JP2012059213A - Binarization processing method and image processing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a binarization processing method and an image processing apparatus which can obtain an image having a luminance of a background constantly controlled to attain a prescribed luminance even when an illumination environment is changed, and can stably separate the background and a workpiece from each other due to binarization, because the image achieves the background and the workpiece of high contrast.SOLUTION: The binarization processing method includes: S20 of acquiring a current luminance at a background reference measurement point in a background region of a picked-up image which has been imaged in a predetermined shutter time; S30 of calculating the shutter time of main photographing using the current luminance, the target background luminance and a constant at the background reference measurement point; S40 of imaging a workpiece base, a placement table and the workpiece with a camera in the calculated shutter time of the main photographing; and S50 of binarizing the picked-up image acquired by S40 with a binary threshold which has been previously set at a preparation stage.

Description

  The present invention relates to a binarization processing method and an image processing apparatus.

  Conventionally, in image processing devices that perform work appearance inspection and type determination, when the work position is not fixed and the position of the work moves, first, it recognizes where the captured image is and what is the background. Perform the process. In general, the work background is separated by performing binarization using a luminance between the work and the background as a threshold value.

  When binarization is performed, the result after binarization, that is, the binarized image changes depending on how the threshold is set. When the work W placed on the work table 100 as shown in FIG. 7 is imaged with 256 gradations by the monochrome camera 110, an image photographed with appropriate exposure as shown in FIG. When binarized at 140, the work and the background can be well separated as shown in FIG. In FIG. 8B, the hatched area indicates an area where the luminance value becomes “0” (black) by binarization, and the non-hatched area indicates that the luminance value becomes “255” (white) by binarization. It shows the area that became.

  On the other hand, if an image shot in an underexposed state is binarized with the same threshold value 140, the work and the background cannot be separated. FIG. 9A shows a captured image taken with insufficient exposure. FIG. 9B shows an image obtained as a result of binarizing the captured image of FIG. For convenience of explanation, in FIG. 9B, in the background area, the fine hatched area part is an area where the luminance value is “0” (black) as a whole, and the rough hatched area part is , A region where the luminance value is partially “0” (black), and is a region where black dots are scattered. In FIG. 9B, all the hatched areas of the work are areas where the luminance value is “0” (black). Actually, the luminance value of the background is uniformly “0” (black). ) It should be understood that the boundary with the territory is now gone. FIG. 9C shows an image in which the workpiece and the background are successfully separated as a result of binarizing the captured image of FIG.

If the background and the workpiece cannot be separated well as described above, there are the following two main conventional countermeasures.
<Solution 1>
Coping method 1 is a method of setting an optimal binarization for each captured image. Several methods for setting optimal binarization for each captured image have been proposed, for example, a histogram method. In the histogram method, the brightness of an image is examined and a histogram is created as shown in FIG. 10A. If the brightness of the heel K between the work and the background is a threshold value, the work and the background can be separated cleanly. Yes. In FIG. 10A, the horizontal axis represents luminance, and the vertical axis represents frequency.

<Target method 2>
Coping method 2 is a method of always obtaining an image having the same brightness by arranging a work in a closed space that blocks outside light and making the lighting conditions constant.

  In Patent Document 1, the luminance data of an image is divided into a predetermined number of groups using a K-means method (K-average method). Then, the representative value of each group is acquired, the midpoint of the maximum distance section where the difference between the representative values adjacent to each other in the luminance level is set as a threshold value, and the image is binarized with the threshold value.

JP 2002-319021 A

  However, in the histogram method of the countermeasure 1, the clear collar K is not always formed as shown in FIG. 10B, and it may be difficult for the image processing apparatus to automatically determine. As described above, the method of performing the binarization process with the optimum threshold setting according to the captured image is not always set appropriately, and a very advanced technique is required for automatic processing by a computer.

