KR960001753B1 - Directionally characteristic recognition system by binary image - Google Patents

Abstract

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Description

Directional identification device by binary image processing

1 is a schematic diagram of an example of the present invention.

2 to 15 are views for explanation thereof.

* Explanation of symbols for main parts of the drawings

31: Binarization Circuit 32: Frame Memory

34: character memory 41: camera

The present invention relates to an apparatus for discriminating directionality by binary image processing.

According to the present invention, in the directional identification device using binary image processing, by using the center as a reference point, for example, the singular point seen from this reference point as the determination point for identification, the directionality of the symmetric object can be achieved. It is to be identified.

As a method of identifying the directionality (in which direction the parts constituting the object are placed) of electrical parts, etc., by binary image processing, there is an inertial spindle calculation method by elliptic approximation.

However, in this method, very long parts are calculated very precisely, but since they are calculated by secondary moments, as shown in FIG. 5, parts close to squares or circles, that is, strong point symmetry, are shown. Orientation cannot be calculated accurately for parts.

In addition, for the elliptic approximation, only in the range of + 90 ° to -90 °, the directionality is not calculated, and the recognition of the directional range of directionality is not.

The present invention is intended to solve these problems.

For this reason, in the present invention, a binarization circuit for converting a video signal of a master pattern, which is a reference for directional identification, and a target pattern, which is a target of directional identification, into a binary signal, and a frame for storing the binary signal. Means for setting a reference point and a reference axis of relative coordinates with respect to the memory, the master pattern, setting means for setting a cursor at an arbitrary position on a screen displaying an image of the master pattern, and binary values of the master pattern. Among the signals, means for registering black and white information of the cursor position as master data from a signal corresponding to the cursor position set by the setting means, means for setting the origin and reference axis of relative coordinates for the target pattern, and the target The number of out-of-pattern binary signals from the signal corresponding to the cursor position to be used as black and white information of the cursor position as the target data. And a directional identification device by binary image processing for outputting the directionality of the target pattern to be identified based on the comparison means for comparing the target data with the master data and the comparison output of the comparison means. It is.

Directionality is recognized even if the point symmetry is strong.

In Fig. 1, reference numeral 11 denotes a 16-bit CPU which controls the operation of the apparatus, numeral 12 denotes a ROM in which a BIOS and the like are written, numeral 13 denotes a RAM, and in this RAM 13, For example, as shown in FIG. 2, the program of the identification processing, the master data, the data to be identified at the time of identification execution, and the like are accessed, and a part of the work storage area of the CPU 11 is accessed. do. Thus, these memories 12 and 13 are connected to the CPU 11 via the system bus 19.

In addition, 21 denotes an FDD, 22 denotes a keyboard, 23 denotes a joystick, and an FDD 21 is connected to the bus 19 via an FDC 24, and a keyboard 22 and The joystick 23 is connected to the bus 19 via the interface 25. In the floppy disk 29 of the FDD 21, programs 100 and 200 of the flowcharts shown in FIGS. 3 and 4 are saved as programs for identification processing.

Again, 41 shows a video camera which picks up a pattern as a reference and a pattern as an object, and the luminance signal Sy is extracted from the camera 41, and the signal Sy is supplied to the binarization circuit 31. In this case, the signal is set to the "0" level (back level) when it is on the white level side than the predetermined threshold level, and the binary signal Sb is set to the "1" level (black level) when it is on the black level side than the threshold level. Is supplied to the frame memory 32.

The frame memory 32 stores one frame share of the signal Sb at a resolution of 512 pixels x 512 pixels, and the load of the signal Sb into the memory 32 is horizontally performed by the DMA controller 33. And DMA transfer in synchronization with vertical synchronization.

In addition, reference numeral 34 denotes a character memory, and reference numeral 35 denotes a character generator, and the memory 34 has a configuration of a V-RAM, that is, a character code of the character generator 35 is loaded into the memory 34. Thus, letters, numbers, and symbols corresponding to the monitor screen are displayed. Again, 36 is a generator which forms a signal displayed as a cursor and a window, 37 shows a CRT controller, which is controlled by circuits 32, 34 to 36 by this controller 37. At the same time, their output signals are synthesized and supplied to the monitor display 42 to perform a predetermined display.

