CN1474159A - Linear array photoelectric sensor tomographic scanning three-dimensional measurement method and device - Google Patents
Linear array photoelectric sensor tomographic scanning three-dimensional measurement method and device Download PDFInfo
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- 238000002591 computed tomography Methods 0.000 claims description 14
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- 238000003384 imaging method Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 9
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- 238000005070 sampling Methods 0.000 claims description 6
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- 238000003491 array Methods 0.000 claims description 2
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- 238000004587 chromatography analysis Methods 0.000 abstract description 4
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- 238000003908 quality control method Methods 0.000 abstract description 2
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
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- 238000011068 loading method Methods 0.000 description 2
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Abstract
本发明公开了一种线阵光电传感器层析扫描三维测量方法和装置，用一线结构光或一编码的面结构光与光电传感器光轴成一定夹角投射到被测物体表面上，利用一个或一组线阵光电传感器快速扫描、采集被测物体表面的三维信息；当被测物体通过图像光电传感器件光轴和光源组成的交线时，光学镜头对被测物成像，经图像光电传感器转化为电信号，形成数字图象存放于系统内存，再由计算机或数字处理系统对数字图象进行处理，通过模视识别、轮廓计算和比较采用相移技术进行调制和解调，即可得到被测物体的三维形貌。本发明可以精确地通过层析测得物体的表面形状，也可以检测生产线上产品的残损状态。可用于生产药品、食品包装机以及其他工业生产线上的质量控制。
The invention discloses a tomographic scanning three-dimensional measurement method and device of a linear array photoelectric sensor. A line of structured light or a coded surface structured light is projected onto the surface of a measured object at a certain angle with the optical axis of the photoelectric sensor. A group of linear array photoelectric sensors quickly scan and collect three-dimensional information on the surface of the measured object; when the measured object passes through the intersection line formed by the optical axis of the image photoelectric sensor device and the light source, the optical lens images the measured object, which is transformed by the image photoelectric sensor It is an electrical signal, forming a digital image and storing it in the system memory, and then processing the digital image by a computer or a digital processing system, and then modulating and demodulating it by phase shifting technology through pattern recognition, contour calculation and comparison, and then the captured image can be obtained measure the three-dimensional shape of an object. The invention can accurately measure the surface shape of the object through chromatography, and can also detect the damaged state of the product on the production line. It can be used for quality control in the production of pharmaceuticals, food packaging machines and other industrial production lines.
Description
One, affiliated field
The invention belongs to optical detection and robot vision field, relate to a kind of optical detecting method and system, relate in particular to a kind of non-contact optical detection method and pick-up unit that is used for object dimensional topography measurement and object space detection.
Two, background technology
Object dimensional topography measurement and object space detect in field extensive application such as commercial production, military affairs and medical treatment, along with the development of processing industry and improving constantly of target level of product quality, in such as process of producing product such as electronics, iron and steel, glass, need the thickness and the profile of its product be detected in real time, in case, will inevitably bring unnecessary loss to producer like this because certain in the production run is former thereby cause product substandard products to occur; In the automatic packaging process of industries such as medicine, food, product neglected loadings such as medicine and food, damaged, misloading also can appear inevitably, capsule is imperfect and the defective products of packing such as half capsules and food breakage, underweight, if more than these substandard products can not reliable detection and reject, not only can cause client's complaint and claim, and bring unpredicted fame and economic loss to manufacturer, directly have influence on the market image of manufacturer, also can bring unnecessary loss simultaneously to the user.
Existing object measuring three-dimensional morphology and object space detection method have many kinds, as utilize the triangulation of area array CCD, inductance, electromagnetism thickness measurement sensor etc., the triangulation that utilizes area array CCD is when needs are measured fast, can not realize real-time detection, various sensors then can only detect some zone of product, can not measure more at a distance simultaneously.
And the main method that production industries such as present medicine, food address this problem is to use manual detection, or is furnished with automatic photoelectric detection device, no matter but present artificial or existing photo-electric checkout equipment, all exist tangible drawback, manual detection is subjected to artificial factor, can not realize detecting fast and accurately requirement, and its precision of present photoelectric type measuring is lower, can only detect the part defective of product, do not stop client's complaint in this respect far away, this problem has become an insoluble problem of manufacturers such as puzzlement medicine, food.
Three, summary of the invention
The objective of the invention is to, a kind of linear array photoelectric sensors computed tomography scanning method for three-dimensional measurement and device thereof are provided, can the automatically online three-dimensional appearance that detects testee; Also can be used for the whether damaged requirement of judgment object, as: medicine neglected loading, damaged, capsule is imperfect and packing defectives such as half capsules and food breakage, underweight.
