JP7087984B2 - Imaging system and setting device - Google Patents

Description

The present technology relates to an imaging system and a setting device.

Generally, in the field of a camera, an autofocus process is known in which a focus state is determined and an optical focus lens is moved so as to focus on a subject. For example, Japanese Patent Application Laid-Open No. 2018-8471 (Patent Document 1) discloses a focus adjusting device that limits the range in which the focus lens is moved when the autofocus process is executed to a limited range.

Japanese Unexamined Patent Publication No. 2018-8471

As disclosed in Patent Document 1, when the conditions for autofocus processing (hereinafter referred to as "AF processing conditions") such as the range in which the focus lens is moved are changed, the time required to execute the autofocus processing (hereinafter referred to as "AF processing conditions") is changed. "AF processing time") changes. The AF processing time greatly affects the time required to obtain an image of the subject. In particular, in a system in which a large number of products are sequentially imaged and inspected based on the images, it is necessary to shorten the inspection time as much as possible. Therefore, it is desirable to appropriately set the AF processing conditions while considering the AF processing time. However, the worker does not grasp the relationship between the AF processing condition and the AF processing time in detail. Therefore, the operator cannot understand how much the AF processing time changes when the AF processing conditions are changed.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an imaging system and a setting device capable of appropriately setting the conditions of the autofocus processing while considering the time required to execute the autofocus processing. It is to be.

According to one example of the present disclosure, the imaging system includes an imaging device whose focal position is variable within a predetermined range, autofocus processing means, and setting means. The autofocus processing means searches for an in-focus position that focuses on an object based on a change in the in-focus degree calculated from an image generated by an image pickup device when the focus position is changed. To execute. The setting means sets the processing conditions for the autofocus process according to the input information on the setting screen displayed on the display device. The setting means supports the input of input information by displaying the processing time required for the autofocus processing executed according to the processing conditions on the setting screen.

According to this disclosure, the processing time required for the autofocus processing is displayed on the setting screen. As a result, the operator can appropriately set the processing conditions while considering the processing time required for the autofocus processing.

In the above disclosure, the processing conditions are the exposure time of the image pickup apparatus, the search range of the in-focus position within a predetermined range, the change width of the focal position, the search direction of the focal position, and the image area for which the focus degree is calculated. Includes at least one of.

The processing time required for the autofocus processing varies depending on the exposure time, the search range, the change width of the focal position, the search direction, and the image area for which the focus degree is calculated. Therefore, according to this disclosure, at least one of these conditions can be set while considering the processing time required for the autofocus processing.

In the above disclosure, the autofocus process includes a first search process and a second search process. The first search process is a process of searching for a first focal position whose in-focus degree exceeds a threshold value while changing the focal position by the first change width. The second search process is a process of searching for the second focal position, which shows the maximum in-focus degree, as the in-focus position while changing the focal position from the first focal position by the second change width smaller than the first change width. be. The processing conditions include the first change width.

According to this disclosure, the first change width in the first search process can be appropriately set while considering the processing time required for the autofocus process.

In the above disclosure, the setting means displays a figure showing the relationship between the focal position and the degree of focus on the setting screen, and when the threshold is received as input information, the focus position in the figure continuously exceeds the threshold. The first change width is set based on the width of.

According to this disclosure, the operator can appropriately set the first change width while confirming the relationship between the threshold value and the figure showing the relationship between the focal position and the degree of focus.

In the above disclosure, in the first search process, when a plurality of sets of focal positions whose focal degree exceeds the threshold value are continuously searched, the first search process is designated from the upstream side of the plurality of sets in the search direction of the focal position. The process of selecting the focal position belonging to the set of numbers as the first focal position is included. The processing conditions include the search direction and the designated number.

According to this disclosure, the search direction and the designated number in the first search process can be appropriately set while considering the processing time required for the autofocus process.

In the above disclosure, the setting means displays a figure showing the relationship between the focal position and the degree of focus on the setting screen. The figure has multiple areas of focal position where the degree of focus exceeds the threshold. The setting means sets a designated number based on a designated area among a plurality of areas.

According to this disclosure, even when a plurality of sets of focal positions whose in-focus degree exceeds the threshold value are continuously searched, the operator can select a designated number according to the inspection target location while checking the figure. Can be set.

In the above disclosure, the relationship between the focal position and the degree of focus is acquired by a scanning process in which the focal position is changed by a second change width within a predetermined range. The imaging system further includes a calculation means for calculating the processing time based on the scanning time required for the scanning processing.

According to this disclosure, the processing time is calculated based on the scanning time required for the scanning processing. As a result, the processing time according to the actual situation can be displayed on the setting screen.

In the above disclosure, the processing condition includes an image area for which the degree of focus is calculated. The setting means displays the sample image captured by the image pickup device on the setting screen, receives the area information indicating the designated area on the sample image as input information, and based on the area information, the image to be calculated the focus degree. Set the area.

According to this disclosure, the operator can appropriately set the image area for which the in-focus degree is calculated according to the inspection target portion while checking the sample image.

According to an example of the present disclosure, the setting device used in the above-mentioned imaging system includes the above-mentioned setting means. Also with this disclosure, the operator can appropriately set the processing conditions while considering the processing time required for the autofocus processing.

According to the present invention, the conditions of the autofocus processing can be appropriately set while considering the time required to execute the autofocus processing.

It is a schematic diagram which shows one application example of the image pickup system which concerns on embodiment. It is a figure which shows an example of the internal structure of the image pickup apparatus provided in the image pickup system. It is a schematic diagram for demonstrating the search method of the in-focus position. It is a figure which shows an example of the structure of the lens module which the focal position is variable. It is a figure which shows another example of the structure of the lens module which the focal position is variable. It is a block diagram which shows an example of the hardware composition of the image processing apparatus which concerns on embodiment. It is a block diagram which shows the hardware composition of a setting apparatus. It is a figure explaining the search process of the 1st stage in the 2nd search method. It is a figure explaining an example of the search process of the 2nd stage in the 2nd search method. It is a figure explaining another example of the search process of the 2nd stage in the 2nd search method. It is a figure explaining the method of determining the starting point of the search process of the 2nd stage. It is a figure which shows an example of the plurality of focal positions searched by the search process of the 1st stage of the 4th search method. It is a figure which shows the image of the work W by the image pickup apparatus schematically. It is a figure which shows an example of the focusing degree waveform including a plurality of peaks. It is a figure explaining the setting method of the search direction and the designated number in the 4th search method. It is a figure which shows an example of the image which includes the image of a work W. It is a figure which shows an example of the setting screen corresponding to the 1st and 3rd search methods. It is a figure which shows an example of the setting screen corresponding to the 2nd and 4th search methods. It is a figure explaining the setting method of the change width Δf1 of a focal position. It is a figure which shows the relationship between the change width Δf1 and the minimum change width Δf0.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings. In the following description, the same parts and components are designated by the same reference numerals. Their names and functions are the same. Therefore, the detailed description of these will not be repeated.

§1 Application example First, an example of a situation in which the present invention is applied will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic diagram showing one application example of the imaging system according to the embodiment. FIG. 2 is a diagram showing an example of the internal configuration of an image pickup apparatus provided in an image pickup system.

As shown in FIG. 1, the imaging system 1 according to the present embodiment is realized as, for example, a visual inspection system. The image pickup system 1 takes an image of an inspection target portion of the work W placed on the stage 90 in, for example, a production line of an industrial product, and performs an appearance inspection of the inspection target portion using the obtained image. In the visual inspection, scratches, stains, the presence or absence of foreign matter, dimensions, etc. of the inspection target part are inspected.

When the visual inspection of the work W placed on the stage 90 is completed, the next work (not shown) is conveyed onto the stage 90. When the work W is imaged, the work W may be stationary in a predetermined posture at a predetermined position on the stage 90. Alternatively, the work W may be imaged while the work W moves on the stage 90.

As shown in FIG. 1, the image pickup system 1 includes an image pickup device 10, an image processing device 20, and a setting device 40 as basic components. In this embodiment, the imaging system 1 further includes a PLC (Programmable Logic Controller) 30.

The image pickup device 10 is connected to the image processing device 20. The image pickup apparatus 10 images a subject (work W) existing in the imaging field of view according to a command from the image processing apparatus 20, and generates image data including an image of the work W. The image pickup device 10 and the image processing device 20 may be integrated.

As shown in FIG. 2, the image pickup device 10 includes an illumination unit 11, a lens module 12, an image pickup element 13, an image pickup element control unit 14, a lens control unit 16, and registers 15 and 17, and a communication interface ( I / F) Part 18 is included.

The lighting unit 11 irradiates the work W with light. The light emitted from the illumination unit 11 is reflected on the surface of the work W and is incident on the lens module 12. The illumination unit 11 may be omitted.

The lens module 12 is an optical system for forming an image of light from the work W on the image pickup surface 13a of the image pickup element 13. The focal position of the lens module 12 is variable within a predetermined movable range. The focal position is the position of the point where the incident light ray parallel to the optical axis intersects the optical axis.

The lens module 12 includes a lens 12a, a lens group 12b, a lens 12c, a movable portion 12d, and a focus adjusting portion 12e. The lens 12a is a lens for changing the focal position of the lens module 12. The focus adjusting unit 12e controls the lens 12a to change the focal position of the lens module 12.

The lens group 12b is a lens group for changing the focal length. The zoom magnification is controlled by changing the focal length. The lens group 12b is installed in the movable portion 12d and moves along the optical axis direction. The lens 12c is a lens fixed at a predetermined position in the image pickup apparatus 10.

The image pickup device 13 is a photoelectric conversion element such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor, and generates an image signal by receiving light from the work W via the lens module 12.

The image sensor control unit 14 generates image data based on the image signal from the image sensor 13. At this time, the image sensor control unit 14 opens and closes the shutter for the exposure time according to the command stored in the register 15, and generates image data (hereinafter, simply referred to as “image”).

