CN106461375A - Method and device for determining the position and/or orientation of at least one plug contact - Google Patents
Method and device for determining the position and/or orientation of at least one plug contact Download PDFInfo
- Publication number
- CN106461375A CN106461375A CN201580016252.6A CN201580016252A CN106461375A CN 106461375 A CN106461375 A CN 106461375A CN 201580016252 A CN201580016252 A CN 201580016252A CN 106461375 A CN106461375 A CN 106461375A
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- China
- Prior art keywords
- plug contact
- contact portion
- row
- scanning camera
- row scanning
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to a method for determining the position and/or orientation of at least one plug contact using a line scan camera, which images the plug contact and is arranged in the longitudinal orientation of the plug contact, and using a lighting device which is arranged to the side of the longitudinal orientation of the plug contact, wherein the line scan camera is moved relative to the plug contact or the plug contact is moved relative to the line scan camera. In this case, in order to determine the position and/or orientation of the plug contact, provision is made for at least two recordings of the plug contact which are made in succession with different lighting directions to be evaluated. The invention further relates to a device for carrying out said method. The method and the device make it possible to reliably optically detect a defective plug contact of a plug connector.
Description
Technical field
The present invention relates to one kind is used for utilizing row scanning camera（Zeilenkamera）And using illuminator really
At least one plug contact portion fixed（Steckkontakt）Position and/or orientation method, described row scanning camera to insert
Plug contact site carries out being imaged, is disposed in the machine-direction oriented of plug contact portion（Laengsausrichtung）In, described illumination dress
Put the machine-direction oriented side being disposed in plug contact portion, wherein said row scanning camera moves with respect to plug contact portion
Or described plug contact portion moves with respect to row scanning camera.
Moreover, it relates to a kind of be used for determining at least one using row scanning camera and using illuminator
The position in individual plug contact portion and/or the equipment with control unit of orientation, described row scanning camera is to plug contact portion
Carry out being imaged, be disposed in plug contact portion machine-direction oriented in, described illuminator is disposed in the longitudinal direction in plug contact portion
The side of orientation, wherein said row scanning camera is moveable or described plug contact portion phase with respect to plug contact portion
It is moveable for row scanning camera.
Background technology
In order to manufacture plug when carry out quality monitoring it is known that：According to perspective by means of being disposed in connector
Planar pickup machine on the direction of the longitudinal extension of contact site or row scanning camera to check plug contact optically
Portion.Here, the outline in plug contact portion and desired assigned position（Sollposition）Deviation be monitored.For example exist
Deviation is obtained in the case of the plug contact portion of bending.The plug contact portion of this bending may lead to no longer to guarantee affiliated
Plugability in socket.
During being monitored optically, plug contact portion is by the lighting device lighting being disposed in side.
Plug contact portion is as slightly terminating respectively with elongated the metallic pin being carried out in contact tip.Contact tip
Geometry is inessential and hence without being strictly defined or be prescribed tolerance for the function in plug contact portion.By cutting
Point shapes（Spitzenformen）Operation, the such as instrument due to being worn is likely to occur：Contact tip is not arranged in
The center in plug contact portion.However, only can be seen that the reflection on contact tip in contact tip viewed from above.In deviation
In the case of the contact tip that heart is arranged, this leads to：The position in plug contact portion is inaccurately determined.Thus may send out
Raw：Intact plug contact portion is identified as damage, and plug is picked.Just the same likely：The connector of bending
Contact site is considered intact due to the reflection on eccentric contact tip, and plug quilt originally to be picked whereby
It is evaluated as normal.Therefore, define have after claim being mixed into of risk（Schlupf an）The plug damaging.
Content of the invention
Thus, the task of the present invention is：A kind of position for determining at least one plug contact portion optically is provided
The method put and/or orient, methods described makes it possible to independently check this plug contact with the contact tip in plug contact portion
Portion.
Additionally, the task of the present invention is still：There is provided a kind of corresponding for execution according to the method for the present invention equipment.
