CN108521825A - Control method, control device and optical detection apparatus - Google Patents
Control method, control device and optical detection apparatus Download PDFInfo
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- CN108521825A CN108521825A CN201780004662.8A CN201780004662A CN108521825A CN 108521825 A CN108521825 A CN 108521825A CN 201780004662 A CN201780004662 A CN 201780004662A CN 108521825 A CN108521825 A CN 108521825A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B21/00—Microscopes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
Abstract
A kind of control method, control device (10) and optical detection apparatus (100).Optical detection apparatus (100) includes imaging device (20).Imaging device (20) includes the camera module (20a) of tilt adjustable.Camera module (20a) includes imaging sensor (21) and camera lens module (22).Imaging sensor (21) is arranged in the image side of camera lens module (22).Control method is used for optical detection apparatus (100), includes the following steps：Camera module (20a) is tilted into certain angle (S11) relative to object to be detected；The photosensitive pixel array subregion of imaging sensor (21) is formed into multiple scanning elements (S12)；The data of multiple scanning element outputs are scanned to obtain the image data (S13) with different depth information；With processing image data to form depth image (S14).
Description
Technical field
The present invention relates to technical field of optical detection, more particularly to a kind of control method, control device and optical detection are set
It is standby.
Background technology
Existing AOI (Automatic Optic Inspection, automatic optics inspection) equipment only there are one focal plane,
If wanting to obtain 3D rendering data, Z axis motor is needed to drive the movement of AOI equipment, so that focal plane moves up and down, and needed
It takes multiple scan, the image data of different focal planes is superimposed by algorithm to obtain 3D rendering data.One side of this mode
Face is limited to Z axis precision and the precision of motor, can not accurately control the movement of AOI equipment；On the other hand, it needs back and forth more
Secondary scanning, can not high-velocity scanning.
Invention content
The present invention is directed at least solve one of technical problem present in the relevant technologies.For this purpose, embodiment of the present invention needs
A kind of control method, control device and optical detection apparatus are provided.
The control method of embodiment of the present invention, is used for optical detection apparatus, and the optical detection apparatus includes that imaging fills
It sets, the imaging device includes the camera module of tilt adjustable, and the camera module includes imaging sensor and camera lens mould
Group, described image sensor are arranged in the image side of the camera lens module, and the control method includes the following steps：
The camera module is tilted into certain angle relative to object to be detected；
The photosensitive pixel array subregion of described image sensor is formed into multiple scanning elements；
The data of the multiple scanning element output are scanned to obtain the image data with different depth information；With
Described image data are handled to form depth image.
The control method of embodiment of the present invention, by the way that camera module is tilted certain angle relative to object to be detected,
The image data that single pass can be obtained different Z axis height is allowed to carry out, last overlap-add procedure can form 3D rendering.
In some embodiments, the photosensitive pixel array includes multistage pixel, described that imaging sensor is tilted one
The step of fixed angle, specifically includes：
Estimate the height of the object to be detected；With
The camera module is tilted into certain angle so that difference in height and the object to be detected of the multistage pixel
Difference between height is in setting range.
In some embodiments, the photosensitive pixel array includes multistage pixel, described by described image sensor
The step of photosensitive pixel array subregion forms multiple scanning elements specifically includes：
By the photosensitive pixel array subregion so that adjacent predetermined rank pixel forms a scanning element.
In some embodiments, the predetermined rank meets condition：S=4K, wherein S indicates the exponent number of the predetermined rank,
K >=1, K are integer.
The control device of embodiment of the present invention, is used for optical detection apparatus, and the optical detection apparatus includes that imaging fills
It sets and driving device, the imaging device includes the camera module of tilt adjustable, the camera module includes image sensing
Device and camera lens module, described image sensor are arranged in the image side of the camera lens module, and the control device includes：
Control module, the control module drive the camera module relative to be detected for controlling the driving device
Object tilts certain angle；
Division module, the division module are used to the photosensitive pixel array subregion of described image sensor forming multiple sweep
Retouch unit；
Scan module, the scan module are used to scan the data of the multiple scanning element output to obtain having difference
The image data of depth information；With
Processing module, the processing module is for handling described image data to form depth image.
The control device of embodiment of the present invention, by the way that camera module is tilted certain angle relative to object to be detected,
The image data that single pass can be obtained different Z axis height is allowed to carry out, last overlap-add procedure can form 3D rendering.
