CN108521825B - Control method, control device and optical detection equipment - Google Patents
Control method, control device and optical detection equipment Download PDFInfo
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- CN108521825B CN108521825B CN201780004662.8A CN201780004662A CN108521825B CN 108521825 B CN108521825 B CN 108521825B CN 201780004662 A CN201780004662 A CN 201780004662A CN 108521825 B CN108521825 B CN 108521825B
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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 control method, a control device (10) and an optical detection apparatus (100). The optical detection apparatus (100) comprises an imaging device (20). The imaging device (20) comprises a camera module (20a) with an adjustable inclination angle. The camera module (20a) includes an image sensor (21) and a lens module (22). The image sensor (21) is arranged on the image side of the lens module (22). The control method is for an optical inspection apparatus (100), comprising the steps of: tilting the camera module (20a) by a certain angle relative to the object to be detected (S11); partitioning a photosensitive pixel array of an image sensor (21) into a plurality of scanning units (S12); scanning data output from the plurality of scanning units to obtain image data having different depth information (S13); and processing the image data to form a depth image (S14).
Description
Technical Field
The present invention relates to the field of optical detection technologies, and in particular, to a control method, a control device, and an optical detection apparatus.
Background
The existing AOI (Automatic optical Inspection) equipment only has one focal plane, if 3D image data is needed to be obtained, a Z-axis motor is needed to drive the AOI equipment to move, so that the focal plane moves up and down, multiple times of scanning is needed, and the 3D image data is obtained by superposing image data of different focal planes through an algorithm. This approach, on the one hand, is limited by the Z-axis accuracy and the accuracy of the motor, and cannot accurately control the movement of the AOI device; on the other hand, scanning needs to be performed repeatedly, and high-speed scanning cannot be performed.
Disclosure of Invention
The present invention has been made to solve at least one of the problems occurring in the related art. For this reason, the embodiments of the present invention need to provide a control method, a control device, and an optical detection apparatus.
The control method of the embodiment of the invention is used for optical detection equipment, the optical detection equipment comprises an imaging device, the imaging device comprises a camera module with an adjustable inclination angle, the camera module comprises an image sensor and a lens module, the image sensor is arranged on the image side of the lens module, and the control method comprises the following steps:
inclining the camera module by a certain angle relative to the object to be detected;
partitioning a photosensitive pixel array of the image sensor to form a plurality of scanning units;
scanning data output by the plurality of scanning units to obtain image data with different depth information; and
the image data is processed to form a depth image.
According to the control method provided by the embodiment of the invention, the camera module is inclined at a certain angle relative to the object to be detected, so that image data with different Z-axis heights can be obtained by scanning once, and finally, a 3D image can be formed by superposition processing.
In some embodiments, the photosensitive pixel array includes multi-order pixels, and the step of tilting the image sensor by a certain angle specifically includes:
estimating the height of the object to be detected; and
and inclining the camera module by a certain angle to enable the difference between the height difference of the multi-order pixels and the height of the object to be detected to be within a set range.
In some embodiments, the photosensitive pixel array includes a plurality of stages of pixels, and the step of partitioning the photosensitive pixel array of the image sensor into a plurality of scanning units specifically includes:
the photosensitive pixel array is partitioned such that adjacent pixels of a predetermined order form one of the scanning units.
In some embodiments, the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
The control device of the embodiment of the invention is used for optical detection equipment, the optical detection equipment comprises an imaging device and a driving device, the imaging device comprises a camera module with an adjustable inclination angle, the camera module comprises an image sensor and a lens module, the image sensor is arranged at the image side of the lens module, and the control device comprises:
the control module is used for controlling the driving device to drive the camera module to incline a certain angle relative to the object to be detected;
a partitioning module for partitioning a photosensitive pixel array of the image sensor into a plurality of scanning units;
the scanning module is used for scanning the data output by the plurality of scanning units to obtain image data with different depth information; and
a processing module to process the image data to form a depth image.
According to the control device provided by the embodiment of the invention, the camera module is inclined at a certain angle relative to the object to be detected, so that image data with different Z-axis heights can be obtained by scanning once, and finally, a 3D image can be formed by superposition processing.