The task of the method for the present invention to solve in the following way：In order to determine plug contact portion position and/
Or orientation, at least two photographies one after the other carrying out in the case of different illumination directions to plug contact portion
（Aufnahme）It is analyzed.For this reason, in the case of the photography recurred, sequentially from two or more direction pair
Plug contact portion illuminates.Contact tip in the case of different illumination directions, outside the center longitudinal axis in plug contact portion
Result in the different expression form of constructed reflection（Auspraegung）.Thus, it is possible to the eccentric contact tip of identification and
Determine position and the orientation of the reality in plug contact portion.In order to execute the method, at least two, preferably four illuminations are set
Direction.In the case of the layout with two illumination directions, can arrange to plug contact portion for each illumination direction
The illumination of side or the illumination carrying out from two opposed sides.
In the row scanning camera using single file, this row scanning camera or this plug contact portion are at two in difference
Illumination direction in the case of continue to extend a picture position between the photography that carries out.Accordingly, for each illumination direction
All define the image with the position easily staggered between images.In order to avoid this point, can arrange：Using having N
The row scanning camera of the multirow of row, and from N number of different illumination direction, plug contact portion is illuminated.Here, N represent whole
Count, preferably represent the row scanning camera of two row accordingly with two or four illumination directions or four row.Can
To be sorted out according to illumination direction（zuruecksortieren）The photography of described row is so that respectively in the feelings of different illumination directions
Form N number of place identical image under condition.
According to another enforcement flexible program of the present invention, can arrange：Row scanning using the multirow with M × N row is taken the photograph
Camera, wherein M are greater than 1 integer；And from N number of different illumination direction, plug contact portion is illuminated.Therefore, for each
Illumination direction, two row being utilized respectively the row scanning camera of multirow shoot each picture position with staggering in time.So,
For example can be in four illumination directions（N=4）In the case of the row scanning camera of eight row is set（M=2）.Then, described in analyzing
The summation of two images being taken in the case of identical illumination direction.Thus, dynamic has been enhanced 2 times（Aperture etc.
Level）.
When exist in set illumination direction for each place being taken in plug contact portion
Under photography, can arrange：Row scanning camera and plug contact portion are moved relative to each other so that respectively in N number of illumination direction
In another illumination direction in the case of using often going shooting the ground in plug contact portion in the N row of row scanning camera
Point.Here, in the spacing between the row of row scanning camera and the relative shifting between row scanning camera and plug contact portion
Move and will be chosen to：In the case of identical illumination direction, the continuous row not by row scanning camera to be clapped
Take the photograph the place in plug contact portion, but all there is at least one photography for all of illumination direction.
Especially when using colored row scanning camera, can realize in the following way in different illumination directions
In the case of photography to complete difference：It is illuminated from different illumination directions using at least two different colors.
Here, photographing respectively for the sensitive colour element of one of different color to carry out by using colored row scanning camera
Direction encoding（Richtungskodierung）.As such, it is possible to advantageously enter from different directions when identical illuminates simultaneously
Row photography.
Additionally, described analysis can simplify in the following way：In order to determine position and/or the orientation in plug contact portion,
Respectively the image for each lighting position is formed according to single photography.Here, an image includes at least one connector and connects
Contact portion is so that contain the outline at least one plug contact portion described.
According to another enforcement flexible program of the present invention, can arrange：Different colors is respectively allocated to different
The photography to execute in the case of illumination direction.Here, illumination itself is from the different illumination side with identical illuminating color
Always carry out.Simplification to computer assisted analysis be can achieve by this use as pseudocolor signal passage, because
Once the algorithm being directed to the process of coloured image and analysis and being developed being not changed in or can have a case that small change
Under be used for process and analyze through direction encoding image.Generally, plug contact portion does not show in this plug contact portion
Seamed edge between reflection coefficient difference.Thus, in the case of not having direction encoding, these sides are indistinguishable.Example
As described seamed edge being processed as with colored seamed edge filter the pseudo color image through direction encoding.So can be reliably
The tip of detection contact plug.
The task of the relevant equipment of the present invention to solve in the following way：Illuminator is designed to from least two
Different illumination directions sequentially illuminates to plug contact portion：Control unit manipulates this illuminator so that in different illuminations
Carry out the photography recurred of row scanning camera in the case of direction；And control unit comprises for completing and analyzing
The program circuit of the data set being obtained using different illumination directions.Whereby, this equipment makes it possible to execute described method.
