JP6334215B2 - Image processing system, image processing method, and image processing program - Google Patents

Description

  The present invention relates to an image processing system that recognizes the position and size of an imaging object by erasing the pattern of the transportation band from image data when the imaging object is mounted on a conveyance band such as a belt conveyor. The present invention relates to a processing method and an image processing program.

  In an apparatus for automatically processing fresh food, etc., a metal net or the like is sometimes used for a belt conveyor for carrying and transporting fresh food from the viewpoints of durability, resistance to slipping, and suppression of water accumulation. As a method of preparing a belt conveyor with a hole in the form of a metal mesh and extracting the object to be processed from the background of the belt conveyor, the wire mesh is coated with some color and the optical characteristics of the belt conveyor and the object to be processed are determined. I have an idea to make it different. However, it may not be allowed to paint the belt conveyor from the viewpoint of food hygiene.

Further, although the unpainted wire mesh is achromatic, the object to be processed is also achromatic. In such a situation, it is extremely difficult to identify the belt conveyor and the object to be processed by binarization processing based on general luminance information.
On the other hand, as an image processing apparatus that captures only an imaging target when there is an imaging target over a bag or the net, a two-dimensionally repeated pattern existing in the image is detected from the image data, and repeated An invention has been proposed in which a pattern is erased from an image and pixels are interpolated with respect to a region of the repetitive pattern using peripheral pixels of the repetitive pattern erased from the image (see Patent Document 1).

  However, in the invention described in Patent Document 1, a straight line existing on the imaging target as an imaging obstacle on the side closer to the imaging device (camera) than the imaging target in the image corresponding to the image data. And / or a pattern consisting of a curve is detected. Specifically, a wire mesh detection template indicating a wire mesh pattern is acquired from the wire mesh detection template storage unit, and a pattern consisting of a straight line and / or a curve from an image is obtained by template matching using the acquired wire mesh detection template. Is detected in a two-dimensionally repeated pattern. The invention described in Patent Document 1 is effective when the imaging object is present as an obstacle on the side farther from the imaging device than the bag or the net, but the imaging object is mounted on the belt conveyor. As shown, when the object to be imaged is closer to the image capturing apparatus, the repetitive pattern of the metal net that exists as the background image is behind the object to be imaged, and the pattern consisting of straight lines and / or curves is Since the portion of the occupied area has disappeared, if the relative area of the object to be imaged is large, it becomes impossible to detect an effective repetitive pattern.

  In addition, when an imaging object having a certain weight is mounted on a metal net used as a belt conveyor, the metal net bends at the location where the imaging object is mounted due to the weight of the imaging object. The periodicity of the metal net is disturbed in the vicinity of the imaging object. For this reason, there has been a problem that it becomes difficult to erase the repetitive pattern of the metal net at the location closest to the imaging object. Also, especially when fresh products such as scallops, mackerel, squid and other fish and shellfish are imaging objects, water droplets adhere to the belt conveyor, and the periodicity of the metal net at the location where the water droplets are attached is disturbed. There was a problem that it was difficult to erase the repeated pattern of the metal net.

  As described above, in particular, in a situation where a processing object including fresh food is an imaging object, when the imaging object is transported by a belt conveyor having a hole such as a metal net, the imaging object and the imaging object It was difficult to distinguish the pattern image of the belt conveyor as the background of the object.

JP 2013-55378 A

  In view of the above circumstances, the present invention provides a background side in a situation where the imaging object is mounted on a mesh-like transport belt that travels in the horizontal direction so that the imaging object is closer to the imaging device. It is an object of the present invention to provide an image processing system, an image processing method, and an image processing program capable of erasing the pattern of the transport belt located at the position and accurately recognizing the position and size of the imaging object.

  In order to achieve the above object, according to a first aspect of the present invention, there is provided (a) a mesh-shaped transport band on which an imaging target is mounted and transported, and (b) disposed above the transport band. An imaging device that captures an area including the entire view of the object; and (c) a background having optical characteristics that is arranged below the transport band, and at least one of brightness, hue, or chromaticity is different from the transport band and the imaging target object. The center of gravity position of the imaging object by erasing the mesh pattern of the carrier band reflected around the imaging object from the image data output from the imaging apparatus and (d) imaging device connected to the board And an image processing system including an image processing device that calculates a size.

  According to a second aspect of the present invention, (a) an imaging target is mounted on the upper surface of a mesh-shaped transporting band, and the transporting band and the imaging target are at least one of brightness, hue, and chromaticity below the transporting band. A step of imaging a region including the entire view of the object to be imaged by an imaging device arranged with a background plate having different optical characteristics and arranged above the transport band, and (b) from image data output from the imaging device The gist of the present invention is that the image processing method includes a step of erasing the mesh pattern of the transport band reflected around the imaging object and calculating the position and size of the center of gravity of the imaging object.

The computer software program for realizing the image processing method described in the second aspect of the present invention is stored in a computer-readable recording medium, and this recording medium is read by a computer system, whereby the image processing of the present invention is performed. The method can be carried out.
That is, according to the third aspect of the present invention, (a) an imaging target is mounted on the upper surface of a mesh-shaped transport band, and the transport band and the imaging target have a lightness, hue, or chromaticity below the transport band. At least one of the background plates having different optical characteristics is arranged, and an instruction for imaging an area including the entire view of the imaging target for the imaging device arranged above the transport zone, and (b) the image processing device, A series of instructions including an instruction to erase the pattern of the mesh of the transport band reflected around the imaging object from the image data output from the imaging apparatus, and to calculate the position and size of the center of gravity of the imaging object Is an image processing program that causes a computer system including an image processing apparatus to execute the above. Here, the “recording medium” means a medium capable of recording a program such as an external memory device of a computer, a semiconductor memory, a magnetic disk, an optical disk, a magneto-optical disk, and a magnetic tape. Specifically, the “recording medium” includes a flexible disk, a CD-ROM, an MO disk, a cassette tape, an open reel tape, and the like.

  According to the present invention, the imaging object is positioned on the background side in a situation where the imaging object is mounted on a mesh-like transport belt that travels in the horizontal direction so that the imaging object is closer to the imaging device. It is possible to provide an image processing system, an image processing method, and an image processing program capable of erasing the pattern of the transport band and accurately recognizing the position and size of the imaging target.

