CN112782907A - Real-time speed detection method and system based on light source controller - Google Patents
Real-time speed detection method and system based on light source controller Download PDFInfo
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- CN112782907A CN112782907A CN202011615055.5A CN202011615055A CN112782907A CN 112782907 A CN112782907 A CN 112782907A CN 202011615055 A CN202011615055 A CN 202011615055A CN 112782907 A CN112782907 A CN 112782907A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B7/00—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
- G03B7/08—Control effected solely on the basis of the response, to the intensity of the light received by the camera, of a built-in light-sensitive device
- G03B7/081—Analogue circuits
- G03B7/083—Analogue circuits for control of exposure time
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B7/00—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
- G03B7/08—Control effected solely on the basis of the response, to the intensity of the light received by the camera, of a built-in light-sensitive device
- G03B7/091—Digital circuits
- G03B7/093—Digital circuits for control of 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
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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Abstract
The embodiment of the invention provides a real-time speed detection method based on a light source controller, which comprises the following steps: the moving object accesses the moving signal to the FPGA in the light source controller through the grating ruler or the encoder; the computer sends the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card; the FPGA in the light source controller calculates the current movement speed of the moving object in real time according to the movement signal of the grating ruler or the encoder; when the moving object reaches the first target position, the camera carries out delayed exposure based on the trigger signal output by the light source controller; when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel; when the moving object reaches a third target position, the light source controller controls the light source of the channel with the longest lighting time to be turned off; the embodiment of the invention reduces the heat productivity of the light source and prolongs the service life of the light source.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a real-time speed detection method and a real-time speed detection system based on a light source controller.
Background
At present, moving objects are picked up by using a grating ruler and a rotary encoder to feed back positions to a motion controller, a light source is lightened in advance, the motion controller outputs a trigger signal to a camera when the target image picking position is reached, the camera starts exposure after receiving the signal and delaying for a certain time, and the light source is extinguished after the exposure is finished.
The main problem is that the camera receives a trigger signal and delays exposure for a certain time, so that the speed fluctuates in high-speed movement, and acceleration and deceleration in the movement cause difference of actual image capturing positions, thereby influencing the machine vision positioning precision.
The shortest exposure time of the camera is required to be higher, the imaging blur can be caused by the fact that the movement speed is multiplied by the exposure time to be too large, the object deformation is serious, and the light source generates heat greatly due to the fact that the light source is long in lighting time in the movement process.
Summary of the invention
In order to overcome the defects of the prior art, the invention provides a real-time speed detection method based on a light source controller, which is used for solving the technical problems of easy change of image capturing position, fuzzy image capturing and overhigh heating heat of a light source.
The technical scheme adopted by the invention for solving the technical problems is as follows: the method for detecting the real-time speed based on the light source controller comprises the following steps:
the method comprises the following steps: the moving object accesses the moving signal to the FPGA in the light source controller through the grating ruler or the encoder;
step two: the computer sends the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card;
step three: the FPGA in the light source controller calculates the current movement speed of the moving object in real time according to the movement signal of the grating ruler or the encoder;
step four: when the moving object reaches the first target position, the camera carries out delayed exposure based on the trigger signal output by the light source controller;
step five: when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel;
step six: and when the moving object reaches the third target position, the light source controller controls the light source of the channel with the longest lighting time to be turned off.
Specifically, the moving object accesses the motion signal to the FPGA in the light source controller through the grating ruler or the encoder, and the steps include:
the computer controls the motor to return to zero through the motion control card;
and sending a zero clearing command frame to the light source controller through the CAN communication card.
Specifically, the FPGA in the light source controller calculates the current moving speed of the moving object in real time according to the moving signal of the grating scale or the encoder, and the steps include:
an FPGA in the light source controller acquires an encoder position value X at the time t1T；
An FPGA in the light source controller acquires an encoder position value X at the time t2T-1；
The speed of the current moving object is Vact＝(XT-XT-1)/t；
Wherein the time interval between the time t1 and the time t2 is t.
