CN110231289A - A kind of automatic polisher of multiple light courcess and its image composition method - Google Patents
A kind of automatic polisher of multiple light courcess and its image composition method Download PDFInfo
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- CN110231289A CN110231289A CN201910520680.2A CN201910520680A CN110231289A CN 110231289 A CN110231289 A CN 110231289A CN 201910520680 A CN201910520680 A CN 201910520680A CN 110231289 A CN110231289 A CN 110231289A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of automatic polisher of multiple light courcess and its image composition methods, the polisher includes: polishing bracket, the polishing bracket includes first annular bracket, the second ring support and third ring support, also includes at least the first controllable light source, the second controllable light source and third controllable light source；In object platform, described is in object platform in the region to be measured that the polishing frame bottom is formed；Array camera component, bright domain camera and dark domain camera including being set to the polishing cradle top；Light source controller, for controlling first controllable light source, the second controllable light source and the light angle and illumination zone of third controllable light source；Machine Vision Detection module, the image of the workpiece for measurement for being obtained under different lighting environments according to stated clearly domain camera and dark domain camera generate composograph.Described image synthetic method is applied to above-mentioned polisher.Present invention detection efficiency with higher and reliability.
Description
Technical field
The present invention relates to automatic detection device fields more particularly to a kind of automatic polisher of multiple light courcess and its image to close
At method.
Background technique
Existing surface defects of parts detection, which usually relies on, to be accomplished manually, and detection speed is slow, subjective factor influences greatly, can
Processing quality that is low by property, influencing product.Then there is the defect inspection method based on image recognition technology, and above-mentioned detection
Method largely depends on polisher and corresponding imaging system, how to provide reliable polisher, provides rationally
Image composition method become urgent problem to be solved in the industry.
Summary of the invention
To overcome the problems, such as that existing surface defects of parts detection speed is slow, reliability is low, the embodiment of the present invention is on the one hand
Provide a kind of automatic polisher of multiple light courcess, comprising:
Polishing bracket, the polishing bracket include at least first annular bracket for being located at different height position, the second annular
Bracket and third ring support also include at least the first controllable light source being set on the first annular bracket, are set to described the
The second controllable light source on second ring bracket and the third controllable light source on the third ring support；
In object platform, described is in object platform in the region to be measured that the polishing frame bottom is formed；
Array camera component, bright domain camera and dark domain camera including being set to the polishing cradle top；
Light source controller, for controlling the illumination of first controllable light source, the second controllable light source and third controllable light source
Angle and illumination zone；
Machine Vision Detection module, for what is obtained under different lighting environments according to stated clearly domain camera and dark domain camera
The image of workpiece for measurement generates composograph.
Further, the quantity of bright domain camera described above and dark domain camera is each two, stated clearly domain camera and dark domain phase
Machine is set to the overlying regions to be measured, and stated clearly domain camera and dark domain camera are spaced apart in a circumferential direction.
Further, polishing bracket described above includes support arm and inner support, the first annular bracket, the second annular branch
Frame and third ring support are formed on the inner support；The support arm is used to support in described in described in formation on object platform
Form beam-like frame above the braced frame of bracket, Yu Suoshu inner support, stated clearly domain camera and dark domain camera is mobilizable sets
It sets on the beam-like frame.
Further, the shape of inner support described above is hemispherical, and the inner support is in stated clearly domain camera and dark domain phase
Image Acquisition notch is formed below machine.
Further, polisher described above further includes the Distance-sensing on stated clearly domain camera and dark domain camera
Device, the range sensor are used to detect the relative distance of each stated clearly domain camera and dark domain camera and the workpiece for measurement；
It is described in object platform include clamp assemblies around the region to be measured, be used for below the clamp assemblies
The pallet of workpiece for measurement described in support and the angle-adjusting mechanism below the pallet, the angle-adjusting mechanism packet
Telescopic rod, the multi-directional ball connecting with telescopic rod and the sucker between the multi-directional ball and pallet are included, the sucker can take off
From connect with the pallet；
The Machine Vision Detection module is also used to adjust the height of the telescopic rod and the angle of the multi-directional ball,
So that the relative distance of the workpiece for measurement and each stated clearly domain camera and dark domain camera is within the scope of pre-determined distance.