In some embodiments, the array of photosensitive pixels comprises multi-order pixels, and the control module comprises:
the estimation unit is used for estimating the height of the object to be detected; and
and the control unit is used for controlling the driving device to drive the camera module to incline by a certain angle so as to enable the difference value between the height difference of the multi-order pixels and the height of the object to be detected to be within a set range.
In some embodiments, the array of photosensitive pixels comprises multi-order pixels, and the partitioning module comprises:
and the partition unit is used for partitioning the photosensitive pixel array so that adjacent pixels of the preset order form one scanning unit.
In some embodiments, the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
An optical inspection apparatus of an embodiment of the present invention includes:
the imaging device comprises a camera module with an adjustable inclination angle, the camera module comprises an image sensor and a lens module, the image sensor is arranged at the image side of the lens module, the image sensor comprises a photosensitive pixel array, and the photosensitive pixel array is partitioned to form a plurality of scanning units; and
the control device is used for controlling the driving device to drive the camera module to incline a certain angle relative to the object to be detected, scanning the data output by the plurality of scanning units to obtain image data with different depth information, and processing the image data to form a depth image.
According to the optical detection equipment provided by the embodiment of the invention, the camera module is inclined at a certain angle relative to the object to be detected, so that image data with different Z-axis heights can be obtained by scanning once, and finally, a 3D image can be formed by superposition processing.
In some embodiments, the photosensitive pixel array includes multi-step pixels, and the camera module is tilted at an angle such that a difference between a height difference of the multi-step pixels and a height of the object to be detected is within a set range.
In some embodiments, the array of photosensitive pixels includes a plurality of stages of pixels, and adjacent predetermined stages of pixels form one of the scan cells.
In some embodiments, the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
An optical inspection apparatus of an embodiment of the present invention includes:
the imaging device comprises a camera module with an adjustable inclination angle, the camera module comprises an image sensor and a lens module, and the image sensor is arranged on the image side of the lens module;
a memory to store instructions; and
a processor to execute the instructions to implement:
controlling the driving device to drive the camera module to incline a certain angle relative to the object to be detected;
partitioning a photosensitive pixel array of the image sensor to form a plurality of scanning units;
scanning data output by the plurality of scanning units to obtain image data with different depth information; and
the image data is processed to form a depth image.
According to the optical detection equipment provided by the embodiment of the invention, the camera module is inclined at a certain angle relative to the object to be detected, so that image data with different Z-axis heights can be obtained by scanning once, and finally, a 3D image can be formed by superposition processing.
In some embodiments, the array of photosensitive pixels comprises multi-order pixels, the processor further configured to:
estimating the height of the object to be detected; and
and controlling the driving device to drive the camera module to incline by a certain angle so as to enable the difference between the height difference of the multi-order pixels and the height of the object to be detected to be within a set range.
In some embodiments, the array of photosensitive pixels comprises multi-order pixels, the processor further configured to:
the photosensitive pixel array is partitioned such that adjacent pixels of a predetermined order form one of the scanning units.
In some embodiments, the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart illustrating a control method according to an embodiment of the present invention.
Fig. 2 is a functional block diagram of a control device according to an embodiment of the present invention.
Fig. 3 is a functional block diagram of an optical detection apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic view of a scene of an optical detection apparatus according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a photosensitive pixel array according to an embodiment of the invention.
Fig. 6 is a flowchart illustrating a control method according to another embodiment of the present invention.
Fig. 7 is a flowchart illustrating a control method according to still another embodiment of the present invention.
Fig. 8 is a functional block diagram of an optical inspection apparatus according to another embodiment of the present invention.
Description of the main elements and symbols:
the device comprises a control device 10, a control module 11, an estimation unit 112, a control unit 114, a partition module 12, a partition unit 122, a scanning module 13, a processing module 14, an imaging device 20, a camera module 20a, an image sensor 21, a photosensitive pixel array 212, a scanning unit 212a, pixels 2122, a lens module 22, a lens 221, a lens 222, a memory 30, a processor 40, a driving device 50, an optical detection apparatus 100, an object to be detected 200 and a stage 300.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of illustrating the embodiments of the present invention and are not to be construed as limiting the embodiments of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
The following disclosure provides many different embodiments or examples for implementing different configurations of embodiments of the invention. In order to simplify the disclosure of embodiments of the invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, embodiments of the invention may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, embodiments of the present invention provide examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Referring to fig. 1, a control method according to an embodiment of the invention is applied to an optical inspection apparatus. The optical detection apparatus includes an imaging device. The imaging device comprises a camera module with an adjustable inclination angle. The camera module comprises an image sensor and a lens module. The image sensor is arranged on the image side of the lens module. The control method comprises the following steps:
s11: the camera module is inclined at a certain angle relative to the object to be detected;
s12: partitioning a photosensitive pixel array of an image sensor to form a plurality of scanning units;
s13: scanning data output by a plurality of scanning units to obtain image data with different depth information; and
s14: the image data is processed to form a depth image.