Specifically, when the moving object reaches the first target position, the camera performs delayed exposure based on a trigger signal output by the light source controller, and the steps include:
when the moving object reaches XTAR-(Tedelay+0.5*Tlightmax)*VactWhen the camera is used, the camera carries out delayed exposure based on the trigger signal output by the light source controller;
wherein, the target image capturing position XTARCamera exposure delay TedelayThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
Specifically, when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel, and the steps include:
when the moving object reaches XTAR-(0.5*Tlightmax)*VactThen, the light source controller lights each channel light source according to the light source channel lighting time;
wherein, the target image capturing position XTARThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
Specifically, the light source controller lights each channel light source according to the lighting time of each light source channel, and the steps include:
the light source controller lights each channel light source according to the light source channel lighting time, wherein each channel light source belongs to various azimuth light sources and comprises a front light source and a side light source; wherein, each channel light source belongs to various light sources, including red light and blue light.
Specifically, when the moving object reaches the third target position, the light source controller controls each channel light source to be turned off, and the steps include:
when the moving object reaches XTAR+(0.5*Tlightmax)*VactWhen the channel light source controller is started, the light source controller turns off the channel light source with the longest lighting time according to the lighting time of each light source channel;
the second position and the third position are symmetrical about the target image capturing position;
wherein, the target image capturing position XTARThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
Preferably, the lighting time of each channel is maximum TlightmaxAnd will not exceed 100 us.
Preferably, the time interval t is less than 100 us.
A light source controller based real-time speed detection system, the system comprising:
the access unit is used for accessing the moving object to the FPGA in the light source controller through the grating ruler or the encoder;
the transmitting unit is used for the computer to transmit the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card;
the calculation unit is used for calculating the current movement speed of the moving object in real time by the FPGA in the light source controller according to the movement signal of the grating ruler or the encoder;
the delayed exposure unit is used for carrying out delayed exposure on the basis of a trigger signal output by the light source controller by the camera when the moving object reaches the first target position;
the lighting unit is used for lighting each channel light source according to the lighting time of each light source channel when the moving object reaches the second target position;
and the control unit is used for controlling the light source controller to turn off the channel light source with the longest lighting time when the moving object reaches the third target position.
The invention has the beneficial effects that: the method comprises the following steps: the moving object accesses the moving signal to the FPGA in the light source controller through the grating ruler or the encoder; step two: the computer sends the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card; step three: the FPGA in the light source controller calculates the current movement speed of the moving object in real time according to the movement signal of the grating ruler or the encoder; step four: when the moving object reaches the first target position, the camera carries out delayed exposure based on the trigger signal output by the light source controller; step five: when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel; step six: when the moving object reaches a third target position, the light source controller controls the light source of the channel with the longest lighting time to be turned off; the influence of image capturing position fluctuation caused by camera delay and speed fluctuation is eliminated, the limitation on the shortest exposure time of the industrial camera is greatly reduced, the heat productivity of the light source is reduced, and the service life of the light source is prolonged.
Drawings
FIG. 1 is a flow diagram of a method with real-time speed detection based on a light source controller.
FIG. 2 is a functional block diagram of a light source controller based real-time speed detection system.
Fig. 3 is a timing diagram of actions with a real-time speed detection method based on a light source controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
the first embodiment is as follows:
fig. 1 shows an implementation flow of a method for detecting a real-time speed based on a light source controller according to a first embodiment of the present invention, and for convenience of description, only the parts related to the first embodiment of the present invention are shown, which is detailed as follows:
in step S101, the moving object accesses the motion signal to the FPGA in the light source controller through the grating scale or the encoder;
specifically, the moving object accesses the motion signal to the FPGA in the light source controller through the grating ruler or the encoder, and the steps include:
the computer controls the motor to return to zero through the motion control card;
and sending a zero clearing command frame to the light source controller through the CAN communication card.
