CN103945123A - Method for adjusting level angle of industrial camera - Google Patents
Method for adjusting level angle of industrial camera Download PDFInfo
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- CN103945123A CN103945123A CN201410132986.8A CN201410132986A CN103945123A CN 103945123 A CN103945123 A CN 103945123A CN 201410132986 A CN201410132986 A CN 201410132986A CN 103945123 A CN103945123 A CN 103945123A
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Abstract
The invention discloses a method for adjusting the level angle of an industrial camera. The method comprises the steps that a), the industrial camera is mounted at a fixed position; b), more than two landmarks are arranged on the plane, facing the industrial camera, of a detection area; c), the parameters of the industrial camera are adjusted, the focal length of each landmark is adjusted from near to far, and a plurality of images of the landmarks are collected; d), the contrast ratio of each collected image of each landmark is calculated, and contrast ration change curves are drawn; e), the level angle of the industrial camera is adjusted according to the peak position of the contrast ration change curve of each landmark.
Description
Technical field
The present invention relates to a kind of method that regulates industrial camera level angle.
Background technology
Along with the requirement to product quality is more and more higher, mechanical vision inspection technology is widely used in multiple fields such as weaving, PCB manufacture, printing.The features such as industrial camera is fast with its sweep speed, precision is high, stable are widely used, and the situation that industrial vision system detects tiny defect at large format surveyed area is more and more.Traditional camera pose regulates and carries out location and the adjusting of the level angle of camera by the method for the machinery such as mould, frock.This method can ensure that the pose of camera case and sense channel fixes, but the accumulated error of the connection angle of CCD target surface and camera lens and machinery, can cause actual CCD target surface with surveyed area and be not suitable for strict parallel, thereby it is empty burnt to cause collected by camera image to occur in the edge of surveyed area, and tiny defect cannot detect.
Under the detection operating mode of the large depth of field, large format, the imaging target surface that prior art cannot fine adjustment industrial camera is strictly parallel with shooting visual field plane.Due to the imaging lens depth of field, there will be empty burnt problem in both sides, visual field, two side areas tiny defect cannot be detected.
Summary of the invention
The invention provides a kind of method that regulates industrial camera level angle, it comprises:
A) install industrial camera in fixed position;
B) in the plane of industrial camera, 2 or 4 marks are set at surveyed area;
C) regulate industrial camera parameter, to each mark from the close-by examples to those far off and uniform speed slow focus, and gather the image of several these marks simultaneously;
D) multiple image of the each mark to collection calculates the contrast of every width image, draws out contrast change curve;
E) regulate the level angle of industrial camera according to the peak location of the contrast change curve of each mark, make line become the peak location of contrast change curve of 2 marks at horizontal 2 set-point place identical.
Wherein, in step b), detect for plane, 2 marks are set; Detect for solid, 4 marks are set, the line of 4 set-points is a rectangle.
Wherein said mark is thin stripe type mark.
Wherein said mark is versicolor markings.
Wherein said markings are black designation line.
Utilization formula below calculates the contrast of this black designation line image:
C=(G(p+3)+G(p-3))/2-G(p)
Wherein p is the pixel coordinate perpendicular to black designation line direction, and G (p) is the gray scale of image in p position, and C is contrast.
Wherein in step e), in the time that 2 marks are set, in the time from the close-by examples to those far off regulating camera focus, when the spike A of the contrast change curve of left end marker thing first occurs than the spike B of the contrast change curve of right end marker thing, the level angle of this industrial camera is deflection left side; Otherwise the level angle of this industrial camera is deflection right side, regulates the level angle of industrial camera, make the spike A of contrast change curve of these 2 marks identical with the position that B occurs; In the time that 4 marks are set, in the time from the close-by examples to those far off regulating camera focus, the order occurring when the peak location of the contrast change curve of 4 marks is: when spike C-spike D-spike A-spike B or spike B-spike A-spike D-spike C, the level angle of industrial camera is deflection right side; Otherwise, the order that peak location occurs is: when peak D-spike C-spike B-spike A person spike A-spike B-spike C-spike D, the level angle of camera is deflection left side, regulate the level angle of industrial camera, make spike A identical with the position that spike B occurs, and spike C is identical with the position that spike D occurs.
Wherein, in the time that 4 marks are set, regulate the focal length of industrial camera all to reach the more than 1/2 of kurtosis with the contrast that makes these 4 marks.
Technical scheme of the present invention is to utilize the image of camera shooting as feedback, regulates mechanical pose and the focal length of camera, makes camera imaging target surface strictly be parallel to field of detection, ensures the image in whole surveyed area, all has higher acutance.This has just solved the technical problem that the not parallel image sharpness causing of camera target surface and visual field declines, and all has thereby system is possessed the ability that detects tiny defect in whole visual field.
