JPH01307880A - image recognition device - Google Patents

Abstract

PURPOSE:To improve the recognition precision and to save trouble to register windows by storing picture data displayed on a monitor TV at the time of the teaching mode and setting a window based on a minimum circumsribed square of a recognition object to perform collation at the time of the recognition mode. CONSTITUTION:Picture data obtained by picking up the image of an objerct work by a TV camera 1 is converted to binary data by a picture input circuit 2, and the object work image is displayed om a monitor TV 4, and this data is stored in a storage means 9 through a register means 10 at the time of the teaching mode. When a recognizing instruction is issued with the object work image displayed on the TV 4 at the time of the recognition mode, the circuit 2automatically sets a window 8b based on a minimum circumscribed square 8a of the object work, and the image stored in the means and the displayed object work image are collated with each other in the window 8b. By this automatic setting of the proper window, influences of noise and variance of illumination are reduced and the recognition precision is improved in comparison with the use of a fixed large window, and trouble to register windows is saved.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an image recognition device suitable for parts supply work, transportation work, positioning work, etc. by automatic machines, robots, etc. in flexible automation (FA). be.

(Prior Art) FIG. 5 is a block diagram showing the configuration of this type of conventional image recognition device. In the figure, (1) is a television camera that photographs a recognition target, (2) is a television camera (1) (3) is an image processing circuit that includes a storage device for storing image data, a microcomputer, etc., and performs image data registration and recognition processing; , (4) is a monitor television that inputs and displays data from the image processing circuit (3), and (5) is a monitor television (4) that inputs and displays data from the image processing circuit (3).
) to register the image data displayed in (6).
) is a recognition target (hereinafter referred to as target work), (7) is a container into which the target work (6) is placed, and (8) is a window for specifying the image processing range.

Next, the operation will be explained. Various data necessary for recognizing the target workpiece (6) in the teaching mode are input and registered in the storage device of the image processing circuit (3). Now, when a recognition and identification command is given to the image processing circuit (3), the television camera (1) photographs the target work (6) contained in the container (7) and the video signal is sent to the image input circuit (2). ). The image input circuit (2) binarizes or contrasts this video signal and inputs it to the image processing circuit (3), which then adds this signal to the monitor television (4) and outputs it to the light monitor (5) in the teaching mode. will be displayed inside the specified window (8). The image processing circuit (3) compares this signal (image data) with various data registered during the teaching mode, recognizes and identifies the position, inclination, etc. of the target workpiece (6), and monitors the results. It is added to the TV (4) and displayed.

(Problem to be Solved by the Invention) Since the conventional image recognition device is configured as described above, the size and position of the window are constant, so the size of the window is set in advance to be considerably larger than the target work. For this reason, noise (such as isolated points) that exists within the window during recognition processing (see Figure 6 (a)) or uneven lighting (see Figure 6 (b)) may affect the recognition process. At the same time, there was a problem in that it took time to register the window.

This invention was made to solve the above-mentioned problems, and it reduces the effects of noise (isolated points) or uneven illumination during recognition processing, saves the effort required for window registration, and improves image recognition. The purpose is to provide equipment.

(Means for Solving the Problems) An image recognition device according to the present invention includes a recording device that records image data of a recognition target, a television camera that photographs the recognition target, and a binarization of the video signal of the television camera. an image input circuit that processes and outputs the data processed by the image input circuit, a monitor television that manually displays the recognition target image using the data processed by the image input circuit, and an image input circuit that displays the image data displayed on the monitor television during the teaching mode. A registration means to be recorded in a recording device, and a minimum circumscribed rectangle of a recognition target in recognition mode is determined, a window indicating the range of recognition processing in image recognition is automatically set based on the minimum circumscribed rectangle, and a window is automatically set to be displayed on the monitor TV. and a recognition processing means for comparing the image data registered in the recording device with the image data registered in the recording device based on the position and width of the window, and displaying the comparison result on the monitor television.

[Effect]

In this invention, the minimum circumscribed rectangle (hereinafter referred to as MBR) of the image with respect to the target workpiece is determined from the image displayed on the monitor television during the recognition mode, and this MBR is
A window indicating the recognition processing range is automatically set based on Noise (isolated points, etc.)
, the influence of uneven lighting, etc. is reduced, and at the same time, the effort of window setting can be saved.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure is a block diagram showing the configuration of an embodiment of the present invention, in which a video signal from a television camera (1) is sent to an image input circuit (2).
It is binarized or gray-scale processed and displayed on a monitor TV (4
) and the image is displayed.