In general, an industrial camera does not have an exposure meter or an automatic exposure control mechanism, and therefore, the binarization process for separating the workpiece and the background may fail due to the fluctuation of the brightness of the illumination or the influence of ambient light.
Further, in the countermeasure 2, when a workpiece is imaged, a closed space is necessary, so that a restriction such as an installation location of the closed space occurs, and in order to maintain lighting conditions for making the illuminance constant, There is a problem that the cost of illumination increases, for example, the light source such as an illumination lamp must be replaced every certain period.

  Further, in the K-means method of Patent Document 1, it is known that the result depends on the initial value when the first group (that is, cluster) is set. There is a problem that it becomes a converted image. There is no reliable method for setting the initial value.

  The object of the present invention is to solve the above-mentioned problems and to obtain an image in which the brightness of the background is always controlled to a specified brightness even when the lighting environment changes. Therefore, it is an object of the present invention to provide a binarization processing method and an image processing apparatus capable of stably separating a background and a workpiece by binarization.

In order to solve the above-described problems, the invention of claim 1 is such that the luminance in a captured image of a camera photographed at a predetermined shutter time is p, and the luminance at an arbitrary shutter time Tv is V. (A) Utilizing the fact that formula (b) holds,
V = A · Tv + I ₀ (b), A = m · p + n (b)
(I ₀ is the luminance at the time of dark current in the captured image of the camera, A is a coefficient, and m and n are constants determined in the predetermined shutter time.)
A first stage in which the luminance I ₀ and constants m and n obtained based on the captured image obtained at the predetermined shutter time are stored in the first storage means as camera intrinsic values, and the first photographing is performed by changing the shutter speed of the camera. Based on a plurality of captured images obtained by simultaneously capturing the object and the second object to be imaged a plurality of times, the target background luminance of the specific pixel region of the reference portion provided on the first object to be imaged and the luminance of the second object to be imaged Obtained by simultaneously photographing the first photographing object and the second photographing object with the camera during the second stage in which the intermediate value is stored in the second storage means as the binarization threshold value and the predetermined shutter time. A third stage of acquiring a pre-photographed luminance of a specific pixel region of a reference part in the captured image, the pre-photographed luminance as p, the target background luminance as V, and a luminance I ₀ , constants m, n Using the expression (A), expression (B ) Based on (4), a fifth stage in which the camera captures the first and second shooting objects with the shutter time Tv calculated in the fourth stage, and a fifth stage. The gist of the present invention is a binarization processing method including a sixth step of binarizing the captured image acquired in the step with the binarization threshold.

According to a second aspect of the present invention, in the first aspect, the first photographing object is a work table on which a work is placed, and the second photographing object is the work.
According to the third aspect of the present invention, the following formulas (A) and (B) are obtained when the luminance in the captured image of the camera photographed at the predetermined shutter time is p and the luminance at an arbitrary shutter time Tv is V. Utilizing the establishment,
V = A · Tv + I ₀ (b), A = m · p + n (b)
(I ₀ is the luminance at the time of dark current in the captured image of the camera, A is a coefficient, and m and n are constants determined in the predetermined shutter time.)
First storage means for storing the brightness I ₀ and constants m and n obtained based on the captured image obtained at the predetermined shutter time as camera intrinsic values, and the shutter speed of the camera being changed to change the first photographing object. And the binary value of the intermediate value between the target background luminance of the specific pixel region of the reference region obtained based on a plurality of captured images obtained by imaging the second imaging object and the second imaging object at the same time and the luminance of the second imaging object. Specific pixels of the reference region in the captured image obtained by simultaneously capturing the first and second imaging objects with the second shutter and the predetermined shutter time and the camera with the predetermined shutter time The shutter time Tv is calculated based on the equations (A) and (B), with the first acquisition means for acquiring the pre-photographing luminance of the region, the pre-photographing luminance as the p, and the target background luminance as the V. Calculation means and previous A second acquisition unit configured to acquire the captured image of the first imaging target and the second imaging target by imaging the camera with a shutter time Tv; and the binarization threshold value obtained by the second acquisition unit. The gist of the image processing apparatus includes binarization means for binarizing the image.

