WO1986001062A1

WO1986001062A1 - Apparatus for correcting window data

Info

Publication number: WO1986001062A1
Application number: PCT/JP1985/000413
Authority: WO
Inventors: Mitsuo Hiraizumi; Hiroshi Sugimura; Fumikazu Terawaki
Original assignee: Fanuc Ltd
Priority date: 1984-07-23
Filing date: 1985-07-22
Publication date: 1986-02-13
Also published as: JPS6130890A

Abstract

This invention is to easily correct window data that masks undesired portions in the visual field of a visual sensor. A memory (1) for setting window data stores window data that represents a window region (2). Window region display means (4) causes a display unit (3) to graphically display the window region (2) represented by the window data. Cursor display means (7) causes a cursor (6) to move to a position in compliance with the operation of cursor moving keys (5). Instruction data input means (8) produces instruction data related to such processing as parallel translation, turn, expansion and contraction. Window data correction means (9) corrects window data in the window data-setting memory (1) indicated by cursor (6) responsive to instruction data from instruction data input means (8).

Description

Fine Window Data Correction Device Technical Field

The present invention relates to a window data correction device for masking an unnecessary portion in a visual field in a visual sensor. Background technology

Conventionally, automatic processing of images has been performed for the purpose of defect inspection of parts and the like. For example, an image of an article conveyed on a belt conveyor is taken in, quantized, preprocessed such as thinning, and further processed after contour extraction and feature extraction. By comparing with the data] 9 There are some that judge the existence of defects. In such a system, depending on the visual sensor.] 9 To remove unnecessary or inconvenient parts from the captured image, By taking the logical product of the window data read from the memory and the imaging signal.] 9 のみ Only the image in the window area is often processed.

Conventionally, window data has been set by displaying a quantized image of a standard article on C2! T, and by setting the end point of the window area to be set. Window data corresponding to the area defined by this specified point. For example, a method of storing "1" in the memory area, or by painting the window area white and the other areas black], puts 9 patterns in the field of view of the imaging device, This is performed by writing a signal obtained by binarizing the imaging signal into the window data setting memory.

In this case, if a window data is set in the above-described manner and then the window data is to be modified, the conventional method is as described above. There was no other way but to repeat the setting operation again, and there was a problem that the window data could be easily modified. Disclosure of the invention

The present invention has solved such a conventional problem, and an object of the present invention is to make it possible to correct window data once set by a simple operation.

In order to solve the above problem, the present invention, as shown in FIG. 1, uses a window data read from a window data setting memory 1 and an image pickup signal. The window sensor stored in the window data setting memory 1 is applied to the visual sensor that obtains the window-processed imaging signal. Window area display means 4 for graphically displaying the window area 2 indicated by the data on the display device 5, a force-sol movement key-5, and a force-sol movement Display according to key-5 operation A force-sol display means 7 for displaying the force-sol at the display position of the device 3 and a command data for inputting command data relating to at least one of translation, rotation, enlargement, and reduction processing. Command data; input means 8; and window data setting memory designated by force-sol 6 in accordance with the command data input by the command data input means 8. Window data correcting means 9 for correcting the window data in 1 is provided.

To modify certain window data, display the window area 2 indicated by the window data stored in the window data setting memory 1. 3 is displayed, and the force-sol. Key 5 is operated to move the force-sol. に into the window area. Command data input means 8)] For example, when a command to enlarge is input, the window area correction means 9 outputs a command to the window. The window data in the data setting memory 1 is enlarged accordingly. Similarly, window data is corrected in such a way by inputting a parallel movement command, rotation command, or reduction command. [Simplified explanation of drawings]

