CN106461375B - The method and apparatus for determining the position and/or orientation of at least one plug contact portion - Google Patents
The method and apparatus for determining the position and/or orientation of at least one plug contact portion Download PDFInfo
- Publication number
- CN106461375B CN106461375B CN201580016252.6A CN201580016252A CN106461375B CN 106461375 B CN106461375 B CN 106461375B CN 201580016252 A CN201580016252 A CN 201580016252A CN 106461375 B CN106461375 B CN 106461375B
- Authority
- CN
- China
- Prior art keywords
- contact portion
- plug contact
- row
- scanning camera
- row scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
Landscapes
- 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 present invention relates to a kind of methods for determining the position and/or orientation of at least one plug contact portion using row scanning camera and using lighting device, plug contact portion is imaged in the row scanning camera, be disposed in plug contact portion it is machine-direction oriented in, the lighting device is disposed in the machine-direction oriented side of plug contact portion, wherein the row scanning camera is mobile relative to row scanning camera relative to the movement of plug contact portion or the plug contact portion.Here, being provided with the position in order to determine plug contact portion and/or orientation, at least two photographies successively carried out in the case where different illumination directions of the plug contact portion are analyzed.Moreover, it relates to a kind of apparatus for carrying out the process.The method and the equipment make it possible to reliably identify the plug contact portion of the damage of plug optically.
Description
Technical field
The present invention relates to one kind for utilizing row scanning camera (Zeilenkamera) and using lighting device come really
The method of the position and/or orientation of at least one fixed plug contact portion (Steckkontakt), the row scanning camera is to slotting
Plug contact portion is imaged, is disposed in machine-direction oriented (Laengsausrichtung) of plug contact portion, the illumination dress
The machine-direction oriented side for being disposed in plug contact portion is set, wherein the row scanning camera is mobile relative to plug contact portion
Or the plug contact portion is mobile relative to row scanning camera.
Moreover, it relates to a kind of for determining at least one using row scanning camera and using lighting device
The position of a plug contact portion and/or the equipment with control unit of orientation, the row scanning camera is to plug contact portion
Be imaged, be disposed in plug contact portion it is machine-direction oriented in, the lighting device is disposed in the longitudinal direction of plug contact portion
The side of orientation, wherein the row scanning camera is moveable relative to plug contact portion or the plug contact portion phase
Row scanning camera is moveable.
Background technique
In order to carry out quality monitoring when manufacturing plug, it is known that: according to perspective by means of being disposed in plug
Planar pickup machine or row scanning camera on the direction of contact portion longitudinally extended examine plug to contact optically
Portion.Here, the deviation of the outer profile of plug contact portion and desired specified position (Sollposition) are monitored.Such as
Deviation is obtained in the case where curved plug contact portion.This curved plug contact portion may cause no longer ensure it is affiliated
Plugability in socket.
During be monitored optically, plug contact portion is by being disposed in the lighting device lighting of side.
Plug contact portion in contact tip as slightly terminating with the metallic pin being carried out elongatedly respectively.Contact tip
Geometry is inessential for the function of plug contact portion and thus is not strictly defined or is prescribed tolerance.By cutting
The process of point forming (Spitzenformen), such as the tool due to being worn is it may occur that contact tip is not arranged in
The center of plug contact portion.However, the reflection on contact tip only can be seen in contact tip viewed from above.In deviation
In the case where the contact tip that heart is arranged, this causes: the position of plug contact portion is inaccurately determined.It thus may hair
Raw: intact plug contact portion is identified as damage, and plug is picked.It is just the same it is likely that curved plug
Contact portion is considered as intact due to the reflection on eccentric contact tip, and the script plug quilt to be picked whereby
It is evaluated as normal.Therefore, the plug for being mixed into (Schlupf an) damage with the risk claimed damages later is formd.
Summary of the invention
Thus, the task of the present invention is: it provides a kind of for determining the position of at least one plug contact portion optically
The method set and/or oriented, the method make it possible to independently examine the plug to contact with the contact tip of plug contact portion
Portion.
In addition, task of the invention is still: providing a kind of corresponding equipment for executing the method according to the invention.
