CN102686348A - 具有槽扫描的钥匙原坯识别系统 - Google Patents

具有槽扫描的钥匙原坯识别系统 Download PDF

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CN102686348A
CN102686348A CN2010800241667A CN201080024166A CN102686348A CN 102686348 A CN102686348 A CN 102686348A CN 2010800241667 A CN2010800241667 A CN 2010800241667A CN 201080024166 A CN201080024166 A CN 201080024166A CN 102686348 A CN102686348 A CN 102686348A
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groove
recognition system
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切斯特·O·D·汤普森
威廉·R·穆奇
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    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B23C—MILLING
    • B23C3/00—Milling particular work; Special milling operations; Machines therefor
    • B23C3/28—Grooving workpieces
    • B23C3/35—Milling grooves in keys
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06V10/00—Arrangements for image or video recognition or understanding
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
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    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
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    • G06T2207/00—Indexing scheme for image analysis or image enhancement
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    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30084—Milling with regulation of operation by templet, card, or other replaceable information supply
    • Y10T409/300952—Milling with regulation of operation by templet, card, or other replaceable information supply to cut lock key
    • Y10T409/301008—Using templet other than a key
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30084—Milling with regulation of operation by templet, card, or other replaceable information supply
    • Y10T409/300952—Milling with regulation of operation by templet, card, or other replaceable information supply to cut lock key
    • Y10T409/301064—Complete cycle

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Abstract

提供了一种钥匙识别系统。钥匙识别系统包括：成像系统，用于拍摄主钥匙的图像；以及逻辑部件，用于分析所拍摄的图像。成像系统可以被构造成以处于垂直于主钥匙的锁舌部和平行于主钥匙的锁舌部之间的角度拍摄主钥匙中的槽的图像。逻辑部件分析所拍摄的图像以将槽的特征与已知的钥匙原坯的槽特征比较，从而确定主钥匙和已知的钥匙原坯之间的匹配可能性。钥匙识别系统在分析槽的特征时可以进一步补偿主钥匙相对于成像系统的位移或方位。

Description

具有槽扫描的钥匙原坯识别系统
相关申请的交叉引用
本申请要求2009年5月1日提交的美国临时专利申请序列号61/215,152以及2009年9月1日提交的美国临时专利申请序列号61/275,654的优先权，所述专利申请的全部内容均通过引用合并于此。
技术领域
本发明总体而言涉及对象识别系统领域，特别涉及利用电子装置识别钥匙原坯的系统，所述钥匙原坯与未知的钥匙兼容。
背景技术
钥匙复制技术是众所周知的。一般地，利用现有技术中已知的大量不同系统将打算复制的钥匙(主钥匙)复制到适当识别的钥匙原坯上。识别制作钥匙复制件时要使用的适当的钥匙原坯的过程可能是困难、乏味且耗时的事情。将各主钥匙复制到适合的钥匙原坯上是重要的，以防止由于将主钥匙复制到不适当的钥匙原坯上而引起的诸多不良后果。然而，即使对于本领域专家来说选择正确的钥匙原坯也可能是困难的。
即使没有上千也有上百种钥匙原坯，很多原坯不能容易地与其他原坯区分开。识别复制用的正确的钥匙原坯需要从钥匙原坯之间的差别可能非常细微的上百种甚至上千种可能性中选择原坯。这些难以注意到的细微处对于这种钥匙复制系统的所有操作员而言，包括缺乏经验的新手和专家均明显地增加了难度等级。
一旦选出了钥匙原坯，就对其进行切割处理。典型的切割处理是简单地将主钥匙的轮廓描绘到钥匙原坯上，使得钥匙原坯与原始主钥匙(在描绘器的误差极限和精度内)精确地匹配。通常，机械连接的切割轮在描绘器沿主钥匙的轮廓纵向移动时以模拟该描绘器的该移动的状态实际切入钥匙原坯。如果在该处理期间提供了不正确的钥匙原坯，则形成复制钥匙的钥匙原坯可能不具有正确的纵向长度，因此导致失败。当发生这种类型的失败时，必须重新开始选择复制用钥匙原坯以及随后的机械切割钥匙的整个处理过程。更糟的是，如果原坯具有了正确的长度但却不具有适当的厚度、轮廓、槽或其他特性，则可能直到钥匙实际插入锁中才发现该失败。
提供钥匙切割业务的企业往往没有配备有经验的锁匠。相反通常将雇员训练成“仔细盯住”哪个被认为是正确的原坯然后切割出复制的钥匙。这种不正规且不精确的钥匙原坯识别方法总是增加复制处理的失败率。这些失败往往由厂家承担费用并且使钥匙持有人非常失望。因此，厂家希望有能够提高钥匙复制的精度和效率且使用方便的钥匙原坯识别系统。
毫不奇怪，一直进行着大量尝试以改进识别系统和/或钥匙复制系统。这些改进中的很多均包括设计成基于要复制的钥匙的诸如长度、形状和槽特征等物理参数来确定合适的钥匙原坯的成像系统。
虽然这些系统中的很多都提供了用于确定合适的钥匙原坯的有用的改进，但是它们仍存在多种缺陷。具体地，这些系统中的很多将来自主钥匙的扫描数据与来自已知的钥匙原坯的数据进行比较以确定主钥匙是否与钥匙原坯匹配。然而，在一些例子中，所扫描的钥匙参数和钥匙原坯数据不足以确定匹配的钥匙原坯。在这种情况下，关于主钥匙和钥匙原坯的附加信息对于缩小预期的钥匙原坯的范围是有用的。因此，需要用于确定钥匙原坯的改进的系统和方法。
发明内容
