Image processing device and image processing program

• US 9,571,795 B2
• Filed: 08/26/2013
• Issued: 02/14/2017
• Est. Priority Date: 03/15/2011
• Status: Active Grant

• Current Assignee: Omron Corporation
• Original Assignee: Omron Corporation
• Inventors: Fujikawa, Masahiro, Shirane, Kakuto, Shimoda, Katsuhiro, Moritoki, Yoshihiro, Yoshiura, Takeshi, Shimada, Koji, Ikeda, Yasuyuki
• Primary Examiner(s): Rahaman, Mohammed
• Assistant Examiner(s): Lee, Jimmy S
• Application Number:
  US13/975,435
• Publication Number:
  US 20140015957A1
• Time in Patent Office: 1,268 Days
• Field of Search: 348/95
• US Class Current: 1/1
• CPC Class Codes: G01B 11/27 for testing the alignment of axes means for centering or aligning a light guide within a ferrule G02B6/3834
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 2207/30208 Marker matrix
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 3/00 Geometric image transformations in the plane of the image
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: H04N 23/635 Region indicators; Field of view indicators
• CPC Class Codes: H04N 23/69 Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

An image processing device includes: an image receiving part configured to receive an image of a target workpiece on a surface of a conveying path captured by means of the imaging unit; a position acquiring part configured to acquire a position of the target workpiece in the captured image; a tilt acquiring part configured to acquire, by using the position of the target workpiece in the captured image acquired by means of the position acquiring part, a tilt angle of an imaging plane of the imaging unit relative to the surface of conveying path; and an outputting part configured to output assistant information used for assisting in the adjustment of the posture of the imaging unit by using the acquired tilt angle.

Claims

1. An image processing device comprising:

a memory storing a computer program; and

a processor coupled to the memory configured by the computer program with instructions to perform operations comprising;

an image reception operation for receiving an image of a target workpiece on a surface of a conveying path captured by an imaging unit, the imaging unit being disposed to image at least part of the conveying path in an imaging visual field;

a position acquisition operation for acquiring a position of the target workpiece in the captured image received during the image reception operation;

a tilt acquisition operation for acquiring a tilt angle of a surface including the imaging visual field of the imaging unit with respect to the surface of the conveying path using the acquired position of the target workpiece in the captured image; and

an output operation for outputting assist information for assisting a posture adjustment of the imaging unit using the acquired tilt angle, the tilt angle comprising a deviation of the surface including the imaging visual field and the surface of the conveying path from a condition in which the surface including the imaging visual field and the surface of the conveying path are parallel to each other

wherein

the processor is configured to perform operations such that;

the image reception operation performs operations to acquire coordinate positions of four marks on a target sheet placed on the surface of the conveying path; and

the tilt acquisition operation performs operations to acquire the tilt angle of the surface of the imaging field with respect to the surface of the conveying path from the coordinate positions of the four marks, and

a shape formed by a line connecting the four marks is a trapezoid when the imaging visual field surface and the conveying surface are in a condition in which the surface including the imaging visual field and the surface of the conveying path are parallel to each other.

2. The image processing device according to claim 1, wherein the assist information includes information indicating a direction in which a posture of the imaging unit is to be changed.

3. The image processing device according to claim 1, wherein the processor is configured to perform operations such that the tilt acquisition operation acquires the tilt angle as a deviation amount between the acquired position of the target workpiece in the captured image and a predetermined position in the captured image.

4. The image processing device according to claim 1, wherein the processor is configured to perform operations such that the tilt acquisition operation acquires the tilt angle as a distance between the acquired position of the target workpiece in the captured image and a predetermined position in the captured image.

5. The image processing device according to claim 1, wherein the target workpiece has a predetermined shape, and

the processor is configured to perform operations such that the tilt acquisition operation acquires the tilt angle as a degree of deformation of a shape of the target workpiece in the captured image from the predetermined shape.

6. The image processing device according to claim 1, wherein the assist information includes the captured image, and

the processor is configured to perform operations such that the output operation stores the assist information in the memory.

7. The image processing device according to claim 6, wherein the processor is configured to perform operations such that the tilt acquisition operation acquires the tilt angle as a deviation amount between the position of the target workpiece in the captured image included in the stored assist information stored in the memory and the position of the target workpiece, acquired by the position acquisition operation, in the captured image received by the image reception operation.

8. The image processing device according to claim 6, wherein the processor is configured to perform operations such that the tilt acquisition operation acquires the tilt angle as a distance between the position of the target workpiece in the captured image included in the assist information stored in the memory and the position of the target workpiece, acquired by the position acquisition operation, in the captured image received by the image reception operation.

9. The image processing device according to claim 6, wherein the target workpiece has a predetermined shape, and

the processor is configured to perform operations such that the tilt acquisition operation acquires the tilt angle as a degree of deformation of the shape of the target workpiece in the captured image received from the imaging unit by the image reception part from the shape of the target workpiece in the captured image included in the assist information stored in the memory.

10. A non-transitory computer readable medium storing a computer program that, when executing on a computer, causes the computer to perform operations for image processing, the operations comprising:

receiving an image of a target workpiece on a surface of a conveying path with an imaging unit, the imaging unit being disposed to image at least part of the conveying path in an imaging visual field;

acquiring a position of the target workpiece in the captured image received by the image reception part;

acquiring a tilt angle of a surface including the imaging visual field of the imaging unit with respect to the surface of the conveying path using the acquired position of the target workpiece in the captured image;

acquiring coordinate positions of four marks on respective corners of a target sheet placed on the surface of the conveying path;

acquiring the tilt angle of the surface including the imaging field with respect to the surface of the conveying path from the coordinate positions of the four marks; and

outputting assist information for assisting a posture adjustment of the imaging unit using the acquired tilt angle, the tilt angle comprising a deviation of the surface including the imaging visual field and the surface of the conveying path from a condition in which the surface including the imaging visual field and the surface of the conveying path are parallel to each other,

wherein

a shape formed by a line connecting the four marks is a trapezoid when the imaging visual field surface and the conveying surface are in a condition in which the surface including the imaging visual field and the surface of the conveying path are parallel to each other.