WO2018213971A1

WO2018213971A1 - Method for determining visual detection parameter, visual detection device and visual detection system

Info

Publication number: WO2018213971A1
Application number: PCT/CN2017/085289
Authority: WO
Inventors: 阳光
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-05-22
Filing date: 2017-05-22
Publication date: 2018-11-29
Also published as: CN111213047A

Abstract

Provided are a method for determining a visual detection parameter, and a visual detection device (80) and a visual detection system for determining a visual detection parameter of a target to be detected. The method comprises: acquiring information about a target to be detected, wherein the information about the target to be detected comprises a geometric model of the target to be detected, and the geometric model of the target to be detected comprises a region to be detected of the target to be detected and a non-detection region of the target to be detected (201); respectively determining, according to a first incidence angle, a first reflection angle and a first position and a second position on the geometric model, first reflectivity of the first position and second reflectivity of the second position, wherein the first incidence angle is an angle at which a light source irradiates to the first position, the first reflection angle is an angle at which an image collecting device collects reflected light of the first position, the first position is located in the region to be detected, the second position is located in the non-detection region, and the distance between the first position and the second position is less than a predetermined value (202); determining a reflectivity difference value according to the first reflectivity and the second reflectivity (203); determining whether the reflectivity difference value is greater than a pre-set threshold value (204); and if the reflectivity difference value is greater than the pre-set threshold value, then determining the incidence angle and the reflection angle as a set of target incidence angle and target reflection angle of the region to be detected (205). A target incidence angle and a target reflection angle used for detecting the region to be detected can be determined.

Description

Method for determining visual detection parameters, visual inspection device and visual inspection system

Technical field

The present invention relates to the field of visual inspection, and in particular to a method for determining visual detection parameters, a visual inspection device, and a visual inspection system.

Background technique

Lighting is an important step in industrial vision inspection tasks, usually accounting for one-third of the entire process. In the prior art, for the problems given in the industrial visual inspection task, the lighting is generally a fixed light source, and the visual flow is fixed, and the incident angle of the light source is generally preset according to the experience of the worker, and sometimes the surface characteristics of the detected object. Very complicated, the preset lighting may only be applied to the lighting angle of a specific object, and the lighting position of the object cannot be automatically adjusted according to the material or defect of the object. The preset lighting may not be performed. Suitable for objects that currently need to be detected.

Summary of the invention

Embodiments of the present invention provide a method for determining a visual detection parameter, a visual detection device, and a visual detection system for determining a visual detection parameter of a target to be detected.

A first aspect of the embodiments of the present invention provides a method for determining a visual detection parameter, which specifically includes: acquiring target information to be detected, where the information to be detected includes a geometric model of the object to be detected, and a geometry of the object to be detected The model includes a to-be-detected area of the object to be detected and a non-detection area of the object to be detected; and determining the first angle of incidence, the first angle of reflection, and the first position and the second position on the geometric model, respectively a first reflectivity of the first location and a second reflectivity of the second location, the first incident angle being an angle at which the light source illuminates the first location, the first reflection angle being acquired by an image acquisition device An angle to the reflected light of the first position, the first position is located in a region to be detected, the second position is located in a non-detection region, and a distance between the first location and the second location is less than a preset value; determining a reflectance difference according to the first reflectivity and the second reflectivity; determining whether the reflectance difference is greater than a preset threshold; if the reflectance difference is large A preset threshold, then the incident angle and the reflection angle is determined as the detection region to be a set of target angle of incidence and the angle of reflection targets.

A second aspect of the embodiments of the present invention provides a method for determining a visual detection parameter, which specifically includes: acquiring information to be detected, where the information to be detected includes a geometric model of the object to be detected, The geometric model of the object to be detected includes a region to be detected of the object to be detected; determining a first reflectance of the target location according to a first incident angle, a first reflection angle, and a target position on the geometric model, The first incident angle is an angle at which the light source is irradiated to the target position, the first reflection angle is an angle of the reflected light of the image capturing device detecting the target position, and the target position is located in the area to be detected; a reflectance and a second reflectivity determine a reflectance difference, the second reflectivity being the target position extracted from a preset reference database at the first incident angle and the first reflected angle a reflectivity, at least the reflectivity corresponding to the target position at an arbitrary incident angle and an arbitrary reflection angle is stored in the preset reference database, and the data stored in the preset reference database is the to-be-detected area. Determining whether the reflectance difference is greater than a preset threshold; if the reflectance difference is greater than a preset threshold, the incident angle and the reflection angle are The region to be detected as a set target angle of incidence and angle of reflection targets.