In some embodiments, the photosensitive pixel array includes multistage pixel, and the control module includes：
Evaluation unit, the evaluation unit are used to estimate the height of the object to be detected；With
Control unit, described control unit drive the camera module to tilt certain angle for controlling the driving device
It spends so that the difference between the difference in height of the multistage pixel and the height of the object to be detected is in setting range.
In some embodiments, the photosensitive pixel array includes multistage pixel, and the division module includes：
Zoning unit, the zoning unit are used for the photosensitive pixel array subregion so that adjacent predetermined rank pixel shape
At a scanning element.
In some embodiments, the predetermined rank meets condition：S=4K, wherein S indicates the exponent number of the predetermined rank,
K >=1, K are integer.
The optical detection apparatus of embodiment of the present invention, including：
Imaging device and driving device, the imaging device include the camera module of tilt adjustable, the camera mould
Group includes imaging sensor and camera lens module, and described image sensor is arranged in the image side of the camera lens module, and described image passes
Sensor includes photosensitive pixel array, and the photosensitive pixel array subregion forms multiple scanning elements；With
Control device, the control device drive the camera module relative to be detected for controlling the driving device
Object tilts certain angle, scans the data of the multiple scanning element output to obtain the picture number with different depth information
According to, and for handling described image data to form depth image.
The optical detection apparatus of embodiment of the present invention, by the way that camera module is tilted certain angle relative to object to be detected
Degree so that carry out the image data that single pass can be obtained different Z axis height, last overlap-add procedure can form 3D rendering.
In some embodiments, the photosensitive pixel array includes multistage pixel, and the camera module tilts certain
Angle so that the difference between the difference in height of the multistage pixel and the height of the object to be detected in setting range.
In some embodiments, the photosensitive pixel array includes multistage pixel, and adjacent predetermined rank pixel forms one
A scanning element.
In some embodiments, the predetermined rank meets condition：S=4K, wherein S indicates the exponent number of the predetermined rank,
K >=1, K are integer.
The optical detection apparatus of embodiment of the present invention, including：
Imaging device and driving device, the imaging device include the camera module of tilt adjustable, the camera mould
Group includes imaging sensor and camera lens module, and described image sensor is arranged in the image side of the camera lens module；
Memory, the memory is for storing instruction；With
Processor, the processor is for executing described instruction to realize：
Controlling the driving device drives the camera module to tilt certain angle relative to object to be detected；
The photosensitive pixel array subregion of described image sensor is formed into multiple scanning elements；
The data of the multiple scanning element output are scanned to obtain the image data with different depth information；With
Described image data are handled to form depth image.
The optical detection apparatus of embodiment of the present invention, by the way that camera module is tilted certain angle relative to object to be detected
Degree so that carry out the image data that single pass can be obtained different Z axis height, last overlap-add procedure can form 3D rendering.
In some embodiments, the photosensitive pixel array includes multistage pixel, and the processor is further used for：
Estimate the height of the object to be detected；With
Control the driving device drive the camera module to tilt certain angle so that the multistage pixel height
The poor difference between the height of the object to be detected is in setting range.
In some embodiments, the photosensitive pixel array includes multistage pixel, and the processor is further used for：
By the photosensitive pixel array subregion so that adjacent predetermined rank pixel forms a scanning element.
In some embodiments, the predetermined rank meets condition：S=4K, wherein S indicates the exponent number of the predetermined rank,
K >=1, K are integer.
The additional aspect and advantage of embodiment of the present invention will be set forth in part in the description, partly will be from following
Become apparent in description, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention can be from the description in conjunction with following accompanying drawings to embodiment
It will be apparent and be readily appreciated that, wherein：
Fig. 1 is the flow diagram of the control method of embodiment of the present invention.
Fig. 2 is the high-level schematic functional block diagram of the control device of embodiment of the present invention.
Fig. 3 is the high-level schematic functional block diagram of the optical detection apparatus of embodiment of the present invention.
Fig. 4 is the schematic diagram of a scenario of the optical detection apparatus of embodiment of the present invention.
Fig. 5 is the structural schematic diagram of the photosensitive pixel array of embodiment of the present invention.
Fig. 6 is the flow diagram of the control method of another embodiment of the present invention.
Fig. 7 is the flow diagram of the control method of another embodiment of the present invention.
