CN1844899A - Wide article detection method - Google Patents
Wide article detection method Download PDFInfo
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- CN1844899A CN1844899A CN 200510064848 CN200510064848A CN1844899A CN 1844899 A CN1844899 A CN 1844899A CN 200510064848 CN200510064848 CN 200510064848 CN 200510064848 A CN200510064848 A CN 200510064848A CN 1844899 A CN1844899 A CN 1844899A
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Abstract
The invention relates to a method for using several sensor cameras to detecting wide matter, especially providing a method for integrating the image data of several sensor cameras. Wherein, said linear sensor cameras are arranged opposite to the detect surfaces of wide matter, to attain their detecting areas with a shared detecting area; when the laser beam is projected to said shared area, the linear mark will span the center of said shared area; via calculating, integrating the image data of any two nearby sensor cameras, and according to said linear marl, removing part of image data, to compensated cover the whole detected area with the detecting area of said two nearby cameras.
Description
Technical field
The present invention relates generally to a kind of method that detects wide article, perhaps relate more specifically to a kind of method that the divide image data that grasps by a plurality of sensor cameras is made up.
Background technology
Proposed various surface inspecting methods up to now, it is used to detect the existence of various defectives or flaw, such as on the article surface continuously or stain, blank, false color, the color of discrete patch or disk-form inhomogeneous etc.Some detection method can detect the size that the surface obtains this defective.Such detection method has broad various application in different fields.
The equipment that is used to implement surface inspecting method uses the scanning of sensor camera just in a predetermined direction continuously or the surface of the article that intermittently move usually, such as ccd line sensor camera (linesensor camera), 3CCD color line sensor camera, CCD area sensor camera etc.When using single camera to detect wide article, the distance that camera must be enough far away with the detection surface isolation of article is so that camera covers the whole zone of being detected.If yet surperficial mistake of distance detecting far is provided with camera, resolution has just reduced.In addition, the picture quality that scans by camera is easy to be affected, even trickle the moving or shake of camera.The spacing that is provided with between article and the camera will inevitably make that the size of equipment is bigger biglyyer.So, may not can obtain the accuracy in detection of being wanted by using the single-sensor camera.
In order to overcome this problem, a kind of checkout equipment has been proposed, it uses width along article at a plurality of sensor cameras that distance is provided with mutually alignedly, makes each camera cover its distribution portion of whole sensing range on these article.For example Japanese Patent Application Publication JPH4-166749, JPH8-281920 and JP2001-337042 disclose such equipment.Be used to make up data from the separate picture of each sensor camera, and to indicate the method and apparatus of the image that is made up then on single display unit be known in the art.Yet, as from open source literature JP2001-337042, seeing, be difficult to locate exactly and a plurality of sensor cameras are set, make any two adjacent cameras cover their surveyed areas separately, and the zone that is not overlapped by two cameras part surveyed area separately, or it is the zone that is not covered, and therefore pretty troublesome by two adjacent cameras.
Above-mentioned open source literature JPH8-281920 discloses a kind of setting of line sensor camera, and wherein two adjacent cameras use the surveyed area of preliminary dimension jointly, and it is overlapped by two adjacent cameras part surveyed area separately.In having the checkout equipment that this camera is provided with, the view data that need detect the surface to the article of being taken by these two independent cameras be used for the processing of view data combination, with corresponding by the real image of this line sensor camera institute scanning of a surface.For example can by will be average from two camera image transmitted data, relatively from the data of two cameras, and for example preferably adopt the data of higher value or preferably adopt any one predetermined data etc., finish the combination of separate picture.
For needs carry out the combination of suitable view data, from the view data of two different cameras, when detecting or scanning by this line sensor camera at every turn, must correctly calculate the size of the surveyed area that is overlapped by the surveyed area of two adjacent lines sensor cameras.If the lip-deep detection position of wide article always remains unchanged with respect to the line sensor camera, can be easy to calculate the above-mentioned size of overlapping region so, and it can be as the predetermined reference size in view data is handled.
If yet the position of detecting the surface is that situation according to this wide article changes in time with respect to the line sensor camera, size that then should the overlapping surveyed area also changes, and therefore this wide article detect the view data on surface may be not with corresponding by the actual conditions of this line sensor camera institute scanning of a surface.
