JP2006005813A - Image processing device, area sensor, and non-detection area setup method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for simply setting a non-detection area without needing a dedicated device and a complicated drawing operation in an image processing device and an area sensor, and to provide the image processing device or the like which can be used for executing the method. <P>SOLUTION: An image discrimination sensor 1 performs predetermined judgment by picking up a predetermined inspection object W and comparing it with a predetermined standard, etc. and is characterized by providing non-detection area registration means (3, 6, 17) for registering the non-detection area N in the image determination sensor 1 by preliminarily picking up a template 2 in the predetermined shape equivalent to the non-detection area at a state that it is located at the non-detection area N and inputting its image pickup data in the case of setting the non-detection area N in the image discrimination sensor 1. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to an image processing device and a sensor that processes multidimensional information such as an area sensor.
The image processing device picks up the shape of the object moving on the production line or a sticker attached to the object, and compares the image with a predetermined standard to determine the defect of the object, pass / fail judgment, mark recognition, etc. In order to do this, two-dimensional information such as a gray level luminance distribution and a color distribution indicated for each coordinate is processed.
The area sensor detects obstacles, intruders, etc. within a predetermined detection area, avoids or stops obstacles if it is an automated guided vehicle, and performs emergency stops if it is a large press machine. Processes two-dimensional distribution information.

Conventionally, in such image discriminating sensors and area sensors, information on the intensity luminance distribution of the target object or the distance distribution of the target object that has entered the field of view of the sensor is obtained, and the presence or absence of the target object is obtained from the obtained information. When a determination or the like is performed, when another object having information similar to the target object enters the field of view, there is a problem that erroneous determination and thus erroneous detection is caused.
Here, if the position where the inspection object appears in the field of view can be grasped in advance, the area other than the position where the inspection object appears is masked as a non-detection area and the field of view is limited (also referred to as teaching or teaching). Misdetection can be avoided or reduced.

  The idea of setting such a non-detection area has existed for a long time, and as a method for setting the non-detection area, a non-detection area such as the one shown in FIG. In general, the detection area shape (rectangle, circle, etc.) is set by drawing with a console (control device, console), mouse or the like. Recently, a method of connecting a separate personal computer to the image discrimination sensor and the area sensor and setting a non-detection area using a personal computer display and a mouse can be seen.

As an example, Patent Document 1 discloses a method for setting the non-detection area by an operator operating a mouse or the like, and Patent Document 2 discloses a technique for setting the non-detection area by an operator operating an operation panel. Has been proposed.
Japanese Patent Laid-Open No. 2-205998 Japanese Patent Laid-Open No. 10-040380

  However, in the conventional methods including Patent Documents 1 and 2, a dedicated device such as a display or a mouse is required for setting the non-detection area, or a personal computer is connected to the image discrimination sensor or area sensor each time the non-detection area is set. In most sites (such as production lines), there is a problem that it is not possible to set the non-detection area easily because there is no space for installing a PC or operating a mouse. . Furthermore, in the method of setting the shape of the non-detection region using various input devices, it is troublesome to perform complicated drawing and takes time. This means that the stop time of the production line is increased unnecessarily, and there is a problem that the operation rate is lowered.

  Therefore, the present invention does not require a dedicated device for setting a non-detection region in an image processing apparatus or area sensor, and a method for easily setting a non-detection region without performing a complicated drawing operation, and a method thereof. It is an object to provide an image processing apparatus and an area sensor that can be used for implementation.

  As a result of repeating various studies to solve the above problems, the present inventors have prepared in advance a paper pattern or the like (template) in which a region corresponding to a predetermined non-detection region appears in a predetermined mode, The area corresponding to the non-detection area shown in the template is imported into the image processing apparatus or area sensor, and the acquired area is registered as non-detection area data in the image discrimination sensor or area sensor. The inventors have found that the non-detection area can be set in the image discrimination sensor and the area sensor, and have convinced that the above problem can be solved, thereby completing the present invention.

