JPH0737094A - Picture processor - Google Patents

Abstract

PURPOSE:To provide a picture processor for eliminating the need of performing processings all over again at the time of the partial correction of a program by editing the history of picture processing commands recorded as a picture processing program in a history program preservation part by a program editing part. CONSTITUTION:The program editing part 12 loads the picture processing program preserved in the history program preservation part 8 and displays the flow of the processings on a display part 4. When the unnecessary ones and the ones requiring addition are present in the list of the displayed picture processing commands, a user edits the picture processing program to the appropriate one with the editing part 12. Thus, in the case of selecting the picture processing command through trials and errors and selecting the erroneous command, deletion and addition can be easily performed, the user can generate the program for executing only the processings required by oneself without performing a programming processing again from first to end and the time taken for programming can be substantially reduced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image processing apparatus used for position control and inspection of robots and industrial machines, and more particularly to an image processing programming technique for the image processing apparatus.

[0002]

2. Description of the Related Art FIG. 13 is a block diagram showing an example of a conventional image processing apparatus. In the figure, 1 is an image input unit such as a television camera for inputting an image, 2 is an image processing unit that processes an image input from the image input unit 1, and 3 is an image processing unit 2 that processes the image. This is an image processing library that stores image processing commands used when executing the processing of. Reference numeral 4 denotes a display unit for displaying the image processing command and the processing result of the image processing unit 2, such as a monitor television, and 5 displays a menu necessary for programming on the display unit 4 and the input is made. A menu control unit 6 that operates based on an instruction from a user is a menu library that stores the display and execution contents of the menu. Reference numeral 7 is an input unit such as a keyboard or mouse for inputting instructions from the user, and 8 is a history program storage unit that records the history of image processing commands selected by the user by operating the input unit 7 as an image processing program. is there.

Next, the operation will be described. Here, FIG.
4 is a flow chart showing the flow of the processing. When the process is started, first, the menu control unit 5 loads a menu of image processing commands from the menu library 6 in step ST1, and displays it on the display unit 4 in step ST2. Note that this image processing command is a fixed threshold for binarization processing, such as a look-up table for capturing and preprocessing an image, a noise removal filter, a smoothing filter, a sharpening filter, and an edge extraction filter. Binarization processing by value and binarization processing by discrimination method, noise removal filter for post-processing, hole filling processing, labeling processing for feature extraction, projection processing, etc.
It means commands such as a number measurement process, an area measurement process, and a perimeter measurement process for the measurement process.

Next, in step ST3, the user operates the input unit 7 to select one of the prepared image processing commands that he / she wants to execute. Next, in step ST4, it is determined whether the processing is execution of an image processing command, file management, or termination. In this case, since the image processing command is executed, the image processing command selected by the user is
The process is executed by the image processing unit 2 at T5, and its history is recorded in the history program storage unit 8 at step ST6.
After that, the process is returned to step ST2, and the user repeats this operation until all the image processing commands that he / she wants to execute are processed. As a result, all the image processing commands executed by the user are stored as image processing programs in the history program storage unit 8. In this way, it is devised that the image processing program is automatically generated without the user having to edit the program with an editor or the like.

When it is detected that the file management is selected in step ST4, the process proceeds to step ST7, and the menu control section 5 displays the file management menu on the display section 4. The user operates the input unit 7 in step ST8 to select whether to load or save the program,
The determination is made in step ST9. If the result of determination is that the program is loaded, the program is loaded in step ST10, executed in step ST11, and returns to step ST2. If the program is saved, the program is saved in step ST12, and then the process returns to step ST2. Finally, step ST3
When the user selects the end of the process at step ST4, it is detected and the series of processes ends.

Further, FIG. 15 is a block diagram showing another example of a conventional image processing apparatus. In the figure, 1 is an image input section, 2 is an image processing section, 3 is an image processing library, 4 is a display section, and 7 is a display section.
Is an input unit, and these are the same or corresponding parts as those denoted by the same reference numerals in FIG. Further, 9 is a program storage section in which an image processing program is stored, 10 is a program editing section for editing the image processing program, and 11 is a function name used for editing the image processing program and its contents are stored. This is the function menu library.

Next, the operation will be described. Here, FIG.
6 is a flowchart showing the flow of the processing. When the process is started, first, the program editing unit 10 is activated in step ST21, and the image processing program is loaded from the program storage unit 9 in step ST22. Next, at step ST23, data is loaded from the function menu library 11, and the function name and purpose are displayed on the display unit 4 at step ST24 to be shown to the user. The user selects one function from the displayed functions by operating the input unit 7 in step ST25, adds it to the image processing program in step ST26, or deletes unnecessary functions in the image processing program. Edit the image processing program. When the editing of the image processing program is completed, it is stored in the program storage unit 9 in step ST27, and the series of processes is completed.

As a document describing the technique related to such a conventional image processing apparatus, for example, "Research on Machinery" Vol. 42, No. 11 (1990) 1190-190.
"Image processing system by knowledge processing" (Junichi Hasegawa, Junichiro Toriwaki) on page 1198 and "OMRON TECHNICS" No. 3
Volume 2, No. 1 (1992), pp. 24-27, "Software for human-friendly visual sensors" (Hideshi Ishihara, Takashi Ijiri, Naomi Nakamura).

