface 8. The cylindrical mirror reflector 3 irradiates the target surface 8 with specular reflection of the light from the uniform surface light source 1.

なお、図１および図２では、均一面光源１の形状は正方形であり、筒状鏡面反射板３の外形は四角柱形状となっているが、これに限定されるものではなく、例えば均一面光源１の形状が円の場合には、筒状鏡面反射板３の外形は円柱形状となる。また、図１および図２に示すように、均一面光源１としては、対象面８が表すカメラ４の画像認識範囲の面積より面積が大きいものが用いられる。   In FIGS. 1 and 2, the uniform surface light source 1 has a square shape, and the outer shape of the cylindrical specular reflector 3 is a quadrangular prism shape. However, the present invention is not limited to this. When the shape of the light source 1 is a circle, the outer shape of the cylindrical specular reflector 3 is a cylindrical shape. As shown in FIGS. 1 and 2, a uniform surface light source 1 having an area larger than the area of the image recognition range of the camera 4 represented by the target surface 8 is used.

＝＝＝画像認識用照明装置の作用＝＝＝
次に、図３を参照して、本実施形態における画像認識用照明装置の作用について説明する。 === Operation of Illumination Device for Image Recognition ===
Next, with reference to FIG. 3, the operation of the illumination device for image recognition in the present embodiment will be described.

ここで、対象物９は、表面が滑らかな平面で構成されており、対象面８上に姿勢が傾いた状態で置かれている。対象物９をカメラ４で撮像する際、カメラ４は、光軸５ａ，５ｂ，５ｃ，５ｄを経由して均一面光源１を見ることとなる。したがって、当該姿勢が傾いた対象物９に対して、均一面光源１から光軸５ｄ，５ｃ，５ｂを経由したカメラ４にとって有効な光を照射することができ、有効な光が照射された対象物９をカメラ４で撮像して適切に画像認識を行うことができる。   Here, the object 9 has a smooth surface and is placed on the object surface 8 in an inclined state. When the object 9 is imaged by the camera 4, the camera 4 views the uniform surface light source 1 via the optical axes 5a, 5b, 5c, and 5d. Accordingly, the object 9 whose posture is inclined can be irradiated with light effective for the camera 4 from the uniform surface light source 1 via the optical axes 5d, 5c, and 5b, and the target irradiated with effective light. The object 9 can be imaged with the camera 4 and image recognition can be performed appropriately.

なお、あらゆる姿勢の対象物９に対して、カメラ４にとって有効な光を照射するため、筒状鏡面反射板３の対象面８側の開口端は、できるだけ対象面８の近くに配置することが望ましく、対象面８を完全に覆ってしまってもよい。さらに、筒状鏡面反射板３を撮像開始時に対象面８まで下降させ、撮像終了時に上昇させる昇降機構を設けてもよい。   In addition, in order to irradiate the object 9 in any posture with light that is effective for the camera 4, the opening end on the target surface 8 side of the cylindrical specular reflector 3 may be arranged as close to the target surface 8 as possible. Desirably, the target surface 8 may be completely covered. Further, an elevating mechanism that lowers the cylindrical specular reflector 3 to the target surface 8 at the start of imaging and raises it at the end of imaging may be provided.

＝＝＝画像認識用照明装置の他の構成例＝＝＝
上記実施形態では、筒状鏡面反射板３の外形は、柱体（角柱または円柱）形状となっているが、より好ましくは、図４の垂直断面図に示すように、均一面光源１側の開口端の面積が対象面８側の開口端の面積より大きい錐台（角錐台または円錐台）形状とする。この場合、図５に示すように、図３と同じ姿勢の対象物９をカメラ４で撮像する際、カメラ４は、光軸６ａ，６ｂ，６ｃを経由して均一面光源１を見ることとなる。したがって、当該姿勢が傾いた対象物９に対して、均一面光源１から光軸６ｃ，６ｂを経由したカメラ４にとって有効な光を照射することができる。 === Other Configuration Examples of Image Recognition Lighting Device ===
In the above embodiment, the outer shape of the cylindrical specular reflector 3 is a columnar body (rectangular column or cylinder). More preferably, as shown in the vertical sectional view of FIG. The area of the opening end is a frustum (pyramidal frustum or truncated cone) shape larger than the area of the opening end on the target surface 8 side. In this case, as shown in FIG. 5, when the camera 9 captures an object 9 having the same posture as that in FIG. 3, the camera 4 views the uniform surface light source 1 via the optical axes 6a, 6b, and 6c. Become. Therefore, it is possible to irradiate the object 9 whose posture is tilted with light that is effective for the camera 4 from the uniform surface light source 1 via the optical axes 6c and 6b.