An image processing apparatus including an image discrimination sensor according to the present invention that can solve the above problems is an image processing apparatus that performs a predetermined determination by imaging a predetermined inspection object and comparing it with a predetermined reference. In setting the non-detection area in the image processing apparatus, a template having a predetermined shape corresponding to the non-detection area is imaged in advance in a state where the template is positioned in the non-detection area, and the image data is input. The image processing apparatus further comprises non-detection area registration means for registering the non-detection area.
The image processing apparatus of the present invention includes, for example, an illuminating unit for illuminating an inspection object, an imaging unit for imaging, the image data of the imaged inspection object, registered non-detection area data, and determination Storage means for storing a predetermined reference that is the basis for performing the processing, arithmetic means for comparing the image data of the imaged inspection object with the predetermined reference, and the result It comprises output means for outputting, display means for performing result display and operation menu display, and input means for giving operation instructions.

  As a method for setting the non-detection area of the image processing apparatus, a template having a predetermined shape corresponding to the non-detection area is prepared in advance, the template is imaged by the imaging unit, and the image data is processed by the image processing. An example is one in which the non-detection area is set by registering in the storage means non-detection area data corresponding to the non-detection area in the input imaging data.

Next, the area sensor of the present invention capable of solving the above problems is an area sensor that detects an obstacle, an intruder, or the like in a predetermined area, and in setting a non-detection area in the area sensor, The position and distance are measured in a state where a template having a predetermined shape corresponding to the non-detection region is positioned in the non-detection region, and the distance detection data is input to register the non-detection region in the area sensor. A non-detection area registration unit is provided.
The area sensor of the present invention includes, for example, a light projecting unit for projecting light on an object, a light receiving unit for receiving reflected light when the projected light is reflected by an inspection target, and a light projecting and receiving unit. Calculating means for measuring position and distance using time difference or triangulation principle to obtain distance measurement data, or comparing the distance measurement data with a predetermined standard, etc., and obtained distance measurement data and registration Storage means for storing the non-detection area data that has been made and a predetermined reference that is the basis for performing the determination process, output means for outputting the result, result display and operation menu display It comprises display means for performing and input means for giving operation instructions.

  As a method for setting the non-detection area of the area sensor, a template having a predetermined shape corresponding to the non-detection area is prepared in advance, and the position and distance of the template are determined by the light projecting means, the light receiving means, and the computing means. Measure, input the distance measurement data to the area sensor, and register the non-detection area data corresponding to the non-detection area in the input distance measurement data in the storage means to set the non-detection area What to do is listed.

In the present specification, the “non-detection region” is a position where the inspection target appears substantially when the position where the inspection target appears in the imaging range or field of view of the imaging means is known in advance. The area other than is pointed to.
In this specification, “non-detection area data” is information related to a predetermined non-detection area registered in an image processing apparatus or the like via imaging of a predetermined template, and is imaged image data of an inspection object. In the distance measurement data of the detected object or the like, a portion corresponding to a predetermined non-detection area is treated as invalid.
In addition, the “arithmetic apparatus” described below is stored in the storage means according to the present invention, in addition to the normal determination processing related to the inspection and detection of the inspection object, which is the original mission of the image processing apparatus and area sensor. The non-detection area data regarding the registered non-detection area is compared with the image data or distance measurement data acquired in the image processing apparatus or the area sensor, respectively, and the image data or measurement of the portion corresponding to the non-detection area is compared. It is assumed that distance data is treated as invalid, and normal determination processing related to inspection and detection of an inspection object is performed based on image data or distance measurement data of a portion corresponding to a detection area.
Further, “image data” indicates a single or a set of received light amount and other information of each pixel which is a component of an image captured by the imaging unit, and “ranging data” refers to a light projecting unit The position and distance information of the object obtained by the light receiving means and the calculation means are pointed to a single piece or a set of distance information.
Others In the present invention, “storage means” refers to non-detection area data registered in advance using a template, image data of an imaged inspection object, distance measurement data such as a detected object, and the like. This is for storing data and commands input to the image processing device and area sensor. For example, when the use and function of the memory are divided as in the embodiment described below, these Of all or at least a part of it.

As described above, the present invention includes a non-detection area registration function that can arbitrarily set a non-detection area using a template in advance in an image discrimination sensor or an area sensor. The setting procedure, that is, drawing operation using a console or a mouse is not required, and the non-detection area can be easily set.
Further, according to the present invention, the non-detection area can be easily set, and the non-detection area can be set in the same manner even if the non-detection area has an arbitrarily complicated outline.

