JPS62285108A - Programmable controller - Google Patents

Abstract

PURPOSE:To increase the processing speed of a programmable controller compared with a system where an input port is cyclically measured, by fetching the visual measurement data on a feature parameter from a picture input processing part and applying the arithmetic processing to said measurement data. CONSTITUTION:A picture input processing part 21 receives the video signals from a TV camera 30 and always performs a prescribed visual measurement operation to calculate a feature parameter of input pictures. An arithmetic processing part 28 decodes the user program written to a RAM 25 and performs the processing in response to the contents of instructions. If an instruction for visual measurement is indicated by the instruction contents, the visual measurement data on the feature parameter is fetched directly from the part 21 via a bus 22. The part 28 stars immediately the desired arithmetic processing.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention <Industrial Application Field> This invention is a programmable computer used to control machine operations that involve visual measurement processing such as object positioning, recognition, and measurement. Regarding the controller.

<Prior Art> Conventional programmable controllers of this type mainly perform sequence control processing and some data processing, and are not capable of high-speed image processing or graphic processing. Therefore, in order to control various machine operations involving visual measurement processing such as object positioning, recognition, and measurement using a programmable controller, a television set is used as a preprocessing section of the programmable controller 3, as shown in FIG. Visual device 2 using camera 1 as image input means
The visual measurement data, such as area 1 positional deviation 2 rotational deviation of the input image generated by the visual device 2, is taken into the programmable controller 3 as a feature parameter to perform condition judgment, recognition, machine control processing, etc. was running.

For example, in the example shown in FIG. 13, an object 5 located on a machine 4 is observed by a television camera 1, and a visual device 2 generates the amount of positional deviation and rotational deviation from a reference position as characteristic parameters of the input image. Thereafter, the programmable controller 3 takes in these, executes the corresponding processing program, and controls the operation of the machine 4 via the machine controller 6. A monitor television 7 in the figure is for displaying an object image captured by the television camera 1 and various calculation results on a monitor.

In general, in the field of intelligent robots and machines that have visual functions, there is a strong demand for faster arithmetic processing, and in addition to this, there is a demand for smaller and lower cost control circuits.

FIG. 14 specifically shows an example of a hardware configuration for realizing the system configuration shown in FIG. 13.

The illustrated example is equipped with a visual device 2 independently as a preprocessing section of a programmable controller 3, and this visual device 2 includes an image calculation section 8 and an image input circuit 9. Output circuit 10. ROMLL.

RAM12. A display circuit 13 is provided. The image input circuit 9 inputs a video signal from the television camera 1 and stores an object image in an image memory, and the image calculation section 8 reads image data from this image memory and calculates the center of gravity position of the input image. , tilt, positional deviation amount, rotational deviation amount, etc. with respect to the reference position are calculated as characteristic parameters.

Furthermore, the programmable controller 3 includes an arithmetic processing section 1
The input circuit 153 and the output circuit 16. RC)M
L? , RAVLI 8 configuration, as well as a hacked-up RAM with a battery that stores user programs.
19 are connected.

FIG. 15 shows the control operation of the arithmetic processing section 14 in this programmable controller 3. First, the arithmetic processing unit 14 reads the command word of the user program from the RAM 19 in step 1 (indicated by rsTIJ in the figure) and analyzes it, and in the subsequent step 2, determines whether it is a measurement start command or not. Determine. If the determination in step 2 is "NO", the process proceeds to step 3 to execute the process corresponding to the contents of the instruction, and then in step 4 the next instruction word is decoded.

If the determination in step 2 is "Is the command a measurement start command?" Start processing.

In this way, in the visual device 2, when the visual measurement process is executed and the feature parameters of the object image are calculated, the visual measurement data related to the feature parameters are programmable.
It is output to the input circuit 15 of the controller 3. After a certain delay time has elapsed after outputting the measurement start signal, the programmable controller 3 sequentially and cyclically senses all input ports of the input circuit 15 (step 6.7), and senses the visual measurement data. Once completed, the data is temporarily stored in the RAM 18 (step 8).
．． 9), decode the next instruction word (step 4).