ここで、均一面光源１からの光は、筒状鏡面反射板３で１００％反射されるわけではなく、その一部が吸収されたり散乱されたりして減衰する。そのため、筒状鏡面反射板３の外形をこのような錐台形状とすることにより、均一面光源１からの光をより少ない反射回数で対象物９に照射することができ、より高い照度が得られる。   Here, the light from the uniform surface light source 1 is not 100% reflected by the cylindrical specular reflection plate 3, but a part of the light is absorbed or scattered and attenuates. Therefore, by making the outer shape of the cylindrical specular reflector 3 into such a frustum shape, the object 9 can be irradiated with light from the uniform surface light source 1 with a smaller number of reflections, and higher illuminance can be obtained. It is done.

一方、比較例として、図６の垂直断面図に示すように、筒状鏡面反射板３の外形を、均一面光源１側の開口端の面積が対象面８側の開口端の面積より小さい錐台形状とすると、対象物９の姿勢によっては、均一面光源１からの光が照射されない場合がある。例えば図７に示すように、図３と同じ姿勢の対象物９をカメラ４で撮像する際、カメラ４は、光軸７ａ，７ｂ，７ｃ，７ｄ，７ｅを経由しても均一面光源１を見ることができない。したがって、当該姿勢が傾いた対象物９に対して、均一面光源１からカメラ４にとって有効な光を照射することができず、カメラ４から見ると、対象物９には光が照射されていないこととなる。   On the other hand, as a comparative example, as shown in the vertical sectional view of FIG. 6, the outer shape of the cylindrical specular reflector 3 is a cone whose opening end area on the uniform surface light source 1 side is smaller than the opening end area on the target surface 8 side. If it is trapezoidal, the light from the uniform surface light source 1 may not be irradiated depending on the posture of the object 9. For example, as shown in FIG. 7, when the object 4 having the same posture as that of FIG. 3 is imaged by the camera 4, the camera 4 uses the uniform surface light source 1 through the optical axes 7a, 7b, 7c, 7d, and 7e. I can't see it. Therefore, the object 9 tilted in the posture cannot be irradiated with light effective for the camera 4 from the uniform surface light source 1, and when viewed from the camera 4, the object 9 is not irradiated with light. It will be.

前述したように、図１および図２に示した画像認識用照明装置において、均一面光源１の下方に筒状鏡面反射板３を設け、均一面光源１からの光を鏡面反射して対象面８（対象物９）に照射することによって、姿勢が傾いた対象物９に対しても、均一面光源１からカメラ４にとって有効な光を照射することができ、有効な光が照射された対象物９をカメラ４で撮像して適切に画像認識を行うことができる。そして、当該構成により、対象面８が表すカメラ４の画像認識範囲の面積より面積が大きい均一面光源１を用いるものの、用いる均一面光源の合計面積（均一面光源１のみの面積）は、図１０ないし図１２に示した画像認識用照明装置の場合に比べて小さくなり、均一面光源１を用いた画像認識用照明装置の占有面積を小さくするとともに、価格を抑えることができる。   As described above, in the illumination device for image recognition shown in FIGS. 1 and 2, the cylindrical specular reflector 3 is provided below the uniform surface light source 1, and the light from the uniform surface light source 1 is specularly reflected to subject the target surface. By irradiating the object 8 (object 9), the object 9 tilted in posture can be irradiated with light effective for the camera 4 from the uniform surface light source 1, and the object irradiated with effective light. The object 9 can be imaged with the camera 4 and image recognition can be performed appropriately. And although the said area uses the uniform surface light source 1 whose area is larger than the area of the image recognition range of the camera 4 which the target surface 8 represents, the total area (area of only the uniform surface light source 1) of the uniform surface light source used is a figure. Compared with the case of the image recognition illumination device shown in FIGS. 10 to 12, the area occupied by the image recognition illumination device using the uniform surface light source 1 can be reduced and the price can be reduced.