A third aspect of the embodiments of the present invention provides a visual inspection device, where the visual inspection device is connected to an image collection device, the visual inspection device includes a memory and a processor, and the memory is configured to store operation instructions and related data; The processor is configured to: acquire the target information to be detected, the target information to be detected includes a geometric model of the target to be detected, and the geometric model of the target to be detected includes the target to be detected The area to be detected and the non-detection area of the object to be detected; determining the first reflection of the first position according to the first incident angle, the first reflection angle, and the first position and the second position on the geometric model, respectively And a second reflectivity of the second position, the first incident angle being an angle at which the light source illuminates the first position, the first reflected angle being acquired by the image acquisition device to the first position An angle of the reflected light, the first position is located in the area to be detected, the second position is located in the non-detection area, and the first position is opposite to the first The distance between the positions is less than a preset value; determining a reflectance difference according to the first reflectivity and the second reflectivity; determining whether the reflectance difference is greater than a preset threshold; if the reflectance difference Above the preset threshold, the incident angle and the reflected angle are determined as a set of target incident angles and target reflection angles of the area to be detected.

A fourth aspect of the embodiments of the present invention provides a visual inspection device, where the visual inspection device is connected to an image acquisition device, the visual inspection device includes a memory and a processor, and the memory is configured to store operation instructions and related data; The processor is configured to: acquire target information to be detected, where the target information to be detected includes a geometric model of the target to be detected, a geometric model of the target to be detected includes an area to be detected of the object to be detected; determining a first reflectance of the target position according to a first incident angle, a first reflection angle, and a target position on the geometric model, the first An incident angle is an angle at which the light source illuminates the target position, the first reflection angle being an angle of the reflected light of the image capturing device detecting the target position, the target position being located in the area to be detected; according to the first reflection And a second reflectivity determining a reflectance difference, the second reflectivity being a reflectance of the target position extracted from a preset reference database at the first incident angle and the first reflected angle The preset reference database stores at least the reflectivity corresponding to the target position at an arbitrary incident angle and an arbitrary reflection angle, and the data stored in the preset reference database is the reference state of the to-be-detected area. Determining whether the reflectance difference is greater than a preset threshold; if the reflectance difference is greater than a preset threshold, determining the incident angle and the reflected angle A set of target and a target angle of incidence of the reflection area to be inspected.

A fifth aspect of the embodiments of the present invention provides a visual inspection system including: a light source, an image acquisition device, and a visual inspection device; the visual detection device is configured to perform a determination method of the visual detection parameter as described above. At least one set of target incident angles and target reflection angles of the to-be-detected area of the target to be detected, and the light source is irradiated with the target to be detected at the target incident angle, and the image capturing device collects from the target reflection angle When the image of the target to be detected is detected, the image is detected and identified.

It can be seen from the above technical solutions that the embodiment of the present invention has the following advantages: by detecting a defect-to-detected area, it is determined that the target incident angle and the target reflection angle of the to-be-detected area can be detected, that is, determined. Suitable for detecting the lighting position of the area to be detected and the detecting position.

DRAWINGS

1 is a schematic structural diagram of a scene for lighting positioning in an embodiment of the present invention;

2 is a schematic flow chart of an embodiment of a method for determining a visual detection parameter according to an embodiment of the present invention;

3 is a schematic flow chart of another embodiment of a method for determining a visual detection parameter according to an embodiment of the present invention;

4 is a top view of collecting optical distribution data in an embodiment of the present invention;

5 is a side view of collecting optical distribution data in an embodiment of the present invention;

6 is a schematic flow chart of another embodiment of a method for determining a visual detection parameter according to an embodiment of the present invention;

FIG. 7 is a schematic flowchart diagram of another embodiment of a method for determining a visual detection parameter according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic structural diagram of an embodiment of a visual inspection device according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. Based on the embodiments in the present invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without having to use To describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the term "comprises" or "comprises" or any variations thereof, is intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those that are clearly listed Steps or units, but may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

The embodiment of the present invention is applicable to the architecture shown in FIG. 1 , and includes at least one light source, at least one camera, and at least one object to be detected.

Referring to FIG. 2, an embodiment of a method for determining a visual detection parameter in an embodiment of the present invention includes:

201. Acquire target information to be detected, where the to-be-detected target information includes a geometric model of the object to be detected, and the geometric model of the object to be detected includes a to-be-detected area of the object to be detected and a non-detected target Detection area.

In this embodiment, before the lighting positioning device needs to perform the lighting operation, the target information to be detected of the target to be detected is first extracted, wherein the target information to be detected includes a geometric model of the target to be detected, and the geometry of the target to be detected. The model includes a region to be detected of a target to be detected and a non-detection region of the object to be detected. The area to be detected of the object to be detected is an area that needs to be detected. For example, the detection area is a defect area, or other area that needs to be detected. The non-detection area is an area that does not need to be detected, such as a non-defective area. The target information to be detected may be input into the lighting positioning device by a technician.

202. Determine a first reflectivity of the first location and a second reflectivity of the second location according to the first incident angle, the first reflection angle, and the first location and the second location on the geometric model, the first incident angle Illuminating the light source to an angle of the first position, the first reflection angle is an angle of the reflected light collected by the image acquisition device to the first position, the first position being located in the area to be detected, the first The two positions are located in the non-detection area, and the distance between the first position and the second position is less than a preset value. The preset value may be performed according to actual conditions, and is not limited herein, for example, 20 pixels.