Referring to fig. 2 to 5, a control device 10 according to an embodiment of the present invention is used in an optical inspection apparatus 100 according to an embodiment of the present invention. The optical inspection apparatus 100 includes an imaging device 20 and a driving device 50. The imaging device 20 includes a camera module 20a with an adjustable tilt angle. The camera module 20a includes an image sensor 21 and a lens module 22. The image sensor 21 is disposed on the image side of the lens module 22. The control device 10 comprises a control module 11, a partitioning module 12, a scanning module 13 and a processing module 14. The control method according to the embodiment of the present invention can be realized by the control device 10 according to the embodiment of the present invention. For example, S11 may be implemented by the control module 11, S12 may be implemented by the partition module 12, S13 may be implemented by the scan module 13, and S14 may be implemented by the process module 14.
That is, the control module 11 can be used to control the driving device 50 to drive the camera module 20a to tilt a certain angle relative to the object 200. The partitioning module 12 may be used to partition the photosensitive pixel array 212 of the image sensor 21 into a plurality of scanning units 212 a. The scanning module 13 may be configured to scan the data output by the plurality of scanning units 212a to obtain image data with different depth information. The processing module 14 may be used to process the image data to form a depth image.
According to the control method and the control device 10 of the embodiment of the invention, the camera module 20a is inclined at a certain angle relative to the object 200 to be detected, so that image data with different Z-axis heights can be obtained by scanning once, and finally, a 3D image can be formed by superposition processing.
In one example, the optical Inspection apparatus 100 is an AOI (automated optical Inspection) apparatus. The optical inspection apparatus 100 includes an optical section and an image processing section. The optical inspection apparatus 100 obtains an image to be inspected through an optical portion; analyzed, processed and judged by the image processing section. The image processing section may perform calculation and judgment by software using various calculation methods.
In one example, the image sensor 21 may be a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor).
The image sensor 21 according to the embodiment of the present invention uses the commercially available 12K × 256TDI CCD as an example to illustrate the operation principle. The object 200 to be detected is some foreign matter in the packaging film in the TFE (thin film encapsulation) process. The optical detection apparatus 100 is used to detect the foreign substance and finally form a 3D image.
The image sensor 21 is disposed on the image side of the lens module 22. The lens module 22 includes a lens 221 and a lens 222 disposed between the lens 221 and the object 200. The lens 222 is used for converging light to the image sensor 21, and the image sensor 21 is used for converting an optical signal into a digital electrical signal.
It is understood that in some embodiments, the driving device 50 is connected to the image sensor 21 and the lens module 22. The control module 11 is configured to control the driving device 50 to drive the image sensor 21 and the lens module 22 to tilt a certain angle relative to the object 200 to be detected, so as to complete S11. In particular, the drive device 50 may be a motor. Of course, in some embodiments, S11 may also be a manual operation, i.e., a manual operation of tilting the camera module 20a by a certain angle relative to the object 200 to be detected. Partitioning of the array of photosensitive pixels 212 into a plurality of scan cells 212a is then structurally accomplished. Thus, different Z-axis heights of the object 200 to be detected are focused on the same scanning unit 212a on the image sensor 21. Image data of different Z-axis heights can be obtained by one scanning, and finally, the image data of the plurality of scanning units 212a are subjected to a merging process to form a depth image.
It should be noted that the division at S12 may be implemented by the manufacturer when manufacturing the image sensor 21, without performing this step each time the optical detection apparatus 100 is used to detect the object 200 to be detected.
Of course, the control method, the control device 10, and the optical detection apparatus 100 according to the embodiments of the present invention are not limited to the above-described fields, and may be used in fields such as industrial biological quality detection, fingerprint comparison, and multimedia technology.
