CN114740616A - Imaging device and method based on line scanning camera photometric stereo - Google Patents
Imaging device and method based on line scanning camera photometric stereo Download PDFInfo
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- CN114740616A CN114740616A CN202210219837.XA CN202210219837A CN114740616A CN 114740616 A CN114740616 A CN 114740616A CN 202210219837 A CN202210219837 A CN 202210219837A CN 114740616 A CN114740616 A CN 114740616A
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- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
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Abstract
The invention relates to a photometric stereo imaging device and method based on a line scanning camera; the imaging device comprises a pulse frequency division signal generator, a coaxial time-sharing crossed line light source and a line scanning camera. The invention can image three or more images at one time, solves the problems that the photometric stereo of an area-array camera needs to capture a plurality of images and takes a long time, and the object has incomplete shadow irradiation, and can improve the imaging quality of fine scratches and fine pits on the surface of the target object, thereby greatly improving the stability of a visual defect detection system, improving the accuracy of the visual defect detection system and reducing the misjudgment rate of the detection system.
Description
Technical Field
The invention relates to the technical field of optical imaging, in particular to a photometric stereo imaging device and method based on a line scanning camera.
Background
The method is used for reconstructing a normal vector on the surface of an object and the reflectivity of different surface points of the object, and most importantly, the method does not need to consider the matching problem of images like the traditional geometric reconstruction (such as stereo matching) method because more than three images of the object irradiated by light in different directions need to be acquired. The object surface is reconstructed from more than three images of the object illuminated by light in different directions to construct a 2.5D image of the object. In the process, the camera and the light source are still, and the imaging target object and the camera move relatively.
At present, the traditional luminosity three-dimensional technology is widely applied to an imaging device of an area-array camera due to the imaging particularity of a line-scan camera, the imaging device of the high-speed and large-width line-scan camera cannot be applied, and the luminosity three-dimensional technology often has the defects that the polishing step is too complex, the angle of inclination between a light source and the camera in the installation process and the included angle between the light beam direction and the central axis of the camera are difficult to control, the imaging speed is slow, multiple imaging is needed, and the like in the use of the area-array camera, so that people often have problems of being prone to being scratched.
Disclosure of Invention
The invention provides a photometric stereo imaging device and method based on a line scanning camera, aiming at the technical problems in the prior art.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the present invention provides a photometric stereo imaging apparatus based on a line scanning camera, including:
the pulse frequency division signal generator is used for outputting a pulse signal with required frequency according to the input trigger pulse signal and a set frequency division multiple;
the coaxial time-sharing cross line light source is used for scanning an object to be scanned in a coaxial time-sharing mode according to the pulse signal output by the pulse frequency-division signal generator;
and the line scanning camera is used for acquiring a scanning image of the object to be scanned.
Further, the coaxial time-sharing cross line light source specifically includes:
at least three cross-line light sources arranged in different adjustable illumination directions;
and the plurality of crossed line light sources form a coaxial coincident illumination area on the surface of the object to be scanned.
Further, the cross-line light source specifically includes:
at least two groups of linear light sources arranged at different adjustable incidence angles;
the linear light sources form coincident light spots on the surface of an object to be scanned.
Further, the adjustable incidence angle range of the linear light source is 30 ° to 60 °.
Further, the scanning the object to be scanned in a coaxial time-sharing manner according to the pulse signal output by the pulse frequency division signal generator specifically includes:
sequentially triggering each crossed line light source in the coaxial time-sharing crossed line light sources to generate stroboscopic according to the rising edge in the pulse signal output by the pulse frequency division signal generator;
and when the cross line light source generates stroboflash, the line scanning camera is triggered to acquire a scanning image of the object to be scanned.
In a second aspect, the present invention provides a photometric stereo imaging method based on a line scanning camera, including the following steps:
s1, outputting a pulse signal with a required frequency according to a set frequency division multiple by using a pulse frequency division signal generator according to an input trigger pulse signal;
s2, scanning the object to be scanned in a coaxial time-sharing manner by using a coaxial time-sharing cross line light source according to the pulse signal output by the pulse frequency-division signal generator;
and S3, acquiring a scanning image of the object to be scanned by using the line scanning camera.
Further, the coaxial time-sharing cross line light source specifically includes:
at least three cross-line light sources arranged in different adjustable illumination directions;
and the plurality of crossed line light sources form a coaxial coincident illumination area on the surface of the object to be scanned.
Further, the cross-line light source specifically includes:
at least two groups of linear light sources arranged at different adjustable incidence angles;
the linear light sources form coincident light spots on the surface of an object to be scanned.
