TWI662251B - Three-dimensional linear detection method and system - Google Patents
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Abstract
本發明揭露一種三維線性檢測方法及系統，其包括移動平台、角度調整機構、影像擷取裝置及角度辨識/控制單元。移動平台供放置待測件。角度調整機構設於移動平台上。各影像擷取裝置設於每一角度調整機構上，以擷取待測件之複數檢測影像。角度辨識/控制單元包含影像檢測模組，用以辨識每一鏡頭軸線是否與正對之檢測表面的法線為同一軸線，並驅使每一鏡頭軸線與各自正對之檢測表面的法線為同一軸線，或是啟動影像檢測模組將複數檢測影像拼接成一組二維展開平面影像，並對平面影像做特徵化辨識處理，藉以提升可撓性待檢測產品的瑕疵檢出率與加工效能。 The invention discloses a three-dimensional linear detection method and system, which includes a moving platform, an angle adjustment mechanism, an image capture device, and an angle identification / control unit. Move the platform for the DUT. The angle adjustment mechanism is set on the mobile platform. Each image capturing device is set on each angle adjustment mechanism to capture multiple detection images of the DUT. The angle identification / control unit includes an image detection module to identify whether each lens axis is the same axis as the normal line of the detection surface directly opposite to it, and drives each lens axis to be the same line as the normal line of the detection surface directly opposite to each other. Axis, or start the image detection module to splice multiple detection images into a set of two-dimensionally developed planar images, and characterize the planar images to improve the defect detection rate and processing efficiency of flexible products to be inspected.
Description
本發明係有關一種三維線性檢測方法及系統，尤指一種可以針對三維立體曲面之檢測表面做表面瑕疵檢查或標靶位置定位以提升可撓性產品瑕疵檢出率與加工效能的三維線性檢測技術。 The invention relates to a three-dimensional linear detection method and system, especially a three-dimensional linear detection technology that can perform surface defect inspection or target position positioning on the detection surface of a three-dimensional three-dimensional curved surface to improve the defect detection rate and processing efficiency of flexible products .
按，近年來，三星、蘋果(Apple)、等國際大廠之手機、平板、電腦、多媒體電視逐漸邁向曲面面板設計，目前工廠製造生產時所使用之檢測設備大多為檢測平面式觸控面板的裝置，因此，依據現階段的檢測技術而言，目前上無一套專屬用於三維曲面觸控面板；或是曲面可撓性面板的三維曲面檢測裝置。 According to recent years, mobile phones, tablets, computers, and multimedia TVs from Samsung, Apple, and other international manufacturers have gradually moved to curved panel designs. Currently, most of the testing equipment used in factory manufacturing is testing flat touch panels. Therefore, according to the current stage of detection technology, there is currently no set of three-dimensional curved surface touch panel or curved surface flexible panel detection device.
雖有少數廠商開發出曲面觸控面板檢測裝置，但是此種曲面觸控面板檢測裝置大多是以機械手臂來檢測處理3D曲面觸控面板，雖然機械手臂可以用來檢測3D曲面的觸控面板；惟，應用機械手臂檢測處理3D曲面觸控面板檢測設備的成本過高，以致影響廠商裝設的意願，致使機械手臂無法普及成為檢測曲面觸控面板的必要檢測裝置；不僅如此，所需的位移路徑控制，就會讓工程師的學習曲線拉長，以致大幅增加人力與時間的耗費成本，因而造成曲面觸控面板檢測上的不便與極大的困擾情事產生。 Although a few manufacturers have developed curved touch panel detection devices, most of such curved touch panel detection devices use a robotic arm to detect and process 3D curved touch panels, although robotic arms can be used to detect 3D curved touch panels; However, the cost of applying a robotic arm to detect and process 3D curved touch panel inspection equipment is too high, which affects the manufacturer's willingness to install, and prevents the robotic arm from becoming a necessary detection device for detecting curved touch panels. Path control will lengthen the learning curve of the engineer, which will greatly increase the cost of manpower and time, which will cause inconvenience and great confusion in the detection of curved touch panels.
再者，經專利檢索後發現，與本發明相關之專利前案分別為如中華民國專利發明第I490481號『面板三維瑕疵之線上檢測方法』、新型 第M357604號『龍門線性檢測裝置』及新型第M391653號『雙面檢測裝置』等專利所示，經深入比對後，本發明與上述該等專利採用之技術手段確實為不相同，連帶欲所欲達成的機能功效亦不相同。 Furthermore, after the patent search, it was found that the pre-patent cases related to the present invention are, for example, the Republic of China Patent Invention No. I490481 "Online Detection Method for 3D Defects of Panels", As shown in patents such as M357604 "Longmen linear detection device" and new type M391653 "double-sided detection device", after in-depth comparison, the technical means adopted by the present invention and the above-mentioned patents are indeed different. The functional effects to be achieved are also different.
