JPS6274179A - Image processor - Google Patents

Abstract

PURPOSE:To obtain an image of a wide field and an image of a high resolution by making an image input light branch and leading it to a white/black image pickup means and a color image pickup means, A/D-converting the outputs of both the image pickup means and storing them in a frame memory, and outputting an image data. CONSTITUTION:An image input light is made to branch through an optical means for making the image input light transmit partially and reflecting it partially, led to a white/black image pickup means 2a and also led to a color image pickup means 2b. Outputs of both the image pickup means 2a, 2b are stored in frame memories 7, 8 through A/D converting circuits 3, 4 and inputting circuit 5, 6, respectively. In this way, an image of a wide field and an image of a high resolution are obtained from a white/black use frame memory 7 and a color use frame memory 8, respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION [Summary of the Invention] The present invention provides an image processing device in which a part of the input light for one image is transmitted through a half mirror that reflects part of the light to be guided to a black and white image pickup means, and a color filter is passed through a color filter. The present invention provides an image processing device that combines the advantages of both in one imaging device by guiding the image to the imaging means.

[Industrial application field]

The present invention relates to an image processing apparatus, and more particularly to an image processing apparatus capable of obtaining wide-field images using a monochrome image sensor and high-resolution images using a color image sensor.

[Conventional technology]

Recently, image processing devices are often used in inspection devices used for various robots and 3-assembly inspections in the industrial field, and these devices have built-in image pickup devices for image processing, and CCDs are used as the image pickup device of the image pickup devices. (charge coupled
A device using a one-dimensional image sensor such as a line sensor is used. There are those that obtain two-dimensional images by moving such a one-dimensional image sensor in a direction perpendicular to the electrical scanning direction of the one-dimensional image sensor, and those that obtain two-dimensional images by fixing a two-dimensional image sensor such as COD on a two-dimensional surface. I was getting a dimensional image. Furthermore, black and white imaging means and color imaging means are also widely used as imaging elements in image processing devices.

[Problem that the invention seeks to solve]

The above-mentioned one-dimensional image sensor generally has a high resolution, but in order to scan one screen, it is necessary to mechanically scan the one-dimensional image sensor, which has the disadvantage of increasing image input time. be. On the other hand, when a two-dimensional image sensor is used, the image input time is extremely fast at about 33 milliseconds, but the resolution is low.

Furthermore, in many factories, it is desired to capture the entire image of the object monochromatically over a wide field of view, and to capture a specific range in color and high resolution.

If conventional black-and-white and color imaging means are used separately for such applications, a plurality of imaging means will be required, which has the disadvantage of making it difficult to introduce them into factories.

[Means for solving problems]

The present invention has been made in view of the above-mentioned drawbacks, and its purpose is to provide a primary or two-dimensional color image sensor in front of a primary or two-dimensional monochrome image sensor in one imaging device to capture an image at a specific position. With high resolution.

The aim is to quickly process images in color.

The means branches the image input light through an optical means having a function of partially transmitting the image input light and partially reflecting the image input light, and guides the image input light to a monochrome image pickup means and also to a color image pickup means.

This is achieved by an image processing device 6 which is characterized in that it performs analog-to-digital conversion on the respective outputs of the two image pickup means, stores it in a frame memory, and outputs one image data.

[For production]

The present invention provides image input light through a half-mirror to a monochrome image sensor on one side and a color image sensor on the other for image processing, and recognizes the image based on the image output recognized in a wide field of view by the monochrome image sensor. Used when recognizing images with a relatively narrow field of view using a color image sensor with a high wl resolution.
A convenient image processing device is obtained.

〔Example〕

Two embodiments of the present invention will be described in detail below with reference to FIGS. 1 and 4. FIG. 1 is a system diagram of the image processing device of the present invention, and FIG.
This figure is a schematic configuration diagram of an imaging device used in the image processing device of FIG. 1, and FIG. 3 is a diagram showing the relationship between the fields of view of a black-and-white image sensor and a color image sensor.

FIG. 4 is a pattern plan view illustrating the pattern recognition method using the imaging means of the present invention.

In FIG. 1, 1 is a control circuit, and when an imaging command signal a is given to the control circuit 1 from a host computer or the like, a monochrome imaging means control signal 1) is applied to a monochrome imaging means 2a in an imaging device 2, which will be described later. , imaging is started, and the imaging output is applied as a monochrome analog video signal f to the monochrome analog-digital conversion circuit 3, where it is digitally converted to a monochrome digital video signal and sent to the monochrome image input circuit 5.
is input. The black and white image input circuit 5 includes a control circuit 1.
Since the monochrome image input circuit control signal d is applied from , the digitized monochrome video signal is written to the monochrome frame memory 7 by the monochrome frame memory write signal j, The black and white digital video signal is output from the memory to a display, recognition device 1, etc.

