RU1777651C - Device for selection of images of objects - Google Patents

Abstract

The invention relates to automation and computer technology and can be used in automatic analysis and image recognition systems, technical vision systems of robots. The purpose of the invention is to expand the functionality of the device by determining additional parameters of breeding objects. The introduction of a chord extraction unit, two counters, an adder, two multipliers, three accumulating adders, two dividers and a number of other elements into the device provides, in parallel with reading and selecting images of objects, determining the coordinates of the center of gravity of objects and their area. 5 ill.

Description

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WITH

The invention relates to automation and computer technology and can be used in systems for automatic analysis and recognition of images, in the technical vision systems of robots.

A device for reading and selecting images of objects is known, which makes it possible to solve the problem of extracting connected and closed figures of objects. To expand the functionality of the device, you must additionally use

COMPUTER.

Closest to the invention, the technical solution is a device for selecting images of objects, which contains a television sensor, shaper, first and second registers

shear, element I. selector of signs of connectedness, first and second group of elements I. group of elements OR, memory unit, detector of connectivity, video amplifier and pulse distributor.

A disadvantage of this device is its limited functionality.

The purpose of the invention is to expand the functionality of the device by determining additional parameters of breeding objects.

Fig. 1 is a functional diagram of an apparatus for selecting images of objects; figure 2 - diagram of the pulse distributor; Fig. 3 is a diagram of a chord highlighting unit; figure 4 - time di vi vi vj

about sl

with

pulse distributor operation frame; Fig. 5 is an example implementation of a chord length determination unit.

The device for selecting images of objects (Fig. 1) contains a television sensor 1, a shaper 2, a shift register 3, a block for selecting chords 4, a pulse distributor 5, a shift register 6, a group of elements AND 7-9, a group of elements OR 10, a memory unit 11, connectivity detector 12, video amplifier 13, element 14, counters 15 and 16, register 17, chord length determination unit 18, adder 19, register 20, elements 21 and 22, multipliers 23 and 24, accumulating adders 25-27 , dividers 28 and 29.

The pulse distributor 5 (Fig. 2) comprises counters 30 and 31, a trigger 32, an And 33 element, a driver 34, OR 35 and 36 elements. And 37 and 38 elements, a switch 39, a comparison unit 40, an And 41 element, a trigger 42.

The chord highlighting unit 4 (Fig. 3) comprises an AND 43 element, a counter 44 and an And 45 element group.

The chord length determination black 18 contains a trigger 46, a counter 47, AND 48 and OR 49 elements (Fig. 5 also shows the connections of block 18 with blocks 17 and 19 of the device).

The algorithm of the device is as follows:

1. On the image of objects, the operation of transforming the mark is performed, with points equal to its sequence number assigned to the points of each chord, and marks equal to zero to the background points.

2. All marks with which each of the image objects are marked are highlighted and stored.

3.a) From one known label of the object to be selected, all the labels with which it is marked after the conversion of the mark are determined.

b) Repeat n1 when rescanning the topology image and compare the current labels with the labels defined in Section 3a, and those image points at which this equality is not respected are excluded from further analysis.

c) For the selected object, the length and coordinates of the central element Xc) and Yltj are calculated and measured for each chord, by which the area and coordinates of the center of gravity of the object are calculated using the following formulas:

N

s - Used DJi 1

N

X (S XmDj) / S,

N

Y (J YyjDjVS.

where Nf is the number of chords;

j is the ordinal number of the chords included in the image of the object;

DJ - the length of the j-th chord of the object; Хц, YHJ - row and column numbers of the j-th chord.

It should be noted that paragraphs 36 and Sv

carried out in parallel.

The device (figure 1) works as follows.

In accordance with paragraphs 1-3 of the operational algorithm, three modes of operation of the device can be considered: a mode in which line-by-line scanning of an image is performed, its marking and chord selection; detection mode for all tags.

by which objects are marked; a mode for selecting objects by a given number and determining geometric parameters.

In the first mode, shift register 3 delays the binary quantized formation of a video signal by gel 2 during the scanning of one image element at the second output (X), while the input undelayed video signal (X) is taken from its first output.

in the chord block at the output of AND gate 43, the signal of logic level 1 appears only at that moment in time when the scanned image point is the starting point of the chord.