It should be noted that, according to the first incident angle, the first reflection angle, and the first position and the second position on the geometric model, the incident angle in the first reflectance of the first position and the second reflectance of the second position are respectively determined. And the angle of reflection, here directly refers to an angle of incidence and a angle of reflection, and both angles are for the first position.

It should be noted that, in this step, the first reflectance of the first position and the second reflectance of the second position are respectively determined according to the first incident angle, the first reflection angle, and the first position and the second position on the geometric model. For details, please refer to the embodiment corresponding to FIG. 3 below.

203. Determine a reflectance difference according to the first reflectivity and the second reflectivity.

In this embodiment, after acquiring the first reflectivity of the first location and the second reflectivity of the second location, the reflectance difference is calculated according to the first reflectivity and the second reflectivity, for example, the first The reflectance is 20%, and the second reflectance is 60%, and the reflectance difference is 60%-20%=40%.

It should be noted that the reflectance difference indicates the difference between the first position and the second position. The greater the difference between the reflectances, the greater the difference in the illumination, and the more the area to be detected of the picture taken by the image acquisition device obvious.

204: Determine whether the reflectance difference is greater than a preset threshold, and if yes, perform step 205; If it is less, step 206 is performed.

The preset threshold is related to the material of the detection target, and the specific value is not limited herein.

205. Determine an incident angle and a reflection angle as a set of target incident angles and target reflection angles of the area to be detected.

206. The incident angle and the reflection angle are not determined as a set of target incident angles and target reflection angles of the area to be detected.

In the technical solution provided by the embodiment of the present invention, by detecting a defective area to be detected, it is determined that the target incident angle and the target reflection angle of the to-be-detected area can be detected, that is, determining suitable for detecting the The lighting position of the area to be detected and the detection position.

Referring to FIG. 3, another embodiment of a method for determining a visual detection parameter in an embodiment of the present invention includes:

301. Acquire target information to be detected, where the to-be-detected target information includes a geometric model of the object to be detected, and the geometric model of the object to be detected includes a to-be-detected area of the object to be detected and a non-detected target Detection area.

In this embodiment, step 301 is similar to step 201 in FIG. 2, and details are not described herein.

302. Determine a first reflectivity of the first location and a second reflectivity of the second location according to a first incident angle, a first reflection angle, and a first location and a second location on the geometric model, respectively. The first incident angle is an angle at which the light source is irradiated to the first position, and the first reflection angle is an angle of the reflected light collected by the image capturing device to the first position, where the first position is located a detection area, the second position is located in the non-detection area, and a distance between the first position and the second position is less than a preset value.

Wherein the first reflectance of the first location and the second reflectivity of the second location are determined according to a first incident angle, a first reflected angle, and a first location and a second location on the geometric model, respectively There are two ways:

First, extracting the reflectance of the first position at the first incident angle and the first reflection angle as a first reflectance from the preset database, and according to the position of the first position and the second position on the geometric model and Calculating a second incident angle and a second reflected angle of the second position by an incident angle and a first reflected angle, and then extracting a reflectance of the second position at the second incident angle and the second reflected angle from the preset database As the second reflectivity.

The preset database stores at least the reflectivity corresponding to the first position and the second position of the object to be detected at an arbitrary incident angle and an arbitrary reflection angle. The area to be detected on the target to be detected is an area that needs to be detected.

It should be noted that the data stored in the preset database is optically distributed data, and the optical data may be a Bidirectional Reflectance Distribution Function (BRDF) or other data, such as polarization distribution data. Make a limit. The BRDF includes the BRDF of the non-detection area of the given material and the BRDF of the area to be detected of the given material. It should be noted that when the BRDF data is collected, each incident angle and each reflection angle are detected and collected. Reflectivity.

Wherein, the geometric model of the object to be detected affects the input angle of the incident light, and the optical distribution data of different materials are different.

It should be noted that when collecting BRDF or polarization distribution data, the area to be detected and the non-detection position of a given material of a given material can be divided into 4 or 8 directions, and the top view is as shown in FIG. 4, and each direction is 1 Sampling at intervals of 5 degrees, for example, when collecting in 4 directions and performing reflectance acquisition at intervals of 3 degrees, first select one of the eight directions, with the incident light being 3° with respect to the plane of the object to be detected, 6°, 9°, ...180°, the angle of the acquisition is divided, and then the light intensity of the incident light at each angle and the light intensity of the reflected light of each reflection angle corresponding to each incident light are respectively collected, and finally the same method is used. The light intensity of the incident light at each angle of each direction and the light intensity of the reflected light of each reflection angle corresponding to each incident light are collected, and finally the reflectance of the incident light at each angle is calculated and stored in a database. A side view of the sampling interval is shown in Figure 5.

It should be noted that there are two cases regarding the second incident angle and the second reflected angle of the second position:

Case 1: The first position and the second position are in the same plane on the geometric model. Because the distance between the two is small, the angle difference can be directly ignored. It is directly considered that the incident angle and the reflection angle of the first position are the second position. Incident angle and reflection angle;

Case 2: The first position and the second position are in different planes on the geometric model, and the incident angle and the reflection angle of the second position take into account two planes in the case where the positions of the light source and the image capturing device are unchanged. The angle problem.