In step S102, the computer sends the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card;
in step S103, the FPGA in the light source controller calculates the current moving speed of the moving object in real time according to the moving signal of the grating scale or the encoder;
specifically, the FPGA in the light source controller calculates the current moving speed of the moving object in real time according to the moving signal of the grating scale or the encoder, and the steps include:
an FPGA in the light source controller acquires an encoder position value X at the time t1T；
An FPGA in the light source controller acquires an encoder position value X at the time t2T-1；
The speed of the current moving object is Vact＝(XT-XT-1)/t；
Wherein the time interval between the time t1 and the time t2 is t.
In step S104, when the moving object reaches the first target position, the camera performs delayed exposure based on the trigger signal output by the light source controller;
specifically, when the moving object reaches the first target position, the camera performs delayed exposure based on a trigger signal output by the light source controller, and the steps include:
when the moving object reaches XTAR-(Tedelay+0.5*Tlightmax)*VactWhen the camera is used, the camera carries out delayed exposure based on the trigger signal output by the light source controller;
wherein, the target image capturing position XTARCamera exposure delay TedelayThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
In step S105, when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel;
specifically, when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel, and the steps include:
when the moving object reaches XTAR-(0.5*Tlightmax)*VactThen, the light source controller lights each channel light source according to the light source channel lighting time;
wherein, the target image capturing position XTARThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
Specifically, the light source controller lights each channel light source according to the lighting time of each light source channel, and the steps include:
the light source controller lights each channel light source according to the light source channel lighting time, wherein each channel light source belongs to various azimuth light sources and comprises a front light source and a side light source; wherein, each channel light source belongs to various light sources, including red light and blue light.
In step S106, when the moving object reaches the third target position, the light source controller controls each channel light source to turn off.
Specifically, when the moving object reaches the third target position, the light source controller controls each channel light source to be turned off, and the steps include:
when the moving object reaches XTAR+(0.5*Tlightmax)*VactWhen the channel light source controller is started, the light source controller turns off the channel light source with the longest lighting time according to the lighting time of each light source channel;
the second position and the third position are symmetrical about the target image capturing position;
wherein, the target image capturing position XTARThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
Preferably, the lighting time of each channel is maximum TlightmaxAnd will not exceed 100 us.
Preferably, the time interval t is less than 100 us.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
Example two:
fig. 2 shows a structure of a real-time speed detection system based on a light source controller according to a second embodiment of the present invention, and for convenience of description, only the parts related to the second embodiment of the present invention are shown, and detailed descriptions are as follows:
the access unit 201 is used for accessing a moving object to an FPGA (field programmable gate array) in the light source controller through a grating ruler or an encoder;
the sending unit 202 is used for sending the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller by the computer through the CAN communication card;
the calculating unit 203 is used for calculating the current moving speed of the moving object in real time by the FPGA in the light source controller according to the moving signal of the grating ruler or the encoder;
a delay exposure unit 204, configured to, when the moving object reaches the first target position, perform delay exposure by the camera based on a trigger signal output by the light source controller;
a lighting unit 205, configured to, when the moving object reaches the second target position, light the light source controller lighting each channel light source according to each light source channel lighting time;
and the control unit 206 is used for controlling the light source controller to turn off the channel light source with the longest lighting time when the moving object reaches the third target position.
In the embodiment of the invention, the method comprises the following steps: the moving object accesses the moving signal to the FPGA in the light source controller through the grating ruler or the encoder; step two: the computer sends the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card; step three: the FPGA in the light source controller calculates the current movement speed of the moving object in real time according to the movement signal of the grating ruler or the encoder; step four: when the moving object reaches the first target position, the camera carries out delayed exposure based on the trigger signal output by the light source controller; step five: when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel; step six: when the moving object reaches a third target position, the light source controller controls the light source of the channel with the longest lighting time to be turned off; the influence of image capturing position fluctuation caused by camera delay and speed fluctuation is eliminated, the limitation on the shortest exposure time of the industrial camera is greatly reduced, the heat productivity of the light source is reduced, and the service life of the light source is prolonged. The detailed implementation of each unit can refer to the description of the first embodiment, and is not repeated herein.
