JPS60120475A - Picture processor - Google Patents

Abstract

PURPOSE:To find a deflection in a short time with a picture processor using an one-dimensional image sensor even when the image forming position repeatedly fluctuates in the vicinity of the reference picture element position by using a detected image forming address. CONSTITUTION:By changing picture data Dv from ''1'' to ''0'' in contrast with a rise detecting circuit 29, the Q1 output and q output of a shift register 38 become ''0'' and ''1'', respectively. Moreover, the output of an AND circuit 41 becomes ''1'' when the lowest order bit n0 of the count value (n) of the 2nd counter 21 is ''1''. When the output of ''1'' of AND circuits 37 and 41 is inputted, a latch circuit 32 latches a reading out address RE outputted from the address converting circuit 22 of a reading out circuit 20 at the time as an image forming address X corresponding to the image forming position of the shadow SH of a sealing line SL at the one-dimensional image sensor of a camera 7 by using the output ''1'' as a latch signal.

Description

DETAILED DESCRIPTION OF THE INVENTION [0010] ■ The present invention relates to an image processing device suitable for a position correction device having an imaging means using a -dimensional image sensor.

Recently, many attempts have been made to have playback robots perform sealing work, which is performed in the assembly process of automobiles, for example.

By the way, when this type of robot is used to perform relatively precise work such as sealing work, there are work errors based on the repetition accuracy and teaching accuracy of the robot itself, workpiece positioning accuracy, errors between workpieces, etc. Because of the need to take errors into account, attempts have been made to provide a device at the tip of the robot arm to correct the position of the sealing nozzle.

By the way, as such a position correction device, the following can be considered.

That is, a drive mechanism equipped with an imaging means using a -dimensional image sensor is provided at the tip of the arm of the robot 1-, and a sealing nozzle is attached to this drive mechanism.

However, the direction of movement of the imaging means and sealing nozzle, which are moved relative to the arm tip by this drive mechanism, is as follows:
It is assumed that the direction is perpendicular to the ceiling direction, which is the moving direction of the arm, and that the linear imaging field of the imaging means faces in this direction.

Then, for example, a line-shaped shadow of a constant width created by shining light on a sealing line of a seam of iron plates is imaged by an imaging means attached to the above-mentioned drive mechanism.

During playback of the robot, the image signal output from the imaging means is processed by the image processing device, and the deviation between the imaging position of the imaged shadow and the predetermined reference pixel position on the one-dimensional image sensor is detected. Find sequentially,
By moving the above-mentioned drive mechanism according to the deviation so that the deviation becomes zero, the positional deviation between the sealing nozzle attached to the drive mechanism and the sealing line is corrected.

The image processing device has the function of detecting a positional deviation between the ceiling nozzle and the ceiling line, and sequentially stores one frame of image data in an image memory based on the image signal output from the imaging means, and then processes the image data. While sequentially reading image data in a specific address range from the image memory in the order in which they were stored or in the reverse order, the shading of the ceiling line is determined based on the read image data and the address where the image data was stored. The address corresponding to the imaging position is detected, and the above-mentioned deviation is calculated based on the detected address and the address stored in the image data corresponding to the reference pixel=3-.

By the way, in such an image processing device, image data is sequentially read and processed starting from an address indicating the upper or lower limit of a specific address range, which is a window processing range set to speed up processing. Therefore, there were the following problems.

In other words, the variation in the positional deviation between the ceiling nozzle and the ceiling line is usually small, and the imaging position of the shadow on the ceiling line often fluctuates repeatedly near the reference pixel position, but even in such cases, the upper or lower limit Since the image data must be read from the address indicating the reference pixel to the vicinity of the address corresponding to the reference pixel, there is a problem in that the processing time required to correct the deviation described above becomes unnecessarily long.

Purpose This invention was made in view of the above problems,
The object of the present invention is to correct the deviation in a short time even when the imaging position of the shadow of the ceiling line repeatedly fluctuates in the vicinity of the reference pixel position as described above.

