TWI239391B - Image-based automatic positioning and quality inspection of logos on golf spherical surface - Google Patents

Abstract

This invention is about a vision-based inspection system which can detect many kinds of flaws and blemishes of logos on a golf-ball surface omnidirectionally. The hardware used in the invention system includes an image capturer, a lightening device, a positioning servomechanism, and a computer integration unit, which can execute image capturing, image analysis, and image servoing control. The theoretical basis used behind the invention system includes vision-based control, image contour extraction, contour geometry topology, and contour matching and transformation. The flaws and blemishes which can be detected by the invention system include golf logo scratch or peel, protrusion, and many kinds of surface defects. This invention system also can be implemented for the surface quality inspection of steel balls or other spherical objects.

Description

1239391 V. Description of the invention (1) [Technical field to which the invention belongs _ The present invention relates to an image auxiliary surface trademark defect detection system, especially a king automatic Schiff ball positioning and indicating device, ball positioning mechanism, and ::: Image acquisition device, computer integration unit of the software, through I ^ 4 acquisition, analysis, and control stroke analysis processing, shape geometry topology: value =: f, image contour fatigue, paint peeling, dirty, rough surface Round Seoul trademark trademark defector. Techniques for detecting flaws such as secondary surface scratches [Previous technology], according to the "view" image assistant technology has matured and been widely used for self-help, and has been used to capture cards and computers in various fields of application. For example, image capture devices and images are used to see the shame Φ ^ 1 day is good and cheap, but in the automation practice Yingying mechanical and electrical software (including image processing methods for quality inspection): = is still quite professional, especially There is still considerable room for development in the method of image inspection for quality inspection. 'Like auxiliary goods inspection and miscellaneous? · Tian Mo η ικ ^ Tian v | A 』· The raft technique is used in industrial quality inspection, and has been developed for typical applications: daggers · Object surface color detection, I-side bump detection,- : The woman also tried to do the degree detection, the missing corner (foot) detection, and the two-dimensional size and bit detection. Traditionally developed image-assisted product inspection technologies often use a system architecture in which the image pick-up lens and the surface of the object to be measured make relative plane movements, or multiple image capture devices to capture a wide range of images. However, due to the actual need to detect objects held in Risi ’s temple, the above-mentioned traditional detection system structure cannot detect the object being clamped or supported; therefore, the traditional detection

1239391 V. Description of the invention (2) The system architecture is less suitable for omnidirectional ball surface inspection.

u Furthermore, in the image auxiliary product inspection systems that have been developed, CCD cameras are used for image detection, image recognition, and "target tracking. Although this is already a known technology, there is currently no combination of image servo control and vision at home and abroad. = Detection technology to do ball positioning control and comprehensive quality inspection for the surface of the sphere. The technical problems that must be overcome for fully automatic ball positioning and full-scale inspection on the surface of the Sunlf ball include: image servo ball positioning control, light source design (probably the problem of concentrated light reflection on the ball surface), various flaw inspection methods, and shadow The development of electromechanical system software, etc., and the present invention will address the common problem: the solution to the problem, and the experimental example to demonstrate it [Contents of the invention] Because simple ball positioning control can be achieved by direct rolling contact, so this The invented system drives a controlled high vertical axis of rotational movement by an active runner. However, the surface of the golf ball = wine = holes (dimples), and the distribution of these holes is not completely uniform. The rolling contact friction between the wheel and the surface of the ball may change randomly. Because the right only adopts the open-type control method, the accuracy of ball positioning and holding is not easy to grasp. In view of this, the present invention uses a closed-loop control guard (closed-lop control) to compensate for positioning deviations that may be caused by the action of the force by means of image servo. In addition, the design and configuration of the light source is also an important part of this image-assisted detection technology. Poor light source design may cause concentrated reflections on the golf ball surface. This phenomenon often occurs in the application of transparent lacquer. Page 1239391 V. Description of the invention (3) On the spherical surface (such as the first a picture) or on the surface of the smooth non-steel steel ball. Concentrated light reflections will “invade the instrument” of the original image, so it is easy to cause incorrect determination of flaw detection (such as the first b); in view of this, the present invention selects an appropriate light source type and its spatial configuration to solve the concentrated light reflections The problem. Because the graphic trademark on the golf ball surface is often designed according to customer requirements, its possible changes are quite diverse. The traditional direct pattern comparison pattern defect detection method must be matched with a high-precision ball positioning control 'which may require a more expensive positioning mechanism' or may cause the system's bandwidth and detection rate to be limited, so it is not compatible with automation Economic benefits of quality inspection. In view of this, the present invention provides a fast image servo ball positioning control rule 'and cooperates with the use of flexible graphic trademark image matching and comparison methods to reduce the need for ball positioning accuracy. The ball positioning controller is designed according to the rule-based controllers, which can sequentially locate the graphic trademarks to be detected on the golf ball surface in a detection area (regi〇n 〇f interest) for further Graphic font mark defect detection. * The inventor thinks that the present invention can contribute to the quality control automation of the trademarks on the ball surface of the golf industry, and then its technology can be used: an image capture device (such as a CCD camera), installed in A ball positioning mechanism, and by means of ^ image information feedback to achieve a fully automatic ball positioning control and push the i-link: During the positioning control process, real-time graphic fonts are executed; the image is first rounded by the image edge wheel = Yuancheng! stop. This image aids the inspection of the first temple, and uses the shape of the shape of the trademark image of the wheel of the contour length, the contour of the wheel to build the solid% area of each type of trademark image, as well as the number of contours and other characteristic parameters.

1239391 ------- V. Description of the invention (4) Step = measuring the trademark of the golf ball type figure J = Su: In addition, 'this image auxiliary inspection method also uses the picture word =: coordinate position' Obtaining graphic font trademark · 4: At the same time, through the affine transform of image coordinates, a graphic font quality measurement can be established, because the printing quality of a single graphic font trademark is determined. The dagger can be used for the purpose of "the design of the present invention is a" ball locating and surface trademark defect detection system wide ΐ 布 cloth "to facilitate the quality of image capture. In addition, the present invention can be i]" to make a fully automatic ball Azimuth positioning and figure font trademark search: m edge contour analysis and processing, shape geometric topology principle, principle, figure = [Implementation] Surface "and surface defects. The detailed description of the method and implementation of the present invention is as follows: • A thousand beta cases are attached with a graphical analysis process to obtain the contour division of the 2-image contours: area, number of contours, and contour geometric topological characteristics: Furthermore, we need to pay for the test pattern font, '& &. Finally, the st i〇g〇) between the outline and the template. The outline of the font trademark and the template are measured when the door is withered. Page 91239391 ψ V. Invention Note (5) The system of the present invention can comprehensively detect defects such as the trademark of the trademark on the surface of the golf ball, paint peeling, dirt, rough surface, or surface scratches. In addition, the method of this detection principle can also be applied to surface defects such as steel balls or other spheres and quality control inspection. The hardware equipment required by the system of the present invention includes an image capture device 1, a lighting device 2, a ball positioning mechanism 3, and a computer integration unit 4 (such as the second figure) that performs image capture and analysis. Among them: An image extraction device 1 can be installed in a hood 11 by a CCD or digital camera and placed on the ball positioning mechanism 3 so as to capture the image by the lens' and connect the image to the execution image Computer integration unit for capture and analysis 4. A lighting device 2 includes a dark room 21, and the light source device is installed in the dark room 21, and the dark room 21 is installed in a position adjustment mechanism to adjust the light irradiation distance. A ball positioning mechanism 3 is composed of a detection platform 3 1, an X-Υ rotation mechanism 3 2, and a height adjustment table 33 (see the third a, three |) diagrams. The detection platform 3 1 has four pillars 3 1 1 is fixed to the height adjustment table 3 3, the X-γ shifting mechanism 3 2 is each supported by a group of wheel devices 3 2 on the axis of the servo motor 3 4, and the servo motor 3 4 is fixed on the slider 35 The slider 35 is installed on the rail 36, and can be moved forward or backward after being pushed by the pneumatic cylinder 37. The height adjustment platform 3 3 is composed of a guide rail 3 3 1 and a screw 3 3 2 and is installed on the base 38. The ball positioning mechanism 3 may be a positioning mechanism with the number of X, γ & z axes. For example, adding a Z-axis rotation mechanism to the detection platform can improve the positioning accuracy of the graphic trademark image. A computer integration unit 4 that performs image capture and analysis is developed and inspected. 1239391 V. Description of the invention (6) Testing software and analyzing and judging the image obtained through the image capture device. Following the composition, the operating mechanism of the system mechanism of the present invention is as follows: Step 1. First, turn on the light source in the dark room 21. Step 2. Send the golf ball 5 to the test platform / stage 31. Step 3. Adjust the distance of the light and the height of the platform 3 3 so that the image capture device 1 can capture a good image. Height adjustment table 3 3 series teeth The screw 3 3 2 is rotated to make the height adjustment table 2 2 adjust the height along the guide rail 3 3 1 l. xUp and down step 4 · Start the pneumatic cylinder 37 and push the slide 3 5 installed on the track 36 to advance the slider 3 5 while the servo horse 3 4 placed on the slider 3 5 and the wheel installed on the axis Also advance to the fixed point (the point where the runner makes contact with the Gulf ball). Step 5: Start the feeding motor 34, the wheel on the axis of the device rotates and drives the Nanlf ball 5 to rotate. At this time, the image capture device χ captures the image synchronously and sends it to the image capture and Analysis of the computer integration unit 4: "Image servo positioning and surface inspection. After step 6 · After the inspection is completed, the next golf ball 5 is inspected. According to the method of the present invention, an image capture 1 is used in actual implementation. Anf is on a ball positioning mechanism 3, and by using the image servo positioning system, the space position of the golf ball 5 relative to the image capturing device is changed. This image servo control can ensure the correctness of automatic positioning, so that During the movement of i 5, the ball-shaped logo on the surface of the ball can be continuously locked, = until the figure-shaped logo is positioned in the detection area. The system of the present invention performs rapid detection processing on the surface of the golf ball, and the ball wins.

Surface 1239391 V. Description of the invention The surface must be under a stable lighting environment. Because the golf ball surface is covered with cavities and transparent lacquer, it is easy to produce a concentrated effect of light reflection under general light source illumination (see the first a). This will cause the captured image to be misjudged after image detection due to the concentrated light reflection (as shown in the first b). Good lighting design should take into account the working environment, the type of light source used, the position of the light source ^ and the angle of projection. With regard to the design of the light source in the system of the present invention, because the online inspection is susceptible to the influence of external light sources, a dark room is designed and the light source is installed in the dark room. In addition, a height adjustment table 3 3 and a light shield 11 are used to make the light source The light is then projected onto the golf ball surface through the hood 11 to filter out possible light reflections. The rule of the golf ball positioning control in the system of the present invention is a rule-based control strategy. The fourth figure shows one of the control systems = a block diagram. After the image is captured and processed, the system can detect Does the image have a trademark mark in the image? If so, the system further calculates the graphic word = coordinate in the geometry of the trademark image group. The rule-based controller will adjust the position of the correction ball according to the debt = result until the whole The image groups are all within the detection yoke, and the positioning error is less than the positioning accuracy requirement. The image-assisted control strategy method used in this position control system is described ’Extracting features such as image fonts from the image 1. Process the image by binarizing the image. Calculate the number of blobs of 2 different juice images and the number of pixels in each image group. 1. Remove the image group with too few pixels and calculate the geometric center coordinates of the remaining image groups.

1239391 V. Description of the invention (8) The size of the image group and its geometric center coordinates are used to control the amount of rotation of the ball; among them, the determination of the amount of rotation angle and the system, net: camera lens to The distance between the ball, the resolution of the image, and the configuration and orientation of the sub-type trademark. The fifth picture is not a photo of one embodiment of the positioning control system. Second: When the golf ball is placed on the base (the position of the ball is not restricted), the software can implement computer control. , So that the figure quotient of the ball surface to be detected ::: is sequentially positioned in the center of the detection area, and all faces are vertically oriented towards the camera lens, as shown in Figures 6a and 6b. The & mark detection principle of the present invention is based on the image contour extraction ::, the principle of shape geometry topology, and the image mark image contour matching and ratio /. Here are divided into four parts to explain these principles: (1) Extraction and analysis of image contours. The image contours of the two sub-type trademarks contain important information on print quality. F 'This image-assisted detection method will extract the images from in,

The outline of the image for further analysis. First of all, people use J ^^ technology (lmage seginentation) to separate the quotient or dirty quotient of the ball surface figure and the image. The image can be binarized from the rest of the background image. The shadow can be established at a threshold. ). Assuming that the light source is illuminated, the threshold can be set offline to reduce the computer time required for image separation processing. This image separation technology can separate two-color images. When a shirt image with a pixel value greater than a predetermined ^ is defined as a background image, an image with a pixel value less than or equal to a predetermined 1 broadcast value is defined as a graphic trademark Image or dirty image.

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Page 13 V. Description of the invention (12) If the __________ is matched, the model and other tests will be cancelled. If the geometric topological relationship is met, the matching relationship will still be satisfied. In addition, the outline of the trademark logo image in the figure matches all; the two did not complete the one-to-one matching template for the tester to match. Step 4 (c) of one-to-one matching has not yet been completed. Using the completed, one-to-one matching, Japanese, and profile as reference positions, establish all the reference images of the trademarks that have not been attempted to be typed. Set the geometric topological relationship of the person ^ to form a one-to-one match between the tester and the target or distance); In addition, another person who has already completed a trademark image outline relative to the reference position to establish a template match font type The geometric topological relationship of the reference, from; m matches the template: to find the most set of geometric matching between this and the template and the best test match for those who are looking for a matching template. Based on this, the following two examples are given in conjunction with the pattern matching method as follows: Temple, and Tian illustrate this figure font trademark Example 1: This example is intended to illustrate a qualified test figure font :. Figure 7a shows the sample characters of this example. 0 ～ ίΓ is the Λ test image. The grayscale range of the sample and test images are both the flute solid image and the contour extraction, as shown in Figure 8a and As shown in Figure Ib ', its prototype and test chart font trademark images have a solid outer contour and 4 inner contours (4 = 10 and). In the figure: the images are based on their contour length, from long to short, from The outer contours from the beginning to the end of the year are sequentially indexed-the values are 0 to 13 respectively. Inner / outer 12393391 V. Description of the invention (15) (4) Figure font trademark image contour comparison Gallery will match the image = this match, the test wheel invents the figure font quotient; P ratio f + 9 is tested by catastrophe Quality. this

Uf f + = aff.ne transfer to test contour image coordinates, it € # ^ ^ ^ # ^ # #

Once Mt t; r, a, and the sixteenth b are shown in the figure font quotient of the present invention; P-radiation conversion; the best: 々 The red line is the test contour and the template contour between the imitation contour The difference (you 丨 1. Finally, the best approximation of the test contour and the distance between the sample) can be used to determine the print quality of the test pattern font mark. Automatic: i ί ί Method principle and embodiment description, the present invention The system uses full # # = to perform image servo ball positioning control, combined with the outline of the image; frame 2: topology principle, figure trademark matching and comparison. As shown in the block diagram of this system and the seventh figure, the system hardware includes: PC power: two circuits, motor drivers, feeding motors, agricultural positioning mechanisms, video devices, and lighting equipment, among which lighting equipment It can make golf μ% reflected light uniform and soft, so it can solve the angle of concentrated light reflection. The system software includes: · contour image extraction and matching unit, figure-shaped contour comparison unit, and image servo ball positioning control unit. As mentioned above, the system of the present invention can comprehensively detect flaws such as trademark defects, paint peeling, dirt, rough surface, or surface scratches on the golf ball surface. It can also be applied to steel balls or other spheres. In the fields of surface defects and quality control inspection, etc., to promote the automation and technical improvement of industrial quality control inspections. 1239391 5. Description of the invention (16) liters, which is the gist of the present invention. The invention complies with the highly creative use of natural laws and technical ideas of the invention patent, and is suitable for industrial applications. The method of the invention has no disclosure and has absolute novelty. For this reason, the method meets the application requirements of the invention patent. File an application in accordance with the law.

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Simple illustration of the picture [Simplified illustration of the picture] Photo with concentrated light reflection. The surface light reflection concentration may lead to wrong analysis. The first a is a diagram of the golf ball surface and the first b is a schematic diagram for the determination of the golf ball. Image-assisted full-automatic positioning of the surface quality control of a golf ball. Figure 3a is a top structural view of an embodiment of a ball positioning mechanism of the present invention. Figure 3b is a front view structural view of an embodiment of the ball positioning mechanism of the present invention. The fourth figure is a block diagram of the regular ball positioning controller and system of the present invention. The fifth diagram is a photo diagram of an embodiment of the ball positioning control system of the present invention. Figure 6a is the software screen of the ball positioning control system of the present invention (the ball surface is in the shape of a character image). Figure 6b is the software screen of the ball positioning control system of the present invention (after positioning the ball surface figure font image). Fig. 7a is a diagram of a matching example of a pictograph of the present invention (template image). Fig. 7b is a diagram of a matching example of a pictograph of the present invention (test image). The eighth figure is a figure matching example of the figure font trademark of the present invention (template figure font outline). The eighth b figure is a figure matching example of the figure font trademark of the present invention (test figure font outline). The ninth diagram is a diagram of the matching result of the font trademark in the first embodiment of the present invention.

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Claims (1)

1239391 Patent application scope 1 · An image-assisted automatic golf positioning and surface trademark defect 4 This two-test system is composed of an image capture device, a lighting device, and a ball-fixing person-and performs image capture, The analysis and control software is composed of a computer. This system uses an image capture device to install on the ball positioning i ΐ. This ΐ 达成 achieves automatic ball positioning by means of image information feedback. Γ ,,,,, The detection principle is based on the image binarization method and image method; the principle of the geometric topology of the shape and the figure quotient = the execution of the height measurement unit can detect the picture type on the surface of the golf ball in all directions. Defective trademark. The image-assisted automatic golf watch position and surface trademark flaw detection system described in item 1 of the patented positioning of Fuqiu 2 can be a CCD camera. Off & image capture device Go to 2: The image-assisted automatic golf ball position and surface trademark flaw detection H 2 described in the first item of the patent scope can be a digital camera. τ 京 / 彳 Tsuke capture device 4. The image-assisted all-in-one ball positioning and surface trademark defect detection system as described in item 丨 of the patent application scope: Auxiliary 2 "has a light source, a hood, and a darkroom. May be 5. The image-assisted all-ball ball positioning and surface trademark flaw detection system as described in item 丨 of the scope of the patent application = here is a rotation and positioning mechanism with X, Y and Z axes. 'Shishen. Month of the patent scope described in the first paragraph of the multi-image auxiliary fully self-defining @ ^ Fuqiu positioning and surface trademark flaw detection system, Xin Fuer parts can use the length of the image outline, 1 quotient length The area, form factor, etc. are special 1239391. Six, the positive sign of the scope of patent application matching, and the geometric topological relationship of the contour, the can guarantee the accuracy of the trademark trademark. 7 · The image subsidy automatic Gufu ball positioning and surface trademark defect detection system described in item 1 of the patent application park ', where the ball positioning ^, the injury can use the rule of thumb controller 8. If the scope of patent application is the first] The image-assisted automatic golf ball positioning and surface trademark defect detection system described in the item above, wherein the image binarization processing part can adopt image separation processing. 9 · The image-assisted automatic golf ball positioning and surface trademark defect detection system described in item 8 of the scope of patent application, where gray-scale images can be used for image separation. 10 ^ The image-assisted automatic high-height and surface trademark defect detection system described in item 8 of the scope of the patent application, where 'image separation can use color images. Page 26