EP1844450A1 - Method for determining the exact center of a coin introduced into a coin acceptor unit - Google Patents

Method for determining the exact center of a coin introduced into a coin acceptor unit

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Publication number
EP1844450A1
EP1844450A1 EP06706762A EP06706762A EP1844450A1 EP 1844450 A1 EP1844450 A1 EP 1844450A1 EP 06706762 A EP06706762 A EP 06706762A EP 06706762 A EP06706762 A EP 06706762A EP 1844450 A1 EP1844450 A1 EP 1844450A1
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EP
European Patent Office
Prior art keywords
coin
center
probable
exact
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06706762A
Other languages
German (de)
French (fr)
Other versions
EP1844450B1 (en
Inventor
Manfred Wollny
Klaus Spinnler
Andreas Kuleschow
Robert COURONNÉ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Walter Hanke Mechanische Werkstaetten GmbH and Co KG
Original Assignee
Walter Hanke Mechanische Werkstaetten GmbH and Co KG
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Publication of EP1844450A1 publication Critical patent/EP1844450A1/en
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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D5/00—Testing specially adapted to determine the identity or genuineness of coins, e.g. for segregating coins which are unacceptable or alien to a currency
    • G07D5/02—Testing the dimensions, e.g. thickness, diameter; Testing the deformation
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07D—HANDLING OF COINS OR VALUABLE PAPERS, e.g. TESTING, SORTING BY DENOMINATIONS, COUNTING, DISPENSING, CHANGING OR DEPOSITING
    • G07D5/00—Testing specially adapted to determine the identity or genuineness of coins, e.g. for segregating coins which are unacceptable or alien to a currency
    • G07D5/005—Testing the surface pattern, e.g. relief

Definitions

  • the invention relates to a method for determining the exact center of an inserted into a Münzprüfer "coin according to the preamble of the main claim.
  • Coin is picked up by an image sensor.
  • d. H . of the covering area of the image sensor by the coin is determined by scanning the vertex by means of a column of the image sensor, the diameter of the coin.
  • the velocity is calculated by scanning the leading edge on a line in the center of the coin.
  • the picture of the coin is taken, wherein in a further processing step the emboss or pattern recognition is performed.
  • This pattern recognition is based on the analysis of a transformed image of the coin, in which the circular area or approximate circular area of the coin is unwound over 360 ° around the center. It is important that the exact midpoint is known, as an imprecise definition of the midpoint directly goes into the reproducibility of the aforementioned evaluation method. It has been found that the detection of the center according to the cited prior art is not sufficiently accurate.
  • the invention is therefore an object of the invention to provide a method for determining the exact center of an entered into a coin validator coin, which determines based on the detection of the probable center according to the prior art, the exact center without particularly large evaluation effort.
  • a map of the edge as an approximate sinusoidal line results from a shift of the probable center point to the exact center point/2017in- At least approximately sinusoidal line using the amplitude and the phase angle of a selected starting point of the exact center can be determined. It is therefore possible with a small computational effort to achieve the precise determination of the center point by means of a reduced transformation of the edge region over the probable edge.
  • the size of the deviation or. the offset between the likely center and the exact center from the difference of the largest and smallest amplitudes is determined as the average of the phase angle of the largest amplitude and the phase angle of the counterpart to the smallest amplitude.
  • the exact radius of the coin is determined as the sum of the inner radius of the edge area and the mean of the smallest and largest amplitude.
  • the size of the deviation resp. the offset and the direction of the offset can also be determined in other ways, if necessary.
  • the quality of the sinusoidal line has an influence.
  • the phase angle can be determined by determining the location of the largest or the smallest amplitude
  • the size of the deviation can be calculated from the difference of the largest amplitude with given phase angle and the amplitude at a phase angle of -90 ° or. +90 ° determined to the phase angle of the maximum or. of the minimum.
  • the exact radius of the coin can be calculated as the sum of the inner radius of the edge area and the amplitude at a phase angle of -90 ° resp. + 90 ° to the phase angle of the location of the maximum amplitude. It is possible, the center only with a part of the figure, z. B. only with the upper half of the coin shown to save time for the image data transfers. Here then the transformed processing is only half of the sine function.
  • the inventive method can also be applied to coins with corners or waves, wherein the sinusoidal line of the edge of the coin superimposed on a curve whose period for the number of corners or waves or their amplitude for the depth of the corners or waves ,
  • the size of the deviation, the phase angle and the number of waves or corners of a coin can be determined, for example, by a Fourier transformation of the transformed edge line.
  • the inventive idea is that a substantially sinusoidal curve is generated by means of a polar transformation from an edge line of the coin, the analysis of which in a fast and accurate manner determines the center of the coin.
  • the analysis can be used in addition to the methods already mentioned.
  • Fig. 1 is a schematic representation of a coin with the coordinates of a polar transformation to a precise focal point A and a probable center B, which is ⁇ displaced relative to the exact center down to the right,
  • Fig. 2 the polar transformation of the edge area of the coin a) around the exact center and b) around the shifted probable center
  • Fig. 3 a coin with a wavy edge contour
  • Fig. Fig. 4 shows the settlement of the edge region of the coin at an exact midpoint and at a displaced probable midpoint
  • Fig. 5 Representation of circles with offset centers for explaining the shape of a transformed boundary line.
  • the center or center may be described.
  • the diameter can be determined by the method disclosed therein. However, the diameter or. the center can also be found through photoelectric sensors and sensors. This determination is, however, for the pattern recognition by means of image acquisition and processing of the circular area over 360 ° around the center around, d. H . for a polar transformation not exactly enough. Therefore, this center is called the probable center. The exact center is the center that is actually present when the coin is picked up by an image sensor.
