JPH0546589B2 - - Google Patents

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to an image processing device.

(Prior Art) As shown in FIG. 6, a conventional image processing device captures an image of a subject with a television camera 1 and stores the video signal in a frame memory 2 as 256×256 dots or
The image is stored at a resolution of 512×512 dots, and the image display device 3 displays the subject image using the video signal in the frame memory 2. Then, the microcomputer 4 determines the X-axis, Y-axis, and angular position information of the subject from the video signal in the frame memory 2, displays it on the monitor 5, and outputs it to an external device.

(Problems to be Solved by the Invention) In the above image processing device, the video signal from the television camera 1 is stored in the frame memory 2 at a resolution of 256 x 256 dots or 512 x 512 dots.
The minimum resolution is so large that positional information of several μm or several minutes cannot be obtained. Furthermore, since the video signal from the television camera 1 is processed as two-dimensional information, data processing takes time and becomes expensive.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an image processing apparatus which can improve the above-mentioned drawbacks, speed up the processing time, reduce the minimum dividing power without increasing the memory capacity, and reduce the cost.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides an imaging means for imaging a subject to obtain a video signal, and a binarized signal for binarizing the video signal from the imaging means. a counting means for calculating the position of a transition point of the binary signal by counting clocks within a predetermined scanning area for the subject with reference to the starting reference point of the scanning area; a memory for storing the position calculated by the scanning means, a scanning area changing means for changing the scanning area, and a clock frequency changing means for changing the frequency of the clock in accordance with the changing of the scanning area by the scanning area changing means; The apparatus also includes a subject moving means for moving the subject.

(Function) The imaging means images the subject to obtain a video signal, and the video signal from the imaging means is converted into two by the binarization means.
The signal is digitized to obtain a binary signal. A counting means calculates the position of the transposition point of the binary signal by counting clocks within a predetermined scanning area for the subject with reference to the start reference point of this scanning area, and the position calculated by the counting means is stored in the memory. is memorized. The scanning area changing means changes the scanning area, and the frequency of the clock is changed by the clock frequency changing means in accordance with the scanning area changing means. Further, the subject moving means moves the subject.

(Example) FIG. 1 shows an embodiment of the invention.

In this embodiment, a workpiece (workpiece) 16 is positioned at a predetermined position with high precision, and the workpiece 16 has a simple shape, for example, an ellipse, and is set on a support stand 17. The image is captured by a television camera 18. The image processing circuit 19 binarizes the video signal from the television camera 18, and scans the positions of the transition points where this binary signal transitions from the white level to the black level and from the black level to the white level. The data is calculated by counting clocks with reference to the start reference point of the area, and the data is sent to the microcomputer 20. The microcomputer 20 is the image processing circuit 1
The displacement of the workpiece 16 is determined by temporarily storing the data from 9 in the memory and processing it, and the motor drive circuit 21 is controlled so that the workpiece 16 moves to the normal position. The motor drive circuit 21 drives the motor 22 to move the support stand 17 in the X-axis direction, drives the motor 23 to move the support stand 17 in the Y-axis direction, and further drives the motor 24 to move the support stand 17. By rotating the workpiece 16, the workpiece 16 is moved to a prescribed position. The positioning operation of the workpiece 16 is first performed by setting the scanning area as a fine positioning area 11 as shown in FIG. and change the scanning area to coarse positioning area (entire screen) 13,
After moving the support base 17 so that the figure 12 enters the fine positioning area 11, the scanning area is changed to the fine positioning area 11 and a workpiece positioning operation is performed. The fine positioning area 11 has a width that is, for example, 1/4 of the coarse positioning area 13, and the frequency of the clock mentioned above is different when the scanning area is changed to the coarse positioning area 13 compared to when the scanning area is set to the fine positioning area 11. The frequency is divided into 1/4. Image processing circuit 1
In step 9, the counter that counts the clock has a maximum count of 256 and outputs 8-bit data, and when the scanning area is set to coarse positioning area 13, the scanning area is divided into 256 scanning lines x 256 dots and is placed at the leftmost edge of the screen. becomes the starting reference point 14. When the scanning area is set to the fine positioning area 11, the surface is divided into 256 scanning lines x 1024 dots, the scanning area is divided into 256 scanning lines x 256 dots, and the center of the screen becomes the starting reference point 15.