[0009]

Since the conventional image processing apparatus is configured as described above, the image processing apparatus shown in FIG. 13 also executes processing unnecessary for the final result, so that the user can Although you have to select the menu of image processing commands after considering the optimization of the image processing program by yourself, it is suitable for trying image processing commands,
It is necessary to rewrite the program to use it in the actual factory automation line, and
Since the image processing program is automatically generated by selecting the image processing command, if the user makes a mistake in selecting the image processing command or wants to change it later, partial correction or addition is required. It is not always possible to do all the processing again, and the image processing program created by the user is not necessarily the one suitable for recognizing the target object. In order to generate, the knowledge and experience about the image processing technology are required, and there is a problem that it takes a lot of time and load to introduce the image processing apparatus when the actual user is not an expert.

Further, in the image processing apparatus shown in FIG. 15, the image processing program is automatically generated only by selecting the displayed function menu, but even if the usable function name is displayed on the display unit 4. , The functions that can be used to perform operations using the results obtained when executing the image processing programs up to that point are actually only a part of them, and there are valid and invalid functions. Since there is no distinction, it is necessary for the user to judge and select it, and there is a problem that it takes a lot of time to debug if the wrong selection is made.

Various other image processing apparatuses that perform a calculation on the two-dimensional image input from the image input unit 1 and output the recognition result have been proposed. However, the user must use an editor to program in a programming language, and if the user does not learn by reading a manual or a study book about image processing algorithms and terms, he or she can The desired behavior of
There is a problem that the measurement result cannot be obtained, and that the illumination condition when the object is imaged needs to be examined by trial and error over time.

The present invention has been made in order to solve the above problems, and the invention according to claim 1 is for processing when a partial correction or addition of an image processing program becomes necessary. It is an object of the present invention to obtain an image processing device that does not need to be redone.

Further, the invention according to claim 2 provides an image processing command list which is not necessary for obtaining a final result, and an image processing apparatus which automatically deletes duplicate image processing commands from an image processing program. With the goal.

Further, in the invention according to claim 3, anyone can easily perform an operation desired by himself or obtain a measurement result without reading a manual or a learning book or attending a seminar. An object is to obtain an image processing device.

Further, an object of the present invention is to obtain an image processing device capable of automatically setting illumination conditions.

It is another object of the present invention to provide an image processing apparatus that can be easily introduced by a user who is not an image processing expert.

It is another object of the present invention to provide an image processing apparatus which automatically generates an image processing program based on a function selected by the user.

[0018]

An image processing apparatus according to a first aspect of the present invention includes a program editing section for editing an image processing program according to a history of image processing commands recorded in a history program storage section. It is provided.

Further, in the image processing apparatus according to the second aspect of the present invention, among the image processing command sequence recorded in the history program storage section, only the processing related to the final result is left and the others are deleted. The program optimizing section is provided.

An image processing apparatus according to a third aspect of the present invention includes an image example database storing a plurality of image examples, an image processing program database storing a plurality of image processing programs, a tutorial display and its contents. Stores the tutorial menu library and the explanation sentence library that stores information about image processing commands and explanations of processing contents, and controls them to display to let the user understand the image processing commands and learn how to use them. It is equipped with a tutorial controller.

The image processing apparatus according to a fourth aspect of the present invention is a model generation section that measures and models a measurement value required by a user, and a lighting means that is controlled by a lighting control section to create various situations. An image processing result evaluation unit that evaluates a processing result of the image processing unit based on a modeled model, and an illumination system planning unit that determines an illumination system suitable for an object based on the evaluation value are provided.

An image processing apparatus according to a fifth aspect of the present invention is an image processing result storage unit that stores an image processing result by the image processing unit, an evaluation unit that evaluates a feature amount from the image processing result, and A program generation unit for generating an image processing program based on the evaluation value of the evaluation unit is provided.

According to a sixth aspect of the present invention, in the image processing apparatus, a function menu library in which information on display and contents of a function menu is stored, and a feature amount storage unit for storing a feature amount obtained from the image processing result. , It is judged from the function that effective calculation can be performed using the feature amount information,
It is provided with a function selection unit for displaying only valid functions on the display unit, and a program generation unit for adding the function selected by the user to the image processing program.

[0024]

According to the invention as set forth in claim 1, the program editing section edits the history of the image processing commands recorded as the image processing program in the history program saving section, thereby performing all the processing when the program is partially modified. An image processing device that does not need to be redone is realized.

Further, the program optimizing section in the invention according to claim 2 is an image processing command relating to a process which is not necessary for the final result in the image processing command sequence recorded in the history program storing section as the image processing program. By deleting, the image processing program is automatically optimized.

Further, the tutorial control section in the invention according to claim 3 stores the image example database storing a plurality of image examples, the image processing program database storing a plurality of image processing programs, the display of the tutorial and its contents. Control the tutorial menu library and the explanation sentence library that stores information about image processing commands and explanations of processing contents, and display on the display to let the user understand the image processing commands and learn how to use them. This makes it possible for anyone to easily perform their desired actions and obtain measurement results without reading manuals or learning books or attending seminars.

