JPH10105695A - Picture input device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the transfer and output time of a picture signal to be inputted to a picture processor or the like and to shorten the processing time in the picture processor by picking up an image by an image pickup element like a CCD. SOLUTION: A picture input device consists of an image pickup element 1, a control signal generator 2, a picture fetch device 3, and a fetch controller 4 having a controller 5. At the time of output of the picture signal obtained in the image pickup element 1, a picture signal obtained by skipping a lower area, upper and lower areas, or right and left area or a picture signal obtained by reducing the number of lines is outputted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image input device for inputting an image signal to an image processing device or the like using an image pickup device such as a CCD.

[0002]

2. Description of the Related Art For example, there has been known an apparatus for photographing and inputting an image to an image processing apparatus for recognizing a surrounding environment using an image, such as an autonomous traveling apparatus of an automobile. FIG. 14 is a diagram showing the configuration of such an image input device. As shown in FIG. 14, the image input device includes an image pickup device 31, an image capture device 32, and a capture signal generation device 3 sequentially.
3 and a control signal generator 34.

As the image pickup device 31, a line is formed in the main scanning direction from one end of the screen to the other end, such as an interline type or a frame transfer type CCD.
A method of forming one screen by making lines continuous in the sub-scanning direction perpendicular to the main scanning direction is used. The image capturing device 32 converts an analog image signal output from the image sensor 31 into a digital image signal, and transfers the digital image signal using a data transfer function of a processor or the like.

[0004] The sequential capture signal generation device 33 outputs a timing signal for driving the image pickup device 31 using a dedicated IC or the like from a basic clock by a crystal oscillator or the like, and a timing signal necessary for capturing an image. Is output to the image capturing device 32. The control signal generation device 34 generates and outputs an imaging control signal of the imaging element 31 by performing processes such as voltage conversion and synthesis of a plurality of signals on the timing signals output by the acquisition signal generation device 33 sequentially. is there. Then, the image pickup device 31 is driven by the control signal generation device 34, the analog image signal obtained by the image pickup device 31 is converted into a digital image signal by the image capture device 32, and transferred to an image processing device or the like. .

[0005]

However, in such a conventional image input device, the sequential capture signal generating device 33 performs main scanning from the upper left corner of the screen to the right of the screen as shown in FIG. Is output only from the upper end to the lower end of the screen, so that the output method of the image signal is fixed, and it takes time to capture the image. That is, when an image is captured in this way, an image signal representing the entire area on one screen is captured, so that an unnecessary area in the image is also captured, and it takes a long time to capture the image. Further, since an image signal in an unnecessary area is also taken in, an image processing apparatus also performs processing on an image signal in an unnecessary area, and the image processing takes a long time.

SUMMARY OF THE INVENTION An object of the present invention is to provide an image input apparatus capable of shortening the time required to capture an image and further reducing the processing time in an image processing apparatus.

[0007]

FIG. 1 shows an embodiment of the present invention.
According to the first aspect of the present invention, an image sensor 1 that photoelectrically captures an image and outputs an image signal representing the image, and captures and transfers the image signal output by the image sensor 1 The image capturing device 3, the control signal generating device 2 that outputs a control signal for driving the image sensor 1, and the image capturing device 3 and the control signal generating device 2 are controlled so that the signal amount of the image signal is reduced. The above object is achieved by providing the capture control device 4.

According to the invention of claim 2, the capture control device 4
Controls the image capturing device 3 and the control signal generating device 2 to skip a predetermined range below the image. According to the third aspect of the present invention, the capture control device 4 controls the image capture device 3 and the control signal generation device 2 so as to skip the upper and lower predetermined ranges of the image. According to the invention of claim 4, the capture control device 4 controls the image capture device 3 and the control signal generation device 2 so as to skip predetermined ranges on the left and right portions of the image. According to the fifth aspect of the present invention, the capture control device 4 controls the image capture device 3 and the control signal generation device 2 so as to capture an image by thinning out a predetermined line at a time.

According to the first aspect of the present invention, the capture control device 4
Controls the image capturing device 3 and the control signal generating device 2 to capture the image signal so that the signal amount of the image signal obtained by the image sensor 1 is reduced. According to the second aspect of the present invention, the predetermined range below the image is skipped by the capture control device 4, and an image signal representing the image of the other portion is obtained. According to the third aspect of the present invention, the upper and lower predetermined ranges of the image are skipped by the capture control device 4, and an image signal representing the image of the other portion is obtained. According to the fourth aspect of the present invention, the left and right predetermined ranges of the image are skipped by the capture control device 4, and an image signal representing the image of the other portion is obtained. According to the fifth aspect of the present invention, the image is thinned by the capture control device 4 and an image signal representing an image other than the thinned portion is obtained.