It is a typical bird's-eye block diagram explaining the outline of the principal part of the image processing system which concerns on the 1st Embodiment of this invention. It is a figure which illustrates notionally the internal structure of the image processing apparatus used for the image processing system which concerns on 1st Embodiment as a combination of a logical hardware resource. It is a notional flow chart explaining an example of an image processing method concerning a 1st embodiment of the present invention. In an image processing method concerning a 1st embodiment, an imaging data receiving circuit is a figure showing an example of imaging data containing an imaging subject received and acquired from an imaging device. FIG. 5 is a diagram schematically illustrating exaggerated imaging data including an imaging target corresponding to FIG. 4 with enlarged rectangular pixels for convenience of explanation. It is a figure explaining the relationship between RGB color space and HSV color space. It is a schematic diagram explaining conversion from RGB color space data to HSV color space data in the image processing method according to the first embodiment. It is a figure explaining the threshold value in HSV color space required for the binarization process in the image processing method according to the first embodiment. It is a schematic diagram explaining the binarization process of each pixel in the background area in the image processing method according to the first embodiment. It is a schematic diagram which shows the image before the expansion process in the image processing method which concerns on 1st Embodiment. It is a schematic diagram which shows the image after the expansion process in the image processing method which concerns on 1st Embodiment. 12A is an image in the case where there is an accidental noise, and FIG. 12B is a diagram for explaining a state in which the background pattern is reduced by performing the reduction process on FIG. 12A. . FIG. 13A is a diagram for explaining that the area of accidental noise is enlarged by directly expanding the image of FIG. 12A, and FIG. It is a figure explaining that the pattern of a conveyance belt is erase | eliminated by repeating the procedure which performs an expansion process after performing a reduction process previously with respect to (a). It is a figure which shows a 5 * 5 pixel area | region in order to demonstrate the magnitude | size of the background area | region which does not lose | disappear with shrinkage | contraction processing. FIG. 15A is a diagram for explaining the intensity distribution of saturation when only one dimension is extracted in the XV-XV direction (X direction) of FIG. 14, and FIG. 15B is a diagram of FIG. 15A. When there is such an intensity distribution of saturation, there is a shift in the binarization boundary due to fluctuation, and further, it is a diagram for explaining that the two-pixel width on the left and right disappears by the contraction process. In the image processing method according to the first embodiment, a pixel other than the background (non-background) in which the pixel indicating the background plate is encoded as “1” and the image of the imaging target and the mesh pattern of the mesh-like transport belt are synthesized. It is a schematic diagram explaining the image of the stage which encoded the pixel which shows (area | region) to "0". In the image processing method according to the first embodiment, the pixels indicating the background plate and the pixels indicating the mesh pattern of the mesh transport band are both encoded as “1”, so that the mesh pattern of the mesh transport band is It is a schematic diagram explaining the image of the erased stage. It is a figure explaining the image of the stage in which the mesh pattern of the actual reticulated conveyance belt corresponding to the schematic diagram of Drawing 17 was erased. In the image processing method according to the first embodiment, the centroid position in the X direction and the centroid position in the Y direction of the pixel region occupied by the pixel encoded with the pixel value “0” indicating the imaging target are determined. Determine the number of pixels in the pixel area occupied by the pixel encoded with pixel value “0”, and further calculate the radius of the area occupied by the pixel encoded with pixel value “0” It is a schematic diagram explaining the image of the stage to do. It is a figure explaining the process of determination of the gravity center position in an actual image, calculation of the number of pixels, and calculation of a radius corresponding to the stage of the schematic diagram of FIG. As an example of an image processing apparatus used in an image processing system according to another embodiment of the present invention, a structure in which a part of the internal structure of the image processing apparatus is configured by a field programmable gate array (FPGA). It is a block diagram illustrated.

  Next, a first embodiment of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, the drawings are schematic, and specific thicknesses and dimensions should be determined in consideration of the following description. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings.

The first embodiment shown below exemplifies an apparatus and method for embodying the technical idea of the present invention, and the technical idea of the present invention is the number of bits for encoding, The material, shape, structure, arrangement, etc. of the component parts are not specified as follows. For example, in the following description, processing in a color space of 8 bits = 256 gradations is described. However, the processing is merely an example, and even in the case of 10-bit encoding or plus / minus encoding processing, Of course, technical ideas are applicable. Furthermore, in the first embodiment described below, for convenience of explanation, a case where the outer diameter of the imaging target 17 can be approximated by a circle will be described as an example, but the shape of the imaging target 17 is any shape other than a circle. Of course, it may be a shape. Thus, the technical idea of the present invention can be variously modified within the technical scope defined by the claims set forth in the claims.

(Configuration of image processing system)
As shown in FIG. 1, the image processing system according to the first embodiment of the present invention includes a mesh-like transport band 11 that transports an imaging target 17 mounted on the upper surface of a horizontal main surface, and a transport band. 11, an imaging device 22 that captures an area including the entire view of the imaging target 17, and a transportation band 11 and the imaging target 17 that are arranged below the transportation band 11 are lightness, hue, or chromaticity. Are connected to the imaging device 22 and image data output from the imaging device 22, and the mesh of the transport belt 11 reflected around the imaging target 17. This is a computer system including an image processing device 23 that erases the pattern and calculates the position and size of the center of gravity of the imaging target 17. The image processing apparatus 23 does not extract the periodicity of the image pattern and remove the mesh pattern of the transport band 11 as in the invention described in Patent Document 1, but the imaging object 17 and the transport band. The mesh pattern of the transport band 11 is extracted and erased based on the difference in the relative size and thickness of the mesh pattern of 11 or the global uniformity of the entire image data output from the imaging device 22. doing. Representative examples of the imaging object 17 include various objects such as processed foods and industrial products, as well as fresh seafood such as scallops, mackerel, and squid containing water, and fresh products such as vegetables.

  In FIG. 1, a transmissive light source 21 having a rectangular frame shape is disposed between the transport band 11 and the imaging device 22. As shown in FIG. 1, a material exhibiting optical characteristics in which at least one of lightness, hue, and chromaticity is different from the conveyance band 11 and the imaging target object 17 below the conveyance band 11 that travels in the horizontal direction with the main surface horizontal. A background plate 15 is laid horizontally. In the configuration illustrated in FIG. 1, when it is assumed that the transport belt 11 has a thickness in the height direction or the imaging target 17 is in a wet state, the imaging target 17 input to the image processing device 23. It is necessary to pay attention so that no shadows or glossy reflections appear in the image information. For this reason, the light source 21 is not a normal LED light source but a rectangular frame shape that wraps the entire imaging range including the imaging object 17 with light having vectors in various directions, so that the imaging object 17 It is set not to generate shadows and gloss.

  On the right side of the transport band 11, there is provided a first transport band drive unit 12 that moves in the horizontal direction as a belt conveyor by rotating in a cylindrical shape. Although not shown in the drawings, a second transport band drive unit that moves the transport band 11 as a belt conveyor by rotating in a similar cylindrical shape on the left side of the transport band 11 is also provided. The rotational movements of the first transport band drive unit 12 and the second transport band drive unit are controlled by the transport band control device 13.

  The imaging device 22, the light source 21, and the transport band control device 13 are respectively connected to the image processing device 23 and exchange signals with the image processing device 23. A data storage device 24, a program storage device 25, and a display device 26 are connected to the image processing device 23. In FIG. 1, the data storage device 24 and the program storage device 25 are illustrated as if they were individual hardware resources for convenience, but the actual physical hardware resources include data storage devices. 24 and the program storage device 25 do not deny the configuration configured as a set of a plurality of storage devices having different functions and scales.

  For example, in the computer system shown in FIG. 1, the data storage device 24 can be any combination appropriately selected from a group including a plurality of registers, a plurality of cache memories, a main storage device, and an auxiliary storage device. It is. The cache memory may be a combination of a primary cache memory and a secondary cache memory, and may further have a hierarchy including a tertiary cache memory.

  The logical hardware resource configuration of the image processing apparatus 23 constituting the computer system shown in FIG. 1 is expressed as shown in FIG. The image processing device 23 can be configured as a computer system using a microprocessor (MPU) or the like mounted as a microchip. In addition, as the image processing device 23 constituting the computer system, a digital signal processor (DSP) specializing in signal processing with enhanced arithmetic operation functions, and a microcontroller (including a memory and peripheral circuits) for controlling embedded devices ( A microcomputer) or the like may be used. Alternatively, the main CPU of the current general-purpose computer may be used for the image processing device 23. Furthermore, a part or all of the configuration of the image processing apparatus 23 may be configured by a programmable logic device (PLD) such as a field programmable gate array (FPGA). When a part or all of the image processing apparatus 23 is configured by the PLD, the data storage device 24 can be configured as a memory element such as a memory block included in a part of a logical block configuring the PLD. Further, the image processing apparatus 23 may have a structure in which a CPU core-like array and a PLD-like programmable core are mounted on the same chip. This CPU core-like array includes a hard macro CPU mounted in the PLD in advance and a soft macro CPU configured using a PLD logic block. That is, a configuration in which software processing and hardware processing are mixed in the PLD may be employed.