Further, the image processing result evaluation section in the invention according to claim 4 evaluates the processing result of the image processing section based on the model obtained by measuring the measurement value obtained by the user and modeling the illumination system planning. The unit realizes an image processing apparatus capable of automatically setting optimum illumination conditions for the target object by obtaining a lighting method suitable for the target object from the evaluation value.

Further, the program generation unit in the invention according to claim 5 is based on the evaluation value of the feature amount evaluated by the evaluation unit from the image processing result of the image processing unit stored in the image processing result storage unit, and By generating the processing program, an image processing apparatus that can be easily introduced even by a user who is not an image processing expert is realized.

Further, the function selection section in the invention according to claim 6 judges that effective calculation can be performed using the feature amount information obtained from the image processing result, and displays the function menu in the function menu library. From the functions that store the contents, only valid functions are selected and displayed on the display unit, and the program generation unit adds the function selected by the user to the image processing program based on the display. An image processing apparatus that automatically generates a program from the selected function of is realized.

[0030]

【Example】

Example 1. Embodiment 1 of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the invention described in claim 1. Corresponding parts are designated by the same reference numerals as those in FIGS. 13 and 15, and the description thereof is omitted. In the figure, reference numeral 12 is a program editing section for editing the image processing program recorded in the history program storage section 8 as a history of image processing commands.

Next, the operation will be described. Here, FIG.
Is a flowchart showing the flow of the processing. When the processing is started, a menu of image processing commands is first loaded in step ST1 as in the conventional case, and then in step ST2.
Is displayed on the display unit 4. The user selects one of those image processing commands that he / she wants to execute in step ST3, the image processing command is executed by the image processing section 2 in step ST4, and the history is stored in the history program storage section in step ST6. 8 is recorded. The user repeats the menu selection until there is no content that the user wants to execute. An image processing program is generated through these procedures and stored in the history program storage unit 8.

After the desired image processing program is generated in this way, when the user selects the editing process by operating the input unit 7 in step ST3, it is detected in step ST4 and the process is performed. Go to ST13. In step ST13, the program editing unit 12 loads the image processing program stored in the history program storage unit 8 and displays the processing flow on the display unit 4. If there is an unnecessary one or a necessary addition in the displayed list of image processing commands, the user edits the image processing program into an appropriate one in step ST14. It should be noted that this editing process is executed by the program editing unit 12, and has functions such as addition, deletion, and copying.

The user selects the desired editing function by operating the input unit 7, and specifies the portion to be edited by pointing by operating the mouse or keyboard of the input unit. For example, when deleting an unnecessary image processing command, operating the deletion execution menu deletes the pointed unnecessary image processing command. The command list updated by the editing process in step ST14 is stored in the history program storage unit 8 in step ST15.
Recorded in. The user repeats this operation until there are no more image processing commands to edit, that is, until the image processing program required by the user is generated.

Example 2. Next, a second embodiment of the present invention will be described with reference to the drawings. FIG. 3 is a block diagram showing an embodiment of the invention described in claim 2. In the figure, 13 selects and leaves only the image processing commands relating to the processing necessary for the final result in the sequence of image processing commands recorded as image processing programs in the history program storage unit 8 and leaves other image processing commands. This is a program optimization unit to be deleted, and other parts are denoted by the same reference numerals as the corresponding parts in FIG. 1 and their description is omitted.

Next, the operation will be described. Here, FIG.
Is a flowchart showing the flow of the processing. In addition,
The processes of steps ST1 to ST12 are equivalent to those shown in FIG. 14, and by repeating the processes of steps ST2 to ST6, a series of image processing programs are generated and stored in the history program storage unit 8. This is the same as in the first embodiment.

After the desired image processing program is generated in this way, when the user selects the optimization process by operating the input unit 7 in step ST3, it is detected in step ST4 and the process is performed. Go to ST16. In step ST16, the program optimization unit 13 is activated to load the image processing program stored in the history program storage unit 8 first. Next step ST
In 17, the processing required for the final result is selected from the image processing command string of the loaded image processing program, only the image processing command is left, other image processing commands are deleted, and the image by the new image processing command string is selected. Generate a processing program. The image processing program thus optimized is recorded in the history program storage unit 8 again in step ST18.

Example 3. Next, a third embodiment of the present invention will be described with reference to the drawings. FIG. 5 is a block diagram showing an embodiment of the invention described in claim 3. In the figure, 2 is an image processing unit, 4 is a display unit, and 7 is an input unit, which are the same as or equivalent to those denoted by the same reference numerals in FIG. Further, 14 is an image example database in which a plurality of image examples are stored, and 15 is an image processing program database in which a plurality of image processing programs using the image processing functions of the image processing unit 2 are stored. . Reference numeral 16 is a tutorial menu library in which the display of the tutorial displayed on the display unit 4 and the contents thereof are stored, and reference numeral 17 is an explanation sentence library in which information relating to image processing commands and processing contents is stored. Reference numeral 18 denotes a display for controlling the image example database 14, the image processing program database 15, the tutorial menu library 16, and the explanatory note library 17 to display a display for allowing the user to understand the image processing command or to learn how to use it. It is a tutorial control part to do.