Referring to FIG. 6, in some embodiments, the array of photosensitive pixels includes multi-level pixels. S11 specifically includes:
s112: estimating the height of the object to be detected; and
s114: the camera module is inclined by a certain angle so that the difference between the height difference of the multi-order pixels and the height of the object to be detected is within a set range.
Referring again to fig. 2, 4 and 5, in some embodiments, the array of photosensitive pixels 212 includes multi-level pixels 2122. The control module 11 comprises an evaluation unit 112 and a control unit 114. S112 may be implemented by the evaluation unit 112, and S114 may be implemented by the control unit 114.
That is, the estimation unit 112 may be used to estimate the height of the object 200 to be detected. The control unit 114 can be used to control the driving device 50 to drive the camera module 20a to tilt by a certain angle so that the difference between the height difference of the multi-step pixels 2122 and the height of the object 200 to be detected is within a set range.
Thus, the depth image of the object 200 to be detected is more intuitive and accurate.
Preferably, the height difference of the multi-step pixels 2122 is equal or approximately equal to the height of the object 200 to be detected.
Specifically, in the example of the embodiment of the present invention, the optical axis of the lens module 22 is perpendicular to the image sensor 21. That is, the tilt angle of the lens module 22 is consistent with the tilt angle of the image sensor 21, and the tilt angle of the image sensor 21 is the tilt angle of the camera module 20 a. The height of the object 200 to be detected is generally in the range of 1 to 10 wheat. For example, the height h1 of the object 200 to be detected may be 8 m, and thus the tilt angle α of the camera module 20a or the tilt angle α of the image sensor 21 should be such that the height difference h2 of the multi-step pixels 2122 is within a set range of 8 m or a difference from 8 m. The image sensor 21 according to the embodiment of the present invention is a 12K × 256 photosensitive pixel array 212, i.e., the number of columns of the pixels 2122 is 12K, and the number of orders or rows is 256, and accordingly, the length L of the image sensor 21 is 6.2cm, and the width W is 1.3 mm. That is, the image sensor 21 should be tilted by an angle α such that the height difference h2 between the 1 st to 256 th-order pixels 2122 is 8 m or within a set range from 8 m, where Sin α is h 2/W. In this way, the angle α at which the camera module 20a is tilted or the angle α at which the image sensor 21 is tilted can be determined.
It can be understood that the object 200 to be detected according to the embodiment of the present invention is placed on the carrier 300 to keep the object 200 balanced and stable, so that the image sensor 21 can conveniently acquire image data to form a stable and clear image. The height of the object 200 is the distance from the top end of the object 200 to the bottom surface of the object 200 or the surface of the carrier 300 carrying the object 200.
Referring to FIG. 7, in some embodiments, the array of photosensitive pixels includes multi-level pixels. S12 specifically includes:
s122: the array of photosensitive pixels is partitioned such that adjacent pixels of a predetermined order form a scanning unit.
Referring again to fig. 2 and 5, in some embodiments, the array of photosensitive pixels 212 includes multi-level pixels 2122. The partition module 12 includes a partition unit 122. S122 may be implemented by partition unit 122.
That is, the partition unit 122 may be used to partition the photosensitive pixel array 212 such that adjacent predetermined-order pixels 2122 form one scanning unit 212 a.
Thus, the scanning speed is faster.
In some embodiments, the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of a predetermined order, K is more than or equal to 1, and K is an integer.
Specifically, a general image sensor includes 128-order, 256-order, or 512-order or higher-order pixels 2122. When the predetermined order is multiple of 4, the multi-order pixel 2122 can be divided into an integer number of scan cells 212 a. Also, when at least 4 th order pixels 2122 form one scanning unit 212a, scanned image data can form a sharp image, image quality is high, and scanning speed can be improved.
Referring to fig. 3-5 again, the optical inspection apparatus 100 according to the embodiment of the present invention includes an imaging device 20, a driving device 50, and a control device 10. The imaging device 20 includes a camera module 20a with an adjustable tilt angle. The camera module 20a includes an image sensor 21 and a lens module 22. The image sensor 21 is disposed on the image side of the lens module 22. Image sensor 21 includes an array of photosensitive pixels 212. The array of photosensitive pixels 212 is partitioned into a plurality of scan cells 212 a. The control device 10 is used for controlling the driving device 50 to drive the camera module 20a to tilt a certain angle relative to the object 200 to be detected, scanning data output by the plurality of scanning units 212a to obtain image data with different depth information, and processing the image data to form a depth image.
