CN110876020A - External triggered linear camera detection system and image exposure processing method thereof - Google Patents
External triggered linear camera detection system and image exposure processing method thereof Download PDFInfo
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- CN110876020A CN110876020A CN201811003757.0A CN201811003757A CN110876020A CN 110876020 A CN110876020 A CN 110876020A CN 201811003757 A CN201811003757 A CN 201811003757A CN 110876020 A CN110876020 A CN 110876020A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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Abstract
The invention discloses an externally triggered linear camera detection system which comprises a conveying device, a control unit, a linear camera and a light source unit. The conveying device comprises a motor and a conveying belt. The motor has an encoder that provides a position signal based on the position of the rotating shaft. The conveyer belt is driven by a motor to convey the object to be detected. The control unit receives the position signal and provides a camera control signal according to the position signal. The linear camera receives the camera control signal, and provides a light source control signal with the same exposure time for each image according to the reference when the level of the camera control signal is changed. The light source unit receives the light source control signal and provides exposure and image-taking light for the object to be detected.
Description
Technical Field
The present invention relates to a camera inspection system and an image processing method thereof, and more particularly, to an externally triggered linear camera inspection system and an image exposure processing method thereof.
Background
Automatic Optical Inspection (AOI) is a high-speed and high-precision optical image inspection system that uses machine vision as an inspection standard technique to improve the defects of conventional inspection using optical instruments by manpower.
Generally, after the object to be tested (e.g. semiconductor chip) is manufactured, an inspection process is performed to inspect the appearance of the object to be tested by using an automatic optical inspection apparatus, and to screen and remove the object with obvious defects. Specifically, the automatic optical inspection is performed by the operation of the optical inspection machine, during the inspection process, the object to be inspected is irradiated by light, and then the defect is determined by capturing the image of the object to be inspected after irradiation by the image sensor unit.
In the past, automatic optical inspection has mostly used area-scan (area-scan) cameras to capture images of objects. The surface scanning photographic device mainly comprises a lens and a camera, wherein the object to be detected is brought into the visual field range of the lens for shooting. However, the image resolution of the area scan camera is limited by the resolution of the lens and the camera, so the image resolution is worse when the field of view is larger, and the image capturing speed is slow, which makes it difficult to meet the industrial requirements.
Line-scan (line-scan) has preferred features and advantages over area-scan, including: 1. in the aspect of light source control, the line scanning is easier to control than the surface scanning; 2. the line scanning can be continuous scanning, so that the image has continuity; 3. the line scanning is beneficial to scanning of the object to be measured which moves at high speed or has large width; 4. for high resolution image processing applications, the cost of line scan cameras is low; 5. the image captured by the line scanning camera has a better dynamic image capturing range.
For a shutterless linear camera with a light source that is constantly on in the external trigger mode, the image sensor scan trigger signal of the linear camera is generated by an encoder disposed on the rotating shaft of the motor. However, due to the different forces applied to the scanning platform, the acceleration and deceleration operations of the scanning platform cause unstable rotation of the motor, which results in non-uniform exposure time for each image and non-uniform brightness of the image in the horizontal direction.
Please refer to fig. 1, which is a schematic diagram illustrating the speed variation of a motor in the prior art. FIG. 1 shows that the exposure time varies due to the unstable rotation of the motor under 65 scanning images. For example, when the relative rotation speed of the motor is faster (negative compared to the reference rotation speed), the horizontal movement speed of the scanning platform is increased, so that the exposure time becomes relatively shorter, and a relatively dark image is generated; on the contrary, when the relative rotation speed of the motor is relatively slow (positive compared to the reference rotation speed), the horizontal movement speed of the scanning platform is reduced, so that the exposure time becomes relatively long, and a relatively bright image is generated. Therefore, the generated horizontal image shows the condition of uneven darkness and brightness, thereby increasing the misjudgment of the detection of the object to be detected.
Therefore, how to design an externally triggered linear camera inspection system and an image exposure processing method thereof, which provides a fixed exposure time for each image to achieve the processing of horizontal image uniformity, is a major subject that the inventors of the present invention intend to overcome and solve.
Disclosure of Invention
An objective of the present invention is to provide an externally triggered linear camera detection system, which solves the problem of non-uniform brightness of the horizontal image generated due to the unstable rotation of the motor.