また、筒状鏡面反射板３の外形を、均一面光源１側の開口端（第１開口端）の面積が対象面８側の開口端（第２開口端）の面積より大きい錐台形状とすることによって、均一面光源１からの光をより少ない反射回数で対象物９に照射することができ、より高い照度が得られる。   Further, the outer shape of the cylindrical specular reflector 3 has a frustum shape in which the area of the opening end (first opening end) on the uniform surface light source 1 side is larger than the area of the opening end (second opening end) on the target surface 8 side. By doing so, the light from the uniform surface light source 1 can be irradiated to the object 9 with a smaller number of reflections, and higher illuminance can be obtained.

また、筒状鏡面反射板３の対象面８側の開口端をできるだけ対象面８の近くに配置することによって、あらゆる姿勢の対象物９に対して、カメラ４にとって有効な光を照射することができる。   Further, by arranging the opening end of the cylindrical mirror reflector 3 on the target surface 8 side as close to the target surface 8 as possible, it is possible to irradiate the object 9 in any posture with light effective for the camera 4. it can.

なお、上記実施形態は、本発明の理解を容易にするためのものであり、本発明を限定して解釈するためのものではない。本発明は、その趣旨を逸脱することなく、変更、改良され得るとともに、本発明にはその等価物も含まれる。   In addition, the said embodiment is for making an understanding of this invention easy, and is not for limiting and interpreting this invention. The present invention can be changed and improved without departing from the gist thereof, and the present invention includes equivalents thereof.

１、２ａ〜２ｄ 均一面光源
３ａ〜３ｄ 鏡面反射板
４ カメラ
８ 対象面
９ 対象物 1, 2a to 2d Uniform surface light source 3a to 3d Specular reflector 4 Camera 8 Target surface 9 Object

Claims (4)

対象物をカメラで撮像して画像認識するために前記対象物に光を照射する画像認識用照明装置であって、
全方向に略均一な光を発する均一面光源と、
前記均一面光源の外周に沿った形状の第１開口端と、前記対象物と対向する第２開口端とを有し、前記均一面光源からの光を鏡面反射して前記対象物に照射する筒状鏡面反射板と、
を備えることを特徴とする画像認識用照明装置。 An image recognition illumination device that irradiates light to the object in order to recognize the image by imaging the object with a camera,
A uniform surface light source that emits substantially uniform light in all directions;
It has a first opening end shaped along the outer periphery of the uniform surface light source and a second opening end facing the object, and the light from the uniform surface light source is specularly reflected to irradiate the object. A cylindrical mirror reflector,
An illumination device for image recognition, comprising: 請求項１に記載の画像認識用照明装置であって、
前記筒状鏡面反射板の外形は、前記第１開口端の面積が前記第２開口端の面積より大きい錐台形状であることを特徴とする画像認識用照明装置。 The illumination device for image recognition according to claim 1,
An external device of the cylindrical specular reflector has a frustum shape in which an area of the first opening end is larger than an area of the second opening end. 請求項１または請求項２に記載の画像認識用照明装置であって、
前記筒状鏡面反射板は、前記第１開口端が前記均一面光源の外周を囲むように配置され、前記第２開口端が前記対象物の近傍に位置するように配置されることを特徴とする画像認識用照明装置。 The illumination device for image recognition according to claim 1 or 2,
The cylindrical specular reflector is disposed so that the first opening end surrounds the outer periphery of the uniform surface light source, and the second opening end is positioned in the vicinity of the object. A lighting device for image recognition. 請求項１ないし請求項３の何れかに記載の画像認識用照明装置であって、
前記均一面光源の面積は、前記カメラの画像認識範囲の面積より大きいことを特徴とする画像認識用照明装置。 The illumination device for image recognition according to any one of claims 1 to 3,
The illumination device for image recognition, wherein an area of the uniform surface light source is larger than an area of an image recognition range of the camera.
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