The lens control unit 16 adjusts the focus of the image pickup apparatus 10 according to the command stored in the register 17. Specifically, the lens control unit 16 controls the focus adjustment unit 12e so that the focus position of the lens module 12 becomes a position in response to a command. The focus adjusting unit 12e adjusts the focal position of the lens module 12 under the control of the lens control unit 16.

The lens control unit 16 may control the movable unit 12d to adjust the position of the lens group 12b so that the size of the region included in the imaging field of view of the work W is substantially constant. In other words, the lens control unit 16 can control the movable unit 12d so that the size of the region included in the imaging field of view of the work W is within a predetermined range. The lens control unit 16 may adjust the position of the lens group 12b according to the distance between the image pickup position and the work W. In this embodiment, the zoom adjustment is not essential.

The communication I / F unit 18 transmits / receives data to / from the image processing device 20. The communication I / F unit 18 receives an image pickup instruction from the image processing device 20. The communication I / F unit 18 transmits the image generated by the image sensor control unit 14 to the image processing device 20.

Returning to FIG. 1, the PLC 30 is connected to the image processing device 20 and controls the image processing device 20. For example, the PLC 30 outputs an inspection command to the image processing device 20 at the timing when the work W is placed on the stage 90.

The image processing device 20 acquires an image from the image pickup device 10 and performs image processing on the acquired image. The image processing device 20 includes a command generation unit 21, a focus calculation unit 22, a search unit 23, an inspection unit 24, a storage unit 230, and a communication unit 25.

The command generation unit 21 receives an inspection command from the PLC 30 and generates an image pickup command (imaging trigger) in the image pickup apparatus 10. At this time, the command generation unit 21 generates an image pickup command so as to take an image according to the AF processing condition indicated by the processing condition data stored in the storage unit 230. Specifically, the command generation unit 21 changes the focal position in the search range by the change width according to the AF processing conditions, and generates an imaging command so as to receive an image of each focal position from the imaging device 10. That is, the command generation unit 21 generates an imaging command that specifies the focal position corresponding to the starting point of the search range, and then sequentially generates an imaging command that specifies the focal position that is changed by the change width.

The command generation unit 21 may generate a movement command for moving the focal position of the lens module 12 to the starting point of the search range before generating an imaging command specifying the focal position corresponding to the starting point of the search range. .. In the image pickup apparatus 10 that has received the movement command, the lens control unit 16 moves the focal position of the lens module 12 to the starting point of the search range in accordance with the movement command. The move command is, for example, (1) at the time of switching the product type of the work W, (2) at the end of imaging the inspection image of the work W, (3) at the end of the inspection of the work W, and (4) at a predetermined position on the stage 90. It is generated when the next work W is conveyed (when the work is detected). However, it is preferable that the movement command is generated at the timings (1) and (2). Alternatively, it is preferable that the movement command is generated at the timings (1) and (3). As a result, the focal position of the lens module 12 can be moved to the starting point of the search range in parallel with the process of transporting the next work W to a predetermined position on the stage 90, and the inspection time for a plurality of work Ws is shortened. can.

The in-focus degree calculation unit 22 calculates the in-focus degree with respect to the image received from the image pickup apparatus 10. The degree of focus is a degree indicating how much the object is in focus, and is calculated by using various known methods. For example, the in-focus degree calculation unit 22 extracts a high-frequency component by applying a high-pass filter to the image, and calculates the integrated value of the extracted high-frequency component as the in-focus degree. Such a degree of focus indicates a value depending on the difference in brightness of the image.

The search unit 23 searches for a focusing position, which is a focal position for focusing on the inspection target portion of the work W. Specifically, the search unit 23 acquires the in-focus degree of the image corresponding to each focal position in the search range from the in-focus degree calculation unit 22. The search unit 23 determines the focal position at which the acquired in-focus degree peaks as the in-focus position. “Focusing” means that an image of an inspection target portion of the work W is formed on the image pickup surface 13a (see FIG. 2) of the image pickup element 13. The search unit 23 specifies an image when the focal position of the lens module 12 is the in-focus position as an inspection image.

The command generation unit 21, the in-focus degree calculation unit 22, and the search unit 23 cooperate with the lens control unit 16 of the image pickup device 10 to calculate from the image generated by the image pickup device 10 when the focal position is changed. Based on the change in the degree of focusing, the autofocus process for searching the focusing position to focus on the object is executed. The command generation unit 21, the focus degree calculation unit 22, and the search unit 23 execute processing according to the processing condition data 232 stored in the storage unit 230.

The inspection unit 24 inspects the work W based on the inspection image and outputs the inspection result. Specifically, the inspection unit 24 inspects the work W by performing image processing registered in advance on the inspection image. The inspection unit 24 may perform the inspection using a known technique.

The storage unit 230 stores various data, programs, and the like. Specifically, the storage unit 230 stores the processing condition data 232. The processing condition data 232 determines the in-focus position to be in focus on the work W based on the change in the in-focus degree calculated from the image generated by the image pickup apparatus 10 when the focal position of the lens module 12 is changed. The conditions for autofocus processing to be searched (AF processing conditions) are shown. The processing condition data 232 is generated by the setting device 40.

The communication unit 25 transmits / receives data to / from the image pickup device 10, the setting device 40, and the PLC 30. For example, the communication unit 25 transmits the inspection result by the inspection unit 24 to the PLC 30.

The setting device 40 sets AF processing conditions according to the input information on the setting screen. As shown in FIG. 1, the setting device 40 includes an input device 41, a display device 42, a condition setting unit 43, a time calculation unit 44, and a communication unit 45.

The input device 41 is composed of a keyboard, a mouse, or the like, and receives input information from an operator. The display device 42 is composed of a display, various indicators, and the like, and displays various information.

The condition setting unit 43 displays a setting screen for setting the AF processing condition on the display device 42, and sets the AF processing condition according to the input information on the setting screen.

The time calculation unit 44 calculates the time (AF processing time) required for the autofocus processing executed according to the AF processing conditions. The time calculation unit 44 may store the correlation information indicating the relationship between the AF processing conditions and the AF processing time in advance, and calculate the AF processing time based on the correlation information. The condition setting unit 43 supports the input of input information to the setting screen by displaying the AF processing time calculated by the time calculation unit 44 on the setting screen.

The communication unit 45 transmits / receives data to / from the image processing device 20. For example, the communication unit 45 transmits the processing condition data 232 indicating the AF processing conditions set by the condition setting unit 43 to the image processing device 20.

In this way, the condition setting unit 43 supports the input of input information by displaying the AF processing time on the setting screen. As a result, the operator can appropriately set the AF processing conditions while considering the AF processing time.

§2 Specific example <A. Lens module configuration example>
FIG. 3 is a schematic diagram for explaining a method of searching for a focus position. For simplicity of explanation, FIG. 3 shows only one lens of the lens module 12.

As shown in FIG. 3, the distance from the principal point O of the lens module 12 to the target surface (the surface of the inspection target portion in the work W) is a, and the distance from the principal point O of the lens module 12 to the imaging surface 13a is b. Let f be the distance (focal length) from the principal point O of the lens module 12 to the focal position (rear focal length) F of the lens module 12. When the image of the inspection target portion of the work W is connected at the position of the image pickup surface 13a, the following equation (1) is established.
1 / a + 1 / b = 1 / f ... (1)
That is, when the equation (1) holds, an image focused on the surface of the inspection target portion of the work W can be captured.

The distance between the image pickup surface 13a and the inspection target portion may change according to the individual difference in the height of the inspection target portion of the work W. Even when the distance between the image pickup surface 13a and the inspection target portion changes, the focal position F of the lens module 12 is adjusted in order to obtain an image focused on the inspection target portion. There are the following methods (A) and (B) as methods for adjusting the focal position F of the lens module 12.

The method (A) is a method of translating at least one lens (for example, the lens 12a) constituting the lens module 12 in the optical axis direction. According to the method (A), the principal point O of the lens module 12 moves in the optical axis direction, and the focal position F changes. As a result, the distance b changes. The focal position F corresponding to the distance b satisfying the equation (1) is searched for as the in-focus position.

The method (B) is a method of changing the refraction direction of at least one lens (for example, the lens 12a) constituting the lens module 12. According to the method (B), the focal position F changes as the focal length f of the lens module 12 changes. The focal length F corresponding to the focal length f satisfying the equation (1) is searched for as the in-focus position.

The configuration of the lens 12a for changing the focal position F of the lens module 12 is not particularly limited. An example of the configuration of the lens 12a will be described below.

FIG. 4 is a diagram showing an example of the configuration of the lens module 12 having a variable focal position. In the example shown in FIG. 4, the lens 12a constituting the lens module 12 is translated. However, at least one lens (at least one lens of the lens 12a, the lens group 12b, and the lens 12c) constituting the lens module 12 may be translated.

By using the lens 12a having the configuration shown in FIG. 4, the focal position F of the lens module 12 changes according to the above method (A). That is, in the configuration shown in FIG. 4, the focus adjusting unit 12e moves the lens 12a along the optical axis direction. By moving the position of the lens 12a, the focal position F of the lens module 12 changes. The movable range Ra that the focal position F can take corresponds to the movable range Rb of the lens 12a.

The lens control unit 16 changes the focal position F of the lens module 12 by controlling the amount of movement of the lens 12a. The lens 12a moves according to the driving amount of a motor (not shown). The minimum drive amount of the motor is predetermined by the performance of the motor and the like. Therefore, the minimum change width Δf0 of the focal position F of the lens module 12 is determined according to the minimum drive amount of the motor.

FIG. 4 shows an example of one lens 12a. Usually, the lens for focus adjustment is often composed of a plurality of sets of lenses. However, also in the assembled lens, the focal position F of the lens module 12 can be changed by controlling the amount of movement of at least one lens constituting the assembled lens.

FIG. 5 is a diagram showing another example of the configuration of the lens module 12 having a variable focal position. By using the lens 12a having the configuration shown in FIG. 5, the focal position F of the lens module 12 changes according to the above method (B).