Brief description of the drawings
Fig. 1 is the flow chart of the method for adjusting industrial camera level angle of the present invention.
Fig. 2 is the find a view schematic diagram of the mark image in surveyed area of industrial camera camera lens.
Fig. 3 is the contrast change curve of 4 marks.
Embodiment
Fig. 1 is the flow chart of the method for adjusting industrial camera level angle of the present invention.As shown in the figure, the method for adjusting industrial camera level angle of the present invention comprises:
1, install industrial camera in fixed position.
2, in the plane of industrial camera, 2 or 4 marks are set at surveyed area.Wherein, detect for plane, when product to be detected is plane, only need to be horizontally disposed with 2 marks, in other words, the line of these 2 set-points becomes a horizontal line.Detect for solid, need to arrange 4 marks, the line of these 4 set-points is a rectangle.Described mark is preferably thin stripe type mark, can be versicolor markings, is preferably black designation line.
3, regulate industrial camera parameter, to each mark from the close-by examples to those far off and uniform speed slow focus, and gather the image of several these marks simultaneously.
4, the multiple image of the each mark gathering is calculated the contrast of every width image, draw out contrast change curve.
Taking black designation line as example, utilization formula below calculates the contrast of this black designation line image below:
C=(G(p+3)+G(p-3))/2-G(p)
Wherein p is the pixel coordinate perpendicular to black designation line direction, and G (p) is the gray scale of image in p position, and C is contrast.
Also can adopt other formula to calculate contrast, thereby draw out contrast change curve.
5, regulate the level angle of industrial camera according to the peak location of the contrast change curve of each mark, make line become the peak location of contrast change curve of 2 marks at horizontal 2 set-point place identical.
Concrete operation step is:
Detect in application in plane, due to 2 marks being only set, in the time from the close-by examples to those far off regulating camera focus, when the spike A of the contrast change curve of left end marker thing first occurs than the spike B of the contrast change curve of right end marker thing, the level angle that means industrial camera is deflection left side; Otherwise the level angle of industrial camera is deflection right side.Regulate the level angle of industrial camera, make the spike A of contrast change curve of these 2 marks identical with the position that B occurs.
Detect in application in solid, 4 marks need to be set, and set-point line surrounds a rectangular area that covers whole surveyed area, referring to Fig. 2, this Fig. 2 is the find a view schematic diagram of the mark image in surveyed area of industrial camera camera lens, and wherein A, B, C and D represent 4 set-points.Under normal circumstances, the bottom surface of placing product to be detected is smooth, so only consider to regulate the level angle of industrial camera.Fig. 3 is the contrast change curve of 4 marks, referring to Fig. 3, represent, represent at the spike spike B of the contrast change curve of the mark of set-point B, represent at the spike spike C of the contrast change curve of the mark of set-point C with spike A at the spike of the contrast change curve of the mark of set-point A, and represent with spike D at the spike of the contrast change curve of the mark of set-point D.In the time from the close-by examples to those far off regulating camera focus, the order occurring when the peak location of the contrast change curve of 4 marks is: when spike C-spike D-spike A-spike B or spike B-spike A-spike D-spike C, the level angle of industrial camera is deflection right side, is partial to set-point B, D side; Otherwise the order that peak location occurs is: when peak D-spike C-spike B-spike A person spike A-spike B-spike C-spike D, the level angle of camera is deflection left side, is partial to set-point A, C side.Regulate the level angle of industrial camera, make line become the peak location of contrast change curve of 2 marks at horizontal 2 set-point place identical, spike A is identical with the position that B occurs, and spike C is identical with the position that D occurs.When regulating after the level angle of industrial camera, fix this industrial camera.
In addition, detect in application in solid, in the time that 4 marks are set, regulate the focal length of this industrial camera all to reach the more than 1/2 of kurtosis with the contrast that makes these 4 marks, to ensure that the image in whole surveyed area that four marks surround all has higher acutance.
Technical scheme of the present invention is to utilize the image of camera shooting as feedback, the mechanical location of adjusting camera and focal length are to make image quality reach optimum, ensure that the focusing effect in whole surveyed area is best, do not considering that, under the prerequisite of lens edge effect, the level of sharpness of image both sides is identical with central area.This has just solved camera target surface and the not strict parallel technical problem of visual field plane, all has thereby system is possessed the ability that detects tiny defect in whole visual field.