FIG. 16 shows the above operation timing, where T is the visual measurement processing time in the visual device 2, T2 is the delay time, T is the time to sense the input port, and T4 is the time for sensing the input port. Each indicates the time for storing sensed data in the RAM 18.

<Problems to be solved by the invention> In the operation of the programmable controller 3,
The cyclic sensing time of all input ports by the arithmetic processing unit 14 takes millimeter hours to complete one cycle, and there is a problem that the processing speed is slow.

Therefore, in the programmable controller 3,
Video signal from TV camera 1 (horizontal scanning period 763
．． 5 microseconds) directly from the input port to consistently control a machine that involves visual measurement processing, and it is hardly possible to expect faster processing and operation.

Therefore, as shown in FIG. 14, a visual device 2 is added as a pre-processing section to the programmable controller 3, but this complicates the circuit configuration and requires hardware communication between the programmable controller 3 and the programmable controller 3. Duplication occurs, resulting in high costs, and the control circuit section cannot be made compact, making it difficult to meet industry demands.

Furthermore, in the circuit configuration example of FIG. 14, if the timing of sensing the visual measurement data by the programmable controller 3 is not synchronized, the data may be lost during the update of the visual measurement data (indicated by a in FIG. 15). There is a risk that the data may be sensed and the proper data may not be captured.

To prevent this, the visual measurement data is sensed after a certain delay time T□ has elapsed after outputting the measurement start signal, as shown in FIG. It takes time to send and receive visual measurement data to and from the computer, and we cannot expect faster processing and operation.

This invention aims to solve the above problems all at once, and is a new programmable system that speeds up machine control that involves visual measurement processing, and also makes the control circuit section more compact and low-cost. The purpose is to provide a controller.

Means for Solving the Problems> The configuration of the present invention for achieving the above object will be explained using FIG. 1 corresponding to one embodiment.
An image input processing section 21 that takes in a video signal and constantly executes visual measurement calculations for generating feature parameters of an input image, and a control section 23 that is directly connected to this image input processing section 21 via a bus 22. This constitutes the programmable controller 24.

The control unit 23 includes a memory in which a user program is stored (corresponding to the RAM 25 in FIG. 1), an input circuit 26 to which an external input signal is applied, and an output circuit 27 to send an external output signal. and an arithmetic processing unit 28 that decodes and executes each instruction of the user program, performs predetermined arithmetic processing based on input data obtained via the input circuit 26, and rewrites the output data of the output circuit 27 with the processing result. is the provision.

Furthermore, the user program in the memory includes an instruction for importing visual measurement data related to the feature parameters from the image input processing section 21 and causing the arithmetic processing section 28 to execute a corresponding predetermined arithmetic processing. .

Function> In the above configuration, the image input processing section 21 receives a video signal, constantly executes a predetermined visual measurement calculation, and calculates the characteristic parameters of the input image.

The arithmetic processing unit 28 decodes the user program and executes processing according to the contents of the instruction, but if the instruction is for visual measurement, the image input processing unit 21 sends visual measurement data related to the feature parameters to the bus. 22 directly. As a result, the arithmetic processing section 28 can immediately start the intended arithmetic/processing based on the data, thereby speeding up the processing.

<Embodiment> FIG. 1 shows an example of the circuit and configuration of a programmable controller 24 according to an embodiment of the present invention.

This programmable controller 24 decodes the command, performs calculations and processing based on the contents of the command, and controls machine operation via the machine controller 29 according to the results. In the case of the embodiment according to the present invention, in addition to conventional general operations, it also decodes various visual measurement commands and executes calculations and processing corresponding to the commands.

Therefore, the programmable controller 24 in the illustrated example is equipped with an image input processing section 21 that captures a video signal from a television camera 30 and constantly executes visual measurement calculations for generating characteristic parameters of the input image. The control unit 23 is directly connected to the processing unit 21 via a bus 22.