The lens 12a shown in FIG. 5 is a liquid lens. The lens 12a includes a translucent container 80, electrodes 83a, 83b, 84a, 84b, insulators 85a, 85b, and insulating layers 86a, 86b.

The closed space in the translucent container 80 is filled with a conductive liquid 81 such as water and an insulating liquid 82 such as oil. The conductive liquid 81 and the insulating liquid 82 do not mix and have different refractive indexes from each other.

The electrodes 83a and 83b are fixed between the insulators 85a and 85b and the translucent container 80, respectively, and are located in the conductive liquid 81.

The electrodes 84a and 84b are arranged near the end of the interface between the conductive liquid 81 and the insulating liquid 82. An insulating layer 86a is interposed between the electrode 84a and the conductive liquid 81 and the insulating liquid 82. An insulating layer 86b is interposed between the electrode 84b and the conductive liquid 81 and the insulating liquid 82. The electrodes 84a and 84b are arranged at positions symmetrical with respect to the optical axis of the lens 12a.

In the configuration shown in FIG. 5, the focus adjusting unit 12e includes a voltage source 12e1 and a voltage source 12e2. The voltage source 12e1 applies a voltage Va between the electrode 84a and the electrode 83a. The voltage source 12e2 applies a voltage Vb between the electrode 84b and the electrode 83b.

When a voltage Va is applied between the electrode 84a and the electrode 83a, the conductive liquid 81 is pulled by the electrode 84a. Similarly, when a voltage Vb is applied between the electrode 84b and the electrode 83b, the conductive liquid 81 is pulled by the electrode 84b. As a result, the curvature of the interface between the conductive liquid 81 and the insulating liquid 82 changes. Since the refractive indexes of the conductive liquid 81 and the insulating liquid 82 are different, the focal position F of the lens module 12 changes due to the change in the curvature of the interface between the conductive liquid 81 and the insulating liquid 82.

The curvature of the interface between the conductive liquid 81 and the insulating liquid 82 depends on the magnitudes of the voltages Va and Vb. Therefore, the lens control unit 16 changes the focal position F of the lens module 12 by controlling the magnitudes of the voltages Va and Vb. The movable range Ra that the focal position F can take is determined by the voltage range that the voltages Va and Vb can take.

The minimum change width Δf0 of the focal position F of the lens module 12 is determined according to the minimum change width of the voltages Va and Vb.

Normally, the voltage Va and the voltage Vb are controlled to the same value. As a result, the interface between the conductive liquid 81 and the insulating liquid 82 changes symmetrically with respect to the optical axis. However, the voltage Va and the voltage Vb may be controlled to different values. As a result, the interface between the conductive liquid 81 and the insulating liquid 82 becomes asymmetric with respect to the optical axis, and the direction of the image pickup field of view of the image pickup apparatus 10 can be changed.

Further, a liquid lens and a solid lens may be combined. In this case, the focal position F of the lens module 12 is changed by using both the above method (A) and the method (B).

<B. Image processing device hardware configuration>
FIG. 6 is a block diagram showing an example of the hardware configuration of the image processing apparatus according to the embodiment. The image processing device 20 of the example shown in FIG. 6 includes a CPU (Central Processing Unit) 210 which is an arithmetic processing unit, a main memory 234 and a hard disk 236 as a storage unit 230 shown in FIG. 1, a camera interface 216, and an input interface. It includes a display controller 220, a PLC interface 222, a communication interface 224, and a data reader / writer 226. Each of these parts is connected to each other via bus 228 so as to be capable of data communication.

The CPU 210 expands the programs (codes) stored in the hard disk 236 to the main memory 234 and executes them in a predetermined order to perform various operations. The command generation unit 21, the focus calculation unit 22, the search unit 23, and the inspection unit 24 shown in FIG. 1 are realized by the CPU 210 executing the control program 238.

The main memory 234 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory), and in addition to a program read from the hard disk 236, image data and work acquired by the image pickup device 10 Holds data etc. Further, various setting values and the like may be stored in the hard disk 236. The storage unit 230 shown in FIG. 1 is composed of a main memory 234 and a hard disk 236. In addition to the hard disk 236, or instead of the hard disk 236, a semiconductor storage device such as a flash memory may be adopted.

The camera interface 216 mediates data transmission between the CPU 210 and the image pickup device 10. That is, the camera interface 216 is connected to an image pickup device 10 for capturing an image of the work W and generating image data. More specifically, the camera interface 216 includes an image buffer 216a for temporarily storing image data from the image pickup apparatus 10. Then, when the image data of a predetermined number of frames is accumulated in the image buffer 216a, the camera interface 216 transfers the accumulated data to the main memory 234. Further, the camera interface 216 sends an image pickup command to the image pickup apparatus 10 according to an internal command generated by the CPU 210.

The input interface 218 mediates data transmission between the CPU 210 and the input device 240. The display controller 220 is connected to the display device 250 and notifies the user of the result of processing in the CPU 210 and the like.

The PLC interface 222 mediates data transmission between the CPU 210 and the PLC 30. More specifically, the PLC interface 222 transmits a control command from the PLC 30 to the CPU 210.

The communication interface 224 mediates data transmission between the CPU 210 and the setting device 40. The communication interface 224 typically comprises Ethernet (registered trademark), USB (Universal Serial Bus), or the like. As will be described later, instead of installing the program stored in the memory card 206 in the image processing device 20, the program downloaded from the distribution server or the like is installed in the image processing device 20 via the communication interface 224. You may.

The communication unit 25 shown in FIG. 1 is realized by a camera interface 216, a PLC interface 222, and a communication interface 224.

The data reader / writer 226 mediates data transmission between the CPU 210 and the memory card 206, which is a recording medium. That is, the memory card 206 is distributed in a state in which a program or the like executed by the image processing device 20 is stored, and the data reader / writer 226 reads the program from the memory card 206. Further, the data reader / writer 226 writes the image data acquired by the image pickup apparatus 10 and / or the processing result in the image processing apparatus 20 to the memory card 206 in response to the internal command of the CPU 210. The memory card 206 is a general-purpose semiconductor storage device such as SD (Secure Digital), a magnetic storage medium such as a flexible disk, or an optical storage medium such as a CD-ROM (Compact Disk Read Only Memory). Etc.

<C. Hardware configuration of setting device>
FIG. 7 is a block diagram showing the hardware configuration of the setting device. With reference to FIG. 7, the setting device 40 has, as main components, a CPU (processor) 401 for executing a program, a ROM (Read Only Memory) 402 for storing data non-volatilely, and an execution of a program by the CPU 401. A RAM 403 that volatilely stores the generated data or data input via the input device 41, an HDD (Hard Disk Drive) 404 that stores the data non-volatilely, and an input device that receives the input information of the operator. 41, a display device 42, a drive device 408, and a communication IF 409 are included. The components are connected to each other by the data bus 410. The recording medium 430 is mounted on the drive device 408.

The processing in the setting device 40 is realized by each hardware and a program (including the setting program 420) executed by the CPU 401. Such a program is stored in the HDD 404 in advance. Alternatively, the program may be stored in the recording medium 430 and distributed as a program product. Alternatively, the program may be provided as a program product that can be downloaded by an information provider connected to the so-called Internet. Such a program is read from the recording medium 430 by the drive device 408 or other reading device, or downloaded via the communication IF 409, and then temporarily stored in the HDD 404. The program is read from the HDD 404 by the CPU 401 and stored in the RAM 403 in the form of an executable program. The CPU 401 executes the program.

The condition setting unit 43 and the time calculation unit 44 shown in FIG. 1 are realized by the CPU 401 executing the setting program 420.

The recording medium 430 is not limited to DVD-ROM, CD-ROM, FD (Flexible Disk), and hard disk, but also magnetic tape, cassette tape, optical disc (MO (Magnetic Optical Disc) / MD (Mini Disc) / DVD (Digital Versatile). Semiconductor memory such as Disc)), IC (Integrated Circuit) card (including memory card), optical card, mask ROM, EPROM (Electronically Programmable Read-Only Memory), EEPROM (Electronically Erasable Programmable Read-Only Memory), flash ROM, etc. It may be a medium that carries the program in a fixed manner such as. The recording medium 430 is a non-temporary medium in which a computer can read a program or the like.

<D. How to search for the in-focus position>
The in-focus position is searched using, for example, one of the following first to fourth search methods.

<D-1. First search method>
In the first search method, while changing the focal position of the lens module 12 within the set search range, the search ends when the focal position at which the in-focus degree is maximized is found, and the in-focus degree is maximized. This is a method of determining the focal position as the in-focus position. In the first search method, the focal position of the lens module 12 changes by a predetermined minimum change width Δf0.

Specifically, the command generation unit 21 sequentially generates an imaging command so that the focal position of the lens module 12 changes by the minimum change width Δf0 from one end to the other end of the search range. The search unit 23 sequentially calculates the difference between the in-focus degree at the previous focal position and the in-focus degree at the next focal position, and focuses the focal position at the time when this difference changes from positive to zero or negative. The in-focus position determination process for determining the position is executed.

In order to avoid malfunction due to noise, it is preferable that the search unit 23 executes the focusing position determination process when a predetermined condition is satisfied. The predetermined conditions are, for example, the condition that the degree of focus exceeds the reference value set according to the noise level, or the degree of focus at the previous focal position and the focus at the next focal position. The condition is that the difference from the degree is increasing multiple times in a row. Alternatively, the search unit 23 may search for the in-focus position where the in-focus degree is maximized by using the in-focus degree of three or more consecutive focal positions in the in-focus position determination process.

<D-2. Second search method>
A second search method will be described with reference to FIGS. 8 to 11. The second search method includes a two-step search process. FIG. 8 is a diagram illustrating a first-stage search process in the second search method. FIG. 9 is a diagram illustrating an example of a second-stage search process in the second search method. FIG. 10 is a diagram illustrating another example of the second-stage search process in the second search method. FIG. 11 is a diagram illustrating a method of determining the starting point of the second stage search process.