The technical solution that realizes above-mentioned purpose is that linear array photoelectric sensors computed tomography scanning method for three-dimensional measurement is characterized in that, may further comprise the steps at least:
1) area-structure light and the photoelectric sensor optical axis with a line-structured light or a coding forms an angle and projects on the testee surface, utilizes one or one group of linear array photoelectric sensors to scan, gather the three-dimensional information on testee surface fast;
When 2) testee passes through the intersection of image light electric transducer optical axis and light source optical axis composition, be converted into behind the electric signal by the image light electric transducer after by optical lens and carry out A/D conversion (also have at present and do not need the digital picture of A/D transition card photoelectric sensor) by image pick-up card to the measured object imaging, forming digital image deposits in the Installed System Memory, by computing machine or digital processing system this digital image is handled again, look identification, profile are calculated and relatively or adopt phase-shifting technique to carry out modulation and demodulation, can obtain the three-dimensional appearance of testee by mould.
The solution of the device of said method is as follows: a kind of optical imagery pick-up unit comprises: a sampling section, and a data processing section is characterized in that:
Described sampling section comprises: one is used to place the flat board of detected material; One is used to detected material that the light source of illumination is provided; One is used for measured object is imaged on optical imagery camera lens on the image light electric transducer; And the picture that is used for object to be detected that the optical imagery camera lens is become converts the image light electric transducer of electric signal to, as CCD (charge-coupled image sensor) and CMOS photoelectric commutator etc.
Described data processing and control section comprise: image capturing system; Data processing and control module; And image displaying part.
Light source is in the testee top, detected material is positioned on the flat board, the image light electric transducer is positioned on the detected material, the optical axis of image light electric transducer becomes one greater than zero angle with the optical axis of light source, the optical imagery camera lens is installed in below the image light electric transducer by mechanical connection manner, and is positioned at the top of detected material; Be connected with image capturing system on the image light electric transducer, image capturing system is connected with data processing and control module, and data processing and control module are connected with image displaying part.
Some other characteristics of the present invention are:
Described light source is to be used to produce line-structured light or area-structure light, its effect be make detected material can clear imaging on the image light electric transducer, can be various visible lights or invisible light, can be LASER Light Source or ordinary light source.
Described image light electric transducer can be ccd video camera, cmos camera and various photo-electric image device, from the dimension of imaging, is linear array, from the color of imaging, can be colored or black and white.
The number of described image light electric transducer can adopt one, also can adopt two or more to use simultaneously, and each all is furnished with an optical imagery camera lens on the image light electric transducer.
An opto-electronic conversion array is all arranged in the image light electric transducer, when using a plurality of image light electric transducer, also can be integrated in a plurality of opto-electronic conversion arrays simultaneously in the image light electric transducer, and use an optical imagery camera lens.
Described image displaying part is CRT monitor or LCD or plasma scope or the various device that is shown as picture, described data processing and control module are PC or industrial computer or embedded computer and the various system that can be used for data computation and control, described image capturing system comprises various image pick-up card, and described dull and stereotyped 9 is to move transfer plate on production line.
Pick-up unit of the present invention can accurately record the object surfaces shape by chromatography, also can detect the DMR status of product on production line.Can be used for producing the quality control on medicine, foods packing machine and other industrial production lines.
Four, description of drawings
Synoptic diagram when Fig. 1 is an image light electric transducer and a light source generator;
Synoptic diagram when Fig. 2 is a plurality of image light electric transducers and a light source generator (can produce a plurality of line-structured lights simultaneously and maybe can produce face battle array structured light);
Five, embodiment
For a more clear understanding of the present invention, the present invention is described in further detail below in conjunction with drawings and Examples.
The device of linear array photoelectric sensors computed tomography scanning method for three-dimensional measurement comprises, a sampling section, and a data processing and control section is characterized in that:
Described sampling section comprises: one is used to place the flat board 9 (this flat board is to move transfer plate) of detected material 8 on production line; One is used to detected material 8 that the light source 4 of illumination is provided; One is used for measured object is imaged on optical imagery camera lens 3 on the image light electric transducer; And the picture that is used for object to be detected that the optical imagery camera lens is become converts the image light electric transducer 1 of electric signal to;
Described data processing and control section comprise: image capturing system 5; Data processing and control module 6; With image displaying part 7;
Light source 4 is in testee 8 tops, detected material 8 is positioned on dull and stereotyped 9, image light electric transducer 1 is positioned on the detected material 8, the optical axis of image light electric transducer 1 becomes one greater than zero angle with the optical axis of light source 4, optical imagery camera lens 3 is installed in below the image light electric transducer 1 by mechanical connection manner, and is positioned at the top of detected material 8; Be connected with image capturing system 5 on image light electric transducer 1, image capturing system 5 is connected with data processing and control module 6, and data processing and control module 6 are connected with image displaying part 7.
The display part comprises the various devices that are shown as picture such as CRT monitor, LCD, plasma scope.Data processing and control module can be that PC, industrial computer, embedded computer and other can be used for the system of data computation and control.Image capturing system comprises various image pick-up card.The image light electric transducer can be ccd video camera, cmos camera and other electro-optical pickoffs, from the dimension of imaging, can be the face battle array also can be linear array, from the color of imaging, can be colored or black and white.The optical imagery camera lens can be various types of camera lenses.Light source can be visible light or invisible light, can be area array light source, array light source, pointolite or annular light source.Case comprises the case of various materials.