Therefore, in the image processing device according to the present invention, the order in which image data is read is changed from the reference address corresponding to the reference pixel to the direction in which the reference address is increased and decreased, respectively. Based on the image data read out in that order and the successive addresses, the imaging address corresponding to the imaging position is detected, and the detected imaging address and the reference address are used as the order of the successive addresses obtained. I am aware of the deviation between the two.

Embodiments of the present invention will now be described with reference to the accompanying drawings.

FIG. 1 is a configuration diagram of a mechanical section of a position correction device to which an image processing device according to the present invention is applied.

In the same figure, workpieces (plate materials) Wr, which are overlapped by welding or the like, are attached to the tip of the arm 1a of the playback robot 1, which moves along a work trajectory determined in advance by teaching, corresponding to the ceiling line SL at W2. teeth,
A position correction device 2 excluding a control system composed of various parts described below is installed.

The arm 1a is designed to rotate in the direction of arrow A, but since any known robot including the other parts of the robot 1 can be used as is, the details will be omitted.

In the position correction device 2, a pulse motor 5 and a speed reducer 6, etc., which swing and rotate the mounting plate 4 around the axis R are attached to the bracket B attached to the tip of the arm 1a, and the bracket 3 is Mounting board 4 when in position
moves in a direction C (hereinafter referred to as the "position correction direction") perpendicular to the ceiling direction B, which is the moving direction of the robot 1.

This mounting board 4 is equipped with a MOS or CC, D-type, N-bit (for example, 512-bit) -dimensional image sensor camera (hereinafter abbreviated as "camera") as an imaging means.
7 and a high-pressure spray type sealing nozzle 8 were installed under the following conditions.

That is, the camera 7 is arranged such that the one-dimensional image sensor therein is arranged parallel to the swing rotation direction of the mounting board 4, that is, the plane including the position correction direction C, and the bracket 3 is in the illustrated position. The linear imaging field of view E of the camera 7, indicated by a broken line, is oriented in a direction perpendicular to the ceiling direction B, and the optical axis of the camera 7 and the swing rotation axis R of the mounting plate 4 are aligned with the one-dimensional image sensor. center position (N
/2 bit pixel position) and intersect at right angles at the mounting board 4.
When fixed at the reference position for rocking rotation, the optical axis is aligned with arm 1.
The tip 8a of the sealing nozzle 8 is located in a plane that includes the optical axis and the axis R, and is slightly away from the optical axis with respect to the sealing direction B. It is installed so that it is located in a delayed position.
Note that the sealing nozzle 8 is attached by a holder 9, and this holder connects the sealing nozzle 8 and a flexible hose 10 for pumping the sealing material.

Next, the spot lamp 11 is provided at the tip of the stay 12 attached to the fixed speed reducer 6, and emits parallel light (spot light) from diagonally above the front of the ceiling nozzle 8 in the ceiling direction B, which is the moving direction of the robot 1. is irradiated onto a predetermined area including the imaging field of view E, so that a shadow SH of a constant width along the ceiling line SL is formed on the workpiece W2 side.

The spot lamp 13 is also provided at the tip of the stay 14 attached to the reducer 6, and is located at a position symmetrical to the spot lamp 11 with respect to the optical axis of the camera 7, so that the overlapping of the workpieces WI I w2 is prevented. Used when the situation is reversed to that shown in Figure 1.

Next, with reference to FIG. 2, an embodiment of the image processing device according to the present invention used in the control system of the position correction device 2 will be described.

First, to explain the signal output from camera 7,
The camera 7 receives an image (video) signal Sv shown in FIG. 3 (a) according to the brightness of the imaged part that has entered the imaging field of view E8- in FIG. 1, and a scanning clock shown in the same figure (b). It outputs a pulse signal Sc and a video clear signal So shown in FIG.

