CN103945123B - Method for adjusting level angle of industrial camera - Google Patents
Method for adjusting level angle of industrial camera Download PDFInfo
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- CN103945123B CN103945123B CN201410132986.8A CN201410132986A CN103945123B CN 103945123 B CN103945123 B CN 103945123B CN 201410132986 A CN201410132986 A CN 201410132986A CN 103945123 B CN103945123 B CN 103945123B
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Abstract
The invention discloses a method for adjusting the level angle of an industrial camera. The method comprises the steps that a), the industrial camera is mounted at a fixed position; b), more than two landmarks are arranged on the plane, facing the industrial camera, of a detection area; c), the parameters of the industrial camera are adjusted, the focal length of each landmark is adjusted from near to far, and a plurality of images of the landmarks are collected; d), the contrast ratio of each collected image of each landmark is calculated, and contrast ration change curves are drawn; e), the level angle of the industrial camera is adjusted according to the peak position of the contrast ration change curve of each landmark.
Description
Technical field
The present invention relates to a kind of method adjusting industrial camera level angle.
Background technology
With the requirement more and more higher to product quality, mechanical vision inspection technology is widely used in weaving, pcb system
The multiple fields such as make, print.Industrial camera is so that its sweep speed is fast, high precision, stable the features such as be widely used, and work
The situation that industry vision system detects tiny defect in large format detection zone gets more and more.Traditional camera pose adjusts and passes through mould
The method of the machinery such as tool, frock carries out the positioning of level angle and the regulation of camera.This method can ensure that camera case with
The pose of sense channel is fixed, but ccd target surface and the connection angle of camera lens and the accumulated error of machinery, reality can be led to
Ccd target surface and detection zone are not appropriate for perfect parallelism, thus leading to collected by camera image to go out in the edge of detection zone
Existing empty burnt, tiny defect cannot detect.
Under the big depth of field, the detection operating mode of large format, prior art cannot accurate adjustment industrial camera imaging target surface with
Shoot visual field plane perfect parallelism.Due to due to the imaging lens depth of field, occur the problem of empty Jiao so that two in visual field both sides
Side region tiny defect cannot detect.
Content of the invention
The invention provides a kind of method adjusting industrial camera level angle, comprising:
A) install industrial camera in fixed position；
B) 2 or 4 marks are set on detection zone is towards the plane of industrial camera；
C) adjust industrial camera parameter, to each mark from the close-by examples to those far off and uniform speed slow focus, and adopt simultaneously
Collect the image of several this marks；
D) multiple image of each mark of collection is calculated with the contrast of each image, draws out contrast change bent
Line；
E) peak location of the contrast change curve according to each mark adjusts the level angle of industrial camera, makes
Line become the contrast change curve of 2 marks at horizontal 2 set-points peak location identical.
Wherein in step b), for plane monitoring-network, 2 marks are set；For three-dimensional detection, then 4 marks of setting
Thing, the line of 4 set-points is a rectangle.
Wherein said mark is thin stripe type mark.
Wherein said mark is the markings of shades of colour.
Wherein said markings are black designation line.
Calculate the contrast of this black designation line image using equation below:
C=(g (p+3)+g (p-3))/2-g (p)
Wherein p is the pixel coordinate perpendicular to black designation line direction, and g (p) is the gray scale in p position for the image, and c is contrast
Degree.
Wherein in step e), when arranging 2 marks, when from the close-by examples to those far off adjusting camera focus, left end marker thing
The spike b of the contrast change curve than right end marker thing for the spike a of contrast change curve when first occurring, this industrial camera
Level angle be biased into left side；Conversely, the level angle of this industrial camera is biased into right side, adjust the horizontal angle of industrial camera
Degree is so that the position of spike a with the b appearance of the contrast change curve of this 2 marks is identical；When arranging 4 marks
Represent 4 set-points with a, b, c and d, then the spike spike a in the contrast change curve of the mark of set-point a represent,
Represent in the spike spike b of the contrast change curve of the mark of set-point b, set-point c mark contrast
The spike spike c of change curve represents, and set-point d mark contrast change curve spike spike d table
Show, when from the close-by examples to those far off adjusting camera focus, when the order of the peak location appearance of the contrast change curve of 4 marks
For: during spike c- spike d- spike a- spike b or spike b- spike a- spike d- spike c, the level angle of industrial camera is
On the right side of deflection；Conversely, the order that peak location occurs is: peak d- spike c- spike b- spike a person spike a- spike b- spike c-
During spike d, the level angle of camera is biased into left side, adjusts the level angle of industrial camera so that spike a and spike b occurs
Position identical, and spike c is identical with the position that spike d occurs.
Wherein when arranging 4 marks, the focal length adjusting industrial camera is so that the contrast of this 4 marks all reaches
To kurtosis more than 1/2.
The technical scheme is that by the use of the image of camera shooting as feedback, adjust mechanical pose and Jiao of camera
Higher sharp away from so that camera imaging target surface is strictly parallel to field of detection it is ensured that image in whole detection zone, all having
Degree.Which solves the technical problem that the camera target surface image sharpness that lead to not parallel with visual field declines, so that system tool
The standby ability all having detection tiny defect in whole visual field.