The task of method of the invention solves in the following way: in order to determine plug contact portion position and/
Or orientation, at least two photographies successively carried out in the case where different illumination directions to plug contact portion
(Aufnahme) it is analyzed.For this purpose, in the case where the photography recurred, sequentially from two or more direction pair
The illumination of plug contact portion.Contact tip in the case where different illumination directions, except the center longitudinal axis of plug contact portion
Result in the different expression form (Auspraegung) of constructed reflection.Thus, it is possible to identify eccentric contact tip and
Determine actual position and the orientation of plug contact portion.In order to execute this method, at least two, preferably four illuminations are set
Direction.It is settable for each illumination direction to plug contact portion in tool there are two in the case where the layout of illumination direction
The illumination of side or the illumination carried out from two opposed sides.
When using the row scanning camera of uniline, the row scanning camera or the plug contact portion are at two in difference
Illumination direction in the case where continue to extend a picture position between the photography that carries out.Accordingly, for each illumination direction
All form the image with the position for being easy to be staggered between images.It in order to avoid this point, can be set: using with N
The row scanning camera of capable multirow, and plug contact portion is illuminated from N number of different illumination direction.Here, N represent it is whole
Number, preferably represent correspondingly have there are two or four illumination directions two rows or four rows row scanning camera.It can
To sort out the photography of (zuruecksortieren) row according to illumination direction, so that respectively in the feelings of different illumination directions
The identical image in N number of place is formed under condition.
Another implementation modification according to the invention, can be set: be taken the photograph using the row scanning of the multirow with M × N row
Camera, wherein M is greater than 1 integer；And plug contact portion is illuminated from N number of different illumination direction.Therefore, for each
Illumination direction, two rows for being utilized respectively the row scanning camera of multirow shoot each picture position with being staggered in time.In this way,
Such as the row scanning camera (M=2) of eight rows can be set in the case where four illumination direction (N=4).Then, described in analysis
The summation of two images being taken in the case where identical illumination direction.Dynamic has been enhanced 2 times of (apertures etc. as a result,
Grade).
In order to exist the set illumination direction the case where for the place being taken each of on plug contact portion
Under photography, can be set: 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 where using every row in the N row of row scanning camera shoot the ground on plug contact portion
Point.Here, the spacing between the row of row scanning camera and the opposite shifting between row scanning camera and plug contact portion
It is dynamic to be chosen to: in the case where identical illumination direction, to be clapped by the continuous row of row scanning camera
The place on plug contact portion is taken the photograph, but all there is at least one photography for all illumination directions.
Especially when using colored row scanning camera, it can realize in the following way in different illumination directions
The case where get off completion photography difference: illuminated using at least two different colors from different illumination directions.
Here, by being carried out using colored row scanning camera respectively for the colour element photography of one of different color sensitivity
Direction encoding (Richtungskodierung).In this way, it can be advantageous in identical illumination from different directions simultaneously into
Row photography.
In addition, the analysis can simplify in the following way: position and/or orientation in order to determine plug contact portion,
The image for each lighting position is formed according to single photography respectively.Here, an image includes that at least one plug connects
Contact portion, so that the outer profile containing at least one plug contact portion.
Another implementation modification according to the invention, can be set: different colors are respectively allocated to different
Photography is performed in the case where illumination direction.Here, illumination is in itself from the different illumination sides of illuminating color having the same
Always it carries out.The simplification to computer assisted analysis can be achieved by this use as pseudocolor signal channel, because
Once the algorithm being developed for the processing of color image and analysis can change or have the case where small variation no
Under be used for the treatment of and analyze image by direction encoding.In general, plug contact portion is not shown in the plug contact portion
Seamed edge between reflection coefficient difference.Thus, in the case where no direction encoding, these sides are indistinguishable.Example
It can be such as pseudo color image by direction encoding by seamed edge processing with colored seamed edge filter.It in this way can be reliably
Detect the tip of contact plug.
The task of related equipment of the invention solves in the following way: lighting device is designed to from least two
Different illumination directions sequentially illuminates plug contact portion: control unit manipulates the lighting device, so that in different illuminations
The photography of row scanning camera recurred is carried out in the case where direction；And control unit includes for completing and analyzing
Utilize the program circuit for the data group that different illumination directions obtains.Whereby, which makes it possible to execute described method.
For this purpose, can be advantageously provided: row scanning camera is configured to have the row scanning camera of the multirow of N row,
And lighting device includes N number of lighting unit that can individually switch, and 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 lighting device individually can be switched on and be turned off.It is thereby possible to
: each photography illuminates plug contact portion from a direction, and for next photography, by correspondingly
The lighting unit of lighting device is manipulated to change illumination direction.