Fig. 8 is the high-level schematic functional block diagram of the optical detection apparatus of another embodiment of the present invention.
Main element and symbol description：
Control device 10, control module 11, evaluation unit 112, control unit 114, division module 12, zoning unit 122,
Scan module 13, imaging device 20, camera module 20a, imaging sensor 21, photosensitive pixel array 212, is swept at processing module 14
Retouch unit 212a, pixel 2122, camera lens module 22, camera lens 221, eyeglass 222, memory 30, processor 40, driving device 50,
Optical detection apparatus 100, object to be detected 200, microscope carrier 300.
Specific implementation mode
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein identical
Or similar label indicates same or similar element or element with the same or similar functions from beginning to end.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining embodiments of the present invention, and should not be understood as to this hair
The limitation of bright embodiment.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more feature.In the description of embodiments of the present invention, the meaning of " plurality " is two
It is a or more than two, unless otherwise specifically defined.
In the description of embodiments of the present invention, it should be noted that unless otherwise clearly defined and limited, term
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be to be electrically connected or can mutually communicate；It can be directly connected, can also lead to
It crosses intermediary to be indirectly connected, can be the interaction relationship of the connection or two elements inside two elements.For ability
For the those of ordinary skill in domain, it can understand that above-mentioned term in embodiments of the present invention specific contains as the case may be
Justice.
Following disclosure provides many different embodiments or example is used for realizing embodiments of the present invention not
Same structure.In order to simplify the disclosure of embodiments of the present invention, hereinafter the component of specific examples and setting are described.When
So, they are merely examples, and is not intended to limit the present invention.In addition, embodiments of the present invention can be in different examples
Repeat reference numerals and/or reference letter in son, this repetition are for purposes of simplicity and clarity, itself not indicate to be begged for
By the relationship between various embodiments and/or setting.In addition, the various specific techniques that embodiments of the present invention provide
With the example of material, but make those of ordinary skill in the art may realize that the application of other techniques and/or other materials
With.
Referring to Fig. 1, the control method of embodiment of the present invention is used for optical detection apparatus.Optical detection apparatus includes into
As device.Imaging device includes the camera module of tilt adjustable.Camera module includes imaging sensor and camera lens module.Figure
As sensor is arranged in the image side of camera lens module.Control method includes the following steps：
S11：Camera module is tilted into certain angle relative to object to be detected；
S12：The photosensitive pixel array subregion of imaging sensor is formed into multiple scanning elements；
S13：The data of multiple scanning element outputs are scanned to obtain the image data with different depth information；With
S14：Image data is handled to form depth image.
Fig. 2-Fig. 5 is please referred to, the control device 10 of embodiment of the present invention is used for the optical detection of embodiment of the present invention
Equipment 100.Optical detection apparatus 100 includes imaging device 20 and driving device 50.Imaging device 20 includes tilt adjustable
Camera module 20a.Camera module 20a includes imaging sensor 21 and camera lens module 22.Imaging sensor 21 is arranged in camera lens
The image side of module 22.Control device 10 includes control module 11, division module 12, scan module 13 and processing module 14.This hair
The control method of bright embodiment can be realized by the control device 10 of embodiment of the present invention.For example, S11 can be by control module 11
It realizes, S12 can be realized that S13 can be realized by scan module 13 by division module 12, and S14 can be realized by processing module 14.
In other words, control module 11 can be used for controlling the driving device 50 driving camera module 20a relative to be detected
Object 200 tilts certain angle.Division module 12 can be used for forming 212 subregion of photosensitive pixel array of imaging sensor 21
Multiple scanning element 212a.Scan module 13 can be used for scanning the data of multiple scanning element 212a outputs to obtain having not
With the image data of depth information.Processing module 14 can be used for handling image data to form depth image.
The control method and control device 10 of embodiment of the present invention, by by camera module 20a relative to object to be detected
200 tilt certain angle so that carry out the image data that single pass can be obtained different Z axis height, last overlap-add procedure
3D rendering can be formed.
In one example, optical detection apparatus 100 is AOI (Automatic Optic Inspection, automated optical
Detection) equipment.Optical detection apparatus 100 includes opticator and image processing section.Optical detection apparatus 100 passes through optical section
It separately wins to need the image detected；It analyzes, handle and judge by image processing section.Image processing section can be by soft
Part is calculated and is judged using various computational methods.