It should be noted that when the first position and the second position are in different planes on the geometric model, the angle of incidence of the second position needs to be corrected, for example, the two faces are at an angle a, if the first position is The first incident angle x, the second incident angle of the second position is y=180-a-x degrees; if the reflection angle z of the first position, the reflection angle of the second position is y=180-a-z degrees.

Secondly, the intensity of the reflected light at the first position and the intensity of the reflected light at the second position are respectively detected by the image capturing device at the first reflection angle, the first position being located in the area to be detected, and the second position being located a non-detection area, and a distance between the first position and the second position is less than a preset value, and then according to the intensity of the reflected light of the first position, the intensity of the light source, the distance between the image capturing device and the first position, and Calculating a first reflectance of the first position by the distance of the light source from the first position, and according to the intensity of the reflected light of the second position, the intensity of the light source, the distance between the image capturing device and the second position, and the distance between the light source and the second position The second reflectivity of the second location is calculated.

The first reflection angle corresponds to a light source that is irradiated to the first position and the second position, and the angle formed by the light source to the first position is the first incident angle.

The calculation of the reflectance of the detected position according to the intensity of the reflected light, the intensity of the light source, the distance between the image capturing device and the detected position, and the distance between the light source and the detected position may be an existing general algorithm, which is not limited herein. .

303. Determine a reflectance difference according to the first reflectivity and the second reflectivity.

Step 305 is similar to step 203 in FIG. 2, and details are not described herein.

304. Determine whether the reflectance difference is greater than a preset threshold. If yes, perform step 305. If not, perform step 308.

305. Determine the incident angle and the reflection angle as a set of target incident angles and target reflection angles of the detection area.

306. Acquire a first reflectivity at a first position, a second reflectance at a second position, and a reflectance difference between the first reflectance and the second reflectance at a combination of any incident angle and an arbitrary angle of reflection.

There are two methods for obtaining the first reflectance at the first position and the second reflectance at the second position under the combination of any incident angle and an arbitrary reflection angle:

First, after adjusting the angle of the first incident angle, acquiring, by the preset database, the first incident angle after changing the angle, the first reflectance of the first position corresponding to the first reflection angle, and the second position a second reflectivity; or after adjusting an angle of the first reflection angle, acquiring a first reflectance of the first reflection angle corresponding to the first incident angle and a first reflectance corresponding to the first incident angle in the preset database The second reflectivity of the two positions.

Secondly, after adjusting one or both of the first incident angle and the first reflection angle, the reflected light intensity of the first position and the second position under the combination of any incident angle and an arbitrary reflection angle are acquired by the image acquisition device. The reflected light intensity of the position, and then calculating the first reflectance of the first position according to the intensity of the reflected light at the first position and the intensity of the light source, the distance between the image capturing device and the first position, and the distance between the light source and the first position, and The second reflectivity of the second location is calculated based on the intensity of the reflected light at the second location, the intensity of the light source, the distance of the image capture device from the second location, and the distance of the light source from the second location.

The method for determining the difference between the first reflectance and the second reflectance is similar to the step 203 in FIG. 2, and details are not described herein.

307. Combine the combination of the first incident angle and the first reflection angle corresponding to the reflectance difference greater than the preset threshold value into the set of the target incident angle and the target reflection angle of the to-be-detected region.

Further, when the to-be-detected target includes at least the first detection area and the second detection area, it is necessary to first determine a set of the target incident angle and the target reflection angle corresponding to each detection area. If it is required to simultaneously detect the first detection area and the second detection area, determining a combination of the third incident angle and the third reflection angle as the target incident angle and the target reflection angle, wherein the third incident angle and the third reflection angle are The set of the target incident angle and the target reflection angle belonging to the first detection area are combined, and the combination of the third incident angle and the third reflection angle belongs to a set of the target incident angle and the target reflection angle of the second detection area.

Further, when the to-be-detected target includes at least the first detection area and the second detection area, it is necessary to first determine a set of the target incident angle and the target reflection angle corresponding to each detection area. If it is required to detect the first detection area and not detect the second detection area, the combination of the fourth incident angle and the fourth reflection angle is determined as the target incident angle and the target reflection angle, wherein the combination of the fourth incident angle and the fourth reflection angle The set of the target incident angle and the target reflection angle belonging to the first detection area, and the combination of the fourth incident angle and the fourth reflection angle does not belong to the set of the target incident angle and the target reflection angle of the second detection area.

Further, when the to-be-detected target includes at least the first detection area and the second detection area, it is necessary to first determine a set of the target incident angle and the target reflection angle corresponding to each detection area. If it is required to detect the second detection area and not detect the first detection area, the combination of the fifth angle of incidence and the fifth reflection angle is determined as the target incident angle and the target reflection angle, wherein the combination of the fifth incident angle and the fifth reflection angle The set of the target incident angle and the target reflection angle that do not belong to the first detection area, and the combination of the fifth incident angle and the fifth reflection angle belongs to the set of the target incident angle and the target reflection angle of the second detection area.

