JP2009122821A - Programming device for image processing controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a programming device allowing changeover of a photographing mode to one of a trigger synchronous mode and a trigger asynchronous mode without once stopping operation. <P>SOLUTION: This programming device for an image processing controller has an imaging condition determination part 29 for determining an acquisition condition when acquiring an image-processing camera image as a parameter of an imaging unit selected on a flowchart 47. The imaging condition determination part 29 can select one of the trigger synchronous mode to take in a camera image made to be photographed in synchronization with an input signal from an imaging trigger input terminal as the image-processing camera image, and the trigger asynchronous mode to extract the image-processing camera image based on the input signal from the camera images obtained by making the photographing be repeatedly performed as the acquisition condition, and allows arrangement of the imaging units selected with one of the trigger synchronous mode and the trigger asynchronous mode on two different branch flows branched by a branch unit on the flowchart 47. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a program creation device for an image processing controller, and more specifically, a program creation device that creates a control program for an image processing controller that outputs a determination signal based on a camera image obtained by photographing an inspection object. Regarding improvements.

  The image processing controller that performs image processing on a camera image obtained by photographing the inspection object and outputs a determination signal indicating the determination result based on the shape, position, and camera image of the inspection object as a processing result includes a series of processes. A method that can change the procedure is known (for example, Patent Document 1). Usually, a control program for causing such an image processing controller to execute a series of processing procedures is created using an editor (software) that operates on an information processing terminal such as a PC (personal computer). The user can perform a desired inspection on the inspection object by transferring the created control program to the image processing controller.

In the case of a conventional image processing controller, an acquisition condition when acquiring image data for image processing from a camera and a shooting condition when shooting with the camera are determined as data relating to environment settings separate from the control program. For example, either the trigger synchronous mode or the trigger asynchronous mode can be selected as the acquisition condition. This trigger synchronization mode is a shooting mode in which a camera image obtained by synchronizing the shooting timing with an imaging trigger signal input from an external device is captured for image processing, and the trigger asynchronous mode is a camera obtained by repeatedly shooting. This is a shooting mode in which a camera image for image processing is extracted from an image based on an imaging trigger signal. However, since data related to such environment settings is created as data separate from the control program and is stored in the image processing controller as data common to a plurality of control programs, the environment settings are automatically set during operation. There was a problem that the measurement could not be repeated while switching. In particular, in order to switch the photographing mode to either the trigger synchronous mode or the trigger asynchronous mode during driving, the driving has to be temporarily stopped.
JP-A-9-288568

  As described above, the conventional image processing controller has a problem that the measurement cannot be repeated while automatically switching the shooting mode during operation.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a program creation device for an image processing controller capable of repeating measurement while automatically switching shooting modes during driving. . In particular, an object of the present invention is to provide a program creation device that can switch the photographing mode to either the trigger synchronous mode or the trigger asynchronous mode without temporarily stopping the operation.

  According to a first aspect of the present invention, there is provided a program creation device for an image processing controller that captures an inspection object and generates a camera image, acquires the camera image from the camera, and extracts a measurement result from the camera image. An image processing apparatus comprising: an image processing controller that determines the quality of the inspection object based on the measurement result and outputs a determination signal; and a display that is controlled by the image processing controller and displays the camera image. A program creation device for creating a control program for the image processing controller used, as a processing unit indicating a process whose parameters can be changed, from a branch unit for branching an execution flow into two or more branch flows, from an imaging trigger input terminal An imaging unit that acquires the camera image for image processing based on the input signal of And processing unit storage means for holding a measurement unit for extracting the measurement result from the camera image acquired by the imaging unit, and the processing on the execution flow starting at the start symbol and ending at the end symbol Flowchart display means for displaying a flowchart generated by arranging the units, and imaging for determining an acquisition condition when acquiring a camera image for image processing as the parameter of the imaging unit selected on the flowchart A condition determination unit, a program generation unit that generates a control program for the image processing controller based on the flowchart, and a transfer unit that transfers the control program to the image processing controller. The above imaging tri Trigger synchronization mode that captures a camera image taken in synchronization with an input signal from the input terminal for image processing, and a camera image for image processing is extracted from the camera image obtained by repeated photographing based on the input signal Can be selected as the acquisition condition, and either of the trigger synchronous mode and the trigger asynchronous mode is set on two different branch flows branched by the branch unit on the flowchart. The selected imaging units can be arranged respectively.