As shown in FIG. 8, in the first-stage search process, the degree of focus is predetermined while changing the focal position of the lens module 12 from one end F0 to the other end Fn of the search range by a change width Δf1. This is a process of searching for a focal position F1 that exceeds the threshold value Th. The change width Δf1 is N times the minimum change width Δf0 (N is an integer of 2 or more). The search process of the first stage ends when the focal position F1 whose in-focus degree exceeds the threshold value Th is found.

When the focal position F1 whose in-focus degree exceeds the threshold value is searched, the second stage search process is executed. In the second stage search process, the focus position is changed by the minimum change width Δf0 in the vicinity of the focus position F1 searched in the first stage search process, and the focus position where the degree of focus is maximized is set as the focus position. It is a process to search.

For example, as shown in FIG. 9, the focusing position where the degree of focusing is maximized is searched while changing the focusing position by the minimum change width Δf0 starting from the focal position F1. Specifically, first, the in-focus degree at the focal position F1 is compared with the in-focus degree at the focal position F2 in which the minimum change width Δf0 is changed from the focal position F1 to the direction D1. When the in-focus degree in the focal position F2 is larger than the in-focus degree in the focal position F1, the in-focus position where the in-focus degree is maximized is searched while changing the focal position along the direction D1. When the in-focus degree in the focal position F2 is smaller than the in-focus degree in the focal position F1, the in-focus position where the in-focus degree is maximized is searched while changing the focal position along the direction D2 opposite to the direction D1. To.

If the work W to be inspected is of the same type, the waveform showing the change in focus with respect to the change in focal position (hereinafter referred to as "focus waveform") is slightly different depending on the individual difference of the work W. Although it varies, it has almost the same shape. Therefore, the focus waveform corresponding to the reference work as a sample is acquired in advance, and the focal position that is the starting point of the second stage search process is determined in consideration of the shape of the peak in the focus waveform. You may. Specifically, the focal position as close to the peak peak as possible is determined as the starting point of the second stage search process. As a result, the time required for the second stage search process can be shortened.

For example, as shown in FIG. 10, a focal position F3 whose distance from the focal position F1 is Wd / 2 and whose degree of focus exceeds the threshold value Th is specified. Wd indicates the width of the range in which the in-focus degree continuously exceeds the threshold value Th in the in-focus degree waveform of the reference work. Specifically, it is determined whether or not the in-focus degree of the position changed from the focal position F1 to the direction D1 by Wd / 2 exceeds the threshold value Th. When the degree of focusing exceeds the threshold value Th, the focal position changed from the focal position F1 to the direction D1 by Wd / 2 is specified as the focal position F3. When the degree of focusing is equal to or less than the threshold value Th, the focal position changed from the focal position F1 to the opposite direction D2 of the direction D1 by Wd / 2 is specified as the focal position F3.

Next, as shown in FIG. 11, a value Sa obtained by subtracting the threshold value Th from the in-focus degree at the focal position F1 and a value Sb obtained by subtracting the threshold value Th from the in-focus degree at the focal position F3 are calculated. Then, the focal position F4, which is located between the focal position F1 and the focal position F3 and whose ratio of the distance from the focal position F1 to the distance from the focal position F3 is Sb: Sa, is the second stage search process. Determined as the starting point.

<D-3. Third search method>
The third search method includes a two-step search process. In the first-stage search process, the focal position of the lens module 12 is changed by a change width Δf1 from one end to the other end of the search range to acquire the focus degree of the entire search range, and the focus degree is maximized. This is the process of searching for the focal position.

In the second-stage search process, similarly to the second-stage search process of the second search method, the focal position is changed by the minimum change width Δf0 in the vicinity of the focal position searched in the first-stage search process. This is a process of searching for the focal position where the degree of focusing is maximized as the focusing position.

<D-4. Fourth search method>
The fourth search method includes a two-step search process. In the first-stage search process, the focal position of the lens module 12 is changed by a change width Δf1 from one end to the other end of the search range to acquire the focus degree of the entire search range, and the focus degree is predetermined. This is a process of searching for a focal position that exceeds the determined threshold Th. However, there are cases where a plurality of focal positions whose in-focus degree exceeds the threshold value Th are searched. In this case, the first-stage search process includes a process of selecting one focal position from a plurality of focal positions whose in-focus degree exceeds the threshold value Th.

FIG. 12 is a diagram showing an example of a plurality of focal positions whose in-focus degree exceeds the threshold value Th. In the example shown in FIG. 12, the focus waveform includes three peaks P1 to P3, and in the first-stage search process, the focal position groups G1 to G3 corresponding to the peaks P1 to P3 are searched. Each of the focal position groups G1 to G3 is a set of focal positions whose in-focus degree continuously exceeds the threshold value Th.

In the first-stage search process, the focal position having the highest focusing degree is selected from the focal positions belonging to the focal position group of the designated number (for example, the first focal position group G1) from the upstream side of the search direction D. Will be done.

In the second-stage search process, similarly to the second-stage search process of the second search method, the focal position is changed by the minimum change width Δf0 in the vicinity of the focal position searched in the first-stage search process. This is a process of searching for the focal position where the degree of focusing is maximized as the focusing position.

<E. Conditions for autofocus processing>
The AF processing condition set by the condition setting unit 43 of the setting device 40 includes at least one of the parameters described in the following E-1 to E-5. The AF processing time varies depending on the values of these parameters.

<E-1. Exposure time>
The exposure time is appropriately set so that the brightness of the inspection target portion of the work W in the image is within a range suitable for inspection. The shorter the exposure time, the shorter the AF processing time.

<E-2. Search range>
The search range is a range in which the in-focus position is searched in the movable range Ra (see FIGS. 4 and 5) that the focal position of the lens module 12 can take.

FIG. 13 is a diagram schematically showing the imaging of the work W by the imaging device. The work W of the example shown in FIG. 13 is a transparent body (glass or the like). Since it is a transparent work W, it can be focused on both the front surface and the back surface of the work W. Further, there is a possibility of focusing on the stage 90 which is the background of the work W. In such a case, when the focal position is changed over the entire range of movement Ra, the focus waveform includes a plurality of peaks.

FIG. 14 is a diagram showing an example of a focus waveform including a plurality of peaks. FIG. 14 shows a focus waveform including a plurality of peaks P1 to P3. When the peak P1 corresponds to the inspection target portion of the work W, if the focal position corresponding to the peak P2 or the peak P3 is searched for as the in-focus position, the inspection cannot be performed correctly.

In order to solve such a problem, the range Rc corresponding to the inspection target portion in the movable range Ra is set as the search range. The smaller the search range, the shorter the AF processing time.

<E-3. Focus position change width>
In the above-mentioned second to fourth search methods, the focal position is changed by the change width Δf1 in the first stage search process. By increasing the change width Δf1, the number of times of imaging in the image pickup apparatus 10 is reduced, so that the AF processing time is shortened. However, if the change width Δf1 is made too large, the peak corresponding to the inspection target portion may be overlooked. Therefore, the change width Δf1 is set according to the width of the peak corresponding to the inspection target location.

<E-4. Search direction for focus position>
In the above-mentioned first search method, the search for the in-focus position ends when the focal position where the in-focus degree becomes maximum is searched. The AF processing time is shortened by searching for the in-focus position along the search direction with one end of the search range on the side close to the focal position that focuses on the inspection target point as the starting point and the other end as the ending point. .. Therefore, the search direction is set according to the inspection target location.

Also in the second search method described above, the first-stage search process ends when the focal position whose in-focus degree exceeds the threshold value Th is searched. The first-stage search process is performed by searching for the in-focus position along the search direction with one end of the search range on the side close to the focal position that focuses on the inspection target point as the starting point and the other end as the ending point. The time required for this is shortened. Therefore, the search direction in the first stage search process is set according to the inspection target location.

In the above-mentioned third and fourth search methods, the entire search range is searched in the first-stage search process. However, in the second-stage search process, the in-focus position is searched in the vicinity of the focal position searched in the first-stage search process. That is, after the end of the first-stage search process, a transition process for returning the focal position to the start position of the second-stage search process (that is, the focal position searched by the first-stage search process) is required. The transition process is required because the first step of the search process is executed according to the search direction starting from the other end of the search range, with one end on the side close to the focal point that focuses on the inspection target point as the end point. The time is shortened. Therefore, the search direction in the first stage search process is set according to the inspection target location.

In the fourth search method, as described above, in the first-stage search process, the focal position having the highest degree of focus is selected from the focal positions belonging to the focal position group of the designated number from the upstream side in the search direction. Be selected. Therefore, the designated number is set together with the search direction.

FIG. 15 is a diagram illustrating a method of setting a search direction and a designated number in the fourth search method. In the example shown in FIG. 15, a focus waveform similar to that in FIG. 12 is shown. As the search direction, a direction D1 whose starting point is one end F0 of the search range and whose end point is the other end Fn, and a direction D2 whose end point is one end F0 and whose starting point is the other end Fn can be set. When the peak P1 is a peak corresponding to the inspection target location, it is preferable to set the direction D2 having one end F0 near the peak P1 as the search direction. This shortens the time required for the migration process. When the direction D2 is set as the search direction, the peak P1 is searched as the third focal position group. Therefore, the designated number "3" is set.

<E-5. Image area for which the degree of focus is calculated>
FIG. 16 is a diagram showing an example of an image including an image of the work W. In the example shown in FIG. 16, the image 50 also includes an image of the background around the work W. In this case, an image focused on the background portion may be acquired. Therefore, it is preferable to set the partial region A1 including the image of the work W in the image 50 as an image region (hereinafter, referred to as “focus degree calculation region”) for which the focus degree is calculated. This makes it possible to reduce the possibility of acquiring an image in focus on the background portion.