In one example, imaging sensor 21 can be CCD (Charge Coupled Device, charge coupled cell)
Or CMOS (Complementary Metal-Oxide Semiconductor, metal oxide semiconductor device).
The imaging sensor 21 of embodiment of the present invention schematic operational by taking 12K*256TDI CCD at present on the market as an example
Principle.Object 200 to be detected is in TFE (thin film encapsulation, thin-film package) processing procedure one in encapsulating film
A little foreign matters.Optical detection apparatus 100 is for detecting the foreign matter and ultimately forming 3D rendering.
Imaging sensor 21 is arranged in the image side of camera lens module 22.Camera lens module 22 includes camera lens 221 and is arranged in camera lens
Eyeglass 222 between 221 and object to be detected 200.Eyeglass 222 is for converging light to imaging sensor 21, imaging sensor 21
For converting optical signalling to digital electric signal.
It is appreciated that in some embodiments, driving device 50 is connect with imaging sensor 21 and camera lens module 22.Control
Molding block 11 tilts one for controlling the driving device 50 driving imaging sensors 21 and camera lens module 22 relative to object 200 to be detected
Fixed angle, to complete S11.Specifically, driving device 50 can be motor.Certainly, in some embodiments, S11 is alternatively
Camera module 20a is artificially tilted certain angle by manual operation relative to object 200 to be detected.Then real in structure
Multiple scanning element 212a now are formed to 212 subregion of photosensitive pixel array.In this way, the different Z axis height of object 200 to be detected can be
Same scanning element 212a on imaging sensor 21 is focused.The picture number of different Z axis height can be obtained by single pass
According to, finally by the image data of multiple scanning element 212a merge processing formed depth image.
It should be pointed out that S12 can realize subregion by producer when manufacturing imaging sensor 21, without using light every time
It learns when detection device 100 detects object 200 to be detected and executes the step.
Certainly, the control method of embodiment of the present invention, control device 10 and optical detection apparatus 100 are not limited to use in
Field is stated, the fields such as industrial bio Quality Detection, fingerprint comparison, multimedia technology are can be also used for.
Referring to Fig. 6, in some embodiments, photosensitive pixel array includes multistage pixel.S11 is specifically included：
S112：Estimate the height of object to be detected；With
S114：Camera module is tilted into certain angle so that between the difference in height and the height of object to be detected of multistage pixel
Difference in setting range.
Referring to Fig. 2, Fig. 4 and Fig. 5, in some embodiments, photosensitive pixel array 212 includes multistage pixel
2122.Control module 11 includes evaluation unit 112 and control unit 114.S112 can realize by evaluation unit 112, and S114 can be by
Control unit 114 is realized.
In other words, evaluation unit 112 can be used for estimating the height of object 200 to be detected.Control unit 114 can be used for
It controls the driving device 50 driving camera module 20a and tilts certain angle so that the difference in height of multistage pixel 2122 and object to be detected
Difference between 200 height is in setting range.
In this way, the depth image of object 200 to be detected is more intuitive and accurate.
Preferably, the difference in height of multistage pixel 2122 and the height of object 200 to be detected are equal or approximately equal.
Specifically, in the example of embodiment of the present invention, the optical axis of camera lens module 22 is perpendicular to imaging sensor 21.
I other words the angle of inclination of camera lens module 22 is consistent with the angle of inclination of imaging sensor 21, the inclination angle of imaging sensor 21
Degree is the angle of inclination of camera module 20a.The altitude range of object 200 to be detected is generally 1-10 wheats.For example, object to be detected
200 height h1 can be 8 wheats, in this way, the inclined angle [alpha]s of camera module 20a 21 inclined angle [alpha] of imaging sensor in other words
Should make the difference in height h2 of multistage pixel 2122 8 wheats or with the differences of 8 wheats in setting in the range of.Embodiment of the present invention
Imaging sensor 21 be 12K*256 photosensitive pixel array 212, i.e., the columns of pixel 2122 be 12K, exponent number or line number are
256, corresponding, the length L of imaging sensor 21 is 6.2cm, and width W is 1.3mm.In other words, imaging sensor 21
Inclined angle [alpha] should make the 1st rank be 8 wheats to the difference in height h2 between the 256th rank pixel 2122 or set with the difference of 8 wheats
In fixed range, Sin α=h2/W.So, it may be determined that imaging sensor 21 inclines the inclined angle [alpha]s of camera module 20a in other words
Oblique angle [alpha].
