CN111445516B - System and method for calculating depth of two-dimensional code in glass substrate - Google Patents
System and method for calculating depth of two-dimensional code in glass substrate Download PDFInfo
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- 239000011521 glass Substances 0.000 title claims abstract description 106
- 239000000758 substrate Substances 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000006073 displacement reaction Methods 0.000 claims abstract description 99
- 238000004364 calculation method Methods 0.000 claims abstract 3
- 230000001186 cumulative effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 abstract description 4
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- 210000003128 head Anatomy 0.000 description 4
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- 230000008859 change Effects 0.000 description 2
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- 238000009795 derivation Methods 0.000 description 1
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- 239000005357 flat glass Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- 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
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/557—Depth or shape recovery from multiple images from light fields, e.g. from plenoptic cameras
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Abstract
The application relates to a two-dimensional code depth calculation system and a two-dimensional code depth calculation method inside a glass substrate. The method for calculating the depth of the two-dimensional code in the glass substrate comprises the step of controlling the camera to approach the glass substrate along the direction perpendicular to the first surface of the glass substrate. The camera shoots the two-dimensional codes for a plurality of times to obtain images of a plurality of two-dimensional codes. And record the accumulated displacement length of the camera multiple times. And calculating a focusing feedback value of the image of each two-dimensional code. The sharpness of the image reflects the focus condition. And obtaining the two-image distance between the real image of the two-dimensional code and the virtual image of the two-dimensional code according to the focusing feedback values and the accumulated displacement lengths. According to the imaging principle, the two-image distance between the real image of the two-dimensional code and the virtual image of the two-dimensional code is related to the thickness, the refractive index and the depth of the two-dimensional code to the first surface. Therefore, the method for calculating the depth of the two-dimensional code in the glass substrate can obtain the depth of the two-dimensional code to the first surface according to the thickness, the refractive index and the two-image distance after obtaining the thickness, the refractive index and the two-image distance.
Description
Technical Field
The application relates to the technical field of liquid crystal display, in particular to a system and a method for calculating depth of two-dimensional codes in a glass substrate.
Background
With the rapid development of the mobile phone cover plate glass industry, the glass cover plate needs to undergo a series of processes of production, polishing, pressurization, ink jet, assembly and the like. In order to better trace each glass cover plate and not influence the aesthetic property of the product, the forefront process is to print a dot Matrix two-dimensional code (Data Matrix) into the glass through laser, so that the identification can be completed by a special code reader while the identification is difficult to distinguish by naked eyes.
In order to effectively measure the degree of distinguishing the two-dimensional code hidden in the glass by naked eyes and consider the influence of laser coding on the strength of the glass, the requirement of measuring the depth of the two-dimensional code is generated. Therefore, how to measure the depth of the two-dimensional code inside the glass substrate is a problem to be solved.
Disclosure of Invention
Accordingly, it is necessary to provide a system and a method for calculating the depth of the two-dimensional code in the glass substrate in order to solve the problem of how to measure the depth of the two-dimensional code in the glass substrate.
A method for calculating depth of two-dimensional codes in a glass substrate comprises the following steps:
s100, controlling a camera to approach the glass substrate along the direction perpendicular to the first surface of the glass substrate. And each time a preset distance is shortened between the camera and the first surface, the camera shoots the two-dimensional code once, so that a plurality of images of the two-dimensional code are obtained. And recording the accumulated displacement length of the camera a plurality of times. The accumulated displacement lengths are in one-to-one correspondence with the images of the two-dimensional codes. And along with the increase of the accumulated displacement length, the images of the two-dimensional codes are divided into a real image group and a virtual image group. The images of the real image group and the virtual image group are all blurred to clear and then blurred.
S200, calculating a focusing feedback value of each two-dimensional code image. And obtaining the two-image distance between the real image of the two-dimensional code and the virtual image of the two-dimensional code according to the focusing feedback values and the accumulated displacement lengths.
S300, obtaining the thickness and the refractive index of the glass substrate. And obtaining the depth from the two-dimensional code to the first surface according to the thickness, the refractive index and the two-image distance.
In one embodiment, the step of obtaining the depth of the two-dimensional code from the first surface according to the thickness, the refractive index and the two-image distance in S300 is to bring the thickness, the refractive index and the two-image distance into a depth formula, where the depth formula is:
and s is the depth of the two-dimensional code from the first surface. D is the thickness of the glass substrate. n is the refractive index of the glass substrate. d is the two-image distance.
In one embodiment, S200 includes:
and S210, finding the first image corresponding to the largest focusing feedback value from the real image group, and finding the clearest second image from the real image group.
S220, acquiring a first adjacent image and a second adjacent image adjacent to the first image, and acquiring a third adjacent image and a fourth adjacent image adjacent to the second image.
S230, acquiring the accumulated displacement lengths corresponding to the first image, the first adjacent image and the second adjacent image one by one respectively. The accumulated displacement lengths of the first image, the first adjacent image and the second adjacent image, which are in one-to-one correspondence, are a first length, a first adjacent length and a second adjacent length respectively.
And respectively acquiring the focusing feedback values corresponding to the first image, the first adjacent image and the second adjacent image one by one. The focusing feedback values of the first image, the first adjacent image and the second adjacent image which are in one-to-one correspondence are a first focusing feedback value, a first adjacent feedback value and a second adjacent feedback value respectively.
And respectively acquiring the accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image, which are in one-to-one correspondence. The accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image, which are in one-to-one correspondence, are respectively a second length, a third adjacent length and a fourth adjacent length.