To achieve the aforementioned objective, the present invention provides an externally triggered linear camera inspection system, which includes a conveying device, a control unit, a linear camera, and a light source unit. The conveying device comprises a motor and a conveying belt. The motor is provided with an encoder which is connected to a rotating shaft of the motor; wherein the encoder provides a position signal dependent on the position of the rotating shaft. The conveyer belt is driven by a motor to convey the object to be detected. The control unit receives the position signal and provides a camera control signal according to the position signal. The linear camera receives the camera control signal, and provides a light source control signal with the same exposure time for each image according to the reference when the level of the camera control signal is changed. The light source unit receives the light source control signal and provides exposure and image-taking light for the object to be detected.
In one embodiment, the linear camera provides the light source control signal with the same exposure time for each image when the camera control signal changes from the high level to the low level and changes to the low edge state.
In one embodiment, the linear camera provides the light source control signal with the same exposure time for each image when the camera control signal changes from the low level to the high level in the upper edge transition state.
In one embodiment, the light source unit includes a light source controller. The light source controller receives the light source control signal and controls the time for exposing the image-taking light provided by the light source unit according to the exposure time length of the light source control signal.
In one embodiment, the control unit is any one of a field programmable gate array unit, a digital signal processor, an application specific integrated circuit, a microcontroller, and a programmable system on a chip.
In one embodiment, the control unit is disposed in an industrial computer.
In one embodiment, when the level of the camera control signal is changed and then changed within the valid time, the light source control signal is not based on the level of the camera control signal before the valid time.
In one embodiment, the linear camera has an image sensor for capturing an image of the object to be detected.
In one embodiment, the image sensor is any one of a CCD image sensor, a CMOS image sensor, and a contact image sensor.
By the aid of the externally triggered linear camera detection system, the brightness of images captured by the linear camera in the horizontal direction is uniform, and the detection accuracy of the object to be detected is improved.
Another objective of the present invention is to provide an image exposure processing method for an externally triggered linear camera inspection system, which solves the problem of non-uniform brightness of the horizontal image generated due to the unstable rotation of the motor.
To achieve the above objects, the present invention provides an image exposure processing method for an externally triggered linear camera inspection system, the externally triggered linear camera inspection system comprising a control unit, a linear camera and a light source unit, the image exposure processing method comprising: (a) the control unit provides a camera control signal to the linear camera; (b) the linear camera provides a light source control signal with the same exposure time to each image to the light source unit according to the reference when the level of the camera control signal is changed; and (c) the light source unit receives the light source control signal and provides exposure and image-taking light for the object to be detected.
In one embodiment, step (b) comprises: when the camera control signal changes from high level to low level, the linear camera provides the light source control signal with the same exposure time for each image.
In one embodiment, step (b) comprises: when the camera control signal changes from low level to high level, the linear camera provides the light source control signal with the same exposure time for each image.
In one embodiment, step (b) comprises: when the level of the camera control signal is changed and then is changed within the effective time, the light source control signal is not based on the level before the effective time when the level is changed.
In one embodiment, the light source unit includes a light source controller; the light source controller controls the time for exposing the captured light provided by the light source unit according to the exposure time length of the light source control signal.
In one embodiment, the control unit is any one of a field programmable gate array unit, a digital signal processor, an application specific integrated circuit, a microcontroller, and a programmable system on a chip.
By the image exposure processing method of the externally triggered linear camera detection system, the brightness of the horizontal images captured by the linear camera is uniform, and the detection accuracy of the object to be detected is improved.
For a further understanding of the technology, means, and efficacy of the invention to be achieved, reference should be made to the following detailed description of the invention and accompanying drawings which are believed to be a further and specific understanding of the invention, and to the following drawings which are provided for purposes of illustration and description and are not intended to be limiting.
Drawings
FIG. 1: a schematic of the speed variation of a prior art motor.
FIG. 2: is a schematic diagram of a first embodiment of the externally triggered linear camera detection system of the present invention.
FIG. 3: is a schematic diagram of a second embodiment of the externally triggered linear camera detection system of the present invention.
FIG. 4: the present invention is a schematic diagram of control waveforms of a camera control signal and a light source control signal.