  According to a fourth aspect of the present invention, in the third aspect, the first photographing object is a work table on which a work is placed, and the second photographing object is the work.

  According to the first aspect of the present invention, it is possible to obtain an image in which the brightness of the background is always controlled to the specified brightness even when the illumination environment changes, and the image has a high contrast between the background and the workpiece. Therefore, it is possible to provide a binarization processing method that can stably separate the background and the workpiece by binarization.

According to invention of Claim 2, it becomes a binarization processing method which can isolate | separate stably the picked-up image of a workpiece | work and a workpiece base.
According to the invention of claim 3, even when the lighting environment fluctuates, it is possible to obtain an image in which the background brightness is always controlled to the specified brightness, and the image has a high contrast between the background and the workpiece. Therefore, it is possible to provide an image processing apparatus that can stably separate the background and the workpiece by binarization.

  According to invention of Claim 4, the image processing apparatus which can isolate | separate stably the picked-up image of a workpiece | work and a workpiece base can be provided.

1 is an overall schematic diagram of an image processing apparatus according to an embodiment. The flowchart of a binarization process. 1 is a block diagram of an image processing apparatus. The characteristic view which shows that the shutter time and the brightness | luminance of a camera are represented by a primary type | formula. The characteristic view which shows the relationship between the inclination of the said linear expression, and a brightness | luminance in specific shutter time. Explanatory drawing of the setting of a binarization threshold value. Camera and work, work table (A) is explanatory drawing of the image image | photographed with appropriate exposure, (b) is explanatory drawing of the image which binarized (a). (A) is an explanatory diagram of an image that was not photographed with proper exposure, (b) is an explanatory diagram of an image obtained by binarizing (a) with an inappropriate threshold, and (c) is binarized with an appropriate threshold. Explanatory drawing of an image. (A) and (b) are histograms obtained by the histogram method.

An embodiment of a binarization processing method and an image processing apparatus embodying the present invention will be described below with reference to FIGS. FIG. 1 shows an image processing apparatus 10 of the present embodiment.
The image processing apparatus 10 according to the present embodiment performs image processing on a captured image obtained by capturing the work W placed on the work table 60 with the camera 30.

  The camera 30 is a monochrome video camera having a solid-state imaging device such as a CCD or a CMOS, and can capture a moving image at a predetermined frame rate (for example, 30 frames per second) based on an image signal output from the camera 30. Is possible. The camera 30 may be a color camera or a monochrome camera. The camera 30 of the present embodiment can capture images with 256 gradations, but is not limited to 256 gradations, and may be other numerical gradations. The camera 30 is supported by a support means (not shown) and is disposed above the work table 60. In the present embodiment, a placement plate 62 that defines a range in which the workpiece W is placed is placed on the workpiece base 60, and the workpiece W is placed on the placement plate 62. The work table 60 and the mounting plate 62 correspond to a first object to be photographed. The mounting plate 62 has the same color as the work table 60. The workpiece W corresponds to a second object to be photographed.

  Based on the image signal output from the camera 30, the image processing apparatus 10 generates image data corresponding to an image within an imaging range (a range to be imaged that is captured and an image is captured). That is, the image signal obtained from the video camera is converted into a frame image (consisting of M × N pixels) composed of RGB color images (or monochrome images) that can be processed by a computer by the image processing apparatus 10. The Note that the resolution of the captured image is, for example, M = 640 pixels in the horizontal direction and N = 480 pixels in the vertical direction. Note that the frame rate, the image to be converted, and the resolution are not limited to the above example.

  The image processing apparatus 10 includes a computer, and includes a CPU 11, a ROM 12, a RAM 13, an image memory 15, a camera interface 14, a monitor interface 16, and an input interface 17. The CPU 11 and each unit can be input / output via the bus 18.