FIG. 1 is an explanatory view of the configuration of the present invention, FIG. 2 is a block diagram of a main part of a visual sensor processing system having a window data correcting device of the present invention, and FIG. Window area setting pattern FIG. 4 is an explanatory view of the operation of the present invention, and FIG. 5 is a flowchart of the window correction processing. BEST MODE FOR CARRYING OUT THE INVENTION FIG. 2 is a block diagram of a main part of a visual sensor processing system having a window data correcting device according to the present invention. 12 is a converter for converting an image signal into a digital value, and 13 is a binarized image represented by “1” and “0” by comparing the output of the AZD converter 12 with a reference value. A binarization circuit 14 for generating a signal, 14 inputs the output of the binarization circuit 13 to the serial / parallel converter 15 or the AND circuit 10 according to the level of the switching signal SEL 1 A switching circuit 17 selects the output of the serial / parallel converter 15 or the data from the data bus 18 in accordance with the level of the switching signal SEL2. Frame memory for window data setting where the output of 17 is applied to the data input terminal, and 20 is the window A frame memory for storing an image signal. Both frame memories have the same address space. Reference numeral 21 denotes an address generating circuit for generating an address of the vertical synchronizing signal and the horizontal synchronizing signal of the imaging device 10 and an address of the frame memories 19 and 20, and 22 corresponds to the level of the switching signal SEL. The output circuit of the address generation circuit 21 is a switching circuit that outputs the address of the address noise 23 to the frame memories 19 and 20, and 24 is the switching signal. A switching circuit for sending the output of the frame memory 19 to the parallel serial converter 25 or the input buffer circuit 20 according to the level of SELA, and 27 is a switching circuit. AND circuit for performing an AND operation on the output of the real-time serial converter 25 and the output of the switching circuit 14

A serial-parallel converter with 10 outputs added, 28 a serial-parallel converter according to the level of the switching signal

A switching circuit that applies 27 output data or data path 18 data to the frame memory 20 data input terminal, and 29 applies the frame memory 20 output data. The input buffer circuit, 30 is the CPU connected to the peripheral circuit by the data bus 18, address memory, and the control port-31. 32 is the switching signal S. Switching signal generation circuit that generates ^ LI to S ^ L5, 53 is a ROM for storing programs, etc., 54 is 2A used for arithmetic operations, etc., 35 is a numeric key, alphabet key Keyboard with multiple keys such as key, force, and so on, 30 is a CRT controller, 57 is a CRT, and 38 is a CPU that accesses the peripheral circuit. An address decoder 39 for generating a selection signal when performing the operation is provided between the CPU 30 and the address generation circuit 21, and between 9 and 3 the start signal and the write end signal. It is a file circuit. In addition, from the control node 31, a frame selection memory 19, 2Q is provided with a light selection signal WZ ?.

The operation of this system is roughly divided into the following four. "(ό)

① Window data setting operation

② Window data correction operation

(3) Window processing of image signal

解析 Analysis processing of windowed image signals

The present invention relates to the above-mentioned improvement (1), but its operation will be sequentially described below to facilitate understanding of the present invention. (1) Window data setting processing

When setting window data in the frame memory 19, first, as shown in FIG. 3, the window areas 50 to 52 to be set are colored white. Then, the pattern 55 having a black background is arranged such that each of the window regions 50 to 52 is located at a desired position in the field of view of the imaging device 11. Then, a window data setting command is inputted from the keyboard 55. When this command is input, the switching circuit

The output of 14 and the input of the switching circuit 17 are switched to the serial / parallel converter 15 side, the input of the switching circuit 22 is switched to the address generation circuit 21 side, and the frame memory 19 is switched. After transmitting the light signal W, the activation signal is transmitted to the address generation circuit 21. The j? Address generation circuit 21 synchronizes with the synchronization signal sent to the imaging device 11 from the first address to the last address of the frame memory 19. Addresses are generated sequentially. The image signal is converted into a digital amount by the image signal converter 12 of the pattern 53, and the signal is converted by the binarization circuit 13 into a win. A doWn area 51: a binary imaging signal in Which? 52 are "1" and the background is "0" is generated, and this is input to the serial / parallel converter 15 via the switching circuit 14, and Here, the data is converted into 8-bit parallel data and input to the data terminal of the frame memory 19 through the switching circuit 17. This data is sequentially stored in the address generated by the address generation circuit 21. When the address generation circuit 21 has sequentially generated an address from the start address to the end address of the frame memory 19, the address generation circuit 21 outputs the image capture end signal and the end signal. C and 30 notify the operator by illuminating a lamp (not shown) indicating the end of window data setting by recognizing this.

¾ It is also possible to set the window data in a different way from the above.

② Window data correction operation

To correct the window data once set in the frame memory 19 by the operation as described above, first, the keyboard 55 is used to modify the frame memory 19. Enter a command to display the content on the CPT57 screen. When this command is input, the CPU 0 switches the input of the switching circuit 22 to the address bus 23 side, switches the CPU of the switching circuit 24 to the data bus 18 side, and sets the frame memory. Sends a read signal to the memory 19 and switches the address for reading the contents of the frame memory 19. To the frame memory 19 via. Then, the contents of the input buffer circuit 20 are read] ?, which are sequentially transmitted to the CRT controller 50. Due to this operation, the window of the CRT 57 displays the window area 50 to 52 indicated by the window data stored in the frame memory 19 as shown in FIG. 4, for example. Is displayed graphically.