FIG. 5: the invention is a flow chart of the image exposure processing method of the externally triggered linear camera detection system.
Wherein, the reference numbers:
10 conveying device 11 motor
12 conveyor belt 13 roller
111 encoder 112 rotation shaft
20 control unit
30 linear camera 31 image sensor
40 light source unit 41 light source controller
100 object to be detected
Sp position signal
Sc1 Camera control Signal Sc2 light Source control Signal
TN,TN+1,TN+2Time of triggering TEExposure time
S10-S30
Detailed Description
The technical contents and the detailed description of the present invention are described below with reference to the drawings.
Please refer to fig. 2, which is a schematic diagram of a linear camera detection system with external trigger according to a first embodiment of the present invention. The externally triggered linear camera detection system includes a conveyor 10, a control unit 20, a linear camera 30, and a light source unit 40. The conveyor 10 mainly includes a motor 11, a conveyor belt 12, and rollers 13. The motor 11 may be, but is not limited to, a stepping motor, a servo motor …, and the like. The motor 11 has an encoder 111, and the encoder 111 is attached to a rotating shaft 112 of the motor 11. The encoder 111 may be, but not limited to, an absolute encoder, an incremental encoder …, and the like, and is used to output the position of the rotating shaft 112 to determine the rotation angle of the rotating shaft 112. Accordingly, the encoder 111 provides the position signal Sp according to the position of the rotating shaft 112. The conveyor belt 12 is driven by the motor 11 to move in a specific direction and is supported by a plurality of rollers 13 to convey the object 100 to be detected in the specific direction.
The control unit 20 receives the position signal Sp and provides a camera control signal Sc1 according to the position signal Sp. The control unit 20 may be a processor or an integrated circuit having an arithmetic processing function, such as a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Microcontroller (MCU), a programmable system on chip (SoC) …, but not limited thereto. Furthermore, the processors or integrated circuits can be installed in industrial computers (IPCs) as personal computers for exclusive industrial control. After receiving the position signal Sp, the control unit 20 can obtain the instantaneous position of the rotating shaft 112, that is, the rotation speed of the motor 11, including information of speed and acceleration. Therefore, the control unit 20 provides the camera control signal Sc1 according to the position signal Sp, i.e., according to the condition that the rotation speed of the motor 11 is fast or slow.
The camera control signal Sc1 is a trigger signal for a plurality of images, and therefore the camera control signal Sc1 is a signal with continuous level changes, wherein each level change represents a trigger signal for each image. Fig. 4 is a schematic diagram of control waveforms of the camera control signal and the light source control signal according to the present invention. In the upper half of FIG. 4, the camera control signal Sc1 is shown, and in the lower half, the light source control signal Sc2 (described later) is shown. As mentioned above, since the triggering time of the multiple images of the camera control signal Sc1 depends on the speed of the motor 11, the triggering time T of each image of the camera control signal Sc1 shown in fig. 4 is differentN、TN+1、TN+2… vary in length of time. Wherein N represents the Nth imageN +1 represents the N +1 th image, N +2 represents the N +2 th image …, and so on. If the camera control signal Sc1 is directly provided to the light source unit 40 for exposure and image capturing, the exposure time will be different (due to the effect of the rotation speed of the motor 11), and the horizontal image will be dark and bright.
Therefore, after receiving the camera control signal Sc1, the linear camera 30 does not directly expose the light source unit 40 with the camera control signal Sc1, but processes the camera control signal Sc1 to provide the light source control signal Sc 2. Specifically, the linear camera 30 provides the light source control signal Sc2 with the same exposure time for each image, based on the level transition of the camera control signal Sc 1. Referring to fig. 4, when the level of the camera control signal Sc1 changes from high level to low level, that is, when the falling-edge trigger (edge trigger) occurs, the light source control signal Sc2 starts to start exposure imaging of each image based on the time point, and sets the exposure time of each image to be fixed. Therefore, the exposure time T of each image of the light source control signal Sc2 shown in FIG. 4EThe lengths are all identical.
In addition, when the level of the camera control signal Sc1 is changed without being limited to the level change, that is, in another embodiment, when the level of the camera control signal Sc1 is changed from low level to high level, that is, when a rising-edge trigger (rising-edge trigger) occurs, the light source control signal Sc2 starts to start exposure imaging of each image based on the time point, and sets the exposure time of each image to be fixed, so that the exposure time T of each image of the light source control signal Sc2 can be reached as wellEThe lengths are all identical.