Next, the operation will be described. Here, FIG.
Is a flowchart showing the flow of the processing. When the process is started, first, in step ST31, the tutorial control unit 18 loads the tutorial menu from the tutorial menu library 16,
In step ST32, the menu is displayed on the display unit 4. Next, in response to a command from the tutorial control unit 18, in step ST33, the image example of the object is read from the image example database 14 and displayed on the display unit 4, and in step ST34, the image processing program from the image processing program database 15 is displayed. Displayed 4
Is displayed in. In step ST35, the user operates the input unit 7 in accordance with the instruction displayed on the display unit 4 to select a menu. The result of the selection is step ST3.
When it is determined in step 6 that the execution of the command is selected, the process proceeds to step ST37.

In step ST37, assuming that the user selects, for example, a binarization processing command from the image processing commands, the result of binarization processing performed on the image example displayed as the object on the display unit 4. The image example of is loaded from the image example database 14 and displayed on the display unit 4. For other image processing commands, since the image example database 14 is provided in advance in the image example database 14 after performing the respective processes, the process selected by the user and the result thereof are similarly displayed on the display unit 4. be able to. By looking at the processed image example displayed on the display unit 4, the user can know what kind of processing each image processing command performs, and the characteristics of each.

When the user wants to know the meaning of the image processing command, the user selects the explanation menu in step ST35. The result of the selection is determined in step ST36, and as a result, in this case, the process proceeds to step ST38. In step ST38, the tutorial control unit 18 loads the explanatory text explaining the meaning of the corresponding image processing command from the explanatory text library 17,
It is displayed on the display unit 4 in step ST39. The user understands the meaning of the image processing command by reading the displayed explanation.

When one processing is completed, the tutorial control section 18 returns the processing to step ST32, displays the next menu or image example on the display section 4, and explains each image processing command. The user can learn the image processing command simply by inputting according to the displayed instruction. Further, it is possible to learn an operation method other than the image processing unit 2 of the image processing apparatus, for example, data communication and connection with the outside or a method of compiling a program by an operation from the tutorial control unit 18. .

Example 4. Next, a fourth embodiment of the present invention will be described with reference to the drawings. FIG. 7 is a block diagram showing an embodiment of the invention described in claim 4. In the figure, 1 is an image input unit, 2 is an image processing unit, 4 is a display unit, 7 is an input unit,
It is the same as or equivalent to the one given the same reference numeral in FIG. Further, 19 is a sample such as a work or a part as an object to be inspected or positioned, 20 is an illuminating means for illuminating the sample 19, 21 is a control means for the illuminating means 20, and the image processing unit 2 Is a lighting control unit that creates various situations that can be considered when performing image processing. Reference numeral 1A is a three-dimensional image input unit for inputting a three-dimensional image of the sample 19, and reference numeral 22 is a three-dimensional image processing unit for processing the three-dimensional image input from the three-dimensional image input unit 1A.

Reference numeral 23 denotes the image processing result of the image processing unit 2,
Alternatively, reference numeral 24 denotes a model generation unit that measures the sample 19 based on the result of the three-dimensional image processing performed by the three-dimensional image processing unit 22 and models the measured value. Reference numeral 24 denotes the model generated by the model generation unit 23. A model storage unit for storing. Reference numeral 25 is an image processing result storage unit for storing the image processing result of the image processing unit 2, and 26 is a model in which the image processing result stored in the image processing result storage unit 25 is stored in the model storage unit 24. Is an image processing result evaluation unit that evaluates the image processing result based on the degree of coincidence between them, and 27 is an illumination device that determines an illumination method suitable for the sample 19 based on the evaluation value of the image processing result evaluation unit 26. This is the method planning department.

Next, the operation will be described. Here, FIG.
Is a flowchart showing the flow of the processing. The user prepares a sample 19 such as a work or a part which is a target of a program desired to be created, for example, a program such as inspection or positioning using image processing technology, and first, in step ST41, the sample 19 is predetermined. Install at the position. Next, in step ST42, it is determined whether or not the measured value of the generated model is related to the outer shape such as the outer dimension, the corner angle, and the outer shape, and if it is related to the outer shape, step ST43.
Proceed to. In step ST43, the sample 19 placed on the transparent table is illuminated by the lower illumination means 20, and in step ST44, the image is captured by the image input unit 1 from above and the image is displayed in the image processing unit 2. input. In step ST45, the image processing unit 2 binarizes the image and measures the outer shape from the binarized image, and the model generation unit 23 models the measured value of the outer shape to generate an outer shape model.

If the result of determination in step ST42 is that the measured value desired by the user is something other than the external shape, such as a protrusion, which is measured using a three-dimensional measuring device such as a range sensor. , Processing is step ST
It progresses from 42 to step ST47. In step ST47, the 3D distance image is input from the 3D image input unit 21,
In step ST48, the three-dimensional image processing unit 22 performs the segmentation, and the model generation unit 23 generates a surface model or a curved surface model based on the segmentation.
The contour model, the surface model, and the curved surface model thus generated are stored in the model storage unit 24 in step ST50. In addition, the generation of this model
It is also possible to use a contact sensor or the like, and at this stage of model generation, it is possible to use one that cannot be introduced due to high cost at the actual site, or one that cannot be introduced due to too long processing time.