In the section of the means for solving the above-mentioned problems, which explains the configuration of the present invention, the drawings of the embodiments of the present invention are used for easy understanding of the present invention. However, the present invention is not limited to this.

[0011]

According to the present invention, the signal amount of the image signal representing the image picked up by the image pickup device is reduced, so that the image signal can be captured in a short time, and thereby the data of the image can be obtained. The number of images can be reduced to reduce the time required to transfer and read out images, and the time required to process images can be reduced.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an image input device according to an embodiment of the present invention. FIG.
As shown in the figure, the image input device according to this embodiment
Image sensor 1, control signal generator 2, image capture device 3
And the capture control device 4. The imaging device 1 is usually an interline type or a frame transfer type CCD.
Is used, but if it is a method of forming one screen by forming a line in the main scanning direction from one end of the screen to the other end and continuing the line in the sub-scanning direction perpendicular to the main scanning direction, May be used. In the present embodiment, a frame transfer type CCD is used. Here, the CCD converts the signal charges accumulated by photoelectric conversion into
It is output as an image signal by being transferred by a control signal.

The control signal generator 2 receives a timing signal for controlling the image pickup device 1 and performs voltage conversion and signal synthesis to generate and control a drive signal for the image pickup device 1. The image capturing device 3 converts an analog image signal output from the image sensor 1 into a digital image signal, and transfers the image signal to an image processing device or the like by a data transfer function of a processor (not shown). Capture control device 4
Is for outputting a timing signal for controlling the image pickup device 1 in accordance with a command signal from a processor (not shown) and, at the same time, controlling the image capturing device 3 to output an image signal to a storage device or the like. The capture control device 4 is provided with a control unit 5 for performing various controls described later. Hereinafter, processing performed in the control unit 5 will be described as first to fourth embodiments.

First Embodiment FIG. 2 is a flowchart showing processing performed by the control unit 5 in the first embodiment, and FIG. 3 shows a detailed configuration of a frame transfer type CCD constituting the image sensor 1. FIGS. 4A and 4B are diagrams showing a state of capturing image signals according to the first embodiment. In the first embodiment, the control unit 5 has a control function for skipping the unnecessary lower area, and when the reading is completed up to a line designated in advance, the reading is forcibly terminated and the processing of the next screen is performed. The following control is performed.

As shown in FIG. 3, the frame transfer type CCD constituting the image pickup device 1 includes a plurality of elements arranged in a matrix form so as to receive incident light from outside, and a light receiving section for converting the incident light into electric charges. And a storage unit 7 in which a plurality of elements are arranged in a matrix so as not to be affected by incident light from outside, and temporarily store charges generated in the light receiving unit 6.
And a line transfer unit 8 in which a plurality of elements are arranged in a line shape so as not to be affected by external incident light, and the charge stored in the storage unit 7 is output to the outside as a signal.

As shown in FIGS. 2 and 3, first, in step S1, an image is received by the light receiving unit 6 of the frame transfer type CCD, and in step S2, one screen is photoelectrically converted and stored by the light receiving unit 6. Minute signal charge,
Control signals φS1, φS2 and φV1, φV2 are transferred to storage unit 7 (transfer 1). Then, step S
3, the signal charges for one screen transferred to the storage unit 7 are transferred to the line transfer unit 8 one line at a time by the control signals φV1 and φV2 (transfer 2), and at step S4, the control signals φH1 and φH2 The signal charges of one line are read one pixel at a time, and an image signal is output to the image capturing device 3.

In the next step S5, step S4
In step S6, it is determined whether or not the counted number of lines matches a preset value. Step S
If the result of step S6 is negative, that is, if the number of lines on which the image signal has been output does not match the set value, the process returns to step S3 again, and the processes from step S3 to step S6 are repeated. If step S6 is affirmed, the subsequent signal charges are not transferred and output on that screen, and the process proceeds to light reception and reading of the next screen in step S7.

By the processing performed in this manner, the reading of the lower area of the screen is not performed. For example, as shown in FIG. 4, image signals are output from the upper end of the screen to the K-th line, and image signals after the (K + 1) -th line are not output. This makes it possible to skip unnecessary portions at the bottom of the screen, shorten the time required for capturing, and reduce the amount of image memory required to store image signals. Further, the transfer time of the image signal can be reduced, and the processing time of the image in the image processing apparatus can be reduced. At this time, the time required to capture an image is shorter than (the time required to transfer and read one line) × (the number of skipped lines) as compared with the case where the entire screen is captured.

