WO1997038524A1 - Systeme de prise d'image et procede de prise d'image a temps de reconnaissance reduit - Google Patents

Systeme de prise d'image et procede de prise d'image a temps de reconnaissance reduit Download PDF

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Publication number
WO1997038524A1
WO1997038524A1 PCT/DE1997/000555 DE9700555W WO9738524A1 WO 1997038524 A1 WO1997038524 A1 WO 1997038524A1 DE 9700555 W DE9700555 W DE 9700555W WO 9738524 A1 WO9738524 A1 WO 9738524A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
image recording
recording system
image sensors
sensors
Prior art date
Application number
PCT/DE1997/000555
Other languages
German (de)
English (en)
Inventor
Günter DOEMENS
Gerhard Haas
Hans-Horst Grasmüller
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to JP9535728A priority Critical patent/JPH11507197A/ja
Priority to EP97916351A priority patent/EP0897633A1/fr
Publication of WO1997038524A1 publication Critical patent/WO1997038524A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8806—Specially adapted optical and illumination features
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
    • H04N25/41—Extracting pixel data from a plurality of image sensors simultaneously picking up an image, e.g. for increasing the field of view by combining the outputs of a plurality of sensors

Definitions

  • the invention relates to an image recording system with a corresponding method for mastering fast positioning processes or assembly processes using image recording and image evaluation units.
  • image processing systems include, for example, image sensors based on television images, which are based either on a dot and line scanning system or a grid-like photoelectric semiconductor arrangement for image acquisition.
  • image sensors based on television images, which are based either on a dot and line scanning system or a grid-like photoelectric semiconductor arrangement for image acquisition.
  • an image of an object is generated or recorded, a certain image recording time being necessary.
  • a further period of time must be taken into account for the subsequent image evaluation.
  • certain systems quickly reach their limits.
  • the invention is based on the object of providing an image recording system and a method for image recording, with which a reduction in the recognition time in technical objects can be achieved, so that cycle times can be shortened.
  • the invention is based on the knowledge that the reduction in response times of an image processing system is first initiated by the use of image sensors which can be read out at will. Since, due to the circuit principle of today's image sensors (for example in CMOS technology), the access times in the column direction are still significantly longer than in the row direction, according to the invention two identical image sensors which can be read out freely and which are rotated by 90 ° relative to one another in relation to the image recording direction are used . These two image sensors are exposed to the same optical image via a splitter mirror and are each connected to image processing at their outputs. This image processing evaluates two-dimensional, for example, gray-scale images. For this purpose, brightness values are recorded at each pixel.
  • the relatively slow access times perpendicular to the line direction of the image sensor are completely avoided.
  • the evaluation is significantly accelerated by the parallelism in the two plane directions. This is due to the fact that the line directions of the two image sensors used are just rotated by 90 ° with respect to one another, so that the image of the object can be read during the relatively fast, optional, but read out tes is quickly detectable in both planar directions or can be read out from the image sensors.
  • These measures initially shorten the image acquisition time. This eliminates bottlenecks that are associated with a frequency of, for example, 100 kHz during column-by-column reading.
  • the measures according to the invention enable a pixel reading frequency of, for example, 5 to 10 MHz. Overall, the image acquisition and also the image processing time are reduced.
  • a further advantageous embodiment of the invention provides an elongated rectangular configuration of the picture elements, which should preferably be aligned parallel to straight edges of the object.
  • the aspect ratio of the rectangular shape of the picture elements can be 1: 3 or 1: 4, for example. This reduces the number of pixels or picture elements.
  • an edge filter is additionally created. If elongated rectangular picture elements are used, they are distributed uniformly over the sensor and unfold their effect through the use of 90 ° rotated picture sensors in every plane direction.
  • An advantageous further development of the invention provides for an offset of the picture elements on the sensor, which is carried out between the lines by half a pixel size or half the width of a picture element. This also advantageously allows the straight and orthognal edges of a technical object, which generally spans several lines, to be detected quickly and with high resolution. This is due to the fact that an interpolation and thus a doubling of the resolution can be achieved.
