CN101216591A - Image gray scale based automatic focusing method and its system - Google Patents
Image gray scale based automatic focusing method and its system Download PDFInfo
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- CN101216591A CN101216591A CNA2008103001265A CN200810300126A CN101216591A CN 101216591 A CN101216591 A CN 101216591A CN A2008103001265 A CNA2008103001265 A CN A2008103001265A CN 200810300126 A CN200810300126 A CN 200810300126A CN 101216591 A CN101216591 A CN 101216591A
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Abstract
The invention relates to an automatic focusing method based on image grayscale and a system thereof, comprising the following steps of: using a glass plate with black stripes distributed thereon as a correction reference for focusing, the black stripes being vertical to a target surface; acquiring image information by a lens and a CCD imager, transmitting the image information to a motion control card, calculating the probable object and image positions for desired rate, and adjusting the lens and the CCD imager to the positions to acquire a clear image; scanning at the rate to obtain an image, using the average value of the grayscale of the image as the binary threshold, and calculating the rate of the lens according to the falling edge of the black stripes under the threshold; then adjusting the lens and the CCD imager to acquire a clear image again, and calculating the rate again; and repeating the above steps until acquiring the accurate rate and the clearest image. The method is simple, convenient, fast and accurate.
Description
(1) technical field
The present invention relates to a kind of optical imaging method and system thereof of automatic focusing.
(2) background technology
Existing technology of auto is divided into two big classes from principle: a class is based on the distance-finding method of range observation between camera lens and the target subject, the another kind of imaging focus detection methods clearly that is based on the focus(s)ing glass.And commonly used focusing on according to picture appraisal has following 5 kinds: 1, high fdrequency component method, promptly image is carried out Fourier transform, and extraction radio-frequency component wherein is as the focal length evaluation function, and this method calculated amount is big, is not suitable for quick, the real-time measurement generally speaking; 2, smoothing method, promptly the smoothness of neighbor on the computed image focuses on evaluation function to whole image planes summation conduct again, and its maximal value is the focusing criterion of image, and this method sensitivity is not high; 3, threshold value integral method promptly according to gray distribution of image, is chosen a threshold value, and the gray scale greater than threshold value is sued for peace, and its maximal value is the focusing criterion of image, and this method measuring accuracy is not high; 4, gray scale difference point-score, it is to utilize the absolute value of neighbor gray value differences of image as the focal length evaluation function, when image focusing, gets maximal value, the method is simply effective, but can not obtain resolution accurately; 5, Laplce's picture energy function, when image focusing, Laplace function obtains maximal value, and this function has higher sensitivity near focal length, but calculated amount is big.Because therefore the existing equal defectiveness of technology of auto needs to explore a kind of new automatic focusing method and system.
(3) summary of the invention
The purpose of this invention is to provide a kind of automatic focusing method and system thereof, solve the technical matters that existing technology of auto measuring accuracy is not high, can not easy, promptly obtain accurate resolution based on gradation of image.
For achieving the above object, the present invention adopts following technical scheme:
A kind of automatic focusing method based on gradation of image is used the automatic focusing system that comprises camera lens, CCD imager, image collection card, microprocessor, motion control card, automatic displacement mechanism, it is characterized in that step is as follows:
Step 8 judges that whether resolution be the required resolution of image planes the most clearly.
Step 9, if when the result in the above-mentioned steps 8 is required resolution, the object image distance of the multiplying power of asking i.e. CCD position during optimal focal plane under lens location and this lens location for this reason, flow process end this moment.
In step 1, use the correction reference of a glass plate that is distributed with blackstreak as focusing, be placed on position under the camera lens, make blackstreak on the glass plate perpendicular to the target surface of CCD imager.
l＝f/s+f
In step 2, according to the focal length (l: object distance, l ': image distance, f: focal length, s: multiplying power), calculate the general image position of required multiplying power earlier of formula: l '=f*s+f and camera lens.
In step 3, adjust to this position by adjusting the motor that drives camera lens and CCD.
In step 4, as the foundation of adjusting, the place of slope maximum is imaging position the most clearly with the negative edge slope of vertical black band in the image, adjusts the CCD position and finds distinct image.
In step 6, obtain piece image by scanning under this multiplying power, will obtain the mean value of gray-scale value of image as the threshold value of binaryzation.
In step 7, calculate the multiplying power of camera lens according to the width of the negative edge of vertical black band under this threshold value.
In step 10, camera lens adjusts earlier, and the adjustment magnitude of CCD is half of the depth of field under this multiplying power, finds clearly image planes once more and calculates multiplying power.This process constantly circulation is gone down, up to finding multiplying power and image planes accurately the most clearly.
