JPH0739940B2 - Digital lighting equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a digital lighting device applied to, for example, a vision system of an industrial robot.

[0002]

2. Description of the Related Art Conventionally, in visual systems of industrial robots, indirect illumination, slit light projection, spot light projection,
Each illumination method such as lattice fringe projection is used.

For example, as a device for generating slit light on the surface of an object to detect irregularities of the object, Japanese Patent Laid-Open No. 58-1
There is an example of the proposal of No. 14175. This device guides light from a laser light source to a rotating mirror by passing it through a half mirror, and swings the passing light by this rotating mirror to move a spot on an object to generate slit light, and at the same time, from the object. The reflected light is made to go backward in the same optical path, reflected by the half mirror and guided to the photodetector.

[0004]

However, in the case of this apparatus, since the position of the characteristic portion such as the unevenness of the object is unknown as seen from the laser light source, it is artificial and mechanical to correctly project the light spot on the characteristic portion. However, there is a problem in that it takes time and trouble to make the adjustment.

Further, the conventional apparatus including this proposed example is such that the illumination intensity can be simply adjusted when the observation environment or the like changes, and for example, to emphasize the contrast between the observation target and the background. It was difficult to project the illumination of the same color as the observation target, or to adjust the projection position, size, and shape of the illumination to emphasize the characteristic part of the observation target. .

The present invention has been made in view of the above problems, and an object of the present invention is to provide a digital illuminating device capable of projecting a desired illumination pattern on a characteristic portion of an observation object according to the observation conditions. And

[0007]

A digital illumination device according to the present invention includes an illumination pattern projection device for projecting an illumination pattern onto an observation target, and an imaging pattern for the observation target by receiving reflected light from the observation target. And an image processing device that analyzes the imaging pattern and feeds back an analysis result to the illumination pattern projection device; and an optical axis of the illumination pattern projection device that is arranged on an optical axis of the imaging device. The illumination pattern projection device comprises an image pattern generation unit that generates a specific image pattern based on the analysis result fed back from the image processing device, and a half mirror that matches the optical axis of the imaging device. And an illumination pattern conversion means for converting the illumination pattern and projecting it on the observation target. Further, in the invention of claim 2, the image processing device extracts a specific region of the imaging pattern, and feeds back position data of the specific region to the illumination pattern projection device as an analysis result, and the image pattern generation means feeds back. A pixel pattern corresponding to the generated position data is generated as the image pattern.

[0008]

The imaging pattern obtained by projection from the illumination pattern projection device is analyzed by the image processing device, and the analysis result is fed back to the illumination pattern projection device.
The illumination pattern projection device generates an image pattern based on this analysis result, converts it into an illumination pattern, and projects it on the observation target. At this time, since the optical axis of the illumination pattern projection device coincides with the optical axis of the imaging device, the illumination pattern corresponding to the result of the above-mentioned folding is projected at an appropriate position on the observation target. In the invention of claim 2, the illumination pattern is generated from the pixel pattern corresponding to the position data corresponding to the specific region of the imaging pattern, and only the position of the observation target corresponding to the specific region is illuminated.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the overall schematic construction of a digital lighting device according to the present invention. The apparatus of the illustrated example is an illumination pattern projection device 2 for generating a desired illumination pattern and projecting the illumination pattern onto the entire observation object 1 or a specific portion,
An image pickup device 3 for receiving reflected light from the observation target object 1 to generate an image pickup pattern of the observation target object 1, and image processing for analyzing the image pickup pattern and feeding back the analysis result to the illumination pattern projection device 2. It is composed of a device 4 and a half mirror 6 which is arranged on the optical axis 5 of the image pickup device 3 at an angle of about 45 degrees.

The half mirror 6 is for making the optical axis 5 of the image pickup device 3 and the optical axis 7 of the illumination pattern projection device 2 coincide with each other so as to be coaxial with each other. , In the direction of the 45 ° diagonal of the half mirror 6,
Moreover, it is arranged at a position symmetrical to the image pickup device 3 with respect to the half mirror 6.

FIG. 2 shows a specific example of the configuration of the digital illuminating device, and FIG. 3 shows a more detailed example of the configuration of the illumination pattern projection device 2. In the illustrated example, the illumination pattern projection device 2 includes a CPU (Central Processing).
Unit) 8, program memory 9 and data memory 10
A microcomputer circuit (hereinafter, simply referred to as “computer”) 11 including the above, and image memories 13, 14, and 15 for three primary colors (red, green, and blue) connected to the computer 11 via a bus 12. There is.

Each of the image memories 13, 14, 15 is constructed by arranging pixels of 256 bits in each of the vertical and horizontal directions, and various kinds of image patterns for each image memory 13, 14, 15 are generated and taken out by the computer 11 in series. Controlled. The program memory 9 stores a program for generating a predetermined image pattern in each of the image memories 13, 14, 15 and the shape, size, position, brightness, etc. of the image pattern are soft. It is designed to be controlled freely.