Next, various (for example, i kinds) illumination conditions that can be realized by using the illumination control unit 21 are set, and similarly, some image processing algorithms (for example, j) are set.
Seeds) method is prepared. Then, step ST52
In step ST54, the image processing using one of the j-type image processing algorithms is executed under the set illumination condition.
The measurement value obtained from the result of the image processing is stored in the image processing result storage unit 25. This step ST54 and S
The process of T55 is repeated until the end of the process for all the prepared j types of image processing algorithms is detected in step ST53. When the end of the process is detected in step ST53, the process is returned to step ST51, and in step ST51, steps ST52 to ST55 are performed until it is detected that the processes of all the prepared i-type illumination conditions are completed. The process of is repeated.

In this way, when the measured values by all the image processing algorithms under all the illumination conditions are stored in the image processing result storage unit 25, it is stored in step ST5.
When detected in step 1, the process proceeds to step ST56. In step ST56, the image processing result evaluation unit 26 compares each measurement value stored in the image processing result storage unit 25 with the model stored in the model storage unit 24 to evaluate the degree of coincidence and evaluate. The value is sent to the lighting system planning unit 27. The illumination system planning unit 27 determines an illumination system suitable for the sample 19 based on the received evaluation value and notifies the user of the illumination system. For example, the combination of the illumination condition and the image processing algorithm is displayed on the display unit 4 in the order of good evaluation value.

Specifically, the illumination control unit 2 is arranged to turn on one of the illumination means 20 installed in the information of the sample 19.
Sample No. 1 is controlled by the image input unit 1 in that state.
9 images are taken. The imaged image is processed by the image processing unit 2, and the result of the image processing is stored in the image processing result storage unit 25. Next, the lighting means 20 turned on earlier than the lighting control section 21 is turned off and the next lighting means 20 is turned on. In this case, the first illuminating means 20 and the second illuminating means 20 are not arranged close to each other but installed so as to illuminate the sample 19 from different angles. For example, the first illumination is arranged to irradiate the periphery of the image input unit 1, and the second illumination is arranged to irradiate the sample 19 obliquely from above. Also, as the type of the illumination means 20, various types such as ring illumination and spot illumination are mixed and prepared. The second lighting means 20 is turned on, the same processing as that at the time of the first lighting means 20 is performed, and the image processing result is stored in the image processing result storage unit 25. Such processing is performed by the third lighting means 20, the fourth lighting means 20 ,.
Are sequentially performed, and the image processing results are stored in the image processing result storage unit 25.

The image processing result evaluation unit 26 sequentially compares each image processing result thus stored in the image processing result storage unit 25 with the model stored in the model storage unit 24 to determine the degree of coincidence. evaluate. In addition, with respect to one lighting unit 20, it is possible to evaluate each image processing result when the intensity of the lighting is changed, and to use several lighting units 2.
The image processing result is evaluated even when 0 is simultaneously turned on. The installation location of these lighting means 20 is
Unlike the case of model creation, it is limited to the state that can be used in the actual site. These evaluation results are sent to the illumination system planning unit 27, and the illumination system with the highest evaluation value is shown to the user.

Example 5. Next, a fifth embodiment of the present invention will be described with reference to the drawings. FIG. 9 is a block diagram showing an embodiment of the invention described in claim 5, and the portions already described are assigned the same reference numerals as those in FIGS. 1, 7 and 15 and the description thereof will be omitted. In the figure, 28 is a user information storage unit in which user information is stored, and 29 is a feature amount based on the image processing result stored in the image processing result storage unit 25 and the user information stored in the user information storage unit 28. It is an evaluation unit that performs evaluation. Reference numeral 30 is a program generation unit that automatically generates an image processing program based on the evaluation value from the evaluation unit 29, and reference numeral 9 is a program storage unit that stores the image processing program generated by the program generation unit 30. Reference numeral 31 is a graphic library connected to the menu control unit 5.

Next, the operation will be described. Here, FIG.
Reference numeral 0 is a flow chart showing the flow of the processing. First, in step ST61, the sample image captured by the image input unit 1 is stored in the frame memory of the image processing unit 2. In step ST62, the image processing unit 2 binarizes the image data stored in the frame memory to generate a binarized image, performs the labeling process and the segmentation process on the generated binarized image, and The center of gravity, the main axis, and the contour shape are extracted for each, and the straight line portion, the corner portion are detected, and the feature amounts such as holes and circles are detected.
The result is stored in the image processing result storage unit 25. on the other hand,
This characteristic amount is displayed on the display unit 4 such as a monitor television in step ST63.