  • FIG. 1 a coin 1 with an exact center A and a center B shifted by ⁇ R by about 45 ° to the bottom right, are shown, these center points likewise being the centers for a polar transformation.
  • a polar transformation i. H . a settlement of the edge area of the coin, made in which the polar coordinates are converted into Cartesian coordinates.
  • Fig. 2 shows, on the one hand, the development of the edge region of the coin 1 with the exact center A and, on the other hand, the probable center B shifted by ⁇ R.
  • the processing to the transformation to accelerate ' made so that an edge area is considered, which is bounded on the outside by way of a boundary line 3 having a radius R 2 and inward from a boundary line 2 of radius Ri.
  • R M is the exact radius of the coin 1
  • R 0 is the probable radius, which is determined when the coin enters the measuring range.
  • the width of the edge area must be selected such that the coin with the center shifted by ⁇ R is still encompassed by this edge area. Therefore applies to the radii of the edge area
  • the edge of the coin 1 in the transformed representation yields a straight line 4 as shown in FIG. 2a).
  • d. H. shifted center of the polar transformation results for the edge of an at least approximately sinusoidal line 5 (Fig. 2b), which is referred to below as a sinusoidal line.
  • Oi is the center of the polar transformation and Oo is the center of the coin with a radius ro.
  • the offset between the transformation center O ⁇ and the center O 0 of the coin is d.
  • An edge point of the coin P has the distance r 0 to the center of the coin and ri to the center of the transformation, whose phase angles are marked accordingly as ⁇ o and (J) 1 .
  • ⁇ ' m i n is the phase angle in the opposite direction to the minimum.
  • Ri is the inner radius of the edge area (see Figures 1 and 2).
  • the inventive method is also applicable to coins that have a non-circular contour, but are provided with corners or waves. Such a coin is shown for example in FIG. 3 shown.
  • FIG. 4 again shows the development of the edge region of the coin according to FIG. 3, wherein FIG. 4a the settlement around the exact center, d. H . the settlement at the coincidence of the centers of the transformation and the center of the coin shows, while Fig. 4b shows a settlement around the probable, shifted center.
  • the edge curve has repetitive maxima and minima, its period P standing for the number of waves and the amplitude between maxima and minima for the depth T of the contour.
  • Fig. 4b is the edge curve corresponding to FIG. 4a is superimposed on a sinusoidal line, wherein an average filter is used to determine the offset of the probable center to the exact center, with which a balanced smooth curve can be calculated.
  • the maximum and minimum and the phase angles are determined in an analogous manner as described above for determining the magnitude and direction of the deviation of the probable center from the exact center.
  • their depth T and the period P can be the current edge line
  • the boundary line is searched for. B. in each column from top to bottom registers the position of the first maximum exceeding a predetermined threshold (background).
  • edge line is cleaned 'deleted (outliers) and balanced.
  • "square" coins Figures 3 + 4
  • two differently adjusted copies of the margin line are made.
  • a matched edge curve can be created by a one-dimensional 3-pixel average filter, and another copy of the edge curve by a much larger average filter (e.g., 15 pixels in size). Then the comparison of the slightly and strongly balanced The information about the number and shape of the corners can be obtained at the margins (see Figures F3 + 4).
  • Points b) and c) can be realized with different known methods, therefore it will not be discussed in more detail.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Of Coins (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A method for determining an exact centre of a coin introduced into a coin acceptor unit, the method comprising: determining a probable centre of the coin by means of a sensor arrangement; recording an image of the coin to be examined; and developing an edge region of the coin around the probable centre and beyond a probable edge thereof using the image of the coin, the edge region of the coin being imaged as an at least approximately sinusoidal line upon displacement of the probable centre to the exact centre, and the exact centre being determined from analysis of the at least approximately sinusoidal line using an amplitude and phase angle of a chosen starting point.

Description

Walter Hanke Mechanische Werkstätten GmbH & Co . KG 067PCT 0168 Walter Hanke Mechanical Workshops GmbH & Co. KG 067PCT 0168
Verfahren zum Bestimmen des genauen Mittelpunktes einer in einen Münzprüfer eingegebenen MünzeA method of determining the exact center of a coin entered in a coin validator
Die Erfindung betrifft ein Verfahren zum Bestimmen des genauen Mittelpunktes einer in einen Münzprüfer "eingegebenen Münze nach dem Oberbegriff des Hauptanspruchs .The invention relates to a method for determining the exact center of an inserted into a Münzprüfer "coin according to the preamble of the main claim.