Note that the image signal Sv is an analog signal, and the brighter the imaged part, the higher the signal level, and conversely, the darker the imaged part, the lower the signal level. Further, the clock pulse signal Sc is a pulse signal that occurs N times "1" per one frame of the image signal Sv,
The video clear signal So is a signal that becomes 1'' for a time corresponding to one frame.

Next, in the image processing device 15 that performs the function of detecting one positional deviation, the binarization circuit 16 inputs the image signal Sv from the camera 7 and projects the shadow SH of the ceiling line SL in the imaging field of view E in FIG. The notch portion of the image signal Sv (see Fig. 3 (a)) corresponding to the image is detected, and a binarized signal that becomes 0'' in one frame by a width corresponding to the width of the detected notch portion is converted into image data Dv. (See Figure 3 (d)).

The data selector 17 is for selecting either the write address WR from the first counter 1B, which will be described later, or the read address RE from the address conversion circuit 22, and is for selecting the video clear signal So( Figure 6 (
(C)) When WR is l'', write a] write WR to 0''.
The read addresses RE are respectively selected at the time of .

The first counter (binary counter) 18 is the camera 7
Each time the video clear signal So from the camera 7 falls to 0'', it is cleared, and each time the clock pulse signal Sc is input from the camera 7, the write address WR, which is the counter I- value, is incremented by +1.

Therefore, the write address WR output from the first counter 18 changes from "0" to rNJ in synchronization with the tarock pulse signal Sc output from the camera 7.

Note that when a 512-bit camera is used as the camera 7, if a binary counter with at least 9 pips is prepared as the first counter 18, the write address WR will be 0.
It changes from OOH to IFFn.

On one day, the image memory as a storage means (configuration capacity of at least N x 1 bits), the video clear signal So from the camera 7 becomes "1", and the data selector 17 selects the write alarm from the first counter 18. When the write address WR is selected, the binarization circuit 1 is selected based on the write address WR.
The image data Dv from 6 is sequentially stored for 11 minutes per frame,
When the video clear signal So from the camera 7 becomes 0'' and the data selector 17 selects the read address RE from the address conversion circuit 22, 1'- means the images stored in the order based on the read address RE. The data Dv are sequentially output.

Although it is shown in a simplified manner in FIG. 2, in reality, a signal obtained by inverting the video clear signal So, for example, is input to the R/W terminal of the image memory 19, so that the video signal So becomes "
When the value is 1'', the write mode is set, and when the value is 0, the read mode is set.

The readout circuit 20, which also functions as an addressing means, includes a second readout circuit 20 constituted by, for example, a 9-bit binary counter.
0 counter 21, and an address conversion circuit 2 comprising a read only memory (ROM) that converts the values 1 to n of this second counter into a predetermined read address RE to be described later.
2, an oscillator 23 that outputs a clock pulse ck of a constant period, and a 9-bit count value n of the second counter 21.
NAND AND circuit 24 which takes the negation of the logical product of
An AND circuit 25 that takes the logical product of the clock pulse ck from the NAND AND circuit 24, a NOT circuit 26 that inverts the video clear signal So from the camera 7, and
AND to take the logical product of the outputs of the circuit 25 and the NOT circuit 26
It is composed of a circuit 27 and the like.

The second counter 21 is cleared every time the video clear signal So from the camera 7 falls from 1'' to 0'', and the count value n becomes 000H and the NAND
When the ND circuit 24 becomes "1", it opens <AND
The circuit 25 and video clear signal So become 0'' and NO.
When the 12- output of the T circuit 26 becomes "1", it is opened.

Therefore, the count value n of the second counter 21 is determined when the video clear signal So falls from 1'' to 0'', that is, when the image data Dv for one frame is stored in the image memory on one day. It changes from 000■ to lFFH with the period of the clock pulse ck.

Contents shown in Table I are written in advance in each address of the ROM constituting the address conversion circuit 22.

That is, when the total number of pixels of the one-dimensional image sensor of the camera 7 is 512, the address OOOH is a reference address of 0FFI ((255) corresponding to the center pixel, and an odd number address (00in, 003H).