And respectively acquiring the focusing feedback values corresponding to the second image, the third adjacent image and the fourth adjacent image one by one. The focus feedback values of the second image, the third adjacent image and the fourth adjacent image which are in one-to-one correspondence are respectively a second focus feedback value, a third adjacent focus feedback value and a fourth adjacent focus feedback value.
And S240, performing first data fitting by taking the first length, the first adjacent length and the second adjacent length as abscissa and the first focusing feedback value, the first adjacent feedback value and the second adjacent feedback value as ordinate to obtain the real image accumulated displacement length corresponding to the real image of the two-dimensional code 202. And performing second data fitting by taking the second length, the third adjacent length and the fourth adjacent length as abscissa and taking the second focusing feedback value, the third adjacent feedback value and the fourth adjacent feedback value as ordinate to obtain a virtual image accumulated displacement length corresponding to the virtual image of the two-dimensional code 202.
S250, the real image accumulated displacement length and the virtual image accumulated displacement length are subjected to difference to obtain the two-image distance.
In one embodiment, at S240, both the first data fit and the second data fit employ a parabolic fit. And the first data fitting corresponds to a first parabola. And the abscissa of the vertex corresponding to the first parabola is the accumulated displacement length of the real image. And correspondingly obtaining a second parabola by fitting the second data. And the abscissa of the vertex corresponding to the second parabola is the accumulated displacement length of the virtual image.
In one embodiment, before S100, the method for calculating the depth of the two-dimensional code inside the glass substrate further includes:
s010, adjusting the glass substrate to be within the shooting range of the phase.
In one embodiment, at S010:
and S011, roughly adjusting the position of the glass substrate.
S012, adjusting the position of the camera.
In one embodiment, translational and rotational adjustments are made to the position of the camera at S012.
A two-dimensional code depth computing system inside a glass substrate comprises a base, a jig, a first position adjusting device, a camera, a second position adjusting device, a point light source and a controller. The jig is used for fixing the glass substrate. The first position adjusting device is arranged on the base. The jig is fixed on the first position adjusting device. The camera head of the camera is used for being arranged towards the glass substrate. The second position adjusting device is arranged on the base. The camera is fixed to the second position adjusting device. The point light source is fixedly arranged on the camera. And the light emitting direction of the point light source is parallel to the shooting direction of the camera head of the camera.
The first position adjusting device, the position adjusting device and the camera are respectively connected with the controller. The controller is used for adjusting the position of the glass substrate through the first position adjusting device. The controller is also used for adjusting the position of the camera by the second position adjusting device so that the camera focuses on the two-dimensional code. The controller is used for controlling the camera to shoot the image of the two-dimensional code, and the controller is used for collecting the image and recording the position of the camera.
In one embodiment, the first position adjustment device is used for adjusting the position of the glass substrate in the x-y plane. The two-dimensional code depth computing system inside the glass substrate further comprises a box body. The box body encloses and can form first space. The controller is accommodated in the first space. The box body is fixed on the base. The box body comprises side walls. The side wall is perpendicular to the base. The second position adjustment device includes: height adjusting device, plane adjusting device and angle adjusting device.
The height adjusting device is fixedly arranged on the side wall. The plane adjusting device is fixedly arranged on the plane adjusting device. The angle adjusting device is fixed on the plane adjusting device. The camera is fixed on the angle adjusting device. The height adjusting device, the plane adjusting device and the angle adjusting device are respectively connected with the controller. The controller is used for controlling the plane adjusting device to adjust the position of the camera on the x-y plane so that the two-dimensional code is in the visual field range of the camera. The controller is used for controlling the angle adjusting device to adjust the xz angle or the yz angle of the camera so that the shooting direction of the camera head of the camera is perpendicular to the x-y plane. The controller is used for controlling the height adjusting device to adjust the position of the camera along the z-axis.
In one embodiment, the controller is configured to control the camera to capture the two-dimensional code once every specific distance between the camera and the glass substrate is shortened. The controller is used for collecting a plurality of images of the two-dimensional codes and recording accumulated displacement length of the camera for a plurality of times. The accumulated displacement lengths are in one-to-one correspondence with the images of the two-dimensional codes. And along with the increase of the accumulated displacement length, the images of the two-dimensional codes are divided into a real image group and a virtual image group. The two-dimensional code reading device inside the glass substrate comprises a real image group and a virtual image group, wherein the images of the real image group and the virtual image group are changed from blurring to definition to blurring, and the two-dimensional code reading device inside the glass substrate further comprises a central control device. The central control device is connected with the controller. The central control device is used for collecting a plurality of images of the two-dimensional codes and a plurality of accumulated displacement lengths. And obtaining the depth from the two-dimension code to the surface of the glass substrate, which is close to the camera, according to the images of the two-dimension codes and the accumulated displacement lengths.
In one embodiment, the central control device comprises a collector, a screener, a fitter, and a calculator.
The collector is used for being connected with the controller. The collector is used for collecting a plurality of images of the two-dimensional codes and a plurality of accumulated displacement lengths.
The screener is connected with the collector. The filter is used for receiving a plurality of images of the two-dimensional codes and a plurality of accumulated displacement lengths, and calculating a focusing feedback value of each image of the two-dimensional codes. The filter is used for filtering out the clearest first image from the real image group and the clearest second image from the real image group. The filter is used for acquiring a first adjacent image and a second adjacent image adjacent to the first image. The filter is used for acquiring a third adjacent image and a fourth adjacent image adjacent to the second image. The filter is further configured to obtain the accumulated displacement lengths corresponding to the first image, the first adjacent image, and the second adjacent image one by one, where the accumulated displacement lengths corresponding to the first image, the first adjacent image, and the second adjacent image one by one are respectively a first length, a first adjacent length, and a second adjacent length.