In order to understand the background technology below the present invention better, with reference to Fig. 4 to 6, it schematically shows the equipment that is generally used for implementing detecting the method for wide article.In the accompanying drawings, Reference numeral 30 representative has the article of wide surperficial 30a, by a pair of line sensor camera 10,20 it is detected, and the line sensor camera is arranged on top and vertical with the detection surface 30a of article 30.These article 30 phoresy on the direction of arrow as shown in Fig. 4,6, and it detects surperficial 30a and generally is positioned at the position represented by Fig. 5 center line Pc or height.Being positioned at two line sensor cameras, 10,20 width along article 30 that detect above the surperficial 30a is spaced apart from each other, make camera 10,20 cover their surveyed area L10, L20 respectively, and have jointly by the surveyed area L30 that part overlapped of surveyed area L10, L20 separately.When this detected surperficial 30a and is positioned at position Pc, this overlapping surveyed area L30 had predetermined size N3.Reference numeral 40 representative be used to the to throw light on lamp of surveyed area L10, L20, L30 and near zone thereof.In order to clearly demonstrate, this accompanying drawing has saved and has been used for the device handled by camera 10,20 image transmitted data.
In above-mentioned checkout equipment, it detects surperficial 30a and is positioned at position Pc as long as article 30 move, the size conforms aforementioned dimensions N3 of the actual overlapping surveyed area L30 of this camera 10,20 then, and correctly detect the surperficial 30a of article 30 by line sensor camera 10,20.Yet, it detects position or height Pd that surperficial 30a is positioned at raising if article 30 move in the position of improving, then the size of the actual detected area L 30 (Fig. 5) that is overlapped by surveyed area L10, the L20 of line sensor camera 10,20 does not meet this preliminary dimension N3, and the size M3 of wherein actual overlapping region L30 is less than predetermined overlapping size N3.On the other hand, it detects surperficial 30a and is positioned at the position that is lower than position Pc if these article 30 move, and the size of the area L 30 that is overlapped so is greater than N3.
The Japanese Patent Application Publication JP2000-349988 that is used for the equipment of combined picture signal proposes a kind of solution of the above problems.According to by the disclosed invention of the disclosure document, on wide article or steel plate moving direction, the upstream position of on-line sensor is provided with range sensor, and this range sensor is used to measure the detection surface of steel plate and the relative distance between this line sensor.This equipment has calculation element, is used for going out by any two adjacent lines sensors surveyed area that surveyed area overlapped separately according to the distance calculation of last planar survey.This calculation element also is used to calculate the variation (its possibility is owing to any displacement on the detection surface of plate produces) of overlapping region, and is used for according to this result of calculation correction and the detection data of combination from this sensor.
This detection method advantageously can be used to detect the plate material with given thickness, such as steel plate.More specifically, this method can detect the steel plate of different batches effectively, each batch comprises the plate of a plurality of given thickness, because each batch only measured the detection surface of a plate and the relative distance between the line sensor, and only calculates once by any two adjacent lines sensors surveyed area that surveyed area overlapped separately according to measured value subsequently.In addition, according to this detection method, the error between actual overlapping region and the overlapping region that calculated is very little.
Yet, detection method cost according to open source literature JP2000-349988 is higher, the equipment that wherein is used to implement this method need be used to measure the detection surface of steel plate and the instrument of the distance between the line sensor, and also needs to be used for to calculate by the device of any two adjacent lines sensors surveyed area that surveyed area overlapped separately according to this measurement.This method also is unfavorable for detecting the normally wavy article of its top surface, and scale board for example is not because the value of the overlapping surveyed area that is calculated meets the value in actual detected zone usually.In order to detect the article that move continuously exactly, must repeatedly calculate this overlapping surveyed area at short time interval.If error then just appears in computing relay between the actual value of value of being calculated and overlapping region.In order to realize accurate detection, may reduce the transfer rate of article, its result influences detection efficiency exactly.