BEST MODE FOR CARRYING OUT THE INVENTION

1. First Embodiment Hereinafter, an image discrimination sensor according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a diagram showing a setting point of a non-detection area by an image processing apparatus including an image discrimination sensor according to the present invention, and FIG. 2 is a diagram showing a configuration example of the image processing apparatus. FIG. 3 is a diagram showing an example of how to set a non-detection area using the image processing apparatus, and FIGS. 4 to 7 are diagrams showing processing in the image processing apparatus.

[Basic principle]
First, the basic principle of setting a non-detection area in the imaging area by the image discrimination sensor of this embodiment will be described.
As shown in FIG. 1, the non-detection area N is set by the image discrimination sensor 1 of the present embodiment. First, an area corresponding to the non-detection area N is displayed in a predetermined manner in the image discrimination sensor 1 in advance. The predetermined image pickup area S including the template 2 is picked up, and the image information is appropriately signal-processed in the image discrimination sensor 1 so that the non-detection area data, that is, the shape and contour of the non-detection area N to be set can be obtained. This is done by first registering with the discrimination sensor 1.

[Constitution]
Here, the configuration of the image discrimination sensor of the present embodiment will be described. As shown in FIG. 2, the image discrimination sensor 1 of the present embodiment images a predetermined inspection object W and compares it with a predetermined reference or the like. Is an image processing apparatus that performs predetermined determination or the like, and includes an illumination 16 that uses a light emitting diode for illuminating the inspection target W, an imaging unit 3 that includes a solid-state imaging device 14 and a lens 15 for imaging, and data. Storage means 17 comprising a mask pattern memory 4 and an image memory 7 for storing data, an arithmetic unit 6 for performing calculations and determining, an output unit 9 for outputting the determination results, and operations for giving various inputs Unit 8 and display means 13 using an LCD display for displaying captured image data and a menu display for giving various operation instructions, all of which are integrated. It includes those were. In the mask pattern memory 4, regarding imaged image data of the inspection object W, information on a region corresponding to a non-detection region (non-detection region) that is treated as invalid for a pixel corresponding to a predetermined non-detection region. Data). The image memory 7 stores captured image data. The arithmetic device 6 corresponds to each pixel corresponding to the registered non-detection area data stored in the mask pattern memory 4 and the imaged image data stored in the image memory 7 according to the present invention. In comparison with each other, the portion corresponding to the non-detection region N in the image data of the imaging region S is treated as invalid. Accordingly, the arithmetic device 6 performs a determination process related to the inspection work of the inspection object based on the data of the portion corresponding to the detection region E in the image data of the imaging region S. The non-detection area registering means of the present invention is mainly composed of the imaging means, the storage means and the arithmetic unit.

The inspection object W in this embodiment is a box that sequentially moves on a predetermined conveying means T such as a belt conveyor, and “ABCDE” printed as a design on the box, the manufacturing date printed in the manufacturing process. There is "2004.06.01". As the detected contents, it is determined whether or not the printed manufacturing date “2004.06.01” exists. In this case, only the printed manufacturing date “2004.06.01” is set as the detection area E, and the rest is set as the non-detection area N. Prior to inspecting the inspection object W using the image discrimination sensor 1, the image pickup means captures the template 2 in which the detection areas and the areas (E ′, N ′) corresponding to the non-detection areas appear in a predetermined manner. 3, it is necessary to register the non-detection area data in the image discrimination sensor 1, and the procedure will be described later.
In the present embodiment, when the inspection target W is inspected based on the image data of the part of the inspection target W corresponding to the detection region E, if the inspection target W is determined to be defective without printing. , Through the sequencer 10 connected to the output unit 9 and the like, the ejector is operated, the defective product is eliminated and the product is sorted out as a good product, or an alarm is notified to the operator by the alarm, A measure is taken not to operate the conveying means T until it is removed.

  The connection relationship of each component is as shown in FIG. In the present embodiment, the imaging unit 3, the image memory 7, the mask pattern memory 4, and the arithmetic unit 6 are connected to constitute a non-detection area registration unit. An operation unit 8, an output unit 9, and display means 13 using an LCD display or the like are connected to the arithmetic device 6.

[Operation and usage]
Hereinafter, an example of the operation and usage of the image discrimination sensor of the present embodiment will be described in order based on FIGS. For convenience of explanation, the shapes of the detection region E, the non-detection region N, and the template 2 are different from those shown in FIG. In the case of the present embodiment, the setting of the non-detection area N in the imaging area S includes template preparation, imaging of the shape of the non-detection area by the imaging means, binarization processing using an arithmetic unit, and non-detection area in the storage means. Data is registered in the order of registration.