The feature quantity stored in the image processing result storage unit 25 is sent to the evaluation unit 29, and similarity evaluation for evaluating whether or not similar features are present in the image is performed in step ST6.
In step ST65, a characteristic evaluation is performed using an evaluation scale such as reliability for each characteristic (for example, evaluation of a circular characteristic amount on the axis of the circle is the square of area / radius), and the evaluation value of the result is calculated as a step. It is displayed on the display unit 4 in ST66. At this time, the results of the various evaluations are used to notify the user of the evaluation results, for example, in the order of least similarity (that is, unique order) or in the order of high feature evaluation. Further, when displaying simultaneously, the user is informed by using color, shading of display, or a numerical value.

Next, in step ST67, the user selects a feature amount that is considered appropriate according to the program he or she wants to create from the displayed feature amounts and inputs it from the input unit 7 using a keyboard or mouse. The program generation unit 30 generates a temporary program based on it in step ST68. Specifically, if the user wants to generate a positioning program, he selects whether to use the center of gravity or a hole as a reference when determining the position of the sample. Also, if you want to generate a program to obtain the inclination, for example, there is an inclination of a straight line portion, an inclination of a straight line connecting two holes, etc. When using a straight line, select a straight line to be used as a feature amount and If you want to use a hole, select that hole. Note that when a positioning program is generated, there are some feature quantities that cannot be created using the feature quantity, such as the area and number of labels, and such a feature quantity cannot be selected at the stage of inputting the program purpose. It is shown to the user and the feature quantities are not displayed.

However, when it is desired to generate a program in which one label having the largest area is selected and the center of gravity thereof is obtained, programming is first performed in the inspection / classification mode, and positioning is performed using the result. You can combine them later. Further, when an inspection program is desired to be generated, various feature quantities such as area, number of corners, number of labels, and angle of corners can be selected, and the user selects from them. It is also possible to generate the program completely automatically only by the evaluation value of the evaluation unit 29 without the intervention of the user. Furthermore, before selecting a feature amount, the user can check the reliability by sorting in the order of the evaluation results of the feature amount or displaying only those that are larger than a certain threshold, and then select the feature amount. It can be performed.

Further, since the required processing time is determined by the selected feature amount, at the stage where the feature amount is selected and the provisional program is generated, an estimate of the process execution time is calculated in step ST69, and this is calculated. Display and inform the user. For example, when the straight line portion is selected as the feature amount, the processing time is obtained by the sum of the image input time, the image binarization time, the labeling time, the contour extraction time, and the straight line extraction time. If stored, this processing execution time can be easily obtained. When the user sees this estimated execution processing time and determines that it is longer than the required specification time and cannot be used in the actual site, he / she should select another feature and change to a shorter processing time. Generates a program that meets the required specifications.

Next, in step ST70, the number of times of image input is determined, and if it is once, step ST61.
Return to and repeat the above process. In this way, stability evaluation is performed in step ST71 to evaluate the stability when the same sample is imaged multiple times and the same processing is performed, and if there is no problem in reproducibility, an image processing program is generated in step ST72. Then, it is stored in the program storage unit 9. When it is detected in step ST73 that there is a user input to process again from the input unit 7, the process returns to step ST61 and the above processing is repeated.
Further, when it is detected in step ST73 that there is a user input indicating that the process is to be ended, the series of processes is ended.

When the user selects the feature quantity in this way, a program necessary for obtaining the feature quantity is generated. The program is generated by the rough flow of the image processing program stored in advance and the selection of the command according to the condition.

Example 6. Next, a sixth embodiment of the present invention will be described with reference to the drawings. FIG. 11 is a block diagram showing an embodiment of the invention described in claim 6, and the parts which have already been described are designated by the same reference numerals as those in FIGS. 9 and 15 and the description thereof will be omitted. In the figure, reference numeral 32 denotes a feature quantity storage unit for storing information on the feature quantity obtained from the image processing result by the image processing unit 2. Reference numeral 33 selects a function that can perform an effective operation using the feature amount information stored in the feature amount storage unit 32 from the functions whose function menu display and contents are stored in the function menu library 11. , A function selection unit for displaying it on the display unit 4. Reference numeral 34 denotes a point in which a program is generated by adding a function selected by the user operating the input unit 7 to the image processing program.
Is a program generation unit different from that indicated by reference numeral 30.

Next, the operation will be described. Here, FIG.
2 is a flowchart showing the flow of the processing. First, when the menu is activated in step ST81, the user creates an image processing program in step ST82. Next, in step ST83, a feature amount is obtained from the result of the image processing, and the obtained feature amount is the step ST
It is stored in the feature amount storage unit 32 at 84. After generating the image processing program in this way, the user calculates the value he or she is seeking using the feature amount obtained as a result. Here, the value desired by the user is, for example, an equation of a straight line connecting two points or a center coordinate between the two points, and is calculated using the value of the feature amount obtained up to that point.

Next, the function selection unit 33 loads the function menu from the function menu library 11 in step ST85, and the feature amount storage unit 32 in step ST86.
More feature amount information is loaded. After that, step S
At T87, only the function capable of effective calculation using the feature amount information is selected from the functions, and step ST
At 88, it is displayed on the display unit 4. In this way
The higher order commands that can be calculated using the feature quantities used in the image processing programs up to that point are displayed on the display unit 4. The user looks at the display on the display unit 4 and proceeds to step ST.
At 89, the input unit 7 is operated to select a function capable of calculating the desired value. The selected function and the program up to that point are passed to the program generation section 34, and in step ST90, the program generation section 34 adds a higher-order calculation section to the programs up to that point and generates a new image processing program in accordance with the conditions. The generated new image processing program is saved in the program storage unit 9 in step ST91, and a series of operations ends.

