SU1472919A1 - Television device for selection of objects - Google Patents

Abstract

The invention relates to a television measuring technique and can be used in the technical vision systems of robots when sorting various parts and crystals according to relative sizes. The aim of the invention is to improve speed by preprocessing the video signal. The device contains a transmitting television camera 1, a counter 2 informative lines of the image, a block 3 of the selection of the fronts of the video signal, a trigger 4 sign informativity of the line, a counter 5 lines of the image, registers 6 and 7 fixing the coordinates of the front and rear fronts of the signal , register 10 and comparison unit 11, subtractor 12, comparison unit 13, multiplexer 14, scale factor register 15, calculation unit 16 (computer). In the device, the image processing in the object selection task is performed taking into account the scale factor, which is calculated in parallel with the input of the object contour coordinates in the computer. Given the scale factor in RAM, the image is restored as a normalized measuring array. Thus, the speed of a television device remains constant for objects of significantly different sizes. The dimensions of the normalized image are selected from the condition of the required accuracy of selection. 1 il.

Description

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(COMPUTER). In the device, the image processing in the object selection task is performed taking into account the scale factor, which is calculated in parallel with the input of the object contour coordinates in the computer. Taking into account the scale factor in RAM, the image is restored as a normalized measurement.

body array. Thus, the speed of a television device remains constant for objects that are significantly different in size. The dimensions of the normalized image are selected from the condition of the required accuracy of selection. 1 il.

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The invention relates to a television measuring technique and can be used in the technical vision systems of robots when sorting various parts and crystals according to relative sizes.

The purpose of the invention is to increase speed by preprocessing the video signal.

In the device for selecting objects, the image processing in the problem of selecting objects is performed taking into account the scale factor, which is calculated in parallel with the input of the coordinates of the object contour into the computer. Given the scale factor in RAM, the image is restored as a normalized measuring array. Thus, the speed of the television device remains constant for objects of different sizes. The sizes of the normalized image are chosen from the condition of the required accuracy of selection.

As a selective feature, this device uses the maximum ratio of two mutually orthogonal chords passing through the center of the image of the object.

The drawing shows a functional diagram of a television device for the selection of objects.

The device contains a transmitting television camera 1, a counter 2 informative lines of the image, a block 3 of selecting video fronts, a trigger 4 sign of informativity of the line, a counter 5 lines of image, registers 6 and 7 fixing the coordinates of the front and rear fronts of the video signal maximum, register 10 and comparison unit 11, subtractor 12, comparison unit 13, multiplexer 14, scale factor register 1 5 and 5 calculation unit 16 (computer).

The device works as follows.

On target television camera

a projection of an image of the selected object is created. When reading information from camera 1 line by line from the incoming normalized video signal by block 3, the front and rear edges of the video signal are separated. The sync pulses of the interrogation of the elements generated by the synchro generator, which is part of the television camera, are fed to the counting input

counter 2 informative lines of the image. From the outputs of the latter, the code corresponding to the number of pulses accumulated from the beginning of the string arrives at the information inputs of the registers 6

and 7 fixing the coordinates of the front and rear edges of the video signal.

When entering from the outputs of block 3 to the inputs of the resolution of recording registers 6 and 7 pulses, respectively

front and rear fronts of the video signal; coordinate codes defining the position of the corresponding front are recorded in them. The sync IMPULSE lines zero the counter 2 at the beginning of each line, and the counter 5 zero at the beginning of each frame. Thus, in the current line containing the video signal, the coordinates of the object contour are recorded in registers 6 and 7. Coordinates are entered into the computer through the first and second ports when a pulse of the falling edge of the video signal appears from the output of the block.

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3, arriving at the control input of the second port. Computer 16 enters data

Coordinates from both ports in RAM.

In parallel with the input of the contour coordinates, the image size of the object is computed over the frame Nh and the maximum image size per line Nc,,

The NK value is determined by the counter 5 by counting the number of informative lines in the frame. The presence of a video signal in the row is fixed by trigger 4.