  In this program creation device, a flowchart generated by arranging the processing units on the execution flow is displayed, and a camera image acquisition condition for image processing is determined as a parameter of the imaging unit selected on the flowchart. . At that time, either the trigger synchronous mode or the trigger asynchronous mode can be selected as the acquisition condition. According to such a configuration, when the branch unit is arranged on the flowchart, and when the imaging unit is arranged on each of two different branch flows branched by the branch unit, the branch units are about the imaging units. Either a trigger synchronous mode or a trigger asynchronous mode can be selected for each flow. For this reason, since the acquisition conditions can be selected for each branch flow for the imaging unit on the branch flow, it is possible to generate a control program in which different acquisition conditions for each branch flow are selected as parameters of the imaging unit. Accordingly, the acquisition conditions of the camera image for image processing can be switched according to the branch flow in the control program, so that the measurement can be repeated while automatically switching the shooting mode during operation of the image processing controller. . In particular, since the acquisition conditions are switched by the control program, it is possible to switch the imaging mode to either the trigger synchronous mode or the trigger asynchronous mode without temporarily stopping the operation.

  A program creation device for an image processing controller according to a second aspect of the present invention is configured such that, in the trigger asynchronous mode, the camera image repeatedly photographed at a fixed period is displayed as a moving image on the display in the trigger asynchronous mode. Is done. According to such a configuration, since the camera image is displayed on the display as a moving image, the imaging trigger signal can be input while confirming the state of the inspection object on the display.

  According to a third aspect of the present invention, there is provided a program creation device for an image processing controller, wherein, in addition to the above-described configuration, the time from the input signal input in the trigger synchronous mode to the start of shooting of the camera is the time in the trigger asynchronous mode The camera is configured to be shorter than the imaging cycle when the camera repeatedly captures and continuously generates the camera image.

  According to a fourth aspect of the present invention, there is provided a program creation device for an image processing controller, which is a parameter of a different imaging unit based on an operation input at the time of editing the imaging unit, and is determined by the imaging condition determining means, in addition to the configuration described above. Parameter association means for associating acquired acquisition conditions with each other, and when one of a plurality of parameters associated with each other is changed by the parameter association means, the other parameters are similarly changed. .

  According to the program creation device for an image processing controller according to the present invention, since an acquisition condition can be selected for each branch flow for the imaging unit on the branch flow, a different acquisition condition for each branch flow is selected as a parameter of the imaging unit. A control program can be generated. Accordingly, the acquisition conditions of the camera image for image processing can be switched according to the branch flow in the control program, so that the measurement can be repeated while automatically switching the shooting mode during operation of the image processing controller. . In particular, since the acquisition conditions are switched by the control program, it is possible to switch the imaging mode to either the trigger synchronous mode or the trigger asynchronous mode without temporarily stopping the operation.

<Inspection support system>
FIG. 1 is a perspective view showing a configuration example of an inspection support system according to an embodiment of the present invention. The inspection support system includes an image processing apparatus 1 arranged on a conveyance line of an inspection object, and a PC (personal computer) 2 that generates a control program for the image processing apparatus 1.

  The image processing device 1 is a sensor device that includes an image processing controller 11, a camera 12, a display 13a, and an operation unit 13b, and outputs a determination signal based on a camera image obtained from an inspection object. This determination signal is input to a PLC (Programmable Logic Controller) not shown, and the image processing apparatus 1 is used as an FA (Factory Automation) sensor.

  The camera 12 is an imaging device that shoots a subject, generates image data, and outputs it as a camera image, and is detachably connected to the image processing controller 11. The camera 12 is disposed on a conveyance line through which the inspection object is conveyed, and photographing is performed using the inspection object as a subject.

  The display 13a is an output device for displaying a camera image obtained by photographing an inspection object and an image processing result based on the camera image. The display 13 a is display-controlled by the image processing controller 11 and is usually disposed in the vicinity of the image processing controller 11. That is, the display 13a is a display device for allowing the user to check the operation state of the image processing controller 11 when the image processing controller 11 is in operation. The operation unit 13b is an input device for moving a focus position on the display 13a and selecting a menu item.

  The image processing controller 11 is a main unit of the image processing apparatus 1 that captures and processes a camera image from the camera 12 and outputs a determination signal indicating a determination result made based on the camera image as a processing result. The camera image acquisition operation is performed based on, for example, an imaging trigger signal that is a control signal input from an external device such as a PLC and that defines a timing for capturing a camera image.

  Up to four cameras 12 are connected to the image processing controller 11, and image processing is performed based on camera images acquired from these cameras 12. The determination signal output from the image processing controller 11 is generated as a signal indicating a determination result such as product quality.

  Further, the display 13a and the operation unit 13b are connected to the image processing controller 11, and the operation unit 13b can be operated as an input device and the display 13a can be operated as an output device without being connected to the PC 2.

  The PC 2 is a program creation device that creates a control program for the image processing controller 11, and a control program is generated by an editor (software) operating on the PC 2. When creating a control program for the image processing controller 11, a simulation can be performed on the PC 2 to confirm the operation.

  In the PC 2, layout information that defines the display mode on the display 13 a by the image processing controller 11 is created. This layout information is also created on the editing screen in the PC 2 by the editor, and inspection setting data including a control program and layout information is generated.

