# US 10,872,418 B2 · Edge detection device, an edge detection method, and an object holding device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,872,418 B2 - Document ID: US10872418B2 - Status: Granted - Kind: B2 - Application number: 15/699,187 - Filed: 2017-09-08 - Published: 2018-04-12 - Granted: 2020-12-22 - Earliest claimed: 2016-10-11 - Assignees: Kabushiki Kaisha Toshiba - Applicants: Kabushiki Kaisha Toshiba - Inventors: Hiroya Kano; Hideaki Okano - Web page: https://patentgrep.com/patent/US10872418B2 ## CPC - G06T 7/13: Edge detection - G01B 11/022: {by means of tv-camera scanning} - G01B 11/028: {by measuring lateral position of a boundary of the object (G01B11/022, G01B11/024, G01B11/04 take precedence)} - G06F 18/22: Matching criteria, e.g. proximity measures - G06T 7/174: involving the use of two or more images - H04N 23/56: provided with illuminating means - G06T 2207/10016: Video; Image sequence - G06T 2207/10024: Color image - G06T 2207/10152: Varying illumination - G06T 2207/30108: Industrial image inspection - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The edge detection device according to claim 1, wherein the light-emitting parts includes a first light source and a second light source to put the first plane therebetween, the first light source and the second light source respectively including at least one light-emitting part, and the detector detects the edges of the surface, based on at least two different combinations of a first image data of the surface imaged by irradiating from the at least one light-emitting part of the first light source, and a second image data of the surface imaged by irradiating from the at least one light-emitting part of the second light source. ### Claim 3 (depends on 1) The edge detection device according to claim 1, wherein, if the light-emitting parts are located on a third plane approximately in parallel to the second plane, the detector detects edges of the surface along a direction crossing the second plane. ### Claim 4 (depends on 1) The edge detection device according to claim 1, wherein the light-emitting parts are respectively irradiating the objects with a light at different timings, and while one light-emitting part is irradiating the objects with a light, other light-emitting parts are located so as not to enter into an irradiated region of the one light-emitting part. ### Claim 5 (depends on 1) The edge detection device according to claim 1, wherein a wavelength of the light of the light-emitting parts is larger than or equal to 400 nm, and smaller than or equal to 2000 nm. ### Claim 6 (depends on 1) The edge detection device according to claim 1, further comprising: a display that displays a detection result of the edges of the surface. ### Claim 7 (depends on 1) The edge detection device according to claim 1, wherein at least one of the plurality of image data is a color image including color information. ### Claim 8 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. ### Claim 9 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.