Further, pallet described above is transparent pallet, and described is in be additionally provided with flexible pivot, the pallet side wall on object platform
On be provided with pivot hole corresponding with the flexible pivot；
The Machine Vision Detection module is also used to control the flexible pivot and overturns the pallet, described to be measured to overturn
Workpiece.
On the other hand the embodiment of the present invention provides a kind of image composition method, be applied to mostly light described in any of the above embodiments
The automatic polisher in source, comprising:
Controlling the first controllable light source is in be always on linear light source state on first annular bracket；
Multiple predetermined angles that the second controllable light source is controlled in the second ring support successively irradiate workpiece for measurement；
It controls third controllable light source and successively irradiates workpiece for measurement in multiple predetermined angles of third ring support；
When the second controllable light source or third controllable light source are when different predetermined angles irradiate workpiece for measurement, array camera is controlled
Component obtains the workpiece for measurement image, generates workpiece for measurement brightness of image matrix；
According to the workpiece for measurement brightness of image matrix and the workpiece for measurement image, composograph is generated.
Further, the second controllable light source or the third controllable light source described above worked as is in different predetermined angles irradiation workpiece for measurement
When, control the step of array camera component obtains the workpiece for measurement image, obtains workpiece for measurement brightness of image matrix, comprising:
When the second controllable light source is when different predetermined angles irradiate workpiece for measurement and third controllable light source is extinguished, control is controlled
Array camera component processed obtains the image of workpiece for measurement, generates the first workpiece for measurement image group；
When third controllable light source is when different predetermined angles irradiate workpiece for measurement and the second controllable light source is extinguished, control is controlled
Array camera component processed obtains the image of workpiece for measurement, generates the second workpiece for measurement image group；
According to the first workpiece for measurement image group and the second workpiece for measurement image group, workpiece for measurement brightness of image square is generated
Battle array.
Further, defining workpiece for measurement brightness of image matrix described above isInFor the brightness square of the n-th width image
Battle array, described according to the workpiece for measurement image array, the step of generating composograph, comprising:
According to formulaDetermine G value, whereinFor known light source radiating angle matrix,
Ln TFor the corresponding light source incidence angle of the n-th width image；
According to formulaWherein kd=| | G | |, generate composograph.
At least first annular branch is arranged by providing polishing bracket in the embodiment of the present invention from high to low on polishing bracket
Frame, the second ring support and third ring support, the controllable light being set on each ring support by providing light-source controller controls
Source carries out polishing in the workpiece for measurement on object platform, so that polishing is full and uniform, relatively-stationary first annular bracket, the second ring
Shape bracket and third ring support make irradiating angle relatively fixed, avoid the generation of error, meanwhile, the present invention utilizes defect
Target matches the reflection characteristic of different light source directions and angle by adjusting the flash of light rule of controllable light source on ring support
The sequence image that combined array column photomoduel obtains carries out image procossing, realizes the detection to fine defects.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the perspective view of the automatic polisher of multiple light courcess of first embodiment of the invention；
Fig. 2 is that Fig. 1 is removed in the perspective view after object platform；
Fig. 3 is the lateral plan of Fig. 2；
Fig. 4 is the inner support of first embodiment of the invention and the perspective view of array camera component；
Fig. 5 is the pallet of second embodiment of the invention and the perspective view of angle-adjusting mechanism.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
When the embodiment of the present invention refers to the ordinal numbers such as " first ", " second " (if present), unless based on context it is true
The meaning of real order of representation, it should be understood that only play differentiation and be used.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " (if present) shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or one
Ground connection；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, it can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
First embodiment:
Please refer to figs. 1 to 4, the embodiment of the invention discloses a kind of automatic polishers of multiple light courcess, comprising:
Polishing bracket 1, the polishing bracket include at least first annular bracket 11, the second ring positioned at different height position
Shape bracket 12 and third ring support 13, also include at least be set to the first annular bracket 11 on the first controllable light source 14,
The second controllable light source 15 on second ring support 12 and the third on the third ring support 13 are controllable
Light source 16；
In object platform 2, the region to be measured 21 formed in object platform 2 in 1 bottom of polishing bracket；
Array camera component 3, bright domain camera 31 and dark domain camera 32 including being set to the polishing cradle top；
Light source controller, for controlling first controllable light source 14, the second controllable light source 15 and third controllable light source 16
Light angle and illumination zone；
Machine Vision Detection module, for being obtained under different lighting environments according to stated clearly domain camera 31 and dark domain camera 32
The image of the workpiece for measurement taken generates composograph.