  First of all, a template 2 for dividing the detection area E and the non-detection area N in the imaging area S is prepared in advance. The template 2 indicates a detection area as shown in FIG. 2 or FIG. 3 in addition to the blank sheet shown in the non-detection area to be set as shown in FIG. 1 in the explanation of the basic principle. It is assumed that the portion and the portion indicating the non-detection region are distinguished by different colors. In the following description, as shown in FIGS. 2 and 3, in the template 2, the portion E ′ indicating the detection region and the portion N ′ indicating the non-detection region are distinguished by different colors such as dark color and light color. 4 to 7, for convenience of explanation, a part of the pixels of the portion E ′ indicating the detection region and the portion N ′ indicating the non-detection region around it are shown enlarged. I will do it. As described above, in this embodiment, the image data captured by the imaging means 3 can be expressed by the amount of light received for each pixel. In the following description, the amount of light received for each pixel is expressed in hexadecimal 2. Expressed with digit luminance data. Luminance data is an index indicating the amount of light received for each pixel. For convenience, the larger the value, the greater the amount of received light, that is, that the pixel portion is brighter.

  Next, the template 2 is imaged by the imaging means 3 of the image discrimination sensor 1 of the present embodiment as shown in FIG. 3, and regions (E ′, E) corresponding to the detection region and the non-detection region appearing on the template 2 are displayed. N ′) is taken into the image discrimination sensor 1.

  Image data picked up by the image pickup means 3 is developed in the image memory 7 as shown in FIG. 4A, and as shown in FIG. 4B, regions (E ′) corresponding to the detection region and the non-detection region appearing in the template 2. , N ′), a binarization process is performed in which pixels having an arbitrary luminance are replaced with FF and other pixels are replaced with 00. This binarization processing is performed in the arithmetic device 6 after moving the image data developed in the image memory 7 to the arithmetic device 6 as shown in FIG. Data of each pixel after the binarization processing is once returned to the image memory 7. According to an example, a pixel having a luminance of D0 or higher is replaced with FF. In the present embodiment, all the pixel data corresponding to the non-detection area N is set to FF.

The image data that has undergone binarization processing is then moved to the mask pattern memory 4 in FIG. 2, whereby non-detection area data is registered in the image discrimination sensor 1. FIG. 5A shows the state of the image memory 7 and the mask pattern memory 4 before transferring the data of each pixel after the binarization processing to the mask pattern memory 4. As shown in FIG. 5A, in the mask pattern memory 4 in a state before registration of non-detection area data is performed, the value of each pixel is initialized to 00 in advance. In the present embodiment, the initialization of the mask pattern memory 4 is performed by issuing a reset signal from the arithmetic unit 6 every time registration of non-detection area data becomes necessary due to a change in the shape of the non-detection area N or the like. Done by sending.
As shown in FIG. 5B, the non-detection area data is registered by copying the data in the image memory in which the pixel data is FF corresponding to the non-detection area N to the corresponding pixels in the mask pattern memory 4. Is implemented.

  6 and 7 are diagrams illustrating a state of signal processing after the non-detection area data is registered in the arithmetic device 6 of the image discrimination sensor 1 of the present embodiment. As will be described below, in the present embodiment, after registration of the non-detection area data, for example, in an image obtained by imaging the inspection target W that sequentially moves on the transport means T as shown in FIG. All the pixel data to be replaced is replaced with 00 and treated as invalid.

The operation of the image discrimination sensor of the present embodiment after the non-detection area data is registered will be described. First, as shown in FIG. 6A, for example, the inspection object W that sequentially moves on the transport means T in FIG. The image data is developed in the image memory 7. At this time, as shown in FIG. 6B, the mask pattern memory 4 has already stored the binarized shape and contour regarding the detection area E and the non-detection area N.
Next, as shown in FIG. 7A, the pixel data of the image memory 7 and the mask data of the mask pattern memory 4 are read out to the arithmetic unit 6 of FIG. In the arithmetic unit 6, a comparison process is performed for each corresponding pixel in the image memory 7 and the mask pattern memory 4.
Here, as shown in FIG. 7B, if the mask data read from the mask pattern memory 4 is FF, the pixel portion corresponds to the non-detection area N, and therefore the pixel data on the image memory 7 side is replaced with 00. The subsequent pixel data 00 is written back to the image memory 7. On the other hand, if the mask data read from the mask pattern memory 4 is not FF, the pixel portion corresponds to the detection area E, and therefore the pixel portion is written back to the original image memory 7 having the original luminance level.

