JP2020160829A - Image processing apparatus and image processing method - Google Patents

Abstract

To provide an image processing apparatus and an image processing method capable of acquiring an accurate picked-up image when an imaging object is imaged with a line sensor camera.SOLUTION: The image processing apparatus includes: a counter processing unit that counts timing signals sequentially input in a time-sequential order according to a movement of an imaging object with respect to an image pickup unit, and counts intervals between the timing signals with clock signals; a trigger generation unit that generates an image pickup trigger signal for the image pickup unit based on a count value of the timing signals and a count value of the clock signals corresponding to the intervals of the timing signals, which are counted by the counter processing unit; and an output processing unit that outputs the image pickup trigger signal generated by the trigger generation unit to the image pickup unit.SELECTED DRAWING: Figure 3

Description

The present invention relates to an image processing apparatus and an image processing method that perform image processing using an captured image obtained by capturing an image to be imaged.

Conventionally, an image processing device (image inspection device) has been known in which an inspection object is imaged by a camera equipped with a line sensor (line sensor camera) and defects such as scratches existing in the inspection object are inspected based on the captured image. (See, for example, Patent Document 1). In the image processing device, for example, the camera images the inspection object based on the encoder pulse output from the encoder provided in the drive motor of the transport path that conveys the inspection object, and the image data of the captured image is obtained from the camera. get.

Japanese Unexamined Patent Publication No. 8-154000

Here, in shooting with a camera (line sensor camera), the encoder pulse having the meaning of position correction of the shooting position may be synchronized with the image pickup trigger signal of the camera. However, since the input speed of the encoder pulse depends on the moving speed of the object to be inspected, the period of the encoder pulse and the desired shutter period (image resolution) of the camera do not completely match. Therefore, in the captured image to be acquired, the aspect ratios in the X direction and the Y direction are broken, which causes a problem that an accurate captured image cannot be acquired.

An object of the present invention is to provide an image processing apparatus and an image processing method capable of acquiring an accurate captured image when an imaged object is imaged by a line sensor camera.

The image processing device according to one aspect of the present invention is an image processing device that acquires image data of an imaging object that moves relative to the imaging unit for each line and generates an image of the imaging object. A counter processing unit that counts timing signals that are sequentially input in time series according to the movement of the imaging object with respect to the imaging unit, and counts the intervals between the timing signals with clock signals, and the counter processing unit counts the intervals. Based on the count value of the timing signal and the count value of the clock signal corresponding to the interval of the timing signal, a trigger generation unit that generates an image pickup trigger signal for the image pickup unit and the trigger generation unit generate the image trigger signal. It includes an output processing unit that outputs the image pickup trigger signal to be output to the image pickup unit.

The image processing method according to another aspect of the present invention is an image processing method that acquires image data of an imaging object that moves relative to the imaging unit for each line and generates an image of the imaging object. A counter processing step that counts timing signals that are sequentially input in time series according to the movement of the image pickup object with respect to the image pickup unit, and counts the interval between the timing signals with a clock signal, and a counter processing step that counts the intervals. Based on the count value of the timing signal and the count value of the clock signal corresponding to the interval of the timing signal, a trigger generation step of generating an image pickup trigger signal for the image pickup unit and a trigger generation step of generating the image trigger signal are generated. This is an image processing method in which one or a plurality of processors execute an output step of outputting the image pickup trigger signal to be output to the image pickup unit.

According to the present invention, it is possible to provide an image processing device and an image processing method capable of acquiring an accurate captured image when an imaged object is imaged by a line sensor camera.