  As shown in FIG. 2 showing the configuration of logical hardware resources, the image processing device 23 of the image processing system according to the first embodiment includes an imaging data receiving circuit 231 that acquires image data from the imaging device 22, and A background area separating unit 232 that separates from the image data acquired by the imaging data receiving circuit 231 into a “background area” in which the background plate 15 is imaged and a “non-background area” in which images other than the background area are imaged; A mesh erasing circuit 233 for erasing the image of the transport band 11 from the non-background area by expanding the background area separated by the background area separating means 232 beyond the width of the mesh pattern of the transport band 11; An imaging object recognition unit 234 that calculates the position of the center of gravity and the size of the imaging object 17 based on the binarized image of the imaging object 17 generated by the erasing circuit 233 is provided.

The background area separation means 232 has a logical internal structure of an RGB / HSV conversion circuit 232a that converts RGB color space data into HSV color space data and a background area binarization circuit 232b that binarizes the background area. Include as.
For example, when each of R, G, and B has 8 bits = 2 ⁸ = 256 gradations, R, G, and B each take a value of 0 to 255, so that RGB is expressed in three-dimensional coordinates for the RGB color space. When expressed, it can be expressed by a cube whose length of one side is 255. When this cube is viewed from the position of the vertex of white (255, 255, 255) toward the vertex of black (0, 0, 0) and the R axis is taken to the right in the horizontal direction, it is a regular hexagon as shown in FIG. Can express. The center of the regular hexagon in FIG. 6 is the vertex of cubic white (255, 255, 255), and the vertex of black (0, 0, 0) is located behind the vertex of white (255, 255, 255). ing.

  At this time, the direction of R (red) in FIG. 6 is set to H = 0 °, the counterclockwise direction of H = 120 ° is G (green), the position of H = 240 ° is B (blue), and hue H Is defined in the range of 0 to 360 ° (2π). In the processing of the background region separation unit 232, when the RGB / HSV conversion circuit 232a converts RGB data into HSV data and uses the HSV hue H (color tone) as an index of separation, it is shown in FIG. Thus, it is expressed by an angle notation of 360 degrees per round. Saturation S is expressed as 0 to 1.0 in which ratio the position is arranged with respect to S = 1 of the outermost hexagon, and is shown as a contour line of a hexagon. In FIG. 6, hexagonal contour lines of S = 0.75, S = 0.5, S = 0.25 are sequentially shown with respect to S = 1 of the outermost hexagon, and the center is S = 0. Thus, the saturation S is obtained by the ratio of the size of the inner hexagon to the hexagon of the outer side S = 1 in FIG.

The HSV model defines the brightness V = I _max when the maximum luminance value of R, G, B is I _max and the minimum luminance value is I _min . When I _max is the maximum value of R:
Hue H = (60 ° × (GB) / (I _max −I _min )) × 255/360
It becomes. However, when H <0, H = H + 360 °. When I _max is the maximum value of G:
Hue H = (60 ° × ( _BR ) / (I _max −I _min ) + 120 °) × 255/360
It becomes. When I _max is the maximum value of B:
Hue H = (60 ° × (RG) / (I _max −I _min ) + 240 °) × 255/360
Therefore, in the case of R = 131, G = 255, and B = 127 shown in the upper left block of FIG. 7A, the hue H = 84 as shown in the upper left block of FIG. 7B. Become. In the case of R = G = 45 and B = 210 shown in the second block from the left in the upper part of FIG. 7A, the hue as shown in the second block from the left in the upper part of FIG. H = 170. In the case of R = 100 and G = B = 96 shown in the third block from the left in the upper part of FIG. 7A, as shown in the third block from the left in the upper part of FIG. 7B. The hue H = 0. The range of the hue H is 0 to 255.

Of the R, G, and B components, assuming that the maximum component is I _max and the minimum component is I _min ,
Saturation S = (I _max -I _min ) / I _max × 255
Therefore, when R = 131, G = 255, and B = 127 shown in the upper left block of FIG. 7A, the saturation S as shown in the upper left block of FIG. 7B. = 128. In the case of R = G = 45 and B = 210 shown in the second block from the left in the upper part of FIG. 7A, the color is changed as shown in the second block from the left in the upper part of FIG. Degree S = 200. When R = 100 and G = B = 96 shown in the third block from the left in the upper part of FIG. 7A, the saturation S = 10. The range of the saturation S is 0 to 255.

On the other hand, since it is the brightness V = I _max, in the case of R = 131, G = 255, B = 127 , shown in the upper left block of FIG. 7 (a), shown in the upper left of the block shown in FIG. 7 (b) Thus, the brightness V = 255. In the case of R = G = 45 and B = 210 shown in the second block from the left in the upper part of FIG. 7A, the brightness as shown in the second block from the left in the upper part of FIG. V = 210. Also, in the case of R = 100 and G = B = 96 shown in the third block from the left in the upper stage of FIG. 7A, the brightness V = 100, so the RGB / HSV conversion circuit 232a displays the RGB color. The space data is converted into HSV color space data.

  Theoretically, in the HSV color space, if the hue angle difference ΔH between the hue H of the background plate 15 and the hue H of the transport band 11 or the hue H of the imaging target 17 is 1 °, the imaging data receiving circuit 231 acquires it. The image data can be separated into a background area where the background plate 15 is imaged and a non-background area where the area other than the background area is imaged. However, since the input image contains a lot of noise from the quantization of the CCD camera used as the imaging device 22 and, in the case of a single-plate color camera, noise resulting from interpolation of the Bayer pattern of the CCD camera, the background plate The hue angle difference ΔH between the hue H of 15 and the conveyance band 11 or the imaging object 17 is preferably 30 ° or more. Since the hue H is defined between 0 to 360 °, the hue angle difference ΔH between the hue H of the background plate 15 and the hue H of the conveyance band 11 or the imaging object 17 is 30 ° <ΔH <330 °. preferable. In particular, the case where the hue angle difference ΔH = 180 ° is preferable because the difference between the hue H of the background plate 15 and the hue H of the transport belt 11 or the imaging object 17 becomes significant.

  On the other hand, when the imaging object 17 is a white or gray achromatic color, the hue H of the background plate 15 and the hue H of the transport band 11 are different from the hue H of the imaging object 17 by the hue angle difference ΔH. Cannot be defined because is not fixed. When the hue angle difference ΔH cannot be defined, the hue H may be in either direction, and the saturation may be selected so as to increase the saturation difference ΔS of the saturation S in the HSV color space.

  In the process of the background area separation unit 232, when attempting to erase the mesh pattern of the transport band 11 by the expansion process of the background area, it is necessary that the background area exists reliably from each gap. At this time, the boundary between the background region and the pattern of the transport band 11 is also affected by spatial discretization, and at least one pixel variation occurs from the top, bottom, left, and right. That is, as a worst case, two pixels may be crushed and imaged in the vertical and horizontal directions. In order for the background region to survive even if 2 pixels are crushed, it is necessary to configure the imaging optical system with a magnification having a width of 3 pixels or more.

