TW200817656A - Image monitoring and stock detection integrated system applied in liquid storage tank and method thereof - Google Patents

Image monitoring and stock detection integrated system applied in liquid storage tank and method thereof Download PDF

Info

Publication number
TW200817656A
TW200817656A TW95136531A TW95136531A TW200817656A TW 200817656 A TW200817656 A TW 200817656A TW 95136531 A TW95136531 A TW 95136531A TW 95136531 A TW95136531 A TW 95136531A TW 200817656 A TW200817656 A TW 200817656A
Authority
TW
Taiwan
Prior art keywords
storage tank
image
liquid storage
reflector
stock detection
Prior art date
Application number
TW95136531A
Other languages
Chinese (zh)
Other versions
TWI289198B (en
Inventor
Di-Ho Wang
Chen-Chien Hsu
jin-dong Zhuang
Ming-Chih Lu
Original Assignee
Ming-Chih Lu
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 Ming-Chih Lu filed Critical Ming-Chih Lu
Priority to TW95136531A priority Critical patent/TWI289198B/en
Application granted granted Critical
Publication of TWI289198B publication Critical patent/TWI289198B/en
Publication of TW200817656A publication Critical patent/TW200817656A/en

Links

Landscapes

  • Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention relates to an image monitoring and stock detection integrated system applied in a liquid storage tank, which comprises a light reflecting plate floating on the surface of a liquid stored in the liquid storage tank and a digital imaging device for capturing the image picture information including the image graphic of the light reflecting plate, where the distance between the light reflecting plate and the top of the liquid storage tank can be calculated by the relationship between the number of pixels of the light reflecting plate in the image picture information and the actual length of the light reflecting plate. The present invention also provides an image monitoring and stock detection method applied in a liquid storage tank.

Description

200817656 九、發明說明: 【發明所屬之技術領域】 本發明係有關一種應用於液體儲存槽之影像監視與 存量偵測共構系統,利用一影像晝面資訊的像素值計算儲 存液體之高度,並能同時監測儲存液體的物理狀態。 【先前技術】 、習知技術中,應用於儲存槽或容器中的液體(水、石 /由或化學洛劑)或粉粒(塑膠粉粒、麵粉或藥粉)之高度量測 裝置中,如中華民國發明專利公告第2〇〇97〇號之液=計及 中華民國發明專利公告第333335號之錫爐液面偵測裝 置,叙係將量測裝置設置於儲存槽或容器中來量測儲存 物之儲量高度。另外,亦有藉由超音波測距來計算反射波 :得知儲量高度的方式,但超音波之發射器與接收器仍需 設置於儲存槽内。因此,習知的儲量高度測量裝置係屬於 接觸式的測量裝置。 _ 而,華民國發明專利公告第854717號之量測儲存物 局度=裝置係為本發明之先前發明,利用兩道可見光之低 功率=全雷射光源配合CCD攝影機,設置於儲存槽之外不 來測=儲存槽内部的儲存物之儲量高度,並能同時間測槽 内t貝的狀您。但该等CCD攝影機及雷射光源需設至於儲 存,頂部之巾央位置,且其浮板亦需固定於儲存液體之液 面中央,因此增加系統設置之困難度。 、,利用二道平行雷射光束雖亦可進行非接觸性的距離 偵壯以及達到精準的量測目的,然而由於平行雷射光束 衣及校準受到其方法的限制,且其浮板液需固定於儲 予曰之中央,在使用上仍無法達到便利及可隨時變化之目 200817656 的。因此目前需要一種更為精宓, ^ 式量測糸統。 且可間易安褒之非接觸 【發明内容】 本發明之目的在於提供— 像監視與存量偵測共構系統,利〜用於液體儲存槽之影 係,將從數位攝影機或數位相,素值與距離的轉換關 素值計算出儲存液體之距離, 彳于之影像晝面資訊的像 理狀態。 犯同時監测儲存液體的物 為達上述目的,本發明将担 之影像監視與存量偵測共構系統應=體儲存槽 液體儲存槽所儲存液體之液面;· 〜· J擷取—2括所述反光板的影像圖形之影像畫面 =心’/、中’彻前述影像晝面資訊計算前述反光板的影 像圖形=像素值,並計算前述影像圖形的像素值與前述影 像旦面資訊之最大攝影像素值的像素值之像素值比值,進 $利用前述像素值比值係與前述反光板之實際長度與前述 影像畫面資訊之實際最大攝影長度的長度比值成正比之關 係、、。十异别述實際影像畫面資訊之最大攝影長度,以及根 據前述最大攝影長度與三角形定理計算前述反光板與前述 液體儲存槽頂部之距離。 ^為達上述目的,本發明復提供一種應用於液體鍺存槽 之影像監視與存量偵測方法,包括:以一數位影像裝置擷 取匕g目標物的影像圖形之影像晝面資訊;計算前述影 像圖形的像素值與前述影像畫面資訊之最大攝影像素值的 像素值之像素值比值;利用前述像素值比值係與前述目標 物之貫際長度與前述影像晝面資訊之實際最大攝影長度的 200817656 長度比值成正比之關係,計算前述實際影像畫面資訊之最 大攝影長度;以及根據前述最大攝影長度與三角形定理計 算前述目標物與前述數位影像裝置之距離。 、達到上述目的之本發明應用於液體儲存槽之影像監 視與存夏债測共構系統不必再使用兩道平行的雷射光,也 浮㈣定在同-垂直軸上,使得本發㈣統的機構 ^早,安裝更《。且由於本侧之系料必考慮^ 二’’、、占所在的位置’以及該數位攝影機或數位相機之架設的 ^度,故則於㈣過財,本發明之純料必做任何高 二因無需光學原點的距離,因此使得該數位攝 相機不受限於任一品牌或型號,只要經過量測 多數ί建立’便可直接進行㈣之制及影像之觀察。 1明之則述目的或特徵’將依據後附圖式加以詳細 二==本發後r式及所舉之例,祇是做為說 【實施方式】 價:則t =為—種應用於液體儲存槽之影像監視與存量 機裝;於2體係㈣ 例關係及距離量測“^夂_像素與距離的線性比 體的儲量古声里计异该液體儲存槽内部之儲存液 並同日守監測該错存液體的物理狀態。 括::數位攝= f〇r-施例之纽架構圖,包 該數位摄旦彡拖Ί y 儲存槽200以及一反光板300。 方,並以^⑼係架設於該儲储之頂部201上 槽200的儲璃2隔離該數位攝影機100與該儲存 /體’避免儲存液體與數位攝影機100直接 200817656 接觸,以形成一非接觸式的距離量測。且進一步藉由調整 3亥強化玻璃211以限制儲存液體之液面與該數位攝景^機 100之距離,可避免儲存液體之液面高於該數位攝影機1〇〇 的知描死區。 該儲存槽200之頂部201進一步包括一防塵罩21〇外 罩於該數位攝影機100之上,以隔絕週遭環境對該數位攝 影機100及該儲存槽200所造成之污染。該防塵罩21〇並 加設二個投射燈221及222,以提供該儲存槽200的内部 照明。該反光板300係為一圓形浮板,且進一步包括一浮 力棉310以及一重力錘320,其中該浮力棉31〇係提供一 浮力予該反光板300,使該反光板300可浮置於該儲存槽 200的儲存液體之液面上,而該重力鐘320係提供一重力 予该反光板300,以穩定該反光板300的晃動,且該浮力 棉310所提供之浮力大於該重力錘32〇所提供之重力,使 該反光板300得以浮出儲存液體之液面。且該反光板3〇〇 之上表面較佳的為一單色之平面,以利該數位攝影機2〇〇 擷取像素值,並進行距離量測,而於本發明之實施例令該 反光板300係為一具有黃色色系之上表面。當該反光板3〇〇 與儲存槽200内部之儲存液體顏色不相等時,該計算單元 40即可輕易將影像晝面二階化後計算出該反光板3〇〇表面 之圓面積。 利用該數位攝影機100可觀察該儲存槽200内部儲存 液體的物理狀態或紀錄其反應過程,並同時量測該儲存液 體的高度。由於反光板300將隨儲存液體的液面高度而升 降’於數位攝影機100所擷取影像畫面資訊中的該反光板 300之影像圖形的面積亦隨之改變。因此該計算單元4〇即 可以該反光板3 00之影像圖形的面積,計算出該反光板3 〇 〇 200817656 當時的高度。且由於該反光板300係為一圓形浮板,因此 該數位攝影機100之設置方向及位置皆不受限制。 參考第二圖為該反光板300之影像圖形的像素值與距 離轉換的示意圖,其中該反光板300進一步為一圓^平 板,藉由計算該反光板300之直徑的像素值即可求得^反 光板300距離該儲存槽200之頂部201的高度。本發明應 用於液體儲存槽之影像監視與存量偵測共構系統於^二 之示意圖係包括以下參數: 回 OP :數位攝影機1〇〇之光學原點;200817656 IX. Description of the Invention: [Technical Field] The present invention relates to an image monitoring and stock detection co-construction system applied to a liquid storage tank, which uses the pixel value of an image to calculate the height of the storage liquid, and The physical state of the stored liquid can be monitored simultaneously. [Prior Art] In the prior art, in a height measuring device for a liquid (water, stone/yield or chemical agent) or a powder (plastic powder, flour or powder) used in a storage tank or container, such as The Republic of China Invention Patent Notice No. 2〇〇97 No. = = the tin furnace liquid level detecting device of the Republic of China Invention Patent Bulletin No. 333335, which is set in a storage tank or container for measurement The storage height of the storage. In addition, there are ways to calculate the reflected wave by ultrasonic ranging: the way to know the height of the reserve, but the transmitter and receiver of the ultrasonic still need to be placed in the storage tank. Therefore, the conventional reserve height measuring device belongs to a contact type measuring device. _ _, Huaminguo invention patent publication No. 854717 measuring storage degree = device is the previous invention of the invention, using two low-power visible light = full laser light source with CCD camera, set outside the storage tank Do not measure = the storage height of the storage inside the storage tank, and can simultaneously measure the shape of t-bay in the tank. However, the CCD cameras and laser light sources are required to be stored in the center of the top of the towel, and the floating plate is also fixed in the center of the liquid surface for storing the liquid, thereby increasing the difficulty of system setting. The use of two parallel laser beams can also perform non-contact distance detection and achieve accurate measurement purposes. However, because parallel laser beam coating and calibration are limited by its method, and its floating plate liquid needs to be fixed. In the center of Chu Yuzhen, it is still not convenient to use and can be changed at any time in 200817656. Therefore, there is a need for a more sophisticated, ^-type measurement system. The invention is directed to providing a co-construction system for monitoring and stock detection, and a video system for a liquid storage tank, which will be digital camera or digital phase. The conversion value of the value and the distance calculates the distance between the stored liquid and the image state of the information behind the image. In order to achieve the above purpose, the present invention will be responsible for the image monitoring and stock detection co-construction system = liquid level of the liquid stored in the liquid storage tank of the body storage tank; · ~· J extraction - 2 The image image of the image pattern of the reflector is used to calculate the image pattern of the reflector and the pixel value, and calculate the pixel value of the image pattern and the image information of the image. The pixel value ratio of the pixel value of the maximum photographic pixel value is proportional to the ratio of the actual length of the reflector and the length of the actual maximum photographic length of the video frame information. The maximum photographic length of the actual image picture information is described in the tenth, and the distance between the reflector and the top of the liquid storage tank is calculated according to the maximum photographic length and the triangle theorem. In order to achieve the above object, the present invention provides a method for image monitoring and stock detection applied to a liquid storage tank, comprising: capturing image information of an image of a target object by using a digital image device; a ratio of a pixel value of the image pattern to a pixel value of a pixel value of the maximum photographic pixel value of the image frame information; and the use of the pixel value ratio and the average length of the target object and the actual maximum photographic length of the image facet information 200817656 The maximum ratio of the actual image frame information is calculated in proportion to the length ratio; and the distance between the target and the digital image device is calculated according to the maximum photographic length and the triangle theorem. The invention for achieving the above object is applied to a liquid storage tank for image monitoring and a summer debt measurement co-construction system, which does not need to use two parallel laser lights, and also floats (four) on the same-vertical axis, so that the present invention (four) The organization ^ early, the installation is more. And since the material on this side must take into account ^2', the position where it is located, and the degree of installation of the digital camera or digital camera, then in the fourth, the pure material of the present invention must do any high-two factors. There is no need for the distance of the optical origin, so the digital camera is not limited to any brand or model, as long as the measurement is carried out, the majority can be directly performed (4) and the image is observed. 1 Ming said the purpose or characteristics 'will be detailed according to the following figure 2 == after the hair r and the examples, just to say [implementation] price: then t = for - type of liquid storage Image monitoring and storage of the slot; in the 2 system (4) relationship and distance measurement "^夂_ pixel and distance linear ratio of the volume of the ancient sound in the liquid storage tank inside the storage liquid and the same day monitoring The physical state of the liquid in question: Included:: digital camera = f〇r - the new structure diagram of the example, including the digital camera 彡 y storage tank 200 and a reflector 300. Square, and erected by ^ (9) The glass 2 of the trough 200 on the top 201 of the storage isolates the digital camera 100 from the storage/body's avoiding contact of the storage liquid with the digital camera 100 directly 200817656 to form a non-contact distance measurement. By adjusting the 3 reinforced glass 211 to limit the distance between the liquid level of the stored liquid and the digital camera 100, the liquid level of the stored liquid can be prevented from being higher than the known dead zone of the digital camera. The top 201 further includes a dust cover 21 cover The digital camera 100 is configured to isolate the surroundings of the digital camera 100 and the storage tank 200. The dust cover 21 is provided with two projection lamps 221 and 222 to provide the interior of the storage tank 200. The reflector 300 is a circular floating plate, and further includes a buoyancy cotton 310 and a gravity hammer 320, wherein the buoyancy cotton 31 provides a buoyancy force to the reflector 300, so that the reflector 300 can float. The gravity clock 320 is provided to the liquid level of the storage tank 200, and the gravity clock 320 provides a gravity to the reflector 300 to stabilize the shaking of the reflector 300, and the buoyancy of the buoyancy cotton 310 is greater than the gravity. The gravity provided by the hammer 32 causes the reflector 300 to float out of the liquid level of the storage liquid, and the upper surface of the reflector 3 is preferably a monochromatic plane to facilitate the digital camera 2 Taking the pixel value and performing distance measurement, in the embodiment of the present invention, the reflector 300 is a surface having a yellow color system. When the reflector 3 is stored in the storage tank 200, the liquid color is stored. When not equal, the calculation The circular area of the surface of the reflector 3 can be easily calculated by the second 40. The digital camera 100 can observe the physical state of the liquid stored in the storage tank 200 or record the reaction process, and simultaneously The height of the storage liquid is measured. Since the reflector 300 will rise and fall with the liquid level of the storage liquid, the area of the image of the reflection plate 300 in the image information captured by the digital camera 100 also changes. The calculating unit 4 can calculate the height of the reflector 3 〇〇 200817656 at the time of the image pattern of the reflector 3 00. Since the reflector 300 is a circular floating plate, the digital camera 100 The setting direction and position are not limited. Referring to the second figure, a schematic diagram of pixel value and distance conversion of the image pattern of the reflector 300, wherein the reflector 300 is further a circular plate, and the pixel value of the diameter of the reflector 300 can be calculated to obtain a reflection. The height of the plate 300 from the top 201 of the storage tank 200. The invention relates to the image monitoring and stock detection co-construction system of the liquid storage tank. The schematic diagram of the system includes the following parameters: Back OP: optical origin of the digital camera;

Pi、Pj :該反光板300所處之不同位置; &·、〜:該反光板300分別於Pi、Pj與該數位攝影機 100之表面的距離; 知:光學原點OP與該數位攝影機100之表面的距離; 厂:該反光板300之半徑; :該數位攝影機1〇〇所能攝影之最大角度;Pi, Pj: different positions of the reflector 300; &, ~: the distance of the reflector 300 from the surface of the digital camera 100, Pi: Pj; optical origin OP and the digital camera 100 The distance of the surface; factory: the radius of the reflector 300;: the maximum angle that the digital camera can photograph;

••該反光板300分別於位置Pi、ρ·其与 像圖形直徑的像素值; 1 p' W 乃(¾)、/)(¾):該數位攝影機1〇〇所能攝影之最大 < 長度;以及 〜 之影像晝面資訊的 、心:該數位攝影機100 最大攝影像素值。 由於數位攝影機1G()所攝影之影像晝㈣訊的掃描 間與被掃描物的水平距離有著線性比例關係,因此便可 接以像素值的大小代表該反光板300之水平距離。根 線性比例關係可知該反光板的水平距離㈣與最大^ 200817656 影長度乃(¾))的比值即和該反光板300的像素值 (K/2Z>)、凡(7^)與敢大攝影像素值(仏作J、%内))的比值相 同,參考下列關係式: D(hf) = ND(ht) NM) x2r D(hj) = ND{hj) ^r(hj) x2r 且不論該數位攝影機100的攝影距離長度為何,該數 位攝影機100所擷取之影像晝面資訊的晝面大小皆相等, 亦即每一條掃描線的像素值皆相等,為凡㈣,因此可 得下列關係式:• The reflector 300 is at the position Pi, ρ, and the pixel value of the image pattern diameter; 1 p' W is (3⁄4), /) (3⁄4): the maximum camera that can be photographed by the digital camera 1 <Length; and ~ image of the face information, the heart: the maximum camera pixel value of the digital camera 100. Since the image of the image captured by the digital camera 1G() is linearly proportional to the horizontal distance of the object to be scanned, the pixel value can be connected to represent the horizontal distance of the reflector 300. According to the linear proportional relationship of the root, the ratio of the horizontal distance (4) of the reflector to the maximum length of the 200818656 shadow is (3⁄4), that is, the pixel value of the reflector 300 (K/2Z>), the (7^) and the dare photography. The ratio of the pixel value (in J, %) is the same, refer to the following relationship: D(hf) = ND(ht) NM) x2r D(hj) = ND{hj) ^r(hj) x2r and regardless of The length of the photographic distance of the digital camera 100 is equal, and the size of the image of the image captured by the digital camera 100 is equal, that is, the pixel values of each scanning line are equal, which is (4), so the following relationship can be obtained. :

Nd (¾.) = Nd {hj) = Ns (max) D(hi) = ^^x2r 物2r ϋ(^) = ^^χ2 J Κ(^) x2r 麥考,角形定理以及帶入上述關係式的結果可將& \的值表示為以下關係式: 1 〜=^ixrxA。 ▲斤其中,Co/4、心二個參數值係可經由一計算模型事先 计异出該C〇i4、/z0二個參數值的大小。因此再計數、 Kb)值之後即可求得\h的值。 200817656 ^箏考第二圖為計算成、二個參數值的計算模型之 系統架構圖,包括二組垂直量尺4n、412以及二組水平量 尺421、422 ’其中該等水平量尺42卜422係分別與該數 位攝影機1GG的表面之垂直距離a ^ ★,且該等垂直 距離可輕易由該等垂直量尺411、412量測出, 且該數位攝影機100於該等水平量尺42卜422之最大水平 攝影距離可由該等水平量尺輕易量測出,並表示為I、Nd (3⁄4.) = Nd {hj) = Ns (max) D(hi) = ^^x2r Object 2r ϋ(^) = ^^χ2 J Κ(^) x2r McCaw, the angle theorem and the above relationship The result can be expressed as the following relationship: 1 ~=^ixrxA. ▲ 斤, Co, 4, heart two parameter values can be calculated by a calculation model to determine the size of the two parameters C 〇 i4, / z0. Therefore, the value of \h can be obtained after counting and Kb). 200817656 ^The second picture of the Zheng test is a system architecture diagram of the calculation model of the calculated and two parameter values, including two sets of vertical scales 4n, 412 and two sets of horizontal scales 421, 422 'where the horizontal scales 42 422 is a vertical distance a ^ ★ from the surface of the digital camera 1GG, and the vertical distances can be easily measured by the vertical scales 411, 412, and the digital camera 100 is at the horizontal scale 42 The maximum horizontal photographic distance of 422 can be easily measured by the horizontal scales and expressed as I.

Dm2。 .由三角形定理可得h〇+km” h〇+hm2的值 ,如以下關係 =2Dfnl c〇tes 2 cot屺 、412及水平量尺421、422 的值,因此可求得見、 由於藉由該等垂直量尺4li 得出 hm]、hm、DmI、Dm2 知二個參數值,如以下關係式:Dm2. From the triangle theorem, the value of h〇+km” h〇+hm2 can be obtained, such as the following relationship = 2Dfnl c〇tes 2 cot屺, 412 and the values of the horizontal scales 421, 422, so it can be seen, because The vertical scales 4li yield hm], hm, DmI, Dm2 and two parameter values, such as the following relationship:

cot 义=2Cot meaning=2

參考苐四A圖〜第四D圖為兮童 备度轡化i 口马忒數位攝影機100之水平 角度夂化叫L意圖,#反光板為圓 攝影機100係對該儲存槽之儲存液體心心 時,不論該數位攝影棬 曲成金直攝办 尨掸械 水千角度為何,且不論該儲 存槽之t體為四方形或圓形,皆不會影響該反光板3〇〇 11 200817656 之影像圖形的像素計算。在架設本發明應用於液體儲存槽 之影像監視與存量偵測共構系統時即不需使用到角度調校 設備’因此建立本發明之系統得更為簡便,使得本發明之 系統更具有實用價值。 蒼考第五圖為影像圖形面積計算之流程圖,於流程 501時’該面積計算演算法500係以該數位攝影機100讀 取包括該反光板3〇〇之影像圖形的影像畫面資訊;於流程 502時’即將所有影像晝面資訊作色差濾光處理,以將所 有非屬黃色色系之影像直接排除;於流程503時,即設定 色度上下限臨界值,以作相同色系的色度比較;於流程504 時’即檢查所讀取之像素的色度是否位於臨界值之内,若 否的話則進行流程505,若是的話則進行流程506 ;於流程 505時’則繼續判斷下一筆讀取數值並回轉至流程5〇4;於 流程506時,啟動像素計數功能以統計像素值;於流程5〇7 日守,k查疋否已完成全晝面確認,若否的話則進行流程 5〇8 ’若是的活則進行流程509 ;於流程508時,繼續判斷 下一筆讀取數值並回轉至流程5〇4 ;以及於流程5〇9時, 將所統計出的總像素值換算為影像圖形面積。 §反光板300於距離該儲存槽2〇〇之頂部2〇1為化· 時,由於所有讀取之影像晝面資訊先作色差濾光處理,因 此當所比較的像素是位於所設定的臨界值之内,則該像素 可視為該反光板300的影像圖形之像素,此時所有^统計 的黃色色系之像素值的總合叫)即代表該反光板的 影像圖形之©積,^; 卩可視為反光板的直徑所 佔之像素值。 由於在同一距離⑹之下該反光板300亦可位於任一 位置,因此以下即檢查在同一距雜Μ彳 J距離%)之下,該反光板300 12 200817656 所處之位置對本發明之系統的計算結果之影響。 當該反光板300之直徑為11.1公分且\為155公分 時’可得如下表之統計資料· ΣΝΥ 9031 9041 9054 9049 9023 Nr(hi) 107.23 107.29 107.37 107.34 107 18 當該反光板300之直徑為11.1公分且\為 時,可得如下表之統計資料·· 197公分 ΣΝΥ 5616 5610 5621 5618 5608 Nr(hi) 84.56 84.52 84.60 84.58 84.50 而誤差量的定義為: 士 Σ雄)-雄) ^ η=Λ 根據誤差量的定義,可證實在同一距離(/2/)之下,该反 光板300所處之位置對本發明之系統的計算結果影響並不 大,且其誤差是可以被接受的。 /曰" 因此,當反光板300於&位置時,以ΣΛ^為代表該反 光板300的影像圖形之面積,且以為反光板^^的 影像圖形之直徑,可求得該直徑如下所示: 由於本兔明係先統计該影像圖形像素值之總合 (ΣΛ/r),再利用面積與半徑的關係式以。^々勹計算出該^ 板3〇2的直徑所佔之像素值(凡❶山,如此利用採取=均值 的計算方法可避免量測結果的不確定性。 而在得知Κ;2Ζ>)的值之後,由於^如^、知二個參數值 13 200817656 係為事先所計算出之已知值,因此根據以下關係式即可 算出\的值: hRefer to Figure 4A to Figure 4D for the child's preparation. The horizontal angle of the digital camera 100 is called L intention. The #reflector is the circular camera 100 is the storage liquid heart of the storage tank. Regardless of the angle of the digital camera, the angle of the water is not affected, and the image of the reflector is not affected by the image of the reflector 3 200811 200817656. Pixel calculation. When the invention is applied to the image monitoring and stock detection co-construction system of the liquid storage tank, the angle adjustment device is not needed. Therefore, it is more convenient to establish the system of the invention, and the system of the invention has more practical value. . The fifth picture of the Cang test is a flow chart for calculating the area of the image pattern. In the process 501, the area calculation algorithm 500 reads the image information of the image including the image of the reflector 3 by the digital camera 100; At 502 hrs, all the image information of the image is subjected to color difference filtering to directly exclude all images that are not yellow color. In the process 503, the upper and lower threshold values of chromaticity are set to make the chromaticity of the same color system. Comparing; at process 504, it is to check whether the chrominance of the read pixel is within a critical value, if not, proceed to flow 505, and if so, proceed to flow 506; at process 505, 'continue to determine the next read. Take the value and go to the process 5〇4; in the process 506, start the pixel counting function to count the pixel value; in the process 5〇7 day, k check whether the full face confirmation has been completed, if not, proceed to process 5 〇8 'If yes, proceed to flow 509; at process 508, continue to determine the next reading value and revert to flow 5〇4; and at flow 5〇9, convert the calculated total pixel value to image Graphics Product. § When the reflector 300 is at a distance from the top of the storage slot 2〇1, since all the read image information is first processed by chromatic aberration, when the compared pixels are at the set threshold Within the value, the pixel can be regarded as the pixel of the image pattern of the reflector 300, and the sum of the pixel values of all the yellow color systems at this time represents the product of the image pattern of the reflector, ^;卩 can be regarded as the pixel value of the diameter of the reflector. Since the reflector 300 can be located at any position below the same distance (6), the following is checked under the same distance J (% distance), and the position of the reflector 300 12 200817656 is on the system of the present invention. Calculate the impact of the results. When the diameter of the reflecting plate 300 is 11.1 cm and \ is 155 cm, the statistics of the following table can be obtained. ΣΝΥ 9031 9041 9054 9049 9023 Nr(hi) 107.23 107.29 107.37 107.34 107 18 When the diameter of the reflecting plate 300 is 11.1 For the cents and \time, the statistics of the following table are available. · 197 cm ΣΝΥ 5616 5610 5621 5618 5608 Nr(hi) 84.56 84.52 84.60 84.58 84.50 The error amount is defined as: 士Σ雄)-雄) ^ η=Λ According to the definition of the error amount, it can be confirmed that the position of the reflecting plate 300 under the same distance (/2/) has little influence on the calculation result of the system of the present invention, and the error is acceptable. /曰" Therefore, when the reflector 300 is in the & position, the area of the image pattern representing the reflector 300 is represented by ΣΛ^, and the diameter of the image pattern of the reflector is determined as follows. Show: Since the rabbit Mingxian first counts the sum of the pixel values of the image pattern (ΣΛ/r), and then uses the relationship between the area and the radius. ^々勹 Calculate the pixel value of the diameter of the plate 3〇2 (Wushan, so use the calculation method of taking = mean to avoid the uncertainty of the measurement results. And know Κ; 2Ζ>) After the value, since ^^^, knowing that the two parameter values 13 200817656 are known values calculated in advance, the value of \ can be calculated according to the following relationship: h

Kih) xrxcot0s^ho 身又儲存液體的咼度係指由儲存液體之液面到儲存槽 之槽,的距離,因此復參考第一圖,其中為該反光^ 300浮置於液面時其上表面之位置,尸△為底部的上表 面,户貧為該反光板300置於底部202時其上表面之位置。 因此,\係為該反光板300位於時該反光板3〇〇之上 表面與該數位攝影機1〇〇之表面的距離,心係為該反光板 300位於時該反光板3〇〇之上表面與該數位攝影機 之表面的距離,而//&則為該反光板3〇〇之結構厚度,因 此該儲存槽200之儲存液體的高度可表示為如下所示:Kih) xrxcot0s^ho The temperature of the liquid stored in the body is the distance from the liquid level of the storage liquid to the tank of the storage tank. Therefore, refer to the first figure, where the reflection ^ 300 floats on the liquid surface. The position of the surface, the corpus △ is the upper surface of the bottom, and the household is the position of the upper surface of the reflector 300 when it is placed at the bottom 202. Therefore, the distance between the upper surface of the reflector 3 and the surface of the digital camera 1 is when the reflector 300 is located, and the center is the surface of the reflector 3 when the reflector 300 is located. The distance from the surface of the digital camera, and //& is the structural thickness of the reflector 3, so the height of the storage liquid of the storage tank 200 can be expressed as follows:

Hga =hg -ha +Hb 八 max) I )xrxcot05 ^Hb 由上述關係式可知’計算儲存液體之高度並不需要心 之參數值’因此可表示本發明之系統適胁任—數位攝影 機’而不受限於^光學原點OP的位置,且不論該數位攝 影機100之安裝高度為何皆不會影響到量測之結果,因此 使得本發明之系統的安裝與架設變的十分容易。 本發明之系統並實際以Sony P10為數位攝影機100 作實際量測’顧第三圖所示之系統架構圖建立來數值 ⑽㈣.731 ’且該數位攝影機100之解析度為2048*1536, 所以每一條掃描線最大攝影像素值%知①^為 2048個,而 該反光板300之半公分,因此可得結果如下所示·· 200817656 误差量% 107.23 84.50 154.97 _ 196.66 0.019 0.173 ?2。。内部儲存;;之液面的任意位i疋本 量測之2果所獲得之誤差仍非f小。料狀糸、、先所 目前的自動化加工线之距離量測方法中,在各種自 作母機上,幾乎都是使用增量型的光學尺做 頭的移以2。然:在光學尺的使用上必須帶動感測 捧,且導致因震:光學二測’而感測頭的移動容易產生摩 ;二=所造成的誤差以及測量時的歸零校正等 視盘存旦㈣=步將本發明應祕液體儲存槽之影像監 方;=2系統應用於自動化加工系統之距離量測 方法’ U改善上述之問題。 量測=:==?、!於自動化加工系統之距離 j 貝鈀例的糸統架構圖。該實施例即於一加工 =0二侧加裝一固定面積之標準面積參考板6〇1,以 達到本反光板之功能,且該加工設備6 〇 3係於 -工作平台6〇2上作水平移動,以將固定夾祕所固定之 待加工物進行表面加工之動作。 ^該實施例同樣以一數位攝影機100架設於該標準平面 參考板601之一侧,利用該標準面積參考板6〇1於該數位 攝影機1GG的影像晝面中所形成之影像圖形的面積大小, 以代表該數位攝影機100與該標準面積參考板6〇1之距 離。由於加工設備603之加工範圍的起點(A)與終點(B)皆 以直接預先設定,且當加工設備6〇3位於A及B之上方 時’其影像圖形分別可表示為2馬與。 15 200817656 的最大範二二:標準面積參考板601可依待測距離 解析度(量測的最,同产t之標準面積」以_最高的量測 為長方形時,早位’並且若當該標準面積參考601 當作該距離時^每H掃鱗上所佔像相平均值, 差。 才的,則能避免因震動所造成的量測誤 描線=七3=積參考Ϊ601為長方形時的掃 而求得該^^掃描線,因此可得—關係式如下,並進 心丰面積芩考板601的移動距離:Hga =hg -ha +Hb 八max) I )xrxcot05 ^Hb From the above relationship, it can be seen that 'the calculation of the height of the storage liquid does not require the parameter value of the heart' and thus can represent the system of the present invention. Restricted to the position of the optical origin OP, and regardless of the mounting height of the digital camera 100, the measurement results are not affected, thus making the installation and mounting of the system of the present invention very easy. The system of the present invention actually uses the Sony P10 as the digital camera 100 for actual measurement. The system architecture diagram shown in the third figure establishes the value (10) (four) .731 ' and the resolution of the digital camera 100 is 2048*1536, so each The maximum photographic pixel value % of one scan line is 2048, and the half-cm of the reflector 300, so the results are as follows. · 200817656 Error amount% 107.23 84.50 154.97 _ 196.66 0.019 0.173 ? . The internal storage;; the liquid level of any position i 疋 measured 2 of the results obtained by the error is still not f small. In the current measurement method of the automatic processing line, almost all of the self-made machine tools use the incremental optical ruler to move the head to 2. However: in the use of the optical ruler must drive the sense of holding, and lead to the earthquake: optical two test 'and the movement of the sensor head is easy to produce friction; two = the error caused by the measurement and the zero correction during the measurement (4) = step to the image monitoring of the liquid storage tank of the present invention; = 2 system applied to the distance measurement method of the automated processing system 'U to improve the above problems. Measurement =:==?,! The distance from the automated processing system. In this embodiment, a standard area reference plate 6〇1 of a fixed area is added on a processing=0 side to achieve the function of the reflector, and the processing device 6〇3 is attached to the working platform 6〇2. Move horizontally to perform surface processing of the object to be processed fixed by the fixed clip. In this embodiment, the digital camera 100 is also mounted on one side of the standard plane reference board 601, and the size of the image pattern formed by the standard area reference board 6〇1 in the image plane of the digital camera 1GG is used. To represent the distance between the digital camera 100 and the standard area reference plate 6〇1. Since both the start point (A) and the end point (B) of the processing range of the processing apparatus 603 are directly preset, and when the processing apparatus 6〇3 is located above A and B, the image patterns thereof can be expressed as 2 horses and respectively. 15 200817656's maximum Fan 22: Standard Area Reference Board 601 can be based on the distance resolution to be measured (the most measured, the standard area of the same production t) is measured as a rectangle with the highest value of _, and if The standard area reference 601 is used as the distance. ^The average value and the difference of the image area on each H sweep scale. If it is, the measurement misdetection line caused by vibration can be avoided = seven 3 = product reference Ϊ 601 is rectangular Scan and find the ^^ scan line, so you can get - the relationship is as follows, and enter the heart area of the test board 601 moving distance:

KK

K 若以2公分的移動量具有2〇〇個像素的改 ^測解析度即可達到(U公厘(―的解析度, 的數位攝影機或數位像機其單位水平掃描像素_般月$ 到2000個像素以上,故其量測解析度將可達到忉 (㈣以上的解析度。因此將本發明之线應用於各動自^ =設計與製造,亦能提供一種精確且能依需求 ,任思加I的距離量測系統,因而使得本發明之系統 計及應用上更具彈性。 、 ^綜上所述,本發明應用於液體儲存槽之影像監視與存 1偵測共構系統係為一非接觸式距離量測系統,可避/免操 作時工作人員與儲存液體接觸所引發之公安危險,且由= 本發明之系統不必再使用兩道平行的雷射光,也不必把浮 板固定在同一垂直軸上,使得量測系統的機構更簡單,安 裝更容易。並且因不必考慮數位攝影機光學原點所在的位 置’也不必考慮於槽頂架設的高度,故於量測過程中,將 16 200817656 不必做任何高度的校正。且因盔 使得該數㈣雜缝㈣目機、纟的距離,因此K can be achieved with a 2 cm pixel change with a movement of 2 cm (U mm (" resolution, digital camera or digital camera with unit horizontal scanning pixels _ average month $ to More than 2000 pixels, so the measurement resolution will reach 忉 ((4) or more resolution. Therefore, applying the line of the present invention to each mobile design and manufacturing can also provide an accurate and can be used according to requirements. The distance measurement system of Sijia I makes the system of the present invention more flexible in terms of application and application. In summary, the image monitoring and storage detection co-construction system of the present invention is applied to a liquid storage tank. A non-contact distance measuring system can avoid the public safety hazard caused by the contact of the worker with the storage liquid during operation, and the system of the invention does not need to use two parallel laser lights, and does not need to fix the floating plate On the same vertical axis, the mechanism of the measuring system is simpler and easier to install. And because it is not necessary to consider the position of the optical origin of the digital camera, it does not have to consider the height of the top of the trough. Therefore, during the measurement process, 16 200817656 There is no need to make any height correction, and because of the helmet, the number (four) is the seam, the distance of the eyepiece, so

Ns(maX) ’並直接使用於本發明之系統中。且^立攝影機的 f果,用於各種自動必加重,做為精密究的 能由影像畫面觀測加工的情形’並且^ 在2說明本發明的較佳實施例之後,孰 人士可歧的瞭解’在不脫離下述㈣專利g =技術 進行各種變化與改變,且本發明亦不受限於朗j神下 實施例的實施方式。 曰中所舉 17 200817656 【圖式簡單說明】 第二圖 化距離之職、㈣=攝顯財平肖歧槪光板於 \距離之掃描 線圖=圖數位攝影機於水平角度及該反光板於 ㈣弟之四掃1':=位攝影機於傾斜角度及該反光板於 ㈣第之四掃位攝影機於傾斜角度及該反撕 ί影像圖形面積計算之流程圖; /、:為本發明另一實施例之系統架構圖;以及 弟七-為標準面積參考板的掃描線示意圖。 主要部份之代表符號: 100…數位攝影機 200…儲存槽 201…儲存槽頂部 202…儲存槽底部 210…防塵罩 211…強化玻璃 221、222…投射燈 300…反光板 310…浮力棉 320…重力錘 200817656 411、412…垂直量尺 421、422…水平量尺 500…面積計算演算法 5 01〜5 09—流程 601-—標準面積參考板 602…工作平台 603— 加工設備 604— 待加工物 605— 固定失 19Ns(maX) ' is used directly in the system of the present invention. And the effect of the camera is used for various kinds of automatic weighting, as a case of precision observation that can be processed by the image picture 'and ^ after the description of the preferred embodiment of the present invention, the person can understand the difference' Various changes and modifications can be made without departing from the following (4) patent g = technology, and the invention is not limited to the embodiment of the embodiment.曰 所 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 2008 The fourth scan of the 4':================================================================================================== Example system architecture diagram; and brother seven - is the scan line diagram of the standard area reference board. Representative symbols of the main parts: 100... Digital camera 200... Storage tank 201... Storage tank top 202... Storage tank bottom 210... Dust cover 211... Reinforced glass 221, 222... Projection lamp 300... Reflector 310... Buoyancy cotton 320... Gravity Hammer 200817656 411, 412... vertical scale 421, 422... horizontal scale 500... area calculation algorithm 5 01~5 09—flow 601-—standard area reference plate 602... work platform 603—processing equipment 604—to-be-processed object 605 — fixed loss 19

Claims (1)

200817656 十、申請專利範圍: 1. 一種應用於液體儲存槽之影像監視與存量偵測共構系 統,包括: 一反光板,係浮置於前述液體儲存槽所儲存液體之 液面;以及 一數位影像裝置,用以擷取一包括前述反光板的影 像圖形之影像晝面資訊; 其中,利用前述影像畫面資訊計算前述反光板的影 像圖形之像素值,並計算前述影像圖形的像素值與前述 影像晝面資訊之最大攝影像素值的像素值之像素值比 值,進而利用前述像素值比值係與前述反光板之實際長 度與前述影像晝面資訊之實際最大攝影長度的長度比 值成正比之關係,計算前述實際影像晝面資訊之最大攝 影長度,以及根據前述最大攝影長度與三角形定理計算 前述反光板與前述液體儲存槽頂部之距離。 2·如申請專利範圍第1項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述數位影像裝置係可為 一數位攝影機或一數位相機。 3. 如申請專利範圍第1項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述反光板之上表面係為 一具有單色系之平坦表面。 4. 如申請專利範圍第1項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述反光板係為一圓形平 20 200817656 板0 5. 如申請專利範圍第1項、第3項或第4項之應用於液體 儲存槽之影像監視與存量偵測共構系統,其中前述反光 板進一步包括一浮體,用以提供前述反光板浮力。 6. 如申請專利範圍第1項、第3項或第4項之應用於液體 儲存槽之影像監視與存量偵測共構系統,其中前述反光 板進一步包括一重力錘,用以穩定前述反光板。 7. 如申請專利範圍第1項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述液體儲存槽進一步包 括一投射燈,用以增加前述液體儲存槽内部之亮度。 8. 如申請專利範圍第1項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述數位影像裝置係設置 於前述液體儲存槽之頂部,並以一透明隔離板隔離前述 數位影像裝置與前述液體儲存槽所儲存之液體。 9. 一種應用於液體儲存槽之影像監視與存量偵測方法,包 括: 以一數位影像裝置擷取包含一目標物的影像圖形之 影像晝面資訊; 計算前述影像圖形的像素值與前述影像晝面資訊之 最大攝影像素值的像素值之像素值比值; 利用前述像素值比值係與前述目標物之實際長度與 前述影像晝面資訊之實際最大攝影長度的長度比值成 21 200817656 正比之關係,計算前述實際影像畫面資訊之最大攝影長 度;以及 根據前述最大攝影長度與三角形定理計算前述目標 物與前述數位影像裝置之距離。 10·如申請專利範圍第9項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述數位影像裝置係可為 一數位攝影機或一數位相機。 11. 如申請專利範圍第9項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述目標物之上表面係為 一具有單色系之平坦表面。 12. 如申請專利範圍第9項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述目標物係為一圓形平 板0 13. 如申請專利範圍第9項、第11項或第12項之應用於液 體儲存槽之影像監視與存量偵測共構系統,其中前述目 標物進一步包括一浮體,用以提供前述目標物浮力。 14. 如申請專利範圍第9項、第11項或第12項之應用於液 體儲存槽之影像監視與存量偵測共構系統,其中前述目 標物進一步包括一重力錘,用以穩定前述目標物。 15·如申請專利範圍第9項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述液體儲存槽進一步包 22 200817656 括一投射燈,用以增加前述液體儲存槽内部之亮度。 16.如申請專利範圍第9項之應用於液體儲存槽之影像監 視與存量偵測共構系統,其中前述數位影像裝置係設置 於前述液體儲存槽之頂部,並以一透明隔離板隔離前述 數位影像裝置與前述液體儲存槽所儲存之液體。 23200817656 X. Patent application scope: 1. A video surveillance and stock detection co-construction system applied to a liquid storage tank, comprising: a reflector, a liquid level floating on a liquid stored in the liquid storage tank; and a digital position The image device is configured to capture image information of the image pattern including the reflector; wherein the pixel image information of the reflector is calculated by using the image information, and the pixel value of the image pattern and the image are calculated The pixel value ratio of the pixel value of the maximum photographic pixel value of the facet information is further calculated by using the ratio of the pixel value ratio to the length ratio of the actual length of the reflector and the actual maximum photographic length of the image mask information. The maximum photographic length of the actual image kneading information, and the distance between the reflecting plate and the top of the liquid storage tank according to the maximum photographic length and the triangle theorem. 2. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to the first aspect of the patent application, wherein the digital image device can be a digital camera or a digital camera. 3. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to claim 1, wherein the upper surface of the reflector is a flat surface having a monochromatic system. 4. The image monitoring and stock detection co-construction system applied to the liquid storage tank according to the first application of the patent scope, wherein the reflector is a round flat 20 200817656 board 0 5. As claimed in the first item, Item 3 or 4 is an image monitoring and stock detection co-construction system applied to a liquid storage tank, wherein the reflector further comprises a floating body for providing buoyancy of the reflector. 6. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to the first, third or fourth aspect of the patent application, wherein the reflector further comprises a gravity hammer for stabilizing the reflector . 7. The image monitoring and stock detection co-construction system for use in a liquid storage tank according to claim 1, wherein the liquid storage tank further comprises a projection lamp for increasing the brightness of the interior of the liquid storage tank. 8. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to the first aspect of the patent application, wherein the digital image device is disposed at the top of the liquid storage tank and isolates the digit by a transparent partition plate. The image device and the liquid stored in the liquid storage tank. 9. An image monitoring and stock detection method applied to a liquid storage tank, comprising: capturing image information of an image pattern containing a target object by a digital image device; calculating pixel values of the image pattern and the image 昼The ratio of the pixel value of the pixel value of the maximum photographic pixel value of the surface information; using the ratio of the pixel value ratio to the length ratio of the actual length of the target object to the actual maximum photographic length of the image plane information is proportional to the relationship of 21 200817656, a maximum photographic length of the actual video picture information; and calculating a distance between the target object and the digital image device according to the maximum photographic length and a triangle theorem. 10. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to claim 9 wherein the digital image device can be a digital camera or a digital camera. 11. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to claim 9 wherein the upper surface of the object is a flat surface having a monochromatic system. 12. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to the scope of claim 9 wherein the target system is a circular plate 0. 13. For the scope of claim 9 and 11, Or the image monitoring and stock detection co-construction system applied to the liquid storage tank according to Item 12, wherein the target object further comprises a floating body for providing the buoyancy of the target object. 14. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to claim 9, claim 11, or claim 12, wherein the target further comprises a gravity hammer for stabilizing the target object . 15. The image monitoring and stock detection co-construction system applied to a liquid storage tank according to claim 9, wherein the liquid storage tank further includes 22, and a projection lamp for increasing the brightness of the liquid storage tank. . 16. The image monitoring and stock detection co-configuration system for a liquid storage tank according to claim 9, wherein the digital image device is disposed at the top of the liquid storage tank and isolates the digit by a transparent spacer. The image device and the liquid stored in the liquid storage tank. twenty three
TW95136531A 2006-10-02 2006-10-02 Image monitoring and stock detection integrated system applied in liquid storage tank and method thereof TWI289198B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
TW95136531A TWI289198B (en) 2006-10-02 2006-10-02 Image monitoring and stock detection integrated system applied in liquid storage tank and method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
TW95136531A TWI289198B (en) 2006-10-02 2006-10-02 Image monitoring and stock detection integrated system applied in liquid storage tank and method thereof

Publications (2)

Publication Number Publication Date
TWI289198B TWI289198B (en) 2007-11-01
TW200817656A true TW200817656A (en) 2008-04-16

Family

ID=39294920

Family Applications (1)

Application Number Title Priority Date Filing Date
TW95136531A TWI289198B (en) 2006-10-02 2006-10-02 Image monitoring and stock detection integrated system applied in liquid storage tank and method thereof

Country Status (1)

Country Link
TW (1) TWI289198B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI473975B (en) * 2011-11-01 2015-02-21 Finetek Co Ltd The installation and adjustment of the liquid level gauge
CN114459362B (en) * 2021-12-31 2024-03-26 深圳市瑞图生物技术有限公司 Measuring device and measuring method thereof

Also Published As

Publication number Publication date
TWI289198B (en) 2007-11-01

Similar Documents

Publication Publication Date Title
US8244023B2 (en) Shape measuring device and shape measuring method
KR101485192B1 (en) Systems and methods for determining the shape of glass sheets
TWI314988B (en) Apparatus and method for detecting defects in wafer using line sensor camera
JP2005321278A (en) Three dimensional shape input apparatus
TW200919271A (en) System and method for performing optical navigation using scattered light
TWI740237B (en) Optical phase profilometry system
JPWO2017090426A1 (en) Object measuring apparatus and object measuring method
JP2016099140A (en) Water bottom observation system
CN108709502A (en) Crack vision measurement device based on parallel laser and measurement method
CN101626728B (en) An optical device for measuring the height of a person
CN105698749A (en) Laser distance measuring sensor
CN107607050A (en) Laser thickness measuring apparatus
TW200817656A (en) Image monitoring and stock detection integrated system applied in liquid storage tank and method thereof
JP2012002564A (en) Three-dimensional shape measuring device, calibration method for three-dimensional shape measuring device and robot device
CN110502947B (en) Structured light depth measuring system, method for measuring information code depth and data processing method
JP2000283721A (en) Three-dimensional input device
CN111366593A (en) Device and method for measuring defect delamination of glass substrate
CN108288285B (en) Three-dimensional panoramic scanning system and method based on omnidirectional loop
CN101206114A (en) Electron type level sensor and sensing method thereof
CN109683168A (en) A kind of geometric method laser imaging range unit and its measurement method
JP2002131054A (en) Automatic surveying method
TW201036417A (en) U-shape optical path image scanning method and scanning module thereof
CN206146379U (en) Image appearance that is suitable for measurement frame shape article
WO2019229834A1 (en) Observation device and inclination detection method
CN109073371B (en) Apparatus and method for tilt detection

Legal Events

Date Code Title Description
MM4A Annulment or lapse of patent due to non-payment of fees