It in the present embodiment, include transmission device in object platform 2, workpiece for measurement can be sent in object platform by transmission device
Region to be measured 21 in, region 21 to be measured is located on the main shaft of array camera component 3, bright domain camera 31 be used for testing product surface
Absorption light type defect, or for detecting reflectivity properties and workpiece for measurement haves the defects that notable difference；Dark domain camera
32 defect for the scattering light type on testing product surface, or for detecting reflection light direction and the smooth table of workpiece for measurement
The visibly different defect in face.By the cooperation of bright domain camera 31 and dark domain camera 32, so that the composograph of the present embodiment is more sharp
Defects detection in rear end.
As a kind of preferred embodiment, the quantity of bright domain camera 31 described above and dark domain camera 32 is each two, institute
It states domain camera 31 clearly and dark domain camera 32 is set to 21 top of region to be measured, and stated clearly domain camera 31 and dark domain camera 32 exist
It is spaced apart on circumferencial direction.
Meanwhile first controllable light source 14, the second controllable light source 15 and third controllable light source 16 respectively include equal on circumference
Eight fixed light sources of even distribution.Light source controller can control the photograph of light source by the combination lighting mode of control fixed light source
Bright angle and illumination zone.
Polishing bracket described above includes support arm 4 and inner support 5, the first annular bracket 11, the second ring support
12 and third ring support 13 be formed on the inner support 5；The support arm 4 is used to support in described in being formed on object platform 2
Beam-like frame 42, stated clearly domain camera 31 and dark domain are formed above the braced frame 41 of the inner support 5, Yu Suoshu inner support 5
Camera 32 is mobilizable to be arranged on the beam-like frame 32.Inner support 4 can be used for adjusting the integral position of light source, support arm 5
It can be used for adjusting the position of array camera component, to beat device automatically relatively flexible so that the present invention implements dynamics.
Non-limiting as an example, the shape of inner support 5 described above is hemispherical, and the inner support 5 is in described
Image Acquisition notch 51 is formed below bright domain camera 31 and dark domain camera 32.It should be noted that the shape of above-mentioned inner support 5 is also
It can be polygon prism shape or more prism-frustum-shapeds.
At least first annular branch is arranged by providing polishing bracket in the embodiment of the present invention from high to low on polishing bracket
Frame, the second ring support and third ring support, the controllable light being set on each ring support by providing light-source controller controls
Source carries out polishing in the workpiece for measurement on object platform, so that polishing is full and uniform, relatively-stationary first annular bracket, the second ring
Shape bracket and third ring support make irradiating angle relatively fixed, avoid the generation of error, meanwhile, the present invention utilizes defect
Target matches the reflection characteristic of different light source directions and angle by adjusting the flash of light rule of controllable light source on ring support
The sequence image that combined array column photomoduel obtains carries out image procossing, realizes the detection to fine defects.
Second embodiment:
Unlike above-mentioned first embodiment, in the present embodiment, the first controllable light source on first annular bracket is
Annular linear light source, multiple illuminators including annular arrangement；Second controllable light source is arranged by sliding block props up in the second annular
On frame, and it can be slided in the sliding slot of the second ring support；Third controllable light source is arranged on third ring support by sliding block,
And it can be slided in the sliding slot of third ring support.Light source controller can control the second controllable light source and third controllable light source corresponding
Position of the sliding block in sliding slot, to control the irradiating angle of the second controllable light source and third controllable light source.
Meanwhile polisher described above further includes the range sensor on stated clearly domain camera and dark domain camera,
The range sensor is used to detect the relative distance of each stated clearly domain camera and dark domain camera and the workpiece for measurement；
Shown in referring to figure 5., it is described in object platform include clamp assemblies 6 around the region to be measured, be located at it is described
Angle-adjusting mechanism below clamp assemblies 6 for the pallet 7 of workpiece for measurement described in support and set on 7 lower section of pallet
8, the angle-adjusting mechanism 8 is including telescopic rod 81, the multi-directional ball 82 connecting with telescopic rod 81 and is set to the multi-directional ball 82
Sucker 83 between pallet 7, the sucker 83 is departing to be connect with the pallet 7；
The Machine Vision Detection module is also used to adjust the height of the telescopic rod 81 and the angle of the multi-directional ball 82
Degree, so that the relative distance of the workpiece for measurement and each stated clearly domain camera and dark domain camera is within the scope of pre-determined distance.