Here, a case where it is necessary to skip the lower portion of the screen as in the first embodiment will be described by taking an application to an autonomously driving vehicle as an example. When performing autonomous driving, there are situations where it is necessary to photograph a relatively wide range, and situations where it is necessary to photograph only a limited narrow area.

When performing autonomous driving, it is necessary to change the traveling pattern depending on the type of road on which the vehicle is traveling, such as an expressway or a city road.
In order to judge this from the image, it is necessary to periodically monitor the upper part where the traffic light and the sign board exist, the left side where the sign and sidewalk, the guardrail exists, and the right side where the oncoming vehicle and the median strip exist. . Therefore, it is necessary to photograph a relatively wide range.

On the other hand, after judging the type of the road on which the vehicle is currently traveling, the area required for performing image processing corresponding to each type of road is limited to a relatively narrow area. For example, when a traffic signal is recognized while traveling on an urban road, the traffic signal is not photographed below the height of the vanishing point in the image due to the relationship between the camera and the height of the traffic signal. For this reason, traffic signal recognition requires
Only at the top of the image. Further, the conventional image processing performs only limited processing in a state where the type of the road on which the vehicle is traveling is set in advance, but as described above,
If the recognition of the type of road and the processing according to the type are performed alternately, it is necessary to reduce the processing time. Therefore,
In such a case, skipping of the lower part of the image is effective for shortening the processing time. FIG. 5 is a diagram illustrating an image actually captured in the first embodiment.

-Second Embodiment- Next, a second embodiment will be described. FIG. 6 is a flowchart showing a process performed by the control unit 5 in the second embodiment, and FIG. 7 is a diagram showing a state of capturing an image signal in the second embodiment. In the second embodiment, the control unit 5 shown in FIG. 1 has an upper / lower unnecessary area skipping control function, performs reading from a preset line, and forcibly terminates reading. The reading is terminated, and control is performed so as to perform the processing of the next screen. Further, the configuration of the CCD of the image sensor 1 is the same as that of the first embodiment, and a detailed description thereof will be omitted.

As shown in FIG. 7, first, in step S11, an image is received by the light receiving unit 6 of the frame transfer type CCD, and in step S12, all the images for one screen which have been photoelectrically converted and accumulated in the light receiving unit 6 are received. The signal charges are transferred to the storage unit 7 by the control signals φS1, φS2 and φV1, φV2 (Transfer 1). Next, in step S13, the signal charges for one screen transferred to the storage unit 7 are:
The lines are transferred to the line transfer unit 8 one line at a time in accordance with the control signals φV1 and φV2 (Transfer 2). In step S14, the number of transferred lines is counted.
In, it is determined whether the number of lines matches a first set value set in advance. If step S15 is denied, that is, if the number of transferred lines does not match the first set value, the process returns to step S13 and repeats the processing from step S13 to step S15. If step S15 is affirmed, step S1
In 6, the signal charges transferred to the storage unit 7 after the first set value are transferred to the line transfer unit 8 by one line by the control signals φV1 and φV2 (transfer 2), and in step S17, the control signal The signal charges of one line are read out one pixel at a time by φH1 and φH2, and an image signal is output to the image capturing device 3.

In the next step S18, step S
In step S17, the number of lines from which the image signal is output is counted, and in step S19, it is determined whether or not the number of lines matches a preset second set value. Step S
If the result of step S19 is negative, that is, if the number of lines from which the image signal has been output does not match the second set value, the process returns to step S16 again and returns from step S16 to step S16.
Step 19 is repeated. If step S19 is affirmative, the transfer and output of the signal charges in the lines after the second set value are not performed, and in step S20, the process is shifted to light reception and reading of the next screen.

By the processing performed in this manner, reading of the upper and lower areas of the screen is not performed.
For example, as shown in FIG. 7, (K + L)
Output of the image signal only up to the line is performed. As a result, unnecessary portions at the upper and lower portions of the screen can be skipped, so that the time required for capture can be shortened and the required image memory can be reduced. In addition, the transfer time of the image signal can be reduced,
Image processing time can also be reduced. At this time, the time required to capture the image is (time required to transfer and read one line) × the time required to capture the entire screen.
(The number of lines whose upper portion is skipped) + (the time required for transferring and reading one line) × (the number of lines whose lower portion is skipped).

A case where the upper and lower portions of the screen need to be skipped will be described with reference to FIG. 8 taking an application to an autonomously driving vehicle as an example. When using image processing to perform autonomous driving on expressways, etc., when recognizing white lines and preceding vehicles on the road, the white lines and preceding vehicles are located near the center of the screen,
The images at the top and bottom of the screen are not very important. Therefore, in such a case, it is effective to skip the upper and lower portions of the screen. FIG. 8 is a diagram showing an image actually captured in the second embodiment.