The CPU 11 corresponds to a first acquisition unit, a second acquisition unit, a binarization unit, and a calculation unit. The RAM 13 corresponds to first storage means and second storage means.
The ROM 12 stores various processing programs including an image processing program by the CPU 11.

  The RAM 13 is a work area for storing various data by the processing of the CPU 11. The camera interface 14 inputs the image signal output from the camera 30 and outputs a control command for controlling the shutter time output from the CPU 11, so that the shutter time of the camera 30 can be controlled. The image memory 15 stores each frame image (image data) generated by the CPU 11 based on the image signal. The image processing apparatus 10 is connected to a display 20 made up of a liquid crystal display device or the like via a monitor interface 16. The display 20 displays a captured image (image data) stored in the image memory 15 while performing predetermined display in various processes by the CPU 11 via the monitor interface 16. The input interface 17 is connected to an input device 21 for inputting various data necessary for various processes by the CPU 11.

(Operation of the embodiment)
The operation and binarization processing of the image processing apparatus 10 configured as described above will be described.
<1. First preparation work>
In the first preparatory work, the relationship between the exposure, the color of the subject, and the luminance of the subject area on the captured image when photographing the subject (work W, mounting plate 62, and work base 60) with the camera 30, This is an operation for registration in the image processing apparatus 10.

  A general industrial camera has a manual aperture, and the aperture is fixed. The camera 30 of the present embodiment is also a general industrial camera. Here, the exposure is changed by changing the shutter time in accordance with a control command from the CPU 11, and the aperture is fixed to a value desired to be used in an actual apparatus. Suppose that

The change in the luminance V of the subject when the exposure (shutter time Tv in this embodiment) is changed is linear, and the luminance V is
V = A · Tv + I ₀ ...... (I)
It can be expressed in the form of

A is a coefficient, which depends on the color of the subject and varies depending on the camera. The luminance I ₀ is the luminance (average luminance) when exposure is zero (that is, the shutter time Tv is 0), is generated by the dark current of the image sensor of the camera, and is a camera-specific value that varies depending on the camera. Hereinafter, I ₀ is dark current luminance.

  In the present embodiment, as shown in FIG. 4, an object (subject) having four different colors is photographed by the camera 30 with different shutter times, and the shutter time and the captured image acquired by the CPU 11 at that time are captured. The relationship with luminance is shown. The color of the subject is not limited, but it is preferable to select four colors with greatly different reflectances. Further, instead of four types, a plurality of colors of less than four types or subjects of five or more types of colors may be photographed by the camera 30.

  In the example shown in FIG. 4, four gray objects with reflectances of 0% (black), 25%, 50%, and 75% are photographed at different shutter times, and the brightness at that time is plotted by the operator as a linear approximation of each color. The formula was determined. Hereinafter, the reflectances of 0% (black), 25%, 50%, and 75% are referred to as colors 1 to 4, respectively. The luminance here is the average luminance of the frame image.

In this example, the coefficients (gradients) A of the primary equations of the four colors are color 1: 4.62, color 2: 3.04, color 3: 1.56, color 4: 0.47, and I ₀ is 16 was required.
The dark current luminance I ₀ is input by the operator through the input device 21 and stored in the RAM 13.

Next, the luminance for each color under a specific condition (that is, a predetermined shutter time) in FIG. 4 is plotted on a graph of the relationship between the luminance p and the coefficient (slope) A as shown in FIG.
FIG. 5 shows an example. In this example, the luminance p of each color when the shutter time Tv = 20 (ms) in FIG. 4 is plotted with the coefficient A as the horizontal axis.

  Specifically, since the luminance at Tv = 20 (ms) of the color 1 having the coefficient A of 4.62 is 108.4, the horizontal axis is 108.4 and the vertical axis is 4.62 in FIG. Plot. The graph obtained by plotting in this way is also linear, and the following linear expression (b) is established.