The in-focus degree indicates a value depending on the difference in brightness in the in-focus degree calculation area. Therefore, the degree of focusing is high in the printed text portion. When the height of the text portion and the inspection target portion are the same, by setting the partial region A2 including the text portion as the in-focus degree calculation region, it becomes easy to obtain an image in focus on the inspection target portion.

When the in-focus degree calculation area is set, the in-focus degree calculation unit 22 calculates the in-focus degree based on the in-focus degree calculation area. The time required to calculate the in-focus degree varies depending on the size of the in-focus degree calculation area. That is, the smaller the size of the in-focus degree calculation area, the shorter the time required for calculating the in-focus degree, and the shorter the AF processing time.

<F. How to set processing conditions>
Next, a method of setting the AF processing condition by the condition setting unit 43 will be described. The condition setting unit 43 sets AF processing conditions according to the input information on the setting screen displayed on the display device 42. The condition setting unit 43 supports the input of input information by displaying the AF processing time calculated by the time calculation unit 44 on the setting screen.

As described above, if the work W to be inspected is of the same type, the focus waveform has substantially the same shape, although it slightly varies depending on the individual difference of the work W. Therefore, the worker installs the reference work W0 as a sample on the stage 90 in advance. Then, the condition setting unit 43 supports the input of the input information by acquiring the in-focus degree waveform corresponding to the reference work W0 and displaying the in-focus degree waveform.

<F-1. Example of setting screen corresponding to the first and third search methods>
FIG. 17 is a diagram showing an example of a setting screen corresponding to the first and third search methods. The setting screen 60 of the example shown in FIG. 17 is displayed on the display device 42 by the condition setting unit 43. The setting screen 60 includes a waveform reading button 61, a waveform display area 62, a peak selection field 64, an image display area 65, knobs 68 and 69, an exposure time input field 71, a change width input field 72, and a time. A display field 73, an OK button 74, and a cancel button 75 are included.

The waveform reading button 61 is a button for executing a process of reading a focus waveform corresponding to the reference work W0 (hereinafter, referred to as “scan process””.

When the waveform reading button 61 is pressed, the condition setting unit 43 outputs a scan process execution instruction (hereinafter referred to as “scan instruction”) to the image processing device 20. At this time, the condition setting unit 43 inputs the area information indicating the size and position / orientation of the image area (focus degree calculation area) surrounded by the frame line 67 displayed in the image display area 65 and the exposure time input field 71. The exposure time information indicating the exposure time is added to the scan instruction. At the time of startup, the frame line 67 is displayed so as to surround the entire image, and a default value is input in the exposure time input field.

In the image processing device 20 that has received the scan instruction, the command generation unit 21 changes the focal position by the minimum change width Δf0 over the entire range of Ra, and orders the image to receive an image of each focal position from the image pickup device 10. To generate. That is, the command generation unit 21 sequentially generates an imaging command that specifies the focal position corresponding to one end of the movable range Ra, and then sequentially generates an imaging command that specifies the focal position that is changed by the minimum change width Δf0. At this time, the command generation unit 21 generates an image pickup command so as to take an image only for the exposure time indicated by the exposure time information. As a result, the image processing device 20 acquires an image of each focal position in the entire range of the movable range Ra from the image pickup device 10. The in-focus degree calculation unit 22 of the image processing device 20 calculates the in-focus degree of the in-focus degree calculation region indicated by the area information for the image of each focal position. The image processing device 20 outputs to the setting device 40 a scan result in which the focal position and the degree of focus are associated with each of the plurality of focal positions at the minimum change width Δf0 interval in the entire range of the movable range Ra.

In the waveform display area 62, the focus waveform 63 corresponding to the reference work W0 is displayed. The focus waveform 63 is represented by a line graph. The condition setting unit 43 generates an in-focus degree waveform 63 based on the scan result received from the image processing device 20, and displays the generated in-focus degree waveform 63 in the waveform display area 62.

The peak selection field 64 is an input field for selecting a peak corresponding to the inspection target portion of the reference work W0. The condition setting unit 43 extracts a focal position (hereinafter, referred to as “peak position”) that is the peak of the focus waveform 63. For example, the condition setting unit 43 extracts the focal position where the degree of focus exceeds the reference value and the degree of focus is maximum as the peak position. The condition setting unit 43 displays a symbol indicating the extracted peak position in the waveform display area 62. In the example shown in FIG. 17, three symbols "(1)", "(2)" and "(3)" corresponding to the three peak positions are displayed. In the peak selection field 64, a symbol corresponding to one selected peak position among the three extracted peak positions is input.

When the peak position is input to the peak selection field 64, the condition setting unit 43 outputs an image pickup instruction to the image processing device 20. At this time, the condition setting unit 43 adds the peak position input to the peak selection field 64 to the imaging instruction.

In the image processing device 20 that has received the image pickup instruction, the command generation unit 21 adjusts the focal position to the peak position and generates an image pickup command for image pickup. The image pickup apparatus 10 outputs an image (hereinafter referred to as “sample image”) obtained by imaging the reference work W0 to the image processing apparatus 20. As a result, the image processing device 20 acquires a sample image when the focal position is adjusted to the peak position from the image pickup device 10. The image processing device 20 outputs the image to the setting device 40.

The image display area 65 is an area for displaying the sample image 66 obtained by the image pickup of the image pickup apparatus 10. The condition setting unit 43 displays the sample image 66 received from the image processing device 20 in the image display area 65 in response to the input of the peak position to the peak selection field 64. As a result, the operator can input the focal position when focusing on the inspection target portion of the reference work W0 as the peak position in the peak selection field 64 by checking the sample image 66 displayed in the image display area 65. ..

In the image display area 65, a frame line 67 for setting the focus degree calculation area is displayed. The operator sets the size and position / posture of the in-focus degree calculation area by changing the size and position / posture of the frame line 67. When the size and position / orientation of the frame line 67 are changed, the condition setting unit 43 sets a message to the effect that the waveform reading button 61 needs to be pressed in order to reflect the change in the in-focus degree calculation area. Display at 60.

For example, the operator changes the size and position / posture of the frame line 67 so as to surround the area including the inspection target portion in the reference work W0 and having a high contrast portion. In the example shown in FIG. 17, the size and position / orientation of the border 67 are changed so as to surround the text printed on the surface. In addition to the text printed on the surface, the high-contrast portion includes an edge portion, a portion to which parts such as screws are attached, and the like.

In the example shown in FIG. 17, a rectangular frame line 67 is shown, but the shape of the frame line 67 (that is, the shape of the in-focus degree calculation region) is not limited to this. For example, the focus calculation region may be circular or any free shape capable of forming the region. Further, the focus calculation region does not have to be limited to a single region, and may be a plurality of regions that exist in a dispersed manner.

The knobs 68 and 69 are knobs for setting the search range of the in-focus position. In the waveform display area 62, a dotted line 68a corresponding to a focal position at one end of the search range and a dotted line 69a corresponding to the focal position at the other end of the search range are displayed. The operator can change the position of the dotted line 68a (that is, one end of the search range) by moving the knob 68. Further, the operator can change the position of the dotted line 69a (that is, the other end of the search range) by moving the knob 69. The condition setting unit 43 sets the range from the dotted line 68a to the dotted line 69a as the search range.

The radio buttons 70a and 70b are buttons for setting the search direction of the focal position. When the radio button 70a is pressed, the condition setting unit 43 sets the direction from the focal position of the dotted line 68a toward the focal position of the dotted line 69a as the search direction. When the radio button 70b is operated, the condition setting unit 43 sets the direction from the focal position of the dotted line 69a to the focal position of the dotted line 68a as the search direction.

The exposure time input field 71 is an input field for setting the exposure time. While checking the sample image 66 displayed in the image display area 65, the operator inputs the exposure time so that the brightness of the sample image 66 is within a range suitable for inspection. At startup, a default value is input in the exposure time input field 71. When the exposure time is changed, the condition setting unit 43 displays a message on the setting screen 60 that the waveform reading button 61 needs to be pressed in order to reflect the change in the exposure time.

The change width input field 72 is a field for inputting the change width Δf1 of the focal position in the first stage search process of the third search method. The condition setting unit 43 sets the change width Δf1 based on the value input in the change width input field 72. In the change width input field 72, for example, a multiple N with respect to the minimum change width Δf0 is input. In this case, the condition setting unit 43 sets N times the minimum change width Δf0 as the change width Δf1. When the in-focus position is searched according to the first search method, the change width input field 72 is omitted from the setting screen 60.

The time display column 73 is a column for displaying the AF processing time corresponding to the AF processing condition currently set. The AF processing time displayed in the time display field 73 is calculated by the time calculation unit 44. The AF processing time in the time display field 73 is updated each time an input is received for the frame line 67, the knobs 68, 69, the radio buttons 70a, 70b, the exposure time input field 71, and the change width input field 72.

The OK button 74 is a button for registering the AF processing conditions currently set in the image processing device 20. When the OK button 74 is pressed, the condition setting unit 43 generates the processing condition data 232 indicating the AF processing condition based on the input information on the setting screen 60. The processing condition data 232 indicates the exposure time, the search range, the change width Δf1 (limited to the third search method) in the first-stage search process, the search direction, and the size and position / orientation of the focus calculation region. The condition setting unit 43 outputs the generated processing condition data 232 to the image processing device 20. The image processing device 20 stores the processing condition data 232 received from the setting device 40 in the storage unit 230.

The cancel button 75 is a button for canceling the AF processing condition setting process. When the cancel button 75 is operated, the condition setting unit 43 closes the setting screen 60 and cancels the AF processing condition setting process.

<F-2. Setting screen example corresponding to the second and fourth search methods>
FIG. 18 is a diagram showing an example of a setting screen corresponding to the second and fourth search methods. The setting screen 60a of the example shown in FIG. 18 is different from the setting screen 60 of the example shown in FIG. 17 only in that the knob 76 is included instead of the change width input field 72.