For this reason, can be advantageously provided：Row scanning camera is configured to have the row scanning camera of the multirow of N row,
And illuminator includes N number of lighting unit that can individually switch, described N number of lighting unit that can individually switch is from N number of
Illumination direction is aligned to plug contact portion.The lighting unit of illuminator can individually be switched on and be turned off.It is thereby possible to
Be：Each photography is illuminated to plug contact portion from a direction, and for ensuing photography, by accordingly
The lighting unit of manipulation illuminator is changing illumination direction.
To obtain the image in one or more plug contact portion, Ke Yishe in order in the case of different illumination directions
Put：The data distribution that described N row obtains in the case of different illumination directions is given by program circuit in a control unit
Each data set.Here, a data set corresponds to an image once completing from a direction in illumination.According to so
It is organized（aufbereitet）Data set, can clearly determine orientation and the position in plug contact portion.
Frame rate（Bildfolge）Very high in the row scanning camera being adopted.Can come in the following way enough
Fast ground converted illumination direction：Pulsating（gepulst）Light emitting diode is used as the light source of illuminator.This light emitting diode
（LED）Can be switched with the frequency of several kHz, even and if also reaching for photography in the case of very short turn-on time
Enough brightness.
Brief description
Below, the present invention is further explained according to embodiment shown in the accompanying drawings.
Fig. 1 show in a schematic for the position that determines plug contact portion using the row scanning camera of two row and/
Or the equipment of orientation,
Fig. 2 be show in a schematic the position for being determined plug contact portion using the row scanning camera of four row and/or determines
To equipment,
Fig. 3 show in a schematic each picture point in the primary importance of the row scanning camera of four row,
Fig. 4 shows the picture point that figure 3 illustrates in the second position of the row scanning camera of four row,
Fig. 5 shows the time serieses of the photography of each picture point according to Fig. 3 and Fig. 4 in a tabular form,
Fig. 6 shows the time serieses of the photography of row scanning camera of utilization eight row of each picture point in a tabular form,
Fig. 7 show in a schematic each in the primary importance of the row scanning camera of four row of the line space with increase
Picture point, and
Fig. 8 shows the time serieses of the photography of each picture point according to Fig. 7 in a tabular form.
Specific embodiment
Fig. 1 show in a schematic the position for determining plug contact portion 10 using the row scanning camera 30 of two row
And/or the equipment of orientation.
Plug contact portion 10 is that have entering of other plug contact portion multiple comparable and equally to be examined
The part of the plug that one step has been not shown.Plug contact portion 10 has contact tip 11 in upper end.
It is opposed to contact tip 11, there is the row scanning camera 30 of two row of the first row Z1 31 and the second row Z2 32
Plug contact portion 10 is aligned to according to perspective.Lighting unit 22 on the right of having and the illumination of lighting unit 23 below
Device 20 is disposed in the side in plug contact portion 10.It is alternatively possible to setting is opposed with the lighting unit 22 on the right, with void
The lighting unit 21 on the left side shown in line and have been not shown opposed with lighting unit 23 below before lighting unit.
Light emitting diode（LED）23.1 light sources being used as lighting unit 21,22,23.From lighting unit 21,22, the light of 23s
25.1st, 25.2,25.3 symbolically showed by corresponding arrow.Another arrow shows plug contact portion 10 with respect to two
The row scanning camera 30 of row and the direction of feed 13 with respect to illuminator 20.
This equipment is used for carrying out quality monitoring to plug contact portion 10.Here, the position in plug contact portion and orientation are supervised
Control.The plug contact portion of bending so can be chosen.
Shown structure is made it possible to the photography side of carrying out being completed using the row scanning camera 30 of two row in FIG
To coding.For this reason, sequentially from different illumination directions 60（As it is shown in Fig. 5,6 and 8）To plug contact
Portion 10 illuminates, and is wherein photographed in the case of each illumination direction 60.Two photography between, plug contact portion 10 according to
Direction of feed 13 is mobile with respect to the row scanning camera 30 of two row.
In the first camera positions, the place in plug contact portion 10 or picture point 50（It is as shown in Fig. 3-8
As going out）Field of view in the first row Z1 31 of the row scanning camera 30 of two row（Bildfeld）In.Here, utilizing
Field of view is indicating the following region in plug contact portion 10：Photocopy is carried out using photography in described region（ablichten）.For
Shoot, from previously given direction, for example shone according to the 3rd light 25.3 of the lighting unit 22s from the right
Bright.In the second camera positions, the field of view of the second row Z2 32 of the row scanning camera 30 in two row for the same picture point 50
In.For the photography being performed now, the direction of lighting unit 23 from behind to be illuminated according to the second light 25.2.?