A = m · p + n (b)
m and n are constants determined in a predetermined shutter time.
In FIG. 5, when the predetermined shutter time is 20 ms, m = 0.05 and n = −0.83. In the present embodiment, the predetermined shutter time is 20 ms, but the predetermined shutter time is not limited to 20 ms, and may be other different numerical values.

Here, substituting equation (b) into equation (b),
V = (m · p + n) · Tv + I ₀ (c)
It becomes. Here, when the dark current luminance I ₀ and the constants m and n obtained as described above are substituted into the formula (C),
V = (0.05 · p−0.83) · Tv + 16 (D)
It becomes. This indicates that when shooting is performed with a predetermined shutter time of 20 ms, the color having the luminance p becomes V when shooting with the shutter time being Tv.

The constants m and n obtained as described above (in the above example, m = 0.05, n = −0.83) are input by the operator through the input device 21 and stored in the RAM 13.
Here, the constants m and n are camera specific values determined by the gain of the camera amplifier. The first preparatory work corresponds to the first stage of claim 1.

<2. Second preparation work>
The second preparatory work is a work for setting the target background luminance and the binarization threshold. The work table 60 has a background reference measurement point R as a reference part (see FIG. 1). The background reference measurement point R is a portion that is not hidden by the work table 60 and the mounting plate 62 when the camera 30 is photographed, and is located at a position that enters the field of view of the camera 30. The background reference measurement point R may be provided after the placement position of the workpiece W is regulated.

  Specifically, as shown in FIG. 1, the work W, the work table 60, and the placement are performed by the camera 30 in a state where the work W, the work table 60, and the placement plate 62 are within the imaging range (field of view). The mounting plate 62 is photographed while changing the shutter time in accordance with a control command from the CPU 11. Thereby, the CPU 11 acquires a captured image with a changed shutter time, that is, a captured image (consisting of M × N pixels) having a work area and a background area in the captured image. The operator obtains the background brightness in the area of the background reference measurement point R and the work brightness in the work area in the captured image at each shutter time, and plots them as shown in FIG. In FIG. 6, the horizontal axis represents shutter time and the vertical axis represents luminance. In FIG. 6, □ is a plot of the background reference measurement point R, and Δ is a plot of the work area.

  In FIG. 6, when the shutter time is short, the contrast between the work color and the background color (work table color) is small, and when the shutter time is long, the contrast is large, and separation by binarization is facilitated. Note that an excessively long shutter time also increases the shooting time. Therefore, the operator sets the value when the background is not saturated and the background and the workpiece have sufficient contrast so that the shutter time is appropriate. Is determined as the target background luminance V, and the operator registers it in the RAM 13 using the input device 21.

  When the target background brightness V is determined as described above, the shutter time at that time is uniquely determined, and therefore the work brightness of the work area of the captured image is also determined. Since the binarization threshold value may be set between the target background luminance and the work luminance, the operator uses the input device 21 with the intermediate value between the target background luminance (that is, the background color) and the work color at this time as the binarization threshold value. And registered in the RAM 13. Since the background brightness and the work brightness vary, it is preferable to select the intermediate value.

  It should be noted that since the background to be obtained should be at what brightness level in the image, conditions such as the brightness of the illumination being measured and the aperture of the camera lens can be any value. The second preparatory work corresponds to the second stage.

<3. Processing during operation>
Next, processing during operation of the image processing apparatus 10 will be described with reference to the flowchart of FIG. This process is executed by an image processing program stored in the ROM 12.

  In S10, with the work table 60, the mounting plate 62, and the work W arranged in the state shown in FIG. 1, pre-photographing is performed with a predetermined shutter time (20 ms in the present embodiment) when the camera eigenvalue is checked by the camera 30. The CPU 11 stores the acquired captured image in the image memory 15.

  In S20, the CPU 11 measures the current luminance p of the background reference measurement point R in the background area, that is, the location where the luminance is desired to be controlled from the captured image acquired in S10, and registers this value in the RAM 13.