Third Embodiment Next, a third embodiment of the present invention will be described.
FIG. 9 is a flowchart showing processing performed by the control unit 5 in the third embodiment, FIG. 10 is a diagram showing a state of capturing image signals in the third embodiment, and FIG. 11 is a flowchart in the third embodiment. FIG. 4 is a diagram illustrating an image that is actually captured.
Note that the flowchart of FIG. 9 shows processing after signal charges for one line are accumulated in the line transfer unit 8.

In the third embodiment, FIG.
Is provided with a control function for skipping the left and right unnecessary areas. Further, the configuration of the CCD of the image sensor 1 is the same as that of the first embodiment, and a detailed description thereof will be omitted.

First, in step S21, the signal charges for one line stored in the line transfer section 8 of the image sensor 1 are read out one pixel at a time. At this time, the image capturing device 3 is controlled so as not to perform the transfer. In the next step S22, the number of pixels read out is counted, and in step S2
In 3, it is determined whether or not the number of read pixels matches a first set value set in advance. Step S
If the result of step S23 is negative, the process returns to step S21, and the processing from step S21 to step S23 is repeated. When step S23 is affirmed, in step S24, the signal charge is read out one pixel at a time after the set value and output to the image capturing device 3. Then, in step S25, the number of pixels that have been read and output are counted, and in step S26, it is determined whether the number of pixels that have been read matches the second set value set in advance. If step S26 is denied, the process returns to step S24, and the processing from step S24 to step S26 is repeated. If step S26 is affirmed, the process proceeds to the next line in step S27 and the process ends. In the next line, the processing from step S21 to step S27 is performed.

By outputting the signal charges in this manner, the left and right ends of the image can be skipped. For example, as shown in FIG. 10, only image signals from the Mth pixel to the (M + L) th pixel from the left end of the image are output.
Thus, unnecessary portions on the left and right portions of the image can be skipped, and the time required for capturing can be shortened. In addition, the transfer time of the image signal can be reduced, and the processing time of the image can be reduced. At this time, skipping the left portion does not affect the capture time, but skipping the right portion shortens the capture time by (the time required to read one pixel) × (the number of pixels skipped in the right portion). be able to.

Note that the left / right unnecessary pixel skipping control function in the third embodiment is the same as the lower unnecessary region skipping control function shown in the first embodiment or the second embodiment. It is possible to operate simultaneously with any of the upper and lower unnecessary area skipping control functions, and thereby, it is possible to capture an arbitrary rectangular area in an image.

The case where it is necessary to skip the left and right portions of the screen will be described with reference to FIG. 11 by taking an autonomous vehicle as an example. Considering a case in which monitoring is performed so as not to deviate from the own lane by image processing during autonomous traveling on a highway, the width in which the position of the preceding vehicle can be detected by radar and a white line indicating the own lane can be captured is limited. Therefore, it is effective to skip the left and right portions so that only the range is photographed.

-Fourth Embodiment- Next, a fourth embodiment of the present invention will be described.
FIG. 12 is a flowchart showing a process performed by the control unit 5 in the fourth embodiment, and FIG. 13 is a diagram showing a state of capturing an image signal in the fourth embodiment. The fourth embodiment is different from the fourth embodiment in that the control unit 5 shown in FIG. 1 has a capture control device 4 having a line thinning control function. Further, the configuration of the CCD of the image sensor 1 is the same as that of the first embodiment, and a detailed description thereof will be omitted. Further, the process in FIG. 12 is a process performed after step S2 in FIG.

As shown in FIG. 12, in step S31, the signal charges for one screen transferred to the storage unit 7 are transferred to the line transfer unit 8 one line at a time by the control signals φV1 and φV2 (Transfer 2). In step S32, the signal charges of one line are read out one pixel at a time by the control signals φH1 and φH2, and the image signal is output to the image capturing device 3.

In the next step S33, step S
At 32, the number of lines that have been transferred and output is counted, and at step S34, it is determined whether or not this number of lines matches a preset first set value. If step S34 is denied, that is, if the number of output lines does not match the first set value, the process returns to step S31, and returns from step S31 to step S31.
34 is repeated. When step S34 is affirmed, the process proceeds to step S35, and in step S35, the signal charges for one screen transferred to the storage unit 7 after the first set value are transferred by the control signals φV1 and φV2 one line at a time. Transferred to the line transfer unit 8 (Transfer 2),
In step S36, the number of lines transferred in step S35 is counted, and in step S37,
It is determined whether or not the number of lines matches a second set value set in advance. If step S37 is denied,
That is, when the number of transferred lines does not match the second set value, the process returns to step S35 again, and the processes from step S35 to step S37 are repeated.