提供了一种钥匙识别系统。该钥匙识别系统包括：成像系统，其用于拍摄主钥匙的图像；以及逻辑部件，其用于分析图像。成像系统可以构造成以处于垂直于所述主钥匙的锁舌部和平行于所述主钥匙的锁舌部之间的角度拍摄钥匙中的槽的图像。逻辑部件分析所拍摄的图像以将槽的特征与已知的钥匙原坯的槽特征进行比较。
钥匙识别系统可以考虑到主钥匙相对于成像系统或钥匙保持器的方位或位置以确定主钥匙的槽特征。例如，逻辑部件可以分析槽的轮廓并且基于所述轮廓和主钥匙的方位或位置确定主钥匙的槽特征。
附图说明
通过以下针对附图所进行的详细说明可以更好地理解本发明的目的、优点连同操作。在所述附图中：
图1示出主钥匙；
图2a示出钥匙识别系统的第一示例构造；
图2b示出钥匙识别系统的第二示例构造；
图3示出钥匙顶端的示例侧面影像(silhouette)；
图4示出具有反射元件的钥匙识别系统的示例构造；
图5示出主钥匙锁舌部侧面影像的示例扫描图像；
图6示出顶端概要(outline)在顶端图像上的示例投影；
图7示出顶端槽轮廓(contour)的示例计算数据组；
图8示出主钥匙顶端轮廓数据和所存储的钥匙原坯数据之间比较匹配的示例；
图9示出主钥匙顶端轮廓数据和所存储的钥匙原坯数据之间比较不匹配的示例。
图10示出概要照相机图像的坐标基准。
图11示出包括概要消失点(vanishing point)的概要照相机图像的坐标基准。
图12示出包括与y轴投影有关的槽消失点的槽照相机图像的坐标基准。
图13示出包括与x轴投影有关的槽消失点的槽照相机图像的坐标基准。
图14示出主钥匙用的角坐标系统。
具体实施方式
现在将详细说明关于本发明的示例性实施方式，附图中示出这些示例性实施方式的示例。可以理解，可以使用其他实施方式并且可以在不脱离本发明的相应范围的情况下进行结构和功能的改变。
提供了用于识别钥匙原坯的系统和方法。该系统(“钥匙ID系统”)对诸如门钥匙、车钥匙或其他钥匙等准备复制的主钥匙进行分析，并且确定准备在复制主钥匙时使用的适当的钥匙原坯。这里所述的系统和方法可以独立地用于确定适合的钥匙原坯，或可以与其他系统联合起来使用以缩小预期的钥匙原坯的范围。此外，可以理解，可以对现有钥匙识别系统进行改进或改装以实施这里所述的一些或全部特征。
钥匙ID系统可以扫描主钥匙以确定主钥匙的特性和特征。基于这些特征，钥匙ID系统于是可以确定用于复制主钥匙的适当的钥匙原坯。钥匙ID系统可以包括现有技术中用于确定主钥匙几何形状方面特性和特征的任何已知装置。例如，钥匙ID系统可以包括诸如照相机、激光器等的成像系统或现有技术中已知的任何其他成像系统。成像系统可以扫描主钥匙以确定主钥匙的特征，具体地确定可能对于特定钥匙原坯来说是独特的特征。虽然钥匙ID系统在这里被说明为包括成像系统，可以理解诸如电传感器或机械传感器等的其他已知方法或装置可以用来代替成像系统或与成像系统结合使用以确定主钥匙几何形状的特性和特征。
参照图1描述主钥匙10。主钥匙10可以包括诸如槽11和与锁舌部(blade)18相连的头部(head)16等标准钥匙特征。槽11可以包括沟道、开口、几何形状或形成于锁舌部18中的其他凹痕(indentation)。主钥匙10可以包括位于锁舌部18的一侧的单个槽11、位于锁舌部18的各侧的单个槽11、位于锁舌部18的任一侧的多个槽11或者槽11相对于锁舌部18的任何其他构造。此外，可以理解，主钥匙10可以是任何钥匙而不限于具有头部16、锁舌部18和槽11的钥匙。
钥匙ID系统可以包括用于保持主钥匙的钥匙保持器。钥匙保持器可以是能够保持或支撑主钥匙的任何装置。例如，如图2a和图2b中所示，钥匙保持器13可以包括下部支撑件15和上部门12以便夹紧钥匙。钥匙保持器可以可选地包括夹具、握爪、平台、悬架或构造成保持主钥匙10的任何其他装置。
在实施例中，钥匙ID系统包括照相机系统。照相机系统包括一个或多个用于记录主钥匙的诸如数字图像等的图像的照相机。照相机系统可以进一步包括用于辅助记录主钥匙的图像的其他部件，诸如灯和镜等。可以设置灯以增强用照相机记录的图像的清晰度和质量。可以设置镜以使得处于第一位置的照相机能够从第二位置记录钥匙的图像。镜可以进一步使得单个照相机能够从不同的角度记录主钥匙的多个图像，由此增加了由单个照相机所记录的与主钥匙相关的信息量。