Further, the adjustable incidence angle range of the linear light source is 30 ° to 60 °.
Further, the scanning the object to be scanned in a coaxial time-sharing manner according to the pulse signal output by the pulse frequency division signal generator specifically includes:
sequentially triggering each crossed line light source in the coaxial time-sharing crossed line light sources to generate stroboscopic according to the rising edge in the pulse signal output by the pulse frequency division signal generator;
and when the cross line light source generates stroboflash, the line scanning camera is triggered to acquire a scanning image of the object to be scanned.
The invention has the beneficial effects that:
(1) according to the method, only one image needs to be shot, so that the algorithm efficiency is improved, and the problem that the planar array camera is long in time-consuming when 4 images need to be captured in photometric stereo is solved.
(2) The invention solves the problem that the shadow illumination of an object is incomplete when the traditional area-array camera shoots four images.
(3) The invention breaks through the current industrial situation and the technical barrier that the traditional photometric stereo method can only be applied to an area-array camera.
(4) The invention improves the imaging quality of fine scratches and fine pits on the surface of the target object by using the line scanning camera, thereby greatly improving the stability of the visual defect detection system, improving the accuracy of the visual defect detection system and reducing the misjudgment rate of the detection system.
Drawings
Fig. 1 is a schematic diagram of an embodiment of a photometric stereo imaging apparatus based on a line scanning camera according to an embodiment of the present invention;
FIG. 2 is a first view of an embodiment of a coaxial time-sharing crossed line light source according to an embodiment of the present invention;
FIG. 3 is a second view of an embodiment of a coaxial time-sharing crossed line light source according to an embodiment of the present invention;
FIG. 4 is a third view of an embodiment of a coaxial time-sharing crossed line light source according to an embodiment of the present invention;
FIG. 5 is a fourth view of an embodiment of a coaxial time-sharing crossed line light source according to an embodiment of the present invention;
FIG. 6 is a fifth view of an embodiment of a coaxial time-sharing crossed line light source according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an embodiment of a line light source according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an embodiment of a cross-line light source to generate stroboscopic light;
fig. 9 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an embodiment of a computer-readable storage medium according to an embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
201. mounting blocks 202, mounting rods 203, adjusting blocks 204 and crossed linear light sources.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, an embodiment of the present invention provides an imaging apparatus based on a line scanning camera photometric stereo, including:
the pulse frequency division signal generator is used for outputting a pulse signal with required frequency according to the input trigger pulse signal and a set frequency division multiple;
the coaxial time-sharing cross line light source is used for scanning an object to be scanned in a coaxial time-sharing mode according to the pulse signal output by the pulse frequency-division signal generator;
and the line scanning camera is used for acquiring a scanning image of the object to be scanned.
In an alternative embodiment of the present invention, the present invention employs a divided-frequency pulse generator, the pulse generator being capable of freely adjusting an output frequency of a pulse according to an input pulse, the divided-frequency pulse generator receiving the pulse and generating the pulse according to a set division multiple, the division multiple of the divided-frequency pulse generator being freely adjustable.
In an alternative embodiment of the present invention, as shown in fig. 2 to 6, the present invention employs a coaxial time-sharing cross-line light source, which specifically includes at least three cross-line light sources 204 arranged in different adjustable illumination directions, and a plurality of the cross-line light sources 204 coaxially fall on the surface of the object to be scanned to form a coaxial overlapped illumination area.
As shown in fig. 7, the cross-line light source 204 specifically includes at least two groups of line light sources arranged at different adjustable incident angles, and a plurality of the line light sources form a coincident light spot on the surface of the object to be scanned.
The coaxial time-sharing cross-line light source further comprises an adjusting mechanism, wherein the adjusting mechanism comprises a mounting component for mounting the plurality of cross-line light sources 204 and an adjusting component for adjusting the illumination directions of the plurality of cross-line light sources 204.
The mounting component comprises mounting blocks 201 and mounting rods 202, the number of the mounting blocks 201 corresponds to that of the crossline light sources 204, and one end of each mounting rod 202 is fixedly connected with the corresponding mounting block 201.
The two ends of each mounting rod 202 are respectively sleeved with a movably connected adjusting block 203, one end of each adjusting block 203 is provided with a mounting hole sleeved with the corresponding mounting rod 202, and the opposite side of each mounting hole is provided with an adjusting seam; the other end of the adjusting block 203 is provided with an arc-shaped adjusting groove matched with the cross line light source 204. Adjusting columns matched with the arc-shaped adjusting grooves are arranged on two sides of the cross line light source 204.