The optical inspection apparatus 100 according to the embodiment of the present invention tilts the camera module 20a by a certain angle with respect to the object 200 to be inspected, so that image data of different Z-axis heights can be obtained by performing one-time scanning, and finally, a 3D image can be formed by performing a superimposing process.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
In some embodiments, the array of photosensitive pixels 212 includes multi-level pixels 2122. The camera module 20a is tilted at an angle such that the difference between the height difference of the multi-step pixels 2122 and the height of the object 200 is within a predetermined range.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
In some embodiments, the array of photosensitive pixels 212 includes multi-level pixels 2122. The adjacent pixels 2122 of a predetermined order form one scanning unit 212 a.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
In some embodiments, the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of a predetermined order, K is more than or equal to 1, and K is an integer.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
Referring to fig. 4, 5 and 8, an optical inspection apparatus 100 according to an embodiment of the present invention includes an imaging device 20, a driving device 50, a memory 30 and a processor 40. The imaging device 20 includes a camera module 20a with an adjustable tilt angle. The camera module 20a includes an image sensor 21 and a lens module 22. The image sensor 21 is disposed on the image side of the lens module 22. The memory 30 is used to store instructions. The processor 40 is operable to execute instructions to implement: controlling the driving device 50 to drive the camera module 20a to tilt a certain angle relative to the object 200 to be detected; the photosensitive pixel array 212 of the image sensor 21 is partitioned into a plurality of scanning units 212 a; scanning data output by the plurality of scanning units 212a to obtain image data having different depth information; and processing the image data to form a depth image.
The optical inspection apparatus 100 according to the embodiment of the present invention tilts the camera module 20a by a certain angle with respect to the object 200 to be inspected, so that image data of different Z-axis heights can be obtained by performing one-time scanning, and finally, a 3D image can be formed by performing a superimposing process.
It will be appreciated that the memory 30 is used to store instructions and data. The processor 40 is used for processing instructions, performing operations, controlling time and processing data, etc. For example, the processor 40 may generate corresponding operation control signals according to the functions of the instructions, and send the operation control signals to corresponding components, so as to control the components to act according to the requirements of the instructions.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
In some embodiments, the array of photosensitive pixels 212 includes multi-level pixels 2122. The processor 40 is further configured to:
estimating the height of the object 200 to be detected; and
the control driving device 50 drives the camera module 20a to tilt at a certain angle so that the difference between the height difference of the multi-step pixels 2122 and the height of the object 200 to be detected is within a set range.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
In some embodiments, the array of photosensitive pixels 212 includes multi-level pixels 2122. The processor 40 is further configured to partition the array of photosensitive pixels 212 such that adjacent predetermined-order pixels 2122 form a scan cell 212 a.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
In some embodiments, the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of a predetermined order, K is more than or equal to 1, and K is an integer.
It should be noted that the above explanation of the control method and the embodiment of the control device 10 is also applicable to the optical detection apparatus 100 of the embodiment of the present invention, and will not be expanded in detail here.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of embodiments of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (16)
1. A control method for an optical detection device, wherein the optical detection device comprises an imaging device, the imaging device comprises a camera module with an adjustable inclination angle, the camera module comprises an image sensor and a lens module, the image sensor is arranged on the image side of the lens module, and the control method comprises the following steps:
inclining the camera module by a certain angle relative to the object to be detected;
partitioning a photosensitive pixel array of the image sensor to form a plurality of scanning units;
enabling different heights of the object to be detected to be focused on the same scanning unit on the image sensor;
scanning data output by the plurality of scanning units to obtain image data with different depth information; and
processing the image data to form a depth image;
the superimposition process forms a 3D image.
2. The method of claim 1, wherein the array of photosensitive pixels comprises a plurality of levels of pixels, and the step of tilting the image sensor at an angle comprises:
estimating the height of the object to be detected; and
and inclining the camera module by a certain angle to enable the difference between the height difference of the multi-order pixels and the height of the object to be detected to be within a set range.