This, directly can carry out the second photography after the first photography, but can also carry out between the first photography and the second photography
Other photographies.For example, if described two row 31,32 be separated by so broadly so that picture point 50 not two recur take the photograph
Between shadow through being expert at 31,32 the distance between two field of view, then carry out between the first photography and the second photography
Other photographies are meaningful.
Therefore, for each picture point being taken 50 in plug contact portion 10, all there are two in different illumination directions
Photography in the case of 60.Described photography can be classified into two with different illumination directions 60 of plug contact portion 10
Image.By the described photography in the case of different illumination directions 60 of analysis, can clearly determine plug contact portion 10
Outline and therefore clearly determine the orientation in this plug contact portion 10（Lage）Orientation with this plug contact portion 10.By mistake
The reflection led（As it occurs in the case of the contact tip 11 outside the center longitudinal axis in plug contact portion 10）Can lead to
Cross the photography in the case of described two illumination directions 60 to be identified and be accordingly considered.Because each picture point 50
It is taken when the row 31,32 being shot is directed at plug contact portion 10 in the same manner in the case of the illumination direction 60 of conversion,
So by using the row scanning camera 30 of two row, obtaining two in the case of no offseting and there are different illumination directions 60
Image.
As described, in order to be illuminated, can be alternately using lighting unit 22 and the photograph below on the right
Bright unit 23.Whereby, it is possible to obtain the photography in the case of visibly different illumination direction 60.Alternatively, it is possible to setting：
The lighting unit 22 on the right is switched together with the lighting unit 21 on the opposed left side, and lighting unit 23 below with not by
Illustrate opposed before lighting unit be switched together, which thereby enhance for described each photography brightness.Advantageously
It is illuminated by pulsating light emitting diode 23.1, described pulsating light emitting diode 23.1 can be with the frequency of several kHz
To switch.
When using monochrome camera advantageously, it is illuminated from different illumination directions 60 with identical color.This
Sample can compensate following error：Described error is obtained by the different color in plug or plug contact portion 10, for example, pass through
Corrode or there is the different coating of gold or nickel and obtain.
Fig. 2 show in a schematic the position for determining plug contact portion 10 using the row scanning camera 40 of four row
And/or the equipment of orientation.Here, this structure corresponds to shown in FIG structure, wherein identical labelling be used for identical
Component.There is deviation ground with Fig. 1, using having the first row Z1 41, the second row in enforcement flexible program shown in fig. 2
The row scanning camera 40 of four row of Z2 42, the third line Z3 43 and fourth line Z4 44, the row scanning camera 40 of described four row
Plug contact portion 10 is aligned to according to perspective.
In this set-up, can be by four row Z1 41 of the row scanning camera 40 of described four row, Z2 42, Z3 43, Z4
44 shoot the picture point 50 being disposed in plug contact portion 10 in the case of four different illumination directions 60.For this reason, every
From another lighting unit of described four lighting units 21,22,23,24, plug contact portion 10 is illuminated in the case of individual photography,
In each photography described, picture point 50 to be photographed be in row Z1 41, Z2 42, Z3 43, in the field of view of Z4 44.Cause
This, can obtain four images in plug contact portion 10 in the case of four different illumination directions 60.Thus, it is possible to avoid
Due on the contact tip 11 outside the center longitudinal axis in plug contact portion 10 in the outline in assessment plug contact portion 10
The error reflecting and causing.
As shown in fig 1 and 2, four illumination directions advantageously it have been uniformly set, such as row scan camera shooting
It is such that machine 30,40 has row 31,32,41,42,43,44.
Fig. 3 show in a schematic each picture point 50 in the primary importance of the row scanning camera 40 of four row.Here,
Described picture point 50 P1 51, P2 52, P3 53, P4 54, P5 55 and other picture point 50 having been not shown are disposed in connector
On contact site 10, and one after the other it is imaged by the row scanning camera 40 of described four row.For this reason, described picture point 50 is according to shown
Direction of feed 13 mobile with respect to the row scanning camera 40 of described four row.Between two photographies, described picture point 50 is covered
The stroke being characterized by arrow（Verfahrweg）12.1, described stroke 12.1 corresponds in two row Z1 41, Z2 42, Z3
43rd, the spacing between Z4 44.