Aus der WO 2004 /075124 Al ist. ein Verfahren zur Er- fassung von Münzen bekannt, bei dem das Bild einerFrom WO 2004/075124 Al is. a method for the collection of coins is known in which the image of a
Münze von einem Bildsensor aufgenommen wird. Zur Bestimmung der Größe des Aufnahmebereichs , d. h . des Ü- berdeckungsbereichs des Bildsensors durch- die Münze wird durch Abtasten des Scheitelpunktes mittels einer Spalte des Bildsensors der Durchmesser der Münze bestimmt . Im bekannten Stand der Technik wird zusätzlich zur Bestimmung des Zeitpunktes die Geschwindigkeit durch Abtastung der vorderen Kante auf einer Zeile in der Mitte der Münze berechnet . Am Überde- ckungsbereich wird das Bild der Münze aufgenommen, wobei in einem weiteren Verarbeitungsschritt die Prä- gungs- oder Mustererkennung durchgeführt wird. Diese Mustererkennung basiert auf der Analyse einer transformierten Abbildung der Münze, bei der die Kreisflä- che oder annähernde Kreisfläche der Münze über 360 ° um den Mittelpunkt abgewickelt wird . Dabei ist wichtig, dass der genaue Mittelpunkt bekannt ist, da eine unpräzise Definition des Mittelpunktes direkt in die Reproduzierbarkeit des genannten Auswertungsverfah- rens eingeht . Es hat sich gezeigt, dass die Erfassung des Mittelpunktes entsprechend dem genannten Stand der Technik nicht hinreichend genau ist .Coin is picked up by an image sensor. To determine the size of the receiving area, d. H . of the covering area of the image sensor by the coin is determined by scanning the vertex by means of a column of the image sensor, the diameter of the coin. In the known art, in addition to the determination of the timing, the velocity is calculated by scanning the leading edge on a line in the center of the coin. At the cover area the picture of the coin is taken, wherein in a further processing step the emboss or pattern recognition is performed. This pattern recognition is based on the analysis of a transformed image of the coin, in which the circular area or approximate circular area of the coin is unwound over 360 ° around the center. It is important that the exact midpoint is known, as an imprecise definition of the midpoint directly goes into the reproducibility of the aforementioned evaluation method. It has been found that the detection of the center according to the cited prior art is not sufficiently accurate.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren zum Bestimmen des genauen Mittelpunktes einer in einen Münzprüfer eingegebenen Münze zu schaffen, das ausgehend von der Erfassung des wahrscheinlichen Mittelpunktes entsprechend dem bekannten Stand der Technik den genauen Mittelpunkt ohne besonders großen Auswertungsaufwand bestimmt .The invention is therefore an object of the invention to provide a method for determining the exact center of an entered into a coin validator coin, which determines based on the detection of the probable center according to the prior art, the exact center without particularly large evaluation effort.
Diese Aufgabe wird erfindungsgemäß durch die kennzeichnenden Merkmale des Hauptanspruchs in Verbindung mit den Merkmalen des Oberbegriffs gelöst .This object is achieved by the characterizing features of the main claim in conjunction with the features of the preamble.
Durch die in den Unteransprüchen angegebenen Maßnahmen sind vorteilhafte Weiterbildungen und Verbesserungen möglich .The measures specified in the dependent claims advantageous refinements and improvements are possible.
Dadurch, dass eine Abwicklung des Randbereichs der Münze um den wahrscheinlichen Mittelpunkt herum und über ihren wahrscheinlichen Rand hinaus vorgenommen wird, ergibt sich bei einer Verschiebung des wahrscheinlichen Mittelpunktes zu dem genauen Mittelpunkt eine Abbildung des Randes als zumindest angenähert sinusförmige Linie, wobei aus der Analyse der zumin- dest angenähert sinusförmigen Linie unter Verwendung der Amplitude und des Phasenwinkels von einem gewählten Startpunkt der genaue Mittelpunkt bestimmbar ist . Es kann daher mit einem geringen rechnerischen Auf- wand durch eine reduzierte Transformation des Randbereichs über den wahrscheinlichen Rand hinweg die präzise Bestimmung des Mittelpunktes vorgenommen werden .By making the edge area of the coin wrap around the probable center around and beyond its likely edge, a map of the edge as an approximate sinusoidal line results from a shift of the probable center point to the exact center point zumin- At least approximately sinusoidal line using the amplitude and the phase angle of a selected starting point of the exact center can be determined. It is therefore possible with a small computational effort to achieve the precise determination of the center point by means of a reduced transformation of the edge region over the probable edge.
In vorteilhafter Weise wird die Größe der Abweichung bzw . des Versatzes zwischen wahrscheinlichem Mittelpunkt und genauem Mittelpunkt aus der Differenz der größten und kleinsten Amplitude, der Phasenwinkel des Versatzes wird als Mittelwert des Phasenwinkels der größten Amplitude und des Phasenwinkels der Gegen- richtung zur kleinsten Amplitude bestimmt . Der genaue Radius der Münze wird als Summe des inneren Radius des Randbereichs und dem Mittelwert der kleinsten und größten Amplitude bestimmt .Advantageously, the size of the deviation or. the offset between the likely center and the exact center from the difference of the largest and smallest amplitudes, the phase angle of the offset is determined as the average of the phase angle of the largest amplitude and the phase angle of the counterpart to the smallest amplitude. The exact radius of the coin is determined as the sum of the inner radius of the edge area and the mean of the smallest and largest amplitude.
Die Größe der Abweichung bzw . des Versatzes und die Richtung des Versatzes können auch auf andere Weise bestimmt werden, wobei ggf . die Qualität der sinusförmigen Linie einen Einfluss hat .The size of the deviation resp. the offset and the direction of the offset can also be determined in other ways, if necessary. the quality of the sinusoidal line has an influence.