It is appreciated that the object to be detected 200 of embodiment of the present invention is placed on microscope carrier 300, to keep object 200 to be detected
It balances and stablizes, image data is acquired convenient for imaging sensor 21, form stable clearly image.The height of object 200 to be detected
The top of object 200 as to be detected to the bottom surface of object 200 to be detected in other words microscope carrier 300 carry object 200 to be detected surface it
Between distance.
Referring to Fig. 7, in some embodiments, photosensitive pixel array includes multistage pixel.S12 is specifically included：
S122：By photosensitive pixel array subregion so that adjacent predetermined rank pixel forms a scanning element.
Referring to Fig. 2 and Fig. 5, in some embodiments, photosensitive pixel array 212 includes multistage pixel 2122.
Division module 12 includes zoning unit 122.S122 can be realized by zoning unit 122.
In other words, zoning unit 122 can be used for 212 subregion of photosensitive pixel array so that adjacent predetermined rank pixel
2122 form a scanning element 212a.
In this way, sweep speed is faster.
In some embodiments, predetermined rank meets condition：S=4K, wherein S indicates the exponent number of predetermined rank, and K >=1, K are
Integer.
Specifically, general pattern sensor includes 128 ranks, 256 ranks or 512 ranks or higher order pixel 2122.Work as predetermined rank
Exponent number S be 4 multiple multistage pixel 2122 can be made to be divided into integer scanning element 212a.Moreover, ought at least 4 rank pictures
When element 2122 forms a scanning element 212a, the image data that scans can form clearly image, image quality compared with
Height, and sweep speed can be improved.
Referring to Fig. 3-5, the optical detection apparatus 100 of embodiment of the present invention includes imaging device 20, driving dress
Set 50 and control device 10.Imaging device 20 includes the camera module 20a of tilt adjustable.Camera module 20a includes image
Sensor 21 and camera lens module 22.Imaging sensor 21 is arranged in the image side of camera lens module 22.Imaging sensor 21 includes photosensitive
Pel array 212.212 subregion of photosensitive pixel array forms multiple scanning element 212a.Control device 10 is for controlling driving dress
It sets 50 driving camera module 20a and tilts certain angle relative to object 200 to be detected, scan multiple scanning element 212a outputs
Data are used to handle image data to form depth image to obtain the image data with different depth information.
The optical detection apparatus 100 of embodiment of the present invention, by the way that camera module 20a inclines relative to object 200 to be detected
Tiltedly certain angle so that carry out the image data that single pass can be obtained different Z axis height, last overlap-add procedure can be formed
3D rendering.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
In some embodiments, photosensitive pixel array 212 includes multistage pixel 2122.Camera module 20a tilts certain
Angle so that the difference between the difference in height of multistage pixel 2122 and the height of object to be detected 200 in setting range.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
In some embodiments, photosensitive pixel array 212 includes multistage pixel 2122.Adjacent predetermined rank pixel 2122
Form a scanning element 212a.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
In some embodiments, predetermined rank meets condition：S=4K, wherein S indicates the exponent number of predetermined rank, and K >=1, K are
Integer.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
Fig. 4, Fig. 5 and Fig. 8 are please referred to, the optical detection apparatus 100 of embodiment of the present invention includes imaging device 20, driving
Device 50, memory 30 and processor 40.Imaging device 20 includes the camera module 20a of tilt adjustable.Camera module 20a
Including imaging sensor 21 and camera lens module 22.Imaging sensor 21 is arranged in the image side of camera lens module 22.Memory 30 is used for
Store instruction.Processor 40 is for executing instruction to realize：50 driving camera module 20a are controlled the driving device relative to be detected
Object 200 tilts certain angle；212 subregion of photosensitive pixel array of imaging sensor 21 is formed into multiple scanning element 212a；
The data of multiple scanning element 212a outputs are scanned to obtain the image data with different depth information；With processing image data
To form depth image.
The optical detection apparatus 100 of embodiment of the present invention, by the way that camera module 20a inclines relative to object 200 to be detected
Tiltedly certain angle so that carry out the image data that single pass can be obtained different Z axis height, last overlap-add procedure can be formed
3D rendering.
