WO1980002324A1 - Installation optoelectronique de mesure et de detection - Google Patents

Installation optoelectronique de mesure et de detection Download PDF

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Publication number
WO1980002324A1
WO1980002324A1 PCT/DE1980/000047 DE8000047W WO8002324A1 WO 1980002324 A1 WO1980002324 A1 WO 1980002324A1 DE 8000047 W DE8000047 W DE 8000047W WO 8002324 A1 WO8002324 A1 WO 8002324A1
Authority
WO
WIPO (PCT)
Prior art keywords
measuring
sensor system
bus
image
sensor
Prior art date
Application number
PCT/DE1980/000047
Other languages
German (de)
English (en)
Inventor
R Karg
C Jambor
Original Assignee
Bbc Brown Boveri & Cie
R Karg
C Jambor
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 Bbc Brown Boveri & Cie, R Karg, C Jambor filed Critical Bbc Brown Boveri & Cie
Publication of WO1980002324A1 publication Critical patent/WO1980002324A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0007—Image acquisition

Definitions

  • the invention relates to an optoelectronic measuring and sensor system and is in the field of image and information processing for the optical acquisition and processing of image data, for example in industrial handling machines.
  • Control signals are formed after identification and position determination, for example for handling machines for gripping and further processing of the recognized objects. It is taught in DE-OS 24 43 265 that an unknown object can be recognized by imaging on photoelectric layers using translucent filters. Behind the filter there are light-sensitive layers that detect the different light permeability of the filter and, after electrical connection, a control signal for a handling machine, industrial robot or the like. form. By comparing the recognized object with characteristic values present in a data memory, a simplification or selection in the detection and detection of the objects is possible.
  • a method for identifying objects (DE-OS 27 49 682) by determining the area, scanning curve from the center of the image and further scanning data is also known. By comparison with corresponding stored reference parameters, an identification of the unknown object can be made possible. In many cases, the determination of the area is sufficient for a pre-sorting. The scanning curve from the center of the image is then used for an exact recognition and further scanning data for very difficult selection tasks.
  • DE-OS 27 48 604 is a method for determining the rotational position of unknown objects by optoelectronic scanning and determining the center of gravity. The object can be identified by comparing the scanning data with stored data of reference objects.
  • the arrangement shown here is not used for optoelectronic image recording. It is therefore an object of the invention to find a processor-controlled control and monitoring system for optoelectronic pattern and position recognition, processing, visual inspection and contactless measurement technology.
  • a recording unit, a microcomputer, an input keyboard, a module for determining the center of gravity, an output unit and a clock center are connected to a measuring and sensor bus, that an image computer and an image memory are connected to a ⁇ -bus , and that the measuring and sensor bus is decoupled from the ⁇ -bus via an interface.
  • the great range of uses for the peripheral devices to be connected is particularly advantageous in the system according to the invention.
  • a very quick position detection can be carried out in various processes using the multiplex method.
  • the type of position detection can be freely selected. It shows a flexible, easily reprogrammable and inexpensive automation system for the control and monitoring of industrial processes with a standard TV camera.
  • the system also has the ability to recognize patterns for sorting production parts or recognizing labels.
  • the system is also modularly expandable and can therefore be adapted to special requirements in industrial production.
  • Connected computers take over the image analysis, the processing of the data, the system administration and the communication with the peripheral devices. An embodiment is explained below with reference to the drawing.
  • a measuring and sensor bus system 1 and a ⁇ -bus system 2 are separated by an interface 3 (decoupling and adaptation module). Each of these two bus systems can thus perform completely different tasks simultaneously and separately from one another.
  • An image computer 4 and an image memory 5 are connected to the ⁇ -bus system 2.
  • the image computer 4 (for example a microprocessor) takes over the addressing of the image memory 5.