Beispielsweise kann der Phasenwinkel durch Bestimmung des Ortes der größten oder der kleinsten Amplitude ermittelt werden, die Größe der Abweichung kann aus der Differenz der größten Amplitude mit gegebenen Phasenwinkel und der Amplitude bei einem Phasenwinkel von - 90 ° bzw . +90 ° ermittelten zum Phasenwinkel des Maximums bzw . des Minimums bestimmt werden . Der genaue Radius der Münze kann als Summe des inneren Radius des Randbereichs und der Amplitude bei einem Phasenwinkel von -90 ° bzw . +90 ° zum Phasenwinkel des Orts der maximalen Amplitude bestimmt werden . Es ist möglich, den Mittelpunkt nur mit einem Teil der Abbildung, z . B . nur mit der oberen Hälfte der abgebildeten Münze zu ermitteln, um Zeit für die Bilddaten-Übertragungen zu sparen . Dabei ist dann die transformierte Abwicklung nur die Hälfte der Sinusfunktion.For example, the phase angle can be determined by determining the location of the largest or the smallest amplitude, the size of the deviation can be calculated from the difference of the largest amplitude with given phase angle and the amplitude at a phase angle of -90 ° or. +90 ° determined to the phase angle of the maximum or. of the minimum. The exact radius of the coin can be calculated as the sum of the inner radius of the edge area and the amplitude at a phase angle of -90 ° resp. + 90 ° to the phase angle of the location of the maximum amplitude. It is possible, the center only with a part of the figure, z. B. only with the upper half of the coin shown to save time for the image data transfers. Here then the transformed processing is only half of the sine function.
In vorteilhafter Weise lässt sich das erfindungsgemäße Verfahren auch bei Münzen mit Ecken oder Wellen anwenden, wobei sich der sinusförmigen Linie des Randes der Münze eine Kurve überlagert, deren Periode für die Anzahl der Ecken oder Wellen oder deren Amplitude für die Tiefe der Ecken oder Wellen stehen .Advantageously, the inventive method can also be applied to coins with corners or waves, wherein the sinusoidal line of the edge of the coin superimposed on a curve whose period for the number of corners or waves or their amplitude for the depth of the corners or waves ,
Dabei lässt sich die Größe der Abweichung, der Phasenwinkel und die Anzahl der Wellen oder Ecken einer Münze beispielsweise durch eine Fouriertransformation der transformierten Randlinie ermitteln .In this case, the size of the deviation, the phase angle and the number of waves or corners of a coin can be determined, for example, by a Fourier transformation of the transformed edge line.
Grundsätzlich liegt die erfinderische Idee darin, dass mit Hilfe einer Polar-Transformation aus einer Randlinie der Münze eine im Wesentlichen sinusförmige Kurve erzeugt wird, mit deren Analyse in einer schnellen und genauen Weise der Mittelpunkt der Münze ermittelt wird. Für die Analyse können neben den schon angegebenen Verfahren andere bekannte Verfahren zur Ermittlung der Parameter der Randlinie verwendet werden .In principle, the inventive idea is that a substantially sinusoidal curve is generated by means of a polar transformation from an edge line of the coin, the analysis of which in a fast and accurate manner determines the center of the coin. For the analysis, other well-known methods for determining the parameters of the edge line can be used in addition to the methods already mentioned.
Neben der exakten Berechnungsform können Näherungen verwendet werden, die für die durch die j eweilige Anwendung gegebenen Randbedingungen, wie Reproduzierbarkeit im Serienprodukt und dgl . ausreichende Ergebnisse liefern .In addition to the exact form of calculation, approximations can be used which are suitable for the boundary conditions given by the particular application, such as reproducibility in the series product and the like. provide sufficient results.
Das erfindungsgemäße Verfahren wird anhand der Zeich- nung in der nachfolgenden Beschreibung näher erläutert . Es zeigenThe method according to the invention is described on the basis of tion in the description below. Show it
Fig . 1 die schematische Darstellung einer Münze mit den Koordinaten einer Polartransformation um einen genauen Mittelpunkt A und eines wahrscheinlichen Mittelpunktes B, der relativ zum genauen Mittelpunkt nach rechts unten verschoben^ ist,Fig. 1 is a schematic representation of a coin with the coordinates of a polar transformation to a precise focal point A and a probable center B, which is ^ displaced relative to the exact center down to the right,
Fig . 2 die Polartransformation des Randbereichs der Münze a) um den genauen Mittelpunkt und b) um den verschobenen wahrscheinlichen Mittelpunkt,Fig. 2 the polar transformation of the edge area of the coin a) around the exact center and b) around the shifted probable center,
Fig . 3 eine Münze mit einer gewellten Randkontur,Fig. 3 a coin with a wavy edge contour,
Fig . 4 die Abwicklung des Randbereichs der Münze bei einem genauen Mittelpunkt und bei einem verschobenen wahrscheinlichen Mittelpunkt,Fig. Fig. 4 shows the settlement of the edge region of the coin at an exact midpoint and at a displaced probable midpoint,
Fig . 5 Darstellung von Kreisen mit versetzten Mittelpunkten zur Erläuterung der Form einer transformierten Randlinie .Fig. 5 Representation of circles with offset centers for explaining the shape of a transformed boundary line.
Wie schon zum Stand der Technik der WO 2004/075124 , deren Offenbarungsgehalt Bestandteil der Anmeldung sein soll , beschrieben wurde, kann der Mittelpunkt bzw . der Durchmesser durch das dort offenbarte Verfahren bestimmt werden . Allerdings kann der Durchmesser bzw . der Mittelpunkt auch durch Lichtschranken und Sensoren gefunden werden . Diese Bestimmung ist j edoch für die Mustererkennung mittels Bildaufnahme und Abwicklung der Kreisfläche über 360 ° um den Mittelpunkt herum, d. h . für eine Polartransformation nicht genau genug . Daher wird dieser Mittelpunkt als wahrscheinlicher Mittelpunkt bezeichnet . Als genauer Mittelpunkt wird der Mittelpunkt bezeichnet, der bei einer Aufnahme der Münze durch einen Bildsensor wirk- lieh vorhanden ist .As already described in the state of the art of WO 2004/075124, the disclosure content of which is to be a component of the application, the center or center may be described. the diameter can be determined by the method disclosed therein. However, the diameter or. the center can also be found through photoelectric sensors and sensors. This determination is, however, for the pattern recognition by means of image acquisition and processing of the circular area over 360 ° around the center around, d. H . for a polar transformation not exactly enough. Therefore, this center is called the probable center. The exact center is the center that is actually present when the coin is picked up by an image sensor.