FIG. 1 is a block diagram showing a configuration of an image processing apparatus according to a first embodiment of the present invention. FIG. 2 is a diagram showing an example of an image captured by the image processing apparatus according to the first embodiment of the present invention. FIG. 3 is a timing chart showing an example of the operation in the image processing apparatus according to the first embodiment of the present invention. FIG. 4 is a block diagram showing a configuration of an image processing device according to a second embodiment of the present invention. FIG. 5 is a timing chart showing an example of the operation in the image processing apparatus according to the second embodiment of the present invention. FIG. 6 is a timing chart showing an example of the operation in the image processing apparatus according to the third embodiment of the present invention. FIG. 7 is a timing chart showing an example of the operation in the image processing apparatus according to the fourth embodiment of the present invention. FIG. 8 is a timing chart showing an example of the operation in the image processing apparatus according to the fifth embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the following embodiment is an example embodying the present invention and does not have a character that limits the technical scope of the present invention.

In the image processing apparatus of the present invention, for example, an imaging object (hereinafter referred to as a work) moving on a transport path such as a belt conveyor is imaged by a camera (line sensor camera), and defects in the work are detected based on the captured image. Applies to inspection equipment to inspect. The image processing device of the present invention may be an inspection device in which the camera moves and images a fixed work to acquire an captured image. That is, the image processing apparatus of the present invention acquires the captured image data of the work that moves relative to the camera for each line and generates an image of the work.

[Embodiment 1]
FIG. 1 is a diagram showing a configuration of an image processing device 1 according to an embodiment of the present invention. In FIG. 1, the work W is transported in the Y direction on the transport path 5. The transport path 5 is composed of, for example, a belt conveyor that is rotationally driven by a drive motor (not shown). An encoder 3 is provided on the rotation shaft of the drive motor of the transport path 5. The encoder 3 repeatedly outputs a pulse signal (hereinafter, referred to as an encoder pulse EP) every time the rotation angle of the rotation shaft reaches a predetermined angle, for example. As a result, the encoder 3 outputs the encoder pulse EP every time the amount of change in the moving distance of the work W reaches a predetermined distance. The encoder pulse EP is sequentially input to the image processing device 1 in chronological order. The encoder pulse EP is an example of the timing signal of the present invention.

A line sensor camera (hereinafter referred to as a camera 2) is provided above the work W. The camera 2 includes line sensors arranged in a direction (X direction) orthogonal to the moving direction (Y direction) of the work W. The camera 2 sequentially images the work W moving on the transport path 5 at a predetermined timing based on the trigger signal (hereinafter referred to as the image pickup trigger signal TS) output from the image processing device 1 and images the work W. The image data PD of the image (captured image) is sequentially output to the image processing device 1. The camera 2 is an example of the imaging unit of the present invention.

The image processing device 1 acquires the image data PD of the work W that moves relative to the camera 2 for each line and generates an image of the entire work W. Specifically, the image processing device 1 generates an image pickup trigger signal TS based on the encoder pulse EP, outputs the generated image pickup trigger signal TS to the camera 2, causes the work W to be imaged, and captures the image from the camera 2. The image data PD is acquired, and an image of the entire work W is generated based on the plurality of image data PDs for each line.

Specifically, the image processing device 1 includes a control unit 11, a storage unit 12, a counter 13, an operation display unit 14, and the like.

The operation display unit 14 is composed of a touch panel including an operation unit for operating the image processing device 1 and a display unit for displaying various setting screens and the like. The operation display unit 14 receives various operations from the operator (user). For example, the operation display unit 14 displays the setting screen in the initial setting and receives input of parameters related to the aspect ratio of the captured image from the operator.

The encoder pulse EP and the clock signal CLK are input to the counter 13. The counter 13 counts the encoder pulse EP and the clock signal. For example, when the encoder pulse EP is input, the counter 13 resets the count value and counts the interval between the encoder pulse EP with the clock signal CLK. The clock signal CLK is an internal clock signal used for image processing of the image processing device 1. The clock signal CLK is an example of the clock signal of the present invention.

The storage unit 12 is a non-volatile storage unit including a semiconductor memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like that stores various types of information. For example, the storage unit 12 stores a control program such as a program 121 for causing the control unit 11 to execute various processes.

The control program is non-temporarily recorded on a computer-readable recording medium such as USB, CD or DVD, and is a reading device such as a USB drive, a CD drive or a DVD drive included in the image processing device 1 (not shown). Is read and stored in the storage unit 12. Further, the control program may be downloaded from an external device via a communication network and stored in the storage unit 12.