The screener is further used for respectively acquiring the focusing feedback values of the first image, the first adjacent image and the second adjacent image, the focusing feedback values of the first image, the first adjacent image and the second adjacent image are respectively a first focusing feedback value, a first adjacent feedback value and a second adjacent feedback value, and the screener is further used for respectively acquiring the accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image, which are in one-to-one correspondence. The accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image, which are in one-to-one correspondence, are respectively a second length, a third adjacent length and a fourth adjacent length. The filter is further used for respectively acquiring the focusing feedback values corresponding to the second image, the third adjacent image and the fourth adjacent image one by one. The focus feedback values of the second image, the third adjacent image and the fourth adjacent image which are in one-to-one correspondence are respectively a second focus feedback value, a third adjacent focus feedback value and a fourth adjacent focus feedback value.
The fitter is connected with the screener. The fitting device is configured to receive the first length, the first adjacent length, the second adjacent length, the first focus feedback value, the first adjacent feedback value, the second length, the third adjacent length, the fourth adjacent length, the second focus feedback value, the third adjacent feedback value, and the fourth adjacent feedback value. And the fitter is used for carrying out first data fitting by taking the first length, the first adjacent length and the second adjacent length as the abscissa and taking the first focusing feedback value, the first adjacent feedback value and the second adjacent feedback value as the ordinate to obtain the real image accumulated displacement length corresponding to the real image of the two-dimensional code. And the fitter is used for carrying out second data fitting by taking the second length, the third adjacent length and the fourth adjacent length as the abscissa and taking the second focusing feedback value, the third adjacent feedback value and the fourth adjacent feedback value as the ordinate to obtain the virtual image accumulated displacement length corresponding to the virtual image of the two-dimensional code. The fitter is used for obtaining the two-image distance by making a difference between the real image accumulated displacement length and the virtual image accumulated displacement length.
The calculator is connected with the fitter. The calculator is also used for receiving the two-image distance. The calculator is for receiving external data. The external data includes a thickness and a refractive index of the glass substrate. The calculator is used for obtaining the depth of the two-dimensional code from the first surface according to the thickness, the refractive index and the two-image distance.
The method for calculating the depth of the two-dimensional code in the glass substrate comprises the step of controlling a camera to approach the glass substrate along the direction perpendicular to the first surface of the glass substrate. Each time a predetermined distance between the camera and the first surface is shortened. The camera shoots the two-dimensional codes once to obtain a plurality of images of the two-dimensional codes. And recording the accumulated displacement length of the camera a plurality of times. The accumulated displacement lengths are in one-to-one correspondence with the images of the two-dimensional codes. And along with the increase of the accumulated displacement length, the images of the two-dimensional codes are divided into a real image group and a virtual image group. The images of the real image group and the virtual image group are all blurred to clear and then blurred. And calculating a focusing feedback value of the image of each two-dimensional code. And obtaining the two-image distance between the real image of the two-dimensional code and the virtual image of the two-dimensional code according to the focusing feedback values and the accumulated displacement lengths. And obtaining the thickness and the refractive index of the glass substrate. And obtaining the depth from the two-dimensional code to the first surface according to the thickness, the refractive index and the two-image distance.
According to the method for calculating the depth of the two-dimensional code in the glass substrate, a plurality of images are shot for the two-dimensional code through the camera. The sharpness of the image reflects the focus condition. And obtaining the two-image distance between the real image of the two-dimensional code and the virtual image of the two-dimensional code according to the focusing feedback value of the image and the accumulated displacement length. According to the imaging principle, a two-image distance between a real image of the two-dimensional code and a virtual image of the two-dimensional code is related to the thickness, the refractive index and the depth of the two-dimensional code to the first surface. Therefore, in the method for calculating the depth of the two-dimensional code in the glass substrate, after the thickness, the refractive index and the two-image distance are obtained, the depth of the two-dimensional code to the first surface can be obtained according to the thickness, the refractive index and the two-image distance.
Drawings
Fig. 1 is a method flowchart of the method for calculating the depth of the two-dimensional code in the glass substrate according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of the two-dimensional code depth computing system in the glass substrate according to an embodiment of the present application;
FIG. 3 is a graph of a plurality of images versus accumulated displacement length provided in one embodiment of the present application;
Fig. 4 is a schematic diagram of a method for calculating depth of two-dimensional codes in an inner part of a glass substrate according to an embodiment of the present application;
fig. 5 is a flowchart of a method for calculating a depth of a two-dimensional code in an inner portion of a glass substrate according to another embodiment of the present application;
FIG. 6 is a graph of a fit provided in another embodiment of the present application;
fig. 7 is an electrical connection schematic diagram of the two-dimensional code depth computing system in the glass substrate according to an embodiment of the present application.
Reference numerals:
two-dimensional code depth computing system 10 in glass substrate
Base 20
Glass substrate 200
First surface 201
Two-dimensional code 202
Jig 30
First position adjusting device 40
Camera 50
Second position adjusting device 60
Point light source 70
Controller 80
Box body 90
First space 901
Side wall 902
Height adjusting device 610
Plane adjusting device 620
Angle adjusting device 630
Central control apparatus 100
Collector 110
Screener 120
Fitting device 130
Calculator 140
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other ways than those herein described and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not limited to the specific embodiments disclosed below.