  The PC 2 and the image processing controller 11 of the image processing apparatus 1 are connected via a communication network such as Ethernet (registered trademark). A plurality of image processing controllers 11 are detachably connected to the PC 2. By transferring the inspection setting data created on the PC 2 to the image processing controller 11, the inspection setting data in the image processing controller 11 can be rewritten. In addition, inspection setting data in the image processing controller 11 can be taken in and edited on the PC 2. The PC 2 is normally connected to the image processing controller 11 during maintenance of the image processing apparatus 1.

<System configuration>
FIG. 2 is a block diagram showing an example of the system configuration of the inspection support system of FIG. The inspection support system 100 includes a single PC 2 and a plurality of image processing apparatuses 1 connected to the PC 2 via the communication network 3. The control program created on the PC 2 is stored in the memory 21 as inspection setting data 22.

  The examination setting data 22 created on the PC 2 is transferred to the image processing controller 11 via the communication network 3. At this time, by specifying the transfer destination and transferring the inspection setting data 22, the inspection setting data 15 in the memory 14 is updated for the desired image processing controller 11, or new inspection setting data is stored in the memory 14. Can be added.

  In the image processing controller 11, a plurality of examination setting data 15 is held in a memory 14 such as a flash memory. Each inspection setting data 15 is composed of a control program having different processing procedures and inspection contents, and the inspection setting data 15 to be executed can be changed based on a user operation.

  In the PC 2, an operation for acquiring and editing the examination setting data 15 from the image processing controller 11 connected by the communication network 3 is performed.

<Editor screen>
FIG. 3 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2 and shows an editor screen 40 for creating the inspection setting data 22. The editor screen 40 is an editing screen for newly creating inspection setting data on the PC 2 or editing inspection setting data acquired from the image processing controller 11, and is displayed on the PC 2.

  The editor screen 40 includes a plurality of window screens whose display positions and display ranges can be changed. Specifically, it consists of a system view window 41, a parts list window 42, a unit property window 43, a vision view window 44, and a result view window 45.

  The system view window 41 is a window screen for displaying a list of system configuration and examination setting data to be edited, and includes a controller list screen 41a and a workspace list screen 41b.

  The controller list screen 41 a is a screen for displaying a list of the image processing controllers 11 connected to the PC 2. The controller list screen 41 a displays icons indicating the image processing controller 11 and inspection setting data 15 held in the image processing controller 11. An icon is displayed.

  The icons indicating the image processing controller 11 and the inspection setting data 15 are displayed in a tree format. That is, it is possible to identify which image processing controller 11 holds the inspection setting data 15 with the image processing controller 11 as the upper layer and the inspection setting data 15 held in the image processing controller 11 as the lower layer. It is displayed as follows.

  The workspace list screen 41b is a screen for displaying a list of inspection setting data to be edited. An icon indicating a work area on the memory 21 provided for each image processing controller 11 or an icon indicating inspection setting data. It is displayed. A work area on the memory 21 provided for each image processing controller 11 is associated with the corresponding image processing controller 11 and displayed as a work space. That is, inspection setting data is held for each image processing controller 11 on the PC 2, and editing is performed in a work space for each image processing controller 11.

  Such icons indicating work areas and icons indicating inspection setting data are displayed in a tree format. That is, the workspace corresponding to the image processing controller 11 is set as the upper hierarchy, and the examination setting data in this workspace is set as the lower hierarchy, so that the workspace in which the examination setting data exists can be identified. .

  When an update button (icon) arranged in the heading column of the controller list screen 41a is operated, new inspection setting data is acquired from the image processing controller 11, and the inspection setting data and system configuration held on the PC 2 are changed. Updated to the latest. If the registration button is operated, the examination setting data created on the PC 2 is transferred to the image processing controller 11.

  When the update button (icon) arranged in the heading column of the workspace list screen 41b is operated, the examination setting data to be edited is updated with the examination setting data acquired from the image processing controller 11. When the add button is operated, a new work area is provided, and an icon indicating inspection setting data is added.

  The parts list window 42 is a window screen for displaying processing units that can be selected when creating inspection setting data as a unit list. The processing unit is a symbol indicating a process whose parameters can be changed, and is processed by an image processing unit indicating image processing, an imaging unit indicating imaging processing, a control unit indicating flow control processing, an output unit indicating output processing, and the like. It is provided as a unit. By arranging such processing units on a flowchart in a flow view window, which will be described later, a control program composed of a desired flow sequence is created.

  A plurality of processing units are displayed in the parts list window 42. In this example, the processing units are divided into eight categories depending on the type of processing, and icons indicating each category are displayed. Specifically, it is divided into categories of “image input”, “measurement”, “control”, “calculation”, “timing”, “display”, “output”, and “command output”.