Further, the counter information 122 is stored in the storage unit 12. In the counter information 122, the count value and the interval (pulse interval) of the encoder pulse EP, which are the values (counter value) counted by the counter 13, are registered. Further, the count value of the clock signal CLK is registered in the counter information 122.

The control unit 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. Then, the control unit 11 controls the image processing device 1 by executing various control programs stored in advance in the ROM or the storage unit 12 on the CPU.

Specifically, the control unit 11 includes various processing units such as an image processing unit 111, a counter processing unit 112, a trigger generation unit 113, and an output processing unit 114. The control unit 11 functions as the various processing units by executing various processes according to the control program on the CPU. Further, a part or all of the processing units included in the control unit 11 may be composed of an electronic circuit.

The image processing unit 111 acquires the image data PD of the captured image of the work W captured by the camera 2 and executes predetermined image processing. For example, the image processing unit 111 sequentially acquires image data PDs for each line in which the work W is imaged, and generates an image of the entire work W based on the acquired plurality of image data PDs.

Further, the image processing unit 111 calculates the aspect ratio based on the image of the entire work W captured by the camera 2 in the initial setting. For example, as shown in FIG. 2, in the initial setting, when the work W having a perfect circular shape is imaged, the image P0 generated by the image processing unit 111 may have an elliptical shape extending in the Y direction. This is a phenomenon that occurs when the resolution of the encoder 3 is fine. When the resolution of the encoder 3 is rough, the image P0 generated by the image processing unit 111 becomes an elliptical shape extending in the X direction. The image processing unit 111 calculates the aspect ratio “X: Y” based on the image P0.

Here, according to the aspect ratio, for example, if the image pickup trigger signal TS is output to the camera 2 at a rate of once every Y / X times (Y ÷ X) of the encoder pulse EP to be imaged, the work W can be imaged. The image P1 corresponding to the perfect circular shape can be obtained.

The counter processing unit 112 causes the counter 13 to execute the counting process and acquires the counting value from the counter 13. The counter processing unit 112 registers the count value acquired from the counter 13 in the counter information 122. For example, when the encoder pulse EP is input to the counter 13, the counter processing unit 112 resets the counter 13 to count the interval of the encoder pulse EP with the clock signal CLK. That is, the counter processing unit 112 calculates the number (count value) of the clock signal CLK corresponding to the interval of the encoder pulse EP. The counter processing unit 112 acquires the number of clock signals CLK corresponding to the interval of the encoder pulse EP.

The trigger generation unit 113 generates an image pickup trigger signal TS for the camera 2 based on the count value of the encoder pulse EP counted by the counter 13 and the count value of the clock signal CLK corresponding to the interval of the encoder pulse EP. The image pickup trigger signal TS is a trigger signal that defines the image pickup timing of the camera 2. For example, the trigger generation unit 113 is a second total of the first count value (encoder counter) of the encoder pulse EP corresponding to the interval of the preset imaging trigger signal TS and the clock signal CLK corresponding to the interval of the encoder pulse EP. After acquiring the numerical value (clock counter) and inputting the encoder pulse EP corresponding to the first count value, the imaging trigger is set at a position where the count value of the clock signal CLK by the counter processing unit 112 reaches the second count value. Generate signal TS.

For example, it is assumed that the encoder pulse EPs are input to the image processing apparatus 1 at regular intervals (equal intervals). In this case, the trigger generation unit 113 has x encoder pulse EPs (encoder counter “x”) and a clock signal CLK based on the integer part (quotient) and the decimal part (remainder) of the Y / X value. The imaging trigger signal TS is generated at y positions (clock counter "y"). Here, "x" can be, for example, the integer part. Further, "y" can be, for example, a value obtained by multiplying the ratio corresponding to the decimal part by the count value of the clock signal CLK corresponding to the interval of the encoder pulse EP. “X” is an example of the first count value of the present invention, and “y” is an example of the second count value of the present invention.