In shown layout, the first row Z1 41 of the row scanning camera 40 in described four row for first picture point P1 51
Field of view in, and by described four row row scanning camera 40 the first row Z1 41 in the first illumination side being switched
To in the case of shooting.
After picture point 50 shown in figure 3 is offset by described stroke 12.1 between two photographies, Fig. 4 shows
Go out shown in figure 3 picture point 50 described in the second position of the row scanning camera 40 of described four row.Now,
One picture point P1 51 is in the field of view of the second row Z2 42 of the row scanning camera 40 of described four row, and the second picture point P2
52 in the field of view of the first row Z1 41.For the photography being performed in this position, shone from the second illumination direction
Bright.Therefore, for the first picture point P1 51, exist and there is being clapped with the first row Z1 41 of illumination from the first illumination direction
The first photography taken the photograph, and exist and have shot with the second row Z2 42 second of illumination from the second illumination direction and take the photograph
Shadow.Second picture point P2 52 is shot in the case of the second illumination direction by the first row Z1 41.
So, picture point 50 can one after the other in the case of four different illumination directions by the row scanning camera of four row
40 described four row Z1 41, Z2 42, Z3 43, Z4 44 shoot.And then, can be by described photography classification so that being directed to every
Individual illumination direction 60 all forms the image being made up of each picture point 50.
Fig. 5 shows the time serieses of the photography of each picture point 50 according to Fig. 3 and Fig. 4 in a tabular form.Here, at this
The described four row Z1 of the row scanning camera 40 of four shown in figures 3 and 4 row have been enumerated in the uppermost row of form
41、Z2 42、Z3 43、Z4 44.The first row of this form has been enumerated described four illumination directions 60 B1 61, B2 62,
B3 63、B4 64.
Each picture point 50 described with the time serieses of their photography be assigned to described row Z1 41, Z2 42, Z3 43,
Z4 44 and described illuminator 60.If the first picture point P1 51 is in the case of the first illumination direction B1 61 in the first row Z1
Field of view in, then formed first photography.This point is illustrated and with respect to described four in the second row of this form
The row scanning camera 40 of row corresponds to the position shown in figure 3 of picture point 50.If being gone in plug contact portion 10
Enter stroke 12.1 shown in figures 3 and 4, then carry out the second photography.Then, take the photograph with respect to the row scanning of described four row
There is the orientation shown in the diagram of picture point 50 in camera 40.Situation in the second illumination direction B2 62 being switched now
Under, the first row Z1 41 of the row scanning camera 40 of described four row shoots the second picture point P2 52, and the second row Z2 42 shoots the
One picture point P1 51.This point is illustrated in the third line of this form.The fourth line of this form show ensuing the 3rd
Photography in the case of illumination direction B3 63.In this case, the first picture point P1 51 is in the field of view of the third line Z3 43
In, the second picture point P2 52 is in the field of view area of the second row Z2 42, and the first picture point P1 51 is in the first row Z1 41
In field of view.In the fifth line of this form, the first picture point P1 51 has had arrived at the row scanning camera 40 of described four row
Fourth line Z4 44.Accordingly, in the field of view of the third line Z3 43, the 3rd picture point P3 53 exists the second picture point P2 52
In the field of view of the second row Z2 42, and the 4th picture point P4 is in the field of view of the first row Z1 41.For carry out now
, there is the 4th illumination direction B4 64 in photography.Therefore, light from this time, for the first picture point P1 51, exist in all four
Four photographies in the case of illumination direction B1 61, B2 62, B3 63, B4 64.In the 6th row of this form, the first picture point
The photographing region removal of the row scanning camera 40 from described four row for the P1 51.Second picture point P2 52 is in row scanning camera 40
Fourth line opposite.Accordingly, on the third line Z3 43 opposite, the second picture point P2 52 is in the second row Z2 42 for the 3rd picture point P3 53
Opposite, and the 5th picture point P5 55 is on the first row Z1 41 opposite.In this position, for described four row Z1 41, Z2 42, Z3
43rd, Z4 44 selects the first illumination direction B1 61 photography to make again.Accordingly, in the 7th row of this form, for
Picture point P3 53, P4 54, P5 55 and P6 are followed by described four row Z1 41, Z2 42, Z3 43, Z4 44 in the second illumination direction
Photography in the case of B2 62.Therefore, for each picture point 50 described, in the situation of the lighting series 70 being marked by arrow
Lower complete to photograph using all four illumination direction 60 B1 61, B2 62, B3 63, B4 64.So, for the first picture point
There is the first lighting series S1 71 in P1 51, there is the second lighting series P2 72 for the second picture point P2 52, and for the 3rd
There is the 3rd lighting series S3 73 in picture point P3 53.These single photographies are classified as so that for each illumination direction 60 root
To complete an image according to the photography of each picture point 50 described.
