CN108917595A - Glass on-line measuring device based on machine vision - Google Patents
Glass on-line measuring device based on machine vision Download PDFInfo
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- CN108917595A CN108917595A CN201810626757.XA CN201810626757A CN108917595A CN 108917595 A CN108917595 A CN 108917595A CN 201810626757 A CN201810626757 A CN 201810626757A CN 108917595 A CN108917595 A CN 108917595A
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- glass
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- cabinet
- measuring device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- 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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
-
- 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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- 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
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Quality & Reliability (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses the glass on-line measuring devices based on machine vision, mainly include cabinet and objective table, cylinder modules, phase unit, LED template, computer, display and alarm module are wherein equipped in cabinet；Phase unit is in LED template, phase unit, display and alarm module and calculating mechatronics；Objective table is placed in cabinet, positioned at the underface of phase unit.It is illuminated always when it is characterized in that, being placed in the LED module work on cabinet top, after tested glass is fixed, phase unit carries out Image Acquisition, the dimensional discrepancy of analysis relatively more tested glass and normal glass, and show over the display, to rejected product Realtime Alerts.The present invention can efficiently on-line checking glass size, detection accuracy height, data redundancy be good, it is detected suitable for more sizes, the glass size of multiple types, the glass detection of intelligent automation is realized, and detection device is easy to be generalized to the size detection of other targets, has certain versatility.
Description
Technical field
The present invention relates to glass automatic detection fields, and in particular to a kind of glass size based on machine vision is examined online
Survey device.
Background technique
It is transparent and smooth surface glass for test product, artificial offline measurement is traditional glass size detection side
Method, this method have been unable to meet now because of the disadvantages of its measuring speed is slow, labor intensive, inefficiency, reaction time lag
Measurement request, be subject to certain restrictions the scale of glass production, so that its market demands is influenced, at image
Reason technology combines, and replaces the measurement method of artificial vision to be used widely in imaging sensor, video camera.However it is current right
Very strict in the specification requirement of automobile, high-speed rail, military glass etc., simple image procossing, which has been not enough to be suitable for high standard, to be needed
It asks, therefore is badly in need of a kind of efficient, high-precision glass on-line detecting system with versatility.
The present invention is directed to these features, by a kind of online image detecting technique detect current glass size,
Shape excludes off-grade glass in time.The Chinese invention patent CN201210129419 announced by touch sensor come
The dimensional discrepancy size of glass is detected, but this sensor must adjust position with the difference of glass kind to measure, and sample
Speed is slower, it is understood that there may be scratches the risk of object.
Summary of the invention
The present invention is carried out Image Acquisition using camera and is looked for using the image information of normal glass as template by image procossing
To mark point and the corresponding mark point in template, to eliminate the influence of external environment shake, reach high-precision rapid detection
Glass size, the invention is realized by the following technical scheme：
Glass on-line measuring device based on machine vision mainly includes cabinet and objective table, cylinder mould is wherein equipped in cabinet
Block, phase unit, without stroboscopic collimated white light LED module, computer, display and alarm module；Phase unit is parallel embedded in no stroboscopic
White light LEDs template, phase unit, display and alarm module and calculating mechatronics；Objective table is placed in cabinet, is located at camera
The underface of group.It is characterized in that, be placed in cabinet top without stroboscopic collimated white light LED shuttering work when shone always
Bright, after tested glass is fixed, phase unit carries out Image Acquisition, and analysis is relatively detected the dimensional discrepancy of glass and normal glass,
And it shows over the display.
The cabinet inner wall is made of diffuse-reflective material.
The glass on-line measuring device based on machine vision, it is characterised in that the objective table by fixation hole,
High-precision marked circle and guide pile composition, table top diffusing reflection, fixation hole are determined according to the position of a variety of glass providing holes by three
Position stake positions glass, and guide pile will not deformation occurs, and objective table is heavy enough, can prevent from shaking, and be not affected by temperature.
The glass on-line measuring device based on machine vision, it is characterised in that the cylinder modules include double rod
Two piston rods of cylinder and cylinder control module, double-rod cylinder are controlled by cylinder template contral relative motion.
The glass on-line measuring device based on machine vision, it is characterised in that the computer includes that image is adopted
Collect unit, image processing unit and data analysis unit.
The glass on-line measuring device based on machine vision, it is characterised in that the phase unit include 2 simultaneously
The camera of shape arrangement, and be embedded in no stroboscopic collimated white light LED module, corresponding journey is passed through by the image pick-up card in computer
Sequence is automatically controlled while being taken pictures, and image data is input to computer and is handled, and phase unit is parallel to objective table, acquires model
Enclose covering objective table.