In order to obtain the image of one or more plug contact portion, Ke Yishe under the different illumination directions the case where
Set: program circuit in a control unit distributes to the data of the N row obtained in the case where different illumination directions
Each data group.Here, a data group corresponds to the image once completed in illumination from a direction.According in this way
It is organized the data group of (aufbereitet), can clearly determine orientation and the position of plug contact portion.
Frame rate (Bildfolge) is very high in used row scanning camera.It can come in the following way enough
Fast ground converted illumination direction: pulsating (gepulst) light emitting diode is used as the light source of lighting device.This light emitting diode
(LED) can be with the frequency of several kHz to switch, and reach in the case where very short turn-on time for photography
Enough brightness.
Detailed description of the invention
Below, the present invention is further explained according to embodiment shown in the accompanying drawings.
Fig. 1 show in a schematic form for the row scanning camera using two rows determine plug contact portion position and/
Or the equipment of orientation,
Fig. 2 show in a schematic form for the row scanning camera using four rows determine plug contact portion position and/
Or the equipment of orientation,
Fig. 3 shows in a schematic form each picture point in the first position of the row scanning camera of four rows,
Fig. 4 shows the picture point being shown in FIG. 3 in the second position of the row scanning camera of four rows,
Fig. 5 shows the time series of the photography of each picture point according to Fig. 3 and Fig. 4 in a tabular form,
Fig. 6 shows the time series of the photography of the row scanning camera of eight rows of utilization of each picture point in a tabular form,
Fig. 7 is shown in a schematic form in the first position of the row scanning camera of four rows with the line space increased
Each picture point, and
Fig. 8 shows the time series of the photography of each picture point according to Fig. 7 in a tabular form.
Specific embodiment
Fig. 1 shows in a schematic form the position for determining plug contact portion 10 using the row scanning camera 30 of two rows
And/or the equipment of orientation.
Plug contact portion 10 be have multiple comparable and same other plug contact portions to be examined into
The part for 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, the row scanning camera 30 of two rows with the first row Z1 31 and the second row Z2 32
Plug contact portion 10 is aligned to according to perspective.The illumination of lighting unit 22 and subsequent lighting unit 23 with the right
Device 20 is disposed in the side of plug contact portion 10.It is alternatively possible to be arranged it 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, it is opposed with subsequent lighting unit 23 before lighting unit.
Light emitting diode (LED) 23.1 is used as the light source of lighting unit 21,22,23.From lighting unit 21,22, the light of 23s
25.1, it 25.2,25.3 is symbolically showed by corresponding arrow.Another arrow shows plug contact portion 10 relative to two
Capable row scanning camera 30 and the direction of feed 13 relative to lighting device 20.
The equipment is used to carry out quality monitoring to plug contact portion 10.Here, the position of plug contact portion and orientation are supervised
Control.Curved plug contact portion can be chosen in this way.
Structure out shown in Fig. 1 makes it possible to the photography progress side to the completion of row scanning camera 30 using two rows
To coding.For this purpose, sequentially from different illumination direction 60(as it is illustrated in Fig. 5,6 and 8) plug is contacted
Portion 10 illuminates, wherein photographing in the case where each illumination direction 60.Two photography between, plug contact portion 10 according to
Direction of feed 13 is mobile relative to the row scanning camera 30 of two rows.
In the first camera positions, the place or picture point 50(on plug contact portion 10 are it is as shown in Fig. 3-8
As out) in the field of view (Bildfeld) of the first row Z1 31 of the row scanning camera 30 of two rows.Here, utilizing
Field of view indicates the following region on plug contact portion 10: the region is using photography come photocopy (ablichten).For
Shooting from previously given direction, is for example shone according to the third light 25.3 of the lighting unit 22s from the right
It is bright.In the second camera positions, field of view of the same picture point 50 in the second row Z2 32 of the row scanning camera 30 of two rows
In.For the photography being performed now, illuminated from the direction of subsequent lighting unit 23 according to the second light 25.2.?
This, the second photography can be directly carried out after the first photography, however can also be carried out between the first photography and the second photography
Others photography.For example, so broadly coming if two row 31,32 is separated by so that the taking the photograph of not recurred at two of picture point 50
Between shadow through being expert at 31,32 the distance between two field of view, then first photography second photography between carry out
Others photography is meaningful.