Further, the color imaging means control signal C is applied to the color imaging means 2b according to the imaging command signal a given to the control circuit 1 to start one imaging, and the imaging output is converted from analog to digital conversion for color as a color analog video signal g. circuit 4
The color analog video signal g is digitally converted, becomes a color digital video signal i, and is input to the color image input circuit 6. Since the color image input circuit control signal e is applied from the control circuit 1 to the color image input circuit 6, the digitized color video signal is written to the color frame memory 8 by the color frame memory write signal k. The color digital video signal written in the color frame memory 8 is outputted from the memory to a display or a recognition device m.

As shown in FIG. 2, the configuration of the imaging device 2 is as shown in FIG. A monochrome image sensor 2a consisting of an element is fixed. Also, some light passes through.

A half mirror 2d as an optical means for partially reflecting is arranged at an angle of 45 degrees in the optical path of the imaging lens 2c and the monochrome image sensor 2a, and the reflected light from the half mirror 2d is formed into an image via the magnification conversion lens 2e. Guide 2h after increasing magnification
, 2i, an image is formed on a color image sensor 2b consisting of one-dimensional image sensors such as three line sensors mounted on a stage 2gJ2 that is movable in one direction on the X and Y axes 3 (IM color image sensor). R, G, and B filters 2fa, 2ft, and 2rn corresponding to the three primary colors red (R), green (G), and blue (B) are disposed.

The positional deviation for each fire source image sensor is calculated from the color image input circuit 6 to the color frame memory 8 explained in FIG. 1 above.
Correct it when writing video data to.

Since the monochrome image sensor 2a of the above imaging device uses a two-dimensional image sensor, the resolution is low, but it is possible to read images in a wide field of view, and as shown by reference numeral 10 in FIG. The field of view 9 of the color imaging means can be moved freely. [1] In the present invention, the monochrome image sensor 2a is used to confirm the existence of a recognition target and to identify the position where a thin pattern exists, and after the reading area is determined, the stage 2g is driven to capture a color image. An image is input from element 2b. At this time, the line sensor consisting of three primary image sensors is made into a color image sensor by R, G, and B filters, and is made to have a high magnification by a 1-magnification conversion lens 2e. When the wide-field recognition pattern 11 is recognized by the monochrome image sensor 2a as shown in FIG. 4, the color image sensor 2b is moved, for example, in the direction of the X axis as shown by 9a, 9b, and 9c to obtain a color image. Recognize.

In this case, when the imaging magnifications of the color image and the monochrome image are the same, no magnification conversion lens is required, but if they are different, it is of course necessary to change the imaging magnification using the magnification conversion lens.

Another embodiment of the imaging device 2 of the present invention will be described in detail with reference to FIGS. 5 and 6.

FIG. 5 is a partially cutaway perspective view of the imaging device.

FIG. 6 is a plan view of the filter used in FIG. 5.

The image of the recognized pattern projected onto the imaging lens 2C of the imaging device 2 is transmitted through a half mirror 2d and formed onto a fixed black and white two-dimensional imaging device 2a.

The light reflected by the half mirror 2d passes through a magnification conversion lens 2e for increasing the imaging magnification, and moves only in the X-axis direction.A one-dimensional color image sensor 2b is provided on a uniaxial stage 2g. is imaged. A one-dimensional image sensor has a higher resolution per line than a two-dimensional image sensor, so by moving the one-dimensional image sensor in a direction perpendicular to the electrical scanning direction of the image sensor, a two-dimensional surface can be captured. Capable of capturing images with high resolution. In the case of the present invention, a filter 2f is provided on the one-dimensional image sensor, and the filters are striped along the line direction of the one-dimensional image sensor 2b, as shown in FIG. The filters 2fB are arranged in parallel and the color filter switching mechanism 2j
It is possible to move the filters of each color on the one-dimensional image sensor on the stage 2g.
By switching a total of three times in response to one and a half round trips, it is possible to input a color image, and a kind of line-sequential color signal can be obtained.

FIG. 7 shows still another embodiment of the present invention, and schematically shows an imaging device as an optical system. In the embodiment of the present invention, a fixed two-dimensional image sensor is used as the color image sensor 2b, and as the filter 2f, three primary color filters 2f-, 2 of circular RlG and B are provided in three holes bored in a disk.
The disk is rotated by the shaft of the motor 2 which is pivotally connected to the central axis, and the disk is disposed between the magnification conversion lens 2e and the color image sensor 2b to input color images in a field-sequential manner. It was made in a similar manner.