Claims (8)
1. a method that regulates industrial camera level angle, it comprises:
A) install industrial camera in fixed position;
B) in the plane of industrial camera, 2 or 4 marks are set at surveyed area;
C) regulate industrial camera parameter, to each mark from the close-by examples to those far off and uniform speed slow focus, and gather the image of several these marks simultaneously;
D) multiple image of the each mark to collection calculates the contrast of every width image, draws out contrast change curve;
E) regulate the level angle of industrial camera according to the peak location of the contrast change curve of each mark, make line become the peak location of contrast change curve of 2 marks at horizontal 2 set-point place identical.
2. method according to claim 1, wherein, in step b), detects for plane, and 2 marks are set; Detect for solid, 4 marks are set, the line of 4 set-points is a rectangle.
3. method according to claim 1, wherein said mark is thin stripe type mark.
4. according to the method one of claim 1-3 Suo Shu, wherein said mark is versicolor markings.
5. method according to claim 4, wherein said markings are black designation line.
6. method according to claim 5, wherein utilization formula below calculates the contrast of this black designation line image:
C=(G(p+3)+G(p-3))/2-G(p)
Wherein p is the pixel coordinate perpendicular to black designation line direction, and G (p) is the gray scale of image in p position, and C is contrast.
7. method according to claim 1, wherein in step e), in the time that 2 marks are set, in the time from the close-by examples to those far off regulating camera focus, when the spike A of the contrast change curve of left end marker thing first occurs than the spike B of the contrast change curve of right end marker thing, the level angle of this industrial camera is deflection left side; Otherwise the level angle of this industrial camera is deflection right side, regulates the level angle of industrial camera, make the spike A of contrast change curve of these 2 marks identical with the position that B occurs; In the time that 4 marks are set, in the time from the close-by examples to those far off regulating camera focus, the order occurring when the peak location of the contrast change curve of 4 marks is: when spike C-spike D-spike A-spike B or spike B-spike A-spike D-spike C, the level angle of industrial camera is deflection right side; Otherwise the order that peak location occurs is: when peak D-spike C-spike B-spike A person spike A-spike B-spike C-spike D,
The level angle of camera is deflection left side, regulates the level angle of industrial camera, make spike A identical with the position that spike B occurs, and spike C is identical with the position that spike D occurs.
8. method according to claim 1, wherein, in the time that 4 marks are set, regulates the focal length of industrial camera all to reach the more than 1/2 of kurtosis with the contrast that makes these 4 marks.
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| CN201410132986.8A CN103945123B (en) | 2014-04-03 | 2014-04-03 | Method for adjusting level angle of industrial camera |
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| CN108363508A (en) * | 2018-01-13 | 2018-08-03 | 江南大学 | A kind of Mobile phone touch control screen Mark positioning non-contact vision detection method |
| CN109035326A (en) * | 2018-06-19 | 2018-12-18 | 北京理工大学 | High-precision location technique based on sub-pix image recognition |
| CN109068051A (en) * | 2018-06-19 | 2018-12-21 | 江苏高远智能科技有限公司 | A kind of industrial camera self-adapting intelligent regulating device |
| CN109855568A (en) * | 2019-01-16 | 2019-06-07 | 北京百度网讯科技有限公司 | Detection method, device, electronic equipment and the storage medium of automatic Pilot sensor |
| CN110178019A (en) * | 2016-12-07 | 2019-08-27 | 奥博泰克有限公司 | Method and apparatus for judging defect quality |
| CN111338051A (en) * | 2020-04-08 | 2020-06-26 | 中导光电设备股份有限公司 | Automatic focusing method and system based on TFT liquid crystal panel |
| CN114071003A (en) * | 2020-08-06 | 2022-02-18 | 北京外号信息技术有限公司 | Shooting method and system based on optical communication device |
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| CN111338051A (en) * | 2020-04-08 | 2020-06-26 | 中导光电设备股份有限公司 | Automatic focusing method and system based on TFT liquid crystal panel |
| CN111338051B (en) * | 2020-04-08 | 2021-09-28 | 中导光电设备股份有限公司 | Automatic focusing method and system based on TFT liquid crystal panel |
| CN114071003A (en) * | 2020-08-06 | 2022-02-18 | 北京外号信息技术有限公司 | Shooting method and system based on optical communication device |
| CN114071003B (en) * | 2020-08-06 | 2024-03-12 | 北京外号信息技术有限公司 | Shooting method and system based on optical communication device |
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Effective date of registration: 20220819 Address after: No.1088, yinzhushan Road, Huangdao District, Qingdao City, Shandong Province 266000 Patentee after: QINGDAO SHUANGQING INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 3rd Floor, Building 1, Huizhong Building, No. 1 Shangdi 7th Street, Haidian District, Beijing 100085 Patentee before: BEIJING DAHENG IMAGE VISION Co.,Ltd. |