Therefore, the picture point 50 being taken for each of plug contact portion 10 all has two in different illumination directions
Photography in the case where 60.The photography can be classified into two with different illumination directions 60 of plug contact portion 10
Image.By analyzing photography in the case where different illumination direction 60, plug contact portion 10 can be clearly determined
Outer profile and therefore clearly determine the plug contact portion 10 orientation (Lage) and the plug contact portion 10 orientation.Accidentally
The reflection (as it occurs in the case where contact tip 11 except the center longitudinal axis of plug contact portion 10) led can lead to
Photography in the case where described two illumination direction 60 is crossed to be identified and be correspondingly considered.Because of each picture point 50
It is taken in the case where illumination direction 60 of transformation when the row 31,32 shot is directed at plug contact portion 10 in the same manner,
So obtaining two in the case where no offset has different illumination directions 60 by using the row scanning camera 30 of two rows
Image.
As described, in order to be illuminated, lighting unit 22 and subsequent photograph that can alternately on the right of use
Bright unit 23.Whereby, photography in the case where visibly different illumination direction 60 can be obtained.Alternatively, it is possible to be arranged:
The lighting unit 22 on the right is switched together with the lighting unit 21 on the opposed left side, and subsequent lighting unit 23 with not by
Show it is opposed before lighting unit be switched together, which thereby enhance the brightness for each photography.Advantageously
It is illuminated by pulsating light emitting diode 23.1, the pulsating light emitting diode 23.1 can be with the frequency of several kHz
To switch.
Advantageously, being illuminated with identical color from different illumination directions 60 when using monochrome camera.This
Sample can compensate following error: the error is obtained by the different colors of plug or plug contact portion 10, such as is passed through
Corrosion is obtained with golden or nickel different coating.
Fig. 2 shows in a schematic form the position for determining plug contact portion 10 using the row scanning camera 40 of four rows
And/or the equipment of orientation.Here, the structure correspond to it is shown in Fig. 1 go out structure, wherein it is identical label be used for it is identical
Component.And Fig. 1 is with having deviation, using with the first row Z1 41, the second row in the implementation modification shown in Fig. 2
The row scanning camera 40 of four rows of Z2 42, the third line Z3 43 and fourth line Z4 44, the row scanning camera 40 of four row
Plug contact portion 10 is aligned to according to perspective.
It in this set-up, can be by four row Z1 41, Z2 42, the Z3 43, Z4 of the row scanning camera 40 of four row
44 shoot the picture point 50 being disposed on plug contact portion 10 in the case where four different illumination direction 60.For this purpose, every
Plug contact portion 10 is illuminated from another lighting unit of four lighting units 21,22,23,24 in the case where a photography,
In each photography, the picture point 50 to be photographed is in the field of view of row Z1 41, Z2 42, Z3 43, Z4 44.Cause
This, can obtain four images of plug contact portion 10 in the case where four different illumination direction 60.Thus, it is possible to avoid
Due on the contact tip 11 except the center longitudinal axis of plug contact portion 10 in the outer profile of assessment plug contact portion 10
Error caused by reflection.
As shown by fig 1 and 2, four illumination directions are advantageously uniformly set, such as row scan camera shooting
Machine 30,40 has row 31,32,41,42,43,44 such.
Fig. 3 shows in a schematic form each picture point 50 in the first position of the row scanning camera 40 of four rows.Here,
50 P1 51 of picture point, P2 52, P3 53, P4 54, P5 55 and other picture points 50 having been not shown are disposed in plug
On contact portion 10, and successively it is imaged by the row scanning camera 40 of four row.For this purpose, the picture point 50 is according to shown
Direction of feed 13 it is mobile relative to the row scanning camera 40 of four row.Between two photographies, the picture point 50 is covered
The stroke (Verfahrweg) 12.1 characterized by arrow, the stroke 12.1 correspond in two row Z1 41, Z2 42, Z3
43, the spacing between Z4 44.
In shown layout, the first row Z1 41 of the first picture point P1 51 in the row scanning camera 40 of four row
Field of view in, and the illumination side being switched by the first row Z1 41 of the row scanning camera 40 of four row first
To the case where get off shooting.