Fig. 6 shows the time sequence of the photography of row scanning camera of utilization eight row of each picture point 50 in a tabular form
Row.Here, the structure of this form corresponds to form shown in Figure 5.The photography that these are recurred, four illuminations
Direction 60 B1 61, B2 62, B3 63, B4 64 are for domination.
Until the 5th row of shown form, this flow process is corresponding to for flow process illustrated in fig. 5.In the 6th row, the
One picture point P1 51 is moved in the field of view of fifth line Z5 45 of the row scanning camera of described eight row.Here, carry out
Photography in the case of the first illumination direction B1 61.Therefore, for the first picture point P1 51, exist in the first illumination direction B1
Two photographies in the case of 61, one of them is shot using the first row Z1 41 of the row scanning camera of described eight row, and
The fifth line Z5 45 of the row scanning camera of described eight row of one utilization is shooting.And then, the first picture point P1 51 is one after the other
Through the image-region of the 6th row Z6 46 of the row scanning camera of described eight row, the 7th row Z7 47 and the 8th row Z8 48, its
In one after the other make in the case of the second illumination direction B2 62, the 3rd illumination direction B3 63 and the 4th illumination direction B4 64
Photography.Accordingly, other picture points 50 are followed.At the end of, for each picture point 50 exist two identical
Illumination direction in the case of photography.Described photography is classified into the data of the photography with identical illumination direction 60 again
Two photographies in the case of identical illumination direction 60 of group, wherein picture point 50 are aggregated.Thus, dynamic has been enhanced 2
Times, this corresponds to aperture grade.
The number of row of row scanning camera and the number of illumination direction 60 can arbitrarily be extended.For that purpose it is necessary to ensure：
The optical system of row scanning camera also allows on another place of imageing sensor to more than 50 imaging of same picture point.
Fig. 7 show in a schematic the row scanning camera 40 in four row for the plug contact portion 10 shown in fig 1 and 2
Primary importance in each picture point 50, the row scanning camera 40 of wherein said four row is with respect to shown in figures 3 and 4
Row scanning camera 40 has the line space of increase.
First picture point P1 51 is disposed in the field of view of the first row Z1 41 of the row scanning camera 40 of described four row
In.Here, carry out the first photography in the case of the first illumination direction B1 61.After the first subsequent stroke 12.1, second
Picture point P2 reach the first row Z1 41 field of view in and carry out the photography in the case of the second illumination direction B2 62.The
One picture point P1 and is not imaged between the first row Z1 41 and the second row Z2 42.After the second stroke 12.2, first
Picture point P1 51 and the second picture point P2 52 are between the first row Z1 41 and the second row Z2 42 and are not imaged.The 3rd
In the case of illumination direction B3 63, carry out the photography of the 3rd picture point P3 53 using the first row Z1 41.In third trip 12.3
Afterwards, before the first picture point P1 51 is disposed in the second row Z2 42, and before the 4th picture point P4 54 is in the first row Z1 41.
In this position, to carry out taking the photograph of the first picture point P1 51 and the 4th picture point P4 54 in the case of the 4th illumination direction B4 64
Shadow.
Fig. 8 shows the time serieses of the photography of each picture point 50 according to Fig. 7 in a tabular form.Here, this form with
Shown form is constructed in the same manner in Figure 5.