[0061]

As described above, according to the first aspect of the invention, the history of the image processing commands recorded as the image processing program in the history program storage section is edited by the program editing section. As a result, it is possible to easily delete or add image processing commands by selecting the image processing command through trial and error, or if the wrong command is selected, and the user does not have to redo the programming process from beginning to end. It is possible to create a program that executes only necessary processing, and it is possible to significantly reduce the programming time.

Further, according to the second aspect of the invention, the image processing command in the image processing command sequence recorded in the history program storage unit as the image processing program is processed by the image processing command relating to the processing unnecessary for the final result. Since it is configured to be deleted by the optimization unit, the image processing program can be automatically optimized, and the processing time can be shortened.

According to the third aspect of the present invention, a display for allowing the user to understand the image processing command or to learn how to use it is displayed on the display unit in the online tutorial. Therefore, when the user installs the image processing apparatus, the user does not need to spend time reading a manual, a study book, or attending a seminar, which has the effect of shortening the installation time.

Further, according to the invention described in claim 4, the image processing result evaluation section evaluates the processing result of the image processing section based on the model obtained by measuring and modeling the measurement value required by the user, and the illumination is performed. Since the system planning unit is configured to find the lighting method suitable for the target object based on the evaluation value, the user can automatically set the optimum lighting conditions simply by setting the target object on the table. The time required for learning and trial and error can be shortened, and even a user who does not have much knowledge about image processing can construct an image processing system, which has the effect of reducing the burden on the user.

According to the invention of claim 5, the image processing program is based on the evaluation value of the feature amount evaluated by the evaluation section from the image processing result of the image processing section stored in the image processing result storage section. Since it is configured to generate, the user does not need to learn how to use the editor, and the program is automatically generated with a simple operation, which saves programming time and displays the features of the object. Then, an effective feature amount is selected from among them by the user's selection or self-evaluation, and an optimized program is generated based on it, so an image processing program with a stable processing method can be generated, and the user can Since it is not necessary to acquire processing expertise, the installation time can be shortened, the burden on the user can be reduced, and the estimated execution time of the image processing program can also be reduced by the user. Since it is shown, it is possible to modify the program when the processing time exceeds the required specification time, it is possible to generate a program that suits the needs from the beginning and reduce the program creation time. effective.

According to the invention described in claim 6, the function is automatically selected according to the combination of the measured values obtained by the image processing, and the function is displayed on the display unit. Since it is configured to add the selected function to the image processing program, the user does not have to take notes or check the manual by himself, and also, the program for the judgment including the function selected by the user is automatically generated. Therefore, there is an effect that the time required for programming can be shortened.

[Brief description of drawings]

FIG. 1 is a block diagram showing an image processing apparatus according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing a processing flow of the above embodiment.

FIG. 3 is a block diagram showing an image processing apparatus according to a second embodiment of the present invention.

FIG. 4 is a flowchart showing a flow of processing of the above embodiment.

FIG. 5 is a block diagram showing an image processing apparatus according to a third embodiment of the present invention.

FIG. 6 is a flowchart showing the flow of processing of the above embodiment.

FIG. 7 is a block diagram showing an image processing device according to a fourth embodiment of the present invention.

FIG. 8 is a flowchart showing the flow of processing of the above embodiment.

FIG. 9 is a block diagram showing an image processing device according to a fifth embodiment of the present invention.

FIG. 10 is a flowchart showing the flow of processing of the above embodiment.

FIG. 11 is a block diagram showing an image processing device according to a sixth embodiment of the present invention.

FIG. 12 is a flowchart showing the flow of processing of the above embodiment.

FIG. 13 is a block diagram showing an example of a conventional image processing apparatus.

FIG. 14 is a flowchart showing the flow of the processing.

FIG. 15 is a block diagram showing another example of a conventional image processing apparatus.

FIG. 16 is a flowchart showing the flow of the processing.

[Explanation of symbols]

 1 Image Input Section 2 Image Processing Section 3 Image Processing Library 4 Display Section 5 Menu Control Section 6 Menu Library 7 Input Section 8 History Program Storage Section 9 Program Storage Section 11 Function Menu Library 12 Program Editing Section 13 Program Optimization Section 14 Image Example Database 15 Image processing program database 16 Tutorial menu library 17 Explanatory text library 18 Tutorial control section 19 Object (sample) 20 Illumination means 21 Lighting control section 23 Model generation section 24 Model storage section 25 Image processing result storage section 26 Image processing result evaluation Part 27 Lighting system planning part 29 Evaluation part 30 Program generation part 32 Feature amount storage part 33 Function selection part 34 Program generation part

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[Procedure amendment]

[Submission date] December 7, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0003

[Correction method] Change

[Correction content]

Next, the operation will be described. Here, FIG.
4 is a flow chart showing the flow of the processing. When the process is started, first, the menu control unit 5 loads a menu of image processing commands from the menu library 6 in step ST1, and displays it on the display unit 4 in step ST2. Note that this image processing command is a fixed threshold for binarization processing, such as a look-up table for capturing and preprocessing an image, a noise removal filter, a smoothing filter, a sharpening filter, and an edge extraction filter. Such as binarization processing by value or binarization processing by discrimination method , noise removal filter for post-processing, hole filling processing, labeling processing for feature extraction, projection processing, etc.
It means commands such as a number measurement process, an area measurement process, and a perimeter measurement process for the measurement process.