  Furthermore, an unintended false background area may occur in the size of 1 pixel due to noise of the imaging device 22 in the imaging object 17 area. This is called spike noise or sesame salt noise. Since the false background area is not expanded, it can be erased by performing a reverse contraction process in advance. However, since the original background area is also deleted by 2 pixels in the vertical and horizontal directions, By adding these two pixels to the pixels, a gap in the mesh pattern of the transport band 11 is necessary so that a background area having a width of 5 pixels arranged in a one-dimensional direction can be formed.

The imaging object recognition means 234 includes a centroid position determination circuit 234a that determines the centroid position of the imaging object 17, a pixel number calculation circuit 234b that calculates the number of pixels, and a radius calculation circuit 234c that calculates the radius of the imaging object 17. As a logical internal structure.
The image processing device 23 further includes a light source control circuit 235 that controls the light source 21, an image pickup device control circuit 236 that controls the image pickup device 22, and a transport belt control device command circuit 237 that sends a command to the transport belt control device 13. And how far the image processing device 23 has executed the instruction to be executed stored in the program storage device 25 of FIG. 1, or the image processing device 23 stores the address on the program storage device 25 currently being executed. And a program counter 238. As shown in FIG. 2, the imaging data receiving circuit 231 as the hardware resources constituting the image processing device 23, the background region separating unit 232, the mesh erasing circuit 233, the imaging object recognizing unit 234, the light source control circuit 235, The imaging device control circuit 236, the transport band control device command circuit 237, and the program counter 238 are connected to each other via a data bus 239.

  In the configuration illustrated in FIG. 1, the imaging device 22 acquires an image in which the imaging target object 17, the transport band 11, and the background plate 15 are reflected. As shown in FIG. 4, the background plate 15 is reflected in the image from the gap of the mesh of the transport band 11. As shown in FIG. 4, the background plate 15 is seen as a large number of regions in a distributed topology, and there is a pattern of the transport band 11 so as to surround each of the dispersed regions of the background plate 15.

Since each of the dispersed regions of the background plate 15 is different in area and thickness from the lines constituting the pattern of the transport band 11, the mesh erasing circuit 233 uses the area of each region of the background plate 15 and the transport band 11. The pattern of the transport band 11 is erased using the difference in the topology such as the thickness of the lines constituting the pattern.
Further, the place where the background plate 15 cannot be seen is a foothold that the imaging object 17 exists. A binarized image divided into two parts of the imaging object 17 and the other area is acquired by the mesh elimination circuit 233, and the position and the size of the imaging object 17 are set to normal by the imaging object recognition means 234. The presence of the imaging target 17 can be recognized by calculating using an image processing technique.

  An imaging data receiving circuit 231 as a hardware resource constituting the image processing apparatus 23 shown in FIG. 2, a background region separation unit 232, a mesh elimination circuit 233, an imaging object recognition unit 234, a light source control circuit 235, and an imaging device control circuit 236. The transport band control device command circuit 237 and the like formally express hardware resources focusing on logical functions, and are necessarily present independently as physical areas on the semiconductor chip. Although it does not mean a functional block, it does not deny a configuration that actually exists such as a programmable logic component mounted on a semiconductor chip, such as a “logic block” of a PLD. When a part or all of the configuration of the image processing apparatus 23 is configured by a PLD such as an FPGA, the program counter 238, the data bus 239, etc. shown in FIG. 2 can be omitted.

  Although not shown in FIGS. 1 and 2, the image processing system according to the first embodiment includes an input device that receives input of data, commands, and the like from an operator, an output device that outputs classification results, and the like. May be further provided. The input device includes a keyboard, a mouse, a light pen, a flexible disk device, or the like. An image processing person can specify input / output data from the input device, and can set individual numerical values, tolerance values, and error levels necessary for image processing. Furthermore, it is possible to set analysis parameters such as the form of output data from the input device, and it is also possible to input an instruction to execute or stop the calculation. The output device and the display device 26 may be constituted by a printer device, a display device, or the like, respectively.

  According to the image processing system according to the first embodiment, the imaging object is so arranged that the positions of various imaging objects 17 such as fresh foods, processed foods, industrial products, and the like are close to the imaging device 22. When 17 is mounted on a mesh-shaped transport belt 11 that travels in the horizontal direction, even if a situation occurs in which the periodicity of the mesh pattern is disturbed by the weight of the imaging object 17, or as the imaging object 17 Even when water droplets from seafood, vegetables, etc. disturb the periodicity of the mesh pattern, the pattern of the transport band 11 can be erased and the position and size of the imaging object 17 can be accurately recognized.

(Image processing method)
The image processing method according to the first embodiment of the present invention will be described with reference to FIGS. 3 and 10 to 20. Note that the image processing method described below is an example, and various other image processing methods including this modification can be realized within the scope of the scope of the claims. Of course.

  (A) In step S10 of FIG. 3, the imaging data receiving circuit 231 of the image processing device 23 illustrated in FIG. 2 receives imaging data as illustrated in FIGS. 4 and 5 from the imaging device 22. In the exaggerated expression schematically shown by the rectangular pixels (pixels) expressed to be larger than the actual pixel size as shown in FIG. 5, for the sake of convenience, around a set (cluster) of 76 pixels indicating the imaging target 17. In addition, a pixel (pixel) indicating the mesh pattern of the transport band 11 and a pixel (pixel) indicating the background plate 15 surrounded by the mesh pattern are shown. In an actual CCD camera, for example, when the number of pixels is 200,000, the pixel size is about 5 μm × 7 μm, when the number of pixels is 2 million, the pixel size is about 4.4 μm × 4.4 μm, and when the number of pixels is 5 million, Since the size is about 3.5 μm × 3.5 μm, the unevenness due to the corners of the rectangular pixel as shown in FIG. 5 is not visually recognized, and in reality, an image with a smooth curve as illustrated in FIG. become.

  (B) In step S111 of step S11, it is determined whether the imaging data sent from the imaging device 22 is a color image. If it is determined in step S111 that the imaging data transmitted from the imaging device 22 is a color image, the process proceeds to step S112. In step S112, the RGB / HSV conversion circuit 232a of the background region separating unit 232 converts the pixel data in the RGB color space as shown in FIG. 7A into the data shown in FIG. 7B. Conversion to pixel data in the HSV color space.

In step S113, the background region binarization circuit 232b of the background region separation means 232 indicates the pixel data of the HSV color space as shown in FIG. 9A by the left-upward hatching in the lower left of FIG. The background area is binarized using the selected area as a threshold area. That is, FIG. 8 shows the HSV color space in the case of the background plate 15 having a color near blue. The hue H is defined as a range between the hue minimum value H _min and the hue maximum value H _max . Pixels whose saturation S is equal to or greater than the minimum saturation value S _min threshold and whose brightness V is equal to or greater than the threshold value of minimum brightness V _min are those in the background area with the pixel value M = 1, and other pixels are those other than the background with the pixel value M = 0. It is defined as a pixel indicating a region (non-background region). In FIG. 8, the value of the hue H indicated by 0 ° to 360 ° in FIG. 6 is encoded into an 8-bit value in which one round is 0 to 255. In FIG. 8, the value of the saturation S indicated by 0 to 1 in FIG. 6 is encoded into 8 bits from 0 to 255. In FIG. 8, since the V axis is perpendicular to the paper surface, the illustration is omitted.