The output processing unit 114 outputs the image pickup trigger signal TS generated by the trigger generation unit 113 to the camera 2. For example, the output processing unit 114 at the timing when the count value (encoder counter) of the encoder pulse EP counted by the counter 13 becomes “x” and then the count value (clock counter) of the clock signal CLK becomes “y”. The image pickup trigger signal TS is output to the camera 2.

FIG. 3 is a timing chart showing an example of the operation in the image processing device 1 of the first embodiment. Here, for example, it is assumed that the interval (equal interval) of the encoder pulse EP is "9" in the count value (clock counter) of the clock signal CLK. The trigger generation unit 113 sets the position of the first imaging trigger signal TS, for example (x, y), based on the value of Y / X × 1 of the image P0 and the interval of the encoder pulse EP (clock counter “9”). = (1,6) is determined. That is, the trigger generation unit 113 sets the imaging trigger signal TS1 (trigger counter “1”) at the position where the counter (encoder counter) of the encoder pulse EP is “1” and the counter (clock counter) of the clock signal CLK is “6”. Generate. The output processing unit 114 outputs the generated first imaging trigger signal TS1.

Similarly, the trigger generation unit 113 sets the position of the second imaging trigger signal TS2, for example (x), based on the value of Y / X × 2 of the image P0 and the interval of the encoder pulse EP (clock counter “9”). , Y) = (3,3). That is, the trigger generation unit 113 sets the imaging trigger signal TS2 (trigger counter “2”) at the position where the encoder pulse EP counter (encoder counter) is “3” and the clock signal CLK counter (clock counter) is “3”. Generate. The output processing unit 114 outputs the generated second imaging trigger signal TS2.

In the image processing device 1 according to the first embodiment, the image processing device 1 has a count value of the encoder pulse EP (number of encoder counters) and a count value of the clock signal CLK (number of encoder counters) calculated based on the ratio according to the aspect ratio. The image pickup trigger signal TS2 is generated based on the number of clock counters). As a result, the image processing device 1 can output the image pickup trigger signal TS at an arbitrary position while synchronizing with the encoder pulse EP.

[Embodiment 2]
When the encoder pulse EP input to the image processing device 1 starts moving from the state where the work W is stopped, when it stops from the moving state, or when the rotation speed of the drive motor varies. For example, the pulse interval may not be constant (equal interval). That is, the count value (clock counter) for each interval of the plurality of encoder pulse EPs counted by the counter 13 may not be constant. In this case, it is conceivable that the output timing of the imaging trigger signal TS deviates from the appropriate output timing.

Therefore, as shown in FIG. 4, the image processing device 1 according to the second embodiment further includes a monitoring processing unit 115 for monitoring the interval of the encoder pulse EP in the image processing device 1 according to the first embodiment. The monitoring processing unit 115 calculates the count value (clock counter) of the clock signal CLK corresponding to the interval of the current encoder pulse EP. The monitoring processing unit 115 stores the calculated count value of the clock signal CLK in the storage unit 12 (counter information 122).

The trigger generation unit 113 acquires the count value of the clock signal CLK corresponding to the interval of the current encoder pulse EP, and generates the imaging trigger signal TS to be output next based on the acquired count value. Specifically, the trigger generation unit 113 recalculates the position of the next imaging trigger signal TS based on the count value of the clock signal CLK calculated by the monitoring processing unit 115.

FIG. 5 is a timing chart showing an example of the operation in the image processing device 1 of the second embodiment. FIG. 5 shows an example in which the interval between the encoder pulse EPs increases with time. Further, here, it is assumed that in the initial setting, the imaging trigger signal TS is set to two encoder pulse EPs and 20% of the encoder pulse EP interval based on the aspect ratio. For example, the trigger generation unit 113 receives the first imaging trigger signal TS1 (clock counter “5”) based on the count value (clock counter “5”) of the clock signal CLK corresponding to the interval of the current encoder pulse EP (encoder counter “1”). The position of the trigger counter "1") is recalculated and determined. The output processing unit 114 outputs the determined first imaging trigger signal TS1.