  Through the above operation, as shown in FIG. 7B, the luminance level information remains only in the portion corresponding to the detection area E and the pixel data of 00 exists in the portion corresponding to the non-detection area N as shown in FIG. Therefore, the inspection work of the inspection object W can be performed based only on the data in the detection area E. As a result, avoidance or mitigation of false detection is realized as in the conventional case.

  Thus, as is apparent from the present embodiment, according to the present invention, the template 2 in which the region N ′ corresponding to the predetermined non-detection region N appears in a predetermined mode is prepared in advance. The template 2 is imaged by the imaging means 3 and the shape and contour of the region N ′ corresponding to the non-detection region appearing in the template 2 are captured in the image discrimination sensor 1. By registering it as detection area data, it is possible to obtain an image discrimination sensor that can set the non-detection area in a satisfactory manner. The fact that the usefulness of the present invention becomes more remarkable as the shape and contour of a predetermined non-detection region to be set becomes more complex is also evident from the above-described setting procedure of the non-detection region.

2. Second Embodiment In the first embodiment, the image data captured from the image pickup means 3 is once input to the image memory 7 and, in some cases, after various signal processings are performed by the arithmetic unit 6, the mask pattern, respectively. Although the image data is sent to the subsequent stage such as the memory 4 and the arithmetic unit 6, the image processing apparatus of the present invention can be configured without providing the image memory 7 separately.
In this case, for example, the mode switching between the non-detection area setting and the normal operation is performed in the arithmetic unit 6, and at the non-detection area setting, the detection area or the area corresponding to the non-detection area (E ', N' ) Is captured in advance and the image data taken in from the imaging means 3 is input to the mask pattern memory 4 directly or after being appropriately processed by the arithmetic unit 6. The non-detection area data is registered in the image discrimination sensor 1.
Next, during normal operation, for example, the inspection object W that sequentially moves on the conveying means T in FIG. 2 is imaged, and the image data taken from the imaging means 3 is directly input to the arithmetic device 6 and simultaneously to the arithmetic device 6. Is inputted to the non-detection area data previously stored in the mask pattern memory 4 and set in advance in the image discrimination sensor 1, and the two data inputted to the arithmetic unit 6 are compared with each other for each corresponding pixel. A portion corresponding to the detection area N is invalidated.
Even with such a configuration and setting procedure, it is possible to perform the inspection work of the inspection object W based only on the data of the detection area E, and as in the first embodiment, avoid or reduce false detection. Can do.

As described above, the image discrimination sensor of the present invention has been described based on an example thereof, but the present invention is not limited to the above configuration, and various design changes can be made.
For example, in the above-described embodiment, the image determination sensor of the present invention has been described as performing imaging and image determination of the inspection target W that sequentially moves on the conveying unit. However, the present invention is not limited to this, and is, for example, stationary. The present invention can also be applied to uses such as inspecting an inspection target W having a certain shape each time. Also, the illumination light source 16 provided around the image pickup means 3 shown in FIG. 2 may be an appropriate one, and further compensates for underexposure that may occur when the inspection object W is imaged using the light source. Also good.
In the present embodiment, the display unit 13 including an LCD display is provided for confirming captured image data and non-detection area data, confirming various operations by the operation unit 8, and the like. By securely fixing the positional relationship between 3 and the template 2 or the inspection object W, it is not necessary to use the display means 13 when setting the non-detection region. In the present embodiment, a solid-state imaging device, for example, a two-dimensional photodiode array, is used as the imaging unit 3, but another configuration such as a CCD may be applied as appropriate.