The knob 76 is a knob for setting the threshold value Th in the second and fourth search methods. A straight line 76a indicating the threshold value Th is displayed in the waveform display area 62. The operator can change the position of the straight line 76a (that is, the threshold value Th) by moving the knob 76 up and down.

The condition setting unit 43 sets the threshold value Th according to the position of the straight line 76a, and sets the change width Δf1 of the focal position in the first stage search process.

FIG. 19 is a diagram illustrating a method of setting the change width Δf1 of the focal position. As shown in FIG. 19, the condition setting unit 43 continuously identifies an area of the focal position where the in-focus degree exceeds the threshold value Th in the in-focus degree waveform 63. In the example shown in FIG. 19, the focus waveform 63 has three areas R1 to R3 of focal positions where the focus exceeds the threshold Th. Areas R1 to R3 correspond to peaks P1 to P3, respectively. The condition setting unit 43 calculates the widths d1 to d3 of the areas R1 to R3, respectively. The condition setting unit 43 sets the minimum width (for example, the width d2) of all the calculated widths d1 to d3 or the width smaller than the minimum width by a predetermined value as the change width Δf1. As a result, by changing the focal position by the change width Δf1, the in-focus degree exceeds the threshold value Th at at least one focal position in each of the areas R1 to R3. As a result, it is possible to prevent the peaks P1 to P3 from being overlooked in the first stage search process.

In the fourth search method, as described above, in the second stage search process, the focal position having the highest degree of focus is among the focal positions belonging to the focal position group of the designated number from the upstream side of the search direction D. Is selected (see FIG. 12). When the in-focus position is searched according to the fourth search method, the condition setting unit 43 sets the search direction and the designated number according to the pressing of the radio buttons 70a and 70b and the input to the peak selection field 64. Can also be set.

For example, in the example shown in FIG. 18, the radio button 70a for selecting the search direction from the focal position of the dotted line 68a toward the focal position of the dotted line 69a is pressed, and the symbol "corresponding to the peak position closest to the dotted line 68a". (1) ”is entered in the peak selection field 64. In other words, of the areas R1 to R3 shown in FIG. 19, the area R1 is designated. Therefore, the condition setting unit 43 sets the designated number “1”.

When the OK button 74 is pressed, the condition setting unit 43 sets the exposure time, the search range, the change width Δf1 in the first stage search process, the search direction, the threshold value Th, the designated number, and the focus degree based on the input information. The processing condition data 232 indicating the size and position / orientation of the calculation area is generated.

<G. Processing time calculation method>
Next, a method of calculating the AF processing time by the time calculation unit 44 will be described.

<G-1. AF processing time calculation method according to the first search method>
The search for the in-focus position is performed by repeating an imaging process at one focal position, an in-focus degree calculation process for calculating the in-focus degree from an image obtained by imaging, and an adjustment process for adjusting the lens module 12 to the next focal position. Is executed by. Therefore, the time calculation unit 44 determines the time T calculated according to the following equation (2) as the AF processing time. In the formula (2), the imaging time is the time required for one imaging process. The image processing time is the time required for one focusing degree calculation process. The adjustment time is the time required for one adjustment process.

The image pickup time is the sum of the exposure time and the time for transferring an image from the image pickup device 10 to the image processing device 20 (hereinafter referred to as "image transfer time"). The image transfer time is confirmed in advance by an experiment or the like. The time calculation unit 44 stores the image transfer time confirmed in advance, and calculates the imaging time by adding the exposure time input in the exposure time input field 71 to the image transfer time.

The image processing time is proportional to the number of pixels included in the focus calculation area. The time required to calculate the in-focus degree from the image region having the reference pixel number (hereinafter, “reference calculation time”) is confirmed in advance by an experiment or the like. The time calculation unit 44 stores the reference calculation time confirmed in advance, and calculates the image processing time by multiplying the reference calculation time by the ratio of the number of pixels included in the in-focus degree calculation area to the reference pixel number. do.

The adjustment time is proportional to the change width of the focal position. The time required to change the focal position by the minimum change width Δf0 (hereinafter referred to as “reference movement time”) is confirmed in advance by an experiment or the like. The time calculation unit 44 sets the reference movement time confirmed in advance as the adjustment time.

The number of times n to change the focal position depends on the search range. The time calculation unit 44 calculates the number of times n by dividing the distance from the dotted line 68a to the dotted line 69a in the setting screen by the minimum change width Δf0.

The time calculation unit 44 calculates the time T by substituting the imaging time, the image processing time, the adjustment time, and the number of times n calculated as described above into the above equation (1), and the calculated time T is AF processed. Determined as time.

<G-2. Calculation method of processing time according to the second search method>
In the second search method, the first-stage search process and the second-stage search process are performed. Therefore, the time calculation unit 44 calculates the sum of the time required for the first-stage search process and the time required for the second-stage search process as the AF processing time.

The time calculation unit 44 may calculate each of the time required for the first-stage search process and the time required for the second-stage search process using the above equation (1).

The time required for the first stage search process is calculated as follows. In the first stage search process, the focal position changes by the change width Δf1.

FIG. 20 is a diagram showing the relationship between the change width Δf1 and the minimum change width Δf0. The change width Δf1 is N times the minimum change width Δf0 (N is a positive integer). In the example shown in FIG. 20, N is 3. The time calculation unit 44 calculates the adjustment time by multiplying the reference movement time by N.

Further, the time calculation unit 44 divides the distance from the focal position, which is the starting point of the search range, to the focal position where the in-focus degree first exceeds the threshold Th by the change width Δf1 based on the in-focus degree waveform 63. Calculated as the number of times n. When the radio button 70a is pressed, the time calculation unit 44 specifies the position corresponding to the dotted line 68a displayed in the waveform display area 62 as the starting point of the search range. When the radio button 70b is pressed, the time calculation unit 44 specifies the position corresponding to the dotted line 69a displayed in the waveform display area 62 as the starting point of the search range. Further, in the focusing degree waveform 63, the time calculation unit 44 sets the focal position where the focusing degree first exceeds the threshold value Th when the change width Δf1 is changed in the search direction from the starting point of the search range (hereinafter, “1 step”). The search position of the eye ") is specified. The time calculation unit 44 calculates the number of times n based on these specified focal positions.

The imaging time and image processing time in the first stage search processing are <G-1. Calculation method of processing time according to the first search method> Calculated by the method described in.

The time calculation unit 44 calculates the time T by substituting the imaging time, the image processing time, the adjustment time, and the number of times n calculated as described above into the above equation (2), and the calculated time T is set in one step. It is determined as the time required for the eye search process.

The time required for the second stage search process is calculated as follows. That is, the time calculation unit 44 calculates the value obtained by dividing the distance from the search position in the first stage to the peak position input in the peak selection field 64 by the minimum change width Δf0 as the number of times n.

The imaging time, image processing time, and adjustment time in the second stage search processing are <G-1. Calculation method of processing time according to the first search method> Calculated by the method described in.

The time calculation unit 44 calculates the time T by substituting the imaging time, the image processing time, the adjustment time, and the number of times n calculated as described above into the above equation (2), and the calculated time T is set in two steps. It is determined as the time required for the eye search process.

<G-3. Calculation method of processing time according to the third search method>
Also in the third search method, the first-stage search process and the second-stage search process are performed. Further, in the third search method, a transition process for moving the focal position is required between the transition from the first-stage search process to the second-stage search process. Therefore, the time calculation unit 44 calculates the sum of the time required for the first stage search processing, the time required for the second stage search processing, and the time required for the transition processing as the AF processing time.

The time calculation unit 44 may calculate each of the time required for the first-stage search process and the time required for the second-stage search process using the above equation (2).

The time required for the first stage search process is calculated as follows. In the first stage search process, the focal position changes by the change width Δf1. The change width Δf1 is N times the minimum change width Δf0. The time calculation unit 44 calculates the adjustment time by multiplying the reference movement time by N.

Further, the time calculation unit 44 calculates the value obtained by dividing the distance (that is, the width of the search range) from the focal position corresponding to the dotted line 68a to the focal position corresponding to the dotted line 69a by the change width Δf1 as the number of times n.

The imaging time and image processing time in the first stage search processing are <G-1. Calculation method of processing time according to the first search method> Calculated by the method described in.

The time calculation unit 44 calculates the time T by substituting the imaging time, the image processing time, the adjustment time, and the number of times n calculated as described above into the above equation (2), and the calculated time T is set in one step. It is determined as the time required for the eye search process.

The time required for the second stage search process is calculated as follows. That is, the time calculation unit 44 sets the focal position (first stage search position) at which the focus degree is maximum when the change width Δf1 is changed in the search direction from the starting point of the search range in the focus degree waveform 63. Identify. The time calculation unit 44 calculates the value obtained by dividing the distance from the search position in the first stage to the peak position input in the peak selection field 64 by the minimum change width Δf0 as the number of times n.

The imaging time, image processing time, and adjustment time in the second stage search processing are <G-1. Calculation method of processing time according to the first search method> Calculated by the method described in.

The time calculation unit 44 calculates the time T by substituting the imaging time, the image processing time, the adjustment time, and the number of times n calculated as described above into the above equation (2), and the calculated time T is set in two steps. It is determined as the time required for the eye search process.

The time required for the migration process is calculated as follows. That is, the time calculation unit 44 calculates the value K obtained by dividing the distance from the end point of the search range to the search position of the first stage by the minimum change width Δf0. The time calculation unit 44 calculates the time required for the transition process by multiplying the reference travel time by K.

<G-4. Calculation method of processing time according to the fourth search method>
In the fourth search method, the first-stage search process and the second-stage search process are performed. Also in the fourth search method, a transition process for moving the focal position is required between the transition from the first-stage search process to the second-stage search process. Therefore, the time calculation unit 44 calculates the sum of the time required for the first stage search processing, the time required for the second stage search processing, and the time required for the transition processing as the AF processing time.