Referring to Fig. 1～2, the synoptic diagram when Fig. 1 is an image light electric transducer and a light source generator; Synoptic diagram when Fig. 2 is a plurality of image light electric transducers and a light source generator (can produce a plurality of line-structured lights simultaneously and maybe can produce face battle array structured light);
Below principle of work of the present invention being done one describes: when testee passes through the intersection of image light electric transducer optical axis and light source composition, be converted into behind the electric signal by the image light electric transducer after by optical lens and carry out the A/D conversion by image pick-up card to the measured object imaging, forming digital image deposits in the Installed System Memory, by computing machine or digital processing system this digital image is handled again, look identification, profile calculating and comparison by mould, obtain result.
The present invention has following functions and advantage:
1. can on production line, obtain the testee surface configuration in real time.
2. owing to adopt line array CCD and line source to realize that chromatography detects, therefore can utilize the method to realize three Dimension object chromatography scanning survey obtains its surface profile, has that measuring speed is fast, the precision high.
Claims (10)
1. a linear array photoelectric sensors computed tomography scanning method for three-dimensional measurement is characterized in that, may further comprise the steps at least:
1) area-structure light and the photoelectric sensor optical axis with a line-structured light or a coding forms an angle and projects on the testee surface, utilizes one or one group of linear array photoelectric sensors to scan, gather the three-dimensional information on testee surface fast;
When 2) testee passes through the intersection of image light electric transducer optical axis and light source composition, by optical lens to the measured object imaging after, be converted into electric signal through the image light electric transducer, carry out A/D conversion/or do not need the digital picture photoelectric sensor of A/D transition card by image pick-up card, forming digital image deposits in the Installed System Memory, by computing machine or digital processing system this digital image is handled again, look identification, profile calculating and relatively adopt phase-shifting technique to carry out modulation and demodulation by mould, obtain to obtain the three-dimensional appearance of testee.
2. a device of realizing the described linear array photoelectric sensors computed tomography scanning of claim 1 method for three-dimensional measurement comprises, a sampling section, and a data processing and control section is characterized in that:
Described sampling section comprises: one is used to place the flat board [9] (this flat board is to move transfer plate) of detected material [8] on production line; One is used to detected material [8] that the light source [4] of illumination is provided; One is used for measured object is imaged on optical imagery camera lens [3] on the image light electric transducer; And the picture that is used for object to be detected that the optical imagery camera lens is become converts the image light electric transducer [1] of electric signal to;
Described data processing and control section comprise: image capturing system [5]; Data processing and control module [6]; And image displaying part [7];
Light source [4] is in testee [8] top, detected material [8] is positioned on the flat board [9], image light electric transducer [1] is positioned on the detected material [8], the optical axis of image light electric transducer [1] becomes one greater than zero angle with the optical axis of light source [4], optical imagery camera lens [3] is installed in below the image light electric transducer [1] by mechanical connection manner, and is positioned at the top of detected material [8]; Be connected with image capturing system [5] on image light electric sensor [1], image capturing system [5] is connected with data processing and control module [6], and data processing and control module [6] are connected with image displaying part [7].
3. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2, it is characterized in that, described light source [4] is used to produce line-structured light, or area-structure light, its effect be make detected material can clear imaging on image light electric transducer [1], can be various visible lights or invisible light, can be LASER Light Source or ordinary light source.
4. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2, it is characterized in that, described image light electric transducer [1] can be ccd video camera, cmos camera and various photo-electric image device, from the dimension of imaging, it is linear array, from the color of imaging, can be colored or black and white.
5. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2, it is characterized in that, the number of described image light electric transducer [1] can adopt one, also can adopt two or more to use simultaneously, image light electric transducer [1] is gone up each and all is furnished with an optical imagery camera lens [3].
6. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2, it is characterized in that, an opto-electronic conversion array [2] is all arranged in the described image light electric transducer [1], when using a plurality of image light electric transducers [1], also can be integrated in a plurality of opto-electronic conversion arrays [2] simultaneously in the image light electric transducer, and use an optical imagery camera lens [3].
7. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2 is characterized in that, described image displaying part [7] is CRT monitor or LCD or plasma scope or the various device that is shown as picture.
8. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2 is characterized in that, described data processing and control module [6] are PC or industrial computer or embedded computer and the various system that can be used for data computation and control.
9. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2 is characterized in that described image capturing system [5] comprises various image pick-up card.
10. linear array photoelectric sensors computed tomography scanning three-dimensional measuring apparatus as claimed in claim 2 is characterized in that described flat board [9] is to move transfer plate or travelling belt on production line.
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| CNB031343422A CN1297796C (en) | 2003-07-02 | 2003-07-02 | Chromatographic scanning three-dimension measuring method and device linear array photoelectric sensor |
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| CNB031343422A CN1297796C (en) | 2003-07-02 | 2003-07-02 | Chromatographic scanning three-dimension measuring method and device linear array photoelectric sensor |
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