It is appreciated that memory 30 is for storing instruction and data.Processor 40 is used for process instruction, executes operation, control
Time processed and processing data etc..For example, processor 40 can generate corresponding operating control signal according to the function of instruction, hair
To corresponding component, acted by the requirement of instruction to control these components.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
In some embodiments, photosensitive pixel array 212 includes multistage pixel 2122.Processor 40 is further used for：
Estimate the height of object 200 to be detected；With
Control the driving device 50 driving camera module 20a tilt certain angle so that the difference in height of multistage pixel 2122 with
Difference between the height of object 200 to be detected is in setting range.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
In some embodiments, photosensitive pixel array 212 includes multistage pixel 2122.Processor 40 be further used for by
212 subregion of photosensitive pixel array is so that adjacent predetermined rank pixel 2122 forms a scanning element 212a.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
In some embodiments, predetermined rank meets condition：S=4K, wherein S indicates the exponent number of predetermined rank, and K >=1, K are
Integer.
It should be pointed out that the explanation of the above-mentioned embodiment to control method and control device 10 is also applied for this
The optical detection apparatus 100 of invention embodiment, is no longer developed in details herein.
In the description of this specification, reference term " embodiment ", " certain embodiments ", " schematically implementation
The description of mode ", " example ", " specific example " or " some examples " etc. means the tool described in conjunction with the embodiment or example
Body characteristics, structure, material or feature are contained at least one embodiment or example of the present invention.In the present specification,
Schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific features of description, knot
Structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processing module or other can be from instruction
Execute system, device or equipment instruction fetch and the system that executes instruction) use, or combine these instruction execution systems, device or
Equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any can include, store, communicating, propagating or
Transmission program uses for instruction execution system, device or equipment or in conjunction with these instruction execution systems, device or equipment
Device.The more specific example (non-exhaustive list) of computer-readable medium includes following：With one or more wiring
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of embodiments of the present invention can be with hardware, software, firmware or combination thereof come real
It is existing.In the above-described embodiment, multiple steps or method can use storage in memory and by suitable instruction execution system
The software or firmware of execution is realized.For example, if realized with hardware, in another embodiment, ability can be used
Any one of following technology or their combination well known to domain are realized：With for realizing logic function to data-signal
The discrete logic of logic gates, the application-specific integrated circuit with suitable combinational logic gate circuit, programmable gate array
(PGA), field programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-described embodiment method carries
Suddenly it is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer-readable storage medium
In matter, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in various embodiments of the present invention can be integrated in a processing module, also may be used
To be that each unit physically exists alone, can also two or more units be integrated in a module.It is above-mentioned integrated
The form that hardware had both may be used in module is realized, can also be realized in the form of software function module.The integrated module
If being realized in the form of software function module and when sold or used as an independent product, a calculating can also be stored in
In machine read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (16)
1. a kind of control method is used for optical detection apparatus, which is characterized in that the optical detection apparatus includes imaging device,
The imaging device includes the camera module of tilt adjustable, and the camera module includes imaging sensor and camera lens module,
Described image sensor is arranged in the image side of the camera lens module, and the control method includes the following steps：
The camera module is tilted into certain angle relative to object to be detected；
The photosensitive pixel array subregion of described image sensor is formed into multiple scanning elements；
The data of the multiple scanning element output are scanned to obtain the image data with different depth information；With
Described image data are handled to form depth image.
2. control method as described in claim 1, which is characterized in that the photosensitive pixel array includes multistage pixel, described
The step of imaging sensor is tilted certain angle specifically includes：
Estimate the height of the object to be detected；With
The camera module is tilted into certain angle so that the difference in height and the object to be detected of the multistage pixel height
Between difference in setting range.
3. control method as described in claim 1, which is characterized in that the photosensitive pixel array includes multistage pixel, described
The step of photosensitive pixel array subregion of described image sensor is formed multiple scanning elements specifically includes：
By the photosensitive pixel array subregion so that adjacent predetermined rank pixel forms a scanning element.
4. control method as claimed in claim 3, which is characterized in that the predetermined rank meets condition：S=4K, wherein S tables
Show that the exponent number of the predetermined rank, K >=1, K are integer.