  “Image input” is a category to which a processing unit related to imaging belongs, and an imaging unit that captures a camera image belongs to it. The imaging unit is a processing unit that acquires a camera image for image processing based on an imaging trigger signal. As the imaging trigger signal, an input signal input from an external device such as a PLC via an imaging trigger input terminal and an internal trigger signal generated in the image processing controller 11 can be used. Such an imaging unit is associated with parameters for specifying shutter speed, camera sensitivity, flash delay time, flash on time, imaging target camera, flash terminal, and trigger terminal as properties.

  “Measurement” is a category to which a processing unit related to measurement belongs, and a measurement unit that extracts a measurement result from a camera image and determines pass / fail of an inspection object based on the measurement result belongs. Such measurement units include image processing units such as a pattern search unit, an edge position detection unit, a blob detection unit, and a color inspection unit.

  The pattern search is a process for detecting a position that matches a previously registered pattern image by scanning the search area on the camera image. Edge position detection is a process of obtaining an average density in a direction perpendicular to the detection direction for a measurement region on a camera image and detecting the edge position from the density change in the detection direction.

  The blob detection is a process of binarizing the camera image, extracting a block of pixels having the same density as a blob, and detecting the number, area, and barycentric position of the blob existing in the measurement region. The color inspection is a process of measuring the color in the inspection area, and a numerical value corresponding to the color is extracted as a measurement result.

  In such image processing related to measurement, the shape and size of the inspection object, the position in the camera image, and the like are detected, and the measured values are output as image processing results. Further, the measurement value is compared with a parameter designated in advance by the user, and the quality of the inspection object, for example, the presence or absence of a defect or abnormality is determined based on the comparison result, and the determination result is output as an image processing result. The In addition, a camera image in which symbols that graphically indicate the measurement region and the detected position of the inspection object are embedded is generated and output as an image processing result.

  “Control” is a category to which processing units related to control belong, and control units such as a repeat unit, a bypass unit, and an end symbol belong to it. The repeat unit is a processing unit composed of a repeat start unit indicating the start point when repeating the execution flow and a repeat end unit indicating the end point, and the execution flow between the start unit and the end unit is repeated until a predetermined condition is satisfied. Shows the processing to be performed.

  The bypass unit is a processing unit that includes a branch unit that branches an execution flow into two or more branch flows and a merging unit that joins the branch flows branched by the branch unit, and branches the execution flow under a predetermined condition. Indicates processing. The end symbol is a display object for ending one flow sequence.

  “Calculation” is a category to which a processing unit related to calculation belongs, and includes an image processing unit of a numerical calculation unit and a position correction unit. “Timing” is a category to which a processing unit related to a flow transition stop operation belongs, and a control unit such as a wait unit or an event waiting unit belongs to it. The weight unit indicates a process of stopping the flow transition for a predetermined time. The event waiting unit indicates a process of stopping the flow transition until the terminal input or the variable value is in a predetermined state.

  “Display” is a category to which a processing unit relating to display belongs, and to which an image processing unit such as a graphic display unit belongs. A graphic display unit refers to another processing unit and indicates processing for graphically displaying a processing result of the processing unit.

  “Output” is a category to which a processing unit related to output belongs, and output units such as a terminal output unit, a result output unit, and an image output unit belong to this category. The terminal output unit is associated with a reference destination unit, a determination result, and a parameter for specifying an output destination terminal of the determination result as properties. In the result output unit, the reference destination unit, numeric data indicating the processing result, the data format (text format or binary format) for outputting the numeric data, and parameters for specifying the output destination of the numeric data are the properties. Associated. The image output unit is associated with a reference destination unit, a camera image, a data format for outputting image data, and parameters for designating the output destination of the image data as properties.

  “Command output” is a category to which processing units related to command output belong, and output units of command issue units, display pattern switching units, and dialog display units belong to this category. The command issuing unit indicates processing for issuing commands such as image registration, inspection setting switching, and reset.

  The unit property window 43 is a window screen for displaying the properties of the processing unit selected on the controller list screen 41a, the work space list screen 41b or the flow view window.

  The vision view window 44 is a window screen for displaying a camera image associated with the processing unit selected on the controller list screen 41a, the work space list screen 41b, or the flow view window.

  The result view window 45 is a window screen for displaying the parameters of the processing unit selected on the controller list screen 41a, the work space list screen 41b or the flow view window, and the simulation result.

  On this editor screen 40, if a flow view button 41c arranged at the bottom of the system view window 41 is operated, a flow view window can be displayed instead of the system view window 41 described above. The flow view window is a window screen that displays a processing procedure to be executed by the image processing controller 11 as a flowchart, and displays examination setting data selected on the work space list screen 41b.

  Further, by operating the extraction list button 45 a arranged at the lower part of the result view window 45, the extraction list window can be displayed instead of the result view window 45. The extraction list window is a window screen for extracting the parameters and processing results selected on the result view window 45 and displaying a list of extraction results for each processing unit.

<Flow view window>
FIG. 4 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows an editor screen 40 on which a flow view window 46 is displayed. The flow view window 46 is a window screen that displays a flowchart 47 showing a processing procedure in order to newly create a control program for examination setting data or to edit the control program acquired from the image processing controller 11.