The control unit 23 includes an arithmetic processing unit 28 consisting of a CPU, and a RAM 25 that stores user programs.
, an input circuit 26 to which an external input signal is applied, an output circuit 27 for sending an external output signal, a ROM 31 in which a control program is stored, a work area (RAM provided)
32, a programming console section 33 for reading/writing and editing user programs in the RAMs 2 and 5, and a display for displaying object images generated by the television camera 30, various calculation results, etc. on a monitor television 34. A circuit 35 is connected.

The calculation processing unit 28 executes sequence calculation, data calculation, and image calculation processing according to the states of the input circuit 26 and the image input processing unit 21, and outputs the calculation result data to the output circuit 27.
and the display circuit 35.

The user program stored in the RAM 25 includes an instruction (hereinafter referred to as a "visual measurement instruction") for instructing data import from the image input processing section 21, and therefore, the arithmetic processing section 2B executes this instruction. When deciphered,
Visual measurement data is directly taken in from the image input processing section 21 and temporarily stored in the RAM 32.

The image input processing section 21 directly inputs the video signal of the object image from the television camera 30 and constantly performs predetermined visual measurement calculations to calculate various characteristic parameters of the input image. When read out, the arithmetic processing unit 281 can take in the visual measurement data related to any of the feature parameters and start the desired image calculation. This image input processing section 2
1 can be configured with pure hardware for calculating feature parameters in real time, or can be configured so that the video signal is once stored in an image memory and then the feature parameters are calculated by software processing. .

In this case, the arithmetic processing unit 28 may be used as a means for performing the CPU function, or a dedicated microprocessor may be used.

FIG. 3 shows an example of a specific circuit configuration of the image input processing section 21, and in this embodiment, the amount of positional deviation and rotational deviation of the input image are calculated as characteristic parameters at the video rate (16.6 nanoseconds).

Hereinafter, after explaining the principle of detecting the amount of positional deviation and rotational deviation of the input image with respect to the reference position based on FIGS. 4 to 7,
The configuration and operation of the circuit shown in FIG. 3 will be explained.

Generally, when detecting a one-dimensional displacement or rotational displacement of an object image,
First, an image 41 of the reference model (Fig. 4) was taken with a television camera.
1)), the coordinates of the center of gravity G0 of the image 41 on the xy coordinates (xG'.

YGa) and principal axis angle θ. seek. Next, an image 42 (shown in FIG. 4 (2)) of the object to be recognized is obtained using a television camera, and the coordinates of its center of gravity G (Xr,

YG) and the main axis angle θ, the positional deviation amount ΔX
, ΔY and rotational deviation amount Δθ are calculated using the following equations.

ΔX=X,. -XG...■ A Y ''YG6 Ya...■Δθ=θ.-
θ...■ By the way, in order to detect the positional deviation or rotational deviation of an object image with a lot of image noise, a method is adopted in which the moment of the image is used to calculate the coordinates of the center of gravity and the principal axis angle.

Figure 5 is a diagram for explaining the theory of detecting the center of gravity and principal axis angle using this method.
Each pixel consisting of a bit is shown, and the position of each pixel constituting the object image 43 is defined by an XY mark.

In the same figure, the coordinates of an arbitrary pixel 44 are (Xi, Yj)
(However, j=4.2.-...

256), the density weighting function of the pixel 44 is f (Xi
, Yj ), the moment M of image 43, :Q(
However, p, q=o, l, 2. ...) is the next 0
The coordinates of the center of gravity G of the image 43 (XG, Y
G) and each principal axis θ using the above moments,
It is given by the following 0-0 formula.

However, MS. , is the area of the pattern to be measured.

Xc and YG are the X coordinates of the center of gravity of the pattern to be measured.

This is the Y coordinate.

Thus, by executing the calculations of the above equations 0 to 0, the coordinates (x, . . . , Ya) of the center of gravity G of the image 44 and the principal axis angle θ force q can be obtained. However, each of the above equations includes double integration, multiplication and division, and inverse trigonometric functions, and if these calculations were performed using software, it would take a large amount of time (on the order of seconds), especially the video signal output period for one screen. It is completely impossible to complete the calculation within this time.