When step S37 is affirmed, in step S38, the total number of lines transferred to step S37 is counted. Then, in step S39, it is determined whether or not the total number of lines matches a third set value set in advance. When step S39 is denied, it returns to step S31 and repeats the processing from step S31 to step S39. If step S39 is affirmed, in step S40, the process proceeds to light reception and reading of the next screen.

At this time, the total time required for reading without line transfer of each line is (number of lines to be read)
/ (The number of lines when no thinning is performed). For example, as shown in FIG. 13, after the transfer 2 and the reading are performed once, by repeating the transfer 2 twice, one line is read for every three lines, and the time required for the output is reduced to 1/3. can do.
Therefore, a line thinning operation can be performed, and the time required for capturing can be shortened. In addition, the transfer time of the image signal can be reduced, and the processing time of the image can be reduced. In the present embodiment, step S3 is performed so that transfer is performed on all lines.
A third set value at 9 is determined.

The line thinning control function according to the fourth embodiment may be a lower unnecessary area reading control function shown in the first embodiment, or an upper / lower unnecessary function shown in the second embodiment. It can operate simultaneously with any of the area skipping control functions and also with the left and right unnecessary pixel skipping control functions shown in the third embodiment. It is possible to capture an image after thinning.

The case where it is necessary to thin out lines will be described by taking an autonomous driving vehicle as an example. One CCD
When a camera performs white line recognition on a highway or the like and a sign recognition in an urban area, a higher resolution is not required for white line recognition as compared with sign recognition or the like. Therefore, in the case of performing white line recognition, after image capturing is performed, recognition may be performed by performing a thinning process in the image processing apparatus. When thinning is performed at the time of capturing using the present apparatus, the capturing can be performed in a short time, and it is not necessary to perform the thinning processing in the image processing apparatus. Therefore, in such a case, it is effective to perform line thinning.

In the second embodiment,
Although the upper and lower parts of the screen are skipped, the upper part may be skipped only. In the third embodiment, the right and left portions of the screen are skipped. However, only the right portion or the left portion may be skipped.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an image input device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing processing performed by a control unit 5 in the first embodiment.

FIG. 3 is a diagram showing a detailed configuration of an image sensor.

FIG. 4 is a diagram illustrating a state of capturing an image signal according to the first embodiment;

FIG. 5 is a diagram showing an image actually captured in the first embodiment.

FIG. 6 is a flowchart illustrating processing performed by a control unit 5 according to the second embodiment.

FIG. 7 is a diagram showing a state of capturing image signals according to the second embodiment;

FIG. 8 is a diagram showing an image actually captured in the second embodiment.

FIG. 9 is a flowchart illustrating processing performed by a control unit 5 according to the third embodiment.

FIG. 10 is a diagram showing a state in which an image signal is taken in a third embodiment;

FIG. 11 is a diagram showing an image actually captured in a third embodiment.

FIG. 12 is a flowchart illustrating a process performed by a control unit 5 according to the fourth embodiment.

FIG. 13 is a diagram illustrating a state of capturing image signals according to the fourth embodiment;

FIG. 14 is a block diagram showing a configuration of a conventional image input device.

FIG. 15 is a diagram showing a state of capturing an image signal in a conventional image input device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Image sensor 2 Control signal generator 3 Image capture device 4 Capture control device 5 Control part

Claims (5)

[Claims] An imaging device that photoelectrically captures an image and outputs an image signal representing the image; an image capturing device that captures and transfers an image signal output by the imaging device; A control signal generation device that outputs a control signal to be driven; and a capture control device that controls the image capture device and the control signal generation device so that a signal amount of the image signal is reduced. Image input device. 2. The image capturing device according to claim 1, wherein the image capturing control device controls the image capturing device and the control signal generating device so as to skip a predetermined range below the image.
The image input device according to the above. 3. The image according to claim 1, wherein the capture control device controls the image capture device and the control signal generation device so as to skip predetermined ranges in an upper portion and a lower portion of the image. Input device. 4. The image capture device and the control signal generation device according to claim 1, wherein the capture control device controls the image capture device and the control signal generation device to skip a predetermined range of a left portion and a right portion of the image. Image input device. 5. The image input device according to claim 1, wherein the capture control device controls the image capture device and the control signal generation device so as to capture the image by thinning out the image by predetermined lines.