  S20 corresponds to the third stage. The area of the background reference measurement point R in the captured image corresponds to the specific pixel area of the reference part. Further, the current brightness p of the background reference measurement point R in the background area corresponds to the pre-shooting brightness of the specific pixel area of the reference part in the captured image.

In S30, the CPU 11 calculates an appropriate shutter time. Specifically, the CPU 11 registers the camera specific values (dark current luminance I ₀ , constants m, n) registered (stored) in the RAM 13 in advance in the following formula (e) obtained by transforming the formula (c) and S20. The appropriate shutter time Tv is calculated by substituting the current luminance p of the background luminance and the target background luminance V.

Tv = (V−I ₀ ) / (m · p + n) (e)
Note that if the image is taken with the appropriate shutter time Tv, the luminance of the background area at the background reference measurement point R can be set to the target background luminance V. S30 corresponds to the fourth stage.

In S40, the camera 30 is driven and the main photographing is performed with the appropriate shutter time Tv calculated in S30. S40 corresponds to the fifth stage.
In S50, the captured image of the main photographing acquired from the camera 30 in S40 is binarized with the binarization threshold registered in the RAM 13, and the binarized image is stored in the image memory 15, and this flowchart is ended. . S50 corresponds to the sixth stage.

<Specific example>
In the processing of S10 to S50, description will be made with specific numerical values.
Note that the luminance of the background reference measurement point set on the work table 60, that is, the target background luminance is controlled to a constant value “140”. In the second preparatory work, when the target background luminance is set to “140”, the average luminance of the work color is set to “60”, and the intermediate value as the binarization threshold is set to “100”. And Further, it is assumed that I ₀ = 16, m = 0.05, and n = −0.83 are registered in the RAM 13 in the first preparatory work and the second preparatory work.

In S10, pre-photographing is performed with a predetermined shutter time (20 ms in the present embodiment).
It is assumed that the current brightness p of the background reference measurement point is “80” in the pre-shooting in S20.
In S30, substituting previously registered I ₀ = 16, m = 0.05, n = −0.83), p = 80 registered in S20, and target background luminance V = 140 into the formula (e). ,
Tv = (140-16) / (0.05 * 80-0.83)
≒ 39
Thus, a shutter time of 39 ms is obtained.

In S40, a picture is taken with this shutter time of 39 ms.
In S50, since the average brightness of the background area is “140” and the average brightness of the work color area is “60” in the captured image acquired in the actual shooting, the intermediate value “100” as the binarization threshold value is two. When the value is converted, the work and the background (work table 60 and placement plate 62) can be well separated.

This embodiment has the following features.
(1) In the binarization processing method of the present embodiment, the brightness I ₀ and constants m and n obtained based on the captured image obtained at the predetermined shutter time in the first preparatory work (first stage) are determined by the camera. It memorize | stores in RAM (1st memory | storage means) as an eigenvalue.

In the second preparatory work (second stage), the work table 60, the mounting plate 62 (first photographing object) and the work W (second photographing object) are simultaneously changed by changing the shutter speed of the camera 30. Based on a plurality of captured images taken a plurality of times, a target background luminance V of a region (specific pixel region) of a background reference measurement point R (reference region) provided on the work table 60 and a workpiece W (second object to be photographed). Is stored in the RAM 13 (second storage means) as a binarization threshold value. In S20 (third stage), the work table 60, the mounting plate 62 (first photographing object) and the work W (second photographing object) are simultaneously photographed by the camera 30 with a predetermined shutter time. The current luminance p (pre-photographing luminance) of the background reference measurement point R in the background region in the captured image obtained is acquired. In S30 (fourth stage), the current luminance p, the target background luminance V, the luminance I ₀ , and the constants m and n of the background reference measurement point R are used to obtain the equations (A) and (B). The shutter time Tv is calculated based on the formula (c) given below. In S40 (fifth stage), the work table 60, the mounting plate 62, and the work W are imaged by the camera 30 with the shutter time Tv calculated in S30. In S50 (sixth stage), the captured image acquired in S40 is binarized with a binarization threshold.