钥匙ID系统可以包括逻辑(logic)部件以分析成像系统拍摄的图像。如此处所使用的，术语“逻辑部件”包括但不限于软件、固件、可执行程序、硬件或硬接线电路或者它们的组合。例如，基于期望的应用或需求，逻辑部件可以包括软件控制的微处理器、例如专用集成电路(ASIC)等的分散的逻辑模块、模拟电路、数字电路、编程的逻辑器件、包含指令的存储器件等。逻辑部件可以包括一个或多个门、门的组合或其他电路部件。逻辑部件也可以被完全实施为软件。在说明了多个理论逻辑部件(logical logic)的情况下，可以将多个理论逻辑部件整合到一个物理逻辑部件中。类似地，在说明了单个理论逻辑部件的情况下，可以在多个物理逻辑部件之间分配该单个理论逻辑部件。
逻辑部件可以构造成确定已知的钥匙原坯与主钥匙之间的相关性或匹配可能性。例如，逻辑部件可以包括用于存储钥匙相关信息(“钥匙数据”)的数据库。钥匙数据可以包括已知的钥匙原坯的诸如长度、形状、齿信息、钥匙槽的尺寸、形状和位置等的特征以及已知的钥匙原坯的其他几何和物理特征。数据库可以与逻辑部件集成在一起、与逻辑部件通信或能够远程访问逻辑部件。数据库可以使钥匙数据与特定的钥匙原坯相关联，或者与钥匙原坯的类型或组相关联。例如，数据库可以使钥匙数据与特定的钥匙制造商相关联，或者与诸如门钥匙或车钥匙等的不同钥匙类型相关联。钥匙ID系统可以访问数据库以将主钥匙的扫描特征与数据库中存储的钥匙数据进行比较。不具有与主钥匙的特征一致的特征的钥匙原坯由此被排除作为可能匹配的钥匙原坯。钥匙ID系统可以在一个或多个角度扫描主钥匙10并且将扫描数据与所存储的钥匙数据进行比较。
钥匙ID系统可以扫描主钥匙10以确定与槽11有关的信息。钥匙和钥匙原坯一般包括槽11或位于钥匙的锁舌部18中的槽11。槽11的特征可能对于给定的钥匙原坯或钥匙原坯组来说是独特的。例如，给定的槽的尺寸、位置、角度和其他几何参数可能对于一个或多个钥匙原坯来说是独特的。另外，位于钥匙锁舌部的第一侧的槽11(顶槽)的位置可能相对于位于钥匙锁舌部的第二侧的槽11(底槽)的位置来说是独特的。
钥匙ID系统可以分析主钥匙10的槽11的多种方面。例如，成像系统可以从与钥匙锁舌部18垂直的位置拍摄槽11的图像，如图2a中高处的照相机20所示。这个照相机角度提供锁舌部18的俯视图并且使得高架照相机能够扫描槽11的长度。成像系统还可以以平行于锁舌部18的角度从顶端14的端部拍摄槽11的图像。这个角度提供槽11的截面图。然而，无论是槽11的高处扫描还是槽11的平行扫描都不能提供槽11与钥匙10的剩余部分之间足以有效地确定槽11的某些参数的对比。
在很多钥匙中，槽11从肩部16开始延伸贯穿钥匙10的顶端14。因此，顶端几何形状方面的形状和轮廓反映槽11的特征。因此，主钥匙的独特特征可以通过从设计成拍摄顶槽或底槽特征的角度扫描顶端14来确定。这可以通过以既不垂直于锁舌部也不平行于锁舌部18的角度扫描钥匙顶端14来最好地实现。例如，如图2a所示，钥匙ID系统可以包括面对顶端14并且定位于平行于锁舌部的略上方角度的照相机22。在实施例中，照相机被定位成面对钥匙10的顶端，并且相对于钥匙10的锁舌部的平行面的夹角在5度至15度之间。该定位使得照相机22能够拍摄顶端14的由底槽11形成的轮廓。可选地，可以理解，照相机同样可以定位成在钥匙的下方以拍摄顶端14的由顶槽11形成的轮廓。如图3所示，照相机22可以拍摄底槽的侧面影像。该侧面影像可能对于钥匙原坯或钥匙原坯组来说是独特的，由此缩小了预期的钥匙原坯的范围。
可以理解，除了图2a所示的照相机构造外的构造也可以用于拍摄顶-槽几何形状。例如，钥匙ID系统可以仅包括槽照相机22而不包括任何高架照相机20。此外，钥匙ID系统可以包括多个镜以使得远距离位置处的单个照相机能够拍摄主钥匙的多个角度，包括顶端14的角度。在实施例中，如图4所示，第一镜30可以定位成从钥匙10的后方提供顶端14的俯视图。类似地，镜可以定位于钥匙10的下后方以拍摄底槽11的图像。该视角使得照相机能够拍摄顶端14的由顶槽11形成的轮廓。第二镜32也可以定位成从钥匙10的前方提供顶端14的俯视图。该视角使得照相机能够拍摄顶端14的由底槽11形成的轮廓。可以理解，钥匙ID系统可以包括任意数量的照相机、镜和其他成像装置，以拍摄顶端14的轮廓的期望的视图。