It should be noted that when the level of the camera control signal Sc1 changes, i.e. the above-mentioned lower edge trigger from high level to low level, changes again within an effective time, e.g. within a relatively short time, i.e. after the level of the camera control signal Sc1 changes from high level to low level, the level changes from low level to high level again within a very short time, or the high and low levels change continuously, in this case, the system will change the level of the camera control signal Sc1 from high level to low level againSuch a camera control signal Sc1 is considered as noise that is subject to interference, and therefore is filtered out and is not used as a reference for level transition of the light source control signal Sc 2. In other words, the trigger time T of the camera control signal Sc1N、TN+1、TN+2When the time length of (c) is abnormally short, for example, less than one fifth or one tenth, the camera control signal Sc1 is regarded as noise, and therefore the light source control signal Sc2 is not based on the time when the level before the effective time is shifted. Until the next camera control signal Sc1 with the correct trigger time duration, the light source control signal Sc2 provides the same exposure time for the subsequent image with reference to the time when the level of the camera control signal Sc1 is changed.
The light source unit 40 receives the light source control signal Sc2 and provides the object 100 with light for exposure and image capture. The exposure time T of each image due to the light source control signal Sc2EThe lengths are all the same, so the exposure time of the light source unit 40 providing exposure of each image of the object 100 to be inspected is also all the same. Therefore, the brightness of the horizontal image captured by the linear camera 30 through the image sensor 31 is uniform, thereby improving the detection accuracy of the object 100. The image sensor 31 may be any one of a Charge Coupled Device (CCD) image sensor, a Complementary Metal Oxide Semiconductor (CMOS) image sensor, and a Contact Image Sensor (CIS), but not limited thereto.
Furthermore, since the light source unit 40 provides a high-power light source output, the light source unit 40 includes a light source controller 41. The light source controller 41 receives the light source control signal Sc2, and controls the time for exposing the captured light provided by the light source unit 40 according to the exposure time duration of the light source control signal Sc 2. Referring to FIG. 4, the exposure time T for each image is shownEWhen the length is longer, the light source controller 41 controls the light source unit 40 to provide the exposure image-capturing light for a longer time; on the contrary, the exposure time T of each image is takenEWhen the length is shorter, the light source controller 41 controls the time for exposing the captured light provided by the light source unit 40 to lightShort, whereby the exposure amount can be maintained constant.
Fig. 3 is a schematic diagram of an externally triggered linear camera detection system according to a second embodiment of the present invention. The main difference between the second embodiment shown in fig. 3 and the first embodiment shown in fig. 2 lies in the number of light source units 40, which (fig. 2) uses two light source units 40 respectively disposed at two sides of the normal direction of the image sensor 31 for receiving the image; the former (fig. 3) uses a light source unit 40 disposed at one side of the normal direction of the image sensor 31 receiving the image, thereby achieving different lighting effects. Since the operation of the linear camera detection system shown in fig. 3 is the same as that of the linear camera detection system shown in fig. 2, reference may be made to the corresponding description, and the description thereof is omitted.
In addition, the light source unit 40 may also be disposed at the other side of the linear camera 30 relative to the conveyor belt 12 in a back-light projection manner, so that the light source unit 40 projects light to the object 100 to be detected, and the image sensor 31 captures the detection image of the object 100 to be detected.
Please refer to fig. 5, which is a flowchart illustrating an image exposure processing method of the externally triggered linear camera inspection system according to the present invention. The externally triggered linear camera detection system includes a control unit, a linear camera, and a light source unit. Since the detailed description of the externally triggered linear camera detection system is described above, it is not repeated herein. The image exposure processing method comprises the following steps: first, the control unit provides a camera control signal to the linear camera (S10). Wherein the control unit provides the camera control signal according to the position signal, i.e. according to the condition of the speed of rotation of the motor. Then, the linear camera provides a light source control signal of the same exposure time to the light source unit for each image based on the level transition of the camera control signal (S20). When the level of the camera control signal is changed from high level to low level (lower edge trigger) or from low level to high level (upper edge trigger), the light source control signal starts to start exposure and image capture of each image by taking the time point as a reference, and the exposure time of each image is set to be fixed. Finally, the light source unit receives the light source control signal and provides the object to be detected with light for exposing and capturing (S30). Because the exposure time of each image of the light source control signal is completely the same, the exposure time of each image provided by the light source unit to the object to be detected is also completely the same. Therefore, the brightness of the horizontal images captured by the linear camera is uniform, and the detection accuracy of the object to be detected is improved.