The value of Nc is calculated as the difference of the coordinates of the rightmost point and the leftmost point of the image contour. The coordinates of these points are determined by blocks 9 and 8 of the selection of a maximum and a minimum.

The value Nc is calculated by subtracting from the coordinates of the right point of the contour of the left point coordinates in the subtractor 12. From the outputs of the subtractor 12 and the counter 5, the signals arrive at the corresponding inputs of the comparison unit 13 and the multiplexer 14. The comparison unit 13 outputs a signal to the control input of the multiplexer 14 allowing the output of multiplexer 14 to be the largest of the codes, Nc. or N. The input of the largest of the Nc or NKB computers is carried out via the third input port after the arrival of the frame sync pulse at the control input of this port.

Image restoration in computer RAM is carried out by forming a normalized measuring array, which is recovered from the original array of the input coordinates of image contour points, taking into account the scale factor determined from Nc or NK numbers and the required accuracy of selection.

Chord construction is performed programmatically in the area of the memory containing the reconstructed image before intersecting the border of the image contour.

1 Since the ratio of the lengths of mutually perpendicular chords is equal to the ratio of their projections onto mutually perpendicular; the cool coordinate axes (on the line of sweeps along the line and the frame), the measurement of the ratio of chord lengths is replaced by the measurement of the ratio of the lengths of the projections of chords corresponding to the axis of coordinates.

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The whole range of values of chord length ratios is programmatically viewed by a computer and from it the most

5 ° m «ks VЬŠ ° D EWC.KC from computer 16 to the output port controls the sorting device as the selection factor. Thus, the computer processes the normalized images of objects, therefore its processing time does not depend on the size of the original image, but is determined only by the required accuracy of selection.

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Claims (1)

Invention Formula A television device for selecting objects containing a transmitting television camera, a counter and a computing unit, characterized in that, in order to improve speed by preprocessing the video signal, a video edge separation trigger is inserted into it, the informative line feature trigger, the counter of informative image lines , the register of fixing the coordinates of the leading edge of the video signal, the register of fixing the coordinates of the trailing edge of the video signal, maximum selection unit, minimum selection unit, scale factor register, subtractor, comparison unit, multiplexer, where the video signal output of the television camera is connected to the information input of the video edge picker and the reset input of the information sign of the information content of the line, the output of which is connected to the counter input of the counter informative image lines, the output of which is connected to the input of the first operand of the comparison unit and the first information input of the multiplexer, the output of which is connected with the information input of the scale factor register, the output of which is connected to the first information input of the computing unit, the second information input of which is connected to the information input of the minimum selection block and the register of fixing the coordinates of the leading edge of the video signal, the information input of which is connected to the information the register of fixation of the coordinates of the rear edge of the video signal and the information output of the counter, the counting input of which is connected to the clock output of the television camera, the output 51 the lowercase sync pulses of which are connected to the reset input of the counter and the installation input of 1 trigger for the informativity of the line, the output of the frame sync pulses of the television camera is connected to the reset input of the counter of informative image lines, the input of the calculation unit synchronization, the reset input of the front coordinate register of the front of the video signal, the reset input of the register of fixing the coordinates of the rear front of the video signal, the reset input of the minimum selection block and input ode reset of the maximum selection block, the information input of which is connected to the information output of the coordinate register of the falling edge of the video signal and the third information input of the computation block 729196 nor, the gate input of which is connected to the resolution input of the recording of the register of fixation of the coordinates of the trailing edge 5 video signal and the output strobe of the front edge of the video edge selection block, the output of the front edge of the video signal is connected to the enable input of the recording of the register of the leading edge of the video signal, the information output of the minimum selection unit is connected to the input of the reduced subtractor, the information output of the maximum selection unit is connected to the input of the readable maximum a subtractor whose output is connected to the second information input of the multiplexer and the input of the second operand of the block; not with control input multiplexer.