在实施例中，钥匙ID系统扫描主钥匙10以拍摄锁舌部18的侧面影像，如图5所示。该侧面影像用于确定顶端14的概要形状以便从顶端的几何形状分离出槽的几何形状。钥匙ID系统还可以从一定角度的位置扫描顶端14以拍摄顶端14的由槽11形成的轮廓。
如图6所示，顶端14的三角投影(trigonomic projection)可以用于识别顶端轮廓中的由槽形状产生的部分。具体地，可以通过基于图像信息和机械常数(machine constant)计算标量变量集来确定与槽11的轮廓有关的轮廓数据。如此处所述，将高架照相机20拍摄的图像中的点绘制到与槽照相机22拍摄的图像对应的点上。
轮廓图像可以与高处或概要照相机20获得的数据一致。一旦已经产生了概要或轮廓数据，概要图像就被重新扫描以产生数据点集，如图7至图9所示。例如，可以沿着钥匙的顶端每0.005英寸产生一个数据点。可以基于槽识别要求的精度以及概要照相机和槽照相机的光学特性来调整重新扫描或重新采样的图像的数据点间隔。例如，数据点间隔可以是0.002英寸以获得更详细的样本。
可以将槽轮廓与数据库中存储的已知的钥匙原坯的轮廓进行比较以确定匹配的钥匙原坯。可以设定公差和/或相关值以确定所述比较是否产生匹配。图8示出所扫描的钥匙顶端轮廓和所存储的已知钥匙原坯的钥匙数据之间的比较。两个数据集之间的统计相关值大致为0.985，这表明主钥匙和被比较的钥匙原坯之间匹配。图9示出所扫描的钥匙顶端轮廓和所存储的已知钥匙原坯的钥匙数据之间的另一比较。这里，两个数据集之间的统计相关值大致为0.879，这表明主钥匙和被比较的钥匙原坯之间不匹配。
参照图2a，高架照相机20的图像平面与槽照相机22的图像在门开口12的下边缘处相交。高架照相机20观察钥匙10的轮廓(profile)，而槽照相机22聚焦在钥匙10的顶端上。参照图10至图13，两个图像的交叉线(被称为门轴线52)是用于确定轮廓数据的主轴线。门轴线的主要基准或原点位于门12的中心处。门平面还经过该交叉线并且根据定义垂直于高架照相机20的图像平面。
可以通过槽照相机22拍摄钥匙10的侧面影像图像。为了拍摄侧面影像图像，钥匙ID系统可以利用诸如光源24和漫反射元件26等元件，如图2a和图2b所示。可以用光遮蔽件28遮挡光源24以在避开钥匙10的顶端的同时照亮反射元件26。在实施例中，调整来自光源24的指向性光的角度以使得光大体上指向漫反射元件26，而不是指向钥匙10的顶端。
光源24可以是现有技术中已知的任何光源。例如，光源24可以是基本上排成列的一系列离散的LED灯。然而，可以理解，光源24可以是以任何构造配置的任何灯。漫反射元件26可以附着在门的内表面上，使得当来自光源24的光碰到漫反射元件26时，漫反射元件26提供背光区域。换言之，该配置在使得指向钥匙10的光量最小化的状态下提供相对于槽照相机22而言在钥匙10的后方的背光区域。因此，与图3所示的类似，槽照相机22可以将钥匙10的顶端观察为基本上暗的或黑的特征。然而，可以理解，钥匙ID系统可以包括定位于整个系统任何位置处的诸如背光灯等的任何附加的灯。
参照图2b，示出钥匙ID系统的可选构造。槽照相机22可以安装在直立的照相机盒23中。直立的照相机盒23将槽照相机22安装于底部以使得槽照相机22被定向为向上朝向安装于直立的照相机盒23的另一端的镜25。镜25被定向成朝向钥匙10的顶端，以使得标称入射角大约为15度。然而，可以理解，图像的在钥匙10上的入射角可以是任何角度，优选地在大约5度和大约45度之间。
当钥匙10被保持在钥匙保持器13中时不限于特别的方位或位置。参照图14，钥匙可能在与概要照相机20的方位垂直的平面中倾斜(tilt)或偏转(yaw)、相对于被定义为与门开口12垂直的平面朝上或朝下翻转(tip)、绕钥匙原坯自身的轴线旋转(转动(roll))或者具有上述变化的任意组合，并且还可能具有由钥匙锁舌部18全长引起的变化，其中，这些变化可能将钥匙的顶端定位在相对于槽照相机22而言的各种焦点位置处。因此，有必要校正光学失真并且对从两个不同的照相机获得的图像进行转换以获得顶端14的有效图像。