5 to 14 are images displayed on the monitor display 42, which are binarized into white and black.

When the device is operated, the programs 100 and 200 stored in the floppy disk 29 are loaded into the RAM 13 as shown in FIG. 2, and the command waits.

When the teaching mode is instructed by the keyboard 22, the program 100 is executed to teach.

That is, when the program 100 starts, in step 101, an image of the master component, which is the reference for identification, is picked up by the camera 41, and one frame of the signal Sb at this time is stored in the memory 32 by the DMA. Is written by. The written signal Sb is read out by the CRT controller 37 and supplied to the display 42, so that a reference master pattern is displayed on the display screen as shown in FIG.

In this figure, it is a case where the circular part arrange | positioned toward arbitrary directions as a master part, and a part which has a projection part in part is imaged, and this is displayed as the master pattern of the same shape of black. In addition, although the number of this master part (master pattern) may be sufficient, it is one in this figure.

Subsequently, the process proceeds to step 102, and in this step 102, when there are a plurality of master patterns, one of them is selected by the user's instruction.

Next, in step 103, the center of the master pattern selected in step 102 is calculated, and the signals of generators 35 and 36 are supplied to the display 42, as shown in FIG. As described above, the center mark and the master pattern number showing the center position are displayed in the center position calculated in step 103 as "+1".

Next, the process proceeds to step 104, in which the determination point setting process is performed. That is, an X-shaped cursor and a determination point number are displayed on the display screen by the signals of the generators 35 and 36, and the display position is changed in accordance with the operation of the joystick 23. As shown in FIG. It is changed arbitrarily and a decision point is set.

In this case, the determination point is set at a point that is meaningful for recognizing the orientation based on the center. For this reason, in this figure, three determination points "X1" to "X3" are set, and the first determination point "X1" is set at the projection of the master pattern, and the second and third determination points " X2 "and" X3 "are the cases where it is set in the position before and behind determination point" X1 "in the circumferential direction of a master pattern.

Next, in step 105, as shown in FIG. 8, a straight line connecting the center "X1" and the first determination point "X1" set in step 104 is the master pattern ( It is set to the direction line (reference line) which shows the direction of the master component, and this direction line is displayed.

In practice, however, when setting the determination point "X1" in step 104, the straight line connecting the center "+1" and the determination point "X1" becomes a direction line which shows the direction of this master pattern, The determination point "+1" is set.

Subsequently, the process proceeds to step 106, and in this step 106, the black and white information of the determination points " X1 " to " X3 " set in step 104 is calculated and determined, and the determination result is determined. It is displayed as shown in 9 degrees.

That is, in this figure, the upper left number shows the determination result, the first (left) number indicates the master pattern number, and the second to fourth numbers indicate the determination point "X1. The judgment result of "-" X3 "is shown, and when this number is" 0 ", it shows that the judgment point is white, and when it is" 1 ", it is black.

Next, the process proceeds to step 107, and in this step 107, a sentence asking whether the determination result or the display output of step 106 is correct is displayed on the display 42, and the question is asked. When an error is inputted by the keyboard 22, the process returns to step 104, the resetting of the determination points " X1 " to " X3 " and subsequent processing are repeated, and when the input is correct, the processing is stepped. Proceed to 108.

In step 108, the data of the relative polar coordinates of the determination points " X1 " to " X3 " which is the reference point as the center of the master pattern, that is, the center is the origin, and the horizontal axis passing through this origin (horizontal Polar coordinates with the reference axis as the reference axis is set, and data of the distances and angles of the determination points " X1 " to " X3 " are registered as position data in the RAM 13 in this polar coordinate. In step 106, the determination result (black and white information) in step 106 is registered in the RAM 13 as master data, and the program 100 ends.

The teaching of the master pattern is completed by the above, and the apparatus is again waiting for a command.