The numbering of the components itself, e.g. "first", "second", etc., is used herein only to divide the objects described, and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Referring to fig. 1 and fig. 2 together, an embodiment of the present application provides a method for calculating depth of two-dimensional codes inside a glass substrate, including:
s100, controlling the camera 50 to approach the glass substrate 200 in a direction perpendicular to the first surface 201 of the glass substrate 200. Each time a predetermined distance between the camera 50 and the first surface 201 is shortened, the camera 50 photographs the two-dimensional code 202 once, so as to obtain images of a plurality of the two-dimensional codes 202. And records the accumulated displacement length of the camera 50 a plurality of times. The accumulated displacement lengths are in one-to-one correspondence with the images of the two-dimensional codes 202. As the accumulated displacement length increases, the images of the plurality of two-dimensional codes 202 are divided into a real image group and a virtual image group. The images of the real image group and the virtual image group are all blurred to clear and then blurred.
The two-dimensional code 202 is disposed in the glass substrate 200. The two-dimensional code 202 includes a real image and a virtual image. A virtual image is formed on a side of the glass substrate 200 remote from the camera 50.
Referring to fig. 3, the reason why the two-dimensional code is imaged on the camera surface according to the geometric optics and the dot matrix is bright around and the center is dark in the image of the two-dimensional code 202 is because the cone shape around the dot matrix of the two-dimensional code 202 reflects the coaxial light into the camera 50, and no light in the center of the dot matrix can enter the camera 50. Correspondingly, the reason why the dot matrix is dark around and the center is bright in the image of the two-dimensional code 202 is that the coaxial light is reflected back to the camera for imaging at the middle position of the two-dimensional code 202, and the cone-shaped no light around the dot matrix can enter the camera. Accordingly, the positions of the white dot patterns with bright centers and dark surroundings are deduced to be the optimal focusing positions of the two-dimensional code.
The bottom surface of the glass substrate 200 is disposed opposite to the first surface 202. The virtual image is formed on one side of the bottom surface of the glass substrate 200. The pattern change of the two-dimensional code lattice in the image of the virtual image is also the change from dark to bright in the center. Similarly, the best focus position at the white spot pattern position that is the mirror image two-dimensional code can be inferred.
In one embodiment, the accumulated displacement length corresponding to the point of the camera 50 furthest from the first surface 201 is 0. The greater the cumulative displacement length the camera 50 is about proximate to the first surface 201. And the real image group and the virtual image group take the graph of the lower surface of the glass as a demarcation graph.
And S200, calculating a focusing feedback value of the image of each two-dimensional code 202. And obtaining a two-image distance between the real image of the two-dimensional code 202 and the virtual image of the two-dimensional code 202 according to the focusing feedback values and the accumulated displacement lengths.
And S300, acquiring the thickness and the refractive index of the glass substrate 200. And obtaining the depth from the two-dimensional code 202 to the first surface 201 according to the thickness, the refractive index and the two-image distance.
The embodiment of the application provides a method for calculating the depth of the two-dimensional code in the glass substrate, wherein a plurality of images are shot for the two-dimensional code 202 through the camera 50. The sharpness of the image reflects the focus condition. And obtaining the two-image distance between the real image of the two-dimensional code 202 and the virtual image of the two-dimensional code 202 according to the focusing feedback value of the image and the accumulated displacement length. According to the imaging principle, the two-image distance between the real image of the two-dimensional code 202 and the virtual image of the two-dimensional code 202 is related to the thickness, the refractive index and the depth of the two-dimensional code 202 to the first surface 201. Therefore, in the method for calculating the depth of the two-dimensional code in the glass substrate, after the thickness, the refractive index and the two-image distance are obtained, the depth of the two-dimensional code 202 to the first surface 201 can be obtained according to the thickness, the refractive index and the two-image distance.
In one embodiment, the step of obtaining the depth of the two-dimensional code 202 from the first surface 201 according to the thickness, the refractive index and the two-image distance in S300 is to bring the thickness, the refractive index and the two-image distance into a depth formula, where the depth formula is:
where s is the depth of the two-dimensional code 202 from the first surface 201. D is the thickness of the glass substrate 200. n is the refractive index of the glass substrate 200. d is the two-image distance.
Please refer to the derivation process of the depth formula:
distance Deltal 'between best focusing position #1 of two-dimension code in glass and actual position thereof' 1 The method comprises the following steps:
distance d between optimal focusing position #1 of two-dimensional code in glass and upper surface of glass 1 The method comprises the following steps:
and the distance Deltal 'between the best focusing position #2 of the two-dimension code reflected image through the glass bottom surface and the actual position thereof' 2 The method comprises the following steps:
distance d between optimal focusing position #2 of two-dimensional code reflected image through glass bottom surface and upper surface of glass 2 The method comprises the following steps:
it is also known that: d=d 2 -d 1 (6)
Calculated from equations (5) and (6):
and (3) deforming the step (8) to obtain the depth formula.
Referring to fig. 5 and 6, in one embodiment, S200 includes:
And S210, finding the first image corresponding to the largest focusing feedback value from the real image group, and finding the clearest second image from the real image group.
S220, acquiring a first adjacent image and a second adjacent image adjacent to the first image, and acquiring a third adjacent image and a fourth adjacent image adjacent to the second image.
S230, acquiring the accumulated displacement lengths corresponding to the first image, the first adjacent image and the second adjacent image one by one respectively. The accumulated displacement lengths of the first image, the first adjacent image and the second adjacent image, which are in one-to-one correspondence, are a first length, a first adjacent length and a second adjacent length respectively.
And respectively acquiring the focusing feedback values corresponding to the first image, the first adjacent image and the second adjacent image one by one. The focusing feedback values of the first image, the first adjacent image and the second adjacent image which are in one-to-one correspondence are a first focusing feedback value, a first adjacent feedback value and a second adjacent feedback value respectively.
And respectively acquiring the accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image, which are in one-to-one correspondence. The accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image, which are in one-to-one correspondence, are respectively a second length, a third adjacent length and a fourth adjacent length.