005■......), the reference address is OFF.
Read address 10 increased by +1 from H (255)
0H(256), l0IT((257), 1021((
258), ..., even address (002TI, 0
04H, 00611, . . . ) are read addresses orErt (25u, 0FDH (253)) that are decreased by -1 from the reference address 0FFrr (255), respectively.

OFCH (252), . . . are written respectively.

If this is done, the address converter will be converted to the address converter by the number (OOOt+~IFFH) of the second counter 21. By addressing the ROM of 822, the successive addresses R and E are converted to the reference address o.

From F II, this group? (The rear address OF F H can be sequentially changed in the directions of increasing and decreasing, respectively.

In other words, the read addresses RE output from the address conversion circuit 22 are respectively from the reference address 0FFH to +
],,-1. +2. -2. +3. -3,...
The value will change.

Therefore, if the data selector 17 selects the read address RE from the address conversion circuit 22 of the read circuit 20, the reference address OF F t from the image memory 1st
The image data Dv can be read out in the order of addresses close to r starting from there.

Table ■Next, the detection circuit 28 is a rise detection circuit 2nd which detects that the image data Dv read from the image memory 1st has risen from 0'' to 1''.

A fall detection circuit 30 that detects that the image data Dv falls from 1'' to 0'', an OR circuit 31 that takes the logical sum of the outputs of both detection circuits 15-29, and 30, and an output of this OR circuit 31. Based on the address conversion circuit 22
The latch circuit 32 that latches the read address RE of the oscillator 23 and the NOT circuit in the read circuit 20 output the clock pulse ck from the oscillator 23 only while the output on the 2nd day is 1''. It is composed of an AND circuit 33, etc., which outputs an output to the output signal.

Although not shown, the rising detection circuit 2 is cleared when the video clear signal So rises from 0'' to 1'', and Q1="1=".

The data is preset so that Q2=゛1'', and A
A 2-bit shift register 34 shifts image data Dv from the first day of the image memory at each rising edge every time a clock pulse ck is inputted via the ND circuit 33, and a Q1 output and a Q2 output of this shift register 34. EX-OR circuit 35 that takes exclusive OR with the output and this EX-OR circuit 35
The output +Q+ output of the R circuit 35 and the lowest bead 16 of the count value n of the second counter 21 in the readout circuit 20
- It is constituted by an AND circuit 37, etc., which takes the logical product of the outputs of the NOT circuit and the output of the third day.

With this configuration, the image data Dv read out from the image memory 1st in the order of the readout address RE described above,
The Q1 output of the shift register 34 changes (rises) from data ``0'' corresponding to the shadow SH of the ceiling line SL to data ``1'' corresponding to the portion brightly illuminated by the spot lamp 11 or 13, so that the Q1 output of the shift register 34 becomes 1''. , the Q2 output becomes 0'', and the least significant bit n of the count value n of the second counter 21. The output of the AND circuit 37 becomes 1'' only when is 0'', that is, when the read address RE output from the address conversion circuit 22 is smaller than the reference address OFFH, including the reference address OFFH.

Next, although not shown, the fall detection circuit 30 is cleared when the video clear signal So rises from 0'' to 1'', and Q+ = O'', Q2 =
The data is preset so that “O=”, and
Every time the clock pulse ck is input through the circuit 33, the image data Dv from the image memory 1st is displayed at each rising edge.
A 2-bit shift register 38 that shifts
It is composed of the output of a NOT circuit 40 which inverts the output +Q+ of the third circuit, and an AND circuit 41 which takes the AND of the least significant bit no of the count value n of the second counter 21.

With this configuration, contrary to the rise detection circuit 2, when the image data Dv changes from 1'' to 0'', the Q1 output of the shift register 38 is 0'' and the Q2 output is 1''.
”, and only when the least significant bit n (1 of the count value n of the second counter 21 is “1”, that is, when the read address RE is larger than the reference address 0FFH,
The output of the AND circuit 41 becomes 1''.