Specifically, taking a coaxial time-sharing cross line light source composed of three cross line light sources 204 arranged in different adjustable illumination directions as an example, each cross line light source 204 includes line light sources in two directions, namely a left direction light source and a right direction light source, which can be turned on in a time-sharing manner (color flash), and the left direction light source and the right direction light source are overlapped in the illumination places (light spots are overlapped); when the working distance is 50mm high, the effective irradiation range (uniform area) is 150 mm; the incident angle of the cross line light source can be adjusted, and the adjustable angle is 30-60 degrees.
Corresponding to the three crossline light sources 204, the mounting component comprises a mounting block 201 and three mounting rods 202 which are sequentially arranged, wherein one end of one mounting rod 202 arranged in the middle is fixedly connected with the mounting block 201, and the function of fixing the whole coaxial time-sharing crossline light source is achieved.
The two ends of each mounting rod 201 are also respectively sleeved with a movably connected adjusting block 203, in order to roughly adjust the illumination direction of the cross line light source 204, one end of each adjusting block 203 is provided with a mounting hole sleeved with the corresponding mounting rod 202, so that the mounting rods 202 can penetrate through the mounting holes on the adjusting blocks 203, and the adjusting blocks 203 are sleeved at the two ends of the mounting rods 202; in addition, the opposite sides of the mounting hole 202 are respectively provided with an adjusting slit, and the width of the adjusting slit is freely adjusted by adopting a fastening screw, so that the fastening state between the adjusting block 203 and the mounting rod 202 can be adjusted by adjusting the fastening screw, and free rough adjustment can be performed when the illumination direction of the cross line light source 204 needs to be adjusted.
In order to realize the fine adjustment of the illumination direction of the crossline light source 203, the other end of the adjusting block 203 is provided with an arc-shaped adjusting groove matched with the crossline light source 204, and specifically, two symmetrical arc-shaped adjusting grooves are arranged; simultaneously in the both sides of crossline light source 204 set up with arc adjustment tank complex regulation post, through adjusting the post card promptly and go into the arc adjustment tank that corresponds, realize carrying out spacing fixed to crossline light source 204, simultaneously through the slip of adjusting the post in the arc adjustment tank, realize carrying out the essence to crossline light source 204's illumination direction and adjust.
In an optional embodiment of the present invention, the scanning of the object to be scanned in a coaxial time-sharing manner according to the pulse signal output by the pulse frequency-division signal generator specifically includes:
sequentially triggering each crossed line light source 204 in the coaxial time-sharing crossed line light sources to generate stroboflash according to the rising edge in the pulse signal output by the pulse frequency division signal generator;
and when the cross line light source 204 generates strobing, the line scanning camera is triggered to acquire a scanning image of the object to be scanned.
Specifically, as shown in fig. 8, the first rising edge light source strobes once, the camera triggers once, the second rising edge light source strobes once, the camera triggers once, the third rising edge light source strobes once, the camera triggers once, and so on, the three pulses are in one cycle until the image acquisition is completed.
Example 2
The embodiment of the invention provides a photometric stereo imaging method based on a line scanning camera, which comprises the following steps:
s1, outputting a pulse signal with a required frequency according to a set frequency division multiple by using a pulse frequency division signal generator according to an input trigger pulse signal;
s2, scanning the object to be scanned in a coaxial time-sharing manner by using a coaxial time-sharing cross line light source according to the pulse signal output by the pulse frequency division signal generator;
and S3, acquiring a scanning image of the object to be scanned by using the line scanning camera.
The specific implementation details of the line scanning camera photometric stereo-based imaging method in the embodiment of the present invention are similar to those in embodiment 1, and have the same technical effects as in embodiment 1.
Referring to fig. 9, fig. 9 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 9, an embodiment of the present invention provides an electronic device 500, which includes a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520, wherein the processor 520 implements a line scan camera based photometric stereo imaging method when executing the computer program 511.
Referring to fig. 10, fig. 10 is a schematic diagram illustrating an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 10, the present embodiment provides a computer-readable storage medium 600 having stored thereon a computer program 611, the computer program 611, when executed by a processor, implementing a line scan camera based photometric stereo imaging method.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An imaging device based on line scan camera photometric stereo, comprising:
the pulse frequency division signal generator is used for outputting a pulse signal with required frequency according to the input trigger pulse signal and a set frequency division multiple;
the coaxial time-sharing cross line light source is used for scanning an object to be scanned in a coaxial time-sharing mode according to the pulse signal output by the pulse frequency-division signal generator;
and the line scanning camera is used for acquiring a scanning image of the object to be scanned.