From there, when the identification execution mode is instructed by the keyboard 22, the program 200 is executed to recognize the orientation of the target component.

That is, when the program 200 starts, in step 201, one frame of the binary signal Sb for the component that is the object of directional recognition is written to the memory 32 by DMA. The written signal Sb is read out by the CRT controller 37 and supplied to the display 42, and the pattern of the target component is displayed on the display screen as shown in FIG.

Subsequently, the processing of the CPU 11 proceeds to step 202, in which the window is displayed on the display screen by the signal of the generator 36, and the display position of the joystick 23 is changed. It changes arbitrarily according to an operation, and the range used as recognition object in the display screen is set. In this case, some patterns may be displayed within this recognition range.

Next, in step 203, one target pattern in the window set in step 202 is selected, and in step 204, the center of the target pattern selected in step 203 is calculated, again, In step 205, relative coordinates are set for the target pattern with the center as the reference point, that is, the polar coordinates with the horizontal axis through this origin as the reference axis, with the center as the origin.

Then, in step 206, the position data registered in the RAM 13 is read out in step 108, and the position data is applied to the coordinate system set in step 205 to determine the decision point "X1" to The absolute coordinate of "X3" is calculated, and then, in step 207, the black-and-white information, that is, the target data is the signal of the memory 32 for the determination points "X1" to "X3" obtained in step 206. Calculated at Sb.

In step 208, when the target data calculated in step 207 is compared with the master data registered in the RAM 13, and the master data matches the master data, the process proceeds to step 209. In step 209, the angle (angle with respect to the reference axis) when the determination point "X1" is viewed from the center is calculated, and as shown in FIG. 10 as a result of recognizing the direction of the component to which this angle corresponds. Is displayed on the display screen.

In Fig. 10, the number of the target pattern is displayed on the left side in the frame, and the recognized angle is displayed on the right side. In addition, the center marks "+1", "+2" and the direction lines at this time are also displayed.

Therefore, in step 210, whether or not recognition has been performed for all of the target patterns, and if it is performed for all (figure 10), the program 200 is terminated and not performed for all. At that time, the next target pattern is selected in step 211, and the process returns to step 204.

In step 208, when the target data does not coincide with the master data, the process proceeds to step 221, and in this step 221, the reference axis of the polar coordinate with respect to the target pattern exceeds 360 °. If it is checked or not exceeded, the process proceeds to step 222, in which the reference axis of the polar coordinate with respect to the target pattern is a predetermined angle α around the origin (center). It is rotated by degrees (thus, the judgment points " X1 " to " X3 " are rotated relatively by -α degrees), and then the process returns to step 206.

Therefore, steps 206 to 208, 221, and 222 are repeated until the target data and the master data coincide. At this time, the reference axis is rotated by α ° by the step 222. The positions of the determination points " X1 " to " X3 " are changed by -α degrees around the target pattern.

When the target data and the master data coincide with each other, as described above, by step 209, the angle of the determination point "X1" with respect to the reference axis at that time, that is, the angle of the target component is displayed.

In step 221, when the angle of the reference axis exceeds 360 °, the display 42 indicates that the target data did not coincide with the master pattern by step 231, and then proceeds to step 210. FIG. Proceed.

In this way, the orientation of the target component is recognized or identified.

11 and 12 show the other components corresponding to FIGS. 9 and 10, and FIG. 11 shows the case when the determination points "X1" to "X3" are set for the C-shaped ring. A master pattern is shown, and FIG. 12 is a case where the angle of the target pattern is recognized based on the master pattern.

13 and 14 are for reading the shaking of the meter. When teaching (Fig. 13), the determination point "X1" is set for the instruction, and the determination point "X2" at the front and rear positions thereof. "X3" is set, and at the time of execution (Fig. 14), the angle of shaking of the guideline is displayed. In this case, however, the origin of the polar coordinate is not the center, but the origin is set at the rotation center of the guide in steps 103 and 204.

Next, the black and white determination method with respect to a determination point is demonstrated.