Further, in the above example, the non-detection region N to be set is shown as a template 2 made of blank paper or the like, and the image data obtained by imaging it with the image pickup means 3 is appropriately signal-processed to register the non-detection region data. A template 2 in which a portion indicating a detection region and a portion (E ′, N ′) indicating a non-detection region are distinguished by different colors is imaged by the imaging means 3 and the captured image data is appropriately signaled The non-detection area data is registered by processing, but the setting procedure of the non-detection area is not limited to these. For example, a template is provided with a notch in a portion indicating the non-detection area. It does n’t matter.
In addition, in the said embodiment, although the light reception amount for every pixel is represented by the luminance data of 2 hexadecimal numbers, the display form of the said light quantity is not limited to this at all. As long as the amount of received light for each pixel can be grasped, the expression form may be appropriate.
Similarly, in the above-described embodiment, binarization processing is performed on a captured image. Instead of this processing, for example, a pixel having a luminance or received light amount exceeding a predetermined threshold value or less than the threshold value is detected. An area or non-detection area may be used, and the determination result for each pixel may be sent to the mask pattern memory so that non-detection area data is registered in the image discrimination sensor.

3. Third Embodiment Next, the present invention is not limited to the image processing apparatus shown in each of the above examples, and may be applied to an area sensor as described below, for example. 8A and 8B are diagrams showing the setting procedure of the non-detection area by the area sensor according to the present invention, wherein A is a perspective view of the distance measurement area viewed from the area sensor side, and B is a view of the state shown in FIG. It is. FIG. 9 is a diagram showing a configuration example of the area sensor. For convenience of explanation, the shapes of the detection region E, the non-detection region N, and the template 2 are different from each other in FIGS. Although details will be described later, in the example shown in FIG. 8, in order to show the area corresponding to the non-detection area N, a template with a predetermined shape made of a blank sheet or the like shown in the distance measurement area S ′ is treated as the template 2. In the example shown in FIG. 9, the wall is treated as the template 2.

[Basic principle]
First, the basic principle of setting a non-detection area in the distance measurement area by the area sensor of this embodiment will be described. In the present embodiment, the distance measurement area S ′ indicates a predetermined range in which the projection light spreads in a predetermined direction (horizontal direction in FIGS. 8 and 9) from the light projecting means, and the distance measurement data indicates the position and distance of the object or the like. It is composed of horizontal and depth direction components so that information (distance distribution) can be expressed as coordinates.
As shown in FIG. 8, in setting the non-detection area N by the area sensor 1 ′ of the present embodiment, first, the area corresponding to the non-detection area N is displayed in a predetermined manner in the area sensor 1 ′. The predetermined distance measurement area S ′ including the template 2 is measured, and the distance measurement information is appropriately signal-processed in the area sensor 1 ′, so that the non-detection area data, that is, the position and distance of the non-detection area N to be set. Is previously registered in the area sensor 1 ′.

[Configuration etc.]
Next, the configuration of the area sensor of this embodiment will be described with reference to FIG.
FIG. 9 shows one mode in which the area sensor 1 ′ according to the present embodiment is installed for the purpose of detecting that an operator has entered a dangerous area, for example. The inspection target W is, for example, an operator who operates the machine. In the example shown in FIG. 9, the area up to the wall in the distance measurement area is the detection area E, and the other areas are the non-detection areas N. Therefore, when detecting the inspection object W using the area sensor 1 ′, the position and distance are measured in advance using the wall as the template 2, and the non-detection area data is registered in the area sensor 1 ′.

  As shown in FIG. 9, the area sensor 1 ′ of the present embodiment is an area sensor that performs a predetermined determination or the like by detecting a predetermined inspection target W and comparing it with a predetermined reference or the like. A light projecting means 16 ′ using a light emitting diode for projecting light, a light receiving element 14 ′ for receiving reflected light when the projected light is reflected by the inspection object W, and a lens 15. Light receiving means 3 ', storage means 17 comprising mask pattern memory 4 and distance measurement data memory 7' for storing data, arithmetic device 6 for performing calculations and determining, and for outputting the determination results An output unit 9, an operation unit 8 for giving various inputs, a display means 13 using an LCD display for displaying captured image data and displaying a menu for giving various operation instructions, etc. The one in which includes as an integral. The mask pattern memory 4 is information relating to a predetermined non-detection area, and the portion corresponding to the predetermined non-detection area in the distance measurement data of the detected object or the like is treated as invalid (non-detection) Area data) is stored. The distance measurement data memory 7 'stores the detected distance measurement data. The arithmetic device 6 compares the registered non-detection area data stored in the mask pattern memory 4 and the detected distance measurement data stored in the distance measurement data memory 7 ', respectively, according to the present invention. In contrast, the portion corresponding to the non-detection region N in the distance measurement data of the distance measurement region S ′ is treated as invalid. Thereby, the arithmetic unit 6 performs a determination process related to the detection of the inspection object based on the data of the portion corresponding to the detection area E in the distance measurement data of the distance measurement area S ′. The non-detection area registration unit of the present embodiment is mainly configured by the light projecting / receiving unit, the storage unit, and the arithmetic unit.