The time calculation unit 44 is <G-3. Calculation method of processing time according to the third search method> The time required for the first stage search processing is calculated by the same method as described in. In the fourth search method, the first-stage search process is a process of selecting the focal position having the highest degree of focus from the focal positions belonging to the focal position group of the designated number from the upstream side in the search direction. including. However, the selected process is a relatively simple arithmetic process by the CPU 401. Therefore, the time required for the selected process is ignored.

The time required for the second stage search process is calculated as follows. That is, when the focus position is changed by the change width Δf1 from the starting point of the search range to the search direction in the focus waveform 63, the time calculation unit 44 becomes closest to the peak position input to the peak selection field 64. Specify the focal position (search position of the first stage). The search position in the first stage may be the same as the peak position. The time calculation unit 44 calculates the value obtained by dividing the distance from the search position in the first stage to the peak position input in the peak selection field 64 by the minimum change width Δf0 as the number of times n.

The imaging time, calculation time, and adjustment time in the second stage search process are <G-1. Calculation method of processing time according to the first search method> Calculated by the method described in.

The time calculation unit 44 calculates the time T by substituting the imaging time, the image processing time, the adjustment time, and the number of times n calculated as described above into the above equation (2), and the calculated time T is set in two steps. It is determined as the time required for the eye search process.

The time required for the migration process is calculated as follows. That is, the time calculation unit 44 calculates the value K obtained by dividing the distance from the end point of the search range to the search position of the first stage by the minimum change width Δf0. The time calculation unit 44 calculates the time required for the transition process by multiplying the reference travel time by K.

<H. Execution of autofocus processing according to AF processing conditions>
The image processing device 20 and the image pickup device 10 execute the autofocus process according to the AF processing conditions as follows.

The command generation unit 21 of the image processing device 20 generates an image pickup command for imaging at the exposure time indicated by the AF processing condition data.

Further, the command generation unit 21 determines the focal position in each imaging command based on the search range, the search direction, and the change width Δf1 indicated by the AF processing condition data. For example, in the case of the second to fourth search methods, in the first stage search process, the command generation unit 21 generates an imaging command that specifies a focal position as a starting point based on the search range and the search direction. After that, the command generation unit 21 calculates the in-focus degree of the image acquired in response to the latest imaging command, and then performs imaging by designating the focal position moved in the search direction by the change width Δf1 from the previously specified focal position. Generate a command.

In the second-stage search process, the command generation unit 21 generates an imaging command that specifies the focal position moved by the minimum change width Δf0 from the focal position searched in the first-stage search process. The search unit 23 has the in-focus degree of the focal position searched in the first-stage search process and the in-focus degree of the focal position moved by the minimum change width Δf0 from the focal position searched in the first-stage search process. The search direction is determined by comparison with. After that, the command generation unit 21 generates an imaging command specifying the focal position moved in the search direction by the minimum change width Δf0 from the previously designated focal position.

In the case of the first search method, the command generation unit 21 generates an imaging command that specifies a focal position as a starting point based on the search range and the search direction. After that, the command generation unit 21 generates an imaging command specifying the focal position moved in the search direction by the minimum change width Δf0 from the previously designated focal position.

The in-focus degree calculation unit 22 of the image processing apparatus 20 calculates the in-focus degree from the in-focus degree calculation area indicated by the AF processing condition data.

In the search process of the first stage of the fourth search method, the search unit 23 of the image processing device 20 has the in-focus degree calculated by the in-focus degree calculation unit 22 and the search direction and designation indicated by the AF processing condition data. Search for one focal position based on the number.

<I. Modification example>
<I-1. Modification 1>
In the above description, the time calculation unit 44 calculates the time required for the second stage search process in the second to fourth search methods based on the focus waveform 63 corresponding to the reference work W0. .. However, in the second stage search process, the number of times n for changing the focal position varies in the state of the work W. Therefore, the average number of times the focal position is changed in the second stage search process may be confirmed in advance by an experiment or the like. The time calculation unit 44 may calculate the time required for these search processes by storing the average number of times in advance and substituting the average number of times into n in the above equation (1).

Alternatively, when the time required for the second-stage search process is shorter than the time required for the first-stage search process, the time calculation unit 44 sets the time required for the second-stage search process as a fixed time. The AF processing time may be calculated as. The fixed time is confirmed in advance by experiments or the like.

<I-2. Modification 2>
The image processing device 20 may include a condition setting unit 43 and a time calculation unit 44. In this case, the image processing device 20 also operates as a setting device for setting AF processing conditions. The condition setting unit 43 included in the image processing device 20 may display the setting screens 60 and 60a on the display device 250 (see FIG. 6) connected to the image processing device 20.

<I-3. Modification 3>
The time calculation unit 44 may calculate the AF processing time based on the scanning time required for the scanning processing executed in response to the pressing of the waveform reading button 61.

The image processing time can vary depending on the image. That is, the image processing time may vary depending on the type of work W. Therefore, it is preferable that the time calculation unit 44 calculates the image processing time from the scan time using the reference work W0 as a sample.

Specifically, the time calculation unit 44 records the scan time from the output of the scan instruction to the image processing device 20 to the reception of the scan result from the image processing device 20. The scan time is expressed by the following equation (3).

In the equation (3), n _max is a value obtained by dividing the width of the movable range Ra by the minimum change width Δf0. Therefore, the time calculation unit 44 calculates the sum (= scan time / n _max ) of the imaging time, the image processing time, and the adjustment time at one focal position by dividing the scan time by n _max .

The image pickup time of the formula (3) is the sum of the exposure time and the image transfer time as described above. The adjustment time of the equation (3) is the same as the minimum movement time required to move the focal position by the minimum change width Δf0. The image transfer time and the minimum movement time do not depend on the state of the image and are confirmed in advance by experiments or the like. Therefore, the time calculation unit 44 corresponds to one focal position by subtracting the exposure time set on the setting screens 60 and 60a, the image transfer time confirmed in advance, and the minimum movement time from the scan time / n _max . The image processing time required to calculate the degree of focus is calculated from the image to be used.

The time calculation unit 44 may calculate the AF processing time by substituting the image processing time calculated in this way into the above equation (2). This improves the calculation accuracy of the AF processing time.

Alternatively, the image processing device 20 measures the time from receiving the image from the image pickup device 10 until the focusing degree is calculated from the focusing degree calculation unit 22, and the measured time is set as the image processing time in the setting device 40. It may be output. The setting device 40 may calculate the AF processing time by substituting the measured image processing time into the equation (2). This also improves the calculation accuracy of the AF processing time.

Further, the lens control unit 16 may measure the time required to change the focal position by the minimum change width Δf0 in the scan process. The measured time is output to the setting device 40 via the image processing device 20. The setting device 40 may calculate the AF processing time by substituting the measured time as the adjustment time into the equation (2). As a result, the calculation accuracy of the AF processing time is further improved.

Further, the image processing device 20 may measure the time from the output of the image pickup command to the image pickup device 10 to the reception of the image from the image pickup device 10 in the scan process. The setting device 40 may calculate the AF processing time by substituting the measured time as the imaging time into the equation (2). As a result, the calculation accuracy of the AF processing time is further improved.

<I-4. Modification 4>
In the above formula (2), the AF processing time is calculated based on the sum of the imaging time, the image processing time, and the adjustment time. This is based on the premise that the imaging command for the next focal position is output after the calculation of the in-focus degree for the image acquired in response to the imaging command for a certain focal position is completed. However, when the command generation unit 21 of the image processing device acquires an image corresponding to an image pickup command at a certain focal position, the command generation unit 21 may output an image pickup command at the next focus position. In this case, the focus calculation process for the image at a certain focal position and the adjustment process for the next focal position are executed in parallel.

When the time required for the in-focus degree calculation process (image processing time) is longer than the time required for the adjustment process (adjustment time), the time calculation unit 44 uses the following equation (4) instead of the above equation (2). ) May be used to calculate the AF processing time.

When the time required for the in-focus degree calculation process (image processing time) is shorter than the time required for the adjustment process (adjustment time), the time calculation unit 44 uses the following equation (5) instead of the above equation (2). ) May be used to calculate the AF processing time.

Which of the image processing time and the adjustment time is longer is confirmed in advance by an experiment or the like. The time calculation unit 44 may use either the formula (4) or the formula (5) depending on the confirmation result.

<I-5. Modification 5>
In the above description, the focus waveform 63, which is a line graph, is displayed on the setting screens 60 and 60a. However, the setting screens 60 and 60a are not limited to the focus waveform 63 which is a line graph, and a figure showing the relationship between each focal position and the focus degree in the movable range Ra may be displayed. The figure includes various graphs other than the line graph. Alternatively, in the figure, the magnitude of the focus may be represented by at least one of chromaticity, saturation and lightness.

<J. Action / effect>
As described above, the image pickup system 1 includes an image pickup device 10 whose focal position is variable in a predetermined movable range Ra, a command generation unit 21, a focus degree calculation unit 22, a search unit 23, and a condition setting unit 43. And prepare. The command generation unit 21, the in-focus degree calculation unit 22, and the search unit 23 of the work W are based on the change in the in-focus degree calculated from the image generated by the image pickup apparatus 10 when the focal position is changed. Executes autofocus processing to search for the in-focus position to focus on the inspection target location. The condition setting unit 43 sets AF processing conditions according to the input information on the setting screens 60 and 60a displayed on the display device 42. The condition setting unit 43 supports the input of input information by displaying the AF processing time executed according to the AF processing conditions on the setting screens 60 and 60a. As a result, the operator can appropriately set the AF processing conditions while considering the AF processing time.

The autofocus process according to the second and fourth search methods includes a first-stage search process and a second-stage search process. The first-stage search process is a process of searching for a first focal position whose in-focus degree exceeds the threshold value Th while changing the focal position by a change width Δf1. The second-stage search process is a process of searching for the second focal position, which shows the maximum focusing degree, as the focusing position while changing the focal position by the minimum change width Δf0 from the first focal position.

