EP2347237A1 - Evaluation du relief de la surface d'un pneumatique par stereovision active - Google Patents

Evaluation du relief de la surface d'un pneumatique par stereovision active

Info

Publication number
EP2347237A1
EP2347237A1 EP09744161A EP09744161A EP2347237A1 EP 2347237 A1 EP2347237 A1 EP 2347237A1 EP 09744161 A EP09744161 A EP 09744161A EP 09744161 A EP09744161 A EP 09744161A EP 2347237 A1 EP2347237 A1 EP 2347237A1
Authority
EP
European Patent Office
Prior art keywords
tire
cameras
image
fringe
acquisition
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.)
Withdrawn
Application number
EP09744161A
Other languages
German (de)
English (en)
French (fr)
Inventor
Alexandre Joly
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.)
Michelin Recherche et Technique SA Switzerland
Michelin Recherche et Technique SA France
Societe de Technologie Michelin SAS
Original Assignee
Michelin Recherche et Technique SA Switzerland
Michelin Recherche et Technique SA France
Societe de Technologie Michelin SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Michelin Recherche et Technique SA Switzerland, Michelin Recherche et Technique SA France, Societe de Technologie Michelin SAS filed Critical Michelin Recherche et Technique SA Switzerland
Publication of EP2347237A1 publication Critical patent/EP2347237A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/02—Tyres
    • G01M17/027—Tyres using light, e.g. infrared, ultraviolet or holographic techniques