The glass on-line measuring device based on machine vision, it is characterised in that the LED module is by no stroboscopic
The parallel area source composition of white, be placed in cabinet top, be parallel to objective table.
The working principle of the invention：
The present invention is based on the glass on-line measuring devices of machine vision to be positioned using double-rod cylinder, after glass is fixed, acquisition
Glass image after fixation detects glass edge and mark by the correction of glass image, pretreatment, sub-pixel edge detection method
Note circle, obtains the pixel coordinate of marked circle, calculates the corresponding space coordinate of pixel coordinate, and tested glass image is carried out with template
It is corresponding, N number of sampled point is chosen, point corresponding with normal glass edge is compared, and it is corresponding with normal glass to calculate tested glass
The physical distance of point.
Glass is pushed into detection zone using double-rod cylinder by cylinder modules, and glass both sides are fixed by guide pile, shift position onto
Afterwards, a piston rod in double-rod cylinder still resists glass, another piston rod is withdrawn, drive when being unlikely to withdraw at this time
Glass causes error.
Phase unit sends commands to phase unit by image acquisition units control image pick-up card and takes pictures, and obtains tested
Whether the image information of target after A/D module is converted into digital signal, judges signal by corresponding program by correlated-double-sampling
Effectively, when the request of application program sending reception data, and the transmission data by when equipment sending response accordingly, finally lead to
It crosses in the image information real-time display to display that communication interface realization communicates with computer, and camera is obtained.
Mark point is process by high-precision on objective table, and size position can determine, with the normal glass image of shooting
For template, three-dimensional reconstruction re-projection chooses the center of circle of a high-precision marked circle in template image as the original in space coordinates
Point puts the pixel coordinate for choosing several mark points in template image for standard with thisAnd sample point coordinate, opposite spatial position is obtained by the marked circle location parameter relative to origin, then utilizeCalculate its transformation matrixP1, image can be transformed into space coordinates by this transformation matrix, while can obtain
The space coordinate of sampled point；The marked circle chosen in template is corresponded in the same way in tested image again
Marked circle position, i.e.,(A1=B1), corresponding pointsb1 pixel coordinate in tested image is it is known that acquisition can be calculated
It arrivesP2；Then the space coordinate C for passing through template, is detected the sampled point of imageIt utilizesWith the sampling of template image
Point coordinate is corresponded to.Template image is carried out three-dimensional reconstruction, and re-projection obtains quilt into the pixel coordinate system of tested image again
Examine the sample point coordinate of image.
Glass is fixed by three guide piles, and by taking the selection of triangular glass sampled point as an example, industrial general detection must be examined
3 points of long side, short side each 2, each 1 point in fillet part.Since tested glass is not necessarily identical with normal glass dimensions
It is found that the sampled point of template Plays glass edge is not necessarily also on the edge of tested glass, but mark point in each image
Position be thick-and-thin, therefore using template image Plays glass as standard, choose 2 on glass edge surrounding space
Point（This spatially 2 points will not be different because of glass this village rules and customs lattice and change, 2 regions are small as far as possible, and this region is enough
Carry out sub-pixel edge detection）, using 2 lines with glass edge intersection point as sampled point, then switch to the seat of tested glass
In mark system, same method obtains the sampled point of tested glass, calculates the physical distance between normal glass and tested glass sampled point,
As judging whether He Ge standard by verifying meets industrial grade standard to tested glass.
Advantages of the present invention,
1, glass reflecting can be overcome using the white parallel surface light source led of no stroboscopic and the characteristic of shade is imaged, obtain imaging effect
The good glass image of fruit, improves the precision of edge detection.
2, identification positioning is carried out using mark point, carries out template image with each point of tested image corresponding, reduced outer
Boundary's environment is shaken bring coordinate shift and is influenced, and improves the stability of detection system, reduces camera requirement, can reduce into
This.
3, three-dimensional reconstruction re-projection avoids check frequency caused by the overlapped part of imaging region, can pass through three-dimensional reconstruction
Re-projection achievees the purpose that reduction real image, ensure that the precision of detection.
4, using Sub-pixel Edge Detection Technology, glass edge is detected, avoids the mistake of Single pixel edge detection
Difference.
5, detection method executes simple, and repeatability, precision are high.