FIG. 3 specifically shows the image processing circuit 19, and FIG. 4 shows its timing chart.

In this image processing circuit 19, the microcomputer 2
When the scanning area designation and clock designation signal ○ho is input from 0 to 0, the scanning area designation flip-flop and clock designation flip-flop 35 latches the signal ○ho and outputs an output signal to one of the AND gates 36 and 37. By opening one of the AND gates, AND gates 38 and 39
An output signal is output to one of the two, and one of the AND gates is opened. Next, when the data acquisition request signal ○c is inputted from the microcomputer 20, the flip-flop 25 is set by this signal ○c. A synchronization signal is separated from the video signal from the television camera 18 by a synchronization separation circuit 26, and then a vertical synchronization signal of an even field is separated from this synchronization signal by a vertical synchronization separation circuit 27.
are separated. This vertical synchronizing signal 〓 passes through the AND gate 28 according to the output signal of the flip-flop 25 and sets the trigger circuit 29, so that the output signal of the trigger circuit 29 is changed to the AND gate 3.
0,31 and these are opened. Further, the synchronization signal from the synchronization separation circuit 26 is counted by the horizontal synchronization counter 32. The scanning area setting circuits 33 and 34 generate output signals when scanning the fine positioning area 11 and the coarse positioning area 13 in accordance with the synchronization signal from the synchronization separation circuit 26, that is, the video signals are those of the fine positioning area 11 and the coarse positioning area 13. generates an output signal when . One of the output signals of the scan area setting circuits 33 and 34 is selected by AND gates 36 and 37 and is sent to an OR circuit 40. This OR circuit 40
The output signal of is applied to counters 41 and 42 through AND gate 31, and counters 41 and 42 count the clocks. The clock from the oscillator 43 is sent as is to the AND gate 38, and the frequency is divided by 1/4 by the frequency divider 44 and then sent to the AND gate 39.
sent to. One side of the AND gates 38 and 39 is opened by a scan area specifying flip-flop and a clock specifying flip-flop 35 to pass a clock, and this clock passes through an OR circuit 45 and is counted by counters 41 and 42. Therefore, the frequency of the clock counted by the counters 41 and 42 is selected in accordance with the selection of the scanning area by selecting one of the output signals of the scanning area setting circuits 33 and 34 by the AND gates 36 and 37. become.

Further, the video signal from the television camera 18 is binarized by the binarization circuit 46 into a black part and a white part at a reference level, and the binarized signal is sent to the OR circuit 3.
The output signal of 9 passes through an AND gate 47 and is inputted to a positive trigger flip-flop 56 and a negative trigger flip-flop 57 through an OR circuit 55. The positive trigger flip-flop 56 is set at the rising edge of the binary signal from the OR circuit 55 (the position of the transition point where the white level changes to the black level for the first time), and sends the output signal to the counter 41 as a count stop signal. The counter 41 is stopped. The negative trigger flip-flop 57 is set at the falling edge of the binary signal from the OR circuit 55 (the position of the transition point where the black level first transitions to the white level), and sends the output signal to the counter 42 as a count stop signal. , stops the counter 42.

The latch pulse generation circuit 58 is connected to the synchronous separation circuit 26.
A latch pulse is generated at the fall of the synchronizing signal from the trigger circuit 29, and this latch pulse is applied to the latch circuits 59 and 60 through the AND gate 30 by the output signal of the trigger circuit 29. Latch circuit 5
9 and 60 are counter 4 due to the latch pulse.
The count values of 1 and 42 are latched, and the data set flip-flop 61 is set by a latch pulse from the AND gate 30 and sends an output signal to the microcomputer 20 as a data set completion signal ○. When the data set completion signal ○a is input to the microcomputer 20, the latch circuit 5 is activated.
The data set flip-flop 61 is reset by fetching data from the flip-flops 9 and 60 and then sending a data fetching completion signal ○.

Further, the reset pulse generation circuit 62 generates a reset pulse after the latch pulse based on the synchronization signal from the synchronization separation circuit 26, and this reset pulse causes the counters 41 and 42, the positive trigger flip-flop 56, and the sudden trigger flip-flop 57 to operate. is reset. Also, the counter 41 is 8
When the bit data (256) is exceeded, the output signal is input to the OR circuit 55 and the counters 41 and 42 are stopped.