As shown in Fig. 15A, an image picked up by a video camera is decomposed into a size of 512 pixels x 512 pixels, and binarized to a white level or a black level for each pixel. And as shown in FIG. 15, wrapped with a thick line, 3 pixels x 3 pixels centered on the pixel shown by the cursor are regarded as a determination point (used for black / white determination). Weights shown in Fig. 15B are assigned to pixels x 3 pixels. However, the distribution of this weight is set by the user arbitrarily, and the sum total is 100.

Then, if the three pixels x three pixels were white and black distribution as shown in FIG. 15C, for example, the white pixel is set to "0" and the black pixel is set to "1". Since FIG. C is displayed like FIG. 15 d, the evaluation value EV for the determination point (the area of 3 pixels x 3 pixels) displaying the cursor is

E _V = 5 × 0 + 10 × 0 + 5 × 0 + 10 × 0 + 40 × 1

+ 10 × 1 + 5 × 1 + 10 × 1 + 5 × 1 = 70

Obtain as

At this time, the threshold level E _TH is arbitrarily set by the user, and the evaluation value E _V is compared with the level E _TH to determine whether the determination point shown by the cursor is black or white based on the comparison result.

In this case, E _V = 70, so when E _TH = 60,

E _V ＞ E _TH

Therefore, the determination point shown by the cursor is judged as "black". In addition, when E _TH = 80 is set,

E _V <E _TH

Therefore, the determination point shown by the cursor is judged to be "white".

Thus, according to the present invention, the orientation can be recognized or identified with respect to a component having strong point symmetry, but in this case, in particular, according to the present invention, since the relative coordinates are rotated around the center, In the method of calculating the inertial axis by elliptic approximation, it recognizes the direction which cannot be calculated and also recognizes the subtle direction. In addition, since the rotation is performed in both 360 ° directions, one-directionality within 360 ° can be recognized, and forward and reverse directions are also identified.

In addition, by using a point other than the center as the origin of the coordinate, the effect can be exerted extensively such as when the singular point of the object becomes the radial position through the center or when the center changes, for example, as in the above-described meter. Even in the case of circular coordinates, it is simply recognized.

In addition, as mentioned above, when processing master data and target data, you may run-length-code this, and this is implemented by software. In the binarization circuit 31, the threshold level may be arbitrarily set by the user.

Again, the master data may be saved in the floppy disk 29 in the next determination, or the target data may be saved on the disk 29, and the data may be statistically processed to find a problem. It can also be used. In addition, instead of the joystick 23, the cursor keys, the mouse, etc. of the keyboard 22 can also be used.

According to the present invention, since the relative coordinates are rotated around the center, the conventional direction calculation method of the inertial spindle by elliptic approximation can recognize the direction which is not calculated, and the delicate direction can also be recognized. In addition, since all of the 360 ° directions are rotated, one-directionality within 360 ° can be recognized, and the forward and reverse directions are also identified.

In addition, by using a point other than the center as the origin of the coordinates, the effect can be exerted over a wide range, such as when the singularity of the object is not on the radius through the center or when the center changes. For example, Even in the case of circular coordinates, it is simply recognized.

Claims (1)

A binarization circuit for converting a video signal of a master pattern as a reference for directional identification and a target pattern as a target for directional identification to a binary signal, a frame memory for storing the binary signal, and the master pattern Means for setting the origin and reference axis of the relative coordinates, setting means for setting the cursor at an arbitrary position on the screen displaying the image of the master pattern, and the setting means among the binary signals of the master pattern. Means for registering black and white information of the cursor position as master data from a signal corresponding to the set cursor position, means for setting the origin and reference axis of relative coordinates for the target pattern, and binary signals of the target pattern, Means for withdrawing black and white information of the cursor position as the target data from the signal corresponding to the cursor position, the target data, and the image; Direction identification device according to the comparison means for comparing the master data and a comparison output binary image processing, it characterized in that the direction of the target so as to output a pattern that is the subject of the identification on the basis of this comparison means.

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