Therefore, (10) indicates a registration means, and this registration means (
10) is configured to store (hereinafter referred to as registration) the image data displayed on the monitor television (4) in the teaching mode in the storage device (9), and (11) represents an image recognition means, The recognition means (11) calculates the MBR of the image corresponding to the target work from the image data displayed on the monitor television (4) in the recognition mode, automatically sets a window based on this MBR, and The image data displayed on the monitor television (4) is compared with the image data registered in the storage device (9) according to the position and width of the window, and the result is displayed on the monitor television (4). is being done.

FIG. 2 is a diagram showing a specific configuration of this embodiment, and the same reference numerals as in FIG. 1 showing the conventional device indicate the same elements. The image processing circuit (3a) consisting of a microcomputer includes the storage device (9).
), a registration means (10), and an image recognition means (11). The detailed operation of this embodiment will be explained below.

First, the video signal of the target work (6) photographed by the television camera (1) during the teaching mode is binarized by the image input circuit (2), and the obtained data is input to the monitor television (4). The image will be displayed. At this time, the image data of the target work is registered by operating the light ben (5). Next, when a recognition command is issued while the image corresponding to the target workpiece (6) is displayed on the monitor television (4) in the recognition mode, the image processing circuit (3a) is activated as shown in FIG. 3(a). Find the MBR (8a) of the image corresponding to the target work (step S1 in Figure 4)
, a constant value t is added to the top, bottom, left and right of the MBH as a window indicating the recognition processing range (see Figure 3 (b)) (Step S2 in Figure 4), and the position and width of the window (8b) Recognition processing is performed and the results are displayed on a monitor television (step 53 in FIG. 4).

In the above embodiment, a light ben is used as the man-machine interface, but the same operation as described above can be performed using another input device called a mouse.

〔Effect of the invention〕

As is clear from the above explanation, according to this invention,
Obtain the MBR of the image corresponding to the target workpiece for the image displayed on the monitor TV during recognition mode, and calculate the MBR.
Set a window that shows the scope of recognition processing based on
Since the image data displayed on the monitor TV is compared with the image data registered in the storage device based on the position and width of the window, it is possible to detect noise (isolated points, etc.) in the image within the window, or the presence of illumination. Since the influence of unevenness is reduced, recognition accuracy becomes higher.

Further, the effort of window registration can be saved.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.
FIG. 2 is a block diagram showing the specific configuration of the same embodiment, FIGS. 3(a) and (b) are explanatory diagrams explaining window settings in the same embodiment, and FIG. 4 is the operation of the same embodiment. 5 is a schematic configuration diagram of a conventional image recognition device, and FIGS. 6(a) and 6(b) are explanatory diagrams showing examples of noise and illumination unevenness in image data. (1)...Television camera, (2)...Image input circuit, (3a)...Image processing circuit, (4)...Monitor TV, (5)...Light Ben, (9)... ... Storage device, (10) ... Registration means, (11) ... Image recognition means. In each figure, the same reference numerals indicate the same or corresponding parts. Agent Masuo Oiwa Figure 3 49C Figure 6 Procedural amendment (voluntary) 1. Indication of case Japanese Patent Application No. 139906/1983 2.
Name of the invention Image recognition device 36 Person making the amendment Representative Moriya Shiki 4, Agent 6, Specification of contents of amendment Page 6 ? Correct the statement "but" in the line to "also". that's all

Claims (1)

[Claims] A recording device that records image data of a recognition target, a television camera that photographs the recognition target, an image input circuit that performs processing such as binarization on the video signal of this television camera and outputs it, and this image input circuit. a monitor television that inputs processed data and displays an image to be recognized; a registration means that causes the recording device to record the image data displayed on the monitor television in a teaching mode; and a minimum circumscribed rectangle of a recognition target in a recognition mode. A window is automatically set to indicate the range of recognition processing in image recognition based on the minimum circumscribed rectangle, and the image data displayed on the monitor TV and the image data registered in the recording device are combined into this window. An image recognition device characterized by comprising: recognition processing means that performs verification based on position and size and displays the verification results on the monitor television.