Therefore, with the circuit configuration shown in Figure 3, one of the video signals is
0th, 1st, 2nd order for 1 horizontal scanning line per horizontal scanning period
By determining each of the following moments, calculating the sum of each line over the effective vertical scanning period, and calculating the center of gravity and principal axis angle during the next blanking period, the video signal period can be fully utilized without wasting the object. The center of gravity of the image and its tilt are detected in real time.

FIG. 6 is a diagram for explaining the theory of this embodiment.

In FIG. 6, each vertical and horizontal square represents a pixel, and each pixel has a horizontal coordinate address X,, X2, . . . .

X8. , and vertical coordinate addresses Y+, Yt.

...+Yxsh is assigned. The image 45 is a binary image obtained by converting a video signal obtained by imaging an object into 24-digit data, and is composed of, for example, black pixels in the object portion and white pixels in the background portion. In the figure, G indicates the center of gravity of the image 45, and its coordinates (XG, Y,) and principal axis angle θ are expressed as a function of Σ, as shown by the following 0-0 equation.

ΣX, Σf　(X,,Y,) ΣYJΣf(Xi Yj) ΣY, -N.

YG= =□・・・・■doorΣf (
Xi, Yj) ΣNJ Since the image 45 is a binary image, the density weighting function f (Xt, Y
J) takes one of the values rOJ rlJ as shown in the following equation.

Thus, in the above formula ■~@, ΣY4 ・NJ oyobi pY, "NJ is the first moment and second moment regarding the vertical coordinate address, Σ・N5-M;., ΣΣX
j and ΣΣ .

In the case of this embodiment, the zero-order moment N4, first-order moment ΣX, and second-order moment ΣX with respect to the horizontal coordinate address of the binary image 45 are determined by hardware for each horizontal scanning line of the video signal, and the next horizontal The first moment YJNJ and 2 with respect to the vertical coordinate address in the scan line
The next moment Y, "Nj, and the correlation moment YLΣX1 regarding the horizontal and vertical coordinate addresses are calculated by software, and the effective vertical scanning period is calculated for each horizontal scanning line, and the next vertical blanking period is calculated. Based on the added value, the calculations of equations 1 to [phase] are executed to calculate the coordinates (Xa, Ya) of the center of gravity G and the principal axis θ using software.

FIG. 7 shows a time chart of the video signal VD in this embodiment. In the figure, the upper half shows the video signal VD during the vertical scanning period, and the lower half shows the video signal DL during the horizontal scanning period.

In the figure, VD indicates a vertical synchronization signal, HD indicates a horizontal synchronization signal, and one vertical scanning period (16.7 milliseconds) is 20H (however, IH means one horizontal scanning period, which is 63.5 microseconds). It consists of a vertical blanking period and the remaining valid vertical scanning period. During this effective vertical scanning period, 24
It includes two horizontal scanning lines, and each horizontal scanning line includes 256 pixel data.

In the figure, Y+, Yz, YJ,..., Y24□
is the vertical coordinate address in FIG. 2, and X+,
Xz, Xi, . . . , X, . . . correspond to horizontal coordinate addresses, respectively.

Next, the circuit configuration of FIG. 3 will be described. In the figure, a television camera 30 images an object 47 from above, for example, and outputs a video signal VD that constitutes a grayscale image. The synchronization separation circuit 48 separates the video signal VD, horizontal synchronization signal HD, vertical synchronization signal VD, clock signal CK, etc., and outputs them to the binarization circuit 49. Binarization circuit 49
By setting a certain threshold level for the video signal VD,
A binarized image is generated by digitizing. The pixel counter 50 is
Video signal VD.

This is to count the number of pixels (black pixels in this example) constituting the object part for each horizontal scanning line.
t) CPU (Centra) P via boat 51
rocessstngUnit) 52.