Note that the rise and fall detection circuit 29. which operates in this manner.
The reason for providing 30 is the shadow SH of the ceiling line SL.
This is to improve detection accuracy by always detecting only one edge of the image memory. This is because it is the opposite.

The latch circuit 32 is connected via the OR circuit 31 to the AND circuits 37 .
When the output "1" of 41 is input, it is used as a latch signal and the subsequent address RE outputted from the address conversion circuit 22 of the readout path 20 at that time is sent to the camera 7.
Ceiling line SL in one-dimensional image sensor
The image forming address X corresponding to the image forming position of the shadow SH is latched.

The arithmetic circuit 42 calculates the deviation ΔX between the imaging address X latched in the latch circuit 32 and the reference address OF ) The multiplied numerical data is multiplied by ΔX and outputted to the controller 44 that drives the pulse motor 5.

19- It should be noted that, as a matter of course, the tip of the ceiling nozzle 8 and the ceiling line SL should match and the imaging position of the shadow SH should be at the center pixel position, which is the reference pixel in the one-dimensional image sensor of the camera 7. In this case, the deviation ΔX becomes rOJ, and if there is a positional deviation, it becomes a positive or negative value depending on the direction and amount of the positional deviation.

The constant also includes that when numerical data α is given to the controller 44, the pulse motor 5 driven by the controller 44 rotates and the camera 7 also rotates, thereby changing the imaging position of the shadow SH to the address value. If it moves by β, it is determined by β/α.

The controller 44 outputs a drive pulse according to ΔX to the numerical data from the arithmetic circuit 42 to the pulse motor 5,
The optical axis of the camera 7 attached to the mounting board 4 and the position of the tip 8a of the sealing nozzle 8 are corrected.

Therefore, using the robot 1 equipped with the position correction device configured as described above, rough teaching work is performed that satisfies only the condition that the ceiling line SL intersects with the linear imaging field of view E of the camera 720-. After that, even if the robot 1 is played back based on the teaching data, the image processing device 15 calculates the difference between the imaging position and the center pixel position on the one-dimensional image sensor of the shadow SH of the ceiling line SL imaged by the camera 7. The deviation ΔX is promptly detected, ΔX is outputted to the controller 44 as numerical data corresponding to the deviation ΔX, and the controller 44 controls the pulse motor 5 according to the numerical data ΔX.
Since the tip of the sealing nozzle 8 is always positioned on the sealing line SL by rotating the sealing nozzle 8, accurate sealing can be performed along the sealing line SL.

Of course, even if there is an error in overlapping the workpieces Wr and W2 or an error in positioning them to the work area, these errors can be sufficiently absorbed.

Moreover, in the image processing device 15, the order in which the image data Dv from the image memory 1 are read out is set at the center of the one-dimensional image sensor in the camera 7, where the shadow SH of the ceiling line SL forms an image when no positional shift occurs. Since the reference address OF F II corresponding to the pixel position is the center and the data is read in order of proximity from there,
Even if the fluctuation in the positional misalignment between the tip of the ceiling nozzle 8 and the ceiling line SL is small and the imaging position of the shadow SH on the ceiling line SL repeatedly fluctuates in the vicinity of the center pixel position, the positional misalignment will occur in a very short time. The deviation Δ
It becomes possible to add X.

If such an image processing device 15 is provided,
It is very effective in the following cases:

That is, there is a ceiling line S in the image data Dv.
If data corresponding to the shadow SH of L and data corresponding to some shadow that is not very distinguishable from it are stored in multiple units at a location farther from the reference address than the imaging address of the shadow SH, the above-mentioned procedure will be applied. The image processing device 15 can quickly detect only the imaging position of the shadow SH without detecting the imaging position of such a shadow.

This becomes even clearer when compared with the following example.

In other words, when the image data Dv includes data corresponding to the shadows as described above, if the conventional processing is performed, the imaging positions of all the shadows including the shadows SH are detected, After storing data in a new memory, it is necessary to sequentially read out the detected imaging position data from the memory and select data close to the reference address, which takes a lot of time.

