WO2015144470A1 - Procédé et dispositif servant à déterminer la position et/ou à l'orientation au moins d'un contact enfichable - Google Patents

Procédé et dispositif servant à déterminer la position et/ou à l'orientation au moins d'un contact enfichable Download PDF

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Publication number
WO2015144470A1
WO2015144470A1 PCT/EP2015/055401 EP2015055401W WO2015144470A1 WO 2015144470 A1 WO2015144470 A1 WO 2015144470A1 EP 2015055401 W EP2015055401 W EP 2015055401W WO 2015144470 A1 WO2015144470 A1 WO 2015144470A1
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WO
WIPO (PCT)
Prior art keywords
plug contact
line
plug
illumination
contact
Prior art date
Application number
PCT/EP2015/055401
Other languages
German (de)
English (en)
Inventor
Thomas Seiffert
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN201580016252.6A priority Critical patent/CN106461375B/zh
Publication of WO2015144470A1 publication Critical patent/WO2015144470A1/fr

Links

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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
    • H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve

Definitions

  • the invention relates to methods for determining the position and / or orientation of at least one plug contact with a plug contact imaging, arranged in the longitudinal direction of the plug contact line camera and with a side of the longitudinal alignment of the plug contact arranged lighting device, the line camera relative to the plug contact or the plug contact relative to the line scan camera are moved.
  • the invention further relates to a device having a control unit for determining the position and / or orientation of at least one plug contact with a plug contact imaging, arranged in the longitudinal direction of the plug contact line camera and with a side of the longitudinal alignment of the plug contact arranged lighting device, wherein the line scan camera relative to the plug contact or the plug contact is movable relative to the line scan camera.
  • the plug contacts are illuminated by a laterally arranged illumination device.
  • the plug contacts terminate as elongated metal pins each in a contact tip.
  • the geometry of the contact tip is not relevant to the function of a plug contact and therefore not narrowly defined or tolerated.
  • the object of the invention relating to the method is achieved by evaluating at least two successive recordings of the plug contact with different illumination directions to determine the position and / or orientation of the plug contact.
  • the plug contact is The following shots are lit sequentially from two or more directions.
  • a contact tip lying outside the central longitudinal axis of the plug-in contact leads in the different directions of illumination to different forms of the forming reflections.
  • an off-center contact tip can be detected and the actual position and orientation of the plug contact can be determined.
  • at least two, preferably four, illumination directions are to be provided. In the case of an arrangement with two illumination directions, one-sided illumination or illumination of the plug-in contact taking place from two opposite sides may be provided for each illumination direction.
  • N stands for an integer number, preferably for a two- or four-line line scan camera with correspondingly two or four illumination directions.
  • the images of the lines can be sorted back as a function of the direction of illumination, so that N coincidental images arise, each with a different illumination direction.
  • a multi-line line scan camera with M x N lines is used, where M is an integer greater than 1, and that the plug contact is illuminated from N different illumination directions.
  • M an integer greater than 1
  • N an eight-line line camera
  • the time steering camera and the plug contact are moved relative to each other so that a location on the plug contact with each of the N lines of the line scan camera is taken in each case a different one of the N illumination directions.
  • the distance between the lines of the line scan camera and the relative movement between the line camera and the plug contacts is to be chosen so that a location on the plug contact is not recorded by successive lines of the line scan camera in the same direction of illumination, but that there is at least one recording for all lighting directions ,
  • a distinction of the images taken with different lighting directions can be achieved in that the illumination from the different directions of illumination is done with at least two different colors.
  • the direction coding is carried out by recording with sensitive for each one of the different colors color pixels of the color line camera.
  • the images can be taken simultaneously with simultaneous illumination from the different directions.
  • the evaluation can be further simplified by forming images for each illumination position to determine the position and / or orientation of the plug contact from the individual recordings.
  • An image includes at least one plug contact such that its outer contours are included.
  • the recordings made with different lighting directions are each assigned a different color.
  • the lighting itself takes place from the different lighting directions with the same illumination color.
  • Such use as a pseudo-color channel makes it possible to simplify computer-aided evaluation since algorithms developed for the processing and evaluation of color images can be used for processing and evaluating the direction-coded images with little or no change.