In Fig. 1 ist eine Münze 1 mit genauem Mittelpunkt A und ein um etwa 45° nach rechts unten um δR verschobener Mittelpunkt B dargestellt, wobei diese Mittel- punkte gleichfalls die Mittelpunkte für eine Polartransformation sind. Für das erfindungsgemäße Verfahren wird, ausgehend von dem wahrscheinlichen Mittelpunkt B und entsprechend dem Durchmesser, eine Polartransformation, d. h . eine Abwicklung des Randbereichs der Münze, vorgenommen, bei der die Polarkoordinaten in kartesische Koordinaten umgewandelt werden .In FIG. 1, a coin 1 with an exact center A and a center B shifted by δR by about 45 ° to the bottom right, are shown, these center points likewise being the centers for a polar transformation. For the method according to the invention, starting from the probable center B and corresponding to the diameter, a polar transformation, i. H . a settlement of the edge area of the coin, made in which the polar coordinates are converted into Cartesian coordinates.
In Fig . 2 ist einerseits die Abwicklung des Randbereichs der Münze 1 mit genauem Mittelpunkt A und an- dererseits um den wahrscheinlichen, um δR verschobenen Mittelpunkt B dargestellt . Dabei wird die Abwicklung, um die Transformation 'zu beschleunigen, so vorgenommen, dass ein Randbereich betrachtet wird, der nach außen hin von einer Grenzlinie 3 mit einem Radi- us R2 und nach innen von einer Grenzlinie 2 mit dem Radius Ri begrenzt wird. Mit RM ist der exakte Radius der Münze 1 und mit R0 der wahrscheinliche Radius bezeichnet, der beim Einlauf der Münze in den Messbereich ermittelt wird. Die Breite des Randbereichs muss so gewählt werden, dass die Münze mit dem um δR verschobenen Mittelpunkt noch von diesem Randbereich umfasst wird . Daher gilt für die Radien des RandbereichsIn Fig. 2 shows, on the one hand, the development of the edge region of the coin 1 with the exact center A and, on the other hand, the probable center B shifted by δR. Here, the processing to the transformation to accelerate ', made so that an edge area is considered, which is bounded on the outside by way of a boundary line 3 having a radius R 2 and inward from a boundary line 2 of radius Ri. R M is the exact radius of the coin 1 and R 0 is the probable radius, which is determined when the coin enters the measuring range. The width of the edge area must be selected such that the coin with the center shifted by δR is still encompassed by this edge area. Therefore applies to the radii of the edge area
Ri < R0 - ΔRmax und R2 > R0 + ΔRmax, Dabei ist ΔRmax die Summe der maximal möglichen Fehler beim Bestimmen des wahrscheinlichen Mittelpunktes δRmax und beim Ermitteln des wahrscheinlichen Radius der Münze dRmax:Ri <R 0 - ΔR max and R 2 > R 0 + ΔR max , ΔR max is the sum of the maximum possible errors in determining the probable center δR ma x and in determining the probable radius of the coin dR max :
ΔRmax = oRmax "• dRmax ΔRmax = oRmax "• dR max
Bei einer Übereinstimmung des wahrscheinlichen und des genauen Mittelpunktes ergibt der Rand der Münze 1 in der transformierten Darstellung eine gerade Linie 4 entsprechend Fig . 2a) . Bei einer Abwicklung mit wahrscheinlichem, d . h. verschobenem Mittelpunkt der Polartransformation, ergibt sich für den Rand eine zumindest angenähert sinusförmige Linie 5 ( Fig . 2b) , die im Folgenden als sinusförmige Linie bezeichnet wird.If the probable and the exact center coincide, the edge of the coin 1 in the transformed representation yields a straight line 4 as shown in FIG. 2a). In a settlement with probable, d. H. shifted center of the polar transformation, results for the edge of an at least approximately sinusoidal line 5 (Fig. 2b), which is referred to below as a sinusoidal line.
Unter Heranziehung der Fig. 5 soll die Form der transformierten Randlinie ( sinusförmige Linie 5 ) nä- her erläutert werden .With reference to FIG. 5, the shape of the transformed boundary line (sinusoidal line 5) will be explained in more detail.
In der Abbildung Fig . 5 ist Oi das Zentrum der Polartransformation und Oo ist Zentrum der Münze mit einem Radius ro . Der Versatz zwischen dem Transformations- Zentrum Oχ und dem Mittelpunkt O0 der Münze ist d.In the picture Fig. 5, Oi is the center of the polar transformation and Oo is the center of the coin with a radius ro. The offset between the transformation center Oχ and the center O 0 of the coin is d.
Ein Randpunkt der Münze P hat den Abstand r0 zum Mittelpunkt der Münze und ri zum Zentrum der Transformation, deren Phasenwinkel entsprechend als φo und (J)1 gekennzeichnet sind.An edge point of the coin P has the distance r 0 to the center of the coin and ri to the center of the transformation, whose phase angles are marked accordingly as φo and (J) 1 .
