Arrangement detector for plate-shaped object and load port including same

Patent metadata

Field	Value
Publication number	US-11699228-B2
Application number	US-202117239223-A
Country	US
Kind code	B2
Filing date	Apr 23, 2021
Priority date	Apr 23, 2020
Publication date	Jul 11, 2023
Grant date	Jul 11, 2023

Abstract

An arrangement detector for plate-shaped objects and a lord port including the same are provided. The arrangement detector for plate-shaped objects includes a judgement window setting means, a shape determination means for determining a shape matching rate by superimposing the judgement window on the image captured by the imaging means, and an object judgement means for judging the plate-shaped objects do not exist in the judgement window overlaid on the image captured by the imaging means, in case that the shape matching rate determined by the shape determination means is equal to or less than a predetermined value. A first reference line is a continuous straight line in the judgement window, and a second reference line is a collection of discontinuous line segments linearly arranged in the judgement window.

First claim

What is claimed is:

1. An arrangement detector for plate-shaped objects comprising;
an imaging means, relatively movable in a substantially perpendicular direction to a plane of the plate-shaped objects, and capable of imaging at least a part of one of the plate-shaped objects along an edge of the one of the plate-shaped objects in an imaging screen, with respect to the plate-shaped objects arranged at predetermined intervals in a container,
a judgement window setting means for setting a first reference line and a second reference line in a judgement window along a pair of substantially parallel image shading boundary lines, with a width corresponding to a thickness of an edge of a single plate-shaped object, based on a master image corresponding to the edge,
a shape determination means for determining a shape matching rate by superimposing the judgement window, set by the judgement window setting means, on the image captured by the imaging means, and
an object judgement means for judging the plate-shaped objects do not exist in the judgement window overlaid on the image captured by the imaging means, in case that the shape matching rate determined by the shape determination means is equal to or less than a predetermined value, wherein
the first reference line is a continuous straight line in the judgement window, and the second reference line is a collection of discontinuous line segments linearly arranged in the judgement window.

2. The arrangement detector for the plate-shaped objects according to claim 1 , further comprising
an area calculation means for searching a pair of substantially parallel image shading boundary lines based on an actual image captured by the imaging means in the judgement window, in case that the object judgement means judges that the plate-shaped objects exist.

3. The arrangement detector for the plate-shaped objects according to claim 2 , wherein
the area calculation means calculates an area between a pair of image shading boundary lines within a predetermined length along the pair of image shading boundary lines in the judgement window and judges that a single plate-shaped object is in the area, in case that a pair of substantially parallel image shading boundary lines based on the actual image is observed, and the area obtained by the calculation is within a predetermined normal range.

4. The arrangement detector for the plate-shaped objects according to claim 2 , wherein
the area calculation means calculates an area between the pair of image shading boundary lines within a predetermined length along the pair of image shading boundary lines in the judgement window and judges that two plate-shaped objects are in the area, in case that a pair of substantially parallel image shading boundary lines based on the actual image is observed, and the area obtained by the calculation is within a predetermined double-layer overlaying range.

5. The arrangement detector for the plate-shaped objects according to claim 1 , wherein
a length of a gap between a discontinuous line segments of the second reference line is greater than a length of each segment.

6. A load port comprising an arrangement detector for a plate-shaped object according to claim 1 .

7. The arrangement detector for the plate-shaped objects according to claim 3 , wherein
the area calculation means calculates an area between the pair of image shading boundary lines within a predetermined length along the pair of image shading boundary lines in the judgement window and judges that two plate-shaped objects are in the area, in case that a pair of substantially parallel image shading boundary lines based on the actual image is observed, and the area obtained by the calculation is within a predetermined double-layer overlaying range.

8. The arrangement detector for the plate-shaped objects according to claim 4 , wherein
a length of a gap between a discontinuous line segments of the second reference line is greater than a length of each segment.

Assignees

• Tdk Corp

Inventors

• Abe Tomoshi
• Iwamoto Tadamasa
• Kudo Takuya

Classifications

• G06T2207/30148

  Semiconductor; IC; Wafer · CPC title

• G06V20/00

  Scenes; Scene-specific elements (control of digital cameras H04N23/60) · CPC title

• G06T7/001 Primary

  using an image reference approach · CPC title

• H10P72/53

  using optical controlling means · CPC title

• H10P72/3408

  Docking arrangements · CPC title