  For example, in the case of the pixel of H = 84, S = 128, and V = 255 shown in the upper left block of FIG. 9A, it is located at the center of the vicinity of the line rising to the left in FIG. As shown in the upper left block of FIG. 9B, the pixel value M = 0. In the case of the pixels of H = 170, S = 200, and V = 210 shown in the second block from the left in the upper part of FIG. 9A, the pixels are hatched along the downward-sloping line in the blue direction in FIG. Since it is located inside the region, the pixel value M = 1 as shown in the second block from the left in the upper part of FIG. 9B. Further, in the case of the pixel of H = 0, S = 10, V = 100 shown in the third block from the left in the upper stage of FIG. 9A, it is located near the center of the horizontal line in the red direction in FIG. Therefore, the pixel value M = 0.

As described above, the background region binarization circuit 232b defines the range of the hue minimum value H _min and the hue maximum value H _max in the hue H in the HSV color space, and the saturation S is equal to or greater than the saturation minimum value S _min threshold. By defining pixels whose brightness V is equal to or greater than the threshold value of the minimum brightness value V _min as a background area with a pixel value M = 1, and other pixels as non-background areas with a pixel value M = 0, binarization is performed in the background area. can do. In step S113, the background region binarization circuit 232b performs binarization in the background region, whereby the pixels indicating the background plate 15 are encoded to “1” as shown in FIG. And a pixel indicating a region other than the background (non-background region) obtained by combining the mesh pattern of the transport band 11 with “0”.

  If it is determined in step S111 that the imaging data sent from the imaging device 22 is not a color image but the imaging data is a monochrome image, the process by the RGB / HSV conversion circuit 232a in step S112 is jumped to, In S113, the background region binarization circuit 232b encodes the pixel indicating the background plate 15 to “1” using the brightness difference, and combines the image of the imaging target 17 and the mesh pattern of the transport band 11 Pixels indicating regions other than (non-background region) are encoded to “0”.

  In this way, the process of step S112 and step S113 is executed in the case of a color image, and the process of step S113 is executed by jumping to step S112 in the case of a monochrome image. As a result, as the processing in step S11, the background region separating means 232 of the image processing device 23 separates the pixel region indicating the background plate 15 from the non-background region as shown in FIG. In FIG. 16, the pixel indicating the background plate 15 is encoded as “1”, and the pixel indicating the non-background area obtained by combining the image of the imaging target 17 and the mesh pattern of the transport band 11 is encoded as “0”. Has been.

(C) In step S12, as shown in FIG. 17 and FIG. 20, the mesh erasing circuit 233 of the image processing device 23 converts the pixel region indicating the background plate 15 separated by the background region separating means 232 into the transport band 11. The pixel indicating the mesh pattern of the transport band 11 is erased from the pixel region indicating the non-background region by performing the expansion process to be equal to or greater than the width of the mesh pattern.
For example, in FIG. 10A, the value of the pixel after the expansion process is determined from 9 pixels including the outside of the target pixel (x, y) = (6, 5) displayed on the upper left. The value after expansion processing at the position (x, y) = (6, 5) is the value of the nine pixels (x, y) = (5, 4) to (7, 6) shown in FIG. The function is determined from the value. In FIG. 10A, a pixel that is hatched to the left is encoded as “0”, and a white pixel is encoded as “1”. In the dilation process, if there is at least one “1” pixel in an area of nine pixels including the outside of the target pixel, the pixel value after the process is determined as “1”. On the other hand, if all nine pixels are “0” in the nine-pixel region including the outside of the target pixel, the pixel value after processing is determined to be “0”. A result obtained by scanning nine pixels in a frame surrounded by a thick solid line at the upper left in FIG. 10A and inspecting all the pixels is an image after the expansion processing shown in FIG.

  In FIG. 11, the pixel indicated by the left-upward hatching is a pixel encoded as “0”, and the white pixel is changed to “1” including the pixel that is newly “1” by the expansion process. Encoded pixels. In addition, the pixels indicated by hatching that rises to the right and has a small interval are pixels having a pixel value “1” in the image before the expansion process. Pixels indicated by hatching that rises to the right and that are sparsely spaced are also represented as pixels that are originally encoded as “1” that are outlined. Comparing FIG. 10 and FIG. 11, there is an effect that the area occupied by the pixels encoded with “1” shown in white is expanded after the expansion process compared to before the expansion process.

  On the other hand, also in the contraction process, the value of the pixel after the contraction process is determined from nine pixels including the outside of the target pixel. The pixel value determination method after the contraction process is an operation based on the inverse definition of the expansion process. In the contraction process, if even one pixel is “0” in the nine-pixel region including the outside of the target pixel, the pixel value after the process is determined as “0”. On the other hand, if all nine pixels are “1” in the nine-pixel region including the outside of the target pixel, the pixel value after processing is determined to be “1”. For example, as in the frame surrounded by the thick solid line at the upper left of FIG. 10A, the result of scanning all the 9 pixels and inspecting all 9 pixels is the image after the contraction process. According to the contraction process, the number of pixels whose pixel value is “1” before the process is increased by the contraction process, and as a result, the pixel value “1” is compared with that before the contraction process. "It brings about the effect that the pixel area was shrunk.

  Due to the noise of the CCD camera used as the imaging device 22, noise with a pixel value of “1” may be accidentally added to the binarized image. In FIG. 12A, the noise of the incidental pixel value “1” corresponding to two pixels in the set of 168 pixels having the pixel value “0” indicating the imaging object 17 at the upper left is shown. Assume that it exists. In FIG. 12A, the pixels indicated by the right-upward hatching are pixels indicating the mesh pattern of the carrier band 11 having a pixel value “0”, and the white pixels have a pixel value as a background portion of “ 1 "pixel.

  In a situation where there is a pixel that displays noise with an accidentally generated pixel value “1” as shown in FIG. 12A, if the expansion process is performed as it is, as shown in FIG. In addition, the pixel area displaying accidental noise is also enlarged. FIG. 13A shows a pixel region that displays noise whose pixel value is “1” that is expanded to a 3 × 3 region by expansion processing, with hatching that is leftward and sparsely spaced. It should be noted that the pixels indicating the mesh pattern of the transport band 11 indicated by the right-up hatching in FIG. 13A are assimilated with the pixels indicating the background portion by the expansion process.

When a dilation process is suddenly performed in a situation where there is a pixel displaying noise having a pixel value “1” as shown in FIG. 12A, the pixel value is “1” as shown in FIG. The area of the noise pixel also expands and unintentionally invades the area of the pixel whose pixel value indicating the imaging object 17 is “0”. Therefore, in order to remove the pixel displaying the noise having the pixel value “1” from the region of the pixel indicating the imaging target 17 having the pixel value “0”, the expansion process is performed as shown in FIG. Prior to this, the mesh erasure circuit 233 temporarily inserts a contraction process. By the shrinking process shown in FIG. 12B, the pixel area indicating the mesh pattern of the transport band 11 having a pixel value “0” that is left-up and sparsely spaced is thickened, and is a white rectangle. The region indicating the background portion having the pixel value “1” is also shrunk to some extent from the state shown in FIG. 12A, so that the background region that does not disappear by the contraction processing shown in FIG. A size is necessary. For example, as shown in FIGS. 14 and 15, the boundary when the mesh elimination circuit 233 binarizes may be deviated from the assumption due to fluctuation. FIG. 15 is a diagram in which only one dimension is taken out in the XV-XV direction (X direction) of FIG. On the left side of FIG. 15, five pixels corresponding to the 5 × 5 pixel region of FIG. 14 are shown, and on the right side, a pixel value indicating accidental noise indicated by one white rectangle in FIG. 14 is “ pixel P _N is the pixel 1 "is displayed.