After the picture point 50 gone out shown in fig. 3 is offset by the stroke 12.1 between two photographies, Fig. 4 shows
The picture point 50 gone out shown in fig. 3 described in having gone out in the second position in the row scanning camera 40 of 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 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
It is bright.Therefore, for the first picture point P1 51, there is being clapped with the first row Z1 41 with the illumination from the first illumination direction
The first photography taken the photograph, and existing, there is second shot with the second row Z2 42 of the illumination from the second illumination direction to take the photograph
Shadow.Second picture point P2 52 is shot in the case where the second illumination direction by the first row Z1 41.
In this way, picture point 50 can be successively in the case where four different illumination directions by the row scanning camera of four rows
The 40 four rows Z1 41, Z2 42, Z3 43, Z4 44 are shot.And then, the photography can be classified, so that for every
A illumination direction 60 all forms the image being made of each picture point 50.
Fig. 5 shows the time series of the photography of each picture point 50 according to Fig. 3 and Fig. 4 in a tabular form.Here, at this
The four rows Z1 of the row scanning camera 40 of four shown in figures 3 and 4 rows has been enumerated in the uppermost row of table
41,Z2 42,Z3 43,Z4 44.Enumerated in the first row of the table four illumination directions, 60 B1 61, B2 62,
B3 63、B4 64。
Each picture point 50 with the time series of their photography be assigned to the row Z1 41, Z2 42, Z3 43,
Z4 44 and the lighting device 60.If the first picture point P1 51 is in the case where the first illumination direction B1 61 in the first row Z1
Field of view in, then formed first photography.This point is shown in the second row of the table and relative to described four
Capable row scanning camera 40 corresponds to the position of picture point 50 gone out shown in fig. 3.If plug contact portion 10 is gone
Into stroke 12.1 shown in figures 3 and 4, then carrying out the second photography.Then, it is taken the photograph relative to the row scanning of four row
There are the orientations shown in Fig. 4 of picture point 50 for camera 40.The second illumination direction B2 62 being switched now the case where
Under, the first row Z1 41 of the row scanning camera 40 of four row shoots the second picture point P2 52, and the second row Z2 42 shooting the
One picture point P1 51.This point is shown in the third line of the table.The fourth line of the table shows next in third
Photography in the case where illumination direction B3 63.In this case, field of view of the first picture point P1 51 in 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 the first row Z1's 41
In field of view.In the fifth line of the table, the first picture point P1 51 has had arrived at the row scanning camera 40 of four row
Fourth line Z4 44.Correspondingly, in the field of view of the third line Z3 43, third picture point P3's the second picture point P2 52 53 exists
In the field of view of second row Z2 42, and the 4th picture point P4 is in the field of view of the first row Z1 41.For what is carried out now
Photography, there are the 4th illumination direction B4 64.Therefore, it lights from the time, for the first picture point P1 51, exists at all four
Four photographies in the case where illumination direction B1 61, B2 62, B3 63, B4 64.In the 6th row of the table, the first picture point
P1 51 is removed from the photographing region of the row scanning camera 40 of four row.Second picture point P2 52 is in row scanning camera 40
Fourth line opposite.Correspondingly, third picture point P3 53 is on 43 opposite the third line Z3, and the second picture point P2 52 is in the second row Z2 42
Opposite, and the 5th picture point P5 55 is on 41 opposite the first row Z1.In this position, for the four rows Z1 41, Z2 42, Z3
43, Z4 44 selects the first illumination direction B1 61 come the photography made again.Correspondingly, in the 7th row of the table, for
Picture point P3 53, P4 54, P5 55 and P6 are followed by the four rows Z1 41, Z2 42, Z3 43, Z4 44 in the second illumination direction
Photography in the case where B2 62.Therefore, for each picture point 50, lighting series 70 marked by arrow the case where
It is lower to complete to photograph using 60 B1 61 of all four illumination directions, B2 62, B3 63, B4 64.In this way, for the first picture point
There are the first lighting series S1 71 by P1 51, and for the second picture point P2 52, there are the second lighting series P2 72, and for third
There are third lighting series S3 73 by picture point P3 53.These single photographies are classified as so that for each 60 root of illumination direction
An image is completed according to the photography of each picture point 50.