  In the flow view window 46, a flow chart 47 configured by arranging a plurality of processing units 48 is displayed. The flowchart 47 shows processing units that are executed in time series on the execution flow that starts at the start symbol “S” and ends at the end symbol “E”. The user can configure a desired control program by arranging the processing unit 48 on such an execution flow.

  That is, a series of image processing to be performed by the image processing controller 11 is blocked as a processing unit, and the user simply arranges the processing unit on the execution flow in the flow view window 46, and the processing unit is immediately before the processing unit. It is possible to create a flow sequence for performing predetermined processing based on the processing result of the processing unit.

  By operating a system view button 46 a arranged at the bottom of the flow view window 46, the system view window 41 can be displayed instead of the flow view window 46.

  The processing unit selected on the flow view window 46 is displayed in focus, and its properties are displayed in the unit property window 43. An edit button 43a is arranged in the unit property window 43. When the edit button 43a is operated, a property edit screen for editing the properties of the processing unit is displayed. The property editing screen is an editing screen for designating processing unit parameters based on user operations or changing parameters that have already been designated.

<Flowchart>
FIG. 5 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows an example of the flowchart 47 in the flow view window 46. In the flowchart 47, a plurality of processing units are arranged on the execution flow starting with the start symbol 61a and ending with the end symbol 61b.

  When the flowchart 47 is created and edited on the flow view window 46, the part list window 42 is used for work. For example, when a processing unit is inserted into the flowchart 47, it is inserted by selecting a desired processing unit on the parts list window 42 and designating a position on the execution flow with a mouse pointer or the like.

  In this example, the flowchart 47 includes a branch unit 62a, an imaging unit, a color inspection unit, a numerical operation unit, a merge unit 62b, a blob detection unit, a repeat start unit 65a, an edge position detection unit, a pattern search unit, a repeat end unit 65b, and The graphic display units are arranged on the execution flow in this order.

  The branch unit 62a and the merge unit 62b are control units that constitute a bypass unit. When the bypass unit is inserted into the execution flow, the branch unit 62a and the merge unit 62b are always inserted as a pair. In the branch unit 62a, processing for selectively selecting a branch flow after branching is performed based on the measurement result or determination result of the immediately preceding processing unit. The condition for selecting which branch flow after branching is specified by the user as a parameter of the branch unit 62a.

  In this example, the execution flow from the start symbol 61a is branched into two branch flows 63 by the branch unit 62a, and the branch flows branched by the branch unit 62a are merged in the merge unit 62b. At this time, one branch flow 63 reaches the merging unit 62b via the imaging unit, the color inspection unit, and the numerical operation unit, whereas the other branch flow 63 reaches the merging unit 62b via the imaging unit. It is a bypass route (bypass).

  The repeat start unit 65a and the repeat end unit 65b are control units that constitute the repeat unit. When the repeat unit is inserted into the execution flow, the repeat start unit 65a and the repeat end unit 65b are inserted as a pair. .

  In this example, the edge position detection unit and the pattern search unit are arranged between the repetition start unit 65a and the repetition end unit 65b, and the processing of the edge position detection unit and the pattern search unit is repeated at the time of execution.

  In the branch unit 62a and the repeat start unit 65a in the flowchart 47, a folding icon 64a is arranged. The folding icon 64a is an icon for displaying the flowchart 47 by omitting the execution flow between the control units, and is displayed adjacent to the processing unit.

  The processing unit selected on the flowchart 47 is displayed in focus, and the property of the processing unit can be displayed in the unit property window 43, or the property of the processing unit can be changed as an editing target.

  In the present embodiment, in this way, when the branch unit 62a is arranged on the execution flow in the flowchart 47 and further, the image pickup units are arranged on two different branch flows 63, these image pickup units are arranged. The camera image acquisition conditions can be edited for each branch flow.

<Imaging unit property editing screen>
FIG. 6 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows an example of the property editing screen 70 for editing the properties of the imaging unit. The property editing screen 70 is an input screen for parameters relating to imaging of camera images, and is displayed on the editor screen 40 by operating the editing button 43 a in the unit property window 43.

  On the property editing screen 70, various parameters relating to imaging can be selected or designated. In the property editing screen 70, items such as an imaging setting 71, a camera setting 72, a trigger setting 73, and a flash setting 74 are provided as editable properties.

  Here, the item of the imaging setting 71 is selected, and a camera selection field 81, a shutter speed input field 82, a camera sensitivity input field 83, and a gain adjustment selection field are arranged. The camera selection field 81 is an input field for selecting the camera 12 to be imaged, and any of “Camera 1” to “Camera 4” can be designated.