Summary of the invention
The present invention has considered above-mentioned shortcoming, and therefore the purpose of this invention is to provide a kind of method that can solve the detection wide article of above-mentioned shortcoming.More specifically, a kind of method that the lip-deep divide image data of wide article that grasps by a plurality of sensor cameras is made up is disclosed.
To achieve these goals, the present invention proposes a kind of method of using a plurality of sensor cameras to detect article, wherein object have wide detections surface and can stride across on the direction of its width mobile.According to this method, the detection surface that this sensor camera distance is opened these article at first is set, and along the certain interval setting of the width mutual distance of these article, make the sensor camera on this detection surface, have surveyed area respectively, and any two adjacent sensor cameras have the common surveyed area that is overlapped by the part surveyed area of two adjacent sensors cameras.This sensor camera is the line sensor camera preferably, and it can sequentially be taken or grab and take the photograph this and detect lip-deep line image and correspondingly produce view data.
Illuminate wide article by lamp and detect lip-deep surveyed area and near zone thereof.By launching light from the optical projection device, the centre position in the common surveyed area that overlaps forms mark.The color of this wire tag is different from any color included in the detection surface of this wide article.The optical projection device should be the laser beam projector of emission of lasering beam, and laser beam produces the wire tag of the common surveyed area extension that strides across this overlapping.In addition, this wire tag should appear at the central authorities of the common surveyed area of this overlapping.
By calculating the view data combination that two adjacent sensors cameras are produced.In this data image of combination, get rid of by two adjacent sensors cameras one of them according to this mark and grabbed the parts of images data taken the photograph and grabbed the parts of images data of taking the photograph, make the surveyed area of these two adjacent sensors cameras complementally cover whole surveyed area by another sensor camera.
In other words, to combine by the view data that two adjacent sensors cameras are grabbed the common surveyed area of this overlapping of taking the photograph by calculating, make by two adjacent sensors cameras the parts of images data that one of them is grabbed takes the photograph (its corresponding to this mark and at side adjacent to the surveyed area between the end of a camera surveyed area of another sensor camera surveyed area), and by another sensor camera grabbed the parts of images data taken the photograph (its corresponding to this mark and at side adjacent to the surveyed area between the end of another camera surveyed area of a sensor camera surveyed area) be excluded outside the combination in this view data.
Description of drawings
Those skilled in the art can more be expressly understood the features and advantages of the present invention from the description of the following preferred embodiment of the present invention, carry out this description with reference to accompanying drawing, wherein:
Fig. 1 is schematic skeleton view, and expression can be used to implement the checkout equipment according to the method for detection wide article of the present invention;
Fig. 2 illustratively is the schematic front view of the checkout equipment of Fig. 1;
Fig. 3 illustratively is the diagrammatic side view of the checkout equipment of Fig. 1;
Fig. 4 is schematic skeleton view, and expression is generally used for implementing detecting the checkout equipment of the method for wide article;
Fig. 5 illustratively is the schematic front view of the checkout equipment of Fig. 4; With
Fig. 6 illustratively is the diagrammatic side view of the checkout equipment of Fig. 4.
Embodiment
Fig. 1 to 3 is depicted as the checkout equipment of the method that can be used to implement detection wide article of the present invention, describes preferred embodiment according to the method for detection wide article of the present invention with reference to it below.In order to clearly demonstrate, this equipment among the described embodiment has only used a pair of line sensor camera.
As in front with reference in the described equipment of Fig. 4 to 6, a pair of line sensor camera 1,2 is set on article 3, each camera is used for sequentially taking or grab takes the photograph lip-deep line image, these article 3 have the wide surperficial 3a that is detected by camera 1,2, and on the direction of arrow shown in Fig. 1,3, transmit, and detect surperficial 3a and generally be positioned at represented position of Fig. 2 center line Pa or height by proper device.These two line sensor cameras 1,2 are in alignment with each other on the Width of wide article 3, and direction substantially to detect surperficial 3a vertical with this. Camera 1,2 width along article 3 are spaced apart from each other, and make camera 1,2 cover surveyed area L1, L2 respectively, and have by the common surveyed area L3 that part overlapped of surveyed area L1, L2 separately, and have preliminary dimension N, or corresponding to its pixel.Illuminating lamp 4 is positioned at this and detects above the surperficial 3a and be adjacent, and surveyed area L1, L2, L3 and near zone thereof are used to throw light on.