As a kind of specific implementation, above-mentioned telescopic rod 81 can be cylinder rod, the multi-directional ball 82 and sucker 83
Junction is equipped with for the air pump interface 84 for 83 extraction air of sucker.Above-mentioned range sensor can be infrared sensor or super
Sonic sensor, illustratively, when the quantity of stated clearly domain camera and dark domain camera is two in first embodiment, four
Four corresponding points are to the distance for corresponding to camera on workpiece for measurement for obtaining for a range sensor, to obtain workpiece for measurement and array
The average distance of photomoduel and the tilt angle on workpiece for measurement surface.When average distance is beyond within the scope of pre-determined distance,
Machine Vision Detection module adjusts the height of telescopic rod 81, so that workpiece for measurement is located at the pre-focusing range of array camera component
It is interior；When tilt angle is beyond within the scope of predetermined angle, Machine Vision Detection module adjusts the multi-directional ball 82 on telescopic rod 81
Angle, so that workpiece surface face array camera component, so that each controllable light source is to surface inclination or irregular work to be measured
Part polishing and array camera component obtain clearly workpiece for measurement direct picture.
As an improvement and it is non-limiting, pallet 7 described above is transparent pallet, described to be additionally provided with flexible pivot on object platform
Axis is provided with pivot hole 71 corresponding with the flexible pivot on the pallet side wall；
The Machine Vision Detection module is also used to control the flexible pivot and overturns the pallet 7, with overturn it is described to
Survey workpiece.
When flexible pivot stretches out, stretch in the corresponding pivot hole 71 of pivot insertion 7 side wall of pallet, machine vision is examined at this time
Survey the module control flexible pivot and overturn the pallet so that the back side face array camera component of workpiece for measurement, due to
The back side for surveying workpiece is placed side, and usual placed side is plane, it is only necessary to can be to the back side of workpiece for measurement to workpiece turning to be measured
Surface carries out polishing and image obtains, simple and convenient.In the present embodiment, angle-adjusting mechanism 8 and flexible pivot select one with
Pallet 7 connects, and when flexible pivot retracts, can connect and support pallet by angle-adjusting mechanism and pallet.
Due to before carrying out polishing and image acquisition to workpiece for measurement, it usually needs using visual standards part to array camera
Component carries out adjustment and focusing work (hereinafter referred to as pre-adjustment), so that each bright domain camera and dark domain camera are focused substantially to be measured
On workpiece, the present embodiment is by providing angle-adjusting mechanism, so that automatic polisher can be with the thickness of automatic identification workpiece for measurement
Thin and surface flat conditions, by adjusting the height of telescopic rod, so that workpiece for measurement is located at the pre- right of array camera component
In burnt range, by adjusting the angle of the multi-directional ball on telescopic rod, so that workpiece surface substantially face array camera component, with benefit
It is that surface inclination or irregular workpiece for measurement polishing and array camera component obtain clearly work to be measured in each controllable light source
Part direct picture avoids the problem that pre-adjustment leads to inefficiency repeatedly when in face of different workpieces for measurement.Meanwhile the present embodiment
By providing flexible pivot, and pivot hole is opened up in pallet side wall, so that Machine Vision Detection module can control the flexible pivot
Axis overturns the pallet, carries out defects detection with the backside surface to workpiece for measurement, avoids artificial intervention, full-automatic
Design operation is easy, time saving and energy saving.
3rd embodiment:
The embodiment of the invention provides a kind of image composition methods, certainly applied to multiple light courcess described in any of the above-described embodiment
Dynamic polisher, comprising:
Controlling the first controllable light source is in be always on linear light source state on first annular bracket；
Multiple predetermined angles that the second controllable light source is controlled in the second ring support successively irradiate workpiece for measurement；
It controls third controllable light source and successively irradiates workpiece for measurement in multiple predetermined angles of third ring support；
When the second controllable light source or third controllable light source are when different predetermined angles irradiate workpiece for measurement, array camera is controlled
Component obtains the workpiece for measurement image, generates workpiece for measurement brightness of image matrix；
According to the workpiece for measurement brightness of image matrix and the workpiece for measurement image, composograph is generated.