  The shutter speed input field 82 is an input field for inputting the shutter speed of the camera 12, and a numerical value can be directly designated or selected from a plurality of default values. The camera sensitivity input field 83 is an input field for inputting the sensitivity level of the camera 12. The gain adjustment selection field is an input field for selecting whether or not to perform gain adjustment on the image data acquired from the camera 12.

  FIG. 7 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows the property editing screen 70 in which the item of the camera setting 72 is selected. In the camera setting 72, a camera selection field 81, a left / right reverse selection field 84, and an image capture range input field 85 are arranged. The left / right reversal selection field 84 is an input field for selecting whether or not to perform left / right reversal processing on the image data acquired from the camera 12.

  The image capture range input field 85 is an input field for designating an area to be processed for image data acquired from the camera 12, and is provided with an input field for a start position, an input line for a start line, and an end line. ing.

  FIG. 8 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows the property editing screen 70 in which the item of the trigger setting 73 is selected. In the trigger setting 73, an input field 86 for selecting an acquisition condition for acquiring a camera image for image processing and a trigger selection field 87 are arranged.

  In the input field 86, either the trigger synchronous mode or the trigger asynchronous mode can be selected as the acquisition condition. The trigger synchronization mode is a photographing mode for capturing a camera image photographed in synchronization with an imaging trigger signal for image processing. On the other hand, the trigger asynchronous mode is a shooting mode in which a camera image for image processing is extracted from a camera image obtained by repeated shooting based on an imaging trigger signal.

  Here, the trigger synchronous mode is referred to as a trigger update mode and the trigger asynchronous mode is referred to as a continuous update mode in association with the display method of a camera image while waiting for input of an imaging trigger signal. That is, when displaying the camera image used for image processing, in the trigger synchronization mode, the camera image captured in synchronization with the imaging trigger signal is captured for image processing and the display image is updated. In the trigger asynchronous mode, the display image is updated with a camera image obtained by repeatedly taking images at a constant cycle.

  Further, the input field 86 is provided with an input field for designating a variable name that associates parameters (acquisition conditions) of different imaging units with each other.

  The trigger selection column 87 is an input column for selecting an imaging trigger input terminal to be used when acquiring a camera image, and selects an imaging trigger input terminal for each camera from “camera 1” to “camera 4”. Can do. Here, it is assumed that four imaging trigger input terminals are provided in the image processing controller 11, and one of these can be selected for each camera.

  In addition, when the item of the flash setting 74 is selected on the property editing screen 70, the selection of the flash terminal, the setting of the output delay time of the flash terminal, the setting of the output on time of the flash terminal, and the like can be performed. In the selection of the flash terminal, it is possible to select an output terminal for an imaging light source device such as a flashlight used when imaging the inspection object. Here, four output terminals are provided in the image processing controller 11 as flash terminals, and one of these can be selected.

  In setting the output delay time of the flash terminal, the lighting timing of the photographing light source device can be adjusted. The adjustment of the lighting timing is performed, for example, by designating an output delay time to the imaging light source device with respect to the input of the imaging trigger signal. In setting the output on time of the flash terminal, the lighting time of the photographing light source device can be adjusted.

  In this way, for each imaging unit selected in the flowchart 47, various settings relating to imaging including camera image acquisition conditions can be performed.

<Gain setting screen>
FIG. 9 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows a gain setting screen 90 for adjusting the gain of the camera image. The gain setting screen 90 is an input screen for performing gain adjustment for a camera image used for image processing, and scales or offsets the intensity level for a large number of pixel data constituting the camera image. be able to.

  The gain setting screen 90 is provided with an offset amount input field 91 and a scale input field 92 for scale conversion. The input column 91 is for inputting an offset amount for offsetting the intensity level (the number of gradations) by a certain amount for each pixel data.

  The input field 92 is used for inputting a magnification for scaling the intensity level for each pixel data, and the ratio of the output level to the input level is designated. Here, the intensity level is equally divided into 16 blocks, and the scale conversion magnification can be designated for each block.

  In this example, for the fifth block A, the magnification of 4.4 is selected, and the output level is amplified 4.4 times with respect to the input level. For the other blocks, a magnification of 1.0 is selected, and the graph showing the scale conversion is a line segment bent at the fifth block A.

<Functional structure of editor>
FIG. 10 is a block diagram showing a configuration example of the PC 2 in the inspection support system 100 of FIG. 2, and shows an example of a functional configuration of an editor that creates a control program for the image processing controller 11. The PC 2 includes a memory 21, a processing unit storage unit 23, a flowchart display unit 24, a program generation unit 25, a transfer unit 26, an operation input unit 27, a unit property editing unit 28, and an imaging condition determination unit 29.

  The processing unit storage unit 23 holds processing units such as a branch unit, an imaging unit, and a measurement unit. The flowchart display unit 24 performs an operation of displaying the flowchart 47 generated by arranging the processing unit on the execution flow starting at the start symbol and ending at the end symbol on the flow view window 46 of the editor screen 40. Yes.