有鑒於此，平面式觸控面板檢測設備已行之有年，產品技術之成熟度未臻完善，加上當曲率越大時檢測誤判率越高，因此，該習知技術仍有再改善的必要性，因此，如何開發出一套可以提升可撓性產品瑕疵檢出率與加工效能的三維線性檢測技術實已成為相關產學業者所亟需挑戰與克服的技術課題。 In view of this, flat-type touch panel testing equipment has been around for many years, and the maturity of the product technology has not been perfected. In addition, the higher the curvature is, the higher the false detection rate is. Therefore, the conventional technology still needs to be improved. Therefore, how to develop a set of three-dimensional linear detection technology that can improve the defect detection rate and processing efficiency of flexible products has become a technical issue that is urgently needed to be overcome and overcome by related industry and academia.
本發明所欲解決的技術課題在於，係為解決二維平面線性檢測系統無法對三維立體曲面做表面瑕疵檢查或標靶位置定位所致的諸多缺失進行改善，而且當曲面之曲率越大時檢測誤判率則愈高。 The technical problem to be solved by the present invention is to solve the two-dimensional planar linear detection system, which can improve many defects caused by the surface defect inspection or target position positioning of the three-dimensional three-dimensional curved surface. The higher the false positive rate.
本發明主要目的在於提供一種三維線性檢測方法及系統，主要是藉由自主追尋法線角度之機能設置，以因應檢測表面不同曲率變化而做出調整各組鏡頭對其檢測表面之垂直法線角度，因而可針對三維立體曲面之檢測表面做表面瑕疵檢查或標靶位置定位，藉以提升可撓性產品瑕疵檢出率與加工效能。達成本發主要明目的之技術手段，係包括移動平台、角度調整機構、影像擷取裝置及角度辨識/控制單元。移動平台供放置待測件。角度調整機構設於移動平台上。各影像擷取裝置設於每一角度調整機構上，以擷取待測件之複數檢測影像。角度辨識/控制單元包含影像檢測模組，角度辨識/控制單元用以辨識每一鏡頭軸線是否與正對之檢測表面的法線為同一軸線；判斷結果為否，則驅使每一鏡頭軸線與各自正對之檢測表 面的法線為同一軸線；當判斷結果為是，則啟動影像檢測模組，以將複數檢測影像拼接成一組二維展開平面影像，並對平面影像做特徵化的影像辨識處理，俾能針對三維立體曲面之檢測表面做表面瑕疵檢查或標靶位置定位，以提升可撓性待檢測產品的瑕疵檢出率與加工效能。 The main purpose of the present invention is to provide a three-dimensional linear detection method and system, which mainly adjusts the vertical normal angle of each group of lenses to the detection surface in response to different curvature changes of the detection surface by setting the function of autonomously searching for the normal angle. Therefore, surface defect inspection or target position positioning can be performed on the detection surface of the three-dimensional three-dimensional curved surface, thereby improving the defect detection rate and processing efficiency of flexible products. The main technical means to achieve this purpose include a mobile platform, an angle adjustment mechanism, an image capture device, and an angle identification / control unit. Move the platform for the DUT. The angle adjustment mechanism is set on the mobile platform. Each image capturing device is set on each angle adjustment mechanism to capture multiple detection images of the DUT. The angle recognition / control unit includes an image detection module. The angle recognition / control unit is used to identify whether each lens axis is the same axis as the normal line of the detection surface opposite to it; if the judgment result is no, each lens axis is Facing checklist The normals of the planes are the same axis; when the judgment result is yes, the image detection module is started to splice the plural detection images into a set of two-dimensional expanded planar images, and the image recognition processing is performed on the planar images. The surface of the three-dimensional three-dimensional curved surface is inspected for surface defects or target location to improve the defect detection rate and processing efficiency of flexible products to be inspected.