The horizontal counter 53 is used to allocate the above-mentioned horizontal coordinate address, and starts counting the clock signal CK after a time corresponding to, for example, 10 pixels has elapsed since the fall of the horizontal synchronizing signal HD. Adder 54 and buffer 55
is for calculating the cumulative addition value ΣxL for the horizontal coordinate address where a black pixel is located and outputting it to the CPU 52, and the content X of the horizontal counter 53 and the buffer 55
The contents are input to the adder 54 and subjected to cumulative addition processing.

The table conversion ROM 56 stores the contents of the horizontal counter 53
Table T for converting 1 to its square (IXt")
I (shown in FIG. 8) is stored, and the table changes with the content xL of the horizontal counter 53? The address of the AROM 56 is accessed and its square value X,' is output to the adder 57. This adder 57 and buffer 58
calculates the cumulative addition value ΣX,2 of its square value X,2 for the horizontal coordinate address where the black pixel is located and sends it to the CPU 5.
This is for outputting to the table ifiROM56.
The output X1' of the buffer 58 and the contents of the buffer 58 are inputted to the adder 57 and subjected to cumulative addition processing.

The count value NJ of the counter 50 and each buffer 55.58
Contents of ΣX4. ∑ Find θ.

In the figure, FROM 59 stores a series of programs such as positional deviation detection, and RAM 60 stores various data and has a work area for processing execution.

Next, the operation of the circuit shown in FIG. 3 will be explained.

First, set the mode of the circuit in the same figure to learning mode, and then
When the reference model is imaged with the television camera 30, the synchronization separation circuit 48 shows the same image! The tIN signal and the like are separated, and a binarization circuit 49 executes binarization processing on the video signal VD to generate a binary image. This binary image output is sent to the pixel counter 50 and each hU calculator 54, 57, and in this pixel counter 50 and each adder 54, 57, the above-described predetermined counting or calculation is executed.

Then, for each horizontal scanning period, an interrupt INT is generated to the CPU 52 by the horizontal synchronizing signal HD, and each time,
The contents of the pixel counter 50 and the addition results by the adders 54 and 57 are taken into the CPU 52.

FIG. 9 shows the interrupt control operation in the CPU 52.

In the figure, Yj indicates the count value of a vertical counter (corresponding to the vertical coordinate address) that the CPLI 52 has internally, and this vertical counter is incremented every time the interrupt INT occurs. Therefore, the vertical synchronization signal V
Counting is started after a time corresponding to 20H has elapsed since the fall of D.

Now, for the YJ-th horizontal scanning line, the pixel counter is 5.
Assuming that the black pixel counting operation using 0 is completed,
First, the CPU 52 reads the content N of the pixel counter 50 in step 11, and then calculates the cumulative addition value N (corresponding to each NJ mentioned above) using the next step knob 12, and calculates the cumulative addition value N (corresponding to each NJ mentioned above).
Store in M6Q. Furthermore, in step 13, the CPU 5
The content YJ of the vertical counter in 2 is read, and in the next step 14, the CPU 52 calculates the cumulative addition value NT, (corresponding to the above ΣNjY), and stores the calculation result in the RAM.
60. Continuing in step 15, in order to convert the content Y of the vertical counter into its square value YJ', FR
A conversion table (not shown) stored in the OM 59 is referred to to obtain the square value Y,2. Then, in the next step 16, the cumulative addition value N1 of YJ''Nj (the above ΣY
, "N") is calculated, and the result of the calculation is stored in the RAM 60.Furthermore, in step 17, the content Σxi of the buffer 55 is taken into the CPU 52,
In the next step 18, the cumulative addition value NT, (the above Σ
) corresponding to ΣxL is calculated, and in the next step 19, corresponding to ) is calculated, and the respective calculation results are stored in the RAM 6Q. Further, in step 20, the content ΣX□' of the buffer 58 is fetched into the CPU 52, and in the following step 21, the CPU 52 calculates the cumulative sum Nx (corresponding to ΣΣX, 2) and stores the result in the RAM 60. do. The next step 22 is
It is determined whether the content Yj of the vertical counter has reached ``r242'', that is, whether the processing of steps 11 to 21 for the final 242nd horizontal scanning line has been completed, and if the determination is ``NO''. ”, the process waits for the next interrupt LNT, and the above-mentioned processes for the following horizontal scanning lines are repeatedly executed.

