Image processor for robot system and robot system including the same

• US 8,010,233 B2
• Filed: 07/02/2010
• Issued: 08/30/2011
• Est. Priority Date: 07/08/2009
• Status: Active Grant

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Sera, Takehisa, Hashimoto, Yoshiki, Takahashi, Shougo
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): MOYER, DALE S
• Application Number:
  US12/829,765
• Publication Number:
  US 20110007216A1
• Time in Patent Office: 424 Days
• Field of Search: 700/245, 700/259, 382/153
• US Class Current: 700/259
• CPC Class Codes: G06T 1/00 General purpose image data processing
• CPC Class Codes: H04N 5/06 Generation of synchronising signals
• CPC Class Codes: H04N 5/08 Separation of synchronising signals from picture signals

Abstract

An image processor for a robot system, performing image processing for a video signal output from a camera. The camera can output a first video signal including obtained image data as well as internal vertical and horizontal synchronization signals, and output a second video signal including image data obtained based on external vertical and horizontal synchronization signals as well as the external vertical and horizontal synchronization signals. The image processor includes a synchronization signal separation section separating the internal horizontal synchronization signal from the first video signal output from the camera; a synchronization frequency detection section detecting a frequency of the separated internal horizontal synchronization signal; an external synchronization signal generation section generating the external vertical and horizontal synchronization signals; and a processing section allowing, at desired timing, the external synchronization signal generation section to generate the external vertical synchronization signal, to generate the external horizontal synchronization signal at the detected frequency of the internal horizontal synchronization signal, and to supply the generated external vertical and horizontal synchronization signals to the camera.

Claims

1. An image processor for a robot system, the robot system comprising a camera having a first function for outputting a first video signal including obtained image data as well as an internal vertical synchronization signal and an internal horizontal synchronization signal, generated as an internal synchronization signal at a predetermined frequency, and a second function for outputting a second video signal including image data obtained based on an external vertical synchronization signal and an external horizontal synchronization signal, supplied as an external synchronization signal having a frequency identical to the frequency of said internal synchronization signal, as well as the external vertical synchronization signal and the external horizontal synchronization signal;

the camera being adapted to output, when said external synchronization signal is not supplied, said video signal synchronized with said internal synchronization signal by said first function, and to output, when said external synchronization signal is supplied, said video signal synchronized with said external synchronization signal by said second function;

the image processor being configured to import the second video signal output from the camera and perform image processing, wherein said image processor comprises;

a synchronization signal separation section for separating said internal horizontal synchronization signal from said first video signal output from said camera and synchronized with the internal synchronization signal;

a synchronization frequency detection section for detecting a frequency of said internal horizontal synchronization signal separated by said synchronization signal separation section;

an external synchronization signal generation section for generating said external vertical synchronization signal and said external horizontal synchronization signal; and

a processing section for allowing, at desired timing, said external synchronization signal generation section to generate said external vertical synchronization signal, to generate said external horizontal synchronization signal at said frequency of said internal horizontal synchronization signal detected by said synchronization frequency detection section, and to supply said external vertical synchronization signal and said external horizontal synchronization signal, thus generated, to said camera.

2. An image processor for a robot system, according to claim 1, further comprising a storage section for previously storing a correspondence relationship between a type of said camera and a frequency of a horizontal synchronization signal specific to said camera, wherein said processing section uses said correspondence relationship stored in said storage section to identify the type of said camera based on said frequency of said internal horizontal synchronization signal detected by said synchronization frequency detection section, and allows said external synchronization signal generation section to generate said external vertical synchronization signal and said external horizontal synchronization signal at frequencies corresponding to the type of said camera thus identified.

3. An image processor for a robot system, according to claim 2, comprising several external synchronization signal generation sections, each for generating said external vertical synchronization signal and said external horizontal synchronization signal at frequencies corresponding to each of several types of cameras, wherein said processing section selects said external synchronization signal generation section associated with the type of said camera thus identified, among said several external synchronization signal generation sections, and allows said external synchronization signal generation section thus selected, to generate said external vertical synchronization signal and said external horizontal synchronization signal and to supply them to said camera.

4. An image processor for a robot system, according to claim 1, further comprising a storage section for previously storing a correspondence relationship between a type of said camera, a frequency of a horizontal synchronization signal specific to said camera and number of pixels of said camera, wherein said processing section uses said correspondence relationship stored in said storage section to identify the number of pixels of said camera based on said frequency of said internal horizontal synchronization signal detected by said synchronization frequency detection section, and allocates a data area for image processing based on the number of pixels of said camera thus identified.

5. An image processor for a robot system, according to claim 1, further comprising a multiplexer connected to several cameras, wherein said first video signal is input from said camera selected by said multiplexer to said synchronization signal separation section.

6. A robot system for performing a robot operation based on a result of an image processing, said robot system comprising:

a robot;

a camera having a first function for outputting a first video signal including obtained image data as well as an internal vertical synchronization signal and an internal horizontal synchronization signal, generated as an internal synchronization signal at a predetermined frequency, and a second function for outputting a second video signal including image data obtained based on an external vertical synchronization signal and an external horizontal synchronization signal, supplied as an external synchronization signal having a frequency identical to the frequency of said internal synchronization signal, as well as the external vertical synchronization signal and the external horizontal synchronization signal, the camera being adapted to output, when said external synchronization signal is not supplied, said video signal synchronized with said internal synchronization signal by said first function, and to output, when said external synchronization signal is supplied, said video signal synchronized with said external synchronization signal by said second function; and

an image processor configured to import said second video signal output from said camera and perform the image processing,

wherein said image processor comprises;

a synchronization signal separation section for separating said internal horizontal synchronization signal from said first video signal output from said camera and synchronized with the internal synchronization signal;

a synchronization frequency detection section for detecting a frequency of said internal horizontal synchronization signal separated by said synchronization signal separation section;

an external synchronization signal generation section for generating said external vertical synchronization signal and said external horizontal synchronization signal; and

a processing section for allowing, at desired timing, said external synchronization signal generation section to generate said external vertical synchronization signal to generate said external horizontal synchronization signal at said frequency of said internal horizontal synchronization signal detected by said synchronization frequency detection section, and to supply said external vertical synchronization signal and said external horizontal synchronization signal, thus generated, to said camera.