Firstly, for the first picture point P1 51, in the case of the first illumination direction B1 61, carry out using institute in the figure 7
The photography of the first row Z1 41 of the row scanning camera 40 of four row illustrating.Do not detect picture during back to back two photographies
Point P1 51.Then, in the case of the 4th illumination direction B4 64, carry out the imaging of the first picture point P1 51 using the second row Z2.
Accordingly, it is followed by interval：Utilize the third line Z3 43 to the first picture point in the case of the 3rd illumination direction B3 63
The photography of P1 51 and the photography utilizing fourth line Z4 44 in the case of the second illumination direction B2 62.Therefore, here also in institute
State to shoot each picture point 50 in the case of each illumination direction in four illumination directions 60.Then, can be by described photography
Sort out so that forming four images with described different illumination direction B1 61, B2 62, B3 63, B4 64.
Therefore, by properly select two photography between stroke 12.1,12.2,12.3 and properly select row
Spacing, it is possible to obtain have the image of different illumination directions 60, the described image with different illumination directions 60 makes it possible to
Enough positions reliably determining plug contact portion 10 and orientation.This way it is possible to avoid due to not in assessment position or orientation
Reflection on the contact tip 10 on the center longitudinal axis in plug contact portion 10 and the error that causes.
Simply computer assisted analysis can be realized by using pseudocolor signal passage.Here, utilizing identical
Illuminating color is carrying out the photography in the case of different illumination directions.Distinctive color was taken the photograph described in being respectively allocated to later
Shadow.Here, described photography itself can be carried out using monochrome camera.Color assignment is provided to different illumination directions 60
Following advantage：Once the algorithm being directed to the process of coloured image and analysis and being developed can in the case of being not changed in by with
In completing and analyze the image through direction encoding.Generally, plug contact portion 10 is not anti-between its different seamed edge
Penetrate coefficient difference.Thus, in the case of not having direction encoding, side is indistinguishable.Now, it is possible to use colored seamed edge
Described seamed edge is processed as the pseudo color image through direction encoding by filter, and can reliably detect plug contact portion 10
Tip.
Claims (11)
1. it is used for utilizing row scanning camera（30、40）With utilize illuminator（20）To determine at least one plug contact portion
（10）Position and/or orientation method, described row scanning camera（30、40）To described plug contact portion（10）Imaging, quilt
It is arranged in described plug contact portion（10）Machine-direction oriented in, described illuminator（20）It is disposed in described plug contact portion
（10）Machine-direction oriented side, wherein said row scanning camera（30、40）With respect to described plug contact portion（10）Mobile
Or described plug contact portion（10）With respect to described row scanning camera（30、40）Mobile it is characterised in that in order to determine
State plug contact portion（10）Position and/or orientation, described plug contact portion（10）At least two one after the other in different photographs
Bright direction（60）In the case of the photography that carries out analyzed.
2. method according to claim 1 has N row it is characterised in that using（31、32、41、42、43、44）Multirow
Row scanning camera（30、40）, and from N number of different illumination direction（60）To described plug contact portion（10）Illumination.
3. method according to claim 1 has M × N row it is characterised in that using（31、32、41、42、43、44）'s
The row scanning camera of multirow（30、40）, wherein M is greater than 1 integer；And insert to described from N number of different illumination direction
Plug contact site（10）Illumination.
4. according to the method in claim 2 or 3 it is characterised in that described row scanning camera（30、40）With described connector
Contact site（10）It is moved relative to each other so that respectively in N number of illumination direction（60）In another illumination direction in the case of utilize
Described row scanning camera（30、40）N row（31、32、41、42、43、44）In often go shooting in described plug contact portion
（10）On place.
5. the method according to one of Claims 1-4 is it is characterised in that using at least two different colors come never
Same illumination direction（60）It is illuminated.
6. the method according to one of claim 1 to 5 is it is characterised in that in order to determine described plug contact portion（10）'s
Position and/or orientation, form for each lighting position according to single photography respectively（60）Image.
7. the method according to one of claim 1 to 6 is it is characterised in that different colors is respectively allocated in difference
Illumination direction（60）In the case of execution photography.