In the present embodiment, the step of the first controllable light source is being in be always on linear light source state on first annular bracket is being controlled
Before, further include the steps that pre-adjustment:
Adjustment and focusing work are carried out to array photomoduel with visual standards part, so that each bright domain camera and dark domain camera
Focusing is on workpiece for measurement surface；
By the default flash of light rule of light source controller, keep each first controllable light source, the second controllable light source and third controllable
Light source is successively flashed in certain brightness range；
The flash of light rule for obtaining and array camera component being applied to meet resolution standard.
As a kind of specific polishing scheme, the second controllable light source or third controllable light source described above worked as is in different preset angles
When degree irradiation workpiece for measurement, control array camera component obtains the workpiece for measurement image, obtains workpiece for measurement brightness of image square
The step of battle array, comprising:
When the second controllable light source is when different predetermined angles irradiate workpiece for measurement and third controllable light source is extinguished, control is controlled
Array camera component processed obtains the image of workpiece for measurement, generates the first workpiece for measurement image group；
When third controllable light source is when different predetermined angles irradiate workpiece for measurement and the second controllable light source is extinguished, control is controlled
Array camera component processed obtains the image of workpiece for measurement, generates the second workpiece for measurement image group；
According to the first workpiece for measurement image group and the second workpiece for measurement image group, workpiece for measurement brightness of image square is generated
Battle array.
It as an example, can relative to the first controllable light source, the second controllable light source and third in above-mentioned first embodiment
Control light source respectively includes the scheme of equally distributed eight fixed light sources on circumference, and each camera obtains 16 width difference light source radiating angles
Image.Array camera component can obtain 4*16 totally 64 width image altogether, wherein can get under the light source irradiation of each predetermined angle
2 bright domain photos and 2 dark domain photos.The reliability of image composition method is ensured.
For the interference for further decreasing uneven illumination, Artifact acquires high quality graphic, the present embodiment defines above-mentioned
The workpiece for measurement brightness of image matrix isInIt is described according to the workpiece for measurement figure for the luminance matrix of the n-th width image
The step of picture matrix, generation composograph, comprising:
According to formulaDetermine G value, whereinFor known light source radiating angle matrix,
Ln TFor the corresponding light source incidence angle of the n-th width image；
According to formulaWherein kd=| | G | |, generate composograph.
By above-mentioned synthetic method, uneven illumination can be further decreased, the interference that Artifact acquires high quality graphic, obtained
Obtain the composograph of high reliability.
At least first annular branch is arranged by providing polishing bracket in the embodiment of the present invention from high to low on polishing bracket
Frame, the second ring support and third ring support, the controllable light being set on each ring support by providing light-source controller controls
Source carries out polishing in the workpiece for measurement on object platform, so that polishing is full and uniform, relatively-stationary first annular bracket, the second ring
Shape bracket and third ring support make irradiating angle relatively fixed, avoid the generation of error, meanwhile, the present invention utilizes defect
Target matches the reflection characteristic of different light source directions and angle by adjusting the flash of light rule of controllable light source on ring support
The sequence image that combined array column photomoduel obtains carries out image procossing, realizes the detection to fine defects.
The above is merely preferred embodiments of the present invention, it is not intended to limit the invention.It is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (9)
1. a kind of automatic polisher of multiple light courcess characterized by comprising
Polishing bracket, the polishing bracket include at least first annular bracket, the second ring support positioned at different height position
With third ring support, also includes at least the first controllable light source being set on the first annular bracket, is set to second ring
The second controllable light source on shape bracket and the third controllable light source on the third ring support；
In object platform, described is in object platform in the region to be measured that the polishing frame bottom is formed；
Array camera component, bright domain camera and dark domain camera including being set to the polishing cradle top；
Light source controller, for controlling the light angle of first controllable light source, the second controllable light source and third controllable light source
And illumination zone；
Machine Vision Detection module, it is to be measured for being obtained under different lighting environments according to stated clearly domain camera and dark domain camera
The image of workpiece generates composograph.