Example three:
fig. 3 shows a motion trajectory diagram of a light source controller-based method with real-time speed detection according to a third embodiment of the present invention, and for convenience of description, only the parts related to the third embodiment of the present invention are shown, where the parts include:
the machine vision flash light source controller image capturing principle with real-time speed detection comprises the following steps: the grating ruler or the rotary encoder is connected with the light source controller, the light source controller detects the current object moving speed in real time, when the object moves to a target position, a trigger signal is output to the camera, the camera delays for a certain time to start exposure, at the moment, the light source is not lightened, the object continues to move to a position where the target position minus the advance (half of the light source lightening time is multiplied by the current speed), the light source is lightened, the object moves to a target image taking position plus the advance, the light source is turned off, and then the camera exposure is finished.
The specific mode is as follows:
the computer controls the motor to return to zero through the motion control card, the coordinate of the motion axis is 0 at the moment, and after the return to zero, the computer sends a coordinate zero clearing command frame to the light source controller through the CAN communication card, so that the unification of the coordinate of the motion axis and the coordinate of the light source controller is realized.
And the moving object accesses the moving signal into the FPGA in the light source controller through the grating ruler or the encoder, and the FPGA realizes the coordinate counting function. The encoder signal here may be a quadrature AB phase pulse signal or other communication type encoder signal.
Computer CAN throughThe letter card is not limited to CAN communication mode, and CAN also use serial port or Ethernet communication mode to take picture of the target coordinate XTARCamera exposure delay TedelayNote that the delay time set here may be slightly larger than the actual camera exposure delay, and the light source lighting time and light source brightness of each channel are sent to the light source controller, where multiple channels refer to various different light sources, such as a front light source, a side light source, and different color light sources, such as red light and blue light. At this time, it is assumed that the maximum value of the lighting time of each channel is Tlightmax。
The FPGA acquires an encoder position value X every t timeTThe last encoder position value at time t is XT-1Thereby calculating the current object motion speed Vact＝(XT-XT-1) T is calculated. The actual value of the time t is extremely short and is less than 100 us.
And the FPGA in the light source controller calculates the current object motion speed Vact in real time according to the signals of the grating ruler or the encoder. At the arrival of XTAR-(Tedelay+0.5*Tlightmax)*VactAnd when the camera is started, the light source controller sends a trigger signal to the camera.
After the camera receives the trigger signal, the exposure is started through Tedelay.
The camera starts exposure while the object moves to XTAR-(0.5*Tlightmax)*VactAnd the light source controller starts to light the light sources of the channels according to the lighting time of the channels, so that the lighting part coordinates are symmetrical about the XTAR center, the lighting time of each channel can be different, and the lighting current can be different.
The LED light source current of each channel can exceed a rated value at this time, and ultrahigh-brightness illumination is realized.
The voltage of each channel is subjected to boost control, and the power supply voltage exceeds the rated voltage by several times, so that the rapid lighting can be realized.
In the moving process, each light source is lightened according to the lightening time of each channel, the channel with the long lightening time is lightened firstly, after the object moves to the XTAR, each channel is closed in sequence, and the channel with the short lightening time is closed firstly.
The object moving to XTAR+(0.5*Tlightmax)*VactWhen the last group of light sources is turned off.
Since the moving speed is higher than 3m/s, the maximum lighting time T is realizedlightmaxThe service life of the light source is effectively prolonged without exceeding 100 us.
And the camera closes the exposure to finish imaging.
The camera transmits the image to the computer.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation.
Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A real-time speed detection method based on a light source controller is characterized by comprising the following steps:
the method comprises the following steps: the moving object accesses the moving signal to the FPGA in the light source controller through the grating ruler or the encoder;
step two: the computer sends the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card;
step three: the FPGA in the light source controller calculates the current movement speed of the moving object in real time according to the movement signal of the grating ruler or the encoder;
step four: when the moving object reaches the first target position, the camera carries out delayed exposure based on the trigger signal output by the light source controller;
step five: when the moving object reaches the second target position, the light source controller lights each channel light source according to the lighting time of each light source channel;
step six: and when the moving object reaches the third target position, the light source controller controls the light source of the channel with the longest lighting time to be turned off.