Brief description
Fig. 1 is the flow chart of the method for regulation industrial camera level angle of the present invention.
Fig. 2 be industrial camera camera lens find a view in detection zone mark object image schematic diagram.
Fig. 3 is the contrast change curve of 4 marks.
Specific embodiment
Fig. 1 is the flow chart of the method for regulation industrial camera level angle of the present invention.As illustrated, the regulation of the present invention
The method of industrial camera level angle includes:
1st, install industrial camera in fixed position.
2nd, 2 or 4 marks are set on detection zone is towards the plane of industrial camera.Wherein, for plane monitoring-network,
I.e. product to be detected is it is only necessary to be horizontally disposed with 2 marks during plane, in other words, being wired to of this 2 set-points
For a horizontal line.For three-dimensional detection, then need to arrange 4 marks, the line of this 4 set-points is a square
Shape.Described mark is preferably thin stripe type mark, can be the markings of shades of colour, preferably black designation line.
3rd, adjust industrial camera parameter, to each mark from the close-by examples to those far off and uniform speed slow focus, and adopt simultaneously
Collect the image of several this marks.
4th, the multiple image of each mark of collection is calculated with the contrast of each image, draws out contrast change bent
Line.
Below, calculate the contrast of this black designation line image using equation below taking black designation line as a example:
C=(g (p+3)+g (p-3))/2-g (p)
Wherein p is the pixel coordinate perpendicular to black designation line direction, and g (p) is the gray scale in p position for the image, and c is contrast
Degree.
Contrast can also be calculated using other formula, thus drawing out contrast change curve.
5th, the peak location of the contrast change curve according to each mark adjusts the level angle of industrial camera, makes
Line become the contrast change curve of 2 marks at horizontal 2 set-points peak location identical.
Concrete operation step is:
In plane monitoring-network application, due to only arranging 2 marks, when from the close-by examples to those far off adjusting camera focus, left end mark
When the spike b of the contrast change curve than right end marker thing for the spike a of the contrast change curve of will thing first occurs it is meant that
The level angle of industrial camera is biased into left side；Conversely, then the level angle of industrial camera is biased into right side.Adjust industrial camera
Level angle so that the contrast change curve of this 2 marks spike a with b occur position identical.
In three-dimensional detection application, need to arrange 4 marks, set-point line surrounds a whole detection zone of covering
Rectangular area, referring to Fig. 2, this Fig. 2 be industrial camera camera lens find a view in detection zone mark object image schematic diagram, wherein
A, b, c and d represent 4 set-points.Under normal circumstances, the bottom surface placing product to be detected is flat, so only considering to adjust
The level angle of industrial camera.Fig. 3 is the contrast change curve of 4 marks, referring to Fig. 3, in the mark of set-point a
Contrast change curve spike spike a represent, set-point b mark contrast change curve spike point
Peak b represents, represents in the spike spike c of the contrast change curve of the mark of set-point c, and the mark in set-point d
The spike spike d of the contrast change curve of thing represents.When from the close-by examples to those far off adjusting camera focus, right when 4 marks
The order occurring than the peak location of degree change curve is: spike c- spike d- spike a- spike b or spike b- spike a- point
During peak d- spike c, the level angle of industrial camera is biased into right side, that is, be partial to set-point b, d side；Conversely, peak location occurs
Order be: during peak d- spike c- spike b- spike a person spike a- spike b- spike c- spike d, the level angle of camera is inclined
To the left, that is, it is partial to set-point a, c side.Adjust the level angle of industrial camera so that line becomes one horizontal 2 sets
The peak location of the contrast change curve of 2 marks at putting is identical, and the position that is, spike a with b occurs is identical, and point
The position that peak c with d occurs is identical.After regulating the level angle of industrial camera, fix this industrial camera.
In addition, in three-dimensional detection application, when arranging 4 marks, adjust the focal length of this industrial camera so that this 4
The contrast of individual mark all reaches more than the 1/2 of kurtosis, to ensure in the whole detection zone that four marks surround
Image all has higher acutance.
The technical scheme is that by the use of the image of camera shooting as feedback, adjust mechanical location and the focal length of camera
So that image quality reaches optimum it is ensured that the focus effects in whole detection zone preferably, are not considering lens edge effect
On the premise of, the level of sharpness of image both sides is identical with central area.Which solves camera target surface not strict with visual field plane
Parallel technical problem, so that system possesses the ability all having detection tiny defect in whole visual field.
Claims (8)
1. a kind of method adjusting industrial camera level angle, comprising:
A) install industrial camera in fixed position；
B) 2 or 4 marks are set on detection zone is towards the plane of industrial camera；
C) adjust industrial camera parameter, to each mark from the close-by examples to those far off and uniform speed slow focus, and simultaneously collection many
The image of this mark of width；
D) multiple image of each mark of collection is calculated with the contrast of each image, draws out contrast change curve；
E) peak location of the contrast change curve according to each mark adjusts the level angle of industrial camera so that connecting
The peak location that line becomes the contrast change curve of 2 marks at horizontal 2 set-points is identical.