2. the automatic polisher of multiple light courcess as described in claim 1, which is characterized in that stated clearly domain camera and dark domain camera
Quantity is each two, and stated clearly domain camera and dark domain camera are set to the overlying regions to be measured, and stated clearly domain camera and dark domain
Camera is spaced apart in a circumferential direction.
3. the automatic polisher of multiple light courcess as claimed in claim 2, which is characterized in that the polishing bracket include support arm and
Inner support, the first annular bracket, the second ring support and third ring support are formed on the inner support；The outer branch
Frame in it is described in the braced frame for being used to support the inner support is formed on object platform, formation beam-like frame above Yu Suoshu inner support
Frame, stated clearly domain camera and the mobilizable setting of dark domain camera are on the beam-like frame.
4. the automatic polisher of multiple light courcess as claimed in claim 3, which is characterized in that the shape of the inner support is hemisphere
Shape, the inner support form Image Acquisition notch below stated clearly domain camera and dark domain camera.
5. the automatic polisher of multiple light courcess as claimed in claim 4, which is characterized in that the polisher further includes being set to institute
State the range sensor on domain camera and dark domain camera clearly, the range sensor is for detecting each stated clearly domain camera and dark domain
The relative distance of camera and the workpiece for measurement；
Described is in that object platform includes the clamp assemblies being set to around the region to be measured, is located at the clamp assemblies lower section for support
The pallet of the workpiece for measurement and the angle-adjusting mechanism below the pallet, the angle-adjusting mechanism include stretching
Contracting bar, the multi-directional ball connecting with telescopic rod and the sucker between the multi-directional ball and pallet, the sucker are departing
It is connect with the pallet；
The Machine Vision Detection module is also used to adjust the height of the telescopic rod and the angle of the multi-directional ball, so that
The relative distance of the workpiece for measurement and each stated clearly domain camera and dark domain camera is within the scope of pre-determined distance.
6. the automatic polisher of multiple light courcess as claimed in claim 5, which is characterized in that the pallet is transparent pallet, described
In flexible pivot is additionally provided on object platform, pivot hole corresponding with the flexible pivot is provided on the pallet side wall；
The Machine Vision Detection module is also used to control the flexible pivot and overturns the pallet, to overturn the work to be measured
Part.
7. a kind of image composition method, which is characterized in that beaten automatically applied to multiple light courcess as claimed in any one of claims 1 to 6
Electro-optical device, comprising:
Controlling the first controllable light source is in be always on linear light source state on first annular bracket；
Multiple predetermined angles that the second controllable light source is controlled in the second ring support successively irradiate workpiece for measurement；
It controls third controllable light source and successively irradiates workpiece for measurement in multiple predetermined angles of third ring support；
When the second controllable light source or third controllable light source are when different predetermined angles irradiate workpiece for measurement, array camera component is controlled
The workpiece for measurement image is obtained, workpiece for measurement brightness of image matrix is generated；
According to the workpiece for measurement brightness of image matrix and the workpiece for measurement image, composograph is generated.
8. image composition method as claimed in claim 7, which is characterized in that described when the second controllable light source or third controllable light
When different predetermined angles irradiate workpiece for measurement, control array camera component obtains the workpiece for measurement image in source, obtains to be measured
The step of workpiece image luminance matrix, comprising:
When the second controllable light source is when different predetermined angles irradiate workpiece for measurement and third controllable light source is extinguished, control controls battle array
Column photomoduel obtains the image of workpiece for measurement, generates the first workpiece for measurement image group；
When third controllable light source is when different predetermined angles irradiate workpiece for measurement and the second controllable light source is extinguished, control controls battle array
Column photomoduel obtains the image of workpiece for measurement, generates the second workpiece for measurement image group；
According to the first workpiece for measurement image group and the second workpiece for measurement image group, workpiece for measurement brightness of image matrix is generated.
9. image composition method as claimed in claim 8, which is characterized in that defining the workpiece for measurement brightness of image matrix isInIt is described according to the workpiece for measurement image array for the luminance matrix of the n-th width image, the step of generating composograph,
Include:
According to formulaDetermine G value, whereinFor known light source radiating angle matrix, Ln TFor
The corresponding light source incidence angle of n-th width image；
According to formulaWherein kd=| | G | |, generate composograph.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131654 | 2019-02-22 | ||
| CN2019101316540 | 2019-02-22 |
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