消失点的概念用于处理当通过槽照相机22观察钥匙10时钥匙10的透视收缩(foreshortening)。该透视收缩的效果随着钥匙10的端部由于门12的夹持动作而略朝上或朝下翻转而变化很大。从门到消失点的距离可显著地受该翻转动作影响。
为了补偿槽照相机22和钥匙10之间的角度，针对高架照相机20图像和槽照相机22图像这两者容易确定从钥匙顶端到门轴线的距离。这些距离的比率(下文中称为“槽LR”)依赖于槽照相机22的角度和钥匙翻转角度之间的角度。因为仅需要该比率用于补偿钥匙位置的计算，所以这些角度的实际值可以忽略。
在实施例中，可以通过使到概要图像消失点的距离乘以比率槽LR来确定槽图像消失点。可以首先以经验确定概要图像消失点。例如，先前的试验表明样本概要图像消失点距离门轴线的原点为20英寸。概要图像消失点取决于钥匙ID系统的构造和照相机的特性。可以假定消失点位于门中心轴线上。然而，在其他实施例中，消失点可以从门中心轴线偏移附加的补偿量。
图10至图13示出用于限制钥匙10的图像的裁剪框(cropbox)50。图10中示出概要裁剪框50的示例，其中概要裁剪框50限定了图像的外围。尽管照相机拍摄的实际图像大于概要裁剪框50，概要裁剪框仍用于限制系统实际处理的图像。概要消失点沿着被示为点52的X轴远离概要裁剪框50的左侧。槽消失点沿着位于点62处的Y轴在图12中示出的槽裁剪框60的上方。槽裁剪框60具有与概要裁剪框50类似的功能，即槽裁剪框60将系统处理的整个图像减小为在该情况下由槽照相机22拍摄的实际图像的子集。将概要图像消失点距离与vOutX组合以计算从消失点到起始点的x轴距离。虽然说明了确定消失点和相关距离的特定方法，但可以理解可以使用其他方法。
图10示出起始位置相对于门轴线和概要照相机图像的位置。vOutX和vOutY是钥匙顶端图像上要被绘制到槽图像上的点的x和y坐标。这些点与限定钥匙顶端的数据点集合对应。概要照相机20的单位是像素。因此，产生一系列限定钥匙顶端的点的vOutX和vOutY。
图11示出转换起始点相对于概要图消失点的距离。该距离乘以槽LR以产生图11所示被称为GVPY(槽图像消失点距离)的概要VPy。
图12示出所投影的顶端点y轴坐标的结构。在槽照相机图像平面上进行该投影。y轴投影仅仅是GVPY和槽VP之间的差。
x轴投影计算使用如图13所示的GVPY相对于槽VP的比率。可以根据概要图像确定槽-门X距离。槽-门X距离可以与GVPY相对于槽VP比率成比例，并且与槽裁剪框中心距离相加以找出作为x轴坐标的gsx。可以添加修正值以使得小的物理偏移能够在机器校准期间得以调整。
一旦概要照相机20图像上的各点已经被描绘到槽照相机22图像上，就可以确定槽轮廓数据。图6示出典型的在顶端绘制的两行点的槽图像。靠近顶端的那行可以使用这里说明的方法来计算。下面的那行可以从相同的数据点推测出。
通过测量从被描绘的点下方的八个像素的点到槽图像中实际的白到黑边缘的距离来建立槽轮廓。给予边缘检测软件，额外的像素使其能够容易地建立转换关系并且还允许被描绘的点略高于实际转换的情况下的小误差。这些距离集合形成槽轮廓。
钥匙的各种顶端形状和顶端附近的齿可以影响通过槽照相机22看到的槽图像。因此，如果钥匙锁舌部被直角切割，则这可能在尝试计算槽如何出现时有助于处理槽数据。为了适应该处理，相对于与钥匙的轴线平行的一系列线，可以进行沿着钥匙顶端的概要数据(来自概要照相机20的图像)的扫描。这产生用于确定从钥匙顶端的边缘到任意的某个直角切割边缘的距离的一系列测量值。使用下述的处理，这些测量值随后可以转换成槽照相机22图像。槽图像60中的这些被转换的钥匙顶端点62表示就好像钥匙中没有槽时的钥匙顶端。这些点与槽图像60中所观察到的钥匙顶端的边缘之间的差表示就好像锁舌部被直角切割时槽的实际形状。