  The program generation unit 25 performs an operation of generating a control program for the image processing controller 11 by converting a flowchart 47 created on the flow view window 46 by the user into an execution format.

  In the memory 21, a control program generated by the program generation unit 25 is held as inspection setting data 22. The transfer unit 26 performs an operation of transferring the inspection setting data 22 in the memory 21 to the image processing controller 11.

  The unit property editing unit 28 performs an operation for editing the property of the processing unit selected on the flowchart 47. Specifically, the property editing screen is displayed for the processing unit selected by the user, and the operation for changing the parameter of the processing unit that is specified based on the user operation is performed.

  The imaging condition determination unit 29 performs an operation of determining an acquisition condition when acquiring a camera image for image processing as the parameter of the imaging unit selected in the flowchart 47. Specifically, either the trigger synchronous mode or the trigger asynchronous mode is selected based on a user operation, and an operation that is used as an acquisition condition is performed.

  In this imaging condition determination unit 29, when the branch unit is arranged on the flowchart 47 and further the imaging unit is arranged on two different branch flows branched by the branch unit, about these imaging units, Either the trigger synchronous mode or the trigger asynchronous mode can be selected for each branch flow.

  In the trigger synchronization mode (trigger update mode), a camera image for image processing is captured based on an input signal from the imaging trigger input terminal, and the display image is updated. On the other hand, in the trigger asynchronous mode (continuous update mode), the display image is updated by the camera image continuously generated by repeatedly shooting at a constant period, and the camera image is displayed on the display 13a as a moving image. Then, a camera image for image processing is extracted from the camera image obtained in this manner based on the input signal (imaging trigger signal).

  Here, the time from the input of the trigger signal in the trigger synchronous mode until the camera 12 starts shooting is shorter than the imaging cycle when the camera 12 repeatedly shoots and continuously generates camera images in the trigger asynchronous mode. To do. In other words, in the trigger synchronization mode, when the camera 12 is photographed in synchronization with the imaging trigger signal, imaging can be started in a time shorter than the imaging cycle from the input of the trigger signal. Therefore, the trigger asynchronous mode is a shooting mode in which a maximum deviation of the imaging cycle occurs at the timing when the camera 12 starts shooting depending on the input timing of the imaging trigger signal, whereas the trigger synchronous mode is the imaging trigger. Since the camera 12 starts shooting in synchronization with the input of the signal, the shift can be kept within a certain value smaller than the imaging cycle.

  In addition, here, it has been described that the acquisition condition of the camera image is determined for each imaging unit selected as the editing target. However, the acquisition condition may be determined for a plurality of imaging units at the same time. For example, by associating a common variable name with a parameter related to acquisition conditions of a plurality of imaging units in advance, the value may be shared among the parameters of these imaging units. In this case, if the acquisition condition of one of the imaging units is changed, the acquisition conditions of the other imaging units are changed in the same way. In the unit property editing unit 28, processing for associating acquisition conditions that are parameters of different imaging units and determined by the imaging condition determination unit 29 with each other is performed based on an operation input during editing of the imaging unit. In this way, when one of a plurality of parameters associated with each other is changed, the other parameters are similarly changed.

<Display update>
FIGS. 11 and 12 are flowcharts showing an example of the operation of the image processing controller 11 in the inspection support system 100 of FIG. 2, and an example of the display update operation of the camera image during driving is shown. Steps S101 to S105 in FIG. 11 show a processing procedure in the trigger update mode.

  When the trigger update mode is selected as the imaging unit property, first, a trigger input flag that transitions to the on state based on the imaging trigger signal is referred to. It is determined whether or not (steps S101 and S102).

  At this time, if the trigger input flag is in the ON state, the camera 12 is instructed to take a picture and the camera image is captured (steps S103 and S104). Then, the display of the camera image on the display 13a is updated with the captured camera image (step S105).

  Steps S201 to S206 in FIG. 12 show a processing procedure in the continuous update mode. When the continuous update mode is selected as the property of the imaging unit, first, the camera 12 is instructed to perform continuous shooting and the camera image is captured (steps S201 and S202). Then, the display of the camera image on the display 13a is updated with the captured camera image (step S203).

  Next, referring to the trigger input flag, it is determined whether or not the trigger input flag is turned on by the input of the imaging trigger signal (steps S204 and S205).

  At this time, if the trigger input flag is on, a camera image for image processing is extracted from camera images obtained by continuous shooting (step S206). As a camera image extracted for this image processing, for example, a camera image acquired immediately before an imaging trigger signal is input, a camera image being acquired at the time of inputting an imaging trigger signal, or acquired immediately after an imaging trigger signal is input. A camera image can be considered.

  On the other hand, if the trigger input flag is not on, the processing procedure from step S201 to step S205 is repeated.