Similarly, the trigger generation unit 113 receives the second imaging trigger signal TS2 based on the count value (clock counter “9”) of the clock signal CLK corresponding to the interval of the current encoder pulse EP (encoder counter “3”). The position of (trigger counter "2") is recalculated and determined. The output processing unit 114 outputs the determined second imaging trigger signal TS2.

According to the image processing apparatus 1 according to the second embodiment, the position of the encoder pulse EP is recalculated according to the interval of the current encoder pulse EP. As a result, the deviation of the output timing of the imaging trigger signal TS with respect to the fluctuation of the encoder pulse EP interval can be adjusted to the minimum.

[Embodiment 3]
In the configuration of the image processing apparatus 1 according to the first embodiment, for example, as shown in the upper part of FIG. 6, the next encoder pulse EP has a speed before the image pickup trigger signal TS1 of the generated trigger counter “1” is output. When the image processing device 1 is input due to fluctuations or the like, the image pickup trigger signal TS1 loses its output timing, and the camera 2 may not be output. In this case, one line of image data is lost, causing a problem that an accurate image cannot be generated (image missing).

Therefore, when the encoder pulse EP is input to the image processing device 1 at a timing earlier than the original input timing, the image processing device 1 according to the third embodiment triggers an image pickup at the timing when the encoder pulse EP is input. Output the signal TS. For example, as shown in the lower part of FIG. 6, the image pickup trigger signal TS1 of the trigger counter “1” is output in synchronization with the encoder pulse EP input to the image processing device 1 at a timing earlier than the original input timing.

In this way, when the encoder pulse EP is input at the second timing earlier than the predetermined first timing, the output processing unit 114 generates an imaging trigger corresponding to the first timing by the trigger generation unit 113. The signal TS is output in synchronization with the second timing. As a result, although the shooting position deviates from the originally intended position, it is possible to eliminate image omission.

[Embodiment 4]
As shown in the third embodiment, if the next encoder pulse EP is input to the image processing device 1 before the image pickup trigger signal TS is output, the image pickup trigger signal TS loses the output timing and is accurate. There is a problem that the image is not generated. In particular, in the case where a plurality of imaging trigger signal TSs are prepared between (intervals) one encoder pulse EP, there arises a problem that image data for a plurality of lines is lost.

For example, as shown in FIG. 7, when 20 lines are photographed between one encoder pulse EP and the next encoder pulse EP is input when 18 lines are photographed, two lines are photographed. Not done.

Therefore, the image processing device 1 according to the fourth embodiment is a case where a predetermined number of imaging trigger signals TS are output at a predetermined interval of the first encoder pulse EP, and the predetermined interval is shortened. When the second encoder pulse EP is input before the predetermined number of image pickup trigger signal TSs are output, a plurality of images captured by the camera 2 based on the number of image pickup trigger signal TSs smaller than the predetermined number. An image of the entire work W is generated based on the image data PD of.

Specifically, for example, in the example shown in FIG. 7, the image processing device 1 holds 18 lines of image data PD corresponding to one encoder pulse EP in the storage unit 12, and performs 18 lines of image processing calculations. 20 lines of images are generated from the image data PD of. For example, the image processing unit 111 calculates a ratio from the number of lines for the shortage, and generates images for 20 lines based on the ratio.

For example, the image processing unit 111 generates the image of the first line from 100% of the image data PD corresponding to the first imaging trigger signal TS, and the image of the second line corresponds to the first imaging trigger signal TS. Generated from 10% of the image data PD and 90% of the image data PD corresponding to the second imaging trigger signal TS, the third line image is 20% of the image data PD corresponding to the second imaging trigger signal TS. And 80% of the image data PD corresponding to the third image pickup trigger signal TS. Further, the image processing unit 111 generates an image of the 19th line from 10% of the image data PD corresponding to the 17th imaging trigger signal TS and 90% of the image data PD corresponding to the 18th imaging trigger signal TS. Then, the image of the 20th line is generated from 100% of the image data PD corresponding to the 18th imaging trigger signal TS. In this way, the image processing unit 111 generates an image for 20 lines from the image data for 18 lines to generate an image for the entire work W.

