JP2864510B2 - Shape discriminator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a work shape discriminating apparatus, which is capable of realizing image processing with a simplified configuration by superposition synthesis.

[Prior art] Conventionally, the shape of a work is determined by approaching a photoreflector to a feature point of the work, or by using an imaging device such as a TV camera for a work having a complicated shape. Image processing (for example, extracting the contour of the image and performing pattern matching) corresponding to the captured image has been performed.

In the case of using the former photoreflector, skill is required to find the feature points of the work shape, and there is a problem that the number of elements increases when the work shape becomes complicated.In the case of performing the latter image processing, There is a problem that the apparatus becomes complicated to perform processing for one screen, and it takes time according to the number of pixels.

[Means for Solving the Problems] The present invention has been made in view of the above conventional problems.
Imaging means for imaging the work to be determined, means for extracting a contour of the work video from the imaging means, means for dividing the contour-extracted image into a plurality of pieces, and superimposing and combining the divided images; The present invention proposes a shape discriminating apparatus including an image synthesized by the synthesizing means and a comparing means for comparing the image with a standard pattern created in advance.

[Operation] An outline of a captured image of a workpiece is extracted, and the extracted outline is superimposed on each of a plurality of divided images. The quality of the work to be performed is determined.

Embodiment An embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is an overall block diagram, FIG. 2 is a captured image of a work,
FIG. 3 shows a contour image, and FIG. 4 shows a superimposed image. The work 10 whose shape is to be determined on the work holding table 11
The work 10 is imaged by the TV camera 1 as an image sensor. The signal imaged by the TV camera 1 is
The signal is amplified by an amplifier 2 and applied to a binarization circuit 3 (see FIG. 2). The binarization circuit 3 is composed of a comparator for a simple figure, and is converted to a software after an AD conversion for a complex figure. The video signal is converted into a binary value of light and dark, and is applied to the image memory 4 and stored. At this time, by illuminating the background of the workpiece 10 brightly and not illuminating the workpiece 10, the workpiece 10 can be captured as a silhouette image and can be binarized relatively easily. The outline portion is extracted from the binarized image stored in the image memory 4 by the outline extraction circuit 5 (see FIG. 3). As a means for extracting the contour, in the case of a light and dark binary image, it is possible to relatively easily extract the image by using a differentiation method. In the case where the contour of the binarized image includes local irregularities, a smooth contour line can be obtained by performing smoothing using the neighborhood method and then performing contour extraction. The superimposition circuit 6 stores the extracted contour in the superimposed contour memory 7 in a form corresponding to the number of divisions.
The superposition circuit 6 sequentially reads out each of the areas 1 to 4 as the divided images shown in FIG. As the writing means, each of the area images 1 to
4 are superimposed by a logical sum (OR), and when the contour images are locally concentrated, an exclusive logical sum (EXOR) may be used to eliminate the concentrated overlap. (Refer to FIG. 4.) The control circuit 8 reads out the standard pattern prepared in advance from the standard pattern file 9 according to the procedure described above, and the comparison circuit 10 compares the standard pattern with the pattern in the superimposed contour memory 7. Are compared, the quality of the work 10 is determined. If the work holding table 11 and the work 10 are the same, the captured image (FIG. 2) and the outline image (FIG. 3) can be performed by a simple superposition (template matching) method. Further, a more accurate correlation method can be adopted according to the work shape.

[Effects of the Invention] Since the present invention is configured as described above, the memory capacity of the image to be compared can be small, and the processing speed can be improved. In addition, some standard patterns
Since it is 1 / n (n is the number of divisions), highly accurate shape storage can be performed relatively inexpensively.

Although an example of four divisions has been described as an example, the number of divisions can be changed according to the complexity of a work, and in the example, determination is made in only one direction. By preparing the pattern described above, selecting the optimum direction, and sequentially changing the direction to perform comparison, the degree of freedom in holding the work can be increased.

[Brief description of the drawings]

1 is an overall block diagram, FIG. 2 is a captured image, FIG. 3 is a contour image, and FIG. 4 is a superimposed image. 1 TV camera 2 Amplifier 3 Binarization circuit 4 4
Image memory, 5 ... Contour extraction circuit, 6 ... Superposition circuit, 7 ...
... superimposed contour memory, 8 ... control circuit, 9 ... standard pattern file, 10 ... comparison circuit

Claims (1)

(57) [Claims] 1. An imaging means for visualizing a workpiece to be determined, a means for extracting a contour of a workpiece video from the imaging means, dividing the contour-extracted image into a predetermined number, and dividing the divided image. A shape discriminating apparatus comprising: means for superimposing and synthesizing in a predetermined direction; and comparing means for comparing an image synthesized by the synthesizing means with a standard pattern created in advance.