308. The incident angle and the reflection angle are not determined as a set of target incident angles and target reflection angles of the area to be detected.

In the technical solution provided by the embodiment of the present invention, by detecting a defective area to be detected, it is determined that a combination of all target incident angles and target reflection angles of the to-be-detected area can be detected, that is, determining suitable use. A combination of all the light-receiving positions and the detected positions of the area to be detected is detected.

Referring to FIG. 6, another embodiment of a method for determining a visual detection parameter in an embodiment of the present invention includes:

601. Acquire target information to be detected, where the to-be-detected target information includes a geometric model of the object to be detected, and the geometric model of the object to be detected includes an area to be detected of the object to be detected.

In this embodiment, step 601 is similar to step 201 in FIG. 2, and details are not described herein.

602. Determine a first reflectivity of the target location according to a first incident angle, a first reflected angle, and a target position on the geometric model, the first incident angle being an angle at which the light source illuminates the target location, The first reflection angle is an angle of the reflected light of the image acquisition device detecting the target position, and the target position is located in the area to be detected.

It should be noted that the specific method for obtaining the first reflectivity in this step is specifically shown in the embodiment corresponding to FIG. 7 .

603. Determine a reflectance difference according to the first reflectivity and the second reflectivity, where the second reflectivity is the first incident angle and the first reflection from the target position extracted from the preset reference database. a reflectivity under the corner, at least the reflectivity corresponding to the target position at an arbitrary incident angle and an arbitrary reflection angle is stored in the preset reference database, and the data stored in the preset reference database is the The data when the detection area is the reference status.

In this embodiment, the preset reference database stores the BRDF data of the object to be detected, and the to-be-detected area of the object to be detected is a reference state (for example, a non-defective state).

The algorithm for the reflectance difference is similar to the step 203 in FIG. 2, and details are not described herein.

604. Determine whether the reflectance difference is greater than a preset threshold. If yes, perform step 605; if less, perform step 606.

605. Determine an incident angle and a reflection angle as a set of target incident angles and target reflections of the area to be detected. angle.

606. The incident angle and the reflection angle are not determined as a set of target incident angles and target reflection angles of the area to be detected.

In the technical solution provided by the embodiment of the present invention, by comparing the reflectivity of the target location of the to-be-detected area with the reflectivity of the target location of the to-be-detected area acquired from the preset reference database, it is determined that the detected location can be detected. The target incident angle and the target reflection angle of the detection area are described, that is, a suitable light-emitting position and a detection position for detecting the area to be detected are determined.

Referring to FIG. 7, another embodiment of a method for determining a visual detection parameter in an embodiment of the present invention includes:

701. Acquire target information to be detected, where the to-be-detected target information includes a geometric model of the object to be detected, and the geometric model of the object to be detected includes an area to be detected of the object to be detected.

In this embodiment, step 701 is similar to step 201 in FIG. 2, and details are not described herein.

702. Determine a first reflectivity of the target location according to a first incident angle, a first reflected angle, and a target position on a geometric model, where the first incident angle is an angle at which the light source illuminates the target location, The first reflection angle is an angle of the reflected light of the image acquisition device detecting the target position, and the target position is located in the area to be detected.

There are two methods for determining the first reflectivity of the target location:

First, firstly, the intensity of the reflected light at the target position is detected by the image capturing device at the first reflection angle, and then the intensity of the reflected light according to the target position, the intensity of the light source, the distance between the image capturing device and the target position, and the light source and the target. The distance of the position calculates the first reflectivity of the target position.

The first reflection angle corresponds to a light source that is irradiated to the target position, and the angle formed by the light source to the target position is the first incident angle.

Secondly, the reflectivity of the target position at the first incident angle and the first reflection angle is extracted from the preset database as a first reflectivity, and at least the target position is stored in the preset database at an arbitrary incident angle and an arbitrary reflection The reflectivity corresponding to the angle, and the data stored in the preset database is the data when the target position is the area to be detected, that is, the data stored in the preset database is the BRDF data collected when the object to be detected is a defective area.

703. Determine a reflectance difference according to the first reflectivity and the second reflectivity, where the second reflectivity is the first incident angle and the first reflection from the target position extracted from the preset reference database. a reflectivity under the corner, at least the reflectivity corresponding to the target position at an arbitrary incident angle and an arbitrary reflection angle is stored in the preset reference database, and the data stored in the preset reference database is the The data when the detection area is the reference status.

In this embodiment, the step 703 is similar to the step 603 in FIG. 6 , and details are not described herein.

704. Determine whether the reflectance difference is greater than a preset threshold. If yes, perform step 705; if less, perform step 708.

705. Determine an incident angle and a reflection angle as a set of target incident angles and target reflection angles of the area to be detected.

706. Acquire a first reflectance and a second reflectivity of the target position under a combination of any incident angle and an arbitrary reflection angle, and a reflectance difference between the first reflectivity and the second reflectivity.

In this embodiment, there are two methods for obtaining the first reflectance of the target position under the combination of any incident angle and an arbitrary reflection angle:

First, after adjusting the angle of the first incident angle, the intensity of the reflected light of the target position after adjusting the angle of the first incident angle is acquired by the image acquisition device, and then the intensity of the reflected light according to the target position, the intensity of the light source, and the image The distance between the acquisition device and the target position and the distance between the light source and the target position calculate the first reflectance of the target position. Or after adjusting the angle of the first reflection angle, the intensity of the reflected light of the target position after adjusting the angle of the first reflection angle is acquired by the image acquisition device, and then the intensity of the reflected light according to the target position, the intensity of the light source, the image acquisition device and The distance of the target position and the distance of the light source from the target position calculate the first reflectance of the target position.

The second type: after adjusting the angle of the first incident angle, acquiring, by the preset database, the first reflectivity of the first incident angle after changing the angle and the target position corresponding to the first reflection angle; or adjusting the first reflection After the angle of the angle, the first reflectance of the target position corresponding to the first incident angle and the first incident angle after the angle is changed is acquired in the preset database.

In this embodiment, the method for obtaining the second reflectivity of the target position under the combination of any incident angle and an arbitrary reflection angle is: after adjusting the angle of the first incident angle, obtaining the changed angle by using the preset reference database a first reflectance angle of the first incident angle corresponding to the first reflection angle; or after adjusting the angle of the first reflection angle, obtaining a first reflection angle after changing the angle in the preset reference database The second reflectivity of the target position corresponding to an incident angle.

707. Record a combination of the first incident angle and the first reflection angle corresponding to the reflectance difference greater than the preset threshold into the set of the target incident angle and the target reflection angle of the to-be-detected region.

In this embodiment, step 707 is similar to step 307 in FIG. 3, and details are not described herein.

708. The incident angle and the reflection angle are not determined as a set of target incident angles and target reflection angles of the area to be detected.

In the technical solution provided by the embodiment of the present invention, by comparing the reflectivity of the target location of the to-be-detected area with the reflectivity of the target location of the to-be-detected area acquired from the preset reference database, it is determined that the detected location can be detected. A combination of all target incident angles and target reflection angles of the detection area is determined, that is, a combination of all of the light-on positions and the detection positions for detecting the area to be detected is determined.

The method for determining the visual detection parameters in the embodiment of the present invention has been described above. The visual inspection device in the embodiment of the present invention will be described below. Please refer to FIG. 8.

The present invention also provides a visual inspection device. Referring to FIG. 8, FIG. 8 is a schematic structural diagram of an embodiment of a visual inspection device according to an embodiment of the present invention. The visual inspection device is connected to an image acquisition device, wherein the visual inspection device 80 includes: The memory 810 and the processor 820.

The memory 810 is configured to store operation instructions and related data.

The processor 820 is configured to execute the foregoing determining method of the visual detection parameter by calling an operation instruction stored in the memory 810, to determine that a combination of the target incident angle and the target reflection angle of the to-be-detected region can be detected, that is, determining a suitable one. A combination of a lighting position for detecting the area to be detected and a detection position.

It should be noted that, in this embodiment, the processor 820 may also be referred to as a central processing unit (English full name: Central Processing Unit, English abbreviation: CPU).

The memory 810 is configured to store operation instructions and data, so that the processor 820 invokes the above operation instructions to implement corresponding operations, and may include a read only memory and a random access memory. A portion of the memory 810 may also include a non-volatile random access memory (English name: Non-Volatile Random Access Memory, English abbreviation: NVRAM).

The visual inspection device 80 also includes a bus system 830 that couples various components of the visual inspection device 80, each of which includes a memory 810, a processor 820, wherein the bus system 830 can include, in addition to the data bus, Power bus, control bus and status signal bus. However, for clarity of description, various buses are labeled as bus system 830 in the figure.

In this embodiment, it should be noted that the method disclosed in the foregoing embodiment of the present invention may be applied to the processor 820 or implemented by the processor 820. Processor 820 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 820 or an instruction in a form of software. The processor 820 may be a general-purpose processor, a digital signal processor (English name: Digital Signal Processing, English abbreviation: DSP), an application specific integrated circuit (English name: Application Specific Integrated Circuit, English abbreviation: ASIC), ready-made programmable Gate array (English name: Field-Programmable Gate Array, English abbreviation: FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present invention may be implemented or carried out. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention may be directly embodied as hardware decoding. The processor is executed or completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory 810, and the processor 820 reads the information in the memory 810 and completes the steps of the above method in combination with its hardware.