  • the digital image memory 5 receives the data received from the television cameras and keeps them ready for further processing. Detecting objects that pass a camera on a conveyor belt is difficult because the camera must follow the movement of the object. Brief sampling and storage of the data in the image memory with subsequent evaluation from the image memory therefore enables the system to work quickly.
  • the image memory 5 thus holds the acquired data ready for further analysis and the television camera can be aimed at a new object.
  • the image computer 4 scans the image recorded by the television camera in polar coordinates. However, it can also count certain brightness values when scanning the recorded image. Furthermore, he can measure lengths and transitions from black to white within the television picture. counting. The image computer 4 is thus used to analyze stored or acquired image information.
  • the measuring and sensor bus 1 has the task of supplying the image computer 4 and the image memory 5 with information.
  • a recording unit 6 is connected to this bus. This recording unit can record the analog signals of several television cameras and emit signals for several television monitors. In an adaptation circuit within the recording unit 6, the analog signals of the television camera are digitized or converted into video signals for the monitors.
  • a window discriminator is also arranged in the recording unit 6, which only allows a certain part to pass through the image to be scanned, and saves considerable computing effort due to this reduction.
  • a video link circuit for comparing a recorded image with a stored image is also arranged in the recording unit. This target / actual comparison between the stored reference image and the image recorded by the camera and counting the differences makes it possible to achieve a further saving in computing capacity.
  • a microcomputer 7 is also connected to the measuring and sensor bus 1 via an adapter circuit.
  • This microcomputer is used for general control of the system. Its task is e.g. in the correct switching of the cameras. For example, printers, interfaces to higher-level systems and the like can be connected to the microcomputer. Connections for a "floppy disc” (data storage disk) and an external program input device are also provided.
  • An input keyboard 8 for operating the entire system is connected to the adapter circuit of the microcomputer 7.
  • This keyboard consists of controls with which e.g. the individual devices are switched on / off or on and off.
  • a module 9 for determining the center of gravity is connected to the measuring and sensor bus 1.
  • the fundamental calculations for the detection of unknown objects by the surface moment in the x and y direction and the surface are carried out.
  • an output unit 10 is connected to the measuring and sensor bus. This can be used, for example, to control externally switchable machines (handling machines, industrial robots).
  • the output unit also has a programmable clock for a time / path clocking, as well as an additional control device for outgoing information.
  • a clock center 11 is connected to the measuring and sensor bus 1 in order to synchronize the entire system. Clock or synchronization pulses are used for the precise interconnection of the individual system modules with each other, but the television cameras and monitors are also acted on with the synchronization pulses.
  • the clock center also supplies a trigger signal for an externally connectable flash light. This illuminates the object to be recognized for a short time (snapshot) so that the television camera can then scan the recorded image in a cell-like manner. In this way, blurring (for example, with moving objects) can be avoided when taking pictures.
  • the clock center 11 also has a trigger input for external synchronization. A pulse for such an input can be generated by a light barrier. This trigger pulse triggers the externally connectable flash light, for example, which initiates the detection process.
  • a further module for determining the center of gravity can be connected to the measuring and sensor bus for a quick determination of the position.
  • the television cameras connected to the recording unit 6 can only deliver their information serially to the modules for further processing. Thanks to the additional module for determining the center of gravity, two cameras are given information at the same time, which can advantageously accelerate the processing of several measuring points (television cameras). This component is not shown in the drawing.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)

Abstract

Une installation de commande et de surveillance pilotee par microprocesseur et destinee a la reconnaissance optoelectronique de modeles et de positions, comporte un bus de mesure et de detection et un microbus auxquels sont relies une unite de prise de vues, un microprocesseur, un clavier d'entree, un appareil de determination du centre de gravite, une unite de sortie et une unite centrale d'horloge, ainsi qu'un calculateur d'image et une memoire d'image.
PCT/DE1980/000047 1979-04-14 1980-04-09 Installation optoelectronique de mesure et de detection WO1980002324A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2915398 1979-04-14
DE19792915398 DE2915398A1 (de) 1979-04-14 1979-04-14 Optoelektronisches mess- und sensorsystem

Publications (1)

Publication Number Publication Date
WO1980002324A1 true WO1980002324A1 (fr) 1980-10-30

Family

ID=6068480

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1980/000047 WO1980002324A1 (fr) 1979-04-14 1980-04-09 Installation optoelectronique de mesure et de detection

Country Status (3)

Country Link
EP (1) EP0027120A1 (fr)
DE (1) DE2915398A1 (fr)
WO (1) WO1980002324A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3016255A1 (de) * 1980-04-26 1981-10-29 Messerschmitt-Bölkow-Blohm GmbH, 8000 München Gasgefuellter fahrzeugreifen
US4862286A (en) * 1986-11-14 1989-08-29 Canon Kabushiki Kaisha Image reading apparatus which adjusts image signals to improve signal balance

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3824393A (en) * 1971-08-25 1974-07-16 American Express Invest System for differential particle counting
DE2531744A1 (de) * 1975-07-16 1977-02-03 Fraunhofer Ges Forschung Sensoren zur erfassung bekannter dreidimensionaler koerper in beliebiger lage
FR2328248A1 (fr) * 1975-10-14 1977-05-13 Texas Instruments Inc Dispositif de couplage de lignes omnibus de transmission, notamment pour la communication entre multiprocesseurs
US4044227A (en) * 1975-08-07 1977-08-23 The Upjohn Company Bar code reader

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3824393A (en) * 1971-08-25 1974-07-16 American Express Invest System for differential particle counting
DE2531744A1 (de) * 1975-07-16 1977-02-03 Fraunhofer Ges Forschung Sensoren zur erfassung bekannter dreidimensionaler koerper in beliebiger lage
US4044227A (en) * 1975-08-07 1977-08-23 The Upjohn Company Bar code reader
FR2328248A1 (fr) * 1975-10-14 1977-05-13 Texas Instruments Inc Dispositif de couplage de lignes omnibus de transmission, notamment pour la communication entre multiprocesseurs

Non-Patent Citations (7)

* Cited by examiner, † Cited by third party
Title
Computer, Jahrgang 7, Nr. 10, Oktober 1974, Long Beach, Cal. (US) R. JARVIS: "Special Feature: An Interactive Minicomputer Laboratory for Graphics, Image Processing and Pattern Recognition, Seiten 49-60 siehe Figuren 1 und 2; von Seite 1 bis Seite 52, spalte 1, zweiter Abschnitt; Seite 54; spalte 2, Seite 56; Spalte 2, Zeilen 23-40. *
Computer, Jahrgang 7, Nr. 5, Mai 1974, Long Beach, Cal. (US) B. MAYALL: "Digital Image Processing at Lawrence Livermore Laboratory, Teil II "Biomedical Applications", Seiten 81-87 siehe Seite 83, Absatz "Digitization"; von Seite 84, letzter Abschnitt bis Seite 85, zweite Spalte, erster Abschnitt; Figur 3. *
IBM Technical Disclosure Bulletin, Jahrgang 11, Nr. 3, August 1968, Armonk (US) A. TURITS: "Video Measuring System", Seiten 287-288, siehe das ganze Artikel. *
IEEE Transactions on Computers, Jahrgang C-20, Nr. 5, Mai 1971, New-York (US) S. GRAY: "Local Properties of Binary Images in Two Dimensions", Seiten 551-561, siehe Seite 560 und Seite 561, Figur 14. *
IEEE Transactions on Nuclear Science, Jahrgang NS-26, Nr.2 Teil II, April 1979, New-York (US) Y. SUDA u.a.: "Postion Camera-Computer System for Various Section Images", Seiten 2764-2767, siehe Figuren 3 und 6; seite 2764; spalte 2, 2 letzte Abschnitte, Seite 2766. *
Proceedings of the Fourth International Joint Conference on Pattern Recognition 7-10 November 1978, Kyoto, Japan K. HOHNE u.a.: "Encoding and Analysis of X-Ray Image Series", Seiten 743 bis 746 siehe Seite 743, Spalte 2, letzter Abschnitt bis Seite 744, Spalte 2, Figur 4. *
Review of Scientific Instruments, Jahrgang 48, Nr. 8, August 1977, New-York (US) K. LAU: "Control System for the Analytical Processing of Stereo-Images" Seiten 1021-1027 siehe Seite 1023 und 1024; Figur 3. *

Also Published As

Publication number Publication date
EP0027120A1 (fr) 1981-04-22
DE2915398A1 (de) 1980-10-30

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