3. The method according to claim 1, wherein the photosensitive pixel array comprises multi-level pixels, and the step of partitioning the photosensitive pixel array of the image sensor into a plurality of scan cells comprises:
the photosensitive pixel array is partitioned such that adjacent pixels of a predetermined order form one of the scanning units.
4. A control method according to claim 3, characterized in that the predetermined order satisfies the condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
5. A control device for an optical inspection apparatus, the optical inspection apparatus comprising an imaging device and a driving device, the imaging device comprising a camera module with an adjustable tilt angle, the camera module comprising an image sensor and a lens module, the image sensor being disposed on an image side of the lens module, the control device comprising:
the control module is used for controlling the driving device to drive the camera module to incline a certain angle relative to the object to be detected;
a partitioning module for partitioning a photosensitive pixel array of the image sensor into a plurality of scanning units;
the scanning module is used for enabling different heights of the object to be detected to be focused on the same scanning unit on the image sensor and scanning data output by the plurality of scanning units to obtain image data with different depth information; and
a processing module to process the image data to form a depth image and to superimpose the processing to form a 3D image.
6. The control device of claim 5, wherein the array of photosensitive pixels comprises multi-level pixels, the control module comprising:
the estimation unit is used for estimating the height of the object to be detected; and
and the control unit is used for controlling the driving device to drive the camera module to incline by a certain angle so as to enable the difference value between the height difference of the multi-order pixels and the height of the object to be detected to be within a set range.
7. The control device of claim 5, wherein the array of photosensitive pixels comprises multi-order pixels, the partitioning module comprising:
and the partition unit is used for partitioning the photosensitive pixel array so that adjacent pixels of the preset order form one scanning unit.
8. The control apparatus according to claim 7, wherein the predetermined order satisfies a condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
9. An optical inspection apparatus, comprising:
the imaging device comprises a camera module with an adjustable inclination angle, the camera module comprises an image sensor and a lens module, the image sensor is arranged at the image side of the lens module, the image sensor comprises a photosensitive pixel array, and the photosensitive pixel array is partitioned to form a plurality of scanning units; and
the control device is used for controlling the driving device to drive the camera module to incline a certain angle relative to the object to be detected, so that different heights of the object to be detected can be focused on the same scanning unit on the image sensor and scan data output by the scanning units to obtain image data with different depth information, and the image data is processed to form a depth image and is superposed to form a 3D image.
10. The optical inspection apparatus of claim 9, wherein the array of photosensitive pixels includes multi-level pixels, and the camera module is tilted at an angle such that a difference between a height difference of the multi-level pixels and a height of the object is within a predetermined range.
11. The optical inspection apparatus of claim 9, wherein the array of photosensitive pixels includes multi-step pixels, adjacent predetermined step pixels forming one of the scan cells.
12. The optical inspection apparatus of claim 11, wherein the predetermined order satisfies a condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
13. An optical inspection apparatus, comprising:
the imaging device comprises a camera module with an adjustable inclination angle, the camera module comprises an image sensor and a lens module, and the image sensor is arranged on the image side of the lens module;
a memory to store instructions; and
a processor to execute the instructions to implement:
controlling the driving device to drive the camera module to incline a certain angle relative to the object to be detected;
partitioning a photosensitive pixel array of the image sensor to form a plurality of scanning units;
enabling different heights of the object to be detected to be focused on the same scanning unit on the image sensor;
scanning data output by the plurality of scanning units to obtain image data with different depth information; and
processing the image data to form a depth image;
the superimposition process forms a 3D image.
14. The optical inspection apparatus of claim 13, wherein the array of photosensitive pixels comprises multi-order pixels, the processor further to:
estimating the height of the object to be detected; and
and controlling the driving device to drive the camera module to incline by a certain angle so as to enable the difference between the height difference of the multi-order pixels and the height of the object to be detected to be within a set range.
15. The optical inspection apparatus of claim 13, wherein the array of photosensitive pixels comprises multi-order pixels, the processor further to:
the photosensitive pixel array is partitioned such that adjacent pixels of a predetermined order form one of the scanning units.
16. The optical inspection apparatus of claim 15, wherein the predetermined order satisfies a condition: and S is 4K, wherein S represents the order of the predetermined order, K is more than or equal to 1, and K is an integer.
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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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