FIG. 15A shows the intensity distribution of the saturation S as the original analog quantity, but binarization is performed even if a 5-pixel width is assumed by the fluctuation δ centered on the minimum value S _min of the saturation S. As a result, as indicated by Δ in FIG. 15B, a pixel having a pixel value of “1” that has a pixel value of “1” may have a width of 3 pixels.
Furthermore, after binarization, a contraction process is performed with the intention of eliminating noise, and even if pixels P _xd having a pixel value “1” are deleted one by one from the left and right, the pixel value is set to “0”. As shown in FIG. 15B, at the center of the background area as the core of _Pxr , at least one pixel having a pixel value of “1” needs to remain without disappearing. As shown in FIG. 15 (b), the deviation of the binarization demarcation fluctuation, left and right 2 pixels wide = 2.DELTA., More 2-pixel width = 2P _xd erased by pixel values in the left and right by the contraction processing "0" In order to keep one pixel with a pixel value of “1” as the minimum expansion pixel at the center, the pixel P _xr in the background area, as shown in FIG. 14 and FIG. An area of a pixel having a pixel value “1” corresponding to 5 pixels must be secured.

  When the mesh elimination circuit 233 performs the expansion process an appropriate number of times after the contraction process shown in FIG. 12 (b), the area of the pixel displaying the noise disappears, as shown in FIG. 13 (b). An area composed of a set of pixels having a pixel value “0” indicating the object 17 can be indicated. In the exaggerated expression schematically shown by the rectangular pixels in FIG. 17, a set of 49 pixels indicating the imaging target 17 is encoded at “0” in the upper left position. In FIG. 17, the pixels indicating the background plate 15 and the pixels indicating the mesh pattern of the transport band 11 are encoded as “1”.

  (D) In step S13, the imaging object recognition unit 234 of the image processing device 23 recognizes an image showing the imaging object 17, as exemplarily shown in FIGS. In the exaggerated expression schematically shown by the rectangular pixels in FIG. 19, each of the 49 pixels indicating the imaging target 17 is encoded by “0”, and the pixels indicating the background plate 15 and the carrier band 11 are illustrated. Each pixel indicating the mesh pattern is encoded as “1”.

  Specifically, in step S131, the center-of-gravity position determination circuit 234a of the imaging target object recognition unit 234 has the center of gravity in the X direction of the pixel area encoded by the pixel value “0” occupied by the pattern of the imaging target object 17. The position and the center of gravity position in the Y direction are determined. Further, in step S132, the pixel number calculation circuit 234b of the imaging object recognition unit 234 calculates the number of pixels in the pixel area occupied by the pixels encoded with the pixel value “0”. Further, in step S133, it is assumed that the radius calculation circuit 234c of the imaging object recognition unit 234 assumes that the entire pixel area occupied by the pixel encoded with the pixel value “0” is circular, The radius r of the object 17 is calculated.

  As described above, according to the image processing method according to the first embodiment, the positions of various imaging objects 17 such as fresh foods, processed foods, industrial products, and the like have an arrangement relationship close to the imaging device 22. Thus, when the imaging object 17 is mounted on the mesh-shaped transport belt 11 that travels in the horizontal direction, even if a situation occurs in which the periodicity of the mesh pattern is disturbed by the weight of the imaging object 17, or Even when water drops from seafood, vegetables, or the like as the imaging object 17 disturb the periodicity of the mesh pattern, the pattern of the transport band 11 is erased and the position and size of the imaging object 17 are accurately determined. Can be recognized.

  Assuming that m is an integer equal to or greater than 1 and the thickness of the mesh pattern of the metal mesh constituting the transport band 11 is m pixel width, the maximum thickness of the assumed mesh pattern of the transport band 11 is (m + 4) pixels. The pixel width. As shown in FIG. 15, the binarization boundary may deviate from the expected due to fluctuation δ. Even if the thickness of the mesh pattern is assumed to be m pixel widths, as a result of binarization, each pixel may spread outward by one pixel to a pixel width of (m + 2) pixels. Furthermore, when the background area shrinking process is performed for the purpose of eliminating noise, the mesh pattern of the transport band 11 is further expanded by two pixels, so the mesh pattern immediately before the expansion process has a maximum thickness (m + 4). The pixel width of the pixel is assumed.

On the other hand, the pixel area indicating the pattern of the imaging object 17 is enlarged by two pixels by one contraction process and reduced by the pixel width of (m + 4) pixels by the subsequent expansion process. Reduce pixel width. If d is an integer equal to or greater than 1 and there is a circular imaging object 17 having a diameter of d pixels, the diameter d is reduced to (d− (m + 2)) pixel width. If the allowable ratio of this size reduction is 5% or less,
(D- (m + 4)) / d> 0.95
And solving for the diameter d,
d> 20 (m + 2)
It becomes. In other words, the imaging object 17 having a diameter d smaller than 20 (m + 2) pixel width is not suitable for the image processing system according to the first embodiment. In order for the imaging target 17 to stably ride on the transport band 11, the pitch of the wire mesh of the transport band 11 is required to be at least 2 pitches relative to the size of the imaging target 17. If the pitch is 2 pitches or less, the imaging object 17 is dropped through the gap of the wire mesh, or is supported at one point, and the sense of stability is impaired. When the above condition is expressed by a mathematical expression, if k is an integer of 1 or more and the thickness of the background portion is k pixel width,
2 (m + k) <20 (m + 2)
And solving this, k <9m + 20
Is obtained. That is, this is the pixel width that is the upper limit of the size of the background portion.

(Image processing program)
The series of image processing operations shown in FIG. 9, FIG. 10, FIG. 15 and FIG. 16 are performed by the program for executing the algorithm equivalent to FIG. 9, FIG. Control and execute the system. This image processing program may be stored in the program storage device 25 shown in FIG. The image processing program is stored in a computer-readable recording medium, and the recording medium is read into the program storage device 25, thereby executing a series of image processing operations according to the first embodiment. Can do.

  Here, the “computer-readable recording medium” refers to a medium capable of recording various programs such as an external memory device of a microprocessor, a semiconductor memory, a magnetic disk, an optical disk, a magneto-optical disk, a magnetic tape, and the like. If it is okay. Specifically, a flexible disk, CD-ROM, MO disk, cassette tape, open reel tape, etc. are included in the “computer-readable recording medium”.

  That is, the image processing program according to the first embodiment includes (a) the imaging object 17 mounted on the upper surface of the mesh-shaped transport band 11, and the transport band 11 and the imaging object 17 below the transport band 11. , A background plate 15 having optical characteristics different in at least one of brightness, hue, and chromaticity is disposed, and an area including the entire view of the imaging object 17 is imaged with respect to the imaging device 22 disposed above the transport band 11. And (b) causing the image processing device 23 to erase the mesh pattern of the transport band 11 reflected around the imaging target object 17 from the image data output from the imaging device 22, and This is a computer software program that causes a computer system including the image processing apparatus 23 illustrated in FIG. 1 to execute a series of instructions including an instruction for calculating the position and size of the center of gravity of the object 17.