  • a plug contact normally shows no reflectance differences between its edges. Without direction coding the pages are therefore indistinguishable.
  • the edges can be, for example, with a Edit the color edge filter. The tip of a contact pin can be detected so safely.
  • the object of the invention relating to the device is achieved in that the illumination device is designed for the sequential illumination of the plug contact from at least two different illumination directions, that the control unit controls the illumination device such that successive shots of the line scan camera take place at different illumination directions and that the control unit executes a program for creating and evaluating obtained with the different lighting directions records contains.
  • the line scan camera is designed as a multi-cell line scan camera with N lines and that the lighting device consists of N individually switchable illumination units, which are aligned from N illumination directions on the plug contact.
  • the lighting units of the lighting device can be switched on and off separately. This makes it possible to illuminate the plug contact per recording from one direction and to change the illumination direction by appropriate control of the lighting units of the lighting device for the next shot.
  • the program sequence in the control unit assigns the data of the N rows obtained in different illumination directions to a respective data record.
  • a data set corresponds to a picture, which was created by lighting from one direction. The orientation and position of the plug-in contact can be clearly determined from the data records processed in this way.
  • the image sequence is very high in the line scan cameras used.
  • a sufficiently fast switching of the illumination direction can take place in that pulsed light-emitting diodes are used as light sources for the illumination device.
  • Such light-emitting diodes (LED) can be switched with a frequency of several kHz be achieved and even with very short on-time sufficient for the images brightness.
  • FIG. 1 shows a schematic representation of a device for determining the position and / or orientation of a plug-in contact with a two-line line scan camera
  • FIG. 2 shows a schematic representation of a device for determining the position and / or orientation of a plug-in contact with a four-line line scan camera
  • FIG. 3 is a schematic representation of individual pixels in a first position relative to a four-line line scan camera
  • FIG. 4 shows the pixels shown in FIG. 3 in a second position relative to the four-line line scan camera
  • FIG. 5 shows in tabular form a temporal sequence of images of the individual pixels according to FIG. 3 and FIG. 4,
  • FIG. 6 shows in tabular form the temporal sequence of images of individual pixels with an eight-line line camera
  • Figure 7 shows a schematic representation of individual pixels in a first position to a four-line line scan camera with increased line spacing
  • FIG. 8 shows in tabular form the time sequence of recordings of the individual pixels according to FIG. 7.
  • FIG. 1 shows a schematic representation of a device for determining the position and / or orientation of a plug contact 10 with a two-line line scan camera 30.
  • the plug-in contact 10 is part of a further connector, not shown, with a plurality of comparable and likewise to be checked further plug contacts.
  • the plug contact 10 has a contact tip 11.
  • the contact tip 11 opposite a two-line line camera 30 with a first line ZI 31 and a second line Z2 32 from a central perspective on the plug contact 10 is aligned.
  • a lighting device 20 is arranged with a right lighting unit 22 and a rear lighting unit 23.
  • one of the right lighting unit 22 opposite, dashed left lighting unit 21 and a not shown, the rear lighting unit 23 opposite front lighting unit may be provided.
  • As light sources of the lighting units 21, 22, 23 serve light emitting diodes (LED) 23.1. From the lighting units 21, 22, 23 outgoing light beams 25.1, 25.2, 25.3 are symbolized by corresponding arrows. Another arrow shows a feed direction 13 of the plug contact 10 relative to the two-line line scan camera 30 and to the illumination device 20.
  • LED light emitting diodes
  • the device serves to monitor the quality of plug contacts 10.
  • the position and orientation of the plug contacts are monitored. So bent plug contacts can be sorted out.
  • FIG. 1 allows a directional coding of the pictures taken with the two-line line scan camera 30.
  • the plug-in contact 10 is illuminated sequentially from different illumination directions 60, as shown in Figures 5, 6 and 8, wherein a recording takes place at each illumination direction 60. Between two receptacles of the plug contact 10 is moved in accordance with the feed direction 13 relative to the two-line line scan camera 30.
  • a first recording position is a location or a pixel 50 on the plug contact 10, as shown in Figures 3-8, in the image field of the first line ZI 31 of the two-line line camera 30.
  • an area on the plug contact 10 is designated Being scanned with a picture.
  • For recording takes place illumination from a predetermined direction, for example, according to the third light beam 25.3 starting from the right lighting unit 22.
  • a second recording position is the same pixel 50 in the image field of the second line Z2 32 of the two-line line camera 30.
  • Illumination from the direction of the rear illumination unit 23 corresponding to the second light beam 25.2.
  • the second shot immediately after the first Recording done, but it can also take more shots in between. The latter is useful, for example, if the two lines 31, 32 are so far apart that the pixel 50 does not pass through the distance between the two image fields of the lines 31, 32 between two successive shots.
  • each recorded pixel 50 of the plug contact 10 there are two receptacles with different illumination directions 60.
  • the images can be sorted back to two images of the plug contact 10 with different illumination direction 60.
  • the outer contour of the plug contact 10 and thus its location and its orientation can be determined uniquely. Misleading reflections, as they occur in lying outside the central longitudinal axis of the plug contact 10 contact tips 11 can be detected by taking pictures with the two directions of illumination 60 and taken into account accordingly.
  • two images with different illumination direction 60 are obtained without offset, since each pixel 50 is recorded with the same orientation of the receiving line 31, 32 to the plug contact 10 with changing illumination direction 60.
  • the right lighting unit 22 and the rear lighting unit 23 can alternately be used. In this way, recordings with a significantly different illumination direction 60 can be obtained.
  • the right lighting unit 22 together with the opposite left lighting unit 21 and the rear lighting unit 23 are switched together with the opposite, not shown, front lighting unit, whereby the brightness for the individual shots is increased.
  • the illumination is advantageously carried out by pulsed LEDs 23.1, which can be switched with a frequency of several kHz.
  • Figure 2 shows a schematic representation of a device for determining the position and / or orientation of a plug-in contact 10 with a four-line line scan camera 40.
  • the structure corresponds to the structure shown in Figure 1, wherein the same identifiers are used for the same components.
  • a four-line line scan camera 40 having a first line ZI 41, a second line Z2 42, a third line Z3 43 and a fourth line Z4 44 is used in the embodiment variant shown in FIG. 2, which has a central perspective on the plug contact 10 is aligned.
  • a pixel 50 arranged on the plug contact 10 can be picked up by the four lines ZI 41, Z2 42, Z3 43, Z4 44 of the four-line line scan camera 40 at four different illumination directions 60.
  • the plug contact 10 is illuminated by another of the four illumination units 21, 22, 23, 24 in each image in which a male pixel 50 is located in the image field of one line ZI 41, Z2 42, Z3 43, Z4 44.
  • four images of the plug contact 10 can be obtained at four different illumination directions 60.
  • FIG. 3 shows a schematic representation of individual pixels 50 in a first position relative to a four-line line scan camera 40.
  • the pixels 50 PI 51, P2 52, P3 53, P4 54, P5 55 and further pixels 50, not shown, are on the plug contact 10 arranged and are sequentially imaged by the four-line line camera 40.
  • the pixels 50 move in accordance with the feed direction 13 shown relative to the four-line line camera 40.
  • the pixels set a trajectory 12.1 marked by an arrow which corresponds to the distance between two lines ZI 41, Z2 42, Z3 43, Z4 44 corresponds.
  • the first pixel PI 51 lies in the image field of the first line ZI 41 of the four-line line scan camera 40 and is picked up by it in a first switched illumination direction.
  • FIG. 4 shows the pixels 50 shown in FIG. 3 in a second position relative to the four-line line scan camera 40 after it has been moved between two images
  • Traverse 12.1 have been moved.
  • the first pixel PI 51 is now in the image field of the second line Z2 42 of the four-line line scan camera 40, while the second pixel P2 52 is located in the image field of the first line ZI 41.
  • illumination takes place from a second illumination direction.
  • From the first pixel PI 51 is thus a first, with the first line ZI 41 recorded shot with a lighting from the first illumination direction and a second, with the second line Z2 42 recorded shot with illumination from the second illumination direction.
  • the second pixel P2 52 is received by the first line ZI 41 in the second illumination direction.
  • the pixels 50 can thus be taken in succession in four different directions of illumination of the four lines ZI 41, Z2 42, Z3 43, Z4 44 of the four-line line scan camera 40. Subsequently, the images can be sorted such that for each illumination direction 60, an image composed of the individual pixels 50 is formed.
  • FIG. 5 shows, in tabular form, a temporal sequence of images of the individual pixels 50 according to FIG. 3 and FIG. 4.
  • the four lines ZI 41, Z2 42, Z3 43, Z4 44 shown in FIGS. 3 and 4 are in the uppermost row of the table four-line line scan camera 40 listed.
  • the four illumination directions 60 Bl 61, B2 62, B3 63, B4 64 are listed.
  • the lines ZI 41, Z2 42, Z3 43, Z4 44 and the illumination directions 60, the individual pixels 50 are assigned in the temporal sequence of their recordings. The first
  • Recording is produced when the first pixel PI 51 lies in the image field of the first line ZI at a first illumination direction Bl 61.
  • This is shown in the second line of the table and corresponds to the position of the pixels 50 shown in FIG. 3 in relation to the four-line line scan camera 40.
  • the second recording takes place when the plug-in contact 10 was moved to the travel path shown in Figure 3 and 4 12.1.
  • the orientation of the pixels 50 shown in FIG. 4 is opposite to the four-line line scan camera 40.
  • the first line ZI 41 of the four-line line scan camera 40 takes on the second pixel P2 52, while the second line Z2 42 takes the first pixel PI 51. This is shown in the third line of the table.
  • the fourth line of the table shows the next images at a third illumination direction B3 63.
  • the first pixel PI 51 lies in the image field of the third line Z3 43, the second pixel P2 52 in the image field of the second line Z2 42 and the first pixel PI 51 in FIG Image field of the first line ZI 41.
  • the first pixel PI 51 has reached the fourth line Z4 44 of the four-line line scan camera 40.
  • the second pixel P2 52 are in the image field of the third line Z3 43, the third pixel P3 53 in the image field of the second line Z2 42 and the fourth pixel P4 in the image field of the first line ZI 41.
  • For the now taking pictures is a fourth illumination direction B4 64 before.
  • the first pixel PI 51 has moved out of the receiving area of the four-line line scan camera 40.
  • the second pixel P2 52 is opposite to the fourth row of the line camera 40.
  • the first illumination direction Bl 61 is selected again for the images taken with the four lines ZI 41, Z2 42, Z3 43, Z4 44.
  • FIG. 6 shows, in tabular form, the temporal sequence of images of individual pixels 50 with an eight-line line scan camera.
  • the structure of the table corresponds to that of the table shown in FIG.
  • Four illumination directions 60 Bl 61, B2 62, B3 63, B4 64 are available for the successive recordings.
  • the sequence corresponds to the sequence shown in FIG.
  • the first pixel PI 51 is moved to the image field of a fifth line Z5 45 of the eight-line line scan camera.
  • a shot is taken at the first illumination direction Bl 61.
  • the first pixel PI 51 are thus two shots with the first illumination direction Bl 61 before, one with the first line ZI 41 and one with the fifth line Z5 45 of the eight-line line camera is added ,
  • the first pixel PI 51 then successively traverses the image areas of a sixth row Z6 46, a seventh row Z7 47 and an eighth row Z8 48 of the eight-row line camera, successively taking pictures with the second illumination direction B2 62, the third illumination direction B3 63 and the fourth illumination direction B4 64 are made.
  • the other pixels follow 50.
  • For each pixel 50 are at the end two shots with the same direction of illumination before.
  • the images are sorted back into data sets with images of the same illumination direction 60, wherein the two images of a pixel 50 at the same illumination direction 60 are summed up. This increases the dynamics by a factor of 2, which corresponds to a f-stop.
  • the number of lines of the line scan camera and the number of illumination directions 60 can be arbitrarily extended. For this purpose, it must be ensured that the optics of the line camera still allow multiple imaging of the same pixel 50 at another location on the image sensor.
  • FIG. 7 shows, in a schematic representation, individual pixels 50 of a plug contact 10 shown in FIGS. 1 and 2 in a first position relative to a four-line line scan camera 40, which has an increased line spacing compared to the line scan camera 40 shown in FIGS.
  • the first pixel PI 51 is arranged in the image field of the first line ZI 41 of the four-line line scan camera 40.
  • the second pixel P2 enters the image field of the first line ZI 41 and takes a picture with a second illumination direction B2 62.
  • the first pixel PI is between the first line ZI 41 and the second line Z2 42 and is not pictured.
  • the first pixel PI 51 and the second pixel P2 52 are located between the first row ZI 41 and the second row Z2 42 and are not shown.
  • the first pixel PI 51 is arranged in front of the second row Z2 42, while before the first line ZI 41 of fourth pixel P4 54 is located. In this position, photographs of the first pixel PI 51 and of the fourth pixel P4 54 are taken with a fourth illumination direction B4 64.
  • FIG. 8 shows, in tabular form, the temporal sequence of images of the individual pixels 50 according to FIG. 7.
  • the table is constructed identically to the table shown in FIG.
  • the first pixel PI 51 For the first pixel PI 51, a recording is first carried out with the first line ZI 41 of the four-line line camera 40 shown in FIG. 7 at the first illumination direction Bl 61. During the next two shots, the pixel PI 51 is not detected. Then, the first pixel PI 51 is imaged with the second line Z2 at the fourth illumination direction B4 64. Accordingly, the recording of the first pixel PI 51 with the third line Z3 43 at the third illumination direction B3 63 and the recording with the fourth line follow accordingly Z4 44 in the second illumination direction B2 62. Again, each pixel 50 is thus recorded with each of the four illumination directions 60. The images can then be sorted back, so that four images with the different illumination directions Bl 61, B2 62, B3 63, B4 64 arise.
  • a simple computer-assisted evaluation can be achieved by using pseudo color channels.
  • the images are taken with the different lighting directions with the same illumination color.
  • the recordings are each assigned a separate color.
  • the recording itself can be done with a monochrome camera.
  • the assignment of colors to the different illumination directions 60 offers the advantage that algorithms which have been developed for the processing and evaluation of color images can be used without change for the creation and evaluation of the direction-coded images.
  • a plug contact 10 usually has no reflectance differences between its various edges. Without direction coding the pages are therefore indistinguishable. As a direction-coded pseudo-color image, the edges can now be processed with a color edge filter, and the tip of the plug-in contact 10 can be reliably detected.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

L'invention concerne un procédé servant à déterminer la position et/ou l'orientation au moins d'un contact enfichable à l'aide d'une caméra linéaire reproduisant le contact enfichable, disposée dans le sens de la longueur du contact enfichable et à l'aide d'un système d'éclairage disposé sur le côté du sens de la longueur du contact enfichable. La caméra linéaire peut être déplacée par rapport au contact enfichable et le contact enfichable peut être déplacé par rapport à la caméra linéaire. Afin de déterminer la position et/ou l'orientation du contact enfichable, au moins deux prises de vue consécutives du contact enfichable selon des directions d'éclairage différentes sont analysées. L'invention concerne en outre un dispositif servant à la mise en œuvre du procédé. Le procédé et le dispositif permettent l'identification optique fiable d'un contact enfichable défectueux d'une fiche.
PCT/EP2015/055401 2014-03-27 2015-03-16 Procédé et dispositif servant à déterminer la position et/ou à l'orientation au moins d'un contact enfichable WO2015144470A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201580016252.6A CN106461375B (zh) 2014-03-27 2015-03-16 确定至少一个插塞接触部的位置和/或定向的方法和设备

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014205701.9A DE102014205701A1 (de) 2014-03-27 2014-03-27 Verfahren und Vorrichtung zur Bestimmung der Position und/oder Orientierung zumindest eines Steckkontakts
DE102014205701.9 2014-03-27

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Publication Number Publication Date
WO2015144470A1 true WO2015144470A1 (fr) 2015-10-01

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PCT/EP2015/055401 WO2015144470A1 (fr) 2014-03-27 2015-03-16 Procédé et dispositif servant à déterminer la position et/ou à l'orientation au moins d'un contact enfichable

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Country Link
CN (1) CN106461375B (fr)
DE (1) DE102014205701A1 (fr)
WO (1) WO2015144470A1 (fr)

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DE102016219861A1 (de) * 2016-10-12 2018-04-12 Robert Bosch Gmbh Vorrichtung und Verfahren zur räumlichen Erfassung der Oberfläche eines Objektes
EP3911138B1 (fr) * 2019-01-08 2023-06-07 Fuji Corporation Système de confirmation d'état de broche de secours pour appareil de montage de composant

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CN106461375A (zh) 2017-02-22
DE102014205701A1 (de) 2015-10-01

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