10‧‧‧移動平台 10‧‧‧mobile platform
11‧‧‧第一驅動機構 11‧‧‧first drive mechanism
12‧‧‧第二驅動機構 12‧‧‧Second driving mechanism
13‧‧‧第三驅動機構 13‧‧‧Third driving mechanism
20‧‧‧角度調整機構 20‧‧‧Angle adjustment mechanism
21‧‧‧水平旋轉機構 21‧‧‧horizontal rotation mechanism
22‧‧‧縱向旋轉機構 22‧‧‧ Longitudinal rotation mechanism
23‧‧‧弧形板 23‧‧‧ curved plate
30‧‧‧影像擷取裝置 30‧‧‧Image capture device
31‧‧‧鏡頭 31‧‧‧ lens
40‧‧‧角度辨識/控制單元 40‧‧‧angle recognition / control unit
41‧‧‧運算處理裝置 41‧‧‧ Computing Processing Device
410‧‧‧影像檢測模組 410‧‧‧Image Inspection Module
42‧‧‧光源模組 42‧‧‧light source module
50‧‧‧待測件 50‧‧‧DUT
60‧‧‧顯示幕 60‧‧‧display
d1‧‧‧鏡頭軸線 d1‧‧‧ lens axis
d2‧‧‧法線 d2‧‧‧normal
Pn‧‧‧座標位置 Pn‧‧‧ coordinate position
圖1係本發明具體架構實施的外觀示意圖。 FIG. 1 is a schematic diagram showing the appearance of a specific architecture of the present invention.
圖2係本發明具體架構實施的前視示意圖。 FIG. 2 is a schematic front view of the implementation of the specific architecture of the present invention.
圖3係本發明將鏡頭軸線調整為與待測件表面法線同一軸線的實施示意圖。 FIG. 3 is a schematic diagram of an embodiment in which the lens axis of the present invention is adjusted to be the same axis as the normal line of the surface of the device under test.
圖4係本發明具體架構實施的功能方塊示意圖。 FIG. 4 is a functional block diagram of the implementation of the specific architecture of the present invention.
圖5係本發明待測件的法線分佈的實施示意圖。 FIG. 5 is a schematic diagram of the implementation of the normal distribution of the device under test of the present invention.
圖6係本發明真正圓運算法的運算實施示意圖。 FIG. 6 is a schematic diagram of the implementation of the true circle algorithm of the present invention.
圖7係本發明影像處理及真正圓運算法的流程控制實施示意圖。 FIG. 7 is a schematic diagram of flow control implementation of image processing and true circle arithmetic of the present invention.
為讓 貴審查委員能進一步瞭解本發明整體的技術特徵與達成本發明目的之技術手段，玆以具體實施例並配合圖式加以詳細說明如下： In order to allow your reviewers to further understand the overall technical features of the present invention and the technical means for achieving the purpose of the present invention, specific embodiments and drawings are described in detail as follows:
請配合參看圖1~5所示為達成本發明主要目的之具體實施例，係包括一移動平台10、至少一角度調整機構20、複數影像擷取裝置30及一角度辨識/控制單元40等技術特徵。移動平台10具多軸向移動功能而可供放置至少一待測件50(如具三維曲面之面板、觸控面板或是可撓性面板)。複數角度調整機構20係設於移動平台10上。複數影像擷取裝置30，其序設於每一角度調整機構20上，可受移動平台10及複數角度調整機構 20的帶動而位移至至少一個座標位置Pn，以擷取待測件50之複數相鄰檢測表面的複數檢測影像，且複數檢測影像之間的邊緣部分影像為相互重疊。角度辨識/控制單元40包含一影像檢測模組410，角度辨識/控制單元40用以辨識每一影像擷取裝置30之鏡頭軸線d1是否與正對之檢測表面中心的法線為同一軸線；或是接近同一軸線；當判斷結果為否，則驅動角度調整機構20，使每一影像擷取裝置30之鏡頭軸線d1與各自正對之檢測表面中心的法線為同一軸線；或是接近同一軸線；當判斷結果為是，則啟動上述影像檢測模組410，以將複數檢測影像拼接成一組二維展開平面影像，並對平面影像做特徵化的影像辨識處理，以將影像辨識結果輸出為表面瑕疵資訊或標靶位置定位資訊。具體的，上述表面瑕疵資訊或標靶位置資訊可以透過顯示幕60或照片將待測件50之表面瑕疵或標靶位置定位的部分區域予以圈選或標示出來，於此即可供現場監測管理人員檢視，以做出排除瑕疵產品的動作。 Please refer to FIG. 1 to FIG. 5 for specific embodiments for achieving the main purpose of the present invention. The technology includes a mobile platform 10, at least one angle adjusting mechanism 20, a plurality of image capturing devices 30, and an angle recognition / control unit 40. feature. The mobile platform 10 has a multi-axis movement function and can be used to place at least one DUT 50 (such as a panel with a three-dimensional curved surface, a touch panel, or a flexible panel). The plurality of angle adjustment mechanisms 20 are provided on the mobile platform 10. The plurality of image capturing devices 30 are sequentially arranged on each angle adjustment mechanism 20, and can be affected by the mobile platform 10 and the plurality of angle adjustment mechanisms. 20 is driven to move to at least one coordinate position Pn to capture a plurality of detection images of a plurality of adjacent detection surfaces of the DUT 50, and the images of the edge portions between the plurality of detection images overlap each other. The angle recognition / control unit 40 includes an image detection module 410, and the angle recognition / control unit 40 is used to identify whether the lens axis d1 of each image capture device 30 is the same axis as the normal line of the center of the detection surface that is directly opposite; or Are close to the same axis; when the judgment result is no, the angle adjusting mechanism 20 is driven so that the lens axis d1 of each image capturing device 30 and the normal line of the center of the detection surface opposite to each other are the same axis; ; When the judgment result is yes, the above-mentioned image detection module 410 is started to splice the plurality of detection images into a set of two-dimensional expanded planar images, and perform a characteristic image recognition process on the planar images to output the image recognition results as a surface Defective information or target location information. Specifically, the above-mentioned surface defect information or target position information can be circled or marked by displaying a portion of the surface defect or target position of the DUT 50 through the display screen 60 or a photo, which can be used for on-site monitoring and management. Personnel review to take action to eliminate defective products.
請配合參看圖1~4所示的實施例，上述移動平台10包含可分別往三個不同軸向位移的一第一驅動機構11(即往X軸向位移)、一第二驅動機構12(即往Y軸向位移)及至少一第三驅動機構13(即往Z軸向位移)。上述角度調整機構20係設於移動平台10之第三驅動機構13上，且角度調整機構20包含一設於第三驅動機構13末端可往水平向旋轉的水平旋轉機構21及一設於水平旋轉機構21下方可往縱向旋轉的縱向旋轉機構22，用以使影像擷取裝置30之鏡頭做出水平向與縱向旋轉的角度調整。 Please refer to the embodiments shown in FIGS. 1-4. The above-mentioned mobile platform 10 includes a first driving mechanism 11 (that is, X-axis displacement) and a second driving mechanism 12 (three-axis displacement) that can be respectively displaced in three different axial directions. That is, it is displaced in the Y-axis direction) and at least one third driving mechanism 13 (that is, is displaced in the Z-axis direction). The above-mentioned angle adjustment mechanism 20 is provided on the third driving mechanism 13 of the mobile platform 10, and the angle adjustment mechanism 20 includes a horizontal rotation mechanism 21 provided at the end of the third driving mechanism 13 and capable of rotating horizontally and a horizontal rotation mechanism A vertical rotation mechanism 22 that can rotate vertically below the mechanism 21 is used to make the lens of the image capturing device 30 adjust the angle of horizontal and vertical rotation.
具體的，請配合參看圖1~4所示的實施例，第三驅動機構13及角度調整機構20的數量各自為三組；亦即，分別以一組第三驅動機構13及角度調整機構20來帶動一組影像擷取裝置30之鏡頭來做出上述二軸向的角度調整。 Specifically, with reference to the embodiments shown in FIGS. 1 to 4, the numbers of the third driving mechanism 13 and the angle adjusting mechanism 20 are each three groups; that is, the third driving mechanism 13 and the angle adjusting mechanism 20 are respectively set. Let's drive a group of lenses of the image capture device 30 to make the above two axial angle adjustments.
除此之外，再請配合參看圖1~4所示的實施例，第三驅動機構13及角度調整機構20的數量各自為一組，而三組影像擷取裝置30共同設置於一具預定弧面的弧形板23上，此弧形板23係與待測件50之檢測面為配合的弧面，弧形板23設於上述縱向旋轉機構22上，於是得以一組第三驅動機構13及一組角度調整機構20來帶動三組影像擷取裝置30之鏡頭來做出上述二軸向的角度調整。此外，必須說明的是，所謂的『接近同一軸線』與『接近重合的狀態』是指鏡頭軸線d1與正對之檢測表面中心的法線夾角小於3度而言。 In addition, please refer to the embodiments shown in FIGS. 1 to 4. The number of the third driving mechanism 13 and the angle adjusting mechanism 20 is a group, and the three sets of image capturing devices 30 are arranged in a predetermined set. The arc-shaped plate 23 is an arc-shaped surface that matches the detection surface of the object 50 to be tested. The arc-shaped plate 23 is provided on the longitudinal rotation mechanism 22, so that a set of third driving mechanisms can be obtained. 13 and a group of angle adjustment mechanisms 20 are used to drive the lenses of the three groups of image capture devices 30 to make the above-mentioned two-axis angle adjustment. In addition, it must be noted that the so-called "close to the same axis" and "closely coincident state" means that the angle between the lens axis d1 and the normal of the center of the detection surface facing it is less than 3 degrees.
請配合參看圖1~4所示，角度辨識/控制單元40更包含複數光源模組42及運算處理裝置41。複數光源模組42分別設於角度調整機構20靠近各鏡頭31的位置上，用以朝向待測件50之各檢測表面投射光源。運算處理裝置41其用以控制各影像擷取裝置30擷取待測件50反射光源的光點影像。運算處理裝置41內建有至少一預設路徑，並依據預設路徑控制移動平台10上的複數角度調整機構20及複數影像擷取裝置30移動至預定的至少一座標位置Pn，再對光點影像做影像處理及真正圓運算法的運算，並依據運算結果控制角度調整機構20做出對應的單軸向或是二個軸向的旋轉，用以使每一鏡頭軸線d1與各自正對之檢測表面中心的法線為同一軸線或是接近同一軸線，上述各檢測表面可以是指曲面而言。 Please refer to FIGS. 1 to 4. The angle recognition / control unit 40 further includes a plurality of light source modules 42 and an arithmetic processing device 41. The plurality of light source modules 42 are respectively disposed at positions of the angle adjustment mechanism 20 near the lenses 31, and are used to project light sources toward the detection surfaces of the object 50 to be tested. The arithmetic processing device 41 is used to control each image capturing device 30 to capture a light point image of the light source reflected by the DUT 50. The arithmetic processing device 41 has at least one preset path built therein, and according to the preset path, the plurality of angle adjustment mechanisms 20 and the plurality of image capturing devices 30 on the mobile platform 10 are moved to a predetermined target position Pn, and then the light spot is The image is processed for image processing and true circle arithmetic, and the angle adjustment mechanism 20 is controlled to make corresponding uniaxial or biaxial rotation according to the calculation result, so that each lens axis d1 is directly opposite to each other The normal to the center of the detection surface is the same axis or close to the same axis, and the above detection surfaces may refer to curved surfaces.
具體的，請配合參看圖7所示，上述運算處理裝置41所做的影像處理係包含下列所述的步驟： Specifically, referring to FIG. 7, the image processing performed by the operation processing device 41 includes the following steps:
步驟一：將擷取得之彩色該光點影像轉換為灰階影像。 Step 1: Convert the captured color spot image to grayscale image.
步驟二：運用Canny演算法取得灰階之該光點影像的影像邊緣。 Step 2: Use the Canny algorithm to obtain the image edge of the gray point image of the light spot.
步驟三：對該影像邊緣進行影像二值化處理。 Step 3: Perform image binarization on the edge of the image.
具體的，請配合參看圖7所示，上述運算處理裝置41所做的真正圓運算法係包含下列所述的步驟： Specifically, please refer to FIG. 7. The true circle arithmetic system performed by the arithmetic processing device 41 includes the following steps:
步驟一：輸入光點影像的邊點數。 Step 1: Enter the number of side points of the light point image.
步驟二：邊點集中隨機選擇四個邊點。 Step 2: Set four edge points randomly in the edge point set.
步驟三：運用克拉瑪公式理論來決定候選圓，並解出圓心與半徑，再經過圓的直軸與交軸比較確定是否為真正圓。 Step 3: Determine the candidate circle by using the theory of Kramer's formula, and find out the center and radius of the circle, and then compare the straight axis and the cross axis of the circle to determine whether it is a true circle.
步驟四：判斷真正圓失敗數是否小於容忍數；判斷結果為是，則回到步驟二；判斷結果為否，則進入步驟五。 Step 4: Determine whether the number of true circle failures is less than the tolerance number; if the determination result is yes, go back to step 2; if the determination result is no, go to step 5.
步驟五：移動該影像擷取裝置30之鏡頭31對準圓心。 Step 5: Move the lens 31 of the image capturing device 30 to the center of the circle.
一般而言，自待測件50反射成像的光點影像原圖必須經過影像處理，以將待測件50反射之LED光源模組42的光點影像經由角度辨識/控制單元40之運算處理裝置41(如影像處理軟體)將原圖彩色轉灰階並進行二值化與取出邊線轉換完成後，再用圓偵測對LED光點進行追蹤，圓偵測中從取像之光點影像中求得邊點的集合，通常用下列方程式來表示：V={(x,y)} (1) Generally speaking, the original image of the light point image reflected from the device under test 50 must undergo image processing to pass the light point image of the LED light source module 42 reflected by the device under test 50 through the arithmetic processing device of the angle recognition / control unit 40 41 (such as image processing software) After converting the original image color to grayscale and binarizing and extracting the edges, the circle detection is used to track the LED light point. The circle detection is performed from the captured light point image. Find the set of edge points, usually expressed by the following equation: V = {( x , y )} (1)
(x-a)2+(y-b)2=r 2 (2) ( x - a ) 2 + ( y - b ) 2 = r 2 (2)
假設給定的邊點為(a,b)，集合為V我們隨機的從V中挑出四點。該四點可以決定出四個圓，如圖6a所示。假設被選出的四個點皆來自同一個圓，於是即可說這四點決定出的圓是候選圓。 Suppose the given edge point is ( a , b ) and the set is V. We randomly pick four points from V. These four points can determine four circles, as shown in Figure 6a. Assuming that the four points selected are all from the same circle, it can be said that the circle determined by these four points is a candidate circle.
本發明角度辨識/控制單元40之演算用控制係採用四核芯高速微處理器或微控制器，至於取像、真正圓運算、調整鏡頭檢測角度皆由運算處理裝置41內建之影像處理及真正圓運算法自動完成。 The calculation control of the angle identification / control unit 40 of the present invention uses a four-core high-speed microprocessor or microcontroller. As for image acquisition, true circle calculation, and adjustment of the detection angle of the lens, the image processing and the built-in processing unit 41 are used. The true circle algorithm is done automatically.
以下就各個部分說明，本發明所採用的理論為克拉瑪公式 理論來決定候選圓，將式子(2)中的圓方程式改寫，可得下式：2 x a+2 y b+d=x 2+y 2 (3) The description of each part is as follows. The theory used in the present invention is the theory of the Kalmar formula to determine the candidate circle. Rewriting the circle equation in equation (2) can be obtained as follows: 2 xa +2 yb + d = x 2 + y 2 (3)
此處d=r 2-a 2-b 2。令v i =(x i ,y i )，i=1,2,3為影像中邊點集中被隨機挑選出來的三個邊點。假若v 1,v 2,v 3沒有共線，則他們可以決定一圓C 123，且可以得到圓心(a 123,b 123)和半徑r 123。 Here d = r 2 - a 2 - b 2 . Let v i = ( x i , y i ) and i = 1,2,3 are the three edge points randomly selected from the edge point set in the image. If v 1 , v 2 , and v 3 have no collinearity, they can determine a circle C 123 , and can get the center of the circle ( a 123 , b 123 ) and the radius r 123 .
圓心和半徑： Center and radius:
將三個邊點v 1=(x 1,y 1),v 2=(x 2,y 2),v 3=(x 3,y 3)代入(3)式子可得
此處。 Here .
利用圓心(a 123,b 123)的解，我們進而解得圓半徑如下：
本發明所採用的理論為克拉瑪公式理論來決定候選圓，將式子(2)中的圓方程式改寫，可得下式： The theory adopted in the present invention is the theory of the Kalmar formula to determine the candidate circle. The circle equation in equation (2) is rewritten to obtain the following formula:
v 1,v 2,v 3共線時： When v 1 , v 2 , v 3 are in line:
若是依上列各式推導結論所選定的三個邊點值，不幸可以滿足等式(x 2-x 1)(y 3-y 1)-(x 3-x 1)(y 2-y 1)=0則意謂被隨機挑選的三個邊點v 1,v 2,v 3共線。也就是說他們無法形成一個圓。令v 4=(x 4,y 4)為第四個被挑選的邊點，令該點至圓C 123的距離為d 4→123，可得下式：
假如v 4在圓C 123上，則式(7)為零。若式(7)中值夠小，則我們都視v 4在圓C 123的邊界上，如圖6b所示，給四個隨機邊點v i =(x i ,y i ),i=1,2,3,4，這四個邊點至多造成四個圓。其中由v i ,v j ,v k 造成的圓表為C ijk 且其圓心與半徑表示為(a ijk ,b ijk )和r ijk 。令v l 到圓C ijk 的距離為d l→ijk (參見式子(5)-(7))。則式子(7)可被改為：
這裡主要的目標是從四個隨機選取的邊點中決定哪三點可形成一數位圓。同時第四個邊點也落在該圓的邊上。給四個點，共有個可能圓需進一步檢查來決定誰是最可能的圓。 The main goal here is to determine which three points form a digital circle from four randomly selected edge points. At the same time, the fourth edge point also falls on the edge of the circle. Give four points, total Each possible circle needs further examination to determine who is the most likely circle.
在不理想的情形時，這種不理想的情形是發生在三個代理點中有二點很接近。於此，這個可能圓有很高的機率不為一真正圓。為了避 免這種不理想的情形，我們希望任二個代理點之間的距離得超過一個門檻值。加上這個條件會讓由三個代理點決定的候選圓有更強的證據為真正圓。 In the unsatisfactory situation, this unsatisfactory situation occurs when two of the three agent points are close. Here, there is a high probability that this possible circle is not a true circle. In order to avoid To avoid this unsatisfactory situation, we hope that the distance between any two agent points exceeds a threshold value. Adding this condition makes the candidate circle determined by the three surrogate points stronger evidence for a true circle.
在決定真正圓時，假設利用上面方法v i ,v j ,v k 決定了一個可能圓且此圓有圓心(a ijk ,b ijk )和半徑r ijk ，接下來我們加上一個門檻值T g 來檢查這個候選圓是否為真正圓。令計數器C的起始值為0。我們從邊點集V中挑選任何一邊點v l ，然後檢測距離d l→ijk 是否小於門檻值T d 。若是，則將C的值加一。然後，我們從剩餘的邊點集中再挑一邊點，繼續上述的距離計算和比較，一直到所有的邊點被處理完。若這時C的值大於門檻值T g ，則由v i ,v j ,v k 形成的候選圓即為真正圓。否則，該候選圓為一假圓。接下來，我們再將這C個邊點還回邊點集V。而制定C的門檻值的方法為假設該候選圓的圓心與半徑為(a ijk ,b ijk )和r ijk ，則需大於一個門檻值T r ，例如T r =0.8表示數字圓上的邊點需占圓周的80%。畢竟圓周上的點數與半徑是成正比的。這樣設的門檻值T r 較不受圓的大小之影響。 When determining the true circle, suppose that using the above methods v i , v j , v k determines a possible circle and the circle has a center ( a ijk , b ijk ) and a radius r ijk . Next, we add a threshold T g To check if this candidate circle is a true circle. Let the starting value of counter C be zero. We pick any edge point v l from the edge point set V , and then check whether the distance d l → ijk is less than the threshold value T d . If so, increase the value of C by one. Then, we pick one more edge from the set of remaining edges and continue the distance calculation and comparison described above until all the edges are processed. If the value of C is greater than the threshold T g at this time, the candidate circle formed by v i , v j , v k is a true circle. Otherwise, the candidate circle is a false circle. Next, we return these C edge points to the edge point set V. The method for setting the threshold of C is to assume that the center and radius of the candidate circle are ( a ijk , b ijk ) and r ijk , then It must be greater than a threshold value T r . For example, T r = 0.8 means that the edge points on the number circle must occupy 80% of the circumference. After all, the number of points on the circumference is proportional to the radius. The threshold T r set in this way is less affected by the size of the circle.
本發明主要是為解決二維平面線性檢測系統無法檢測三維立體曲面之表面瑕疵檢查或標靶位置定位，當曲率越大時誤判率越高。簡言之，本發明係運用多組可調整鏡頭31角度之鏡頭31，以順應待測件50之檢測表面的不同曲率變化來調整各組鏡頭31對其檢測表面之垂直法線d2角度，使三維立體曲面之各檢測表面，可經由多組可調整鏡頭31，取像為二維展開平面影像，再由影像演算處理，將多組可調整鏡頭31取像，拼接成一組二維展開平面影像，再經由影像演算處理，將拼接取樣影像進行特徵化處理，將檢測表面之不良位置或標靶位置標示出來，以提高產品良率或標靶位置定位。當該座標位置Pn之檢測表面影像辨識處理完成時，則經由 XYZ三軸移動平台10移動至下一個預定的座標位置Pn+1，以進行同樣之三維立體曲面之表面取像與影像拼接和表面瑕疵或標靶位置處理。待所有預定之座標位置Pn之檢測表面皆檢測完畢時，角度辨識/控制單元40則將處理完畢之各座標位置影像進行整體影像拼接並顯示於檢測系統的顯示幕60上，以供後續的檢視及做出排除瑕疵產品的動作。 The invention is mainly used to solve the surface defect inspection or target position positioning of a two-dimensional planar linear detection system that cannot detect a three-dimensional three-dimensional curved surface. When the curvature is larger, the false positive rate is higher. In short, the present invention uses a plurality of sets of lenses 31 with adjustable angles of the lenses 31 to adjust the angle of the vertical normal d2 of each set of lenses 31 to its detection surface in accordance with different curvature changes of the detection surface of the test object 50, so Each detection surface of the three-dimensional three-dimensional curved surface can be taken as a two-dimensional expanded flat image through multiple sets of adjustable lenses 31, and then processed by image calculation to take multiple sets of adjustable lenses 31 and stitch them into a set of two-dimensional expanded flat images. Then, through image calculation processing, the spliced sampling images are characterized, and the bad positions or target positions on the detection surface are marked to improve the product yield or target position positioning. When the detection surface image recognition processing of the coordinate position Pn is completed, The XYZ three-axis moving platform 10 moves to the next predetermined coordinate position Pn + 1 to perform surface acquisition and image splicing of the same three-dimensional three-dimensional curved surface and surface defect or target position processing. When all the detection surfaces of the predetermined coordinate positions Pn have been detected, the angle recognition / control unit 40 performs overall image stitching of the processed coordinate position images and displays them on the display screen 60 of the detection system for subsequent inspection. And take action to eliminate defective products.