Eine Gleichung für den Abstand zum Zentrum der Transformation ri (Ordinate im transformierten Koordinatensystem der Abbildungen Fig . 2 und Fig . 4 ) kann wie folgt geschrieben werden :An equation for the distance to the center of the transformation ri (ordinate in the transformed coordinate system of FIGS. 2 and 4) can be written as follows:
ri = Vro2 + d2 + 2dro cosΦo Wenn angenommen wird, dass der Versatz zwischen dem TransformationsZentrum Oi und dem Mittelpunkt der Münze OQ viel kleiner als Radius der Münze ro ist , r i = V r o 2 + d 2 + 2 dr o cos Φ o Assuming that the offset between the transformation center Oi and the center of the coin OQ is much smaller than the radius of the coin ro,
d « rn d " n
dann ist auch der Unterschied zwischen den Phasenwinkeln gering :then the difference between the phase angles is small as well:
Obige Gleichung kann wie folgt transformiert werden:The above equation can be transformed as follows:
rv » rQ(1H cosφx) ror v »r Q (1H cosφ x ) r o
oder, wenn wir nur Schwankungen des Abstandes betrachtet werdenor, if we are only considered variations of the distance
η -rQ « dcosφx η -r Q «dcosφ x
So ist es klar, dass zumindest bei einem geringen Versatz zwischen dem Mittelpunkt der Münze und dem Zentrum der Transformation im Vergleich mit dem Radi- us der Münze Schwankungen der Randlinie in der transformierten Abbildung um einen Wert r0 tatsächlich mit einer Sinusfunktion (bzw . Kosinusfunktion) beschrieben werden können .Thus, it is clear that, at least with a slight offset between the center of the coin and the center of the transformation compared to the radius of the coin, fluctuations of the boundary line in the transformed map by a value r 0 actually have a sine function (or cosine function) ) can be described.
Je größer allerdings der Versatz zwischen den Zentren ist, desto weiter weicht die Randkurve von einer Sinusfunktion ab . Aus der Abbildung Fig . 5 ist es z . B . klar, dass der Winkelbereich φpos, wo ri > r0 ist (Teil der Randlinie von D nach C gegen der Uhrzeigersinn) , kleiner als der Winkelbereich (j)neg/ wo τ\ < r0 ist, und j e größer der Versatz d ist, desto größer wird auch der Unterschied zwischen den Winkelbereichen und es wird von einer "annähernd sinusförmigen Linie" gesprochen . 5However, the greater the offset between the centers, the more the boundary curve deviates from a sine function. From the picture Fig. 5 it is z. B. it is clear that the angular range φ pos , where ri> r is 0 (part of the edge line from D to C counterclockwise), is smaller than the angular range (j) neg / where τ \ <r 0 , and the larger the offset d is, the larger the difference between the angular ranges becomes, and it is called an "approximately sinusoidal line". 5
Nach der im Uhrzeigersinn erfolgenden und mit einem Startphasenwinkel, der Φ = 0 ° ist , beginnenden Abwicklung wird unter Bezugnahme auf Fig. 2b für die sinusförmige Linie die Amplitude untersucht , und zwarAfter the unwinding commencing in a clockwise direction and with a starting phase angle which is Φ = 0 °, the amplitude of the sinusoidal line is examined with reference to Fig. 2b, namely
10 in der Weise, dass das Maximum bzw . das Minimum der Amplitude sowie der zugehörige Phasenwinkel gefunden werden . Dies geschieht durch Vergleich der Differenz der Koordinatenwerte auf der sinusförmigen Linie 5 in vorgegebenen Abständen ausgehend vom Startwinkel .10 in such a way that the maximum or the minimum of the amplitude and the associated phase angle are found. This is done by comparing the difference of the coordinate values on the sinusoidal line 5 at predetermined intervals starting from the starting angle.
1515
Aus der Ordinate des Maximums Amaxc der Ordinate des Minimums Amin und deren Phasenwinkel lassen sich sowohl der genaue Radius RM der Münze als auch die Größe der Abweichung bzw . des Versatzes des wahrschein-From the ordinate of the maximum A ma x c of the ordinate of the minimum A m i n and its phase angle, both the exact radius R M of the coin and the magnitude of the deviation and / or. the offset of the probable
20 liehen Mittelpunktes zu dem exaktem Mittelpunkt δR und der Phasenwinkel δΦ des Versatzes berechnen, um den Mittelpunkt der Transformation in den exakten Mittelpunkt der Münze zu bringen .Calculate 20 lent center to the exact center δR and the phase angle δΦ of the offset to bring the center of the transformation in the exact center of the coin.
Z u OK = Amax — AminZ u OK = Amax - A m in
30 - "■min 30 - " ■ min
wobei Φ 'min der Phasenwinkel in Gegenrichtung zum Minimum ist . In Bezug auf die Fig . 2b lässt sich Φ ' min 35 beispielsweise wie folgt berechnen Φ 'min = Φmin + π, wobei der Winkel im Radian berechnet wird. Ri ist hier der innere Radius des Randbereichs ( s . Fign . 1 und 2 ) .where Φ ' m i n is the phase angle in the opposite direction to the minimum. With reference to FIG. 2b, Φ ' m in 35 can be calculated, for example, as follows Φ' min = Φmin + π, where the angle is calculated in radians. Here Ri is the inner radius of the edge area (see Figures 1 and 2).
Das erfindungsgemäße Verfahren ist auch bei Münzen anwendbar, die eine nicht runde Kontur aufweisen, sondern mit Ecken oder Wellen, versehen sind . Eine solche Münze ist beispielsweise in Fig . 3 dargestellt .The inventive method is also applicable to coins that have a non-circular contour, but are provided with corners or waves. Such a coin is shown for example in FIG. 3 shown.