Here, the command for causing the image processing device 23 to delete the mesh pattern from the image data and calculating the position and size of the center of gravity of the imaging target 17 includes the following commands:
(A) A command for causing the imaging data receiving circuit 231 to acquire image data from the imaging device 22;
(B) A command for causing the background area separation means 232 to separate the acquired image data into two parts, a background area where the background plate 15 is imaged and a non-background area where the other area is imaged;
(C) A command for erasing the image of the transport band 11 from the non-background area by expanding the background area separated by the mesh erasing circuit 233 beyond the width of the mesh pattern of the transport band 11;
(D) Command for causing the imaging target object recognition means 234 to calculate the position and size of the center of gravity of the imaging target object 17 based on the binarized image of the imaging target object 17

  The computer system including the image processing device 23 of the image processing system according to the first embodiment can be configured to include, for example, a flexible disk device (flexible disk drive) and an optical disk device (optical disk drive) built in or externally connected. A flexible disk is inserted into the flexible disk drive, and a CD-ROM is inserted into the optical disk drive through the insertion slot, and a predetermined read operation is performed, so that an image processing program stored in these recording media is stored. It can be installed in the program storage device 25 constituting the image processing system. Furthermore, the image processing program can be stored in the program storage device 25 via an information processing network such as the Internet.

  As described above, according to the image processing program according to the first embodiment, the imaging object 17 travels in the horizontal direction so that the imaging object 17 has an arrangement relationship closer to the imaging device 22. In the case where the periodicity of the mesh pattern is disturbed due to the weight of the imaging object 17, the pattern of the transportation band 11 is erased and the position of the imaging object 17 is In addition, the computer system including the image processing apparatus 23 shown in FIG. 1 can be controlled and operated so that the size can be accurately recognized.

  Note that the processing equivalent to the series of instructions (a) to (d) above is performed when a signal is received by configuring a PLD such as an FPGA and connecting dedicated circuits according to the processing order. It can also be implemented by hardware processing in which the next circuit operates immediately. Alternatively, a CPU is incorporated in a PLD such as an FPGA, a part of the processing equivalent to the series of instructions (a) to (d) is performed by hardware processing, and the remaining part is performed by software processing by a program. You may comprise. The CPU incorporated in the FPGA may be a hard macro CPU embedded at the time of shipment, or a soft macro CPU may be made of logical blocks.

(Other embodiments)
As described above, the present invention has been described according to the first embodiment. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  In the description of the first embodiment already described, an example in which the RGB space is converted to the HSV space has been shown. However, the brightness is determined by the maximum and minimum averages of the R, G, and B values from the RGB space. You may convert into HSL space and you may convert from RGB space to HSI space which determines a brightness by the average of the value of R, G, B. Furthermore, the CMY space or the CMYK space may be converted into an HSL space in which brightness is determined by the maximum and minimum averages of C, M, and Y values.

  Furthermore, it is an example of the configuration of hardware resources of the image processing apparatus 23 shown in FIG. 2, and a part thereof may be configured with FPGA as shown in FIG. As shown in FIG. 21, the FPGA constituting a part of the image processing device 23 of the image processing system according to the first embodiment has imaging data connected to an input terminal I that acquires image data from the imaging device 22. A background that separates the image data acquired by the receiving circuit 231 and the imaging data receiving circuit 231 into two parts, a “background area” in which the background plate 15 is imaged and a “non-background area” in which the background area other than this is imaged. A mesh erasure that erases the image of the transport band 11 from the non-background area by expanding the area area separated by the area separation circuit 232GA and the background area separated by the background area separation circuit 232GA beyond the width of the mesh pattern of the transport band 11 Based on the binarized image of the imaging target 17 generated by the circuit 233 and the mesh elimination circuit 233, the imaging target recognition process for calculating the center of gravity position and the size of the imaging target 17 is performed. And 234GA, in accordance with the process connected to each other and connect the output side of the imaging object recognition circuit 234GA to the output terminal O of the image processing apparatus 23.

  The background area separation circuit 232GA is a logical block having a function equivalent to the background area separation means 232 shown in FIG. 2, and an RGB / HSV conversion circuit 232a for converting RGB color space data into HSV color space data; A background area binarization circuit 232b for binarizing the background area is included as a gate array constituting a logical block in accordance with the order of processing. Further, the imaging object recognition circuit 234GA is a logical block having a function equivalent to that of the imaging object recognition means 234 shown in FIG. 2, and calculates the number of pixels for calculating the number of pixels in the area occupied by the pattern of the imaging object 17. A circuit 234b, a center-of-gravity position determination circuit 234a for determining the center-of-gravity position of the imaging object 17 and a radius calculation circuit 234c for calculating the radius of the imaging object 17 are connected and included in the processing order as a gate array. .

  As shown in FIG. 21, as the FPGA, the imaging data receiving circuit 231, the background region separation circuit 232 GA, the mesh elimination circuit 233, and the imaging object recognition circuit 234 GA are individually designed to realize the required functions. The hardware circuit is configured on a semiconductor chip, and the imaging data receiving circuit 231, the background area separation circuit 232 GA, the mesh elimination circuit 233, and the imaging object recognition circuit 234 GA are connected in the order of processing. Since the operation is performed, hardware processing in which the next circuit operates as soon as a signal is received can be performed. As shown in FIG. 2, it is not necessary to specify the order of the functions of the imaging data reception circuit 231, the background region separation circuit 232GA, the mesh elimination circuit 233, and the imaging object recognition circuit 234GA by using the program counter 238. Therefore, the results executed by the imaging data receiving circuit 231, the background region separating circuit 232GA, and the mesh erasing circuit 233 are immediately output to the next circuit without being stored in the register, and necessary processing can be executed. Furthermore, the light source control circuit 235, the imaging device control circuit 236, the transport band control device command circuit 237, and the like shown in FIG.

  According to the image processing apparatus 23 of the image processing system according to the other embodiment as shown in FIG. 21, since the dedicated circuit can be freely configured by the FPGA, it is not necessary to mount a function that is not used. The chip can be miniaturized. In addition, it is possible to bring out unique features such as parallelizing only functions that require real-time performance and increasing the speed while other functions are also reduced in size. As shown in FIG. 21, since at least a part of the image processing apparatus 23 is configured by an FPGA, each process can be executed in parallel, so that no delay due to interruption occurs, which is advantageous for real-time processing.

  In the description of the first embodiment already described, the radius calculation circuit 234c shown in FIG. 2 or FIG. 21 is used, and the radius of the pixel area occupied by the imaging object 17 in step S133 of FIG. The shape of the imaging object is not only a circular object whose outer diameter can be approximated, but the size of the imaging object can be calculated even for an arbitrary shape such as a long object. be able to. For example, even if the imaging target has an arbitrary shape other than a circle, if a rectangle circumscribing the imaging target can be defined, the horizontal ferret diameter, which is the length of the side parallel to the X axis of the circumscribed rectangle, The outer dimension of the imaging object can be evaluated and the size of the imaging object can be calculated based on the vertical ferret diameter which is the length of the side parallel to the Y axis of the rectangle. By calculating the horizontal ferret diameter and the vertical ferret diameter, the size of the circumscribed rectangle of the object to be imaged can be obtained. Therefore, when the object to be imaged is the object to be processed, the operating range of the hand when grasping the object to be processed Can also be used as information for limiting the search range of image processing.

  Alternatively, if an “inertia equivalent ellipse” that is an equivalent ellipse that has the same area as the imaging object of interest and has a minimum second moment difference from the second moment around the imaging object can be defined, The outer dimension of the object to be imaged can be evaluated by obtaining the short axis length and the long axis length of each and outputting them numerically. Further, the external dimension of the imaging object may be evaluated by the ratio of the minor axis to the major axis of the inertia equivalent ellipse (= minor axis length / major axis length), and the subject to be imaged is determined by the inclination angle θ of the inertia equivalent ellipse. You may evaluate the external dimension of an object. The inclination angle θ of the inertial equivalent ellipse is an angle formed between the principal axis (major axis) of the inertial equivalent ellipse and the horizontal line. If the inclination angle θ of the inertial equivalent ellipse can be calculated, It is possible to know information about how much the workpiece is tilted when grasping the processing object.

