JPS6156924A - Color recognizing method - Google Patents

Abstract

PURPOSE:To enhance processing speed and to simplify the constitution, by simultaneously performing parallel A/D conversions of image signals for every component of three primary colors, storing the result into one byte length, which is expressed by the same address, and performing the process for picking up the specified color based on the color of the signal. CONSTITUTION:A/D conversions of image signals R, G and B for three primary colors from a color video camera 1 are simultaneously carried out in parallel into digital values having a two-bit length by comparators A1 and A2. The signals are transferred and stored in an image buffer 3 through a register 2 as the image having one byte length with respect to one dot on a monitoring screen. Based on the color of the image signal, which is expressed by one byte length, processing for picking up the specified color is performed by a control device 4. The result is converted into binary coded image data and the data is displayed on a monitoring TV 5.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a color identification method, specifically, a color identification method that corresponds to a specific color preset from an image signal of an object imaged by a color imaging means. The present invention relates to a color identification method for obtaining image data corresponding only to the specific color by extracting and binarizing an image signal.

[Prior Art] In this type of color identification method, for example, as shown in FIG. 4, a car video camera (
Eight image signals corresponding to each of the three primary colors of light (red, green, blue) (R) l (G), FB
) and 1 are stored in frame memories (MR), (MG), and (MB') as image buffers, respectively.
), these eight frame memories (M
[Problems to be solved by the invention] However, in the conventional means, image data for one screen is stored for each of the three primary color components. At least 8
It also requires a separate image buffer, and also has the drawback that it takes a long time to extract and binarize data corresponding to a specific color based on eight data arrays. Ta.

Therefore, the eight image signals fR), fG),
(B) is calculated as an analog signal, and a specific color is extracted.
Although we have not considered a method to perform binarization first and then store only the binarized image signal in the image buffer, when performing analog calculation processing in this way, the image signal is a high frequency signal. As a result, it was difficult to manufacture and adjust the processing circuit, making the device complex and expensive, and it required a great deal of know-how and expertise.

In addition, the present applicant has already proposed a fruit recognition device for obtaining data for guiding a robot hand for fruit harvesting to the position of the fruit to be harvested, and other applications where there is no practical problem even if the color discrimination resolution is low. Then: 1. It was desired to improve the processing speed and simplify the device configuration.

The present invention has been made in view of the above circumstances, and its purpose is to obtain image data corresponding only to a specific color.
An object of the present invention is to provide a color identification method that has a high processing speed and can be performed with a simple configuration.

[Means for Solving the Problems] In order to achieve the above object, the method of the present invention simultaneously converts the image signal output from the color imaging means into digital values expressed in 2-bit length for each of the three primary color components. Parallel A/D conversion is performed, and the converted data is stored within a 1-byte length expressed by the same address, and processing is performed to extract a specific color based on the color of the image signal expressed in units of 1-byte. It has certain characteristics, and its actions and effects are as follows.

1 action] That is, the image signal output from the imaging means is converted into simultaneous parallel A/R) for each of its three primary color components to produce a 2-bit digital value, that is, a 64-step digital value expressed by a total of M+6 bits. Digital data corresponding to a color is stored within a length of 1 byte expressed by the same address, and subsequent processing for extracting a specific color is performed in units of 1 byte.

[Effect of Xingmei]

Because of the above characteristics, the following excellent effects have been achieved.

In other words, take pictures! The image signal outputted from the means is simultaneously ψ-converted for each of the 8 primary color components to obtain a digital value stored within 1 byte length corresponding to 64 colors expressed in 6 bit length, and used for subsequent specific color extraction. Since the processing is performed in units of n11 bytes, the memory capacity required for temporarily storing image data and performing arithmetic processing can be significantly reduced. In addition, since the image signal is ψ-transformed in parallel with a small bit length, the ψ-transformation can be performed in real time and the A
The configuration of the ρ converter can also be extremely simplified.

Therefore, although the color resolution is somewhat degraded, it is no longer necessary to perform signal processing at an analog signal level, making it possible to perform high-speed signal processing with a simple configuration.

〔Example〕

Examples of the method of the present invention will be described below with reference to the drawings.

FIG. 19 is a block diagram of a fruit identification device that obtains a binarized image of a specific color corresponding only to fruits to which the method of the present invention is applied, and is outputted from a color video camera (1) as an imaging means. Image signals for each of the three primary colors (red, green, blue) of light (
R), fG) j (B) are simultaneously converted into 2-bit digital values in parallel by two comparators (AI) and 1 (A2), and as shown in Fig. 2, Digitized image signal with 64 levels of color expressed in 6-bit length as a whole! Exchange: 1 dot on the evening screen is stored as image data of 1,001 bytes in register (
2) is sequentially transferred to the image buffer (3), and the image data for one screen transferred and stored in the image buffer (3) is combined with extracted color data for each byte by the control unit w (4). is converted into binary image data corresponding only to fruits by performing logical operations on the data, and the result is displayed on a monitor television (5).

The image data transfer to the front F image buffer (3) is based on the vertical synchronizing signal (VD) so that it is transmitted in synchronization with the vertical synchronizing signal (VD), as shown in FIG. Two trigger signals (TGl
), (T0n).

In FIG. 1, (6) indicates the plurality of comparators (Al
), (A2) of parallel conversion type ~
It is a Φ converter.

[Brief explanation of the drawing]

The drawings show an embodiment of the color identification method according to the present invention, FIG. 1 is a block diagram showing the configuration of a color identification device, FIG. 2 is an explanatory diagram of converted data, FIG. 8 is a time chart of data transfer,
FIG. 4 is a block diagram showing a conventional configuration. (1)...Color imaging means, (R), fG
), (B)...Three primary color components of the image signal.

Claims (1)

[Claims] Image data corresponding only to the specific color is obtained by extracting and binarizing an image signal corresponding to a preset specific color from the image signal of the object imaged by the color imaging means (1). A color identification method for obtaining a color identification method, which converts an image signal output from the color imaging means (1) into a digital value expressed with a length of 2 bits for each of its three primary color components (R), (G), and (B). Simultaneously parallel A/D conversion is performed, the converted data is stored within a 1-byte length expressed by the same address, and processing for extracting a specific color is performed based on the color of the image signal expressed in 1-byte units. A color identification method characterized by: