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
  • 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
  • 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
  • G06T3/00—Geometric image transformations in the plane of the image
  • G06T3/10—Selection of transformation methods according to the characteristics of the input images
• • G—PHYSICS
  • G06—COMPUTING; CALCULATING OR COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T7/00—Image analysis
  • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
  • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
  • G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
• • 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
  • G06V10/752—Contour matching
• • 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
  • G06V10/754—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 involving a deformation of the sample pattern or of the reference pattern; Elastic matching
• • 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
  • G06T2207/20—Special algorithmic details
  • G06T2207/20112—Image segmentation details
  • G06T2207/20116—Active contour; Active surface; Snakes
• • 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 the 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 the curvature of the baking mold.
• the object of the invention is to propose a method for superimposing very precisely the reference surface and the surface to be inspected, and is therefore an improvement of the methods described in publications EP 1 750 089 or WO2009077539 cited above. .
• 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 :
• each graphic element of the transformed reference surface is associated with an elementary B-Spline surface comprising a first set of control points
• a first deformation of the contour of each graphic element of the reference surface is performed by modifying the position of the control points of the elementary B-Spline surface so as to minimize the distances between the contour of the graphic element of the surface of reference and outline of the graphic element of the surface to be inspected.
• B-Spline surfaces are understood to mean the spline surfaces developed around the works of Pierre Bézier and Paul de Casteljau, and as described in their drawings. principles in the work of G. Demengel and JP Pouget "Models of Bezier, B-splines and NURBS” Ellipses Editions, or in the publication of L. Piegl and W. Tiller, The Nurbs Book d .. , Springer, Chap. 2-3. Also, by extension, the term 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. .
• a first method allowing this mapping is to use the possibilities offered by the B-Spline surfaces themselves and includes the steps in which:
• a B-Spline resetting surface is associated with the reference surface by assimilating the characteristic points of this surface at the control points of said resetting B-Spline surface,
• the reference surface is deformed by moving the control points of the resetting B-Spline surface so as to superimpose them on the characteristic points of the surface to be inspected which are matched to them.
• the set of points of the reference surface is transformed using said affine transformation function.
• the affine function used for the first series of transformation includes a homothety whose ratio has an absolute value different from 1.
• the three-dimensional data of the reference surface are converted using a scale factor to adjust the dimension of the reference image to that of the surface to be inspected;
• the reference image and the image of the surface to be inspected are cut into smaller surface elements comprising one or more graphic elements
• a second 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. subdivided from the reference surface and the contour of the subdivided graphic element 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 inspect with the digital data describing the modified reference surface using the first series of transformations and the first, and if necessary the second, B-spline deformation.
• the invention also relates to a device for inspecting the surface of a pneumatic system which comprises means for determining the three-dimensional profile of the surface to be inspected, digital data storage means describing the reference surface, and computer calculation means capable of implementing the calculation algorithms comprising the steps in which:
• each graphic element of the transformed reference surface is associated with an elementary B-spline surface comprising a first set of control points
• a first deformation of the contour of each graphic element of the reference surface is carried out by modifying the position of the control points of the elementary B-Spline surface so as to minimize the distances between the contour of the reference surface and the contour corresponding to the surface to be inspected.
• 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 the characteristic points
• FIG. 6 illustrates an example of an elementary B-Spline surface and its control points
• FIG. 7 illustrates the deformation of the contours of the graphic element contained in the elementary surface by modification of the position of the control points
• FIG. 8 is a diagram summarizing the main steps of the implementation of a method according to the invention.
• the inspection method according to the invention concerns the parts of the surface of a pneumatic system comprising relief markings.
• Relief marking means 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 rotating relative 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 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 allowing reduce the number of dimensions of the space to be studied.
• 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.
• OX, OY, OZ orthonormal coordinate system
• 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 average 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 in 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 along a predetermined path, 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. This gives a two-dimensional image of the surface, on which the relief elements visually detach from the color of the surface. 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 processing of the sidewall of the tire, and applied to the reference surface which has been unwound, flattened and converted into a gray level image.
• Figure 4 for its part, represents the unrolled and flattened image of the surface to be inspected.
• the choice of the method to be adopted to carry out this first series of transformations may simply consist in using the B-Spline surfaces themselves, with a certain number of precautions.
• OCR optical character recognition
• 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.
• the number of paired characteristic points is variable from one dimension to another, and can also change between two successive analyzes of the same tire as a function of possible anomalies that may be found on the embossed markings, but also, in because of the successive rejections that can be made at each stage of the optical OCR implementation, 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.
• a B-Spline resetting surface is then associated with all the characteristic points of the reference surface by considering that these characteristic points form a set of control points of said B-Spline resetting surface.
• Each point of the reference surface is then parameterized as a linear combination of the position of the control points of the B-Spline resetting surface.
• contours of the reference surface are then discretized by regular sampling into a finite set of points.
• the position of each of these points is then defined as a linear combination of the position of the control points of the B-Spline resetting surface.
• the next step therefore consists in deforming the reference surface by modifying the position of the control points of the resetting B-Spline surface and corresponding to the characteristic points of the reference surface, so as to superpose them on the points characteristics of the surface to be inspected that are matched to them.
• This first transformation is of a relatively simple implementation but requires, as already mentioned above, a 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, otherwise there is a risk of misrepresenting areas with a low number of control points.
• the object of this method is to determine a transformation function whose set of starting points is constituted by the characteristic points of the reference surface, the determination of which is identical to that which has been explained above, and whose arrival set is formed by all these points transformed by said transformation function. At each point of this arrival set, it is possible to associate a magnitude representative of the distance separating it from the point of the surface to be inspected to which it is matched. We then search, by successive iterations, the transformation function which minimizes the sum of these quantities. Then we transform all the points of the reference surface using this transformation, so as to establish the matching sought.
• the transformation function is an affine function which is composed of the combination of a rotation, a displacement and a deformation or a homothety of which the ratio has an absolute value different from 1 in a given direction, as well as scaling along each of the coordinate axes.
• the center of the homothety is generally constituted by a point of the axis of rotation of the tire.
• t represents a translation in the plane
• A a 2x2 affine matrix which can be written in the form of a non-isotropic rotation or stretch, or deformation, along two perpendicular axes making a given angle with respect to the axes orthonormal reference.
• the advantage of using an affine transformation also lies in the fact that, when said function has been determined, it can be applied to all the tires of the same dimension, and only the first or second tires. if necessary, the second deformations, localized to the graphic elements, must be recalculated for each tire to be inspected. This has the advantage, once again, of limiting the calculation times.
• a third method for establishing a correspondence between the outlines of the graphical elements of the surface to be inspected and the outlines of the reference surface consists in cutting the reference surface into smaller surface elements comprising one or more graphical elements then, to establish a coincidence between the outlines of the graphic elements contained in the reduced size surface elements of the reference surface and the outlines of the graphic elements contained in the reduced size elements of the surface to be inspected, after having, preferably, prior to the simplification steps as described above.
• a cost function is determined that makes it possible to evaluate the distance between the contours of these two graphical elements and, by iterative translations of the position of one element relative to the other, is determined the position with the highest cost function to evaluate the maximum of correspondence between the two elements of the type:
• the next step of the inspection method according to the invention which aims to perform fine registration between the graphical elements of the reference surface and the graphical elements of the surface to be inspected, can be carried out after have established the correspondence between the contours using any of the methods as outlined above.
• 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.
• the elementary surface may include a letter, a decorative pattern, or a set of small sized letters.
• Each element is associated with an elementary B-Spline surface completely covering said graphic element, as illustrated in FIG. 6.
• This surface is parameterized by a control grid formed of N lines and M columns defining NxM points. of control belonging to the reference surface. In general, rows and columns are evenly distributed. They form, for example, 4x4 or 5x5 reduced size grids, when the graphic element is included in a square-shaped elementary surface.
• This set ⁇ of oriented points being parameterized by the control points of the surface B-Spline denotes by ⁇ ( ⁇ ), the configuration taken by the points of ⁇ for the set of parameter p.