除此之外，本發明預先將建立多組行程路徑及各鏡頭31的角度調整設定資料，使各鏡頭31得以運作於不同曲率檢測表面位置，以進行取像並經由XYZ移動平台10移動，而將各鏡頭31移動至指定的座標位置Pn上，並於每次取像座標位置Pn，將多組可調整鏡頭31所取影像進行二維處理與影像拼接等影像處理。此外，必須陳明的是，上述影像拼接條件為，各組可調整鏡頭31所擷取影像範圍必須與鄰近之可調整鏡頭成像之影像形成重疊，以方便影像演算法對鄰近影像進行拼接。再者，本發明可對現有二維平面線性檢測系統裝置加以改良，並補強二維平面線性檢測系統對立體空間的影像盲點與影像扭曲所致的缺失。 In addition, in the present invention, multiple sets of travel paths and angle adjustment setting data of each lens 31 are established in advance, so that each lens 31 can operate at different curvature detection surface positions to take images and move through the XYZ moving platform 10, and Each lens 31 is moved to a designated coordinate position Pn, and each time the image coordinate position Pn is taken, the images taken by the plurality of groups of adjustable lenses 31 are subjected to image processing such as two-dimensional processing and image stitching. In addition, it must be noted that the above-mentioned image stitching condition is that the range of images captured by each group of adjustable lenses 31 must overlap with the image formed by the adjacent adjustable lenses to facilitate the image algorithm to stitch the adjacent images. Furthermore, the present invention can improve the existing two-dimensional planar linear detection system device, and reinforce the defects caused by the blind spots and distortions of the image in the three-dimensional space by the two-dimensional planar linear detection system.
以上所述，僅為本發明之可行實施例，並非用以限定本發明之專利範圍，凡舉依據下列請求項所述之內容、特徵以及其精神而為之其他變化的等效實施，皆應包含於本發明之專利範圍內。本發明所具體界定於請求項之結構特徵，未見於同類物品，且具實用性與進步性，已符合發明專利要件，爰依法具文提出申請，謹請 鈞局依法核予專利，以維護本申請人合法之權益。 The above description is only a feasible embodiment of the present invention, and is not intended to limit the patent scope of the present invention. Any equivalent implementation of other changes based on the content, characteristics and spirit of the following claims should be It is included in the patent scope of the present invention. The structural features specifically defined in the present invention are not found in similar items, and are practical and progressive. They have met the requirements for invention patents. They have filed applications in accordance with the law. I would like to request the Bureau to verify the patents in accordance with the law in order to maintain this document. Applicants' legitimate rights and interests.
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| US6559931B2 (en) * | 2001-02-08 | 2003-05-06 | Nkk Corporation | Three-dimensional (3-D) coordinate measuring method, 3-D coordinate measuring apparatus, and large-structure building method |
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| CN107526372A (en) * | 2017-08-25 | 2017-12-29 | 苏州玻色智能科技有限公司 | The detection device of five axle controls devices and curved surface or globoidal glass panel |
| TWM556842U (en) * | 2017-09-22 | 2018-03-11 | 中華學校財團法人中華科技大學 | Testing device for curved touch panel |
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| US6559931B2 (en) * | 2001-02-08 | 2003-05-06 | Nkk Corporation | Three-dimensional (3-D) coordinate measuring method, 3-D coordinate measuring apparatus, and large-structure building method |
| JP2007155448A (en) * | 2005-12-02 | 2007-06-21 | Olympus Corp | Edge inspection device |
| CN107526372A (en) * | 2017-08-25 | 2017-12-29 | 苏州玻色智能科技有限公司 | The detection device of five axle controls devices and curved surface or globoidal glass panel |
| TWM556842U (en) * | 2017-09-22 | 2018-03-11 | 中華學校財團法人中華科技大學 | Testing device for curved touch panel |
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