Detailed description of the invention
Fig. 1 system equipment overall structure diagram；
Fig. 2 structure of system equipment front view；
Fig. 3 double-rod cylinder structural schematic diagram；
Fig. 4 objective table mesa structure schematic diagram；
Fig. 5 Image Acquisition and computer messaging diagrams；
Fig. 6 detection system flow chart
Fig. 7 three-dimensional reconstruction re-projection result figure；
Fig. 8 normal glass template file schematic diagram
Fig. 9 data result file schematic diagram
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings：
As depicted in figs. 1 and 2, the glass on-line measuring device based on machine vision mainly includes cabinet 1 and objective table 2, wherein
Cylinder modules 3, phase unit 4 are equipped in cabinet 1, without stroboscopic collimated white light LED module 5, computer 6, display 7 and alarm module
8；In no stroboscopic collimated white light LED template 5, phase unit 4, display 7 and alarm module 8 are electrically connected phase unit 4 with computer 6
It connects；Objective table 2 is placed in cabinet 1, positioned at the underface of phase unit 4.Be placed in 1 top of cabinet without stroboscopic collimated white light
LED template 5 is illuminated always when working, and after tested glass 9 is fixed, phase unit 4 carries out Image Acquisition, and computer 6 is analyzed
Compare the dimensional discrepancy of tested glass 9 and normal glass, and shows on the display 7.
1 inner wall of cabinet is made of diffuse-reflective material, prevent cabinet reflective and cause imaging shade, phase unit 4 include 2 simultaneously
The camera of shape arrangement, and be embedded in no stroboscopic collimated white light LED module 5, figure is passed through by the image pick-up card that computer 6 carries
It as acquisition unit automatic control while taking pictures, and image data is input to computer 6 and is handled, phase unit 4 is parallel to load
Object platform 2, acquisition range cover objective table 2.
Fig. 3 is double-rod cylinder structural schematic diagram, and cylinder modules 3 include double-rod cylinder 10 and cylinder control module 11, double rod
The piston rod 121 and piston rod 122 of cylinder 10 are controlled by cylinder template 11 and control relative motion.When glass is placed into objective table 2
When detection zone, computer 4 sends commands to cylinder control module 11, controls double-rod cylinder 10 for glass and is pushed into triangulation location stake
Place, glass and triangulation location stake are tangent, and glass both sides are fixed by guide pile, and the piston rod 122 in double-rod cylinder 10 still supports
Firmly glass, piston rod 121 are withdrawn, and glass is driven when being unlikely to withdraw at this time, causes error.
Fig. 4 is objective table mesa structure schematic diagram, and objective table 2 is by fixation hole 13, high-precision marked circle 14 and guide pile 15
Composition, table top diffusing reflection, fixation hole 13 position glass by three guide piles 15, no according to the position of a variety of glass providing holes
Deformation occurs for meeting, and guide pile 15 is surely solid in fixation hole 13 by screw thread, and the weight enough of objective table 2 can prevent from shaking, and not by temperature
Degree influences.
Fig. 5 is Image Acquisition and computer messaging diagrams, and after glass is placed on accurate location, phase unit 4 is adopted by image
Collection unit control image pick-up card sends commands to phase unit 4 and takes pictures, and the image information of measured target is obtained, by correlation
After double sampled 16, A/D module 17 is converted into digital signal, judge whether signal is effective by corresponding program, when application program issues
Data are transmitted when receiving the request of data, and issuing corresponding response by equipment, realizes and counts finally by communication interface
The communication of calculation machine, and in the image information real-time display to display that camera is obtained.
Fig. 6 is detection system flow chart, is first demarcated to camera before detecting work, then to the image of camera acquisition
It is corrected, the projective transformation of cartesian coordinate (mm) is then calculated by the mark point in pixel coordinate system, after carrying out image preprocessing, sub-pixel edge detection is carried out to tested glass, obtains the side of glass
Edge information chooses N number of sampled point, and point corresponding with normal glass edge is compared, and calculates tested glass with normal glass pair
The physical distance that should be put.
It is illustrated in figure 7 the specific Method of Projection Change of image, marked circle is process by high-precision on objective table, greatly
Small position can determine that, with the normal glass image making template file of shooting, three-dimensional reconstruction re-projection is chosen in template image
The center of circle of one high-precision marked circle is the origin in space coordinates（Origin is will not to change in space coordinates）, with
This point is the pixel coordinate that standard chooses several marked circles in template imageAnd sample point coordinate, lead to
It crosses and obtains opposite spatial position relative to the marked circle location parameter of origin, then utilizeMeter
Calculate its transformation matrixP1, image can be transformed into space coordinates by this transformation matrix, while the sky of sampled point can be obtained
Between coordinate；The marked circle chosen in template is corresponded into the marked circle position in tested image in the same way again,
I.e.(A1=B1), corresponding pointsb1 pixel coordinate in tested image is got it is known that can calculateP2；Then lead to
The space coordinate C of template is crossed, the sampled point of image is detectedIt utilizesIt is carried out pair with the sample point coordinate of template image
It answers.Template image is carried out three-dimensional reconstruction, and re-projection obtains the sampling of tested image into the pixel coordinate system of tested image again
Point coordinate.