Before the image scan starts, the counter 33 of block 4 is set to the initial zero state by frame pulses. Therefore, when meeting the starting point (transition 0.1) of the i-th chord at the output of the counter

44, a code is set corresponding to its serial number i. All points of this chord are labeled i. This is achieved by the fact that only at the moments of the sequence of units of the video signal at the output. Groups of elements And 45 appear codes from the output of the counter 44.

If the scanned image point is a background point, then a label is assigned to it, equal to zero. This is achieved by the fact that during the scanning of the background point at the output of the group of AND elements 45 there will be code. corresponding to zero. In the next clock cycle, this code is written in the first bits of register 6, which serves to

recording and storing binary label codes in each image line. Moreover, if at the output of this register the code corresponds to the mark of the scanned image point, then at its first output the code corresponds to the mark of the X point, and at the second - the mark of the X point (delayed by a line relative to the X point). The number of bits in register 6 is equal to the number of image points in the line, and the width is logaN, where ML is the maximum number of chords in the image.

In the first mode, the memory unit 11 works for recording, which is ensured by a high signal level at the fifth output of the pulse distributor 5. At the information inputs, a high signal level is also maintained, which is provided by the connection of block 12 with the sixth output of the distributor 5. To the second inputs elements And 7 and 8 are supplied, respectively, clock pulses from the first and second outputs of the distributor 5. In the first mode, the third output of the distributor contains a low level. Therefore, if, when scanning an image, a point X is found with a mark of 1 (x) and a point adjacent to the top has a mark of 1 (x), then in the cell of the memory block 11; whose number in the row is 1 (x) and in the column is 1 (xll), the unit is written at the moment the first half-cycle of the clock signal is followed, and in the second half-period, the unit is written in cell 1 (X), 1 (x1).

After the scan is complete, the entire image field is stored in the memory unit 11 with label adjacency information. Adjacent (adjacent) marks are those for which there is at least one pair of neighboring points with these marks.

After scanning the image, the device enters the second mode, in which the memory unit 11 operates both in the recording mode and in the reading mode. Counters 30 and 31 of dispenser 5 are in the initial zero state. The clock pulses from the output of the And 41 element go to the counting input of the counter 30. The counters 30 and 31 have the same number of bits equal to log2NL. At the first outputs of these counters, codes corresponding to the number of pulses arriving at their counting inputs appear, and at the second outputs, signals with a logic level of 1 at a time appear. when the states of the counters are equal to NJ.

At the output of the switch 39, a code appears corresponding to the state of the counters 30 and 31, depending on the signal level at the second output of the counter 30. Moreover, if a logic signal O is present at the second output of the counter 30, then the output of the switch 39 and, respectively, on the fourth exit

on the distributor 5, counting codes appear, like 30, and if the signal is log.1, then the codes of the counter 31. At the output of the comparison block 40, signals with the level of log.1 appear only at the moment when the states of the counters 30 and 31 are equal. These signals are fed to the input of the shaper 34, which generates short pulses (of the order of 1/10 of the cycle time) along the leading edge of the signal arriving at its input. Thus, in the first cycle after the trigger 32 is in the single state, the address of the zero line of the memory block 11 will be set on the fourth output of the distributor 5 and, since the counters 30 and 31 are the same, the pulse appears on the sixth output of the distributor 5 to which the contents of the zero line are written into the storage register of the connectivity detector 12. In the second clock cycle, the state of the first output of the counter 31 will be 1 and the second - 0. In the memory block 11, the first row of cells is selected. The value of the cells in the first row is compared with the values of the cells in the zero row, and if there is at least one pair of cells with values 1 located in one column of the memory block, then information corresponding to the logical sum of zero and the first line, and if there is not a single pair of such cells, then previously recorded information is stored in the register of block 12. Until the state of the counter 30 becomes equal to r, a repetition of these operations occurs.

Thus, by the time when the state of the counter 30 becomes equal to MS, information about tags that belong to the same object will be accumulated in the register 20. At the moment of the appearance of the signal at the second output of the counter 30, at the third input of the switch 39 there will be a signal with a log level О, through which the first output of the counter 31 is connected to the address input of the memory unit 11, and therefore, the contents of the connectivity detector are overwritten 12.