2. method according to claim 1, wherein in step b), for plane monitoring-network, arranges 2 marks；For
Three-dimensional detection, then arrange 4 marks, the line of 4 set-points is a rectangle.
3. method according to claim 1, wherein said mark is thin stripe type mark.
4. the method according to one of claim 1-3, wherein said mark is the markings of shades of colour.
5. method according to claim 4, wherein said markings are black designation line.
6. method according to claim 5, wherein calculates the contrast of this black designation line image using equation below
Degree:
C=(g (p+3)+g (p-3))/2-g (p)
Wherein p is the pixel coordinate perpendicular to black designation line direction, and g (p) is the gray scale in p position for the image, and c is contrast.
7. method according to claim 1, wherein in step e), when arranging 2 marks, when from the close-by examples to those far off adjusting
During camera focus, the point of the spike a of the contrast change curve of the left end marker thing contrast change curve than right end marker thing
When peak b first occurs, the level angle of this industrial camera is biased into left side；Conversely, the level angle of this industrial camera is biased into the right side
Side, adjust industrial camera level angle so that the contrast change curve of this 2 marks spike a and b occur position
Identical；Represent 4 set-points when arranging 4 marks with a, b, c and d, then in the contrast change of the mark of set-point a
The spike spike a of curve represents, represents, setting in the spike spike b of the contrast change curve of the mark of set-point b
The spike spike c putting the contrast change curve of the mark of point c represents, and the contrast change of the mark in set-point d
The spike spike d changing curve represents, when from the close-by examples to those far off adjusting camera focus, when the contrast change curve of 4 marks
Peak location occur order be: during spike c- spike d- spike a- spike b or spike b- spike a- spike d- spike c,
The level angle of industrial camera is biased into right side；Conversely, the order that peak location occurs is: peak d- spike c- spike b- spike a
During person spike a- spike b- spike c- spike d, the level angle of camera is biased into left side, adjusts the level angle of industrial camera,
It is identical with the position that spike b occurs to make spike a, and spike c is identical with the position that spike d occurs.
8. method according to claim 1, wherein when arrange 4 marks when, adjust industrial camera focal length so that
The contrast of this 4 marks all reaches more than the 1/2 of kurtosis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410132986.8A CN103945123B (en) | 2014-04-03 | 2014-04-03 | Method for adjusting level angle of industrial camera |
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| CN201410132986.8A CN103945123B (en) | 2014-04-03 | 2014-04-03 | Method for adjusting level angle of industrial camera |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018091807A (en) * | 2016-12-07 | 2018-06-14 | オルボテック リミテッド | Defective flaw determination method and device |
| CN108363508B (en) * | 2018-01-13 | 2021-03-23 | 江南大学 | Mark positioning non-contact visual detection method for mobile phone touch screen |
| CN109068051A (en) * | 2018-06-19 | 2018-12-21 | 江苏高远智能科技有限公司 | A kind of industrial camera self-adapting intelligent regulating device |
| CN109035326A (en) * | 2018-06-19 | 2018-12-18 | 北京理工大学 | High-precision location technique based on sub-pix image recognition |
| CN113418543B (en) * | 2019-01-16 | 2023-06-20 | 北京百度网讯科技有限公司 | Automatic driving sensor detection method and device, electronic equipment and storage medium |
| CN111338051B (en) * | 2020-04-08 | 2021-09-28 | 中导光电设备股份有限公司 | Automatic focusing method and system based on TFT liquid crystal panel |
| CN114071003B (en) * | 2020-08-06 | 2024-03-12 | 北京外号信息技术有限公司 | Shooting method and system based on optical communication device |
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| CN1645054A (en) * | 2005-01-13 | 2005-07-27 | 武汉大学 | Digital distorting model generating method for compensating image distortion of camera measurement |
| CN101271575A (en) * | 2008-04-09 | 2008-09-24 | 东华大学 | Orthogonal projection emendation method for image measurement in industry close range photography |
| CN203243423U (en) * | 2013-03-29 | 2013-10-16 | 北京惠融金通影像信息技术有限公司 | Multifunctional precise image acquisition device |
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|---|---|---|---|---|
| US5747788A (en) * | 1995-03-31 | 1998-05-05 | Nec Corporation | Solid state image sensor with reinforced fringe electric field at its charge transfer section |
| CN1238707A (en) * | 1996-10-28 | 1999-12-15 | 洛马林达大学医学中心 | Proton beam digital imaging system |
| CN1645054A (en) * | 2005-01-13 | 2005-07-27 | 武汉大学 | Digital distorting model generating method for compensating image distortion of camera measurement |
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| CN203243423U (en) * | 2013-03-29 | 2013-10-16 | 北京惠融金通影像信息技术有限公司 | Multifunctional precise image acquisition device |
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Effective date of registration: 20220819 Address after: No.1088, yinzhushan Road, Huangdao District, Qingdao City, Shandong Province 266000 Patentee after: QINGDAO SHUANGQING INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 3rd Floor, Building 1, Huizhong Building, No. 1 Shangdi 7th Street, Haidian District, Beijing 100085 Patentee before: BEIJING DAHENG IMAGE VISION Co.,Ltd. |