8. it is used for utilizing row scanning camera（30、40）And utilize illuminator（20）To determine at least one plug contact portion
（10）Position and/or orientation equipment, it has control unit, described row scanning camera（30、40）Described connector is connect
Contact portion（10）It is imaged, be disposed in described plug contact portion（10）Machine-direction oriented in, described illuminator（20）It is disposed in
Described plug contact portion（10）Machine-direction oriented side, wherein said row scanning camera（30、40）With respect to described connector
Contact site（10）It is mobile or described plug contact portion（10）With respect to described row scanning camera（30、40）It is to move
Dynamic it is characterised in that described illuminator（20）It is designed to from least two different illumination directions（60）To described
Plug contact portion（10）Sequentially it is illuminated, described control unit manipulates described illuminator（20）So that in different photographs
Bright direction（60）In the case of carry out described row scanning camera（30、40）The photography recurred, and described control single
Unit comprises for completing and analyzing in different illumination directions（60）In the case of acquired data set program circuit.
9. equipment according to claim 8 is it is characterised in that described row scanning camera（30、40）It is configured to have N
OK（31、32、41、42、43、44）Multirow row scanning camera（30、40）, and described illuminator（20）Including N number of
The lighting unit that can individually switch（21、22、23）, described N number of lighting unit that can individually switch（21、22、23）From N number of
Illumination direction（60）It is aligned to described plug contact portion（10）.
10. equipment according to claim 8 or claim 9 is it is characterised in that the program circuit in described control unit will be described
N row（31、32、41、42、43、44）In different illumination directions（60）In the case of obtain data distribution give each number
According to group.
11. according to Claim 8 to the equipment described in one of 10 it is characterised in that pulsating light emitting diode（23.1）By with
Make described illuminator（20）Light source.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014205701.9 | 2014-03-27 | ||
| DE102014205701.9A DE102014205701A1 (en) | 2014-03-27 | 2014-03-27 | Method and device for determining the position and / or orientation of at least one plug-in contact |
| PCT/EP2015/055401 WO2015144470A1 (en) | 2014-03-27 | 2015-03-16 | Method and device for determining the position and/or orientation of at least one plug contact |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106461375A true CN106461375A (en) | 2017-02-22 |
| CN106461375B CN106461375B (en) | 2019-04-09 |
Family
ID=52692623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580016252.6A Expired - Fee Related CN106461375B (en) | 2014-03-27 | 2015-03-16 | The method and apparatus for determining the position and/or orientation of at least one plug contact portion |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN106461375B (en) |
| DE (1) | DE102014205701A1 (en) |
| WO (1) | WO2015144470A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113170611A (en) * | 2019-01-08 | 2021-07-23 | 株式会社富士 | Support pin state confirmation system for component mounting machine |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016219861A1 (en) * | 2016-10-12 | 2018-04-12 | Robert Bosch Gmbh | Device and method for the spatial detection of the surface of an object |
| AT521004B1 (en) * | 2017-11-30 | 2022-10-15 | Henn Gmbh & Co Kg | Procedure for positioning measuring points on a moving object |
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| WO2005052508A1 (en) * | 2003-10-30 | 2005-06-09 | Vision Tools Bildanalyse Systeme Gmbh | Measuring device and measuring method for pins, in particular plug pins |
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- 2015-03-16 CN CN201580016252.6A patent/CN106461375B/en not_active Expired - Fee Related
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| US6778282B1 (en) * | 1999-04-13 | 2004-08-17 | Icos Vision Systems N.V. | Measuring positions of coplanarity of contract elements of an electronic component with a flat illumination and two cameras |
| JP2004140161A (en) * | 2002-10-17 | 2004-05-13 | Hitachi High-Tech Instruments Co Ltd | Device and method for automatically confirming substrate backup pin erecting position of electronic part mounting device |
| JP2005283524A (en) * | 2004-03-31 | 2005-10-13 | Horon Kk | Test apparatus for connector pin position and connector with built-in reference electrode |
| CN1786689A (en) * | 2004-12-10 | 2006-06-14 | 国际商业机器公司 | Automated inspection system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113170611A (en) * | 2019-01-08 | 2021-07-23 | 株式会社富士 | Support pin state confirmation system for component mounting machine |
| CN113170611B (en) * | 2019-01-08 | 2022-11-04 | 株式会社富士 | Support pin state confirmation system for component mounting machine |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102014205701A1 (en) | 2015-10-01 |
| CN106461375B (en) | 2019-04-09 |
| WO2015144470A1 (en) | 2015-10-01 |
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