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 1]

[Figure 3]

[Fig. 2]

[Figure 4]

[Figure 5]

[Fig. 13]

[Figure 6]

[Figure 7]

[Figure 8]

[Figure 9]

[Figure 10]

FIG. 11

FIG. 16

[Fig. 12]

FIG. 14

FIG. 15

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Claims (6)

[Claims] 1. An image input section for inputting an image, an image processing library in which image processing commands used for processing the image input from the image input section are stored, and selection is made in accordance with an input instruction from a user. An image processing unit for executing the image processing command, an input unit for inputting an instruction from the user, a display unit for displaying the image processing command and a processing result of the image processing unit, and the display unit. A menu necessary for programming, and executes a process in accordance with a user's instruction input from the input unit, a menu library storing the display and execution contents of the menu, and the input unit. A history program storage unit that records the history of image processing commands selected by the user by operation, and a history program storage unit that stores the history. And an image processing apparatus for editing a history of the image processing commands. 2. An image input section for inputting an image, an image processing library in which image processing commands used for processing an image input from the image input section are stored, and selection is made according to an instruction from the input user. An image processing unit for executing the image processing command, an input unit for inputting an instruction from the user, a display unit for displaying the image processing command and a processing result of the image processing unit, and the display unit. A menu necessary for programming, and executes a process in accordance with a user's instruction input from the input unit, a menu library storing the display and execution contents of the menu, and the input unit. A history program storage section for recording a history of image processing commands selected by the user by operation, and the history program storage section for recording the history. An image processing apparatus comprising: a program optimization unit that selects only an image processing command related to processing required for a final result in the image processing command sequence and deletes other image processing commands. 3. An input unit to which an instruction from a user is input, an image processing unit that executes an image processing command in response to an instruction from the user input from the input unit, and processes an image, and the image. A display unit that displays the image processing of the processing unit, an image example database that stores a plurality of examples of the image, and a plurality of image processing programs that use the image processing functions of the image processing unit are stored. An image processing program database, a tutorial menu library in which the display of the tutorial displayed on the display unit and the contents thereof are stored, and an explanation sentence library in which information regarding the image processing commands and the description of the processing contents is stored. The image example database, image processing program database, tutorial menu library, and description text An image processing apparatus comprising: a tutorial control unit that controls a library to display a display for allowing a user to understand an image processing command or to learn how to use it on the display unit. 4. An image input section for picking up an image of an object and inputting the image, an image processing section for processing the image input from the image input section, and an image processing result by the image processing section are stored. An image processing result storage unit, an illuminating unit that illuminates the object, an illumination control unit that controls the illuminating unit to realize a possible situation when performing image processing in the image processing unit; A model generation unit that models a measurement value of an object, a model storage unit that stores the model generated by the model generation unit, and the image processing result storage based on the model stored in the model storage unit An image processing device including an image processing result evaluation unit that evaluates image processing results stored in the image processing unit, and an illumination system planning unit that obtains an illumination system suitable for the object from the evaluation value of the image processing result evaluation unit. Place 5. An image input section for inputting an image, an image processing library in which image processing commands used for processing the image input from the image input section are stored, and selection is made according to an instruction from the input user. An image processing unit for executing the image processing command, an input unit for inputting an instruction from the user, a display unit for displaying the image processing command and a processing result of the image processing unit, and the display unit. A menu control unit that displays a menu required for programming, and executes a process according to a user instruction input from the input unit, a menu library in which display and execution contents of the menu are stored, and the image processing unit And an image processing result storage unit that stores the image processing result of the image processing unit, and an evaluation for evaluating the feature amount from the image processing result stored in the image processing result storage unit An image processing device comprising a valuation unit and a program generation unit that generates an image processing program based on the evaluation value from the evaluation unit. 6. An image input section for inputting an image, an image processing library in which image processing commands used for processing the image input from the image input section are stored, and selection is performed according to an instruction from the input user. An image processing unit for executing the image processing command, an input unit for inputting an instruction from the user, a display unit for displaying the image processing command and a processing result of the image processing unit, and the display unit. A menu control unit that displays a menu required for programming, and executes a process according to a user instruction input from the input unit, a menu library in which display and execution contents of the menu are stored, and the image processing unit A feature quantity storage unit that saves the feature quantity obtained from the image processing result by the A function selection unit that selects a function that can perform calculation and displays it on the display unit, a function menu library that stores the function name and contents of the function, and a selection according to a user instruction input from the input unit An image processing apparatus including a program generation unit that adds the created function to an image processing program.