Video signal generating circuits 16, 17, and 18 are connected to the image memories 13, 14, and 15, respectively,
Each video signal generation circuit 16, 17, 18 scans the image pattern on each image memory 13, 14, 15 and converts the density of each pixel into each red, green, and blue video signal, and the video projector 19 , 20, 21 are output.
Each of the video projectors 19, 20, and 21 converts each video signal into an illumination pattern of red, green, and blue and irradiates the object 1 through the lens system 22 all at once.

Next, the image pickup device 3 sets the color television camera 23 which receives the reflected light from the surface of the observation object 1 and the image pickup pattern of the observation object 1 picked up by the color television camera 23 into three primary colors. Image memory 24,
25, 26 and each of the image memories 24, 25,
The image pickup pattern on 26 is loaded into the image processing device 4 which is configured by a computer system. Then, in the image processing device 4, the captured imaged pattern is subjected to an analysis process such as brightness and shape, and the analysis result is given to the computer 11 of the illumination pattern projection device 2.

In order to project an illumination pattern having the same color as the object color onto the observation object 1, the image pickup device 3 obtains the image pickup pattern of the observation object 1 and then the respective image memories 2
The image processing device 4 analyzes the image pickup patterns of the three primary colors captured in 4, 25, and 26 to calculate vector values of the three primary colors that specify the color of the observation object 1. Each calculated value is sent to the illumination pattern projection device 2, and each image memory 13, 14,
Each image pattern on the image memory is sent to the video projectors 19, 20, 21 via the video signal generation circuits 16, 17, 18 and converted into an illumination pattern. It is projected on the observation target 1. In this case, since the optical axes of the imaging device 3 and the illumination pattern projection device 2 are made to coincide with each other, the illumination pattern projection device 2 does not perform any mechanical adjustment, and the object color The same color illumination pattern can be projected.

Next, in the case of projecting the illumination pattern only on a specific portion (for example, a characteristic portion) of the observation object 1, first, the image processing device 4 analyzes the shape of the imaging pattern and the like to obtain the position of the characteristic portion. After that, in the illumination pattern projection device 2, next, for example, a spot-like pixel pattern is generated in the pixel area on each of the image memories 13, 14, 15 corresponding to the position of the characteristic portion. Then, after converting the image pattern on each of the image memories 13, 14, 15 into an illumination pattern by the video projectors 19, 20, 21 and projecting the illumination pattern along the optical axis coaxial with the imaging device 3, the observation target object can be obtained. The illumination pattern will be applied to only one characteristic part.

[0017]

As described above, according to the present invention, the image pattern based on the result of analyzing the imaging pattern of the observation object is converted into the illumination pattern and projected onto the observation object. A desired illumination pattern can be projected by freely adjusting the projection position, size, shape, brightness, etc. of the illumination pattern according to the observation conditions. In addition, since the optical axis of the illumination pattern projection device and the optical axis of the imaging device are made to coincide with each other by using a half mirror, the generated illumination pattern can be used as an observation target without any artificial and mechanical adjustment. It is possible to project at an appropriate position. Further, according to the invention of claim 2, the image processing device obtains a specific region of the imaging pattern, and the pixel pattern corresponding to the position data of this region is generated as the image pattern. Therefore, the characteristic portion of the observation target is extracted. Then, it becomes possible to illuminate only this part.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an overall schematic configuration of a digital lighting device according to the present invention.

FIG. 2 is a circuit block diagram showing a specific example of a digital lighting device.

FIG. 3 is a circuit block diagram showing details of an illumination pattern projection device.

[Explanation of symbols]

 2 Illumination pattern projection device 3 Imaging device 4 Image processing device 6 Half mirror

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kazuhiko Saka, Kazuhiko Saka, Omron Co., Ltd., No. 10, Hanazono Dodo-cho, Ukyo-ku, Kyoto City, Kyoto Prefecture (56) References JP-A-58-44973 (JP, A) JP-A-59 -228103 (JP, A) JP 60-152903 (JP, A) JP 59-188509 (JP, A)

Claims (2)

[Claims] 1. An illumination pattern projection device for projecting an illumination pattern onto an observation target, and an imaging device for receiving reflected light from the observation target to generate an imaging pattern of the observation target.
An image processing device that analyzes the imaging pattern and feeds the analysis result back to the illumination pattern projection device; and an optical axis of the illumination pattern projection device that is arranged on the optical axis of the imaging device matches the optical axis of the imaging device. And a lighting device for projecting the illumination pattern, wherein the illumination pattern projection device generates an image pattern based on the analysis result fed back from the image processing device.
A digital illumination device comprising: an illumination pattern conversion means for converting the image pattern into an illumination pattern and projecting it onto an observation target. 2. The image processing apparatus extracts a specific area of the imaging pattern and feeds back position data of the specific area to an illumination pattern projection apparatus as an analysis result.
The digital illumination device according to claim 1, wherein the image pattern generation means generates a pixel pattern corresponding to the fed back position data as the image pattern.