The above operation is repeated for each scanning line of the video signal, and when the horizontal synchronization counter 32 reaches 256 and outputs a pulse when the processing of the video signal for one screen is completed, this pulse triggers the trigger circuit 29 and the flip-flop 25. At the same time as the reset, it is sent to the Acrocomputer 20 as an all data acquisition completion signal.

FIG. 5 shows the positioning routine of the microcomputer 20. microcomputer 20
First, the fine positioning area 11 is scanned. That is, the scanning area designation and clock designation signal ○ho are used to open the AND gates 36 and 38 to set the scanning area to the fine positioning area 11, and the image processing circuit 19 is caused to carry out the above operation to receive data from the latch circuits 59 and 60. Store in capture RAM (random access memory). Next, it is determined whether the figure 12 of the subject 16 is within the fine positioning area 11 from the data taken into this RAM. If the figure 12 is within the fine positioning area 11, the position information of the figure 12 on the X-axis, Y-axis, and rotation angle is obtained from the data in the RAM and compared with the preset specified position information. Then, it is determined whether the position of the figure 12 matches the specified position, and if the position of the figure 12 matches the specified position, the positioning is completed. Figure 12
If the position does not match the specified position, the motor drive circuit 21 is activated based on the comparison result to
is moved, and positioning is completed when the position of the figure 12 matches the specified position.

If the figure 12 is not within the fine positioning area 11, the coarse positioning area 13 is scanned. That is, the scanning area designation and clock designation signal ○ho opens the AND gates 37 and 39 to change the scanning area to the coarse positioning area 13, and at the same time, the clock frequency is 1/1.
4, the image processing circuit 19 performs the above operation, and data is fetched from the latch circuits 59 and 60.
Store in RAM. Next, it is determined whether the figure 12 is within the rough positioning area 13 from the data just taken into the RAM. If the graphic 12 is not within the rough positioning area 13, it is treated as an error and processed. If the figure 12 is within the coarse positioning area 13, a coarse positioning operation is performed. That is, the positional information of the X-axis, Y-axis, and rotation angle of the figure 12 is obtained from the data in the RAM, and compared with the specified position information, and the motor drive circuit 21 is activated based on the results to move the figure 12 to the fine positioning area 11. move it inside. Thereafter, the AND gates 36 and 38 are opened by the scanning area designation and clock designation signal ◯, the scanning area and the clock are returned to their original positions, and the scanning of the fine positioning area 11 is resumed to perform fine positioning as described above.

(Effects of the Invention) As described above, the present invention includes an imaging means for imaging a subject and obtaining a video signal, and a binarization means for obtaining a binary signal by binarizing the video signal from the imaging means. , a counting means for calculating the position of the transition point of the binary signal by counting clocks within a predetermined scanning area for the subject with reference to the starting reference point of the scanning area; a memory for storing, a scanning area changing means for changing the scanning area, a clock frequency changing means for changing the frequency of the clock in accordance with the changing of the scanning area of the scanning area changing means, and an object moving means for moving the object. As a result, the processing time can be increased by reducing the amount of data to be processed, and the minimum resolution can be reduced without increasing the memory capacity, allowing highly accurate positioning of the subject at a low price.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing one embodiment of the present invention, and FIG.
3 is a block diagram showing the image processing circuit of the same embodiment, FIG. 4 is a timing chart of the image processing circuit, and FIG. 5 is a microcomputer in the above embodiment. FIG. 6 is a flowchart showing a positioning routine. FIG. 6 is a block diagram showing a conventional device. 16...Subject, 22-24...Motor, 3
3, 34...Scanning area setting circuit, 35...Scanning area specification flip-flop and clock specification flip-flop, 41, 42...Counter, 58...Latch pulse generation circuit, 59, 60...Latch circuit,
62...Reset pulse generation circuit.

Claims (1)

[Claims] 1. An imaging means for imaging a subject and obtaining a video signal, and a video signal from this imaging means is binarized and converted into 2
Binarization means for obtaining a digitized signal; Counting means for calculating the position of a transposition point of the digitized signal by counting clocks within a predetermined scanning area for a subject with reference to a starting reference point of this scanning area. , a memory for storing the position calculated by the counting means, a scanning area changing means for changing the scanning area, and a clock frequency changing means for changing the frequency of the clock in accordance with the changing of the scanning area by the scanning area changing means. and a subject moving means for moving the subject.