1A1-E30 ホームロボットへの応用を目指した不可視マークとRFタグを併用した食器の認識

概要

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This research aims at recognizing tableware by both image processing system and RF tag system for home robot application. In order to make image processing easy, invisible mark made of photochromic material is developed and added to the edge of tableware. Only when illuminated by ultraviolet light from a robot, this mark is conspicuous. The method of calculating position and orientation of tableware from obtained elliptic image of this mark is proposed. In order to deal with many tableware simultaneously, RF tag system is also employed. Utilizing the amplitude of RF signal, the rough distance between the tag and the robot can be obtained. Using this distance data, the correspondence between the tableware captured in the image and the ID code embedded in the tag can be obtained. According to the ID code, the robot can know the radius of tableware and can get the information about handling, which makes the robot task of image recognition and tableware handling much easier.
一般社団法人日本機械学会の論文