At this time, the condition setting unit 43 sets the change width Δf1 according to the input information on the setting screen. Specifically, the condition setting unit 43 displays a figure (for example, the in-focus degree waveform 63) showing the relationship between the focal position and the in-focus degree on the setting screens 60 and 60a. When the condition setting unit 43 receives the threshold value Th as input information, the condition setting unit 43 sets the change width Δf1 based on the width of the focal position where the focus degree continuously exceeds the threshold value Th in the focus degree waveform 63. As a result, the operator can appropriately set the change width Δf1 while confirming the relationship between the focus waveform 63 and the threshold value.

In the first-stage search process in the fourth search method, when a plurality of sets of focal positions whose in-focus degree exceeds the threshold Th are continuously searched, the upstream side of the plurality of sets in the search direction is used. It includes a process of selecting a focal position belonging to the set of designated numbers as the first focal position.

At this time, the condition setting unit 43 sets the search direction and the designated number according to the input information on the setting screen. Specifically, the condition setting unit 43 displays a figure (for example, the in-focus degree waveform 63) showing the relationship between the focal position and the in-focus degree on the setting screens 60 and 60a. The focus waveform 63 has a plurality of areas R1 to R3 at focal positions where the focus exceeds the threshold Th. The condition setting unit 43 sets a designated number based on a designated area among a plurality of areas R1 to R3. As a result, the operator can appropriately set the designated number while checking the focus waveform 63.

The focus waveform 63 is acquired by a scan process in which the focal position is changed by the minimum change width Δf0 within the movable range Ra. In the modification 3, the time calculation unit 44 calculates the AF processing time based on the scanning time required for the scanning processing. As a result, the AF processing time according to the actual situation can be displayed on the setting screens 60 and 60a.

The condition setting unit 43 displays the sample image 66 captured by the image pickup apparatus 10 on the setting screens 60 and 60a, and receives the area information indicating the area surrounded by the frame line 67 on the sample image 66 as input information. The condition setting unit 43 sets the size and position / posture of the in-focus degree calculation area based on the area information. As a result, the operator can appropriately set the in-focus degree calculation area according to the inspection target portion while checking the sample image 66.

§3 Addendum As described above, the embodiments include the following disclosures.

(Structure 1)
An image pickup device (10) whose focal position is variable within a predetermined range, and
An autofocus process for searching for an in-focus position to focus on an object based on a change in the in-focus degree calculated from an image generated by the image pickup device (10) when the focus position is changed. Autofocus processing means (21, 22, 23) for execution, and
It is provided with a setting means (43) for setting the processing conditions of the autofocus processing according to the input information on the setting screen displayed on the display device (42, 250).
The setting means (43) supports the input of the input information by displaying the processing time required for the autofocus processing executed according to the processing conditions on the setting screen (1).

(Structure 2)
The processing conditions include the exposure time of the image pickup apparatus (10), the search range of the focus position in the predetermined range, the change width of the focus position, the search direction of the focus position, and the calculation of the focus degree. The imaging system (1) according to configuration 1, which comprises at least one of the target image regions.

(Structure 3)
The autofocus process is
The first search process for searching for the first focal position whose in-focus degree exceeds the threshold value while changing the focal position by the first change width.
A second search for searching for the second focal position showing the maximum in-focus degree as the in-focus position while changing the focal position by a second change width smaller than the first change width from the first focal position. Including processing
The imaging system (1) according to configuration 2, wherein the processing conditions include the first change width.

(Structure 4)
The setting means (43) is
A figure showing the relationship between the focal position and the degree of focus is displayed on the setting screen.
The imaging system according to configuration 3, wherein when the threshold value is received as the input information, the first change width is set based on the width of the focal position where the focus degree continuously exceeds the threshold value in the figure. 1).

(Structure 5)
In the first search process, when a plurality of sets of focal positions whose in-focus degree exceeds the threshold value are continuously searched, the designated number from the upstream side in the search direction of the focal position among the plurality of sets. Including the process of selecting the focal position belonging to the set of the first focal position as the first focal position.
The imaging system (1) according to configuration 3, wherein the processing conditions include the search direction and the designated number.

(Structure 6)
The setting means (43) displays a figure showing the relationship between the focal position and the degree of focus on the setting screen.
The figure has a plurality of areas of the focal position where the degree of focus exceeds the threshold.
The imaging system (1) according to configuration 5, wherein the setting means (43) sets the designated number based on a designated area among the plurality of areas.

(Structure 7)
The relationship is acquired by a scan process in which the focal position is changed by the second change width within the predetermined range.
The imaging system (1) according to configuration 4 or 6, further comprising a calculation means (44) for calculating the processing time based on the scanning time required for the scanning processing.

(Structure 8)
The processing condition includes an image area for which the degree of focus is calculated.
The setting means (43) is
The sample image captured by the image pickup device (10) is displayed on the setting screen.
The area information indicating the designated area on the sample image is received as the input information, and the area information is received.
The imaging system (1) according to configuration 2, which sets an image region to be calculated for the degree of focus based on the region information.

(Structure 9)
The setting device (40) used in the imaging system (1) according to any one of configurations 1 to 8.
A setting device (40) including the setting means (43).

Although embodiments of the present invention have been described, it should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is indicated by the scope of claims and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Imaging system, 10 Imaging device, 11 Lighting unit, 12 Lens module, 12a, 12c lens, 12b lens group, 12d movable unit, 12e focus adjustment unit, 12e1, 12e2 voltage source, 13 imaging element, 13a imaging surface, 14 imaging Element control unit, 15, 17 registers, 16 lens control unit, 18 communication I / F unit, 20 image processing unit, 21 command generation unit, 22 focus calculation unit, 23 search unit, 24 inspection unit, 25, 45 communication Unit, 30 PLC, 40 setting device, 41,240 input device, 42,250 display device, 43 condition setting unit, 44 time calculation unit, 50 images, 60, 60a setting screen, 61 waveform reading button, 62 waveform display area, 63 Focus waveform, 64 Peak selection field, 65 Image display area, 66 Sample image, 67 Border, 68, 69, 76 knobs, 70a, 70b radio buttons, 71 Exposure time input field, 72 Change width input field, 73 Time display field, 74 OK button, 75 cancel button, 80 translucent container, 81 conductive liquid, 82 insulating liquid, 83a, 83b, 84a, 84b electrodes, 85a, 85b insulator, 86a, 86b insulating layer, 90 Stage, 206 memory card, 210,401 CPU, 216 camera interface, 216a image buffer, 218 input interface, 220 display controller, 222 focus interface, 224 communication interface, 226 data reader / writer, 228 bus, 230 storage, 232 processing condition data, 234 main memory, 236 hard disk, 238 control program, 402 ROM, 403 RAM, 404 HDD, 408 drive unit, 409 communication IF, 410 data bus, 420 setting program, 430 recording medium, W work, W0 standard work.

Claims (9)

An image pickup device whose focal position is variable within a predetermined range, and
To execute an autofocus process that searches for the in-focus position to focus on the object based on the change in the in-focus degree calculated from the image generated by the image pickup device when the focus position is changed. Autofocus processing means and
It is provided with a setting means for setting the processing conditions of the autofocus processing according to the input information on the setting screen displayed on the display device.
The setting means calculates the processing time required for the autofocus processing executed according to the set processing conditions based on the correlation information indicating the relationship between the processing conditions of the autofocus processing and the processing time of the autofocus processing. An imaging system that supports the input of the input information by displaying the calculated processing time on the setting screen. The processing conditions are subject to calculation of the exposure time of the image pickup apparatus, the search range of the focus position within the predetermined range, the change width of the focus position, the search direction of the focus position, and the focus degree. The imaging system according to claim 1, wherein the imaging system comprises at least one of the image areas. An image pickup device whose focal position is variable within a predetermined range, and
To execute an autofocus process that searches for the in-focus position to focus on the object based on the change in the in-focus degree calculated from the image generated by the image pickup device when the focus position is changed. Autofocus processing means and
It is provided with a setting means for setting the processing conditions of the autofocus processing according to the input information on the setting screen displayed on the display device.
The setting means supports the input of the input information by displaying the processing time required for the autofocus processing executed according to the processing conditions on the setting screen.
The autofocus process is
The first search process for searching for the first focal position whose in-focus degree exceeds the threshold value while changing the focal position by the first change width.
A second search for searching for the second focal position showing the maximum in-focus degree as the in-focus position while changing the focal position by a second change width smaller than the first change width from the first focal position. Including processing
The processing condition includes the first change width, and the imaging system. The setting means is
A figure showing the relationship between the focal position and the degree of focus is displayed on the setting screen.
The imaging system according to claim 3, wherein when the threshold value is received as the input information, the first change width is set based on the width of the focal position where the focus degree continuously exceeds the threshold value in the figure. .. In the first search process, when a plurality of sets of focal positions whose in-focus degree exceeds the threshold value are continuously searched, the designated number from the upstream side in the search direction of the focal position among the plurality of sets. Including the process of selecting the focal position belonging to the set of the first focal position as the first focal position.
The imaging system according to claim 3, wherein the processing conditions include the search direction and the designated number. The setting means displays a figure showing the relationship between the focal position and the degree of focus on the setting screen.
The figure has a plurality of areas of the focal position where the degree of focus exceeds the threshold.
The imaging system according to claim 5, wherein the setting means sets the designated number based on a designated area among the plurality of areas. The relationship is acquired by a scan process in which the focal position is changed by the second change width within the predetermined range.
The imaging system according to claim 4 or 6, further comprising a calculation means for calculating the processing time based on the scanning time required for the scanning processing. The processing condition includes an image area for which the degree of focus is calculated.
The setting means is
The sample image captured by the image pickup device is displayed on the setting screen.
The area information indicating the designated area on the sample image is received as the input information, and the area information is received.
The imaging system according to claim 2, wherein an image region for which the degree of focus is calculated is set based on the region information. A setting device used in the imaging system according to any one of claims 1 to 8.
A setting device including the setting means.

Images