原坯识别的最终任务是将所测量的轮廓与所存储的特征匹配。钥匙10的类型可以用于帮助匹配轮廓和适当的数据集。对于对称的双面钥匙来说，因为槽和其他特征是对称的，所以钥匙插入钥匙识别系统的方向没有关系，从而对于这些对称的钥匙存储单个特征参考图像。对于大多数单面钥匙来说，钥匙的两面(称为左面和右面)不同。在这种情况下，各钥匙的特征参考图像包括左视图和右视图。当进行比较时，右面切割仅匹配单面切割原坯并且仅匹配这些原坯的右面切割数据。数据还排列成使得钥匙参考面(例如在单面钥匙的情况下，原坯的平坦部)彼此接近。切割钥匙数据经常具有非常少的数据点，因此假定与参考面相对的数据点处的金属(和数据)已经被去掉了。双面切割钥匙基于中心线进行匹配。
可以在数据库中存储的特征参考图像和实际拍摄图像之间进行一系列比较以补偿小的配准误差。可以经由下面更详细说明的2-D相关分析来进行比较。具体地，可以使数据沿各方向移动几个数据点。然后比较和分析这些点，并将最好结果选为正确数据点。
图像配准中的小误差和在图像之间进行换位(transposition)可能引起轮廓数据向上或向下倾斜(slope)。这称为“摇摆”，类似于机翼不水平时飞机摇摆。一定程度的摇摆被推测为取决于独特的机器组装细节。为了补偿该摇摆，各钥匙ID系统可以具有用于调整其测量值的摇摆常数。这确保当与其他机器上产生的所存储的数据集进行比较时偏置不是影响因子。
可能还存在基于各个钥匙扫描的摇摆。在已经考虑了机器摇摆并且已经确定了最好的水平滑动位置之后，可以使用第二次摇摆测试来确保尽可能好的匹配。对于多达40个的不同的摇摆值分别进行了比较以确定最好的匹配。这些计算保证尽可能精确地完成比较。在其他实施例中，可以使用更多的摇摆值以处理由槽照相机22拍摄的图像中的更大的变化。
数学相关性也可以作为轮廓比较的基础。可以基于标准公式来完成相关性。然而，如果新收集的数据或所存储的数据中的数据点可能有误，则将其从相关性计算中排除。实际数据的值可能比开始针对位于第一期望转换点下方8个像素的槽边缘数据进行扫描时的值大。可选地，可以基于错误数据的可能性使用不同的像素偏移量。如果该数据被设定为-1，则从计算中排除该点。一些存储数据被人工设定成-1以补偿扫描误差并且不再强调轮廓的某些特征。边缘检测中的误差能够导致新扫描的数据中的-1值。
可以采用其他方法将顶端图像与参考轮廓进行比较。一种方法是将轮廓拟合到基于所存储的轮廓的包络线内部。利用多种基函数(basis function)优势的其他技术也适用于进行特征参考图像和拍摄图像之间的比较以同样获得匹配。
辅助测试可以添加到标准相关性计算中。一些钥匙原坯具有相同的槽的整体图案，只是一些原坯的槽深度比其他的原坯的槽深度大。由于相关性对于比例不敏感，因此这些原坯可被认为匹配，即使它们的实际槽深度大大不同。基于两个轮廓数据集的标准偏差的第二因子用于帮助该区别。通过取得两个标准偏差之间的差并且将该差除以两个值的和来计算该因子。然后，将该值从相关系数减去并且进行辅助测试。所产生的相关结果用于估计哪种钥匙被插入到钥匙ID系统中。在实施例中，相关结果与钥匙概要特征联合使用以进一步缩小和减少被识别的钥匙的类型。
标准相关值和调整后相关值两者均为无单位并且介于0和1之间的非比例数。为了对所述值提供更多含义，各值被重新调节到0至100％的得分系统，其中0被认为是不可能匹配并且100被认为是完美匹配。在实施例中，0.60至1.0的标准相关性被重新调节到0至100％的得分，并且0.50至1.0的调整后相关性被重新调节到0至100％的得分。小于0.60和/或0.50的任何相关性分别被认为是不可能匹配。总的槽扫描得分或相关性得分可以是这两个得分的加权平均。
所述的钥匙ID系统可以与已知的其他钥匙识别系统联合使用。例如，钥匙ID系统可以与用户界面识别系统联合使用，所述用户界面识别系统诸如是美国专利公报No.2004/0095380中公开的对象识别系统和美国专利公报No.2007/0224008中公开的钥匙复制系统，所述专利公报的所有内容通过引用合并于此。
上面已经说明了本发明，显然，对于其他人来说在阅读和理解本说明书的情况下可以进行改型和改变。所附的权利要求书意欲包括进入权利要求书的范围或等同范围内的所有改型和改变。