  As a result, in the present embodiment, an image in which the background brightness is always controlled to the specified brightness can be obtained even when the illumination environment changes, and the image has a high contrast between the background and the workpiece. Therefore, the background and the work can be stably separated by binarization.

  In addition, the method of controlling the brightness of the entire screen with an exposure meter has a problem that the brightness of the work and the background changes depending on the ratio of the work in the camera field of view, although the overall brightness is constant. . On the other hand, according to the present embodiment, since the background brightness is directly fixed as the target background brightness, a binarized image having the same result is always obtained.

  Conventionally, there is a method of optimizing the binarization threshold. However, if the image is taken with a low contrast, there is a possibility that the work and the background cannot be separated well. On the other hand, in this embodiment, since the captured image itself is optimized to a high-contrast image suitable for binarization, the work and the background can be stably separated.

  In the present embodiment, since no closed space is required at the time of shooting, there is no restriction on the installation location of the closed space, and it is not necessary to maintain the illumination conditions for making the illuminance constant. The cost concerning can be reduced.

  (2) In the binarization processing method of the present embodiment, the work table 60 and the mounting plate 62 on which the work W is placed are used as the first photographing object, and the work W is used as the second photographing object. As a result, it is possible to cleanly separate the workpiece from the workpiece table 60 and the mounting plate 62.

(3) The RAM 13 of the image processing apparatus according to the present embodiment stores, as the first storage unit, the luminance I ₀ and constants m and n obtained based on the captured image obtained during the predetermined shutter time as camera intrinsic values. The RAM 13 of the image processing apparatus changes the shutter speed of the camera 30 as a second storage unit, and simultaneously uses a plurality of work platforms 60, mounting plates 62 (first imaging objects) and workpieces W (second imaging objects). Based on a plurality of captured images taken twice, the target background luminance V of the region (specific pixel region) of the background reference measurement point R (reference region) provided on the work table 60 and the workpiece W (second object to be photographed). An intermediate value with respect to the luminance is stored as a binarization threshold value. Further, the CPU 11 of the image processing apparatus serves as the first acquisition means by using the camera 30 to move the work table 60, the mounting plate 62 (first photographing object) and the work W (second photographing object) with a predetermined shutter time. The current luminance p (pre-photographing luminance) of the background reference measurement point R in the background region in the captured image obtained by simultaneous imaging is acquired. The CPU 11 of the image processing apparatus uses the current brightness p, the target background brightness V, the brightness I ₀ , and the constants m and n of the background reference measurement point R as calculation means, from the formulas (A) and (B). The shutter time Tv is calculated based on the obtained formula (c). As the second acquisition unit, the CPU 11 of the image processing apparatus causes the camera 30 to capture an image with the shutter time Tv, so that the work table 60, the mounting plate 62 (first photographing object), and the work W (second photographing object) are included. A captured image is acquired, and the acquired captured image is binarized with an intermediate value (binarization threshold) as binarization means.

As a result, in the present embodiment, an image processing apparatus that exhibits the effect (1) can be provided.
(4) The image processing apparatus of the present embodiment uses the work table 60 and the placement plate 62 on which the work W is placed as the first photographing object, and the work W as the second photographing object. As a result, it is possible to provide an image processing apparatus that can cleanly separate the work from the work table 60 and the mounting plate 62.

In addition, embodiment of this invention is not limited to the said embodiment, You may change as follows.
In the embodiment, the first storage unit and the second storage unit are the common RAM 13, but the first storage unit and the second storage unit may be different storage units. For example, the first storage means may be the RAM 13 and the second storage means may be a storage device such as a hard disk (not shown).

In the embodiment, the camera 30 is a monochrome video camera, but may be changed to a color video camera.
In the embodiment, the mounting plate 62 may be omitted, and the work W may be directly mounted on the work table 60. In this case, the first object to be photographed is only the work table.