Definitions

  • the invention relates to the field of visual inspection of tires.
  • the invention is directed to the field of acquiring an image of the relief of the surface by stereoscopy.
  • This solution called passive stereoscopy, requires matching the images from the two acquisition means. Matches can be determined using feature elements of the image such as the presence of characteristic corners or contours. The coordinates of the surface are then calculated by triangulation by determining the angles of different views of the same point of the surface seen by the two cameras.
  • active acquisition techniques which consist in emitting an optical signal on the surface to be reconstructed as seen by cameras from different angles to facilitate matching. points of the surface ..
  • one of the most commonly used structured light projection algorithms is to illuminate the surface using a light formed from series of binary patterns composed of strips, alternating illuminated lines and non-illuminated lines. Simultaneously, the cameras acquire these series of successive images in which each of the points of the surface can be illuminated or unlit. It is then possible to reconstruct the alternations of the illuminated and unlit bands seen by the two cameras, to identify in a one-to-one way the bands of light to locate a point of the surface in a certain way, and to put the images of the two cameras in correspondences in order to reconstruct the relief image of the surface.
  • FIG. 1 illustrates the case of a conventional application in which a lighting means 20 projects a system of fringes on the tread, and in which stereoscopic cameras 10a and 10b are arranged so as to acquire the light. emitted (E) by the lighting means 20 and reflected (F) by the surface of the tire P.
  • the tire is mounted on the rim 30, a wheel 31 driven in rotation about the axis D by a carrier hub motorized 32
  • the cameras record the two stereoscopic images of an angular portion ⁇ of the surface of the tread.
  • the complete image of the tread will be obtained by rotating the tire one revolution around its axis of revolution D, and putting end to end the 2 * ⁇ / ⁇ shots taken by each of the stereoscopic cameras.
  • the implementation of the algorithm also requires successively projecting one after the other fringe systems S of the type of those shown in Figures 2, 3 and 3a.
  • the fringe systems alternate illuminated and unlit bands of known widths according to a pre-determined binary code (S1, S2, S3, S4) and are associated with encoding and decoding techniques to identify the fringes of the images projected and recorded by the cameras.
  • the stereoscopic cameras are successively acquiring images of the projection of each of the fringe systems, S1, S2, S3 and S4 on the tire surface.
  • the fringe system S1 corresponds to the first line.
  • the fringe system S2 corresponds to line 2
  • the fringe system S3 corresponds to line 3
  • the fringe system S4 corresponds to line 4.
  • the number of fringe systems that can be projected is of course not limiting.
  • a processing system decodes the images to associate at each point of the tire surface the successive lighting levels so as to remove the positioning uncertainties.
  • a first method is therefore to successively project each of the fringe systems on a tire portion and then repeat this operation on the successive angular sectors by rotating the tire about its axis.
  • a second method is to perform, for each system of fringes, shots on a complete turn of the tire and to make as many turns as fringe systems to project.
  • This device requires a large number of cameras and projectors that can interfere with each other and also has the disadvantage of generating many additional calculations to recalibrate the N images in relief of the surface with respect to other.
  • the device for acquiring the digital image in relief of the surface of a tire comprises: two color stereoscopic image acquisition cameras each comprising N primary image sensors of a color given primary, N being greater than or equal to two, and arranged to acquire the light emitted towards a given area of the tire surface by illumination means and reflected by the surface of said tire,
  • N lighting means projecting simultaneously in the same direction on said area of the tire surface, and each distinctly, a light whose wavelength corresponds to one of the primary colors of the cameras, according to a system of fringe alternating illuminated and unlit strips of given width.
  • each of the cameras makes a decision of the whole system of fringes simultaneously, and it matters little as will be seen later that a given point of the tire surface is considered to be illuminated in a fringe system and not lit in another.
  • the invention also has the advantage of reducing the operations of image registration and calibration of the cameras due to the simultaneity of the shots. Similarly, this acquisition mode makes it possible to overcome light interference from the lighting means.
  • FIG. 1 represents a schematic view of a conventional stereoscopic vision device
  • FIG. 2 represents a photographic view of the surface of a tread illuminated by means of a fringe system
  • FIG. 3a shows fringe systems structured according to a binary code
  • FIG. 4 represents a schematic view of the device according to the invention
  • FIG. 5 represents an example of distribution spectrum of the wavelengths of the primary colors used in a color camera
  • FIG. represents a schematic principle view of a color camera used in a stereoscopic image acquisition means according to the invention.
  • the device illustrated in FIG. 1 schematically represents a means 10 for acquiring a stereoscopic image formed by two cameras 10a and 10b, each equipped with an entrance objective. by which the reflected light F from a determined zone Z of the surface of the tire P to be examined, in this case the tread, enters. Said surface is illuminated by a lighting means 20 capable of projecting one or more fringe systems alternating illuminated strips and unlit strips on the tire surface seen by the lenses of the cameras.
  • Figure 2 is a photographic view of said zone Z of the tread of a tire P illuminated by a fringe system.
  • the light lines are parallel to each other and are preferably arranged in the circumferential direction.
  • the lines constituting the fringe system are arranged in the transverse direction, in the radial direction or form concentric circular line systems, in particular when one seeks to analyze the surface of the sidewall of a tire.
  • Figures 3a and 3b illustrate the case of fringe systems in which the width of the strips of the fringe system is inversely proportional to the number of strips.
  • the width of the strips of the fringe system S2 is equal to half the width of the strips of the fringe system S1; the width of the bands of the fringe system S3 is equal to half the width of the bands of the fringe system S2, and so on.
  • the widths (L 1 , L 2 , ... L N ) of the bands of each of the fringe systems (Si, S 2 , .. S N ) are multiples, modulo 2 n , of the bandwidth of the fringe system having the lowest bandwidth (L 4 ), n varying from 1 to (N-1), N being equal to 4 in the example of Figures 3a and 3b.
  • Figure 3b shows a particular encoding proposed by Gray (Bell Laboratories, 1953) described for information by Hall, HoIt and Rusinkiewicz at the 2001 International Conference on Computer Imaging, or in the published article. by Rusinkiewicz, Hall-Holt and Levoy "real time 3D Model Acquisition" Proc. Of SIGGRAPH 02, volume 21, pages 438-446 of July 2002.
  • Gray Bell Laboratories, 1953
  • This particular encoding consists in illuminating the surface with the aid of luminous fringe systems whose width is also divided by two to each successive image, but in which, each border between two bands appears only once. This device makes it possible to reduce the errors of analysis likely to occur in the border zones.
  • the device according to the invention comprises a means for acquiring the stereoscopic image formed by two color cameras 13a and 13b.
  • this type of camera contains means capable of separating into a certain number of basic colors (R, G, B), the reflected light from the object of which it is sought to acquire the picture.
  • These separation means may be formed by sets of prisms, or by a filter consisting of colored cells of the primary colors, and better known as the Bayer filter. Their function is to separate the light according to a certain number of colors called basic colors or fundamental colors. In general, these filters separate the light according to the three basic colors, or fundamental colors, which are red (R) green (G) and blue (B). However it is also possible to make cameras with more than three colors fundamental. For example, there are cameras on the market with four basic colors, red (R), green (G), blue (B) and cyan.
  • the reflected light F from the object to be examined is therefore decomposed into as many monochrome images as basic colors or basic colors.
  • Each of these images is then directed to a specific sensor, formed by an assembly of light-sensitive photosites such as CCD or CMOS sensors able to transform the amount of light they receive into electrical current.
  • a specific sensor formed by an assembly of light-sensitive photosites such as CCD or CMOS sensors able to transform the amount of light they receive into electrical current.
  • One thus obtains as much image in level of gray as of basic colors.
  • the maximum resolution of a sensor is a function of the number of photosites to which the number of pixels forming the final image corresponds.
  • the invention consists in taking advantage of this mode of operation of the color cameras to obtain particular information concerning the raised image of the surface to be evaluated.
  • the N stereoscopic image acquisition means intended to acquire the 2 * N images of the tire surface illuminated by the N fringe systems are formed by the 2 * N primary image sensors of the two color cameras 13a and 13b.
  • the two sensors of the same primary color of each of the cameras forming a stereoscopic image acquisition means.
  • each of the lighting means according to a given fringes system illuminates the surface with a light whose wavelength corresponds to one of the primary colors of the cameras, so that the N fringe systems can to be seen simultaneously and distinctly by the primary color sensors of both cameras.
  • the maximum number N of fringes system that it will be possible to project on the surface corresponds to the number N of primary colors of the cameras.
  • Figure 6 shows the operation of one of the color cameras (13a) forming the means for acquiring stereoscopic images.
  • the operating details of the associated color camera 13b, in which the index a could be replaced by the index b, are identical, and are therefore not shown in the figures.
  • the light beam of incident light F enters the camera and comes illuminating reflective prisms, respectively 134a (134b), 135a (135b) and 136a (136b), which will separate the light according to the base colors and reflect the light so as to direct this light to brightness sensors placed in the camera , respectively 131a (131b), 132a (132b), 133a (133b), and able to form images of the surface.
  • These colors are the basic colors as shown in Figure 5, in which the blue color B substantially corresponds to a wavelength of 450 nm, the green color G at a wavelength of 550 nm and the red color R at a wavelength of 680 nm.
  • the lighting means (231) it is therefore sufficient to arrange for the lighting means (231) to emit a first system of fringes S1 at the wavelength of 450 nm corresponding to blue and alternating bands illuminated in blue and unlit strips for this system of fringes to be seen by the sensor 131a (131b) assigned to this color.
  • a second fringe system S2, different from the first, is emitted simultaneously by the lighting system (232) at a wavelength of 550 nm and will therefore be seen only by the sensor 132a (132b) dedicated to the green color. This fringe system alternates bands lit in green and unlit strips.
  • a third system of fringes S3 emitted by the lighting system (233) at the wavelength of 680 nm will be seen by the sensor 133a (133b) reserved for red, and alternating red bands and unlit strips.
  • the sensor 131 of the primary blue color of the camera 13a is associated with the sensor 131b (not shown) of the primary blue color of the camera 13b. These two sensors form a means of acquiring the stereoscopic image of the tire surface illuminated by the fringe system S1 emitted by the lighting means 231 corresponding to the blue.
  • the sensor 132a of the green primary color of the camera 13a is associated with the sensor 132b (not shown) of the green primary color of the camera 13b. These two sensors form a means of acquiring the stereoscopic image of the tire surface illuminated by the fringe system S2 emitted by the illumination means 232 corresponding to green.
  • the sensor 133a of the primary red color of the camera 13a is associated with the sensor 133b (not shown) of the primary color red of the camera 13b.
  • These two sensors form a means of acquiring the stereoscopic image of the surface of the tire illuminated by the fringe system S3 emitted by the lighting means 233 corresponding to the red.
  • the two color cameras 13a and 13b thus simultaneously see the three fringe systems, and the acquisition of the image of the entire surface of the tread lit by the three fringe systems can be performed in a single turn. of the tire around its axis of revolution D.
  • One and the same point of the tire surface can be illuminated simultaneously by two different colors, for example blue and green, and this point will be considered illuminated in the fringe systems S1 and S2, and as unlit in the system. fringes S3.
  • the lighting means 23 is formed of three lighting means 231, 232 and 233 able to illuminate each of them. tire surface according to a given system of fringes and at a given wavelength.
  • the means 231 will emit the first fringe system S1 at the wavelength corresponding to the blue (B)
  • the means 232 emits a second fringe system S2 at the wavelength corresponding to the green (G)
  • the mean 233 emits a third fringe system S3 at the wavelength corresponding to the red (R).
  • These three fringe systems are emitted simultaneously and directed towards the tire surface at the same given angle using semi-reflecting mirrors 234.
  • N + 1 additional acquisitions of the image of the tire surface to be evaluated so as to automatically determine the calibration thresholds for distinguishing the illuminated strips and the unlit strips.
  • N images by successively illuminating with the aid of each of the lighting means corresponding to each of the basic colors the entire surface of the tire and by removing the fringes, and an additional image by eliminating any illumination.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP09744161A 2008-11-07 2009-11-03 Evaluation du relief de la surface d'un pneumatique par stereovision active Withdrawn EP2347237A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0857564A FR2938330A1 (fr) 2008-11-07 2008-11-07 Evaluation du relief de la surface d'un pneumatique par stereovision active
PCT/EP2009/064481 WO2010052196A1 (fr) 2008-11-07 2009-11-03 Evaluation du relief de la surface d'un pneumatique par stereovision active

Publications (1)

Publication Number Publication Date
EP2347237A1 true EP2347237A1 (fr) 2011-07-27

Family

ID=40791580

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09744161A Withdrawn EP2347237A1 (fr) 2008-11-07 2009-11-03 Evaluation du relief de la surface d'un pneumatique par stereovision active

Country Status (7)

Country Link
US (1) US9239274B2 (zh)
EP (1) EP2347237A1 (zh)
JP (1) JP2012508370A (zh)
CN (1) CN102203578A (zh)
BR (1) BRPI0921581A2 (zh)
FR (1) FR2938330A1 (zh)
WO (1) WO2010052196A1 (zh)

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JP5781481B2 (ja) * 2012-09-04 2015-09-24 株式会社神戸製鋼所 タイヤ形状検査方法、及びタイヤ形状検査装置
US9618425B2 (en) * 2012-11-15 2017-04-11 Android Industries Llc System and method for determining uniformity of a tire
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Also Published As

Publication number Publication date
WO2010052196A1 (fr) 2010-05-14
CN102203578A (zh) 2011-09-28
US20120007956A1 (en) 2012-01-12
FR2938330A1 (fr) 2010-05-14
JP2012508370A (ja) 2012-04-05
BRPI0921581A2 (pt) 2016-04-26
US9239274B2 (en) 2016-01-19

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