As shown in figure 8, selection 4 or more marked circle, chooses 2 points on glass edge surrounding space（This spatially 2
Point will not change because of this village rules and customs lattice difference of glass, and 2 regions are small as far as possible, and this region is sufficient for sub-pixel edge
Detection）, sub-pixel edge detection is done to the rectangular area where 2 points, glass linear edge does straight line fitting, and curved edge does two
Then secondary or Cubic Curve Fitting is sampling with the intersection point of the glass edge of fitting with 2 lines as close possible to actual edge
Point, same method obtain the sampled point of tested glass, calculate the physical distance between normal glass and tested glass sampled point, pass through
Set up the range deviation threshold value between normal glass and tested glass, as judge tested glass whether He Ge standard.
As shown in figure 9, having taken 150 tested glass photos in total in experiment, collected 150 glass pictures are chosen
The sampled point of glass edge is N number of, detects to edge near sampled point, obtains sample point data, then corresponding with normal glass
Point is compared, and calculates glass physical distance.150*N data are processed, STEDV, Var, Max, Min, Mean etc. are calculated,
It brings into and solves PPK value, it is controlled whether assessment test process is stablized.This data instance for sentencing some point of selection is analyzed,
The physical dimension data of 125 this points is taken to calculate (PPK=4.13 PPK>1.67), the PPK of other corresponding points is all larger than 1.67, says
The robustness of bright scheme is high, is suitable for industrial standard, and the precision of glass measurement is up to 10um.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
The modifications, equivalent substitutions and improvements etc. done within the principle of mode, should be included in protection scope of the technical solution etc.
Claims (8)
1. the glass on-line measuring device based on machine vision mainly includes cabinet and objective table, cylinder is wherein equipped in cabinet
Module, phase unit, LED module, computer, display and alarm module；Phase unit is in LED module, phase unit, display
With alarm module and calculating mechatronics；Objective table is placed in cabinet, positioned at the underface of phase unit.It is characterized in that, peace
It sets and is illuminated always in the LED module work on cabinet top, after tested glass is fixed, phase unit is taken pictures, and is carried out three-dimensional
Re-projection is rebuild, after image preprocessing, the data information obtained by sub-pixel edge detection, the relatively more tested glass of analysis and mark
The dimensional discrepancy of quasi- glass, and show over the display.
2. the glass on-line measuring device according to claim 1 based on machine vision, it is characterised in that the cabinet
Inner wall is made of diffuse-reflective material.
3. the glass on-line measuring device according to claim 1 based on machine vision, it is characterised in that the loading
Platform is made of fixation hole, high-precision marked circle and guide pile, table top diffusing reflection.
4. the glass on-line measuring device according to claim 1 based on machine vision, it is characterised in that the cylinder
Module includes double-rod cylinder and cylinder control module, and two piston rods of double-rod cylinder are controlled by cylinder the opposite fortune of template contral
It is dynamic.
5. the glass on-line measuring device according to claim 1 based on machine vision, it is characterised in that the calculating
Machine includes image acquisition units, image processing unit and data analysis unit.
6. the glass on-line measuring device according to claim 1 based on machine vision, it is characterised in that the camera
Group is taken pictures by the image pick-up card in computer by image acquisition units automatic control.
7. the glass on-line measuring device according to claim 1 based on machine vision, it is characterised in that the LED mould
Block is made of the parallel area source of white of no stroboscopic, is placed in cabinet top, is parallel to objective table.
8. the glass on-line measuring device according to claim 1 based on machine vision, it is characterised in that the three-dimensional
Rebuilding re-projection is the pixel coordinate of sampled point in template to be transformed into space coordinates, then pass through transformation re-projection to tested figure
As in corresponding coordinate points.
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| CN110006345A (en) * | 2019-04-22 | 2019-07-12 | 东华大学 | A kind of automotive wire bundle on-line measuring device and method based on machine vision |
| CN111595240A (en) * | 2020-06-15 | 2020-08-28 | 上海海洋大学 | Multi-view-angle rapid shooting device for cephalopod cutin and jaw |
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