JPH03113980A - System diagnostic method in visual sensor - Google Patents

Abstract

PURPOSE:To save a man-hour of the user by extracting a synchronizing signal in a video signal read by a camera and checking the presence of connection of the camera depending on the presence of the signal. CONSTITUTION:A signal 2 outputted from a video amplifier is inverted by an inverting amplifier 23, only a synchronizing signal is extracted and amplified. When the amplified signal is only a pulse signal 27, an output of a monostable multivibrator circuit 24 goes to a high level. However, the amplified signal is not a pulse signal (28), the output of the monostable multivibrator circuit 24 goes to a low level. When the output of the monostable multivibrator circuit 24 goes to a high level, the presence of the camera connection is decided and when the output goes to a low level, it is decided that no camera is connected by a central processing unit and the result is registered in a system section.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a visual sensor that identifies and measures workpieces in factory automation assembly work and Wl transport work.

[Conventional technology]

In order to automate the production process in factories, Sebots and various heel equipment with advanced functions have been introduced, but if the posture and position of the target workpiece is not determined, it is not possible to respond to the change, and the assembly process etc. There are many fields where we have no choice but to rely on procurement. Visual sensors are essential to automate these processes.

Conventionally, in a vision sensor in such a case, a user had to check the connection state of one peripheral device and register it in the vision sensor system unit.

Multiple cameras can be connected to read images of the target workpiece, and multiple images can be read by switching between the multiple cameras. In this case, the number of connected cameras and camera numbers are unknown to the visual sensor system unit unless the user makes settings using software using a man-machine interface.

Figure 4 is a configuration diagram of a conventional visual sensor. In Figure 2, (1) is a visual sensor control device, (2) is a host controller that gives measurement commands to the visual sensor control device (1), and (3)
) is the work to be measured, and (4) is the camera.

(5) is a monitor TV, (6) is a keyboard, (7) is a central processing unit, (8) is a storage circuit that stores programs to be executed by the central processing unit (7), parameter data, etc.
(9) is an image input circuit that converts the video signal read by the camera (4) into a digital signal, and Q (I is the image input circuit that performs binarization, isolated point removal, and geometric θD is an image storage circuit used for image input and image processing, @ is a monitor interface circuit, and ■ is a keyboard interface circuit.

(b) is the upper controller interface circuit.

The visual sensor is constructed as described above, and a block diagram of the conventional image input port* (9) is shown in FIG. In the figure, (1 is a video amplifier that amplifies the video signal read by the camera (4), (υ is a sync signal clamp circuit that removes only the sync signal from the signal that is amplified by the video amplifier (1'), (m is a synchronous signal clamp circuit (A/D converter that converts the signal output from L into an 8-bit digital signal).

(■ is an A/D converter (r?) that sets the conversion level when signal conversion is performed, and is an A/D pressure generating circuit. The conventional image input port!@f9+ is configured as described above.

In addition, (6) is the video signal of the target workpiece (3) read by the camera (4), ■ is the video signal amplified by the video amplifier (1), (211 is the synchronization signal clamp circuit (D is used to remove unnecessary synchronization) This is a signal with only the signal removed.

[Problem to be solved by the invention]

With conventional vision sensors, when switching between multiple cameras, the user needs to tell the vision sensor how many cameras are currently connected, which takes time and effort on the part of the user. there were.

The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a visual sensor that the user can use without worrying about the connection state of the camera.

[Means to solve the problem]

The visual sensor according to the present invention includes: a camera that reads an image of a target workpiece; an image input circuit that converts a video signal read by the camera into a digital signal; 2. An image processing circuit for extracting, measuring and recognizing the target work; 2. An image storage circuit used for storing image data and processing the image; and the above-mentioned measurement.

A monitor TV that displays recognition results, etc., and the measurement.

A program that controls recognition, a memory circuit that stores each parameter data, and a central processing unit that performs measurement between upper controllers, receives and measures recognition commands, controls sending of recognition results, or controls the entire visual operation. It is prepared.

[For production]

In this invention, the camera connection state can be known by extracting the synchronization signal from the video signal read by the camera and checking whether or not the camera is connected based on the presence or absence of this signal.

As a result, the user does not need to be aware of the currently connected camera, that is, there is no need to instruct the visual sensor, thereby saving the user's time and effort.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
Figure 2 is a configuration block diagram of the image input circuit (9) according to the present invention. In Figure 2, (19 to (21) have the same functions as the conventional image input circuit, This is a camera connection monitoring circuit that extracts only the synchronization signal from the signal being sent and outputs a signal indicating whether or not the camera is connected.The signal output from the camera connection monitoring circuit (22) is true (HIGH level) or not ( LOW level)
The camera is passed to the central processing unit to determine which cameras can be used and register them in the system unit.

The camera connection monitoring circuit (22) of the image input circuit (9) constructed as described above is constructed as shown in FIG. (23) is an inverting amplifier that inverts and amplifies the signal output from video amplifier 09, and (24) is an inverting amplifier (2
3) HIGH if the signal output from is a pulse signal
A monostable multivibrator (25A) that outputs a level signal and outputs a LOW level signal unless the signal output from the 2-inverting amplifier (23) is a pulse signal.
(25B) is a resistor that determines the level at which the video signal is clamped, (25C) and (25D) are inverting amplifiers (
23) Resistors that determine the amplification factor, (25E), (2B
) are the resistors and capacitors that determine the time constant of the monostable multivibrator, and (29A) and (29B) are the power supplies.

Next, the operation shown in FIG. 2 will be explained. The signal (2) output from the video amplifier is inverted by the inverting amplifier (23) and the synchronization signal t! extract and amplify it. If the amplified signal is a pulse signal (27), it is a monostable multi-bibreak (
The output of 24) becomes HIGH level.

However, the amplified signal is not a pulse signal (2
In case 8), the output of the monostable multivibrator (24) becomes LOW level. Monostable multivibrator (24
) is HIGH, it is assumed that the camera is connected.

When it is LOW, the central processing unit determines that the camera is not connected and registers it in the system section.

This invention is applicable not only to visual sensors but also to devices using other cameras.

〔Effect of the invention〕

As described above, according to the present invention, there is no need for the user to register the connection status of the camera in the visual sensor system section, and the status of the connected camera can be automatically known through the monitor TV.

Therefore, it is possible to realize an easy-to-use visual sensor that saves the user's time and effort.

[Brief explanation of drawings]

FIG. 1 is a circuit diagram of a camera connection monitoring circuit according to an embodiment of the present invention, FIG. 2 is a configuration block diagram of an image input circuit according to the present invention, and FIG. 3 is a configuration block diagram of a conventional image input circuit. FIG. 4 is a block diagram of the visual sensor. Note that the same line numbers in the two figures indicate the same or equivalent parts. Procedural amendment

Claims (1)

[Claims] A camera that reads an image of a target workpiece, an image input circuit that takes in a video signal from this camera, an image storage circuit that digitally processes the input image and stores it as image data, and a binarization process for the image data. an image processing circuit that removes isolated points and recognizes image features;
software for controlling the image processing circuit; a storage circuit having a memory backup function for storing the software; a monitor TV for displaying the recognition results; It is equipped with a central processing unit that sends and receives measurement commands and measurement results to and from the equipment, and also controls all of the circuits mentioned above, and checks the connection status of peripheral devices.
A method for diagnosing a system in a visual sensor, characterized by being able to inform a user of its status.