  The connection relationship of each component is as shown in FIG. In the present embodiment, the light receiving means 3, the distance measurement data memory 7 'and the mask pattern memory 4, and the arithmetic unit 6 are connected to constitute a non-detection area registration means. An operation unit 8, an output unit 9, and display means 13 using an LCD display or the like are connected to the arithmetic device 6.

The method of using the area sensor having the above-described configuration, the setting procedure and operation of the non-detection area, the modification, and the like are the same as those of the image processing apparatus described above.
In this embodiment, as a result of detecting the detection area based on the distance measurement data of the inspection object W in the part corresponding to the detection area E, if there is the inspection object W, it is determined that the intrusion is in the dangerous area. The operator is informed of the danger by an alarm through the sequencer 10 connected to the output unit 9, and the operator is taken out of the dangerous area.

Thus, since the present invention has a non-detection area registration function in the image discrimination sensor and the area sensor, it does not require a complicated setting method up to now, that is, drawing using a console or a mouse, The non-detection area can be set more easily.
Furthermore, according to the present invention, a non-detection region having an arbitrary complicated shape can be easily set in the sensor, and the burden on the operator is extremely small.

It is a figure which shows the setting point of the non-detection area | region by the image processing apparatus of this invention. It is a figure which shows one structural example of the image processing apparatus of this invention. It is a figure which shows an example of the setting point of the non-detection area | region using the image processing apparatus of this invention. It is a figure which shows the mode of the process in an image processing apparatus. It is a figure which shows the mode of the process in an image processing apparatus. It is a figure which shows the mode of the process in an image processing apparatus. It is a figure which shows the mode of the process in an image processing apparatus. It is a figure which shows the setting point of the non-detection area | region by the area sensor of this invention. It is a figure which shows one structural example of the area sensor of this invention. It is a figure shown about a prior art example.

Explanation of symbols

W inspection object 1 image discrimination sensor 2 template 3 imaging means 6 arithmetic device 17 storage means

Claims (5)

An image processing apparatus that performs a predetermined determination or the like by imaging a predetermined inspection object and comparing it with a predetermined reference or the like,
In setting the non-detection area in the image processing device, the template having a predetermined shape corresponding to the non-detection area is imaged in a state where the template is positioned in the non-detection area, and the imaging data is input, An image processing apparatus comprising non-detection area registration means for registering the non-detection area in the image processing apparatus. The image processing apparatus is
An illumination means for illuminating the inspection object;
Imaging means for imaging;
Storage means for storing imaged image data of the inspection object, registered non-detection area data, and a predetermined reference that is a basis for performing the determination process;
An arithmetic means for comparing the image data of the imaged inspection object with a predetermined reference, etc.
An output means for outputting the result;
Display means for displaying results and operation menus;
Input means for giving operation instructions;
The image processing apparatus according to claim 1, comprising: A method for setting a non-detection region of an image processing apparatus that performs a predetermined determination by imaging a predetermined inspection object and comparing it with a predetermined reference, etc.
Prepare a template of a predetermined shape corresponding to the non-detection area in advance,
The template is imaged by the imaging means of the image processing apparatus, and the imaging data is input to the image processing apparatus,
The non-detection region is set by registering non-detection region data corresponding to the non-detection region in the input imaging data in a storage unit of the image processing device. How to set the detection area.   An area sensor for detecting an obstacle, an intruder, or the like in a predetermined area, and in setting a non-detection area in the area sensor, a template having a predetermined shape corresponding to the non-detection area is set in advance in the non-detection area. An area sensor comprising non-detection area registering means for registering the non-detection area in the area sensor by measuring the position and distance in a state of being positioned and inputting the distance measurement data. A method for setting a non-detection area of an area sensor that detects an obstacle or an intruder in a predetermined area,
Prepare a template of a predetermined shape corresponding to the non-detection area in advance, measure the position and distance of the template by the distance measurement means of the area sensor, and input the distance measurement data to the area sensor,
Non-detection of an area sensor characterized in that the non-detection area is set by registering non-detection area data corresponding to the non-detection area in the input distance measurement data in the storage means of the area sensor. How to set the area.

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