201027068 六、發明說明： 【發明所屬之技術領域】 本發月特別係關於一種藉由捕捉物件之多個表面之影像 而檢視物件的方法及裝置。 【先前技術】201027068 VI. Description of the Invention: [Technical Field of the Invention] This month's month is particularly directed to a method and apparatus for viewing an object by capturing images of a plurality of surfaces of the object. [Prior Art]
❿ 在先讀術中’已知有一種裝置，欲被檢視的物件是以其 頂表面固持在適t位置，錢轉送至檢視站。在此檢視站 上使用多個攝影機以捕捉此物件之底表面及侧表面之影像 、便檢視在習知用於捕捉物件之多個表面之影像的裝置 令主僅使用個攝影機。為了使攝影機能夠捕捉到所有表面 之/月楚轉’在習知裝置中的不同表面影像之光學路徑被轉 向至攝影機。—次僅能捕捉到—個影像。此外，從不同的表 面影像到攝域的光學雜也有解肖；必_整以補償不 同的路控’如此—來，方能使捕捉到的影像變得清楚。 為了捕捉物件之侧表面及表面之四個不同影像，設有四 個鏡子或稜鏡’錢在物件每次處於檢視_能夠捕捉五個 影像。然而，如此—來，物件需要單一化(singulated),或一 二欠只能檢視一個物件。因此，需要增進檢視過程的效率。 pCT申請案PCT/CH2004/000074揭示一種裝置，其具有 用於調整侧面影像之光學路徑以使其等於底表面影像之光 學路徑的棱鏡。美國專利公告US 2008/0246958揭示一種裝 置，其具有用於調整側面影像之光學路徑以使其等於底表面 098139265 4 201027068 景夕像之光學路徑的棱鏡。然而，由於不同尺寸的物件之側面 影像之光學路徑不同，所以，必須使用具有不同反射比的稜 鏡，才能夠捕捉到不同尺寸的物件之影像。 因此’需要提出一種檢視物件的有效方法，且不必為了不 同的物件而改變稜鏡。 【發明内容】 根據本發明的實施例，本發明是一種用於捕捉物件之底表 Φ 面影像及四個不同側面影像的裝置。本發明包含：檢視站； 拾取及放置組件，用於將物件移動至檢視站；一個攝影機， 位於檢視站，以捕捉物件之底表面影像；二個攝影機，位於 檢視站，以捕捉物件之兩個不同侧面影像；二個分光器，各 自位於檢視站，以便將物件之每個侧面影像之光學路徑轉向 至各別的攝影機；以及，光源。 較佳地，拾取及放置組件包含用於拾取物件的拾取器、及 Φ 聯接至拾取器而倒向旋轉該拾取器的致動器。 較佳地，拾取器與致動器的聯接是齒條與小齒輪配置。 在另一實施例中，提出一種用於捕捉多個物件之底表面影 . 像及四個不同侧面影像的裝置。此裝置包含：檢視站；拾取 及放置組件，用於將物件移動至檢視站；一個攝影機，位於 檢視站，以捕捉物件之底表面影像；二個攝影機，位於檢視 站，以捕捉物件之兩個不同側面影像；二個分光器，各自位 於檢視站，以便將物件之每個侧面影像之光學路徑轉向至各 098139265 5 201027068 別的攝影機；以及，光源。 較佳地，拾取及放置組件包含各自用於拾取物件的多個拾 取器、及聯接至該等拾取器以側向旋轉該等拾取器的致動 器。 較佳地’諸拾取器與致動器的聯接是齒條與小齒輪配置。 作為另-替代方式’拾取及放置組件包含多個致動器，而 各致動器分別聯接各自的拾取器，以便侧向旋轉該等拾取 ❹ 器。 較佳地’二個攝影機被定位成用以捕捉兩個相反的側面影 像。 作為另#代方式’一個攝景多機被定位成捕捉兩個相鄰的 側面影像。 較佳地，該光源是可構形的（e〇nfigurable)。 -種藉由捕捉在檢視站的物件之底表面影像及四個不同 ❹側面影像而檢視物件的方法，包含以下步驟：將物件裝載在 輸入站；從輸人站拾起物件；移動物件進人檢視站；捕捉物 件之第-多數影像；旋#物件；捕捉第二多數影像；以及， 將檢視過的物件轉送回輸入站。 帛藉由捕捉多個物件之底表面影像及四個不同侧面影 像而檢視物件的方法，包含以下步驟：將多個物件裝載在輸 入站，從輸人站拾起多個物件；移㈣個物件進人檢視站； 捕捉每-物件之第-多數影像；㈣多個物件；捕捉第二多 098139265 6 201027068 數影像；以及，將檢視過的多個物件轉送回輸入站。 【實施方式】 為了能夠更清楚理解本發明’以下，將參相圖以範例方 式說明本發明的實施例。 本發明是一種藉由捕捉五個影像而檢視如圖丨所示的物 件8之裝置。此五個影像面為四個不同的側向面1Q、12、 14、16及底表面18。四個不同的側向面可以是一個具有圓 ❹形侧面的物件之一個連續侧向面之不同部位。此物件以其頂 表面19被固持在適當位置，以供檢視。圖2顯示用於檢視 多個物件的裝置之較佳實施例。此裝置2〇包含：拾取及放 置組件22，吊於將配置在輸入站23之托盤21中的多個物 件8移動至檢視站24 ;攝影機組件26,其具有如圖4所示 的三個攝影機40、42、44，以捕捉每個物件8之底面影像 及四個不同側面影像。托盤21上含有呈矩陣配置而欲被檢 ❹視的多個物件，而且，托盤是沿著軌道28移動。 圖3顯示拾取及放置組件22，其包含一個用於旋轉多個 拾取器34的致動器30。在此較佳實施例中，致動器是一個 旋轉器30，其具有一個設有齒輪部32的轉軸22a、及具有 數個齒輪38的多個拾取器34。每個拾取器一次拾取一個物 件。旋轉器及多個拾取器被以齒條及小齒輪配置而聯接。齒 輪部32是一個主要小齒輪，而齒輪部38具有次要小齒輪及 齒條36。齒條36從主要小齒輪32延伸到次要小齒輪38。 098139265 7 201027068 當主要小裔輪32旋轉時，它會使齒條36產生移動，藉此旋 轉次要小齒輪38及由多個拾取器所攜帶的多個物件。 旋轉器的動作也可以由電動馬達(未顯示）或氣動方式加 以控制。 較佳地’拾取器利甩吸力或真空方式拾取物件。在拾取位 置上，施加吸力到拾取器上以拾取物件，以便將物件來回轉 送於檢視站24。當正在捕捉影像且當拾取器在檢視站側向 φ 旋轉時，吸引力能夠保持物件的位置。 攝影機組件26係顯示於圖4中。攝影機組件％包含一個 用以捕捉底面影像的攝影機4〇、及二個用以捕捉物件之兩 側面影像的攝影機42、44。此兩個侧面攝影機可以被定位 成每次捕捉相反或相鄰的二側面。藉由固定於適當位置的攝 影機，則不需要進行調整以適應不同的物件尺寸。 設有兩個分光器46、48,每個分光器被定位成將物件之 ❹各個側面影像之光學路捏轉向至各別的攝影機。藉由使一定 比率的入射光反射回去且使剩餘的入射光穿透過去，每個分 光器可同時作為鏡子與平光玻璃。 -在此較佳實施例中，此種裝置包括一個發光組件。來自光 源4A與4D的光線穿透分光器，以便對物件之側表面1〇、 12、14、16提供額外的光線，同時，允許側表面之影 反射至攝影機42、44上。 較佳地，設有一個間接光源4B。光線被發光組件之内表 098139265 8 201027068 面4C反射至物件上。此外’光源4E和4F對侧表面ι〇、η 14、16提供直接照明。 及檢視 光源可以被構形成允許檢視物件之所有可能變化、 準則。 光源為運用擴散光源的發光二極體(LED)。 圖5是本發明的實施例之方法的流程圖5〇〇。在步驟π? 中，物件被裝載在輸入站上。較佳地，多個物件排歹^在輪入2 ⑩站之執道28上的托盤矩陣上。在步驟504中，拾取及放置 組件22拾取多個物件，而在步驟5〇6中，將這些物件移= 至檢視站24。在步驟5〇8中，捕捉第一多數影像。在第一 組影像中，較佳地，對每個物件均捕捉到對應於三個攝影機 的兩個側面影像及絲面祕。健地，她㈣個物=之 影像’織’拾取及放置組件移動拾取器， 幾個物件，直到狀完拾取器上⑽有物件 ❿在步驟5H)巾’物件被旋轉’以便捕捉另外兩個側面爹 像。在步驟5丨2中，這些影像是以類似於步驟5〇8中的方式 捕捉。在步驟514中，檢視過的物件被轉送回輸入站之軌^首 上的托盤矩陣。 ^ 與先前技術相比，本發明的裝置與方法之優點在於：當檢 視不同尺寸的物件時，並不f要改變分光器（這些分光:是 改良的稜鏡）。如此可縮小裝置在改變分光器之後調整光= 路徑所需的停工時間。 予 098139265 9 201027068 此外，藉由使用多個拾取器，可以增進裝置的生產量。對 於一盤配置成列的物件來說，拾取器的數量可以被建構成對 應於一整列物件的數量。每一次在檢視站來回進行的拾取週 期中，可檢測一列物件。相較於在每次拾取週期中檢視多個 物件所節省下來的時間，利用齒條與小齒輪配置以轉動拾取 器所導致的額外時間，可以忽略不計。 要知道的是，上述幾個較佳實施例的說明僅用以描述本發 參明的原理而已，並非徹底詳細地揭露，而且，對於熟習此項 技術者來說，仍可以構思出其他變化與修改。因此，本發明 並非侷限於上述說明，而應該由申請專利範圍加以界定。 【圖式簡單說明】 圖1是顯示欲檢視的物件的示意圖。 圖2是本發明實施例的立體圖。 圖3是拾取及放置組件的侧視圖。 攀圖3a是拾取及放置組件的仰視圖。 圖3b是圖3a中之部位A之放大圖。 圖4是拾取及放置組件與攝影機組件之實施例相互組合 之側視圖。 圖5是本發明實施例的方法流程圖。 【主要元件符號說明】 光源❿ In the pre-reading process, a device is known, and the object to be inspected is held at the appropriate position by its top surface, and the money is transferred to the inspection station. Using multiple cameras on this viewing station to capture images of the bottom and side surfaces of the object, the device that is conventionally used to capture images of multiple surfaces of the object allows the master to use only one camera. In order for the camera to capture all surfaces, the optical path of the different surface images in the conventional device is redirected to the camera. - Only one image can be captured. In addition, the optical miscellaneous from different surface images to the field also has an explanation; it is necessary to compensate for different roads, so that the captured image becomes clear. In order to capture four different images of the side surface and surface of the object, there are four mirrors or 稜鏡' money. Each time the object is viewed _ can capture five images. However, as such, the object needs to be singulated, or one or two can only view one object. Therefore, there is a need to improve the efficiency of the viewing process. The pCT application PCT/CH2004/000074 discloses a device having a prism for adjusting the optical path of the side image to be equal to the optical path of the bottom surface image. U.S. Patent Publication No. US 2008/0246958 discloses a device having prisms for adjusting the optical path of the side image to be equal to the optical path of the bottom surface 098139265 4 201027068. However, since the optical paths of the side images of different sized objects are different, it is necessary to use prisms with different reflectances to capture images of objects of different sizes. Therefore, there is a need to propose an effective method of viewing an object without having to change the flaw for different objects. SUMMARY OF THE INVENTION In accordance with an embodiment of the present invention, the present invention is an apparatus for capturing a bottom surface Φ image of an object and four different side images. The invention comprises: an inspection station; a picking and placing component for moving the object to the inspection station; a camera located at the inspection station to capture the bottom surface image of the object; and two cameras located at the inspection station to capture the object Different side images; two beamsplitters, each located at the inspection station, to divert the optical path of each side of the object to a separate camera; and, the light source. Preferably, the pick and place assembly includes a picker for picking up the object, and an actuator Φ coupled to the picker to reverse rotate the picker. Preferably, the coupling of the picker to the actuator is a rack and pinion arrangement. In another embodiment, an apparatus for capturing a bottom surface image of a plurality of objects and four different side images is provided. The device comprises: an inspection station; a picking and placing component for moving the object to the inspection station; a camera located at the inspection station to capture the bottom surface image of the object; and two cameras located at the inspection station to capture the object Different side images; two beamsplitters, each located at the inspection station, to steer the optical path of each side of the object to each of the 098139265 5 201027068 cameras; and, the light source. Preferably, the pick and place assembly includes a plurality of pickers each for picking up the item, and an actuator coupled to the pickers to laterally rotate the pickers. Preferably, the coupling of the pickers to the actuators is a rack and pinion arrangement. As a further alternative, the pick and place assembly includes a plurality of actuators, and each actuator is coupled to a respective picker to laterally rotate the pickers. Preferably, the two cameras are positioned to capture two opposite side images. As a different way, a viewfinder is positioned to capture two adjacent side images. Preferably, the light source is configurable. - A method for viewing an object by capturing a bottom surface image of the object at the inspection station and four different side images, comprising the steps of: loading the object at the input station; picking up the object from the input station; moving the object into the person Viewing station; capturing the first-most image of the object; rotating the object; capturing the second majority of the image; and, transferring the inspected object back to the input station. The method of viewing an object by capturing a bottom surface image of a plurality of objects and four different side images, comprising the steps of: loading a plurality of objects at an input station, picking up a plurality of objects from the input station; and moving (four) objects Enter the inspection station; capture the first-majority image of each object; (4) multiple objects; capture the second most 098139265 6 201027068 number of images; and, transfer the multiple objects that were inspected back to the input station. [Embodiment] In order to more clearly understand the present invention, the embodiments of the present invention will be described by way of example. The present invention is a device for viewing an object 8 as shown in Figure 捕捉 by capturing five images. The five image faces are four different lateral faces 1Q, 12, 14, 16 and a bottom surface 18. The four different lateral faces may be different portions of a continuous lateral face of an article having a rounded side. This item is held in place by its top surface 19 for inspection. Figure 2 shows a preferred embodiment of a device for viewing multiple objects. The apparatus 2 includes a pick and place assembly 22 that moves a plurality of items 8 disposed in the tray 21 of the input station 23 to the inspection station 24; a camera assembly 26 having three cameras as shown in FIG. 40, 42, 44 to capture the bottom image of each object 8 and four different side images. The tray 21 contains a plurality of articles arranged in a matrix and to be examined, and the tray is moved along the rails 28. Figure 3 shows a pick and place assembly 22 that includes an actuator 30 for rotating a plurality of pickers 34. In the preferred embodiment, the actuator is a rotator 30 having a shaft 22a provided with a gear portion 32 and a plurality of pickups 34 having a plurality of gears 38. Each picker picks up an object at a time. The rotator and the plurality of pickers are coupled in a rack and pinion configuration. The gear portion 32 is a main pinion, and the gear portion 38 has a secondary pinion and a rack 36. The rack 36 extends from the primary pinion 32 to the secondary pinion 38. 098139265 7 201027068 When the main small wheel 32 rotates, it causes the rack 36 to move, thereby rotating the secondary pinion 38 and the plurality of items carried by the plurality of pickers. The action of the rotator can also be controlled by an electric motor (not shown) or pneumatically. Preferably, the picker picks up the object by suction or vacuum. At the pick-up position, suction is applied to the picker to pick up the object for the item to be swung to the inspection station 24. The attraction can maintain the position of the object while the image is being captured and when the picker is rotated φ laterally at the viewing station. Camera assembly 26 is shown in FIG. The camera assembly % includes a camera 4 for capturing the image of the bottom surface and two cameras 42, 44 for capturing the two side images of the object. The two side cameras can be positioned to capture opposite or adjacent sides each time. With the camera fixed in place, no adjustments are needed to accommodate different object sizes. Two beamsplitters 46, 48 are provided, each of which is positioned to divert the optical path of each side image of the object to a respective camera. Each spectroscope can act as both a mirror and a flat glass by reflecting a certain ratio of incident light back and passing the remaining incident light through. - In the preferred embodiment, such a device comprises a lighting assembly. Light from sources 4A and 4D penetrates the beam splitter to provide additional light to the side surfaces 1 〇, 12, 14, 16 of the object while allowing the shadow of the side surfaces to be reflected onto the cameras 42, 44. Preferably, an indirect light source 4B is provided. The light is illuminated by the inside of the component. 098139265 8 201027068 Face 4C is reflected onto the object. Further, the light sources 4E and 4F provide direct illumination to the side surfaces ι, η 14, 16. And the view light source can be configured to allow for all possible variations, criteria for viewing the object. The light source is a light emitting diode (LED) that uses a diffused light source. Figure 5 is a flow chart 5 of a method of an embodiment of the present invention. In step π?, the object is loaded on the input station. Preferably, a plurality of items are placed on the tray matrix on the way 28 of the 2 10 station. In step 504, the pick and place assembly 22 picks up a plurality of items, and in step 5〇6, the items are moved to the viewing station 24. In step 5〇8, the first majority image is captured. In the first set of images, preferably, each of the objects captures two side images and silk faces corresponding to the three cameras. Jiandi, she (four) object = image 'weaving' pick and place components move the pickup, several objects, until the end of the picker (10) has objects ❿ in step 5H) towel 'object is rotated' to capture the other two Side image. In step 5丨2, these images are captured in a manner similar to that in step 5〇8. In step 514, the inspected object is forwarded back to the tray matrix on the track header of the input station. ^ The advantage of the apparatus and method of the present invention over prior art is that the splitter is not changed when viewing objects of different sizes (these splits are improved flaws). This reduces the downtime required to adjust the light = path after the device is changed. 098139265 9 201027068 In addition, by using multiple pickers, the throughput of the device can be increased. For an object arranged in a row, the number of pickers can be constructed to correspond to the number of items in a row. Each time an inspection cycle is performed back and forth between the inspection stations, a list of objects can be detected. The extra time caused by the rack and pinion configuration to rotate the pickup can be neglected compared to the time saved by viewing multiple objects in each pick cycle. It is to be understood that the foregoing description of the preferred embodiments of the embodiments of the present inventions modify. Therefore, the present invention is not limited to the above description, but should be defined by the scope of the patent application. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing an object to be inspected. Figure 2 is a perspective view of an embodiment of the present invention. Figure 3 is a side elevational view of the pick and place assembly. Pan 3a is a bottom view of the pick and place assembly. Figure 3b is an enlarged view of a portion A in Figure 3a. Figure 4 is a side elevational view of the combination of the pick and place assembly and the camera assembly. Figure 5 is a flow chart of a method in accordance with an embodiment of the present invention. [Main component symbol description] Light source
4B 間接光源 098139265 10 201027068 ❹ ❿ 4C 内表面 4D 光源 4E 光源 4F 光源 8 物件 10 側向面；側表面 12 側向面；侧表面 14 側向面；侧表面 16 側向面；侧表面 18 底表面 19 頂表面 20 (檢視)裝置 21 托盤 22 拾取及放置組件 22a 轉轴 23 輸入站 24 檢視站 26 攝影機組件 28 轨道 30 致動器；旋轉器 32 齒輪部，（主要）小齒輪 34 拾取器 098139265 11 201027068 36 齒條 38 齒輪(部）；（次要）小齒輪 40 攝影機 42 攝影機 44 攝影機 46 分光器 48 參 分光器 參 098139265 124B indirect light source 098139265 10 201027068 ❹ ❿ 4C inner surface 4D light source 4E light source 4F light source 8 object 10 lateral surface; side surface 12 lateral surface; side surface 14 lateral surface; side surface 16 lateral surface; side surface 18 bottom surface 19 Top surface 20 (viewing) device 21 Tray 22 Pick and place assembly 22a Shaft 23 Input station 24 View station 26 Camera assembly 28 Track 30 Actuator; Rotator 32 Gear section, (main) pinion 34 Picker 098139265 11 201027068 36 rack 38 gear (part); (minor) pinion 40 camera 42 camera 44 camera 46 splitter 48 reference light gin 098139265 12