Then, according to the same principle, the contents of the first line are rewritten to the detector 12 from the side of the memory 11, which after 14 l, the cycles are rewritten to the first line of the memory block, etc.

Through NA clocks, in the memory block 11, information on all marks belonging to that object which is marked with a label equal to i is stored in any of its i-th patterns.

At the moment ... when the state of the counter 31 of the distributor 5 becomes equal to N, a high level appears at its third output and the device switches to the third mode - the mode of selecting an object and determining geometric parameters.

In the third mode, the memory unit 11 only operates in read mode. Using the AND 9 and OR 10 elements, the binary code of the object number to be allocated is supplied to the address input of the memory unit 11.

The signal from the third output of the distributor 5 by means of the television sensor 1 starts rescanning the topology image. As in the first mode, the image is marked, and if the label that belongs to the same object as the label whose code is installed on the second inputs of AND 9 elements comes to the first input of the memory block 11, then one of the outputs of the memory block Type 11 will be a signal of log.1, and if this mark does not pass, then at all outputs of the memory block 11 there will be signals of log.O. Since in this mode, at all the outputs of the register of the connectivity detector 12 there are signals with the level of log 1 (this is ensured by supplying a signal with the level of log 0 to the second input of the connectivity detector 12 from the sixth output of the distributor 5), at the first output of the connectivity detector 12 there will be the signal corresponding to the disjunction of the signals from the output of the memory unit 11. It follows that if the scanned image point has a mark belonging to the same object as the set mark, then the log signal will be at the first output of the connectivity detector 12. G, otherwise - a signal log.O. A signal with a level of zero, 1 opens the And element 14, and video pulses corresponding to the image of the selected object are received from the output of the driver 2 to the input of the video amplifier 13.

From the output of element And 14, the video pulses of the selected object are fed to the input of the shift register 20. When scanning the beginning of the chord, the output of element And 21 displays a recording enable signal, which is applied to the first input of register 17, in which the order number of the estrus is recorded in line c the output of the counter 15. At the moment of the leading edge of the pulse, the end of the chord at the output of the element And 22, at the output of the adder 19, a binary code is set corresponding to the serial number of the center point of the chord in the line, since half chords from the first output of block 18 and the contents of register 17. At the same time, a code corresponding to the length of the chord is set at the second output of block 18, and the line number of the chord is stored at the output of counter 16. By the trailing edge of the pulse, the end of the chord is reset to register 17 and the estimator in the chord length determination unit 18.

Prior to operation of the device, blocks 17-19 are in the zero state. The register 17 operates in parallel loading and storing binary code from the output of the counter 15, which corresponds to the serial number nl of the beginning point of the line chord. In the first mode, when scanning the beginning point of the chord by a single pulse from the output of the And 21 element, it is possible to write u to the register 17. By the leading edge of the pulse the beginning of the chord through the OR 49 element, the trigger 46 is set to a single state and the clock pulses are passed through the And 48 element to counter input of the counter 47. At the moment of a negative differential of the binary video signal, an output pulse of the end of the chord is generated at the output of the And 22 element. By this time, a code corresponding to the length of the 1st chord Oi is generated at the first output of the counter 47. and on the second output - a code corresponding to half the length of the 1st chord Di / 2, with u - int (Di / 2). The adder 19 is designed to sum the codes mi and ni respectively from the second output of the counter 47 and from the output of the register 17. The trailing edge of the chord 46 and the register 17 are reset by the trailing edge of the pulse, which return the counter 47 and the adder 19 to the initial zero state, and blocks 17 -19 ready to process another chord.

At the moment of the leading edge of the pulse, the end of the chord from the output of the And element 22 at the output of the adder 19 generates a code corresponding to the sequence number of the center point of the Yui chord in the line. If the chord length is an odd number of samples, they have one central point, which corresponds to the true value of CA |. If the number of samples is even, they have two central points and one of them is selected, which differs from the true value of | on a 0.5-cycle period Tp. In any case, Y4i is defined as ui int (Di / 2). It should be noted that deviations of 0.5 Tp in determining Uc) do not lead to unacceptable errors in determining the coordinates of the center of gravity. Consequently, for the true value, the coordinates have

, N (J i / n - V v.-Ahr;

(C

N (5

a-z: t

iE {l, N «l

i ih

Yr

: / V4ite / Ј «z l. еО, н „У ц ч фь} 2

The unit of reference is considered to be the period of clock pulses Tn. The accuracy of the device is estimated by the magnitude of the period of the clock pulses.

