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US 10,872,418 B2Granted
Edge detection device, an edge detection method, and an object holding device
AssigneeKabushiki Kaisha Toshiba
InventorsHiroya Kano, Hideaki Okano
Life of this patent
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Abstract
According to one embodiment, an edge detection device includes a light source, an imaging part, and a detector. The light source includes at least three light-emitting parts for irradiating a plurality of objects adjacent with a light. The imaging part images a surface of the objects irradiated by each of the light-emitting parts, and generates a plurality of image data of the surface. The detector detects edges of the surface imaged, based on at least two different combinations of the plurality of image data.
Claims9
An edge detection device comprising:
- a light source including at least three light-emitting parts for irradiating a plurality of objects adjacent with a light;
- an imaging part that images a surface of the objects irradiated by each of the light-emitting parts, and generates a plurality of image data of the surface;
- and
- a detector that detects edges of the surface imaged, based on at least two different combinations of the plurality of image data, wherein
- the light-emitting parts are respectively located so as to put a first plane therebetween, and are located on a second plane where the objects are placed,
- the first plane includes a line segment connecting the objects with the imaging part, and is in parallel to a direction of the edges,
- each of the different combinations includes
- one image data of the surface imaged by irradiating from one light-emitting part located at one side of the first plane among the light-emitting parts, and
- another image data of the surface imaged by irradiating from another light-emitting part located at the other side of the first plane among the light-emitting parts,
- the detector calculates a difference image between the one image data and the another image data in each of the different combinations, and detects the edges by multiplying two pixel values at a same pixel position between two difference images of the different combinations.
7 more elements
A method for detecting edges in an edge detection device,
- the edge detection device including
- a light source including at least three light-emitting parts for irradiating a plurality of objects adjacent with a light,
- an imaging part that images the objects irradiated by each of the light-emitting parts, and
- a detector that detects edges of the objects,
- the light-emitting parts being respectively located so as to put a first plane therebetween, and being located on a second plane where the objects are placed,
- the first plane including a line segment connecting the objects with the imaging part, and being in parallel to a direction of the edges;
- the method comprising:
- irradiating by each of the light-emitting parts, a surface of the objects with the light;
- imaging by the imaging part, the surface irradiated by each of the light-emitting parts;
- generating by the imaging part, a plurality of image data of the surface;
- and
- detecting by the detector, edges of the surface, based on at least two different combinations of the plurality of image data, wherein
- each of the different combinations includes
- one image data of the surface imaged by irradiating from one light-emitting part located at one side of the first plane among the light-emitting parts, and
- another image data of the surface imaged by irradiating from another light-emitting part located at the other side of the first plane among the light-emitting parts,
- wherein the detecting includes
- calculating a difference image between the one image data and the another image data in each of the different combinations, and
- detecting the edges by multiplying two pixel values at a same pixel position between two difference images of the different combinations.
15 more elements
An object holding device comprising:
- an edge detection device comprising:
- a light source including at least three light-emitting parts for irradiating a plurality of objects adjacent with a light;
- an imaging part that images a surface of the objects irradiated by each of the light-emitting parts, and generates a plurality of image data of the surface;
- and
- a detector that detects edges of the surface imaged, based on at least two different combinations of the plurality of image data, wherein
- the light-emitting parts are respectively located so as to put a first plane there between, and are located on a second plane where the objects are placed,
- the first plane includes a line segment connecting the objects with the imaging part, and is in parallel to a direction of the edges,
- each of the different combinations includes
- one image data of the surface imaged by irradiating from one light-emitting part located at one side of the first plane among the light-emitting parts, and
- another image data of the surface imaged by irradiating from another light-emitting part located at the other side of the first plane among the light-emitting parts,
- the detector calculates a difference image between the one image data and the another image data in each of the different combinations, and detects the edges by multiplying two pixel values at a same pixel position between two difference images of the different combinations;
- and
- at least one of a holding part and a driving part.
10 more elements
Dependencies are inferred from the claim text.