Fig. 6 shows the time sequence of the photography of the row scanning camera of eight rows of utilization of each picture point 50 in a tabular form
Column.Here, the structure of the table corresponds to table out shown in fig. 5.For the photography that these are recurred, four illuminations
60 B1 61 of direction, B2 62, B3 63, B4 64 are for dominating.
Until the 5th row of shown table, which corresponds to for process illustrated in fig. 5.In the 6th row, the
One picture point P1 51 is moved in the field of view of the fifth line Z5 45 of the row scanning camera of eight row.Here, it carries out
Photography in the case where 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 where 61, it is one of to be shot using the first row Z1 41 of the row scanning camera of eight row, and
The fifth line Z5 45 of one row scanning camera using eight row is shot.And then, the first picture point P1 51 is successively
By the image-region of the 6th row Z6 46 of the row scanning camera of eight row, the 7th row Z7 47 and the 8th row Z8 48,
In successively make in the case where the second illumination direction B2 62, third illumination direction B3 63 and the 4th illumination direction B4 64
Photography.Correspondingly, other picture points 50 follow.At the end, for each picture point 50 there are two identical
Illumination direction in the case where photography.The photography is classified into the data of the photography of illumination direction 60 having the same again
Group, wherein two photographies of the picture point 50 in the case where identical illumination direction 60 are aggregated.Dynamic has been enhanced 2 as a result,
Times, this corresponds to aperture grade.
The number of the row of row scanning camera and the number of illumination direction 60 can arbitrarily be extended.For that purpose it is necessary to guarantee:
The optical system of row scanning camera also allows for being imaged same picture point more than 50 times on another place of imaging sensor.
Fig. 7 shows in a schematic form plug contact portion 10 shown in fig 1 and 2 in the row scanning camera 40 of four rows
First position in each picture point 50, wherein the row scanning camera 40 of four row is relative to shown in figures 3 and 4
Row scanning camera 40 has the line space increased.
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 four row
In.Here, the first photography is carried out in the case where the first illumination direction B1 61.After subsequent first stroke 12.1, second
Picture point P2 is reached in the field of view of the first row Z1 41 and is carried out photography in the case where the second illumination direction B2 62.The
One picture point P1 is between the first row Z1 41 and the second row Z2 42 and is not imaged.After 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.In third
In the case where illumination direction B3 63, the photography of third picture point P3 53 is carried out using the first row Z1 41.In third trip 12.3
Later, the first picture point P1 51 is disposed in front of the second row Z2 42, and the 4th picture point P4 54 is in front of the first row Z1 41.
In this position, the 4th illumination direction B4 64 the case where under carry out taking the photograph for the first picture point P1 51 and the 4th picture point P4 54
Shadow.
Fig. 8 shows the time series of the photography of each picture point 50 according to Fig. 7 in a tabular form.Here, the table with
Table out shown in fig. 5 is constructed in the same manner.
Firstly, for the first picture point P1 51, in the case where the first illumination direction B1 61, the institute in Fig. 7 is utilized
The photography of the first row Z1 41 of the row scanning camera 40 of four rows shown.Picture is not detected during back to back two photographies
Point P1 51.Then, in the case where the 4th illumination direction B4 64, the imaging of the first picture point P1 51 is carried out using the second row Z2.
Correspondingly, it is followed by interval: using the third line Z3 43 to the first picture point in the case where 63 B3 of third illumination direction
The photography of P1 51 and the photography that fourth line Z4 44 is utilized in the case where the second illumination direction B2 62.Therefore, here also in institute
The case where stating each illumination direction in four illumination directions 60 gets off to shoot each picture point 50.It then, can be by the photography
Sort out, so that forming four images with the different illumination direction B1 61, B2 62, B3 63, B4 64.
Therefore, by properly selecting the stroke 12.1,12.2,12.3 between two photographies and properly selecting row
Spacing, can obtain the image with different illumination directions 60, and the image with different illumination directions 60 makes it possible to
Enough reliably determine position and the orientation of plug contact portion 10.This way it is possible to avoid due to not in assessment position or orientation
The error caused by the reflection on the contact tip 10 on the center longitudinal axis of plug contact portion 10.
Simple computer assisted analysis may be implemented by using pseudocolor signal channel.Here, using identical
Illuminating color carries out photography in the case where different illumination directions.Distinctive color was respectively allocated to described take the photograph later
Shadow.Here, the photography can use monochrome camera in itself to carry out.Color assignment is provided to different illumination directions 60
Following advantage: the algorithm being once developed for the processing of color image and analysis can in the case where no variation by with
In completing and analyze the image by direction encoding.In general, plug contact portion 10 is between its different seamed edges without anti-
Penetrate coefficient difference.Thus, in the case where no direction encoding, side is indistinguishable.Now, it can use colored seamed edge
The pseudo color image that seamed edge processing is by direction encoding can be reliably detected plug contact portion 10 by filter
Tip.