From the top, on article 3, the position between the line sensor camera 1,2 is provided with optical projection device 5 at this, irradiate light is detected the central authorities of the overlapping surveyed area L3 on the surperficial 3a to wide article 3, make the mark 6 of short lines form stride across overlapping region L3 extension, the most as shown in fig. 1.The color of this wire tag 6 should be to be different to detect included any color among the surperficial 3a.According to from line sensor camera 1,2 image transmitted data, by the physical size of data processing unit 7 by the overlapping region L3 on the detection surface 3a that calculates article 3, data processing unit 7 is sent to the detecting unit (not shown) with handled data.
Below detailed description is used to overlapping surveyed area L3 combination by 1,2 calculating of grabbing the view data of taking the photograph of two line sensor cameras.As previously mentioned, line sensor camera 1,2 so is set, make when wide article 3 move and its when detecting surperficial 3a and being positioned at position Pa, they have their surveyed area L1, L2, and have preliminary dimension N jointly or corresponding to its overlapping region L3 of pixel.
At every turn by the detection surface 3a of line sensor camera 1,2 scan articles 3 time, shown in the front view of Fig. 2, right side camera 1 from its surveyed area L1 left end inwardly apart from the position probing of N1 to wire tag 6, and left side camera 2 from its surveyed area L2 right-hand member inwardly apart from the position probing of N2 to identical wire tag 6, as shown in Figure 2.Be in the view data of overlapping surveyed area L3 combination from two line sensor cameras 1,2, by camera 1 grab take the photograph, corresponding to the parts of images data of the area part of Fig. 2 middle distance N1, and by another camera 2 grab take the photograph, be excluded outside the combination of view data corresponding to the parts of images data of the area part of distance N2, make that the whole surveyed area by each scanning is complementally covered by the surveyed area of two adjacent cameras.By such combination, the view data that is provided for overlapping region L3 by two independent line sensor cameras 1,2 is the share common data division not, and can finish quickly and easily by two defiber sensor cameras 1,2 and be the combination of overlapping region L3 image transmitted data.
On the other hand, when wide article 3 has different thickness or running surface, when making the detection surface 3a of article 3 move in the position of the raising of representing by Pb, camera 1 from its surveyed area L1 left end inwardly apart from the position probing of M1 to wire tag 6, and camera 2 from its surveyed area L2 right-hand member inwardly apart from the position probing of M2 to identical wire tag 6.In order to be the view data of overlapping surveyed area L3 combination from line sensor camera 1,2, by camera 1 grab take the photograph, corresponding to the parts of images data of the area part of distance M1, and by camera 2 grab take the photograph, be excluded outside the view data combination of overlapping surveyed area L3 corresponding to the parts of images data of the area part of distance M2.
Obviously, when article 3 move and its when detecting surperficial 3a and being positioned at position except top position Pa, Pb, can also keep setting up for the method for overlapping surveyed area L3 combined image data above.
When detecting the surperficial 3a of the wide article 3 that on the direction of arrow, moves, the line image data of being taken by line sensor camera 1,2 to be handled, the combination it is not had postpone makes it possible to accurately and timely detect the condition that this detects surperficial 3a.
Although the present invention has been described by the mode of specific embodiment in the front, it should be understood that the present invention is not limited to described embodiment, and can carry out various changes and modification, as explained below.
Though only used two cameras 1,2 in the above embodiments, can use three or more line sensor camera to detect the surperficial 3a of this wide article 3.In this case, should use two or more optical projection devices 5, produce wire tag 6 with central authorities at each overlapping surveyed area of any two adjacent lines sensor camera surveyed areas.
Though in the above embodiments, the wire tag 6 that is arranged so that of optical projection device 5 appears at the central authorities of overlapping region L3, but wire tag 6 and the nonessential central authorities that appear at overlapping region L3, and can appear at any position, as long as it is positioned at any centre position of this overlapping surveyed area.In this case, the view data part according to this central marker selection is got rid of makes the surveyed area of two adjacent cameras complementally cover whole surveyed area.In order to detect this overlapping region L3 exactly, the mark 6 of short-term form should be thin as much as possible, and obvious as far as possible for this reason, this light should be preferably from the red laser beam of laser projector projection.