And respectively acquiring the focusing feedback values corresponding to the second image, the third adjacent image and the fourth adjacent image one by one. The focus feedback values of the second image, the third adjacent image and the fourth adjacent image which are in one-to-one correspondence are respectively a second focus feedback value, a third adjacent focus feedback value and a fourth adjacent focus feedback value.
And S240, performing first data fitting by taking the first length, the first adjacent length and the second adjacent length as abscissa and the first focusing feedback value, the first adjacent feedback value and the second adjacent feedback value as ordinate to obtain the real image accumulated displacement length corresponding to the real image of the two-dimensional code 202. And performing second data fitting by taking the second length, the third adjacent length and the fourth adjacent length as abscissa and taking the second focusing feedback value, the third adjacent feedback value and the fourth adjacent feedback value as ordinate to obtain a virtual image accumulated displacement length corresponding to the virtual image of the two-dimensional code 202.
S250, the real image accumulated displacement length and the virtual image accumulated displacement length are subjected to difference to obtain the two-image distance.
In one embodiment, at S240, both the first data fit and the second data fit employ a parabolic fit. And the first data fitting corresponds to a first parabola. And the abscissa of the vertex corresponding to the first parabola is the accumulated displacement length of the real image. And correspondingly obtaining a second parabola by fitting the second data. And the abscissa of the vertex corresponding to the second parabola is the accumulated displacement length of the virtual image.
In one embodiment, the predetermined distance traveled by the camera 50 is adjusted by motor control, the predetermined distance being 20um in FIG. 3. In fig. 6, the predetermined distance is 10um for improving the accuracy.
In one embodiment, the predetermined distance is 10um. The first length is 210um, the first adjacent length is 200um, and the second adjacent length is 220um. The first focus feedback value is 200, the first proximity feedback value is 161, and the second proximity feedback value is 173.
The second length is 540um, the third adjacent length is 530um, and the fourth adjacent length is 550um. The second focus feedback value is 169, the third near focus feedback value is 156, and the fourth near focus feedback value is 164.
The first parabolic formula is: y= -0.33x 2 +139.2x-14479. The real image accumulated displacement length is 210.9um. The second parabolic formula is: y= -0.09x 2 +97.6x-26291. The virtual image accumulated displacement length is 542.2um. The two-image distance is 321.3um.
In one embodiment, before S100, the method for calculating the depth of the two-dimensional code inside the glass substrate further includes:
s010, adjusting the glass substrate 200 to be within the shooting range of the camera 50.
In one embodiment, at S010:
s011, roughly adjusting the position of the glass substrate 200.
S012, adjusting the position of the camera 50.
In one embodiment, translational and rotational adjustments are made to the position of the camera 50 at S012.
Referring to fig. 7, the two-dimensional code depth calculating system 10 includes a base 20, a jig 30, a first position adjusting device 40, a camera 50, a second position adjusting device 60, a point light source 70 and a controller 80. The jig 30 is used for fixing the glass substrate 200. The first position adjusting device 40 is disposed on the base 20. The jig 30 is fixed to the first position adjusting device 40. The camera head of the camera 50 is configured to be disposed toward the glass substrate 200. The second position adjusting device 60 is disposed on the base 20. The camera 50 is fixed to the second position adjustment device 60. The point light source 70 is fixedly installed in the camera 50. And the light emitting direction of the point light source 70 is parallel to the photographing direction of the camera 50. The first position adjusting device 40, the position adjusting device, and the camera 50 are connected to the controller 80, respectively. The controller 80 is used for adjusting the position of the glass substrate 200 by the first position adjusting device 40. The controller 80 is further configured to adjust the position of the camera 50 by the second position adjusting device 60, so that the camera 50 focuses the two-dimensional code 202. The controller 80 is used for controlling the camera 50 to shoot the image of the two-dimensional code 202, and the controller 80 is used for acquiring the image and recording the position of the camera 50.
The two-dimensional code depth computing system 10 in the glass substrate provided in the embodiment of the present application adjusts the position of the glass substrate 200 through the first position adjusting device 40, and adjusts the position of the camera 50 through the second position adjusting device 60, so that the camera 50 focuses on the two-dimensional code 202. The two-dimensional code depth computing system 10 inside the glass substrate captures the image and records the position of the camera 50.
In one embodiment, the first position adjustment device 40 is used to adjust the position of the glass substrate 200 in the x-y plane. The two-dimensional code depth computing system inside the glass substrate further comprises a box body 90. The case 90 encloses a first space 901. The controller 80 is accommodated in the first space 901. The case 90 is fixed to the base 20. The housing 90 is formed to include side walls. The side walls are perpendicular to the base 20. The second position adjustment device 60 includes: a height adjustment device 610, a plane adjustment device 620, and an angle adjustment device 630.
The height adjusting device 610 is fixedly disposed on the sidewall. The plane adjusting device 620 is fixedly disposed on the plane adjusting device 620. The angle adjusting means 630 is fixed to the plane adjusting means 620. The camera 50 is fixed to the angle adjusting means 630. The height adjusting means 610, the plane adjusting means 620 and the angle adjusting means 630 are connected to the controller 80, respectively. The controller 80 is configured to control the plane adjusting device 620 to adjust the position of the camera 50 in the x-y plane, so that the two-dimensional code 202 is within the field of view of the camera 50. The controller 80 is configured to control the angle adjustment device 630 to adjust the xz angle or yz angle of the camera 50 so that the capturing direction of the camera 50 is perpendicular to the x-y plane. The controller 80 is configured to control the height adjustment device 610 to adjust the position of the camera 50 along the z-axis.