In summary, the present invention has the following features and advantages:
1. according to the method, a fixed time reference (datum) point is provided according to the fact that the level of a camera control signal is changed into a datum, and a light source control signal with the same exposure time is provided for each image, so that the brightness of the horizontal images captured by the linear camera is uniform, and the detection accuracy of the object to be detected is improved.
2. The camera control signal with the extremely short trigger time length is filtered and is not taken as the reference for the level transition of the light source control signal, so that the influence of noise on the time point of the level transition of the light source control signal to cause the wrong exposure time can be avoided.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (15)
1. An externally triggered linear camera detection system, comprising:
a conveyor apparatus, comprising:
a motor having an encoder connected to a rotation shaft of the motor; wherein the encoder provides a position signal according to the position of the rotating shaft; and
a conveyer belt driven by the motor to convey an object to be detected;
a control unit for receiving the position signal and providing a camera control signal according to the position signal;
a linear camera for receiving the camera control signal and providing a light source control signal with the same exposure time for each image according to the level of the camera control signal as a reference when the level is changed; and
and the light source unit receives the light source control signal and provides exposure and image-taking light rays for the object to be detected.
2. The system as claimed in claim 1, wherein the linear camera provides the light source control signal with the same exposure time for each image when the camera control signal transitions from a high level to a low level at a lower edge transition.
3. The system of claim 1, wherein the linear camera provides the light source control signal for the same exposure time for each image when the camera control signal transitions from a low level to a high level at an upper edge transition state.
4. The externally triggered linear camera detection system of claim 1, wherein the light source unit comprises:
and the light source controller receives the light source control signal and controls the time for exposing the light rays obtained by the light source unit according to the exposure time length of the light source control signal.
5. The externally triggered linear camera inspection system of claim 1, wherein the control unit is any one of a field programmable gate array unit, a digital signal processor, an application specific integrated circuit, a microcontroller, a programmable system on a chip.
6. The system of claim 5, wherein the control unit is disposed in an industrial computer.
7. The externally triggered linear camera detection system of claim 1, wherein the light source control signal is not referenced to the level transition before an active time when the level of the camera control signal transitions again within the active time after the level transition.
8. The system of claim 1, wherein the linear camera has an image sensor for capturing the detection image of the object.
9. The system of claim 8, wherein the image sensor is any one of a CCD image sensor, a CMOS image sensor, and a contact image sensor.
10. An image exposure processing method of an externally triggered linear camera inspection system, the externally triggered linear camera inspection system comprising a control unit, a linear camera and a light source unit, the image exposure processing method comprising:
(a) the control unit provides a camera control signal to the linear camera;
(b) the linear camera provides a light source control signal with the same exposure time for each image to the light source unit according to the reference when the level of the camera control signal is changed; and
(c) and the light source unit receives the light source control signal and provides exposure and image-taking light for an object to be detected.
11. The method of claim 10, wherein the step (b) comprises:
when the camera control signal changes from a high level to a low level, the linear camera provides the light source control signal with the same exposure time for each image.
12. The method of claim 10, wherein the step (b) comprises:
when the camera control signal changes from low level to high level, the linear camera provides the light source control signal with the same exposure time for each image.
13. The method of claim 10, wherein the step (b) comprises:
when the level of the camera control signal is changed and then is changed within an effective time, the light source control signal is not based on the level before the effective time when the level is changed.
14. The method as claimed in claim 10, wherein the light source unit comprises a light source controller;
the light source controller controls the time of exposing the light for taking the image provided by the light source unit according to the exposure time length of the light source control signal.
15. The method as claimed in claim 10, wherein the control unit is any one of an on-site programmable gate array unit, a digital signal processor, an application specific integrated circuit, a microcontroller, and a programmable system on a chip.
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