Claims (23)

1.一种钥匙识别系统，其包括：
成像系统，其用于以处于垂直于主钥匙的锁舌部和平行于所述锁舌部之间的角度拍摄所述主钥匙的顶端的图像，其中所拍摄的所述顶端的图像包括所述主钥匙中的槽的轮廓；以及
逻辑部件，其用于分析所拍摄的所述图像以基于所述轮廓确定所述槽的特征，并且进一步将所述槽的所述特征与已知的钥匙原坯的槽特征进行比较以确定所述主钥匙和已知的钥匙原坯之间的匹配可能性。
2.根据权利要求1所述的钥匙识别系统，其特征在于，所述逻辑部件包括数据库，所述数据库包含与已知的钥匙原坯的槽特征有关的数据。
3.根据权利要求1所述的钥匙识别系统，其特征在于，所述成像系统包括照相机。
4.根据权利要求1所述的钥匙识别系统，其特征在于，所述成像系统包括反射装置。
5.根据权利要求1所述的钥匙识别系统，其特征在于，所述成像系统包括灯。
6.根据权利要求5所述的钥匙识别系统，其特征在于，所述灯被定向为朝向所述反射装置。
7.根据权利要求5所述的钥匙识别系统，其特征在于，所述灯包括遮蔽件，所述遮蔽件用于使光不指向所述主钥匙。
8.根据权利要求1所述的钥匙识别系统，其特征在于，所拍摄的所述图像是数字图像。
9.根据权利要求1所述的钥匙识别系统，其特征在于，所拍摄的所述图像包括所述主钥匙的所述顶端的侧面影像。
10.根据权利要求1所述的钥匙识别系统，其特征在于，所述槽的所述特征包括所述槽的几何形状。
11.根据权利要求1所述的钥匙识别系统，其特征在于，所述逻辑部件考虑所述主钥匙相对于所述成像系统的转动以确定所述槽的特征。
12.根据权利要求1所述的钥匙识别系统，其特征在于，所述逻辑部件考虑所述主钥匙相对于所述成像系统的倾斜以确定所述槽的特征。
13.根据权利要求1所述的钥匙识别系统，其特征在于，所述逻辑部件考虑所述主钥匙相对于所述成像系统的翻转以确定所述槽的特征。
14.根据权利要求3所述的钥匙识别系统，其特征在于，还包括镜，所述镜被定位成反射要被所述照相机拍摄的所述主钥匙的图像。
15.根据权利要求1所述的钥匙识别系统，其特征在于，还包括高架照相机，所述高架照相机被定位成位于所述主钥匙上方并且大致垂直于所述主钥匙。
16.根据权利要求15所述的钥匙识别系统，其特征在于，所述槽的特征是基于来自所述成像系统和所述高架照相机这两者的图像数据确定的。
17.根据权利要求16所述的钥匙识别系统，其特征在于，所述逻辑部件基于来自所述成像系统和所述高架照相机这两者的图像数据，计算当从平行于所述锁舌部的视角观看所述顶端时所述槽的轮廓的几何形状。
18.根据权利要求16所述的钥匙识别系统，其特征在于，所述逻辑部件基于来自所述成像系统和所述高架照相机这两者的图像数据，计算就好像所述顶端被直角切割时所述槽的轮廓的几何形状。
19.根据权利要求1所述的钥匙识别系统，其特征在于，还包括钥匙保持器，所述钥匙保持器用于保持所述主钥匙。
20.根据权利要求19所述的钥匙识别系统，其特征在于，所述钥匙保持器包括下部支撑件。
21.根据权利要求20所述的钥匙识别系统，其特征在于，所述钥匙保持器包括上部门。
22.根据权利要求19所述的钥匙识别系统，其特征在于，所述钥匙保持器包括夹具。
23.根据权利要求3所述的钥匙识别系统，其特征在于，所述照相机被定位成位于所述主钥匙的所述锁舌部的上方，并且用于拍摄所述锁舌部的底部中的槽的图像。
CN2010800241667A 2009-05-01 2010-05-03 具有槽扫描的钥匙原坯识别系统 Pending CN102686348A (zh)

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US9514385B2 (en) 2016-12-06
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US20170061240A1 (en) 2017-03-02

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