Notice, line sensor camera 1,2 and nonessential setting with being in alignment with each other, make their detector region L1, L2 accurately align each other, but can be arranged so that like this that surveyed area L1, L2 do not line up, they are set like this is in order to simplify the installation and the setting of line sensor camera 1,2.Notice that also as long as surveyed area L1, the L2 of two cameras 1,2 are in alignment with each other, the mark 6 that then appears among the overlapping surveyed area L3 can be the some form that is arranged in overlapping region L3, rather than stride across the short-term form that area L 3 is extended.
As for the sensor camera, preferably use the color sensor camera, because it can discern and distinguish colour.But,, when whether its end face does not exist any flaw, can use to detect to be different from the monochromatic sensor camera that the wire tag of surperficial lightness or brightness detects in institute on surface (such as band look film) that detection has monochrome or only has the article of minority color.
Though do not illustrate in the accompanying drawings, when regional on discrete patch that detects indexing transfer or the plate, can use the area sensor camera to replace the line sensor camera.In this case, this wire tag should extend through this zone on sheet or plate institute moving direction.
If by the position of wire tag 6, then sensor camera 1,2 temporarily can not detection line mark 6 for any defective in the article (such as blank or crooked).Because mark position remains unchanged, so can be according to estimating its position at the mark of this defective upstream or detected downstream.So, can finish the combination of this view data according to estimated mark position.
Claims (7)
1, a kind of method of utilizing a plurality of sensor cameras to detect wide articles, wherein said wide article have wide detections surface and can stride across on the direction of its width mobilely, and described method comprises:
Described sensor camera is set to leave the detection surface of described article, and along the setting of turning up the soil of the Width each interval of described article, make described sensor camera on described detection surface, have surveyed area respectively, and any two adjacent sensor cameras have the common surveyed area that is overlapped by the part surveyed area of described two adjacent sensors cameras, described sensor camera is used in described surveyed area and grabs and take the photograph image, and produces the data of described image;
Described surveyed area and near zone thereof throw light on;
With the common surveyed area of ray cast, make that the color of described mark is different from any color included in the detection surface of described article from the centre position in the common surveyed area that marks present described overlapping of described light to described overlapping; And
By calculating, common surveyed area to described overlapping makes up by this way by described two view data that the adjacent sensors camera is produced, make that one of them is grabbed the parts of images data of taking the photograph corresponding to described mark and the surveyed area between an end of side the above a camera surveyed area adjacent with another sensor camera surveyed area by described two adjacent sensors cameras, and by described another sensor camera grabbed take the photograph corresponding to described mark and in the parts of images data of the surveyed area between the above another camera surveyed area of side adjacent extreme with a described sensor camera surveyed area, be excluded outside the combination of described view data.
2, according to the detection method of the wide article of claim 1, wherein said sensor camera comprises the line sensor camera, and described line sensor camera can be taken the described line image that detects the surface.
3, according to the detection method of the wide article of claim 2, wherein said line sensor camera is in alignment with each other along the width of described wide article, and direction is basically perpendicular to described detection surface.
4, according to the detection method of the wide article of claim 2, the described light that wherein projects to the common surveyed area of described overlapping comprises laser beam.
5, according to the detection method of the wide article of claim 2, wherein said mark is included in described centre position in the common surveyed area of described overlapping and strides across the wire tag that the common surveyed area of described overlapping extends.
6, according to the detection method of the wide article of claim 2, the wherein said central authorities that mark the common surveyed area of present described overlapping.