Next, the operator corrects the window area while seeing this display. The operator corrects the window area in the window area 50 to 52 stored in the frame memory 19. In order to specify which window area in the target is to be corrected, operate the force of the keyboard 35-the move key as shown in Fig. 4 to make the correction. Move force-sol 54 into the window area. The display of force-sol 00 is displayed at the display position corresponding to the value of the internal counter that is counted up by depressing the force-sol movement key. Is sent from the CPU 30 to the C2r controller-

There are four modes of correction: translation, rotation, enlargement, and reduction.], And you can freely select according to the contents of the correction. The commands in each mode use the following format, for example.

Translation X ……, F ……

Rotation ROT Enlargement, reduction MUL ……

Here, X ·······, Y… indicates the window area in the Z direction.

(To the right of the screen) or: コ A code to specify how much to move in the (upward direction of the screen)], ROT… is centered on the center of gravity of the window area MIL …… is a code that specifies how many times the window area is enlarged or reduced. By entering such a command, the window area specified by the force-solar can be modified. _ Fig. 5 is a flowchart showing an example of the processing of the CP 30 when the above command is input. When the above command is input from the keyboard 35, the CPU determines whether the command is a parallel movement command, a rotation command, an enlargement / reduction command, and in the case of a parallel movement command, a force-solar command. The memory location of the window area in the frame memory 19 specified by the command is translated in parallel by the specified amount of translation, and in the case of a rotation command, it is also indicated by force-sol. Moves the storage location of the window area to the location rotated by the commanded rotation angle. In the case of enlargement / reduction command, the storage location of the window area specified by force-sol is instructed. Enlarge according to the magnification. In this way, the operation is to sequentially read the contents of the frame memory 19,9) to identify the initial storage location of the window data group indicated by the force-sol, Corrected from the storage location and the specified amount of translation, tillage angle, and magnification The storage location exclusive for the later window data group is determined, and the switching circuit 17 is switched to the data bus 18 side to sequentially store the data in the storage location determined above. This is performed by inverting the original window data from "0" to "0".

To modify other window data stored in the frame memory 19, the same operation as described above is repeated. (3) Window processing operation of image signal

When a window processing command is input from the keyboard 35, the CPU 50 sets the CPU of the switching circuit 14 to the AND circuit 10 side and the input of the switching circuit 28 to the serial / parallel converter 27. The switching circuit 22 is switched to the address generation circuit 21 and the switching circuit 24 is switched to the parallel serial converter 25, and the frame memory 20 is lighted. The-signal is sent to the frame memory 19 and the start signal is sent to the address generation circuit 21. [9] The address generation circuit 21 sequentially generates addresses from the first address to the last address of the frame memories 19 and 20. The binarized image signal of the target object imaged by the imaging signal is applied to one input of the AND circuit 10 via the switching circuit 14, and a frame is input to the other input. The output of the memory 19 is converted to serial data by the parallel-serial converter 25 and window data is added.], And both are output by the AND circuit 10. AND of Then, only the binarized image signal in the window area is stored.] 9 Only the image-processed image signal is stored in the frame memory 20.

解析 Analysis of windowed image signal

This means that the switching circuit 22 is switched to the address bus 23 side, a read signal is transmitted to the frame memory 20, and the frame memory is output from the address bus 25. By sending the read address to the memory 20, the contents of the frame memory 20 are read by the CPU 5Q], and the read data is processed.

As described above, according to the present invention, the set window area is displayed on the display device, and the force-solar is moved within the target window area, and the translation and rotation are performed. By inputting a correction command such as enlargement or reduction, it is possible to correct any window data stored in the frame memory.

Claims

Scope of the request Window data read from the window data setting memory and the logical product of the image signal and the imaging signal are taken.] 9 Window processing In the window data correction device of the visual sensor for obtaining the captured image signal, an indication of the window data stored in the window data setting memory is provided. The window area is graphically displayed on the display device. ゥ Int: ゥ In response to the operation of the area display means, the force-sol move key, and the cursor move key- Cursor display means for displaying a cursor at the display position of the display device, and command data relating to at least one of translation, rotation, enlargement, and reduction processing. Command data input means, and command data input by the command data input means. Window data correcting means for correcting window data in the window data setting memory designated by the force-solder; Window data correction equipment characterized by the following features: