Classifications

• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T3/00—Geometric image transformations in the plane of the image
  • G06T3/14—Transformations for image registration, e.g. adjusting or mapping for alignment of images
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T3/00—Geometric image transformations in the plane of the image
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T7/00—Image analysis
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T7/00—Image analysis
  • G06T7/0002—Inspection of images, e.g. flaw detection
  • G06T7/0004—Industrial image inspection
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V10/00—Arrangements for image or video recognition or understanding
  • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
  • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
  • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
  • G06V10/00—Arrangements for image or video recognition or understanding
  • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
  • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
  • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
  • G06V10/755—Deformable models or variational models, e.g. snakes or active contours
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T2207/00—Indexing scheme for image analysis or image enhancement
  • G06T2207/10—Image acquisition modality
  • G06T2207/10028—Range image; Depth image; 3D point clouds
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T2207/00—Indexing scheme for image analysis or image enhancement
  • G06T2207/20—Special algorithmic details
  • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T2207/00—Indexing scheme for image analysis or image enhancement
  • G06T2207/30—Subject of image; Context of image processing
  • G06T2207/30108—Industrial image inspection

Definitions

• the invention relates to the field of tire manufacturing. More particularly, the present invention is concerned with the problem of the visual inspection of tires in progress or at the end of the production process, in order to determine their conformity with respect to control references established for the purpose of use to be made of said tire.
• the methods used to perform these treatments consist, as a rule, in comparing an image in two or three dimensions of the surface of the tire to be inspected with a reference image in two or three dimensions of the surface of said tire.
• the general principle of these methods is to establish a correspondence between the image or the surface of the tire to be inspected, and the image or reference surface, for example by superimposing them, in order to determine the molding anomalies by the analysis of the differences between the two images or both surfaces.
• the reference image of the surface may come for example from digital data from the design of the tire or, more commonly, digital data used to describe and manufacture the baking mold, said mold itself being intended to give its final shape to said tire.
• the three-dimensional image of the tire surface can be obtained, in known manner, with the aid of an acquisition system capable of determining the three-dimensional relief of the surface of the tire.
• mapping of the reference surface and the tire surface to be evaluated uses methods that must be adapted to the particular case of this type of object.
• the publication US 5,715,166 describes the transformations to be carried out in order to map a reference surface to a three-dimensional image of a given object, by using transformation functions such as rotations. or slips. This method applies with good results when one seeks to match non-deformable solid objects such as metal parts, considered here as infinitely rigid. It does not apply to the case of the tire because of the deformable nature of this product.
• the publication EP 1 750 089 which relates more specifically to an application intended for the inspection of tires, proposes cutting the surface to be inspected and the reference surface into surface portions of reduced dimensions, substantially corresponding to the surface area. a marking element such as a letter or a set of letters, then sliding one on the other, said surface portions of the reference surface and the surface to be inspected, so as to determine the optimum correspondence between the contours of the reliefs of the two portions of surfaces. After performing this local registration, the two surface portions are compared with each other to determine, in the area corresponding to the surface portion, the degree of conformity of the tire to be inspected with respect to a reference.
• a marking element such as a letter or a set of letters
• the tire exiting the mold does not correspond exactly to the negative image of the mold in which the molding and vulcanization operation took place, because of the elastic nature of the materials which compose it.
• the tire deforms as soon as it leaves the vulcanization press under the action of the thermal retractions of the materials during cooling.
• the reinforcing plies take their final position, and the equilibrium curve of the inflated tire does not necessarily correspond to curvature of the baking mold.
• this method does not make the necessary adjustments to the superposition of the surfaces perfectly, due to the fact that this method deforms the surface in a single preferred direction, while it is observed that these elastic deformations can occur in different directions when traveling around the circumference of the tire. This simplification can then induce erroneous judgments when comparing the surface to be inspected with the reference surface.
• the method according to the invention is intended for inspecting a part of the surface of a tire by comparison with a reference three-dimensional surface, said surfaces comprising embossed markings, and comprises the steps during which :
• characteristic points are located on the surface to be inspected and these points are matched with the corresponding characteristic points of the reference surface so as to create a set of pairs of matched points
• the reference surface is deformed by moving the control points of the first resetting surface B-Spline so as to superimpose them on the characteristic points of the surface to be inspected which are matched to them.
• B-Spline surfaces are understood to mean the spline surfaces developed around the works of Pierre Bézier and Paul de Casteljau, and as stated in their principles in the work of G. Demengel and JP Pouget "Models of Bézier , B-splines and NURBS “to Ellipses editions, or in publishing Piegl L. and W. Tiller, the NURBS Book ⁇ ed .. Springer Chap. 2-3.
• B-Spline surface in the context of the present description all surfaces parameterized using control points such as NURBS surfaces (Non Uniform Rational Basis Splines), T-Spline surfaces etc. .
• each graphic element of the transformed reference surface is associated with an elementary B-spline surface comprising a second set of control points and,
• a second deformation of the contour of each graphic element of the reference surface is effected by modifying the position of the second control points of the elementary B-Spline surface so as to minimize the distances between the contour of the graphical element of the surface of the reference and the corresponding contour of the graphic element of the surface to be inspected.
• a third deformation of the contour of the graphical element of the reference surface is then performed by modifying the position of the control points of the subdivided B-Spline surface so as to minimize the distances between the outline of the graphical element. of the reference surface and the outline of the graphic elements of the surface to be inspected.
• the inspection method according to the invention then provides to assess the conformity of the area to be inspected by comparing the digital data describing the surface to be inspected with the digital data describing the modified reference surface using the first of the second or third deformation.
• the invention also relates to a device for inspecting the surface of a tire which comprises means for determining the three-dimensional profile of the surface to be inspected, means for storing the digital data describing the reference surface, and computer calculation means adapted to implement the calculation algorithms comprising the steps in which:
• characteristic points are located on the surface to be inspected and these points are matched with the corresponding characteristic points of the reference surface so as to create a set of pairs of matched points
• the reference surface is deformed by moving the control points of the first resetting surface B-Spline so as to superimpose them on the characteristic points of the surface to be inspected which are matched to them.
• FIG. 1 represents the 2D image of the contours of the elements in relief of a reference surface and the unrolled image of this image
• FIG. 2 represents an illustration of the steps of the determination of the profile laid flat
• FIGS. 3 and 4 illustrate the steps of resetting in azimuth
• FIG. 5 illustrates the choice of characteristic points
• FIG. 6 illustrates the pairing of the characteristic points forming the first set of control points
• FIG. 7 illustrates an example of an elementary B-Spline surface and of a second set of control points
• FIG. 8 illustrates the deformation of the contours of the graphic element contained in the elementary surface by modifying the position of the control points of the second set of control points
• Figure 9 is a diagram of the main steps of implementation of a method according to the invention.
• the inspection method according to the invention relates to the parts of the surface of a tire comprising relief markings.
• Relief markings include elements such as numbers or alphanumeric characters, sequences of characters forming words or numbers, figurative characters such as ideograms of decorative motifs or drawings, streaks on the flank or on the inner surface, or tread patterns of the tread.
• the surface is illuminated by means of a white light or a light of a given wavelength formed by the light coming from a laser beam, and the light reflected by the surface to be captured is captured.
• an acquisition means such as a matrix camera.
• a three-dimensional laser triangulation sensor whose principles are comparable in two dimensions to those of a linear camera.
• the tire to be inspected is installed on a means for putting it in relative rotation with respect to the acquisition system.
• the numerical data are obtained which, after treatment by a suitable and known calculation means, are representative of the three-dimensional coordinates of the surface to be inspected. which is then materialized by a set of points in a three-dimensional space.
• the exemplary implementation of the invention described below is more particularly concerned with the inspection of the sidewalls of the tire, which are generally loaded with markings and graphic patterns of any kind.
• the techniques used can, with transposition, be used in an identical manner for the inspection of the inner part or the tread.
• the reference surface may come from the tire design data in three dimensions or, preferably, data of design and production of the baking mold and more specifically data used to engrave the shells used to mold the flanks and bearing the intaglio markings.
• the markers in which the three-dimensional coordinates of the points of the reference surface and of the surface to be inspected can be appropriately chosen, so as to allow simple projections making it possible to reduce the number of dimensions of the space. to study.
• the three-dimensional coordinates x, y, z of the surfaces to be analyzed are expressed in an orthonormal coordinate system OX, OY, OZ in which the axis OZ is substantially coincident with the axis of rotation of the tire.
• Another simplification consists in laying down the three-dimensional surface. For this purpose, it is necessary to determine the average profile of the curve of the surface in a radial plane.
• the set of points is projected in the plane formed by the axes OZ and OX, as illustrated in FIG. 2, which corresponds to a projection in a radial plane.
• the shape of the mean radial profile will be given by the shape of the point cloud in this radial plane, from which we can extract a mean curve by averaging the values according to a direction OZ.
• the surface obtained by deploying again this average radial profile corresponds substantially to the surface of the tire on which there would be no marking in relief.
• the flattening can also be done following the profile of the surface in a predetermined pattern, for example a radial line, by detecting the localized variations of the profile, significant relief markings made on said surface. It suffices then, after having applied a filter making it possible to eliminate the abnormal variations and the slow variations related to the only variation of curvature, to reproduce these variations on a plane surface on which only the elements in relief corresponding to the markings appear.
• a value of gray level can be assigned to the value along the axis OZ. A two-dimensional image of the surface is then obtained, on which the relief elements visually detach from the color of the average surface. The intensity of the gray level is proportional to the elevation of the point relative to the average relief of the surface. This simplification can be done with a similar result on the flat surface according to one of the methods explained above.
• Figure 3 illustrates the result of these simplifications, which are more particularly adapted to the treatment of the sidewall of the tire, and applied to the surface to be inspected which has been unwound, flattened and converted into a gray-scale image. As for Figure 4, it represents the uncoiled and flattened image of the reference surface.
• the word "RADIAL” located near the bead on the reference image is associated with the word “RADIAL” situated in the same region of the image to be inspected.
• a set of characteristic points P is determined on each character, or on each pattern. These points are formed, for example, by the intersection of the branches of the skeleton traces or by the end points of said branches. The location of these points is precise as shown in Figure 5 where the characteristic point associated with the lower left corner of the L of "RADIAL" of the reference image is associated with the lower left corner of the first L of "RADIAL” of the image to inspect.
• characteristic points of the image of the reference surface and the image of the surface to be inspected are then associated in pairs to form couples of paired characteristic points.
• the number of paired characteristic points is variable from one dimension to another, and can also evolve between two successive analyzes of the same depending on possible anomalies on the relief markings, but also because of the successive rejections that may be made at each step of the optical character recognition method, which generates its own errors when the recognition criteria are not all met.
• the pairs of characteristic points are distributed over the entire surface to be inspected as shown in FIG. 6.
• a first B-Spline resetting surface is then associated with all the characteristic points of the reference surface by considering that these characteristic points form a first set of control points of said resetting B-Spline surface.
• Each point of the reference surface is then parameterized as a linear combination of the position of the control points of the first B-Spline resetting surface.
• P 1t be the set of control points forming a first set of control points, and note the set of parameters defining the positions of these control points, in the reference defining the position of the control points. the reference surface.
• contours of the reference surface are then discretized by regular sampling into a finite set of points.
• position of each of these points is then defined as a linear combination of the position of the control points of the first B-Spline resetting surface.
• This set de ⁇ of points being parameterized by the control points of the surface B-Spline one denotes by ⁇ ( ⁇ ), the configuration taken by the points of ⁇ for the set of parameter pi.
• ⁇ the configuration taken by the points of ⁇ for the set of parameter pi.
• a change in the positions of the control points of the B-Spline surface (and therefore of pi) causes a deformation of the reference surface, similar to that experienced by the B-Spline surface associated with it. This deformation is referred to as the B-Spline deformation of ⁇ .
• the next step consists in deforming the reference surface by modifying the position of the control points of the first set of control points of the resetting B-Spline surface, corresponding to the characteristic points of the reference surface, in such a way that to superimpose them on the characteristic points of the surface to inspect which are matched to them.
• This first deformation is of a relatively simple implementation but requires, as has already been said above, particular attention in the choice of control points. Indeed, it is important that control points are sufficient and that they are evenly distributed on the surface to ensure a deformation to superimpose the best reference surface and the surface to be inspected.
• This step makes it possible to more precisely adjust the shape of a graphic element of the reference surface to the exact form of this same graphic element contained in the surface to be inspected.
• the reference surface is cut into elementary surfaces containing one or more graphic elements.
• graphic element a letter, a decorative motif or a set of small letters.
• Each element is associated with an elementary B-Spline surface completely covering said graphic element, as illustrated in FIG. 7.
• This surface is parameterized by a control grid formed of N lines and M columns defining NxM points. control.
• the control points belong to the reference surface. In general, rows and columns are evenly distributed. They form, for example, grids of reduced dimensions of 4x4 or 5x5 type, when the graphic element is included in a square-shaped elementary surface.
• the index 2 means that it is the second set of control points and the second deformation intended to make a fine registration of the elementary surfaces.
• Contours of the element In the case illustrated in FIG. 7, the contours of the letter D are then discretized by regular sampling into a finite set de 2 of points. At each of these points is added a contour orientation information at this point. [067] The position of each of these oriented points is then defined as a linear combination of the position of the control points of the B-Spline surface. Likewise, the orientation of each of these points is expressed according to the position of the control points of the B-Spline surface.
• the next step consists in deforming the contour of each graphic element of the reference surface by modifying the position of the control points of the second set of control points of the elementary B-Spline surface, so, unlike of the first deformation, to minimize the distances between the contour of the graphical element of the reference surface and the corresponding contour of the graphical element of the surface to be inspected.
• a modification of the positions of the control points of the B-Spline surface causes a deformation of the graphic element, similar to that experienced by the B-Spline surface which is associated with him. This deformation is referred to as B-Spline deformation of ⁇ 2 .
• L 2 is the set of control points of the elementary B-Spline surface whose position is free, that is to say whose position can be modified by the optimization optimization algorithm.
• F 2 the set of control points of the elementary B-Spline surface whose position is fixed, that is to say the position of which can not be modified by the optimization optimization algorithm.
• the set of parameters p 2 is then decomposed into a set of parameters ⁇ 2 defining the position of the control points of L 2 , and a set of parameters f 2 defining the position of the control points of F 2 .
• the notation p 2 (l 2 , f 2 ) will be used to designate the value of the set of parameters p at a given instant.
• R 2 the set of points of ⁇ 2 whose position is influenced by at least one control point belonging to L 2 (a point A of ⁇ 2 is influenced by a control point P, -j if the coefficient associated with P, in the linear combination defining the position of A is not zero).
• R ⁇ p ⁇ l ⁇ fy we use the notation R ⁇ p ⁇ l ⁇ fy to designate the configuration taken by the points of R 2 for a B-Spline deformation of parameter p ⁇ , ⁇ ⁇ .
• the optimization of the O 2 registration (p 2 (l 2 , f 2 )) consists in finding the set of parameters / for which the points of O 2 (p 2 (l 2 , f 2 )) are projected at closer to their actual position in the acquisition.
• E r (p2 (, h)) ⁇ a regularization term aimed at penalizing unrealistic deformations with respect to the nature of the flank. This term penalizes the deformations presenting contractions / dilations too important or radii of curvatures too high.
• - A a weighting factor to adjust the influence of the regularization term.
• the optimization of the registration of ⁇ 2 therefore consists in finding the set of parameters / which minimizes This set of parameters / optimal is estimated using a non-linear optimization algorithm such as that of Levenberg-Marquardt whose principles are described by way of example in the publication made by WF Press, SA Teukolsky, WT Vettering and BP Flannery in the volume “Non linear Models” Chapter 15.5 under the title "Numerical Recipes in C”.
• the iteration stops when the stopping criterion is reached.
• the set V 2 of the points whose error of registration at the end of an iteration is greater than a fixed threshold ⁇ is identified.
• This set V 2 corresponds to the set of points of ⁇ 2 for which the quality of the current registration is insufficient. If the set V 2 is empty or if the number of iterations of the optimization algorithm is too high, the optimization process is interrupted. Otherwise, the iteration process is restarted.
• the elementary B-Spline surface associated with the graphic element is subdivided using, for example, a Catmull-Clark type algorithm as described in the publication Computer-Aided Design 10 (6) pages. 350-355 of November 1978 under the title "Recursively generated B-Spline surfaces on arbitrary topological surfaces”. This subdivision increases the number of control points without modifying the described surface. The deformation defined by this surface is therefore the same as that obtained at the end of the previous step.
• the B-Spline surface associated with ⁇ 2 is replaced by this new B-spline surface subdivided.
• the points of ⁇ 2 are then expressed as surface points of the new subdivided B-Spline surface. This means that the position / orientation of the points of ⁇ 2 is expressed as a linear combination of the positions of new control points of the third set of control points of the subdivided B-Spline surface.
• the elementary B-Spline surface is subdivided around the only control points of the second set that influence a contour point of the first set of control points of the reference surface that is incorrectly recalibrated.
• the set R 2 is also updated from the new definition of sets L 2 and F 2 .
• the third deformation of the subdivided surface makes it possible to reach a level of superposition of the contours elements of the reference surface and the contour elements of the surface to be inspected almost perfectly.
• the very precise superimposition of the surfaces makes it possible to reduce the still possible differences between the two surfaces much below the thresholds of appearance of the defects that one seeks to detect.
• Each of the points of the reference surface is thus transformed a first time using the first B-spline deformation, and a second time with the aid of a second or even a third B-spline deformation. corresponding to the elementary surface or the subdivided elementary surface.
• the interest of these successive B-Spline transformations lies in the fact that, the registration obtained is preferentially done in the zones of strong deformation by avoiding the excessive deformations in the undisturbed zones.
• characteristic points are located on the surface to be inspected and these points are matched with the corresponding characteristic points of the reference surface so as to create a set of pairs of matched points
• a B-Spline surface is associated with the reference surface by associating the characteristic points of this surface with the control points of said B-spline surface
• the reference surface is deformed by moving the control points of the B-Spline surface so as to superimpose them on the characteristic points of the surface to be inspected which are matched to them.

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• 2010
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