An embodiment of the present invention further provides a visual inspection system including a machine light source, an image acquisition device, and a visual inspection device, wherein the visual inspection system performs the above determination of the visual detection parameter by using the visual inspection device mentioned above. a method of determining at least one set of target incident angles and target reflection angles of a region to be detected of a target to be detected, and illuminating the target to be detected at the target incident angle with the light source, and the image capturing device from the When the target reflection angle acquires an image of the object to be detected, the image is detected and identified. It should be noted that the image may be detected and identified by an existing image recognition algorithm.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that The technical solutions described in the examples are modified, or equivalent to some of the technical features, and the modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

A method for determining a visual detection parameter, comprising:

Obtaining target information to be detected, the target information to be detected includes a geometric model of the object to be detected, and the geometric model of the object to be detected includes a to-be-detected area of the object to be detected and a non-detection area of the object to be detected ;

Determining a first reflectivity of the first location and a second reflectivity of the second location, respectively, based on a first angle of incidence, a first angle of reflection, and a first location and a second location on the geometric model, The first incident angle is an angle at which the light source is irradiated to the first position, and the first reflection angle is an angle of the reflected light collected by the image capturing device to the first position, where the first position is located in the area to be detected The second position is located in the non-detection area, and a distance between the first position and the second position is less than a preset value;

Determining a reflectance difference according to the first reflectance and the second reflectivity;

Determining whether the reflectance difference is greater than a preset threshold;

If the reflectance difference is greater than a preset threshold, the incident angle and the reflected angle are determined as a set of target incident angles and target reflection angles of the region to be detected.
The method of claim 1 wherein said determining said first position of said first position based on said first angle of incidence, said first angle of reflection, and said first and second positions on said geometric model, respectively The rate and the second reflectivity of the second location include:

Extracting a reflectance of the first position at a first incident angle and a first reflection angle as a first reflectivity from a preset database, wherein the preset database stores at least the first on the target to be detected a corresponding reflectance of a position and the second position at an arbitrary incident angle and an arbitrary reflection angle;

Calculating a second incident angle and a second reflection of the second position according to a position of the first position and the second position on the geometric model and the first incident angle and the first reflection angle angle;

A reflectance of the second position at the second incident angle and the second reflected angle is extracted from the preset database as a second reflectance.
The method of claim 1 wherein said determining said first position of said first position based on said first angle of incidence, said first angle of reflection, and said first and second positions on said geometric model, respectively The rate and the second reflectivity of the second location include:

Detecting, by the image capturing device, the intensity of the reflected light at the first position on the first reflection angle And the intensity of the reflected light of the second position;

Calculating a first reflectance of the first location according to an intensity of the reflected light of the first location, an intensity of the light source, a distance of the image capturing device from the first location, and a distance between the light source and the first location; and

And calculating a second reflectance of the second position according to the intensity of the reflected light at the second position, the intensity of the light source, the distance between the image capturing device and the second position, and the distance between the light source and the second position.
The method of claim 1 further comprising:

After adjusting one or both of the first incident angle and the first reflection angle, acquiring a first reflectance at a first position and a second reflectance at a second position at a combination of any incident angle and an arbitrary angle of reflection And a difference in reflectance between the first reflectivity and the second reflectance; and

The combination of the first incident angle corresponding to the reflectance difference greater than the preset threshold and the first reflected angle is recorded into the set of the target incident angle and the target reflection angle of the to-be-detected region.
The method according to claim 4, wherein when the object to be detected includes at least a first area to be detected and a second area to be detected, the method further includes:

When it is required to simultaneously detect the first to-be-detected area and the second to-be-detected area, first determine a set of target incident angles and target reflection angles corresponding to each to-be-detected area, and third angle of incidence and third The combination of the reflection angles is determined as a target incident angle and a target reflection angle, wherein the combination of the third incident angle and the third reflection angle belongs to a set of a target incident angle and a target reflection angle of the first to-be-detected region, and The combination of the third incident angle and the third reflected angle belongs to a set of the target incident angle and the target reflection angle of the second to-be-detected region.
The method according to claim 4, wherein when the object to be detected includes at least a first area to be detected and a second area to be detected, the method further includes:

When it is required to detect the first to-be-detected area and not detect the second to-be-detected area, first determine a set of a target incident angle and a target reflection angle corresponding to each to-be-detected area, and the fourth incident angle and the first The combination of the four reflection angles is determined as a target incident angle and a target reflection angle, wherein the combination of the fourth incident angle and the fourth reflection angle belongs to a set of the target incident angle and the target reflection angle of the first to-be-detected region, and The combination of the fourth incident angle and the fourth reflection angle does not belong to the set of the target incident angle and the target reflection angle of the second to-be-detected region.
The method according to claim 4, wherein when the object to be detected includes at least a first area to be detected and a second area to be detected, the method further includes:

When it is required to detect the second to-be-detected area and not detect the first to-be-detected area, first determine a set of a target incident angle and a target reflection angle corresponding to each to-be-detected area, and set a fifth angle of incidence The combination of the five reflection angles is determined as a target incident angle and a target reflection angle, wherein the combination of the fifth incident angle and the fifth reflection angle does not belong to a set of the target incident angle and the target reflection angle of the first to-be-detected region, and The combination of the fifth incident angle and the fifth reflection angle belongs to a set of a target incident angle and a target reflection angle of the second to-be-detected region.
A method for determining a visual detection parameter, comprising:

Obtaining to-be-detected target information, the to-be-detected target information includes a geometric model of the object to be detected, and the geometric model of the object to be detected includes an area to be detected of the object to be detected;

Determining a first reflectivity of the target location based on a first angle of incidence, a first angle of reflection, and a target location on the geometric model, the first angle of incidence being an angle at which the light source illuminates the target location, The first reflection angle is an angle of the reflected light of the image capturing device detecting the target position, and the target position is located in the area to be detected;

Determining a reflectance difference according to the first reflectivity and the second reflectivity, the second reflectivity being the target position extracted from a preset reference database at the first incident angle and the first a reflectivity at a reflection angle, wherein the preset reference database stores at least a reflectance corresponding to the target position at an arbitrary incident angle and an arbitrary reflection angle, and the data stored in the preset reference database is the Data when the area to be detected is the reference state;

Determining whether the reflectance difference is greater than a preset threshold;

If the reflectance difference is greater than a preset threshold, the incident angle and the reflected angle are determined as a set of target incident angles and target reflection angles of the region to be detected.
The method according to claim 8, wherein the determining the first reflectance of the target position according to the first incident angle, the first reflection angle, and the target position on the geometric model comprises:

Detecting, by the image capturing device, the intensity of the reflected light of the target position on the first reflection angle;

The intensity of the reflected light according to the target position, the intensity of the light source, the image acquisition device The distance from the target position and the distance of the light source from the target position calculate a first reflectance of the target position.
The method according to claim 8, wherein the determining the first reflectance of the target position according to the first incident angle, the first reflection angle, and the target position on the geometric model comprises:

Extracting, from the preset database, a reflectance of the target position at a first incident angle and a first reflection angle as a first reflectivity, wherein the preset database stores at least the target position on the target to be detected The reflectivity at any angle of incidence and at any angle of reflection.
The method of claim 8 further comprising:

After adjusting one or both of the first incident angle and the first reflection angle, acquiring a first reflectance and a second reflectance of a target position under a combination of an arbitrary incident angle and an arbitrary reflection angle, and a difference in reflectance between the first reflectance and the second reflectance; and

The combination of the first incident angle corresponding to the reflectance difference greater than the preset threshold and the first reflected angle is recorded into the set of the target incident angle and the target reflection angle of the to-be-detected region.
The method according to claim 11, wherein when the object to be detected includes at least a first area to be detected and a second area to be detected, the method further includes:

When it is required to simultaneously detect the first to-be-detected area and the second to-be-detected area, first determine a set of target incident angles and target reflection angles corresponding to each to-be-detected area, and second incident angles and second The combination of the reflection angles is determined as a target incident angle and a target reflection angle, wherein the combination of the second incident angle and the second reflection angle belongs to a set of a target incident angle and a target reflection angle of the first to-be-detected region, and The combination of the second incident angle and the second reflected angle belongs to a set of the target incident angle and the target reflection angle of the second to-be-detected region.
The method according to claim 11, wherein when the object to be detected includes at least a first area to be detected and a second area to be detected, the method further includes:

When it is required to detect the first detection area and not detect the second detection area, first determine a set of a target incident angle and a target reflection angle corresponding to each to-be-detected area, and the third incident angle and the third reflection The combination of the angles is determined as a target incident angle and a target reflection angle, wherein the combination of the third incident angle and the third reflection angle belongs to a set of the target incident angle and the target reflection angle of the first to-be-detected region, and the The combination of the three incident angles and the third reflection angle does not belong to the target incident angle and the target of the second to-be-detected region A collection of standard reflection angles.
The method according to claim 11, wherein when the object to be detected includes at least a first area to be detected and a second area to be detected, the method further includes:

When it is required to detect the second to-be-detected area and not detect the first to-be-detected area, first determine a set of a target incident angle and a target reflection angle corresponding to each to-be-detected area, and the fourth angle of incidence and the The combination of the four reflection angles is determined as a target incident angle and a target reflection angle, wherein the combination of the fourth incident angle and the fourth reflection angle does not belong to a set of the target incident angle and the target reflection angle of the first to-be-detected region, and The combination of the fourth incident angle and the fourth reflection angle belongs to a set of a target incident angle and a target reflection angle of the second to-be-detected region.
A visual inspection device, wherein the visual inspection device is connected to an image acquisition device, the visual inspection device comprising a memory and a processor;

The memory is configured to store operation instructions and related data;

The processor is configured to implement the method of determining a visual detection parameter according to any one of claims 1 to 14 by calling the operation instruction.
A visual inspection system, characterized in that the visual inspection system comprises:

a light source, an image acquisition device, and a visual inspection device;

The method for determining a visual detection parameter according to any one of claims 1 to 14 for determining at least one set of target incident angles and target reflection angles of a region to be detected of a target to be detected, and The light source illuminates the object to be detected at the target incident angle, and the image capturing device detects and recognizes the image when the image of the object to be detected is acquired from the target reflection angle.