As a result, even if the image data for a plurality of lines is omitted from the image data for the number of lines originally acquired for one encoder pulse EP, the insufficient image data is generated. Images corresponding to all lines can be generated.

[Embodiment 5]
In the configuration of the image processing device 1 according to the fourth embodiment, as shown in FIG. 8, the input timing of the encoder pulse EP may be delayed. In this case, for the input encoder pulse EP, shooting for 20 lines may be completed first, and an image packed from the correct position may be shot.

Therefore, in the image processing device 1 according to the fifth embodiment, a predetermined number of imaging trigger signal TSs are output at a predetermined (original) interval of the first encoder pulse EP, and the predetermined interval becomes longer. As a result, if the second encoder pulse EP is not input at a predetermined timing after the predetermined number of image pickup trigger signal TSs are output, the trigger generation unit 113 starts the second encoder pulse from the predetermined timing. A plurality of images captured by the camera 2 based on the predetermined number of imaging trigger signal TSs and the second imaging trigger signal TS by generating the second imaging trigger signal TS corresponding to the section until the EP is input. An image of the work W is generated based on the data PD.

Specifically, the image processing device 1 continues shooting until the next encoder pulse EP is input, and when one encoder pulse EP is completed, it is originally planned from the total number of imaging lines. The image of the number of imaging lines is recalculated and generated.

For example, as shown in FIG. 8, when 20 lines are normally photographed, the next encoder pulse EP is not input even after the photographing is completed, so that it is considered that the moving speed of the work W is decelerated. In this case, since the images from the 20th line to the next encoder pulse EP are not captured, the image processing device 1 continues to output the image pickup trigger signal TS until the next encoder pulse EP is input. , Acquire the image data PD. Then, the image processing device 1 generates an image data PD for 20 lines based on the image data for 22 lines captured between one encoder pulse EP to generate an image of the work W.

For example, the image processing unit 111 uses 90% of the image data PD corresponding to the first imaging trigger signal TS and 10% of the image data PD corresponding to the second imaging trigger signal TS for the image of the first line. The image of the second line is generated from 20% of the image data PD corresponding to the second imaging trigger signal TS and 80% of the image data PD corresponding to the third imaging trigger signal TS. Further, the image processing unit 111 generates an image of the 19th line from 20% of the image data PD corresponding to the 20th imaging trigger signal TS and 80% of the image data PD corresponding to the 21st imaging trigger signal TS. Then, the image of the 20th line is generated from 10% of the image data PD corresponding to the 21st imaging trigger signal TS and 90% of the image data PD corresponding to the 22nd imaging trigger signal TS. In this way, the image processing unit 111 generates the image data PD for 22 lines from the image data PD for 20 lines to generate the image of the work W.

As a result, even if the input timing of the encoder pulse EP is delayed and a blank period occurs, the image capture trigger signal TS is output during the blank period to acquire the image data PD, and the image data PD corresponding to the blank period is included. By generating an image of the work W, an image at an appropriate position can be generated.

The present invention can be expressed as an invention of an image processing method executed by the control unit 11 of the image processing device 1. The image processing method is performed by one or more processors. Specifically, the image processing method according to the present invention is an image processing method for generating an image of the work W by acquiring captured image data of the work W that moves relative to the camera 2 for each line. A counter processing step of counting the encoder pulse EPs sequentially input in time according to the movement of the work W with respect to the clock signal CLK and counting the interval of the encoder pulse EP with the clock signal CLK, and an encoder counted by the counter processing step. Based on the count value of the pulse EP and the count value of the clock signal CLK corresponding to the interval of the encoder pulse EP, the trigger generation step of generating the image pickup trigger signal TS for the camera 2 and the image pickup generated by the trigger generation step. The output step of outputting the trigger signal TS to the camera 2 is executed by one or more processors.