  In the embodiment described above, the work table 60 and the placement plate 62 on which the work W is placed are used as the first object to be photographed, and the work W is used as the second object to be photographed. However, the present invention is not limited to this. When there are a plurality of imaging objects within the imaging range of the camera, one of them is set as a first imaging object, and the remaining one or a plurality of imaging objects are set as second imaging objects. Good. In this case, the second photographing object has a color (lightness) different from that of the first photographing object. For example, if the first object to be photographed has a bright color (lightness), the second object to be photographed has a dark color (lightness).

10 Image processing device,
11 ... CPU (calculation means, first acquisition means, second acquisition means and binarization means),
13 ... RAM (first storage means, second storage means),
30 ... Camera, 60 ... Work table (first object to be photographed),
62... Placement plate (first photographing object), W... Work (second photographing object).

Claims (4)

Using the fact that the following formulas (A) and (B) are established, where p is the luminance in the captured image of the camera photographed at the predetermined shutter time and V is the luminance at the arbitrary shutter time Tv: ,
V = A · Tv + I ₀ (b), A = m · p + n (b)
(I ₀ is the luminance at the time of dark current in the captured image of the camera, A is a coefficient, and m and n are constants determined in the predetermined shutter time.)
A first stage in which the luminance I ₀ and constants m and n obtained based on the captured image obtained at the predetermined shutter time are stored in the first storage means as camera intrinsic values, and the first photographing is performed by changing the shutter speed of the camera. Based on a plurality of captured images obtained by simultaneously capturing the object and the second object to be imaged a plurality of times, the target background luminance of the specific pixel region of the reference portion provided on the first object to be imaged and the luminance of the second object to be imaged Obtained by simultaneously photographing the first photographing object and the second photographing object with the camera during the second stage in which the intermediate value is stored in the second storage means as the binarization threshold value and the predetermined shutter time. A third stage of acquiring a pre-photographed luminance of a specific pixel region of a reference part in the captured image, the pre-photographed luminance as p, the target background luminance as V, and a luminance I ₀ , constants m, n Using the expression (A), expression (B ) Based on (4), a fifth stage in which the camera captures the first and second shooting objects with the shutter time Tv calculated in the fourth stage, and a fifth stage. A binarization processing method including a sixth step of binarizing the captured image acquired in the step with the binarization threshold.   The binarization processing method according to claim 1, wherein the first object to be photographed is a work table on which a work is placed, and the second object to be photographed is the work. Using the fact that the following formulas (A) and (B) are established, where p is the luminance in the captured image of the camera photographed at the predetermined shutter time and V is the luminance at the arbitrary shutter time Tv: ,
V = A · Tv + I ₀ (b), A = m · p + n (b)
(I ₀ is the luminance at the time of dark current in the captured image of the camera, A is a coefficient, and m and n are constants determined in the predetermined shutter time.)
First storage means for storing the luminance I ₀ and constants m and n obtained based on the captured image obtained at the predetermined shutter time as camera intrinsic values, and the first photographing object by changing the shutter speed of the camera. Binarizes an intermediate value between the target background luminance of the specific pixel region of the reference region obtained based on a plurality of captured images obtained by photographing the second imaging object at the same time a plurality of times and the luminance of the second imaging object. A second pixel means for storing as a threshold value, and a specific pixel region of the reference part in a captured image obtained by simultaneously photographing the first photographing object and the second photographing object with the camera at the predetermined shutter time. The first acquisition means for acquiring the pre-photographing luminance, and the pre-photographing luminance as p, the target background luminance as V, and the calculation for calculating the shutter time Tv based on the equations (A) and (B) Means, and A second acquisition unit configured to acquire the captured image of the first and second imaging objects by capturing the camera at a time Tv; and the binarized image captured by the second acquisition unit An image processing apparatus including binarization means for binarizing with a threshold value.   The image processing apparatus according to claim 3, wherein the first photographing object is a work table on which a work is placed, and the second photographing object is the work.

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