Thus step 11 for the final horizontal scan line
When the processing in steps 21 to 21 is completed, the determination in step 22 is “Y”.
ES'', and in step 23.24, the cumulative addition values N, NT,.

Using N T t, the coordinates of the center of gravity G (Xco, YGJ
is calculated, and the result is stored in a predetermined area of the RAM 60. At the matagi steering knob 25°26.27, using the cumulative addition value N8°NY, N, Lv, N v = N v - NYco'', Nxy = N, respectively.
xy NXcaYa,, Nx = NX − NX”,
. Calculate the principal axis angle θ. is calculated and the result is stored in RAM
60 (step 30). In this case, in this embodiment, the following 0 formula is first converted to obtain the value of Z, and the value obtained by multiplying this Z by 10 or 1/1o is used to calculate the FR.
After completing the address of the conversion table (FIGS. 11 and 12) stored in the OM 19, the main axis angle θ is determined. is being calculated.

Note that FIG. 11 shows the principal axis angle θ. Conversion table T2 and tanθ when is 0 to 22.5°.

Fig. 12 shows the conversion curve of , and the principal axis angle θ. is 22.5~
Conversion table T3 and cote when the angle is 45°,
, respectively, and this conversion table T2. T
3 is the principal axis angle θ. It is used depending on the size of the

The center of gravity G above. coordinates (X Go , Y a.) and principal axis angle θ. When the calculation of R is completed, finally, in step 31, R
From AM60, each cumulative addition value N, NTr, NT.

At N, Nv and Nxv are cleared, and the series of processing for the reference pattern is completed.

Next, after setting the mode to measurement mode, the television camera 30 images the target object. In this case as well, the same image processing as in the case of the above reference model is performed, and furthermore, the pixel counter 5
0 and each adder 54, 57 counts or operations are performed.

Then, for each horizontal scan, an interrupt INT is generated by the horizontal synchronizing signal t(D) to the CPU 52, and the contents of the pixel counter 50 and the addition results by the adders 54 and 57 are read each time.

FIG. 10 shows the interrupt control operation in the CPU 52 in this case. In the figure, steps 41 to 51 are cumulative addition values N, NTr, Ny, and NTz.

This is the step of calculating Nxv and Nx, which is the ninth step.
This is exactly the same as steps 11 to 21 in the figure.

and steps 41-- for the final horizontal scan line.
When the process in step 51 is completed, the determination in step 52 is "YES".
Then, in steps 53 to 6o, the coordinates of the center of gravity G (
XG, YG) and the principal axis angle θ are calculated. Thereafter, the CPU 52 uses these data and the data about the reference model obtained in the learning mode to execute the calculations of the equations 0 to 0, and calculates the image positional deviation amounts ΔX, ΔY.

and the amount of rotational deviation Δθ is calculated. (Step 61~
63). Then, in the next step 64, this calculation result is calculated as R
After being stored in AM60, in Ste Nobu 65,
Each cumulative addition value N, NTr, NTz,
Nx, Nv, and Nwv are cleared, and the series of processing ends.

Next, the programmable controller 24 shown in FIG.
The circuit operation will be explained based on the control flow shown in FIG.

In FIG. 1, the television camera 3 is input to the image input processing section 21.
When a video signal is input from 0, the video input processing section 2
1 performs the above-mentioned visual measurement process to calculate the positional deviation amounts ΔX, ΔY and the rotational deviation amount Δθ of the input image as characteristic parameters. At the same time, the arithmetic processing unit 28 processes the RA
An instruction is read from the user program of the M2S, the instruction word is analyzed in step 71, and processing according to the content of the instruction is executed in step 73.