Fig . 4 zeigt wiederum die Abwicklung des Randbereiches der Münze nach Fig . 3 , wobei Fig . 4a die Abwicklung um den exakten Mittelpunkt, d. h . die Abwicklung bei der Übereinstimmung der Mittelpunkte der Trans- formation und des Mittelpunktes der Münze zeigt, während Fig. 4b eine Abwicklung um den wahrscheinlichen, verschobenen Mittelpunkt zeigt . Wie in Fig . 4 zu erkennen ist , weist die Randkurve sich wiederholende Maxima und Minima auf, wobei ihre Periode P für die Anzahl der Wellen und die Amplitude zwischen Maxima und Minima für die Tiefe T der Kontur steht .Fig. 4 again shows the development of the edge region of the coin according to FIG. 3, wherein FIG. 4a the settlement around the exact center, d. H . the settlement at the coincidence of the centers of the transformation and the center of the coin shows, while Fig. 4b shows a settlement around the probable, shifted center. As shown in FIG. 4, the edge curve has repetitive maxima and minima, its period P standing for the number of waves and the amplitude between maxima and minima for the depth T of the contour.
In Fig . 4b ist die Randkurve entsprechend Fig . 4a einer sinusförmigen Linie überlagert, wobei zur Bestim- mung des Versatzes des wahrscheinlichen Mittelpunkts zum exakten Mittelpunkt ein Mittelwert-Filter verwendet wird, mit dem eine abgeglichene glatte Kurve berechnet werden kann . Das Maximum und Minimum wird und die Phasenwinkel werden in analoger Weise, wie oben beschrieben, zur Bestimmung der Größe und Richtung der Abweichung des wahrscheinlichen Mittelpunkts vom exakten Mittelpunkt bestimmt .In Fig. 4b is the edge curve corresponding to FIG. 4a is superimposed on a sinusoidal line, wherein an average filter is used to determine the offset of the probable center to the exact center, with which a balanced smooth curve can be calculated. The maximum and minimum and the phase angles are determined in an analogous manner as described above for determining the magnitude and direction of the deviation of the probable center from the exact center.
Für die Ermittlung der Anzahl der Wellen, deren Tiefe T und der Periode P kann die aktuelle RandlinieFor the determination of the number of waves, their depth T and the period P can be the current edge line
( Fig . 4b) bzw. die Anzahl der Übergänge der aktuellen Randlinie durch die abgeglichene Linie verwendet werden .(Fig. 4b) or the number of transitions of the current Edge line to be used by the balanced line.
Als Beispiel sollen im Folgenden Verfahrensschritte aufgeführt werden, um den genauen Mittelpunkt und genauen Radius einer eingegebenen Münze zu berechnen:As an example, procedural steps are to be listed below in order to calculate the exact center and exact radius of an entered coin:
a) Originalabbildung einer Münze wird einer Polar- transformation unterzogen, dabei werden Vorkennt- nisse über vermutliche. Radius und Mittelpunkt dera) Original image of a coin undergoes a polar transformation, with previous knowledge about presumable. Radius and center of the
Münze benutzt, um den Transformationsbereich abzugrenzen . Praktisch ist es möglich, die relevanten Bereiche um die Randlinie der Münze auf einem Originalbild von der Größe 400x600 Pixel zu einem transformierten Bild von der Größe etwa 40x60 Pixel umzuwandeln (also Verkleinerung der Datenmenge um Faktor 100 ) , das trotzdem die ganze relevante Information behält .Coin used to delineate the transformation area. In practice, it is possible to convert the relevant areas around the edge line of the coin on an original image of size 400x600 pixels to a transformed image of size about 40x60 pixels (ie reduction of the data amount by a factor of 100), which nevertheless retains all the relevant information.
b) Im transformierten Bild wird die Randlinie gesucht , dafür wird z . B . in j eder Spalte von oben nach unten die Position des ersten Maximums, das eine vorgegebene Schwelle (Hintergrund) überschreitet , registriert .b) In the transformed image, the boundary line is searched for. B. in each column from top to bottom registers the position of the first maximum exceeding a predetermined threshold (background).
c) Randlinie wird gesäubert ' (Ausreißer gelöscht) und ausgeglichen . Um im Falle von "eckigen" Münzen ( Fign . 3 + 4 ) Wellen und Ecken des Randes zu registrieren, werden zwei unterschiedlich abgegli- chene Kopien der Randlinie erstellt . Beispielweise kann eine abgeglichene Randkurve durch ein eindimensionales Mittelwert-Filter von der Größe 3 Pixel, und eine weitere Kopie der Randkurve durch ein wesentlich größeres Mittelwert-Filter ( z . B . von der Größe 15 Pixel) erstellt werden . Dann kann durch den Vergleich der leicht und stark ausgegli- chenen Randlinien die Information über Anzahl und Form der Ecken gewonnen werden ( siehe Abbildungen Fign . 3 + 4 ) .c) edge line is cleaned 'deleted (outliers) and balanced. In the case of "square" coins (Figures 3 + 4), to register waves and corners of the margin, two differently adjusted copies of the margin line are made. For example, a matched edge curve can be created by a one-dimensional 3-pixel average filter, and another copy of the edge curve by a much larger average filter (e.g., 15 pixels in size). Then the comparison of the slightly and strongly balanced The information about the number and shape of the corners can be obtained at the margins (see Figures F3 + 4).
Maximum und Minimum der abgeglichenen Randlinie werden berechnet und dann die gesuchten Parameter (Mittelpunkt und Radius ) gefunden .Maximum and minimum of the adjusted edge line are calculated and then the searched parameters (center point and radius) are found.
Punkte b) und c) können mit unterschiedlichen be- kannten Verfahren realisiert werden, deswegen wird darauf nicht genauer eingegangen . Points b) and c) can be realized with different known methods, therefore it will not be discussed in more detail.

Claims

Walter Hanke Mechanische Werkstätten GmbH & Co . KG 067PCT 0168Patentansprüche Walter Hanke Mechanical Workshops GmbH & Co. KG 067PCT 0168Patentansprüche
1. Verfahren zum Bestimmen des genauen Mittelpunktes einer in einen Münzprüfer eingegebenen Münze, bei dem mittels einer Sensoranordnung der wahrscheinliche Mittelpunkt bestimmt wird und das Bild der zu prüfenden Münze aufgenommen wird, d a d u r c h g e k e n n z e i c h n e t , dass unter Verwendung des Bildes der Münze eine Abwicklung des Randbereichs der Münze um den wahrscheinlichen Mittelpunkt herum und über ihren wahrscheinlichen Rand hinaus vorgenommen wird, wobei sich bei einer Verschiebung des wahrscheinlichen Mittelpunktes zu dem genauen Mittelpunkt der Rand der Münze als zumindest an- genähert sinusförmige Linie abbildet , und dass aus der Analyse der zumindest angenähert sinusförmigen Linie unter Verwendung der Amplitude und des Phasenwinkels von einem gewählten Startpunkt der genaue Mittelpunkt bestimmt wird.A method for determining the exact center of a coin entered in a coin validator, wherein the probable center is determined by means of a sensor arrangement and the image of the coin to be tested is taken, characterized in that, using the image of the coin, a settlement of the edge region of the coin around the probable midpoint and beyond its probable edge, with the shift of the probable midpoint to the exact midpoint of the edge of the coin as an at least approximated sinusoidal line, and that from the analysis of the at least approximately sinusoidal line Using the amplitude and the phase angle of a selected starting point of the exact center is determined.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet , dass die Größe der Abweichung zwischen wahrscheinlichem Mittelpunkt und genauem Mittelpunkt aus der Hälfte der Differenz der größten und kleinsten Amplitude der zumindest angenähert sinusförmigen Linie bestimmt wird.2. Method according to claim 1, characterized in that the magnitude of the deviation between the probable center and the exact center is determined from the half of the difference of the largest and smallest amplitude of the at least approximately sinusoidal line.
3. Verfahren nach Anspruch 1 oder Anspruch 2 , dadurch gekennzeichnet, dass die Richtung der Abweichung zwischen wahrscheinlichem Mittelpunkt und genauem Mittelpunkt aus dem Mittelwert des Ortes der größten Amplitude und des um eine Halbperiode versetzten .Ortes der kleinsten Amplitude der zumindest, angenähert sinusförmigen Linie angebenden Phasenwinkel bestimmt wird.Method according to claim 1 or claim 2, characterized in that the direction of the deviation between the probable center and the exact center is from the mean value of the Location of the largest amplitude and offset by a half-period. Place the smallest amplitude of the at least, approximately sinusoidal line indicating phase angle is determined.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass bei einer mit Ecken oder Wellen versehenen Randkontur einer Münze die zumindest angenähert sinusförmige Linie durch eine die Ecken oder Wellen darstellende Kurve überlagert ist und wobei zur Bestimmung der zumindest angenähert sinusförmigen Linie ein Mittelwert-Filter verwendet wird.4. The method according to any one of claims 1 to 3, characterized in that at a provided with corners or waves edge contour of a coin, the at least approximately sinusoidal line is superimposed by a corner or waves representing curve and wherein for determining the at least approximately sinusoidal line Mean value filter is used.
5. Verfahren nach Anspruch 4 , dadurch gekennzeichnet, dass die Anzahl der Ecken oder Wellen durch die Anzahl der Maxima und/oder Minima der Gesamtlinie relativ zur gefilterten angenähert sinusförmigen Linie ermittelt wird.5. The method according to claim 4, characterized in that the number of corners or waves by the number of maxima and / or minima of the total line is determined relative to the filtered approximately sinusoidal line.
6. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die größte Amplitude der sinusförmige Linie in Bezug auf eine Grenzlinie des Abwicklungsbereichs bestimmt wird, und dass der genaue Mittelpunkt unter Heranziehung der Differenz des Wertes der größten Amplitude und des Wertes der Amplitude der sinusförmigen Linie in Bezug auf die Grenzlinie bei dem Phasenwinkel -90 ° bestimmt wird.A method according to claim 1, characterized in that the largest amplitude of the sinusoidal line is determined with respect to a boundary line of the unwinding area, and that the exact center point is obtained by taking the difference of the value of the largest amplitude and the value of the amplitude of the sinusoidal line in FIG With respect to the boundary line at the phase angle -90 ° is determined.
7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass der genaue Radius der Münze aus der Summe des Radius der inneren Grenzlinie des Randbereichs und der halben Summe aus der größten und kleinsten Amplitude der zumindest angenäherten sinusförmigen Linie bestimmt wird. 7. The method according to any one of claims 1 to 6, characterized in that the exact radius of the coin from the sum of the radius of the inner boundary line of the edge region and the half sum of the largest and smallest amplitude of the at least approximately sinusoidal line is determined.
EP06706762A 2005-02-04 2006-02-03 Method for determining the exact centre of a coin introduced into a coin acceptor unit Not-in-force EP1844450B1 (en)

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PCT/EP2006/001122 WO2006082113A1 (en) 2005-02-04 2006-02-03 Method for determining the exact center of a coin introduced into a coin acceptor unit

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