Furthermore, it is also possible to input a color image by using two color image sensors 2b and combining them with filters as shown in FIGS. 6 and 7. or.

Although the monochrome image sensor 2a has been described as being fixed, it is also possible to input a monochrome image with high resolution and a narrow field of view by making the monochrome image sensor movable and using a one-dimensional image sensor.

〔Effect of the invention〕

Since the present invention is constructed and operates as described above, it has the feature of providing an imaging device that combines the advantages of monochrome and color imaging devices, as opposed to one-dimensional imaging devices and two-dimensional imaging devices.

[Brief explanation of drawings]

FIG. 1 is a system diagram of an image processing apparatus according to the present invention. FIG. 2 is a route diagram showing the optical means of the imaging device of the present invention. FIG. 3 shows the relationship between the field of view of a monochrome image sensor and the field of view of a color image sensor used in the image pickup device of the present invention, and FIG. 4 shows a pattern to be recognized by the image pickup device of the present invention. FIG. 5 is a partially cutaway perspective view showing another embodiment of the imaging device of the image processing apparatus of the present invention. FIG. 6 is a plan view of the filter used in FIG. 5. FIG. 7 is a schematic diagram of an optical system of an image sensor showing still another embodiment of the present invention. . 1... Control circuit. 2...Imaging device. 2a...Black and white image sensor. 2b...color image sensor. 2c...imaging lens. 2d...Half mirror 2e...Magnification conversion lens. 2f... Filter. 2f8...Red filter. To 2f... Green filter 8 2f11... Blue filter. 2g...stage. 2h, 2i... Guide. 3... Analog-digital conversion circuit for black and white. 4...Analog-digital conversion circuit for color. 5...Black and white image input circuit. 6...Color image input circuit. 7...Black and white frame-memory. 8...Color frame memory. 9... Field of view of color imaging means. 10... Field of view of monochrome imaging means. 11... Recognized pattern. Fig. 2-X Fig. 3 1+x Fig. 4)

Claims (12)

[Claims] (1) The image input light is branched through an optical means having the function of partially transmitting the image input light and partially reflecting it, and guiding it to the black and white image pickup means and the color image pickup means, and outputs each of the two image pickup means. An image processing device that performs analog-to-digital conversion, stores it in a frame memory, and outputs image data. (2) The color imaging means includes at least first to third one-dimensional imaging devices, and a filter of three primary colors is arranged in front of the imaging surface of the one-dimensional imaging device, and the one-dimensional imaging device and the filter are slid together. The image processing device according to claim 1, wherein the image processing device is capable of freely moving and obtains a two-dimensional color image. (3) The color imaging means includes three primary color filters disposed in front of the image forming surface of one one-dimensional imaging device, and includes switching means for switching the three primary color filters, and electrical scanning movement of the one-dimensional imaging device. 2. The image processing apparatus according to claim 1, wherein each time the one-dimensional image sensor is moved in a direction orthogonal to the image sensor, the filter is switched by the filter switching means to obtain a two-dimensional color image. (4) The image according to claim 1, wherein the color imaging means rotates a three-primary color filter in front of one or more two-dimensional image sensors to obtain a two-dimensional color image in a field-sequential manner. Processing equipment. (5) The image processing apparatus according to claim 3, wherein the three primary color filters are striped filters of red, green, and blue. (6) The image processing apparatus according to claim 4, wherein the three primary color filters are red, green, and blue field sequential filters. (7) The image processing device according to claim 1, wherein the image sensor of the color image sensor has a high resolution, and the image sensor of the monochrome image sensor has a low resolution. (8) The image processing apparatus according to claim 1, wherein the image sensor of the color image sensor has a narrow field of view, and the image sensor of the monochrome image sensor has a wide field of view. (9) The image processing apparatus according to claim 1, wherein the black and white image pickup means is a fixed two-dimensional image pickup element, and the color image pickup means is a movable one-dimensional image pickup element. (10) The image processing apparatus according to claim 1, wherein the black and white image pickup means is a fixed two-dimensional image pickup device, and the color image pickup device is a fixed two-dimensional image pickup device. (11) The image processing apparatus according to claim 1, wherein the black-and-white image pickup means is a movable one-dimensional image pickup device, and the color image pickup device is a two-dimensional image pickup device. (12) The image processing apparatus according to claim 1, wherein the image sensor of the monochrome image sensor has a high resolution, and the image sensor of the color image sensor has a low resolution.