2. The line scan camera photometric stereo based imaging device according to claim 1 wherein the co-axial time sharing cross line light source specifically comprises:
at least three cross-line light sources arranged in different adjustable illumination directions;
and the plurality of crossed line light sources form a coaxial coincident illumination area on the surface of the object to be scanned.
3. The line scan camera photometric stereo based imaging device as defined in claim 2 wherein said cross line light source specifically comprises:
at least two groups of linear light sources arranged at different adjustable incidence angles;
the line light sources form coincident light spots on the surface of an object to be scanned.
4. The line scan camera photometric stereo based imaging device according to claim 3 wherein the adjustable incidence angle range of the line light source is 30 ° to 60 °.
5. The imaging device based on line scanning camera photometric stereo according to claim 1, wherein the scanning of the object to be scanned in a coaxial time-sharing manner according to the pulse signal output by the pulse frequency division signal generator specifically comprises:
sequentially triggering each crossed line light source in the coaxial time-sharing crossed line light sources to generate stroboscopic according to the rising edge in the pulse signal output by the pulse frequency division signal generator;
and when the cross line light source generates stroboflash, the line scanning camera is triggered to acquire a scanning image of the object to be scanned.
6. A photometric stereo imaging method based on a line scanning camera is characterized by comprising the following steps:
s1, outputting a pulse signal with a required frequency by using a pulse frequency division signal generator according to the input trigger pulse signal and a set frequency division multiple;
s2, scanning the object to be scanned in a coaxial time-sharing manner by using a coaxial time-sharing cross line light source according to the pulse signal output by the pulse frequency-division signal generator;
and S3, acquiring a scanning image of the object to be scanned by using the line scanning camera.
7. The imaging method according to claim 6, wherein the coaxial time-sharing crossline light source specifically comprises:
at least three cross line light sources arranged in different adjustable illumination directions;
and the plurality of crossed line light sources form a coaxial coincident illumination area on the surface of the object to be scanned.
8. The imaging method according to claim 7, wherein the cross line light source specifically comprises:
at least two groups of linear light sources arranged at different adjustable incidence angles;
the linear light sources form coincident light spots on the surface of an object to be scanned.
9. The imaging method of claim 8, wherein the adjustable angle of incidence of the linear light source ranges from 30 ° to 60 °.
10. The imaging method according to claim 6, wherein the scanning of the object to be scanned in a coaxial time-sharing manner according to the pulse signal output by the pulse frequency-division signal generator specifically comprises:
sequentially triggering each crossed line light source in the coaxial time-sharing crossed line light sources to generate stroboscopic according to the rising edge in the pulse signal output by the pulse frequency division signal generator;
and when the cross line light source generates stroboflash, the line scanning camera is triggered to acquire a scanning image of the object to be scanned.
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Cited By (2)
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| CN115326834A (en) * | 2022-10-13 | 2022-11-11 | 广州超音速自动化科技股份有限公司 | Aluminum shell inspection method and equipment |
| CN115511825A (en) * | 2022-09-23 | 2022-12-23 | 天津大学 | Surface defect visual detection method and device based on linear array camera |
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| CN209764751U (en) * | 2019-04-12 | 2019-12-10 | 北京深度奇点科技有限公司 | Surface defect detection system |
| CN110987970A (en) * | 2019-10-26 | 2020-04-10 | 惠州高视科技有限公司 | Object surface defect detection system and detection method |
| CN112557408A (en) * | 2021-02-25 | 2021-03-26 | 中科慧远视觉技术(北京)有限公司 | Stroboscopic step lighting defect detection system |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN209764751U (en) * | 2019-04-12 | 2019-12-10 | 北京深度奇点科技有限公司 | Surface defect detection system |
| CN110987970A (en) * | 2019-10-26 | 2020-04-10 | 惠州高视科技有限公司 | Object surface defect detection system and detection method |
| CN112557408A (en) * | 2021-02-25 | 2021-03-26 | 中科慧远视觉技术(北京)有限公司 | Stroboscopic step lighting defect detection system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115511825A (en) * | 2022-09-23 | 2022-12-23 | 天津大学 | Surface defect visual detection method and device based on linear array camera |
| CN115326834A (en) * | 2022-10-13 | 2022-11-11 | 广州超音速自动化科技股份有限公司 | Aluminum shell inspection method and equipment |
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