7, a kind of method of utilizing a plurality of sensor cameras to detect wide articles, wherein said wide article have wide detections surface and can stride across on the direction of its width mobilely, and described method comprises:
Described sensor camera is set to the detection surface that distance is opened described article, and along the setting of turning up the soil of the width each interval of described article, make described sensor camera on described detection surface, have the surveyed area of whole surveyed area respectively, and any two adjacent sensor cameras have the common surveyed area that is overlapped by the part surveyed area of described two adjacent sensors cameras, described sensor camera is used in described surveyed area and grabs and take the photograph image, and produces the data of described image;
Described surveyed area and near zone thereof throw light on;
With the common surveyed area of ray cast, make that the color of described mark is different from any color included in the detection surface of described article from the centre position in the common surveyed area that marks present described overlapping of described light to described overlapping;
By calculating, described whole surveyed area is made up the view data that produced by described two adjacent sensors cameras together by this way, make that one of them is grabbed the parts of images data of taking the photograph by described two adjacent sensors cameras, with grabbed the parts of images data of taking the photograph by described another sensor camera and be excluded outside the combination of described view data, select the described partial data that is excluded according to described mark, make the surveyed area of described two adjacent cameras complementally cover described whole surveyed area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200510064848 CN1844899A (en) | 2005-04-08 | 2005-04-08 | Wide article detection method |
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| CN 200510064848 CN1844899A (en) | 2005-04-08 | 2005-04-08 | Wide article detection method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102788802A (en) * | 2012-08-29 | 2012-11-21 | 苏州天准精密技术有限公司 | Workpiece quality detection method by multiple cameras |
| CN101910822B (en) * | 2008-01-16 | 2013-06-12 | 奥博泰克有限公司 | Inspection of a substrate using multiple cameras |
| CN104101612A (en) * | 2014-06-24 | 2014-10-15 | 杭州利珀科技有限公司 | Plane material surface defect detection device and detection module thereof |
| CN105588439A (en) * | 2014-10-20 | 2016-05-18 | 宝山钢铁股份有限公司 | Detection method of sintering machine trolley grate bars |
| CN106814075A (en) * | 2016-11-17 | 2017-06-09 | 杭州利珀科技有限公司 | A kind of EVA adhesive film detecting system |
| CN107850752A (en) * | 2015-06-12 | 2018-03-27 | 值软股份有限公司 | Camera and the object handles device using the camera |
| CN111435093A (en) * | 2019-01-11 | 2020-07-21 | 罗伯特·博世有限公司 | Capacitive sensor system |
| CN111650208A (en) * | 2020-06-01 | 2020-09-11 | 东华大学 | Tour type woven fabric defect on-line detector |
| CN116408575B (en) * | 2021-12-31 | 2024-06-04 | 广东美的白色家电技术创新中心有限公司 | Method, device and system for locally scanning and eliminating workpiece reflection interference |
-
2005
- 2005-04-08 CN CN 200510064848 patent/CN1844899A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101910822B (en) * | 2008-01-16 | 2013-06-12 | 奥博泰克有限公司 | Inspection of a substrate using multiple cameras |
| CN102788802A (en) * | 2012-08-29 | 2012-11-21 | 苏州天准精密技术有限公司 | Workpiece quality detection method by multiple cameras |
| CN104101612A (en) * | 2014-06-24 | 2014-10-15 | 杭州利珀科技有限公司 | Plane material surface defect detection device and detection module thereof |
| CN105588439A (en) * | 2014-10-20 | 2016-05-18 | 宝山钢铁股份有限公司 | Detection method of sintering machine trolley grate bars |
| CN107850752A (en) * | 2015-06-12 | 2018-03-27 | 值软股份有限公司 | Camera and the object handles device using the camera |
| CN106814075A (en) * | 2016-11-17 | 2017-06-09 | 杭州利珀科技有限公司 | A kind of EVA adhesive film detecting system |
| CN106814075B (en) * | 2016-11-17 | 2023-11-03 | 杭州利珀科技有限公司 | EVA glued membrane detecting system |
| CN111435093A (en) * | 2019-01-11 | 2020-07-21 | 罗伯特·博世有限公司 | Capacitive sensor system |
| CN111650208A (en) * | 2020-06-01 | 2020-09-11 | 东华大学 | Tour type woven fabric defect on-line detector |
| CN111650208B (en) * | 2020-06-01 | 2021-08-27 | 东华大学 | Tour type woven fabric defect on-line detector |
| CN116408575B (en) * | 2021-12-31 | 2024-06-04 | 广东美的白色家电技术创新中心有限公司 | Method, device and system for locally scanning and eliminating workpiece reflection interference |
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