5. a kind of control device, be used for optical detection apparatus, which is characterized in that the optical detection apparatus include imaging device and
Driving device, the imaging device include the camera module of tilt adjustable, the camera module include imaging sensor and
Camera lens module, described image sensor are arranged in the image side of the camera lens module, and the control device includes：
Control module, the control module drive the camera module to incline relative to object to be detected for controlling the driving device
Tiltedly certain angle；
Division module, the division module are used to the photosensitive pixel array subregion of described image sensor forming multiple scannings single
Member；
Scan module, the scan module are used to scan the data of the multiple scanning element output to obtain with different depth
The image data of information；With
Processing module, the processing module is for handling described image data to form depth image.
6. control device as claimed in claim 5, which is characterized in that the photosensitive pixel array includes multistage pixel, described
Control module includes：
Evaluation unit, the evaluation unit are used to estimate the height of the object to be detected；With
Control unit, described control unit for control the driving device drive the camera module tilt certain angle with
Make the difference between the difference in height of the multistage pixel and the height of the object to be detected in setting range.
7. control device as claimed in claim 5, which is characterized in that the photosensitive pixel array includes multistage pixel, described
Division module includes：
Zoning unit, the zoning unit is used for the photosensitive pixel array subregion so that adjacent predetermined rank pixel forms one
A scanning element.
8. control device as claimed in claim 7, which is characterized in that the predetermined rank meets condition：S=4K, wherein S tables
Show that the exponent number of the predetermined rank, K >=1, K are integer.
9. a kind of optical detection apparatus, which is characterized in that including：
Imaging device and driving device, the imaging device include the camera module of tilt adjustable, the camera module packet
Imaging sensor and camera lens module are included, described image sensor is arranged in the image side of the camera lens module, described image sensor
Including photosensitive pixel array, the photosensitive pixel array subregion forms multiple scanning elements；With
Control device, the control device drive the camera module to incline relative to object to be detected for controlling the driving device
Tiltedly the data of the multiple scanning element output of certain angle scanning to be to obtain the image data with different depth information, and
For handling described image data to form depth image.
10. optical detection apparatus as claimed in claim 9, which is characterized in that the photosensitive pixel array includes multistage pixel,
The camera module tilts certain angle so that between the difference in height of the multistage pixel and the height of the object to be detected
Difference in setting range.
11. optical detection apparatus as claimed in claim 9, which is characterized in that the photosensitive pixel array includes multistage pixel,
Adjacent predetermined rank pixel forms a scanning element.
12. optical detection apparatus as claimed in claim 11, which is characterized in that the predetermined rank meets condition：S=4K,
In, S indicates that the exponent number of the predetermined rank, K >=1, K are integer.
13. a kind of optical detection apparatus, which is characterized in that including：
Imaging device and driving device, the imaging device include the camera module of tilt adjustable, the camera module packet
Imaging sensor and camera lens module are included, described image sensor is arranged in the image side of the camera lens module；
Memory, the memory is for storing instruction；With
Processor, the processor is for executing described instruction to realize：
Controlling the driving device drives the camera module to tilt certain angle relative to object to be detected；
The photosensitive pixel array subregion of described image sensor is formed into multiple scanning elements；
The data of the multiple scanning element output are scanned to obtain the image data with different depth information；With
Described image data are handled to form depth image.
14. optical detection apparatus as claimed in claim 13, which is characterized in that the photosensitive pixel array includes multistage picture
Element, the processor are further used for：
Estimate the height of the object to be detected；With
Control the driving device drive the camera module to tilt certain angle so that the difference in height of the multistage pixel with
Difference between the height of the object to be detected is in setting range.
15. optical detection apparatus as claimed in claim 13, which is characterized in that the photosensitive pixel array includes multistage picture
Element, the processor are further used for：
By the photosensitive pixel array subregion so that adjacent predetermined rank pixel forms a scanning element.
16. optical detection apparatus as claimed in claim 15, which is characterized in that the predetermined rank meets condition：S=4K,
In, S indicates that the exponent number of the predetermined rank, K >=1, K are integer.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2017/082066 WO2018195831A1 (en) | 2017-04-26 | 2017-04-26 | Control method, control apparatus and optic inspection device |
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| CN108521825A true CN108521825A (en) | 2018-09-11 |
| CN108521825B CN108521825B (en) | 2022-03-29 |
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| CN108521825B (en) | 2022-03-29 |
| WO2018195831A1 (en) | 2018-11-01 |
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