  As described above, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

  In order to automatically process a processing object, the present invention mounts fresh products such as seafood such as scallops, mackerel, squid and vegetables, processed foods, and industrial products on a belt conveyor as processing objects. In the middle of the process of conveying the object to be processed, the background belt conveyor mesh pattern is erased to recognize the position and size of the object to be processed, and food using this image processing technique The present invention can be used in various technical fields related to food processing, etc. For example, food processing fields such as croquettes and meat grilling lines where the condition of baking is inspected on a conveyor, or machine parts with oil are placed on a wire mesh conveyor for continuous chemical cleaning. It can be used in the technical field as inspected above.

DESCRIPTION OF SYMBOLS 11 ... Conveyance band 13 ... Conveyance band control apparatus 15 ... Background board 17 ... Imaging target object 21 ... Light source 22 ... Imaging apparatus 23 ... Image processing apparatus 231 ... Imaging data receiving circuit 232 ... Background area separation means 232a ... HSV conversion circuit 232b ... Binarization circuit 233 ... Mesh elimination circuit 234 ... Imaging object recognition means 234a ... Center of gravity position determination circuit 234b ... Pixel number calculation circuit 234c ... Radius calculation circuit 235 ... Light source control circuit 236 ... Imaging device control circuit 237 ... Transport band control device Command circuit 238 ... Program counter 239 ... Data bus 25 ... Program storage device 26 ... Display device

Claims (11)

A mesh-shaped transport belt that transports the imaging object mounted on the upper surface;
A light source in the form of a rectangular frame, which is disposed above the transport band and illuminates the entire imaging range including the imaging target object with light having vectors in various directions;
An imaging device that is disposed above the transport zone and that captures an area including the entire view of the imaging object;
A background plate that is disposed below the transport band and exhibits optical characteristics in which at least one of brightness, hue, or chromaticity is different from the transport band and the imaging object due to the light from the light source ;
From the image data connected to the imaging device and output from the imaging device, the mesh pattern of the transport band reflected around the imaging object is erased, and the barycentric position of the imaging object and An image processing device for calculating the size;
An image processing system comprising: The image processing apparatus includes:
An imaging data receiving circuit for acquiring the image data from the imaging device;
From the image data acquired by the imaging data receiving circuit, a background area separating unit that separates into two of a background area in which the background board is imaged and a non-background area in which the area other than the background area is imaged;
A mesh erasing circuit for erasing the image of the transport band from the non-background area by expanding the background area separated by the background area separation means to a width greater than the width of the mesh pattern of the transport band;
Imaging object recognition means for calculating the position and size of the center of gravity of the imaging object based on the binarized image of the imaging object generated by the mesh elimination circuit;
The image processing system according to claim 1, further comprising: The image processing apparatus includes:
An imaging data receiving circuit for acquiring the image data from the imaging device;
From the image data acquired by the imaging data receiving circuit connected to the output terminal of the imaging data receiving circuit, the background area in which the background plate is imaged and the non-background area in which the area other than the background area is imaged With background area separation circuit to separate,
The background area connected to the output terminal of the background area separation circuit and separated by the background area separation circuit is expanded beyond the width of the mesh pattern of the conveyance band, so that the conveyance band from the non-background area A mesh erasing circuit for erasing the image of
An imaging object recognition circuit that is connected to the output terminal of the mesh elimination circuit and calculates the position and size of the center of gravity of the imaging object based on the binarized image of the imaging object generated by the mesh elimination circuit When,
The image processing system according to claim 1, further comprising: a programmable logic device provided as a dedicated circuit connected in accordance with a processing order of the image processing apparatus. 3. The image processing system according to claim 2 , wherein in the mesh erasing circuit , a shrinking process of the background area is inserted before the expanding process of the background area.   5. The number of pixels occupied by the area of the background plate imaged through the gap of the transport band in units of pixels of the imaging device is 5 pixels or more when measured in a one-dimensional direction. Image processing system. A mesh-shaped transport band that carries an imaging object mounted on the upper surface and transports it, and is arranged above the transport band so as to wrap the entire imaging range including the imaging object with light having vectors in various directions An image processing method using an image processing system including a light source that illuminates a rectangular frame,
Wherein said imaged object is mounted on the upper surface of the conveyor belt, the relative background plate disposed below the conveyor belt, by the light from the light source, and the conveyor belt and the imaged object, lightness, hue or at least one of chromaticity to express different optical properties, by the imaging device disposed above the conveyor belt, the method comprising imaging a region containing the full view of the imaged object,
Erasing the mesh pattern of the transport band reflected around the imaging object from the image data output from the imaging device, and calculating the gravity center position and size of the imaging object; ,
An image processing method comprising: The step of erasing the mesh pattern and calculating the position and size of the center of gravity of the imaging object include:
Obtaining the image data from the imaging device;
Separating from the acquired image data into two, a background area where the background plate is imaged and a non-background area where the area other than the background area is imaged;
Erasing the image of the transport band from the non-background area by expanding the separated background area to a width greater than the width of the mesh pattern of the transport band; and
Calculating a center of gravity position and a size of the imaging object based on the binarized image of the imaging object;
The image processing method according to claim 6, further comprising: The step of erasing the mesh pattern and calculating the position and size of the center of gravity of the imaging object include:
An imaging data receiving circuit that acquires the image data from the imaging device; and a background region that is connected to an output terminal of the imaging data receiving circuit and in which the background plate is imaged from the image data acquired by the imaging data receiving circuit; A background region separation circuit that separates the background region other than the background region into two non-background regions, and a background region that is connected to an output terminal of the background region separation circuit and separated by the background region separation circuit, A mesh erase circuit for erasing the image of the transport band from the non-background area by performing expansion processing to a width greater than the width of the mesh pattern of the transport band, and an output terminal of the mesh erase circuit. Based on the generated binarized image of the imaging object, the imaging object recognition circuit that calculates the gravity center position and the size of the imaging object, erases the mesh pattern, 7. A hardware process without using a program by a programmable logic device provided as a dedicated circuit connected in accordance with an order of processing up to a step of calculating a gravity center position and a size of an image object. An image processing method described in 1.   The image processing method according to claim 7, wherein a shrinking process of the background area is inserted before the expanding process of the background area.   10. The number of pixels occupied by the area of the background plate imaged through the gap of the transport band in units of pixels of the imaging device is 5 pixels or more when measured in a one-dimensional direction. Image processing method. A mesh-shaped transport band that carries an imaging object mounted on the upper surface and transports it, and is arranged above the transport band so as to wrap the entire imaging range including the imaging object with light having vectors in various directions An image processing program for causing an image processing apparatus used in an image processing system including a light source having a rectangular frame shape to execute a series of instructions,
Wherein said imaged object is mounted on the upper surface of the conveyor belt, the relative background plate disposed below the conveyor belt, by the light from the light source, and the conveyor belt and the imaged object, lightness, hue Or at least one of the chromaticities expresses different optical characteristics , and causes the imaging device disposed above the transport band to image an area including the entire view of the imaging object;
The image processing apparatus causes the pattern of the mesh of the transport band reflected around the imaging object to be erased from the image data output from the imaging apparatus, and the barycentric position and size of the imaging object An instruction to calculate
An image processing program causing a computer system including the image processing apparatus to execute a series of instructions including: