JPH07120406B2 - Color image sensor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention uses, for example, a color corresponding to a fruit or vegetables from imaged image information in order to guide a work hand for the fruit or vegetables to the work-target fruit or vegetables. The present invention relates to a color imaging sensor used to extract pixels in a region corresponding to a range and to determine the ripeness of fruits and the like based on their colors.

[Conventional technology]

By the way, the color specification can be quantitatively defined as a ratio of the three primary colors, but the three primary color information output from the image capturing means is in a state of being affected by a change in image capturing conditions such as brightness at the time of image capturing. .

Therefore, in order to accurately determine the color regardless of the imaging conditions, it is necessary to divide by normalization by dividing each of the three primary color information by the brightness information, that is, the brightness information. In some cases, it is necessary to set a plurality of color ranges of pixels to be extracted in order to identify each of the leaves.

Then, conventionally, when the division process for normalizing the three primary color information or the process for extracting pixels in the set color range is executed by the program using a microcomputer, the calculation amount is increased. If the amount of data or the amount of data increases, it takes time to process it, and it is difficult to perform high-speed processing that can be regarded as so-called real-time processing. For example, a sensor for guiding a work hand or the like. In order to avoid the disadvantages when using as, as a means for performing the division process for the above normalization in real time, one color information selected by sequentially switching the three primary color information and the three primary color information are added. The obtained luminance information is input to a storage means (arithmetic table) for storing the result of division between the dividend of the color information and the divisor of the luminance information, or a normal value is obtained (for example, Japanese Patent Laid-Open No. In addition, the setting voltage for extracting pixels in the color range set by a potentiometer or the like is changed to change and set the color range (for example, Japanese Patent Laid-Open No. 62-102155). (See the official gazette).

[Problems to be solved by the invention]

However, in the above-mentioned conventional technique, it is necessary to repeat the imaging process every time the color range setting voltage is adjusted to set each color range to obtain image information. Therefore, for example, an imaging target is imaged while being illuminated by a strobe light emitting device or the like. In such a case, there is a drawback that the entire processing time becomes long due to the operating time of the illumination device and the image in each color range is different due to the variation of the illumination condition etc., and proper pixel extraction cannot be performed. There was a fear.

The present invention has been made in view of the above circumstances, and an object thereof is to perform appropriate pixel extraction for each color range while avoiding a long pixel extraction processing time for each color range. Especially.

[Means for solving problems]

The color imaging type sensor according to the present invention is characterized by a normalizing means for obtaining a normal value obtained by dividing each of the three primary color information of each pixel by the luminance information based on the three primary color information and the luminance information from the color type imaging means. And a pixel extracting means for extracting pixels in the set color range based on the normal value, a storage means for storing the extracted pixels in association with the address information, and the normalizing means. The pixel extracting means is configured to be able to change the color range and to set a plurality of color ranges, and the normalizing means. On the basis of the output information of the above or the storage information of the normal value storage means, each pixel of each of the plurality of set color ranges is sequentially extracted for each color range. There a plurality of pixels of the address information extracted corresponding to each color ranges in that it is configured to store a state which can be distinguished for each color range,
The action and effect are as follows.

[Work]

The normalizing means obtains a normal value obtained by dividing the three primary color information by the brightness, that is, the brightness information for each pixel, and stores the normal value in the normal value storing means. Then, based on the normal value output from the normalizing means or the normal value stored in the normal value storing means, pixels that are each of the plurality of color ranges are sequentially extracted for each color range. That is, for example, the pixel extraction for the first set color range is performed based on the normal value output from the normalization means, and the pixel extraction for the color range set thereafter is performed by the normalization stored in the normalization storage means. It is based on the value. However, while setting the color range of the pixel to be extracted freely and enabling setting of a plurality of color ranges, the address information of the extracted pixel for each color range is stored so that it can be distinguished. By setting, the positional relationship between the extracted color ranges,
The detection of the position of the pixel in each color range is speeded up.

〔The invention's effect〕

Therefore, the image pickup process is not repeated every time each color range is set as in the prior art, but pixels are extracted for a plurality of color ranges based on the image information obtained by one image pickup process. Processing time can be shortened,
The images obtained by multiple imaging processes are different images due to variations in illumination conditions, and the problem that proper pixel extraction cannot be performed for each color range does not occur. Thus, pixel extraction for each color range can be properly performed.

At the same time, the setting of the color range to be extracted and the number of the color ranges to be extracted can be arbitrarily changed without changing the device configuration, and the image information automatically normalized to the brightness can be set. Since the address information of the pixels in the color range set by can be obtained in a distinguishable state, it is possible to speed up image processing while maintaining versatility as a sensor.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in the drawing, a solid-state image pickup device or the like is provided as a color-type image pickup means including an electronic shutter (1) using a liquid crystal or the like, and an illumination device (2) using a strobe light emitting device or the like for illuminating an image pickup target. Is provided with a two-dimensional image sensor (3), and from the image sensor (3),
Three primary color signals (R), (G) as three primary color information,
(B) and the luminance signal (Y) as the luminance information are output.

However, the three primary color signals (R), (G), and (B) are output at the same amplification rate, and the luminance signal (Y) is the sum of the three primary color signals (R), (G), and (B). It is output as a value.

Each of the three primary color signals (R), (G), (B) and the luminance signal (Y) is input to an A / D converter (5) via a buffer amplifier (4) and It is quantized corresponding to each pixel, and its output is temporarily stored in the register (6).

The luminance signal (Y) converted into a digital value by the A / D converter (5) is input to a reciprocal table (7) as a storage unit that stores the reciprocal (1 / Y), and It will be converted to the reciprocal (1 / Y) according to the value.

Explaining the reciprocal table (7), for example,
Correspondingly to the value of the luminance signal (Y), its reciprocal (1 /
Y) is calculated, and the obtained reciprocal (1 / Y) value is stored, for example, in a state where the reciprocal (1 / Y) can be directly read using the value of the luminance signal (Y) as an address value. I will let you.

The three primary color signals (R), (G) and (B) converted into digital values by the respective A / D converters (5) are
In the corresponding multiplier (8), the reciprocal (1/1 /) output from the reciprocal table (7) according to the value of the luminance signal (Y).
Y) and the three primary color signals (R), (G),
Each of (B) is divided by the luminance signal (Y) to be converted into a normal value (R / Y), (G / Y), (B / Y), and stored in correspondence with the address of each pixel. Will be input to the first image memory (9) configured to.

That is, the reciprocal table (7) and the multiplier (8) divide each of the three primary color signals (R), (G) and (B) by the luminance signal (Y) to obtain the normal value ( R / Y), (G
/ Y), (B / Y) normalization means (100) is configured,
In the first image memory (9), the normalizing means (100)
Normal value (R / Y), (G / Y), (B / Y)
A normal value storage means for storing is stored.

In the figure, (10) is the normal value (R / R) corresponding to the color range in order to extract only the pixels corresponding to the set color range from the imaged image information of the image sensor (3).
Y), (G / Y), (B / Y), which are color range setting registers for storing the respective range of values, the three primary color signals (R),
Three pieces are provided corresponding to each of (G) and (B). (11) compares the output of the color range setting register (10) with the respective normal values (R / Y), (G / Y), (B / Y), and obtains the respective normal values. When (R / Y), (G / Y), (B / Y) are within the range set in the register (10),
The window comparator (12) that outputs a value of “1” is
It is an AND gate that outputs a value of "1" when all outputs of the window comparator have a value of "1".

That is, the AND gate (12) has a value of "1" when the color of the pixel of the image information captured by the image sensor (3) is in the color range set by the register (10). Is output, and if it is outside the set color range, a value of “0” is output to extract pixels in the set color range.

The pixel information output from the AND gate (12) is extracted corresponding to the address of the pixel with a label value indicating the set color range set by the color counter (13) added. The information is stored in the color memory (14) as a storage means for storing the information of the pixel.

That is, the normal values (R / Y), (G / Y), and (B / Y) are set to the color range setting register (10), window comparator (11), and AND gate (13). Pixel extraction means (10) for extracting pixels within the set color range based on the
1) is configured.

Further, storage information and address information for the second image memory (15), the color memory (14), and the second image memory (15) that store the luminance signal (Y) in a state corresponding to the address of each pixel A buffer (16) for inputting / outputting, an input for controlling each part to operate continuously in synchronization with the image pickup processing of the image sensor (3) and a horizontal synchronizing signal or a vertical synchronizing signal output from it. Image information stored in the memories (9), (14), (15) while giving an operation command to the output controller (17) and the input / output controller (17), setting the color range of the pixel to be extracted Each of the CPU (18) for inputting and outputting, and performing various arithmetic processing based on the stored information is provided.

By the way, the reciprocal table (7) is composed of a so-called RAM whose storage content is rewritable, and stores a value of "1" instead of the reciprocal (1 / Y) of the luminance signal (Y). By switching the values of the normal values (R / Y), (G / Y), (B / Y) stored in the first image memory (9) without changing the configuration and operation of each unit. , The original three primary color signals (R), (G), and (B) can be switched to the same value.

Therefore, simply by connecting a monitor (not shown) for displaying the processed image to a state in which the information stored in the first image memory (9) is always displayed, the imaged original image and the normalized image can be obtained. The displayed image can be easily switched and displayed.

To explain the operation of each part, each of the electronic shutter (1), the illumination device (2), and the image sensor (3) from the input / output controller (17) is based on a command from the CPU (18). Then, an operation command is given to start the imaging process.

As the imaging process is completed, the three primary color signals (R),
(G), (B) and the luminance signal (Y) are input, and each pixel is converted into a digital value by the A / D converter (5) and is also normalized by the normalizing means (100). Normal value (R /
After being converted into Y), (G / Y), and (B / Y), one screen of image information is stored in the first image memory (9). At the same time, the luminance signal (Y) is stored in the second image memory (15), and the normalizing means (10)
Normal value (R / Y), (G / Y), (B / Y)
However, pixels in the color range set by the color range register (10) are extracted, a label value indicating the color range is given, and the pixels are stored in the color memory (14).

Then, a series of these processes are continuously performed on the image information for one screen, and when the input of the image information for one screen is completed, the normalization process and the extraction of the pixels in the set color range are performed. It is completed at the same time.

However, the address values corresponding to each pixel of each of the memories (9), (14), (15) are set to be the same value, and the normal value (R / Y) of one pixel, (G / Y), (B /
Y), the value of the luminance signal (Y), and whether or not the color of the pixel is within the set color range can be simultaneously read using the same address information.

Therefore, it is possible to easily know the brightness and color of the pixel of interest.

However, when a plurality of different color ranges are set at the same time, the CPU (18) is instructed to set a preset color range so that the input / output controller (17)
However, while changing the setting value of the color range setting register (10) according to the color range of the pixel to be extracted, the operation of each unit is controlled so that the same object is repeatedly imaged. Then, the color information is repeatedly written in the color memory (14) while giving different label values for each color range, but the image information stored in the first image memory (9) may be repeatedly used. .

That is, the CPU (18) and the input / output controller (1
By using 7), the memory contents of the color range setting register (10) are rewritten, and the pixel extraction process is repeated, so that the pixel extraction means (101) can freely change the color range setting. A plurality of color ranges are settable, and the plurality of set color ranges are set based on the output information of the normalizing means (100) or the storage information of the first image memory (9). It will be configured to sequentially extract each pixel in each color range for each color range,
The color memory (14) is written in the color memory (14) in correspondence with the address information of the extracted pixels while giving different label values to the respective color ranges, thereby storing the extracted color pixels ( 14) is configured to store the address information of the pixels extracted corresponding to each of the plurality of set color ranges in a distinguishable state for each color range.

[Another embodiment]

In the above embodiment, the normalizing means (100) is provided with a table (7) for storing the reciprocal (1 / Y) of the luminance signal (Y), its output value and the three primary color signals (R), (G), (B). ) And a multiplier (8) which multiplies with each other, the logarithmic conversion is performed on each of the three primary color signals (R), (G), (B) and the luminance signal (Y). The division process may be replaced with a logarithmic subtraction process and executed, and then the result may be subjected to inverse logarithmic conversion. The specific configuration of the normalizing means (100) may be variously changed.

Further, in the above-described embodiment, the color memory (14) as a storage means for storing the pixels in the set color range is provided with the label value indicating the color range of the pixel in correspondence with the address information of the extracted pixel. Although the case of storing is exemplified, for example, a list of the address values of the extracted pixels may be stored corresponding to the set color range,
The specific configuration for storing the pixel information for each color range in a distinguishable state for each of a plurality of color ranges can be changed in various ways.

Further, in carrying out the present invention, the specific configuration of each part constituting the sensor and the usage form of the obtained image information can be variously changed.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

1 is a block diagram showing an embodiment of a color image pickup type sensor according to the present invention. (R), (G), (B) ... Three primary color information, (Y) ... Luminance information, (1 / Y) ... Reciprocal, (R / Y), (G / Y), (B / Y)
...... Normal value, (3) ...... Imaging means, (9) ...... Normal value storage means, (14) ...... Storage means, (100) ...... Normalization means, (101) ...... Pixel extraction means.

Claims (1)

[Claims] 1. The primary color information (R), (G) of each pixel based on the primary color information (R), (G), (B) and the brightness information (Y) from a color type image pickup means (3). , (B) are divided by the luminance information (Y) to obtain normal values (R / Y), (G /
Y), (B / Y) normalizing means (100), and pixels that have a color range set based on the normal values (R / Y), (G / Y), (B / Y) A pixel extraction means (101) for extracting
Storage means (14) for recording the extracted pixels in association with the address information, and the normal values (R / Y), (G / Y), (B) obtained by the normalizing means (100). / Y) for storing a normal value storage means (9), the pixel extraction means (101) is configured so that the color range can be changed and a plurality of color ranges can be set. Based on the output information of the normalization means (100) or the storage information of the normal value storage means (9), the pixels that are each of the plurality of set color ranges are sequentially extracted for each color range. The storage means (14) is configured to store the address information of the pixels extracted corresponding to each of the plurality of set color ranges in a distinguishable state for each color range. Color image sensor.