• 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 first set of control points of the elementary B-Spline surface, so as to minimize the distances between the outline of the graphic element of the reference surface and the corresponding contour of the graphic element of the surface to be inspected.
• L 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 registration optimization algorithm.
• F 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 parameter set p then decomposes into a set of parameters / defining the position of the control points of L, and a set of parameters / "defining the position of the control points of F.
• the notation p (l, f) will be used to designate the value of the parameter set p at a given time.
• R the set of points of ⁇ whose position is influenced by at least one control point belonging to L (a point A of ⁇ is influenced by a control point P if the coefficient associated with P (J in the linear combination defining the position of A is not zero.)
• the notation R (p (l, f)) will be used to denote the configuration taken by the points of R for a B-spline deformation. of parameter p (l, f).
• the optimization of the O (p (l, f)) recalibration consists in finding the set of parameters /, for which the points of O (p (l, f)) project to the nearest of their real position in the acquisition.
• E r (p (l, f)) 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.
• Pinit the set of parameters corresponding to the initial B-Spline surface (ie, not deformed).
• the optimization of the registration of ⁇ therefore consists in finding the set of parameters / which minimizes E (Q ' , p (l, f)).
• 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 by WF Press, SA Teukolsky, WT Vettering and BP Flannery in the volume "Non linear Models" Chapter 15.5 under the heading "Numerical Recipes in C”.
• variable accounting for the number of iterations of the optimization process is incremented by 1.
• the iteration stops when the stopping criterion is reached.
• This set V corresponds to all the points of ⁇ for which the quality of the current registration is insufficient. If the set V 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 until the stop criterion is triggered.
• a reference surface is obtained which is finely recalibrated with respect to the surface to be inspected, and it is possible to carry out the control step consisting in superposing the two surfaces. to extract the information useful to the quality of the tire.
• a final fine-adjustment step can then be envisaged, which consists in subdividing the deformed elementary B-Spline surface using the first control point set and containing the graphic element, by increasing the number of control points. controlling each graphic element of the reference surface from the first deformation to a subdivided B-spline surface formed by a second set of control points and relating to a particular detail of the contour of the graphic element.
• 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 in a subdivision of the B-Spline surface describing the graphic element without modifying the described surface. The deformation defined by this surface is therefore the same as that obtained at the end of the stage previous.
• the B-Spline surface associated with ⁇ is replaced by this new B-Spline surface subdivided.
• the points of ⁇ are then expressed as surface points of the new subdivided B-Spline surface. This means that the position / orientation of the points of ⁇ is expressed in the form of a linear combination of the positions of new control points of the second set of control points of the subdivided B-Spline surface.
• the elementary B-Spline surface is subdivided around the only control points of the first game which influence a contour point of the first set of control points of the reference surface that is badly recalibrated to the first set of control points.
• the influence of a control point on the B-Spline surface is local, only the control points influencing at least one badly recalibrated point of D (p (, f)) require to be optimized.
• the set R is also updated from the new definition of sets L and F.
• optimization process is repeated as described in the preceding paragraphs by applying it to the graphical element of the subdivided reference surface and by changing the position of the second set of control points of the surface B -Spline subdivided so as to minimize the distances between the contour of the subdivided graphic element of the reference surface and the corresponding contour of the graphical element of the surface to be inspected.
• the deformation of the subdivided surface makes it possible to achieve a level of superposition of the contours of the reference surface and the contours of the surface to be inspected almost perfect.
• 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 times using the first series of transformation, and a second time using a first or a second deformation corresponding to the elementary surface or the subdivided elementary surface.
• the three-dimensional profile of the surface to be inspected is determined, the outlines of the graphic elements are extracted,
• each graphic element of the transformed reference surface is associated with an elementary B-spline surface comprising a second set of control points
• a first deformation of the contour of each graphical element of the reference surface is performed by modifying the position of the control points of the elementary B-Spline surface so as to minimize the distances between the contour of the graphical element of the reference surface and the outline of the graphic element corresponding to it of the surface to be inspected.

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