Note that if the processing time becomes longer, the processing cannot be completed within the sampling time of the image signal Sv, and as a result, the accuracy of position correction during high-speed movement of the robot deteriorates.

Next, another embodiment of the image processing device will be described.

FIG. 4 is a block diagram showing an embodiment of an image processing device using a microcomputer.

In the figure, the image processing device 45 is a central processing unit (c
po)46. Program memory (ROM) 47, data memory (RAM) 4B, input port 23- (I/P) 49. and an output port (0/P) 50, and a binarization circuit 16 similar to the previous embodiment.
By executing a program based on the flowchart shown in the figure, the image processing apparatus 15 performs the same functions as the image processing apparatus 15 of the previous embodiment.

Note that the input port 4 of the microcomputer 51 receives the image data Dv from the binarization circuit 16, the clock pulse signal Sc from the camera 7, and the video clear signal So.
is input, and from the output port 50, numerical data Δ■
(corresponding to KAX in the previous embodiment) is the controller 44
is output to.

The flowchart shown in FIG. 5 will be explained step by step below.

5TEP l Write the start address M1 of the data storage area of RAM4B to counter CN.

5TEP 2 Video clear signal SO from camera 7 (
(see Fig. 3 (c))) rises from "o" to 1".

STE'P 3 Clock pulse signal S from camera 7
24- Check the fall from 1'' to 0'' in c (see Figure 3 (b)), and when it falls, proceed to 5TEP 4.

5TEP4 binarization circuit takes in the image data Dv from the 1st day.

5TEP 5 Stores the image data Dv captured in 5TEP 4 at the address of the RAM 48 indicated by the counter CN.

5TEP 6 Increment the address of counter CN by +1.

5TEP 7 Check whether the video clear signal So falls from "1" to 0" and capture of image data Dv for one frame has been completed. If not, return to 5TEP 3 and proceed to 5TEP 3. Repeat the processes up to 7, and if completed, proceed to 5TEP 8.

In this way, the image data for ■frames D v t
t RAM 48 data storage area (corresponding to image memory).

However, when acquiring data for each pixel of a one-dimensional image sensor as described above, the cycle of the clock pulse signal Sc (for example, 1.36μ5ec) cannot be processed by a normal CPU, so for example, if the clock pulse signal Sc is Along with frequency division, serial image data Dvt! : It is preferable to convert it into m-bit parallel data and import the m-bit parallel data at once in synchronization with the m-divided signal.

5TEP 8 Reset counter CN to 0'' and write 1'' to registers TE and To, respectively.

5TEP 9 Counter C'N's Karatoi direct (CN)
Based on the start address M2 of the read address table shown in the memory map of Table 3 stored in the ROM 47,
Address Y=2(CN)+M2. Calculate.

Note that the calculation of the address Y that changes by +2 from the address M2 is performed when the read address IyC (corresponding to the read address RE in the previous embodiment) is 2 as shown in Table 3.
This is because it is a byte specification.

Table ■ Table ■ also does not show only five read addresses IYL/ including the reference address 0OFF (255), but the addresses below address (M2+10) are 252, 2 in decimal.
58,251,259,250°260,...
The following read addresses Iy are stored in the order 27 first.

5 TEPIOROM 47 address Y (initially M2)
Read the read address IY from.

5TEPII Reads the image data Dv from the RAM 49 based on the read address ry read at 5TEPIO.

5TIEP ] 2 Counter CN KARANTOI Direct [:
Check whether CN) is "0" or an even number. If it is "0" or an even number, proceed to 5TEP13; if (CN) is an odd number, proceed to 5
Proceed to TEP16.

5TEP13 Image data D read out with 5TEPII
It is checked whether v is 1'' or not, and if it is 1'', proceed to 5TEP14, and if it is 0'', proceed to 5TEP15.