It should be noted that the present invention is configured by freely combining the above-described embodiments within the scope of the invention described in each claim, or by appropriately modifying or omitting a part of each embodiment. It is also possible.

1: Image processing device 2: Camera 3: Encoder 5: Transport path 11: Control unit 12: Storage unit 13: Counter 14: Operation display unit 111: Image processing unit 112: Counter processing unit 113: Trigger generation unit 114: Output processing Unit 115: Monitoring processing unit 121: Program 122: Counter information

Claims (10)

An image processing device that acquires image data of an imaging object that moves relative to the imaging unit for each line and generates an image of the imaging object.
A counter processing unit that counts timing signals that are sequentially input in time series according to the movement of the imaging object with respect to the imaging unit, and counts the interval between the timing signals with a clock signal.
A trigger generation unit that generates an imaging trigger signal for the imaging unit based on the counting value of the timing signal counted by the counter processing unit and the counting value of the clock signal corresponding to the interval of the timing signal.
An output processing unit that outputs the image pickup trigger signal generated by the trigger generation unit to the image pickup unit, and
An image processing device comprising. The trigger generation unit acquires the first count value of the timing signal corresponding to the preset interval of the imaging trigger signal and the second count value of the clock signal corresponding to the interval of the timing signal. After the timing signal corresponding to the first count value is input, the imaging trigger signal is generated at a position where the count value of the clock signal by the counter processing unit reaches the second count value.
The image processing apparatus according to claim 1. The trigger generation unit acquires the count value of the clock signal corresponding to the current interval of the timing signal, and generates the imaging trigger signal to be output next based on the acquired count value.
The image processing apparatus according to claim 1. A monitoring processing unit that monitors the interval of the timing signal is further provided.
The monitoring processing unit calculates the count value of the clock signal corresponding to the current interval of the timing signal, and stores the calculated count value of the clock signal.
The image processing apparatus according to claim 3. The count value of each of the plurality of timing signals counted by the counter processing unit is not constant.
The image processing apparatus according to claim 3 or 4. When the timing signal is input at a second timing earlier than the predetermined first timing, the output processing unit uses the trigger generation unit to generate the imaging trigger signal corresponding to the first timing. Output in synchronization with the second timing,
The image processing apparatus according to claim 1. When a predetermined number of the imaging trigger signals are output at a predetermined interval of the first timing signal, and before the predetermined number of the imaging trigger signals are output by shortening the predetermined interval. When the second timing signal is input to
An image of the imaging object is generated based on a plurality of captured image data captured by the imaging unit based on the number of imaging trigger signals smaller than the predetermined number.
The image processing apparatus according to any one of claims 1 to 6. In the case where a predetermined number of the imaging trigger signals are output at a predetermined interval of the first timing signal, after the predetermined number of the imaging trigger signals are output due to the lengthening of the predetermined interval. When the second timing signal is not input at a predetermined timing,
The trigger generation unit generates a second imaging trigger signal corresponding to a section from the predetermined timing to the input of the second timing signal.
An image of the image pickup target is generated based on a plurality of image pickup image data captured by the image pickup unit based on the predetermined number of the image pickup trigger signals and the second image pickup trigger signal.
The image processing apparatus according to any one of claims 1 to 7. The clock signal is an internal clock signal of the image processing apparatus.
The image processing apparatus according to any one of claims 1 to 8. This is an image processing method that acquires image data of an image-imaging object that moves relative to the image-imaging unit for each line and generates an image of the image-imaging object.
A counter processing step of counting timing signals sequentially input in chronological order according to the movement of the imaging object with respect to the imaging unit and counting the interval of the timing signals with a clock signal.
A trigger generation step for generating an imaging trigger signal for the imaging unit based on the counting value of the timing signal counted by the counter processing step and the counting value of the clock signal corresponding to the interval of the timing signal.
An output step that outputs the imaging trigger signal generated by the trigger generation step to the imaging unit, and
An image processing method that is executed by one or more processors.

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