A kind of automatic focusing system based on gradation of image, be included in camera lens, CCD imager and the light source box arranged successively in the light path, it is characterized in that: top horizontal fixed one bearing of above-mentioned light source box, with support of bearing vertical fixing, with a pair of fromer rail frame of support secured in parallel and a pair of rear rail frame.
Camera lens is connected with the camera lens carriage, camera lens carriage and fromer rail frame and be slidingly connected with camera lens leading screw that the fromer rail frame be arranged in parallel, and the upper end of camera lens leading screw is connected with the output shaft of lens driving motor.
The CCD imager is connected with CCD imager carriage, CCD imager carriage and fromer rail frame and be slidingly connected with CCD imager leading screw that the fromer rail frame be arranged in parallel, and the upper end of CCD imager leading screw is connected with the output shaft of CCD drive motor.
Light source box and rear rail frame and be slidingly connected with light source box leading screw that the rear rail frame be arranged in parallel, the upper end of light source box leading screw is connected with the output shaft of light source box drive motor, and fixedly connected with light source box in the lower end of light source box leading screw.
Above-mentioned CCD imager is connected with the image acquisition card signal, image collection card is with the picture intelligence input microprocessor, microprocessor calculates the theoretical object image distance of required multiplying power according to the focal length of formula and camera lens, to detect data and contrasting data and carry out ganmma controller relatively, pass judgment on function with focal length and handle image, obtain the optimal focal plane of current camera lens position, the image of binary conversion treatment optimal focal plane, calculate the multiplying power of current camera lens position with the black and white bar width width gauge actual in this image with it, judge that whether resolution be the required resolution of image planes the most clearly, motion control card can be according to the trend of the needs control program of operation result and program, and to the lens driving motor, CCD drive motor and light source box drive motor send control signal.
Compared with prior art the present invention has following characteristics and beneficial effect:
Automatic focusing of the present invention is simple and efficient, can be on automated optical detection equipment accurate measurement target thing, can find accurate multiplying power and fine-resolution automatically.Accurately calculate current resolution by the image under the clear focal plane, and feed back to motion control card and accurately find required resolution, detect Flame Image Process requirement under the different detection demands of (AOI) equipment, improve and detect quality and efficient to satisfy automated optical.
The present invention can be widely used on the automated optical detection equipment, and the various trickle defective accurately image that can cause the printed wire board production technology is adjusted automatically imaging system and to be found accurate multiplying power and fine-resolution.
(4) description of drawings
The present invention will be further described in detail below in conjunction with accompanying drawing.
Fig. 1 is the glass plate synoptic diagram as the correction reference of focusing.
Fig. 2 is the synoptic diagram of position glass plate blackstreak grey scale change curve of initially focusing.
Fig. 3 is the synoptic diagram of preliminary focusing back glass plate blackstreak grey scale change curve.
Fig. 4 is the synoptic diagram of to the clear picture glass plate blackstreak grey scale change curve of focusing.
Fig. 5 is the structural representation of automatic focusing system of the present invention.
Fig. 6 is the structural representation of automatic focusing system support of the present invention and rear rail frame.
Fig. 7 is the block diagram of automatic focusing method step of the present invention.
Fig. 8 is the module frame chart of automatic focusing system of the present invention.
Reference numeral: 1-lens driving motor, 2-camera lens leading screw, 3-CCD imager, 4-CCD imager carriage, 5-glass plate, 6-camera lens carriage, 7-camera lens, 8-CCD drive motor, 9-CCD imager leading screw, 10-light source box drive motor, 11-fromer rail frame, 12-light source box leading screw, 13-rear rail frame, 14-light source box, 15-bearing, 16-feed rod, 17-support.
(5) embodiment
Embodiment: this automatic focusing method based on gradation of image:
Referring to shown in Figure 1, with a long 30mm, be spaced apart 1mm in the photoetching, width is the correction reference of the glass plate 5 of the accurate blackstreak of 1mm as focusing, be placed on position under the image-taking system, the glass plate blackstreak wants strict vertical with the target surface of line sweep CCD, to guarantee the authenticity of capture data.
By the camera lens capture, by the CCD imager, be that charge-coupled device (charge coupled device) will be through the glass plate stripe pattern information capture of camera lens, image collection card is with the picture intelligence input microprocessor, image information is converted into digital electronic signal, picture information is transformed into the grey scale change curve, and Fig. 2 is the synoptic diagram of position glass plate blackstreak grey scale change curve of initially focusing.
l＝f/s+f
Multiplying power) and the focal length of camera lens according to formula: l '=f*s+f (l: object distance, l ': image distance, f: focal length, s:, calculate the general image position of required multiplying power earlier.