Claims (11)
1. for utilizing row scanning camera (30,40) and determining at least one plug contact portion using lighting device (20)
(10) method of position and/or orientation, the plug contact portion (10) is imaged in the row scanning camera (30,40), quilt
Be arranged in the plug contact portion (10) it is machine-direction oriented in, the lighting device (20) is disposed in the plug contact portion
(10) machine-direction oriented side, wherein the row scanning camera (30,40) is mobile relative to the plug contact portion (10)
Or the plug contact portion (10) is mobile relative to the row scanning camera (30,40), which is characterized in that in order to determine
Position and/or the orientation of plug contact portion (10) are stated, at least two of the plug contact portion (10) are successively in different photographs
The photography carried out in the case where bright direction (60) is analyzed.
2. the method according to claim 1, wherein using the multirow with N row (31,32,41,42,43,44)
Row scanning camera (30,40), and the plug contact portion (10) is illuminated from N number of different illumination direction (60).
3. the method according to claim 1, wherein using having M × N row (31,32,41,42,43,44)
The row scanning camera (30,40) of multirow, wherein M is greater than 1 integer；And it is inserted from N number of different illumination direction to described
Fill in contact portion (10) illumination.
4. according to the method in claim 2 or 3, which is characterized in that the row scanning camera (30,40) and the plug
Contact portion (10) is moved relative to each other so that respectively another illumination direction in N number of illumination direction (60) in the case where utilize
Every row in the N row (31,32,41,42,43,44) of the row scanning camera (30,40) is shot in the plug contact portion
(10) place on.
5. method according to claim 1 to 3, which is characterized in that using at least two different colors come never
Same illumination direction (60) is illuminated.
6. method according to claim 1 to 3, which is characterized in that in order to determine the plug contact portion (10)
Position and/or orientation form the image for each illumination direction (60) according to single photography respectively.
7. method according to claim 1 to 3, which is characterized in that different colors are respectively allocated in difference
Illumination direction (60) in the case where the photography that executes.
8. for utilizing row scanning camera (30,40) and determining at least one plug contact portion using lighting device (20)
(10) equipment of position and/or orientation, with control unit, the row scanning camera (30,40) connects the plug
Contact portion (10) imaging, be disposed in the plug contact portion (10) it is machine-direction oriented in, the lighting device (20) is disposed in
The machine-direction oriented side of the plug contact portion (10), wherein the row scanning camera (30,40) is relative to the plug
It relative to the row scanning camera (30,40) is that can move that contact portion (10), which is the mobile or described plug contact portion (10),
Dynamic, which is characterized in that the lighting device (20) is designed to from least two different illumination directions (60) to described
Plug contact portion (10) is sequentially illuminated, and described control unit manipulates the lighting device (20), so that in different photographs
The photography of the row scanning camera (30,40) recurred is carried out in the case where bright direction (60), and the control is single
Member includes the program circuit for completing and analyzing acquired data group in the case where different illumination direction (60).
9. equipment according to claim 8, which is characterized in that the row scanning camera (30,40) is configured to have N
The row scanning camera (30,40) of the multirow of row (31,32,41,42,43,44), and the lighting device (20) includes N number of
The lighting unit (21,22,23) that can individually switch, N number of lighting unit (21,22,23) that can individually switch is from N number of
Illumination direction (60) is aligned to the plug contact portion (10).
10. equipment according to claim 9, which is characterized in that program circuit in described control unit is by the N row
The data obtained in the case where different illumination direction (60) of (31,32,41,42,43,44) distribute to each data
Group.