As a result of summing the lengths of the chords, the second accumulating adder 26 determines the code corresponding to the area of the object, and the intermediate parameters YqiDi and ХЦ | 0 | for this object. The accumulative adders 25 and 27 respectively determine V YqiDi and T Xt | 0 |, which are divided by a binary code,

corresponding to the area of the object, in dividers 28 and 29. The codes thus obtained at the outputs of the dividers correspond to the coordinates of the center of gravity (in X and Y) of the selected object with a number set at the input of the And 9 element group.

Claims (1)

The device is characterized by a simplified selection algorithm and maintaining speed while significantly expanding the functionality. SUMMARY OF THE INVENTION An apparatus for selecting images of objects comprising a television sensor, a binary video signal shaper, first and second shift registers, first and second groups of AND elements, a group of OR elements, a memory unit, a connectivity detector, a first AND element, a video amplifier and a pulse distributor, moreover, the information output of the television sensor is connected to the input of the binary video signal driver, the output of which is connected to the first input of the first element And, the information input of the video amplifier, which is the first information output of the device, and the input of the first shift register, the outputs of the first and second groups of AND elements are connected respectively to the first and second inputs of the OR element group, the output of which is connected to the second address input of the memory unit, the output and the second input of the first AND element are connected respectively to the control input of the video amplifier and to the first output of the connectivity detector, the first input and second output of which are connected respectively to the output and the information input of the memory unit, the first the course of the second group of AND elements is the input of setting the number of the device object, and the second inputs of the first and second groups of elements I. The third input of the OR element group, the write permission input of the memory unit, and the second input of the connectivity detector are connected respectively second to sixth distributor outputs pulses, characterized in that, in order to expand the functionality of the device by determining the parameters of selectable objects, chord highlighting unit, third group of AND elements, third and fourth shift registers, second and third elements I., first and second counters, chord length determination unit, adder, first and second multipliers, first and third accumulators, first and second dividers are introduced wherein the first and second outputs of the first shift register are connected respectively to the first and second information inputs of the chord allocation block, the output of which is connected to the input of the second shift register and the first address input of the memory block, and second outputs of the second shift 0 register are connected respectively to the first inputs of the third and first groups of elements And, the first output of the pulse distributor is connected to the second input of the third group of elements And, the output of which 5 is connected to the fourth input of the OR element group, the output of the first AND element is connected to the input of the third shift register, the first output of which is connected to the first input of the second AND element and 0 to the second inverse input of the third element And, the first input of which is connected to the second inverse input of the second element And and connected to the second output of the third shift register, the outputs of the second and 5 of the third AND element are connected respectively to the first and second inputs of the chord length determination unit and to the first and second control inputs of the fourth shift register, the output of the television sensor clock pulses is connected to the first input of the pulse distributor, the third input of the chord length determination unit and the counting input of the first counter whose reset input is connected to the counter 5 by the input of the second counter and connected to the output of the horizontal sync pulses of the television sensor, the output of the frame pulses of which is connected to the control input of the chord block, the second input of the pulse distributor, the reset inputs of the second counter and the zeroing inputs of the first and third accumulative adders, the information input and the output of the fourth shear register connected 5, respectively, to the output of the first counter and the first input of the adder, the output of which is connected to the first input of the first multiplier, the output of the second counter is connected to the first input of the second multiplier, the second input of the adder is connected to the first output of the block for determining the length of the chord, the second output of which is connected to the information input of the second accumulating adder, and to the second inputs of the first and second multipliers, the outputs of which are connected respectively to the information inputs of the first and third accumulating adders, the outputs of the cat about rf B-l (r-ji-jr {CtTP.f) b E Figl They are connected respectively to the first inputs of the first and second dividers, the second inputs of which are connected to the output of the second accumulating adder, three of which the outputs of the first and second dividers together with the output of the second accumulating adder form the second information output of the device. - & g- & p- # g txodl ri riojlplf ) 1РИ .Р11 VydZRI VynodSHZ Lydbry & vW YAL Kbl. 6 KI J Ph.Z phage A