Controls lens drive motor and CCD drive motor are adjusted to this position, with the negative edge slope of blackstreak in the grey scale change curve as the foundation of adjusting, the place of slope maximum is imaging position the most clearly, adjusts CCD imager position and finds distinct image.
Piece image is obtained in scanning under above-mentioned multiplying power, is transformed into the grey scale change curve, and Fig. 3 is the synoptic diagram of preliminary focusing back glass plate blackstreak grey scale change curve.The mean value of gray-scale value that obtains image as the threshold value of binaryzation, is calculated the multiplying power of camera lens according to the width of the negative edge of blackstreak under this threshold value.
Then camera lens and CCD imager are adjusted toward corresponding direction again, each camera lens adjusts earlier, and the adjustment magnitude of CCD imager is half of the depth of field under this multiplying power, finds clearly image planes once more and calculates multiplying power.
This process constantly circulation is gone down, up to finding multiplying power and image planes accurately the most clearly.Fig. 4 is the synoptic diagram of to the clear picture glass plate blackstreak grey scale change curve of focusing.
Referring to Fig. 5, this automatic focusing system based on gradation of image, be included in camera lens 7, CCD imager 3 and the light source box 10 arranged successively in the light path, it is characterized in that: top horizontal fixed one bearing 15 of above-mentioned light source box 14, with support 17 of bearing vertical fixing, with a pair of fromer rail framves of support 17 secured in parallel (11) and a pair of rear rail frame 13.
Referring to Fig. 6, top horizontal fixed one bearing 15 of light source box 14, with support 17 of bearing vertical fixing, light source box 14 and rear rail frame 13 and be slidingly connected with light source box leading screw 12 that the rear rail frame be arranged in parallel, the upper end of light source box leading screw 12 is connected with the output shaft of light source box drive motor 10, fixedlys connected with light source box 14 in the lower end of light source box leading screw 12.The horizontal shift of light source box is rotated by feed rod 16 and is finished.
Referring to Fig. 8, above-mentioned CCD imager is connected with the image acquisition card signal, image collection card is with the picture intelligence input microprocessor, microprocessor calculates the theoretical object image distance of required multiplying power according to the focal length of formula and camera lens, to detect data and contrasting data and carry out ganmma controller relatively, pass judgment on function with focal length and handle image, obtain the optimal focal plane of current camera lens position, the image of binary conversion treatment optimal focal plane, calculate the multiplying power of current camera lens position with the black and white bar width width gauge actual in this image with it, judge that whether resolution be the required resolution of image planes the most clearly, motion control card can be according to the trend of the needs control program of operation result and program, and to the lens driving motor, CCD drive motor and light source box drive motor send control signal.
Referring to Fig. 7, Fig. 8, a kind of automatic focusing method based on gradation of image is used the automatic focusing system that comprises camera lens, CCD imager, image collection card, microprocessor, motion control card, automatic displacement mechanism, it is characterized in that step is as follows:
Step 8 judges that whether resolution be the required resolution of image planes the most clearly.
Step 9, if when the result in the above-mentioned steps 8 is required resolution, the object image distance of the multiplying power of asking i.e. CCD position during optimal focal plane under lens location and this lens location for this reason, flow process end this moment.
Claims (9)
1. the automatic focusing method based on gradation of image is used the automatic focusing system that comprises camera lens, CCD imager, image collection card, microprocessor, motion control card, automatic displacement mechanism, it is characterized in that step is:
Step 1 is prepared;
Step 2 is calculated the theoretical object image distance of required multiplying power according to formula;
Step 3, moving lens and CCD are to the about position of theoretical object image distance of required multiplying power;
Step 4 moves up and down the CCD images acquired with half the mobile magnitude as CCD of the depth of field under required this multiplying power;
Step 5 is passed judgment on function with focal length and is handled image, obtains the optimal focal plane of current camera lens position;
Step 6, the image of binary conversion treatment optimal focal plane;
Step 7 is calculated the multiplying power of current camera lens position with the black and white bar width width gauge actual with it in this image;
Step 8 judges that whether resolution be the required resolution of image planes the most clearly;
Step 9, if when the result in the above-mentioned steps 8 is required resolution, the object image distance of the multiplying power of asking i.e. CCD position during optimal focal plane under lens location and this lens location for this reason, flow process end this moment;
Step 10, when if the result in the above-mentioned steps 8 is not required resolution, continuation is calculated theoretical object image distance under the current multiplying power according to formula, and draw the poor of object image distance under the current multiplying power and required multiplying power object image distance, moving lens and CCD be to the position that differs again, and then return step 4 circulation until finding required resolution.