If the read command is a visual measurement command, the determination in step 72 becomes "YES", and in step 74, the arithmetic processing unit 28 calculates the positional deviation amount ΔX, ΔY of the input image from the RAM 60 of the image input processing unit 21. and the amount of rotational deviation Δθ, and temporarily stores them in the RAM 32 in the following step 5.

This allows the arithmetic processing unit 28 to start the desired image arithmetic processing using these visual measurement data.

In this way, in the next step 76, the arithmetic processing unit 28 reads the next command from the user program in the RAM 25, and executes image calculation processing such as condition determination according to the contents of the command (step 73).Based on the result, the machine controller 29 to control machine operation.

<Effects of the Invention> As described above, the present invention includes an image input processing section that takes in a video signal and constantly executes visual measurement calculations for generating characteristic parameters of an input image, and a system that directly connects the image input processing section to the image input processing section via a bus. A programmable controller is configured with a connected control unit, and the control unit has a user program memory that receives visual measurement data related to feature parameters from an image input processing unit and executes predetermined calculations for an arithmetic processing unit. Since instructions for executing the process are stored, the processing speed can be significantly increased compared to the conventional method in which visual measurement data is captured by cyclically sensing the input port. In addition, since a visual device as a preprocessing section is not required, the control circuit section can be simplified, and duplication of hardware configurations can be prevented, making it possible to reduce the cost and size of the control circuit, which is a requirement in the industry. The present invention has a remarkable effect of achieving the purpose of the invention, such as being able to meet the following requirements.

[Brief explanation of drawings]

FIG. 1 shows a programmable computer according to an embodiment of the present invention.
A circuit block diagram of the controller; FIG. 2 is a flowchart showing the operation of the programmable controller; FIG. 3 is a circuit block diagram showing a specific example of the image input processing unit;
The figure is a diagram to explain the amount of positional shift and rotational shift of the image, Figure 5 is a diagram to explain the theory of detecting the center of gravity and principal axis angle, and Figure 6 is the theory of operation of the specific circuit example in Figure 3. 7 is a time chart of the video signal, FIG. 8 is a diagram showing the contents of the table conversion ROM, FIGS. 9 and 10 are flow charts showing the interrupt control operation of the image input processing section, Figures 11 and 12 are diagrams showing conversion tables and conversion curves, Figure 13 is a diagram showing a system configuration of a machine that involves conventional visual measurement processing, and Figure 14 is a diagram showing an example of a specific circuit configuration of a conventional system. Block diagram shown, 1st
FIG. 5 is a flowchart showing the operation of the programmable controller in the conventional system, and FIG. 16 is a time chart showing the operation timing of the conventional programmable controller. 21... Image input processing section 23... Control section 24... Programmable controller 25...
・RAM 26... Input circuit 27...
...Output circuit 28...Arithmetic processing unit patent Applicant: Tateishi Electric Co., Ltd. U+7121 - Laugh left ina・shi1・η・ru7・0
Rirama 7-, L Koshitroun n60 article 7-o,,7
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1 Bit oi No. 2

Claims (3)

[Claims] (1) It consists of an image input processing section that takes in video signals and constantly executes visual measurement calculations to generate characteristic parameters of the input image, and a control section that is directly connected to this image input processing section via a bus. The control unit includes a memory in which a user program is stored, an input circuit to which an external input signal is applied, an output circuit to send an external output signal, and each instruction of the user program. the user program in the memory includes an arithmetic processing unit that decodes and executes predetermined arithmetic processing based on input data obtained through the input circuit, and rewrites output data of the output circuit with the processing result; A programmable controller comprising instructions for importing visual measurement data related to feature parameters from the image input processing section and causing the arithmetic processing section to execute predetermined arithmetic processing. (2) The programmable controller according to claim 1, wherein the image input processing section includes means for processing a video signal at a video rate to generate characteristic parameters. (3) The programmable controller according to claim 1 or 2, wherein the image input processing section includes means for generating the amount of positional deviation and rotational deviation of the object to be imaged as characteristic parameters.