In one embodiment, the controller 80 is configured to control the camera 50 to capture the two-dimensional code 202 once every specific distance between the camera 50 and the glass substrate 200 is shortened. The controller 80 is configured to collect images of a plurality of the two-dimensional codes 202 and record the accumulated displacement length of the camera 50 a plurality of times. The accumulated displacement lengths are in one-to-one correspondence with the images of the two-dimensional codes 202. As the accumulated displacement length increases, the images of the plurality of two-dimensional codes 202 are divided into a real image group and a virtual image group.
The two-dimensional code reading device 10 inside the glass substrate, in which the images of the real image group and the virtual image group are all changed from blurred to clear to blurred, further comprises a central control device 100. The central control device 100 is connected to the controller 80. The central control device 100 is configured to collect images of a plurality of the two-dimensional codes 202 and a plurality of the accumulated displacement lengths. And obtaining the depth from the two-dimensional code 202 to the surface of the glass substrate 200 close to the camera 50 according to the images of the two-dimensional codes 202 and the accumulated displacement lengths.
In one embodiment, the central control apparatus 100 includes a collector 110, a screener 120, a fitter 130, and a calculator 140.
The collector 110 is configured to be connected to the controller 80. The collector 110 is configured to collect images of a plurality of the two-dimensional codes 202 and a plurality of the accumulated displacement lengths.
The filter 120 is connected to the collector 110. The filter 120 is configured to receive the images of the two-dimensional codes 202 and the accumulated displacement lengths, and calculate a focus feedback value of each of the images of the two-dimensional codes 202. The filter 120 is configured to filter out the sharpest first image from the set of real images and filter out the sharpest second image from the set of real images. The filter 120 is configured to acquire a first proximity image and a second proximity image that are adjacent to the first image. The filter 120 is configured to acquire a third proximity image and a fourth proximity image that are adjacent to the second image.
The filter 120 is further configured to obtain the accumulated displacement lengths of the first image, the first proximity image, and the second proximity image, where the accumulated displacement lengths of the first image, the first proximity image, and the second proximity image are respectively a first length, a first proximity length, and a second proximity length.
The filter 120 is further configured to obtain the focus feedback values corresponding to the first image, the first proximity image, and the second proximity image one by one, where the focus feedback values corresponding to the first image, the first proximity image, and the second proximity image one by one are a first focus feedback value, a first proximity feedback value, and a second proximity feedback value, respectively.
The filter 120 is further configured to obtain the accumulated displacement lengths corresponding to the second image, the third adjacent image, and the fourth adjacent image one by one, respectively. The accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image, which are in one-to-one correspondence, are respectively a second length, a third adjacent length and a fourth adjacent length. The filter 120 is further configured to obtain the focus feedback values corresponding to the second image, the third neighboring image, and the fourth neighboring image one by one, respectively. The focus feedback values of the second image, the third adjacent image and the fourth adjacent image which are in one-to-one correspondence are respectively a second focus feedback value, a third adjacent focus feedback value and a fourth adjacent focus feedback value.
The fitter 130 is connected to the screener 120. The fitter 130 is configured to receive the first length, the first adjacent length, the second adjacent length, the first focus feedback value, the first adjacent feedback value, the second length, the third adjacent length, the fourth adjacent length, the second focus feedback value, the third adjacent feedback value, and the fourth adjacent feedback value. The fitter 130 is configured to fit first data with the first length, the first adjacent length, and the second adjacent length as abscissa, and the first focusing feedback value, the first adjacent feedback value, and the second adjacent feedback value as ordinate, so as to obtain a real image accumulated displacement length corresponding to the real image of the two-dimensional code 202. The fitter 130 is configured to fit second data with the second length, the third adjacent length, and the fourth adjacent length as abscissa, and with the second focus feedback value, the third adjacent feedback value, and the fourth adjacent feedback value as ordinate, to obtain a virtual image accumulated displacement length corresponding to a virtual image of the two-dimensional code 202. The fitter 130 is configured to obtain a two-image distance by subtracting the real image accumulated displacement length and the virtual image accumulated displacement length.
The calculator 140 is connected to the fitter 130. The calculator 140 is further configured to receive the two-image distance. The calculator 140 is configured to receive external data. The external data includes a thickness and a refractive index of the glass substrate 200, and the calculator 140 is configured to obtain a depth of the two-dimensional code 202 from the first surface 201 according to the thickness, the refractive index, and the two-image distance.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. The method for calculating the depth of the two-dimensional code in the glass substrate is characterized by comprising the following steps of:
s100, controlling a camera (50) to approach the glass substrate (200) along a direction perpendicular to a first surface (201) of the glass substrate (200), wherein each time a preset distance between the camera (50) and the first surface (201) is shortened, the camera (50) shoots the two-dimensional codes (202) once to obtain a plurality of images of the two-dimensional codes (202), and recording accumulated displacement lengths of the camera (50) for a plurality of times, the accumulated displacement lengths are in one-to-one correspondence with the images of the two-dimensional codes (202), and the images of the two-dimensional codes (202) are divided into a real image group and a virtual image group along with the increase of the accumulated displacement lengths, and the images of the real image group and the virtual image group are all blurred to clear and then blurred;
s200, calculating a focusing feedback value of an image of each two-dimensional code (202), and obtaining a two-image distance between a real image of the two-dimensional code (202) and a virtual image of the two-dimensional code (202) according to a plurality of focusing feedback values and a plurality of accumulated displacement lengths;
s300, acquiring the thickness and the refractive index of the glass substrate (200), and obtaining the depth from the two-dimensional code (202) to the first surface (201) according to the thickness, the refractive index and the two-image distance;
Wherein S200 includes:
s210, finding the first image corresponding to the largest focusing feedback value from the real image group, and finding the clearest second image from the virtual image group;
s220, acquiring a first adjacent image and a second adjacent image adjacent to the first image, and acquiring a third adjacent image and a fourth adjacent image adjacent to the second image;
s230, respectively acquiring accumulated displacement lengths of the first image, the first proximity image and the second proximity image, wherein the accumulated displacement lengths of the first image, the first proximity image and the second proximity image are respectively a first length, a first proximity length and a second proximity length, respectively acquiring the focusing feedback values of the first image, the first proximity image and the second proximity image, respectively, the focusing feedback values of the first image, the first proximity image and the second proximity image are respectively a first focusing feedback value, a first proximity feedback value and a second proximity feedback value, respectively acquiring the accumulated displacement lengths of the second image, the third proximity image and the fourth proximity image, respectively, the accumulated displacement lengths of the second image, the third proximity image and the fourth proximity image are respectively a second length, a third proximity length and a fourth proximity length, respectively, and respectively acquiring the focusing feedback values of the first image, the first proximity image and the second proximity feedback value, respectively;
S240, performing first data fitting by taking the first length, the first approaching length and the second approaching length as abscissa, taking the first focusing feedback value, the first approaching feedback value and the second approaching feedback value as ordinate to obtain real image accumulated displacement length corresponding to the real image of the two-dimensional code (202), and performing second data fitting by taking the second length, the third approaching length and the fourth approaching length as abscissa, and taking the second focusing feedback value, the third approaching feedback value and the fourth approaching feedback value as ordinate to obtain virtual image accumulated displacement length corresponding to the virtual image of the two-dimensional code (202);
s250, the real image accumulated displacement length and the virtual image accumulated displacement length are subjected to difference to obtain the two-image distance.
2. The method for calculating the depth of the two-dimensional code in the glass substrate according to claim 1, wherein the step of obtaining the depth of the two-dimensional code (202) from the first surface (201) according to the thickness, the refractive index and the two-image distance in S300 is to bring the thickness, the refractive index and the two-image distance into a depth formula, wherein the depth formula is:
Wherein s is the depth of the two-dimensional code (202) from the first surface (201), D is the thickness of the glass substrate (200), n is the refractive index of the glass substrate (200), and D is the two-image distance.
3. The method for calculating the depth of the two-dimensional code in the glass substrate according to claim 1, wherein in S240, the first data fitting and the second data fitting are both parabolic fitting, the first data fitting corresponds to obtain a first parabola, an abscissa of a vertex corresponding to the first parabola is the real image accumulated displacement length, the second data fitting corresponds to obtain a second parabola, and an abscissa of a vertex corresponding to the second parabola is the virtual image accumulated displacement length.
4. The method for calculating the depth of the two-dimensional code in the glass substrate according to claim 2, further comprising, before S100:
s010, adjusting the glass substrate (200) to be within the shooting range of the camera (50).
5. The method for calculating the depth of the two-dimensional code in the glass substrate according to claim 4, wherein the step S010 includes:
s011, roughly adjusting the position of the glass substrate (200);
S012, adjusting the position of the camera (50).
6. The method for calculating the depth of the two-dimensional code in the glass substrate according to claim 5, wherein the step S012 includes:
translational and rotational adjustments are made to the position of the camera (50).
7. The method for calculating the depth of the two-dimensional code in the glass substrate according to claim 5, wherein the step S012 includes:
the predetermined distance traveled by the camera (50) is adjusted by motor control.
8. A two-dimensional code depth computing system inside a glass substrate is characterized by comprising:
a base (20);
a jig (30) for fixing the glass substrate (200);
a first position adjusting device (40) arranged on the base (20), wherein the jig (30) is fixed on the first position adjusting device (40);
-a camera (50), a camera head of the camera (50) being arranged towards the glass substrate (200);
a second position adjustment device (60) provided on the base (20), the camera (50) being fixed to the second position adjustment device (60);
a point light source (70) fixedly arranged on the camera (50), wherein the light emitting direction of the point light source (70) is parallel to the shooting direction of a camera of the camera (50);
The first position adjusting device (40), the second position adjusting device and the camera (50) are respectively connected with the controller (80), the controller (80) is used for adjusting the position of the glass substrate (200) through the first position adjusting device (40), the controller (80) is also used for adjusting the position of the camera (50) through the second position adjusting device (60) so that the camera (50) focuses on the two-dimensional code (202), the controller (80) is used for controlling the camera (50) to shoot images of the two-dimensional code (202), and the controller (80) is used for acquiring the images and recording the position of the camera (50);
the controller (80) is further configured to control each specific distance between the camera (50) and the glass substrate (200) to be shortened, the camera (50) shoots the two-dimensional code (202) once, the controller (80) is configured to collect a plurality of images of the two-dimensional code (202) and record accumulated displacement lengths of the camera (50) for a plurality of times, the accumulated displacement lengths are in one-to-one correspondence with the images of the two-dimensional code (202), and as the accumulated displacement lengths increase, the images of the two-dimensional code (202) are divided into a real image group and a virtual image group, and the images of the real image group and the virtual image group are all blurred to clear and then blurred;
The central control device (100) is connected with the controller (80), and the central control device (100) is used for collecting a plurality of images of the two-dimensional codes (202) and a plurality of accumulated displacement lengths and obtaining the depth from the two-dimensional codes (202) to the surface, close to the camera (50), of the glass substrate (200) according to the images of the two-dimensional codes (202) and the accumulated displacement lengths.