5TEP14 Check whether the contents of register TE (TE) is 0" or not. If "o", proceed to 5TEP20,
If it is 1″, proceed to 5THP15.

Note that in 5TEP13.14, the rising edge of the read image data Dv is detected.

5TEP15 After writing the image data Dv read in 5TEPII to the register TE, the process advances to 5TEP19.

28-5TEP]6 Image data D read out with 5TEPII
Check whether v is 0" or not, if "o", 5TEP
Proceed to 17, and if "1", proceed to 5TEP18.

5TEP17 Check whether the contents of register To (TO) is 1" or not. If it is "1", proceed to 5TEP20,
If “o”, proceed to 5TEP18.

Note that in 5TEPi6.17, the falling edge of the read image data Dv is detected.

5TEP 1 g Writes the image data Dv read in 5TEP11 to register To.

5TEP19 After incrementing the count value (CAN) of counter CN by +1, return to 5TEP 9 and 5T
Repeat the process of EP 9-19.

5TEP20 Read address Iy read out at 5TEPIO (this is the imaging address) and reference address T
Numerical data ΔI=K(Iy Io) is calculated based on o(OOFFH) and constants.

5TEP21 Output the numerical datum obtained in 5TEP20 to the controller 44 and return to 5TEP1.

In each of the embodiments described in Section 2, an example was described in which the image data Dv formed by the binarization circuit 16 was processed, but the invention is not limited to this, and instead of the binarization circuit 16, It is also possible to use an A7n converter to form image data.

However, in this case, instead of detecting the rise or fall, it is necessary to detect whether the image data indicating the brightness or darkness of the imaged object has changed in the direction of increasing or decreasing by a certain value or more. .

-■ As explained above, in the image processing device according to the present invention, the order in which image data is read from the storage means is increased from the reference address corresponding to the reference pixel in the -dimensional image sensor by increasing this reference address. The order of the readout addresses is obtained by sequentially changing the readout addresses in the direction of increasing Since the image 71-res is detected and the deviation between the two is calculated based on the detected image forming address and the reference address, the image forming position of the object to be imaged is set to the predetermined reference pixel position by the one-dimensional image sensor. Even if there are repeated fluctuations in the vicinity of , it is possible to correct the deviation in a short time.

Therefore, if the position correction device using this image processing device corrects the position of the sealing nozzles 1 to 1, for example, the working accuracy and speed of the robot can be improved.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of a mechanical section of a position correction device to which the image processing device according to the present invention is applied, and FIG. 2 is an implementation of the image processing device according to the present invention used in the control system of the position correction device shown in FIG. A block diagram showing an example; FIG. 3 is a signal waveform diagram of each part for explaining the operation of FIG. 2; FIG. 4 is a block diagram showing another embodiment of the image processing device according to the present invention; 31-5 This figure is a flow diagram for explaining the operation of the CPU in FIG. 4. 1... Robot 2... Position correction device 5... Pulse motor 7... Camera (imaging means) 8... Ceiling nozzle 15... Image processing device 1
6...Binarization circuit 1st...Image memory (storage means) 20...Reading circuit (including the function of addressing means)
28...Detection circuit 42...Arithmetic circuit 32-

Claims (1)

[Claims] 1. One frame based on an image signal output from an imaging means using a one-dimensional image sensor that images a linear imaging target with a linear imaging field directed in a direction intersecting the linear imaging target. storage means for sequentially storing image data corresponding to a predetermined reference pixel in the -dimensional image sensor; and addressing means for specifying, as a reference address, an address of the storage means storing image data corresponding to a predetermined reference pixel in the -dimensional image sensor; reading means for reading image data from the storage means in the order of readout addresses obtained by sequentially changing the reference address in increasing and decreasing directions from a reference address designated by the storage means; Detection means for detecting a readout address corresponding to an imaging position of the imaging target in the -dimensional image sensor as an imaging address based on the image data sequentially read by the means and the readout address. An image processing apparatus comprising: a calculation means for calculating a deviation between the imaging address detected by the detection means and the reference address.