11. the equipment according to one of claim 8 to 10, which is characterized in that pulsating light emitting diode (23.1) by with
Make the light source of the lighting device (20).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
| DE102014205701.9 | 2014-03-27 | ||
| 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 CN106461375A (en) | 2017-02-22 |
| CN106461375B true 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) |
Families Citing this family (3)
| 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 |
| JP7130779B2 (en) * | 2019-01-08 | 2022-09-05 | 株式会社Fuji | Backup pin status confirmation system for mounters |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN1786689A (en) * | 2004-12-10 | 2006-06-14 | 国际商业机器公司 | Automated inspection system and method |
| CN103329646A (en) * | 2011-12-06 | 2013-09-25 | 松下电器产业株式会社 | Underhung pin placement determination device and underhung pin placement determination method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07104947B2 (en) * | 1988-11-30 | 1995-11-13 | 東芝機械株式会社 | Two-dimensional array object inspection device |
| DE4003983C1 (en) * | 1990-02-09 | 1991-08-29 | Abos Automation, Bildverarbeitung, Optische Systeme Gmbh, 8057 Eching, De | Automated monitoring of space=shape data for mfg. semiconductors - compares image signals for defined illumination angle range with master signals, to determine defects |
| DE19652124C2 (en) * | 1996-12-14 | 2002-10-17 | Micronas Gmbh | Method and device for automatically checking position data of J-shaped electrical contact connections |
| 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 |
| ATE329223T1 (en) * | 2003-10-30 | 2006-06-15 | Vision Tools Bildanalyse Syste | MEASURING DEVICE AND MEASURING METHOD FOR PINS, IN PARTICULAR CONNECTOR PINS |
| JP2005283524A (en) * | 2004-03-31 | 2005-10-13 | Horon Kk | Test apparatus for connector pin position and connector with built-in reference electrode |
| EP1675453A3 (en) * | 2004-12-22 | 2007-07-11 | Siemens Aktiengesellschaft | Device for illuminating objects and sensor device |
| DE102007041375B4 (en) * | 2007-08-30 | 2009-12-31 | Krebs, Jürgen, Dipl.-Ing. | Measuring device and measuring method for pins, in particular plug pins |
-
2014
- 2014-03-27 DE DE102014205701.9A patent/DE102014205701A1/en not_active Withdrawn
-
2015
- 2015-03-16 WO PCT/EP2015/055401 patent/WO2015144470A1/en active Application Filing
- 2015-03-16 CN CN201580016252.6A patent/CN106461375B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN1786689A (en) * | 2004-12-10 | 2006-06-14 | 国际商业机器公司 | Automated inspection system and method |
| CN103329646A (en) * | 2011-12-06 | 2013-09-25 | 松下电器产业株式会社 | Underhung pin placement determination device and underhung pin placement determination method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2015144470A1 (en) | 2015-10-01 |
| DE102014205701A1 (en) | 2015-10-01 |
| CN106461375A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6574163B2 (en) | Substrate inspection method | |
| CN108876761B (en) | Image processing apparatus, computer-readable recording medium, and image processing system | |
| KR101241175B1 (en) | Mounting boards inspection apparatus and method thereof | |
| TWI313576B (en) | Board inspecting apparatus, its parameter setting method and parameter setting apparatus | |
| US10347002B2 (en) | Electronic tracking device, electronic tracking system and electronic tracking method | |
| CN106461375B (en) | The method and apparatus for determining the position and/or orientation of at least one plug contact portion | |
| CN111491537B (en) | System and method for estimating three-dimensional pose of oral hygiene device with visual indicia | |
| JP2006292725A (en) | Substrate inspection device, its inspection logic setting method, and inspection logic setting device | |
| KR20130142118A (en) | Method for identifying and defining basic patterns forming the tread design of a tyre | |
| US11790514B2 (en) | Image-based control of wire harness and connector manufacturing processes using artificial intelligence | |
| US20100310150A1 (en) | Feature analyzing apparatus | |
| JP4492356B2 (en) | Substrate inspection device, parameter setting method and parameter setting device | |
| KR101215083B1 (en) | Method for generating height information of board inspection apparatus | |
| US8699782B2 (en) | Component presence/absence judging apparatus and method | |
| JP2023073399A (en) | Evaluation method and evaluation system | |
| US20200134851A1 (en) | System and Method for Item Location, Delineation, and Measurement | |
| WO2012020381A1 (en) | Method and apparatus for recognizing an interesting object | |
| JP2014215280A (en) | Work detection device and work detection method | |
| JP2001330420A (en) | Defect detection method and apparatus for protruded part of object having the protruded parts of the same shape at specified pitch along circular arc | |
| CN113439870A (en) | Cigar appearance classification method and cigar appearance classification device | |
| CN108885181B (en) | Method for detecting defects on a surface by means of multidirectional illumination and related device | |
| JP2003216930A (en) | Method and apparatus for inspecting discoloration | |
| JP5778685B2 (en) | System and method for alignment and inspection of ball grid array devices | |
| US11328408B2 (en) | Systems and methods for color agnostic material face detection | |
| KR20150074023A (en) | Finger segmentation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190409 |