9. The two-dimensional code depth computing system of claim 8, wherein the first position adjusting device (40) is configured to adjust a position of the glass substrate (200) in an x-y plane, the two-dimensional code depth computing system further includes a case (90), the case (90) encloses a first space (901), the controller (80) is received in the first space (901), the case (90) is fixed to the base (20), the case (90) includes a sidewall, the sidewall is perpendicular to the base (20), and the second position adjusting device (60) includes:
a height adjusting device (610) fixedly arranged on the side wall;
a plane adjusting device (620) fixedly arranged on the plane adjusting device (620);
An angle adjusting device (630) fixed to the plane adjusting device (620), the camera (50) being fixed to the angle adjusting device (630);
the height adjusting device (610), the plane adjusting device (620) and the angle adjusting device (630) are respectively connected with the controller (80), the controller (80) is used for controlling the plane adjusting device (620) to adjust the position of the camera (50) on the x-y plane so that the two-dimensional code (202) is in the visual field range of the camera (50), the controller (80) is used for controlling the angle adjusting device (630) to adjust the xz angle or yz angle of the camera (50) so that the shooting direction of the camera (50) is perpendicular to the x-y plane, and the controller (80) is used for controlling the height adjusting device (610) to adjust the position of the camera (50) along the z axis.
10. The glass substrate internal two-dimensional code depth calculation system according to claim 9, wherein the central control device (100) includes:
the collector (110) is connected with the controller (80), and the collector (110) is used for collecting images of a plurality of two-dimensional codes (202) and a plurality of accumulated displacement lengths;
A filter (120) connected to the collector (110), the filter (120) being configured to receive a plurality of images of the two-dimensional code (202) and a plurality of accumulated displacement lengths, and calculate a focus feedback value of each of the images of the two-dimensional code (202), the filter (120) being configured to filter a sharpest first image from the real image group and a sharpest second image from the virtual image group, the filter (120) being configured to acquire a first adjacent image and a second adjacent image adjacent to the first image, the filter (120) being configured to acquire a third adjacent image and a fourth adjacent image adjacent to the second image, the filter (120) being further configured to acquire the accumulated displacement lengths corresponding to the first image, the first adjacent image, and the second adjacent image, respectively, the accumulated displacement lengths of the first image, the first proximity image and the second proximity image which are in one-to-one correspondence are respectively a first length, a first proximity length and a second proximity length, the filter (120) is further configured to respectively obtain the focus feedback values of the first image, the first proximity image and the second proximity image which are in one-to-one correspondence, the focus feedback values of the first image, the first proximity image and the second proximity image which are in one-to-one correspondence are respectively a first focus feedback value, a first proximity feedback value and a second proximity feedback value, the filter (120) is further configured to respectively obtain the accumulated displacement lengths of the second image, the third proximity image and the fourth proximity image which are in one-to-one correspondence, the accumulated displacement lengths of the second image, the third adjacent image and the fourth adjacent image which are in one-to-one correspondence are respectively a second length, a third adjacent length and a fourth adjacent length, and the filter (120) is further configured to obtain the focus feedback values of the second image, the third adjacent image and the fourth adjacent image which are in one-to-one correspondence, where the focus feedback values of the second image, the third adjacent image and the fourth adjacent image which are in one-to-one correspondence are respectively a second focus feedback value, a third adjacent feedback value and a fourth adjacent feedback value;
A fitter (130) connected to the filter (120), where the fitter (130) is configured to receive the first length, the first proximity length, the second proximity length, the first focus feedback value, the first proximity feedback value, the second length, the third proximity length, the fourth proximity length, the second focus feedback value, the third proximity feedback value, and the fourth proximity feedback value, the fitter (130) is configured to perform first data fitting with the first length, the first proximity length, and the second proximity length as an abscissa, and perform real image cumulative displacement length corresponding to a real image of the two-dimensional code (202) with the first focus feedback value, the first proximity feedback value, and the second proximity feedback value as an ordinate, and perform fitting with the second length, the third proximity feedback value, and the fourth proximity feedback value as an abscissa, and perform cumulative displacement of the real image corresponding to a real image of the two-dimensional code (202), and perform cumulative displacement of the real image corresponding to the second virtual image of the two-dimensional code (202);
The calculator (140) is connected with the fitter (130), the calculator (140) is further used for receiving the two-image distance, the calculator (140) is used for receiving external data, the external data comprise the thickness and the refractive index of the glass substrate (200), and the calculator (140) is used for obtaining the depth of the two-dimensional code (202) from the first surface (201) according to the thickness, the refractive index and the two-image distance.
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| PCT/CN2020/081999 WO2021174619A1 (en) | 2020-03-03 | 2020-03-30 | System and method for calculating depth of two-dimensional code inside glass substrate |
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| CN110502947A (en) * | 2019-08-26 | 2019-11-26 | 深圳市杰普特光电股份有限公司 | The method and data processing method of structure light sounding system, metrical information code depth |
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| US9305341B2 (en) * | 2011-01-21 | 2016-04-05 | Christopher L. Claypool | System and method for measurement of through silicon structures |
| CN102937417A (en) * | 2012-11-09 | 2013-02-20 | 中国航空工业集团公司北京长城计量测试技术研究所 | Device for detecting damage depth of object surface scratch |
| CN103727887B (en) * | 2013-12-16 | 2016-07-06 | 大连理工大学 | Incoherent imaging glass thickness measuring method |
| US10498948B1 (en) * | 2018-06-05 | 2019-12-03 | Applied Materials, Inc. | Methods and apparatus for absolute and relative depth measurements using camera focus distance |
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| CN110502947A (en) * | 2019-08-26 | 2019-11-26 | 深圳市杰普特光电股份有限公司 | The method and data processing method of structure light sounding system, metrical information code depth |
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