Volume estimation device, volume estimation system, and volume estimation method

摘要

PROBLEM TO BE SOLVED: To provide a volume estimation device and a volume estimation method capable of accurately estimating a volume with a simple configuration. A volume estimation system 1 acquires depth image data D1 and D2 including depth information for each pixel from a depth camera 10 that captures a three-dimensional space on an upper surface 52 of a conveyor 50 on which an object to be transported M is placed. .. The distance from the depth camera 10 to the region corresponding to the pixel is acquired as the vacant distance L1 based on the depth information of the pixel of the depth image data D1 in the empty state in which the transported object M is not placed on the upper surface 52. To do. The distance from the depth camera 10 to the area corresponding to the pixel is acquired as the operating distance L2 based on the depth information of the pixel of the depth image data D2 during operation of the conveyor 50. The volume of the transported object M is estimated based on the empty load distance L1 and the operating distance L2. [Selection diagram] Fig. 5