  • optionally readable image sensors which are set at 90 ° to each other and a parallel evaluation in the x and y direction, combined with rectangular elongated image elements that run approximately parallel to the edges of an object to be recognized and are also connected with the offset of the object Pixel grid in the line direction by half a division within the image sensor can be achieved by reducing the overall response time of an image sensor to 1/10 of the currently known response times in previously known image sensors, for example shortening from 100 ms to 10 ms.
  • FIG. 1 shows a high-speed data recording system with two separate, optionally readable image sensors, which are rotated 90 ° relative to one another,
  • FIG. 2 shows the arrangement of picture elements of a freely readable image sensor, which are offset by half a division from one another and have a rectangular, elongated shape, the relationship to the visible areas of the connecting legs being indicated by SMD components.
  • the invention uses the latest development of image converters, for example in CMOS technology. In general, only a few percent of all are for the location detection of technical objects such as reference marks, components ...
  • Pixels of an image necessary.
  • the information acquisition time (image acquisition time) and the processing time (image processing time) can be significantly reduced by the lower number of pixels.
  • this requires an access time that is in the range of the television pixel frequency, for example 5-10 MHz. Due to that The circuit principle with today's CMOS image sensors, the access times are only achieved in the row direction, but not perpendicular to it in the column direction. In the column direction, these access times are much lower, for example at 100 kHz.
  • the advantage of a single image sensor that can be read out freely would largely be negated by the relatively slow readout option in the column direction. Exactly this bottleneck is eliminated by the two image sensors according to the invention, which are designed according to the invention and rotated by 90 ° relative to FIG. 1.
  • a reduction in the pixels to be processed and a filter function for orthogonal edges with simultaneous improvement in the signal / noise ratio results from the rectangular, elongated structure of picture elements, for example with an aspect ratio of approximately 1: 3 this arrangement alone reduces the image acquisition time to a third.
  • the effects on reducing the image recognition time are similar.
  • an improvement in the image recording and image processing time can be used to improve the recognition reliability or to accelerate the method.
  • a further reduction in the required number of pixels, as is made possible by the line-by-line offset of the image elements in the sensor by half a pixel size, can, for example, double the resolution.
  • FIG. 1 shows a system for position detection and position control of an object, in this case a surface-mounted electronic component (SMD) with a size of, for example, 50 x 50 mm.
  • the object 6 is illuminated as uniformly as possible in the usual manner and is imaged via an objective 5 on the two image sensors arranged rotated by 90 °.
  • These image sensors 1, 2 consist of a plurality of lines 12, 13, which in turn are in image elements 8 (Photo elements, photosensitive elements) are divided.
  • the two image sensors 1, 2 thus record the same object 6 at the same time, but are rotated relative to one another by 90 ° with respect to the direction of image recording, so that the line directions for the same image are also aligned relative to one another by 90 °.
  • image processing 3 which accesses both images or results of an image sensor 1, 2, not only is it possible to selectively read them out, since the two image sensors can be read out at will, but also corresponding points of an image 15, 16 can be read line by line at high speed either in one image or in the other image.
  • An image sensor 1, 2 which, in extreme cases, can selectively read out each point individually in the extreme in the case of appropriate addresses, can still be read out much faster in the row direction than in the column direction due to internal circuit principles due to internal circuit principles. Due to the mutual rotation of the image sensors 1, 2, there is no need to read them in the column direction.
  • image features can be preset for image processing 3.
  • a two-dimensional image is used to check how the alignment in the x and y direction is and what twist of a component is present on a printed circuit board.
  • FIG. 2 shows an arrangement of picture elements 8, the individual picture elements having a width 9 of 25 ⁇ m and a length 10 of approx. 75 ⁇ m, for example. Furthermore, the approximate position of connecting legs 14 or of their image on the image sensor 1, 2 is shown in order to identify the relationship between an SMD component and the image sensor. The two connecting legs 14 or their parts visible from above have a leg pitch dimension 11 of 0.3 mm. In Figure 2 is the offset between the picture elements 8 visible from line to line. Elongated rectangular picture elements are also shown. The component 17 is indicated at the lower edge of FIG. 2.
  • An image sensor used has, for example, a number of pixels of 2000 x 600 pixels.
  • the reduction in the recognition time that can be achieved with the invention in technical objects with orthogonal edges and low angular rotation is drastically reduced.
  • SMD placement machines this means, for example, a shortening of the position detection time from 100 ms to 10 ms with a simultaneous increase in accuracy.
  • the assembly performance per machine is doubled at the same cost.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
  • Image Input (AREA)

Abstract

Pour une prise rapide d'image, on utilise des imageurs matriciels (1, 2) à accès sélectif de point d'image, tournés de 90° les uns par rapport aux autres. On obtient ainsi un temps d'accès de point d'image réduit pour le sens des lignes et le sens des colonnes. Pour identifier la position d'objets à arêtes orthogonales, il est prévu une configuration rectangulaire des éléments photosensibles individuels et/ou un déplacement de l'écartement mutuel des rangées individuelles. Ce qui permet de réduire le nombre de points d'image requis et de parvenir à une meilleure identification des arêtes. Ce procédé permet de réduire considérablement le temps d'identification lors de la détermination de la position d'objets techniques à arêtes orthogonales et simultanément d'améliorer sensiblement le degré de précision possible.
PCT/DE1997/000555 1996-04-03 1997-03-19 Systeme de prise d'image et procede de prise d'image a temps de reconnaissance reduit WO1997038524A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP9535728A JPH11507197A (ja) 1996-04-03 1997-03-19 画像記録システムおよび画像記録方法
EP97916351A EP0897633A1 (fr) 1996-04-03 1997-03-19 Systeme de prise d'image et procede de prise d'image a temps de reconnaissance reduit

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19613394.7 1996-04-03
DE19613394A DE19613394C1 (de) 1996-04-03 1996-04-03 Bildaufnahmesystem und Verfahren zur Bildaufnahme

Publications (1)

Publication Number Publication Date
WO1997038524A1 true WO1997038524A1 (fr) 1997-10-16

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PCT/DE1997/000555 WO1997038524A1 (fr) 1996-04-03 1997-03-19 Systeme de prise d'image et procede de prise d'image a temps de reconnaissance reduit

Country Status (6)

Country Link
EP (1) EP0897633A1 (fr)
JP (1) JPH11507197A (fr)
KR (1) KR20000005207A (fr)
DE (1) DE19613394C1 (fr)
TW (1) TW347632B (fr)
WO (1) WO1997038524A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2475077A (en) * 2009-11-04 2011-05-11 E2V Tech Laser spot location detector

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1160725A3 (fr) * 2000-05-09 2002-04-03 DaimlerChrysler AG Procédé et appareil pour l'acquisition d'images en particulier pour la détection tridimensionnelle d'objets ou des scènes
DE10022454B4 (de) * 2000-05-09 2004-12-09 Conti Temic Microelectronic Gmbh Bildaufnehmer und Bildaufnahmeverfahren, insbesondere zur dreidimensionalen Erfassung von Objekten und Szenen
DE102005011330B4 (de) * 2005-03-12 2018-11-08 Pi4_Robotics Gmbh Verfahren zur Lageerkennung eines Formteils
JP5642166B2 (ja) 2010-05-18 2014-12-17 キヤノン株式会社 撮像システム及びその制御方法
KR102505432B1 (ko) * 2016-05-24 2023-03-03 삼성전기주식회사 이미지 센서 모듈 및 듀얼 카메라 모듈

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US4193086A (en) * 1977-01-24 1980-03-11 Hitachi, Ltd. Convergence detecting device for color picture tube
JPS59128876A (ja) * 1983-01-12 1984-07-25 Matsushita Electric Ind Co Ltd 固体撮像装置
EP0312046A2 (fr) * 1987-10-14 1989-04-19 Hitachi, Ltd. Appareil et méthode pour l'inspection de défauts dans des composants montés, utilisant une fente lumineuse
JPH03126386A (ja) * 1989-10-12 1991-05-29 Yuukari Kogaku Kenkyusho:Kk 固体イメージセンサ
EP0554116A2 (fr) * 1992-01-30 1993-08-04 Texas Instruments Incorporated Méthode et système pour augmenter la résolution d'une image
DE4329259A1 (de) * 1992-08-31 1994-03-03 Samsung Electronics Co Ltd Verfahren zur Beseitigung von Bildverschwommenheitsrauschen in einer CCD-Kamera und dieses anwendende CCD-Kamera

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DE4123203C1 (en) * 1991-07-13 1992-10-29 Eligiusz Dipl.-Ing. 7538 Keltern De Wajda Solid state image converter - has radiation sensitive surface with regions of various densities of distribution of elements i.e. of different levels of resolution

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
US4193086A (en) * 1977-01-24 1980-03-11 Hitachi, Ltd. Convergence detecting device for color picture tube
JPS59128876A (ja) * 1983-01-12 1984-07-25 Matsushita Electric Ind Co Ltd 固体撮像装置
EP0312046A2 (fr) * 1987-10-14 1989-04-19 Hitachi, Ltd. Appareil et méthode pour l'inspection de défauts dans des composants montés, utilisant une fente lumineuse
JPH03126386A (ja) * 1989-10-12 1991-05-29 Yuukari Kogaku Kenkyusho:Kk 固体イメージセンサ
EP0554116A2 (fr) * 1992-01-30 1993-08-04 Texas Instruments Incorporated Méthode et système pour augmenter la résolution d'une image
DE4329259A1 (de) * 1992-08-31 1994-03-03 Samsung Electronics Co Ltd Verfahren zur Beseitigung von Bildverschwommenheitsrauschen in einer CCD-Kamera und dieses anwendende CCD-Kamera

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PATENT ABSTRACTS OF JAPAN vol. 015, no. 334 (E - 1104) 26 August 1991 (1991-08-26) *
RICQUIER N ET AL: "RANDOM ADDRESSABLE CMOS IMAGE SENSOR FOR INDUSTRIAL APPLICATIONS", SENSORS AND ACTUATORS A, vol. A44, no. 1, July 1994 (1994-07-01), pages 29 - 35, XP000469151 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2475077A (en) * 2009-11-04 2011-05-11 E2V Tech Laser spot location detector
GB2475077B (en) * 2009-11-04 2015-07-22 E2V Tech Uk Ltd A Detector for Determining the Location of a Pulsed Laser Spot

Also Published As

Publication number Publication date
DE19613394C1 (de) 1997-10-02
EP0897633A1 (fr) 1999-02-24
JPH11507197A (ja) 1999-06-22
KR20000005207A (ko) 2000-01-25
TW347632B (en) 1998-12-11

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