  According to the present embodiment, since an acquisition condition can be selected for each branch flow for the imaging unit on the branch flow, a control program in which a different acquisition condition for each branch flow is selected as a parameter of the imaging unit can be generated. it can. Accordingly, since the acquisition conditions of the camera image for image processing are switched according to the branch flow in the control program, the measurement can be repeated while automatically switching the shooting mode during operation of the image processing controller 11. In particular, since the acquisition conditions are switched by the control program, it is possible to switch the imaging mode to either the trigger synchronous mode or the trigger asynchronous mode without temporarily stopping the operation.

  Further, since the camera image is displayed as a moving image on the display 13a, an imaging trigger signal can be input while confirming the state of the inspection object on the display 13a.

It is the perspective view which showed one structural example of the test | inspection assistance system by embodiment of this invention. It is the block diagram which showed an example of the system configuration | structure of the test | inspection assistance system of FIG. FIG. 4 is a diagram illustrating an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows an editor screen 40 for creating inspection setting data 22. FIG. 4 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows an editor screen 40 on which a flow view window 46 is displayed. FIG. 4 is a diagram showing an example of the operation of the PC 2 in the examination support system 100 of FIG. 2, and shows an example of a flowchart 47 in the flow view window 46. FIG. 4 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows an example of the property editing screen 70 of the imaging unit. FIG. 6 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows a property editing screen 70 in which an item of camera setting 72 is selected. FIG. 9 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows a property editing screen 70 in which an item of trigger setting 73 is selected. FIG. 4 is a diagram showing an example of the operation of the PC 2 in the inspection support system 100 of FIG. 2, and shows a gain setting screen 90 for adjusting the gain of the camera image. FIG. 3 is a block diagram showing a configuration example of a PC 2 in the inspection support system 100 of FIG. 2, showing an example of a functional configuration of an editor. It is the flowchart which showed an example of operation | movement of the image processing controller 11 in the test | inspection assistance system 100 of FIG. 2, and the process sequence at the time of trigger update mode is shown. 3 is a flowchart showing an example of the operation of the image processing controller 11 in the inspection support system 100 of FIG. 2, showing the processing procedure in the continuous update mode.

Explanation of symbols

1 Image processing device 2 PC
3 communication network 11 image processing controller 12 camera 13a display 13b operation unit 14, 21 memory 15, 22 inspection setting data 23 processing unit storage unit 24 flowchart display unit 25 program generation unit 26 transfer unit 27 operation input unit 28 unit property editing unit 29 Imaging condition determination unit 40 Editor screen 46 Flow view window 47 Flowchart 48 Processing unit 100 Inspection support system

Claims (4)

A camera that shoots an inspection object and generates a camera image; obtains the camera image from the camera; extracts a measurement result from the camera image; and determines pass / fail of the inspection object based on the measurement result In a program creation device for creating a control program for the image processing controller used in an image processing device comprising an image processing controller that outputs a determination signal and a display that is controlled by the image processing controller and displays the camera image ,
As a processing unit indicating a process whose parameters can be changed, a branch unit that branches the execution flow into two or more branch flows, an imaging unit that acquires the camera image for image processing based on an input signal from an imaging trigger input terminal, In addition, a processing unit storage unit that holds a measurement unit that extracts the measurement result from the camera image acquired by the imaging unit;
Flowchart display means for displaying a flowchart generated by placing the processing unit on an execution flow starting at a start symbol and ending at an end symbol;
Imaging condition determining means for determining an acquisition condition when acquiring a camera image for image processing as the parameter of the imaging unit selected on the flowchart;
Program generating means for generating a control program for the image processing controller based on the flowchart,
Transfer means for transferring the control program to the image processing controller,
The imaging condition determining means includes a trigger synchronization mode for capturing a camera image captured in synchronization with an input signal from the imaging trigger input terminal for image processing, and a camera image obtained by repeatedly capturing the input signal from the camera image. One of the trigger asynchronous modes for extracting a camera image for image processing based on the acquisition condition can be selected as the acquisition condition, and the trigger synchronization is performed on two different branch flows branched by the branch unit on the flowchart. A program creation apparatus for an image processing controller, wherein the imaging units in which one of the mode and the trigger asynchronous mode is selected can be arranged respectively.   2. The program creation device for an image processing controller according to claim 1, wherein in the trigger asynchronous mode, the camera image repeatedly photographed at a constant period is displayed as a moving image on the display.   The time from the input of the input signal in the trigger synchronous mode until the camera starts shooting is shorter than the imaging cycle when the camera repeatedly shoots and continuously generates the camera images in the trigger asynchronous mode. The program creation device for an image processing controller according to claim 1. Based on the operation input at the time of editing of the imaging unit, it comprises parameter associating means for associating acquisition parameters determined by the imaging condition determining means, which are parameters of different imaging units,
2. The program creation for an image processing controller according to claim 1, wherein when one of a plurality of parameters associated with each other is changed by the parameter association means, the other parameters are changed in the same manner. apparatus.