2. the automatic focusing method based on gradation of image according to claim 1, it is characterized in that: in step 1, use a correction reference that is distributed with the glass plate of blackstreak as focusing, be placed on position under the camera lens, make blackstreak on the glass plate perpendicular to the target surface of CCD imager.
3. the automatic focusing method based on gradation of image according to claim 1 is characterized in that: in step 2, according to formula:
And the focal length (l: object distance, l ': image distance, f: focal length, s: multiplying power), calculate the general image position of required multiplying power earlier of camera lens.
4. the automatic focusing method based on gradation of image according to claim 1 is characterized in that: in step 3, adjust to this position by adjusting the motor that drives camera lens and CCD.
5. the automatic focusing method based on gradation of image according to claim 1, it is characterized in that: in step 4, as the foundation of adjusting, the place of slope maximum is imaging position the most clearly with the negative edge slope of vertical black band in the image, adjusts the CCD position and finds distinct image.
6. the automatic focusing method based on gradation of image according to claim 1 is characterized in that: in step 6, obtain piece image by scanning under this multiplying power, will obtain the mean value of gray-scale value of image as the threshold value of binaryzation.
7. the automatic focusing method based on gradation of image according to claim 1 is characterized in that: in step 7, calculate the multiplying power of camera lens according to the width of the negative edge of vertical black band under this threshold value.
8. the automatic focusing method based on gradation of image according to claim 1 is characterized in that: in step 10, camera lens adjusts earlier, and the adjustment magnitude of CCD is half of the depth of field under this multiplying power, finds clearly image planes once more and calculates multiplying power.This process constantly circulation is gone down, up to finding multiplying power and image planes accurately the most clearly.
9. automatic focusing system based on gradation of image, be included in camera lens (7), CCD imager (3) and the light source box (10) arranged successively in the light path, it is characterized in that: top horizontal fixed one bearing (15) of above-mentioned light source box (14), with a support of bearing vertical fixing (16), with support (16) a pair of fromer rail frame of secured in parallel (11) and a pair of rear rail frame (13);
Camera lens (7) is connected with camera lens carriage (6), camera lens carriage (6) and fromer rail frame (11) and be slidingly connected with camera lens leading screw (2) that the fromer rail frame be arranged in parallel, and the upper end of camera lens leading screw (2) is connected with the output shaft of lens driving motor (1);
CCD imager (3) is connected with CCD imager carriage (4), CCD imager carriage (4) and fromer rail frame (11) and be slidingly connected with CCD imager leading screw (9) that the fromer rail frame be arranged in parallel, the upper end of CCD imager leading screw (9) is connected with the output shaft of CCD drive motor (8);
Light source box (14) and rear rail frame (13) and be slidingly connected with light source box leading screw (12) that the rear rail frame be arranged in parallel, the upper end of light source box leading screw (12) is connected with the output shaft of light source box drive motor (10), fixedlys connected with light source box (14) in the lower end of light source box leading screw (12);
Above-mentioned CCD imager is connected with the image acquisition card signal, image collection card is with the picture intelligence input microprocessor, microprocessor calculates the theoretical object image distance of required multiplying power according to the focal length of formula and camera lens, to detect data and contrasting data and carry out ganmma controller relatively, pass judgment on function with focal length and handle image, obtain the optimal focal plane of current camera lens position, the image of binary conversion treatment optimal focal plane, calculate the multiplying power of current camera lens position with the black and white bar width width gauge actual in this image with it, judge that whether resolution be the required resolution of image planes the most clearly, motion control card can be according to the trend of the needs control program of operation result and program, and to the lens driving motor, CCD drive motor and light source box drive motor send control signal.
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| JPH06169420A (en) * | 1992-05-07 | 1994-06-14 | Gold Star Co Ltd | Apparatus and method for adjustment of focus of video camerasystem |
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| CN1419147A (en) * | 2001-11-13 | 2003-05-21 | 中国科学院力学研究所 | Automatic focusing regulation method and device for multiple variable ptial imaging system of 3D object |
| CN1296742C (en) * | 2004-02-13 | 2007-01-24 | 中国科学院力学研究所 | Angular automatic focusing system and method for optical imaging system |
| CN1641397A (en) * | 2004-12-24 | 2005-07-20 | 中国科学院上海技术物理研究所 | Microscopic automatic focusing device and method suitable for space application |
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