2. The method for detecting the speed of the light source controller in real time based on the claim 1, wherein the moving object accesses the moving signal to the FPGA of the light source controller through the grating ruler or the encoder, and the steps include:
the computer controls the motor to return to zero through the motion control card;
and sending a zero clearing command frame to the light source controller through the CAN communication card.
3. The method as claimed in claim 2, wherein the FPGA in the light source controller calculates the current moving speed of the moving object in real time according to the moving signal of the grating ruler or the encoder, and the method includes:
an FPGA in the light source controller acquires an encoder position value X at the time t1T；
An FPGA in the light source controller acquires an encoder position value X at the time t2T-1；
The speed of the current moving object is Vact＝(XT-XT-1)/t；
Wherein the time interval between the time t1 and the time t2 is t.
4. The method as claimed in claim 3, wherein the camera performs the delayed exposure based on the trigger signal outputted from the light source controller when the moving object reaches the first target position, the method comprises:
when the moving object reaches XTAR-(Tedelay+0.5*Tlightmax)*VactWhen the camera is used, the camera carries out delayed exposure based on the trigger signal output by the light source controller;
wherein, the target image capturing position XTARCamera exposure delay TedelayThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
5. The method as claimed in claim 4, wherein the light source controller lights each channel light source according to the lighting time of each light source channel when the moving object reaches the second target position, the method comprising:
when the moving object reaches XTAR-(0.5*Tlightmax)*VactThen, the light source controller lights each channel light source according to the light source channel lighting time;
wherein, the target image capturing position XTARThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
6. The method as claimed in claim 5, wherein the light source controller lights each channel light source according to the lighting time of each light source channel, and the method comprises:
the light source controller lights each channel light source according to the light source channel lighting time, wherein each channel light source belongs to various azimuth light sources and comprises a front light source and a side light source; wherein, each channel light source belongs to various light sources, including red light and blue light.
7. The method as claimed in claim 6, wherein the light source controller controls the light sources of the respective channels to be turned off when the moving object reaches the third target position, the method comprising:
when the moving object reaches XTAR+(0.5*Tlightmax)*VactWhen the channel light source controller is started, the light source controller turns off the channel light source with the longest lighting time according to the lighting time of each light source channel;
the second position and the third position are symmetrical about the target image capturing position;
wherein, the target image capturing position XTARThe maximum value of the lighting time of each channel is TlightmaxVelocity V of the currently moving objectact。
8. The method as claimed in claim 7, wherein the lighting time of each channel is T at the maximumlightmaxAnd will not exceed 100 us.
9. The method of claim 8, wherein the time interval t is less than 100 us.
10. A light source controller based real-time speed detection system, the system comprising:
the access unit is used for accessing the moving object to the FPGA in the light source controller through the grating ruler or the encoder;
the transmitting unit is used for the computer to transmit the coordinates of the moving object, the exposure delay time of the camera, the light source lighting time of each light source channel and the light source brightness to the light source controller through the CAN communication card;
the calculation unit is used for calculating the current movement speed of the moving object in real time by the FPGA in the light source controller according to the movement signal of the grating ruler or the encoder;
the delayed exposure unit is used for carrying out delayed exposure on the basis of a trigger signal output by the light source controller by the camera when the moving object reaches the first target position;
the lighting unit is used for lighting each channel light source according to the lighting time of each light source channel when the moving object reaches the second target position;
and the control unit is used for controlling the light source controller to turn off the channel light source with the longest lighting time when the moving object reaches the third target position.
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| CN115145093A (en) * | 2022-07-22 | 2022-10-04 | 易视智瞳科技（深圳）有限公司 | Machine vision system, light source control stroboscopic realization method and readable storage medium |
| CN116045814A (en) * | 2023-04-03 | 2023-05-02 | 合肥安迅精密技术有限公司 | Method and device for evaluating signal quality of grating ruler and storage medium |
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