WO2020078459A1 - 机器视觉***的目标靶单元、目标靶组件和机器视觉*** - Google Patents

机器视觉***的目标靶单元、目标靶组件和机器视觉*** Download PDF

Info

Publication number
WO2020078459A1
WO2020078459A1 PCT/CN2019/111922 CN2019111922W WO2020078459A1 WO 2020078459 A1 WO2020078459 A1 WO 2020078459A1 CN 2019111922 W CN2019111922 W CN 2019111922W WO 2020078459 A1 WO2020078459 A1 WO 2020078459A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
target
layer
area
pattern
Prior art date
Application number
PCT/CN2019/111922
Other languages
English (en)
French (fr)
Inventor
罗文荟
Original Assignee
深圳市道通科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通科技股份有限公司 filed Critical 深圳市道通科技股份有限公司
Publication of WO2020078459A1 publication Critical patent/WO2020078459A1/zh
Priority to US17/142,613 priority Critical patent/US20210156680A1/en

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042Calibration or calibration artifacts
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/02Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608Height gauges
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/26Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/26Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles
    • G01M17/013Wheels
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00Optical elements other than lenses
    • G02B5/08Mirrors
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00Optical elements other than lenses
    • G02B5/08Mirrors
    • G02B5/0808Mirrors having a single reflecting layer
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0004Industrial image inspection
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10Wheel alignment
    • G01B2210/28Beam projector and related sensors, camera, inclinometer or other active sensing or projecting device
    • G01B2210/283Beam projectors and related sensors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10Wheel alignment
    • G01B2210/30Reference markings, reflector, scale or other passive device
    • G01B2210/303Reference markings, reflector, scale or other passive device fixed to the ground or to the measuring station
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30204Marker

Definitions

  • the present application relates to the technical field of machine vision systems, and in particular, to a target target unit of a machine vision system, a target target assembly including the target target unit, and a machine vision system including the target target assembly.
  • position determination systems such as wheel positioning systems, on-board sensor calibration systems, etc.
  • machine vision system technology an optical sensing device such as a camera is generally used, and the positions of various target devices are determined by sensing optical sensing devices such as reflective target targets.
  • optical sensing devices such as reflective target targets.
  • a wheel positioning system through the sensing of a reflective target, it is possible to obtain alignment information about the vehicle, such as the camber angle of the wheel, the driving height, the toe curve, the tilt angle, and the angle of the vehicle body relative to the vehicle wheel relationship.
  • the calibration frame by sensing the reflective target target, including the reflective target target mounted on the wheel and the reflective target target mounted on the sensor calibration frame, the calibration frame can be adjusted to a certain axis of the vehicle Align, and then accurately adjust the position and axial direction of sensors such as car radar and car camera.
  • a typical reflective target target is a flat multi-layer structure, usually including a reflective layer sandwiched between front and rear glass plates. Due to the high density of glass, this structure is usually bulky and inconvenient to use.
  • Embodiments of the present invention provide a target target unit and target target assembly of a lightweight machine vision system, and a machine vision system including the target target assembly, to solve the technical problem that the target target unit in the prior art is bulky and inconvenient to use.
  • a target unit of a machine vision system including:
  • a protection board the protection board includes a connection surface
  • a light reflecting layer, the light reflecting layer is connected with the light absorbing layer, one of the light absorbing layer and the light reflecting layer includes a preset pattern and is connected with the protection plate through the connecting surface, the light absorbing
  • the surface of the other of the layer and the reflective layer facing away from the protective plate is the outer surface of the target target unit.
  • a target target assembly including:
  • a housing provided with a receiving slot
  • the protection plate is installed in the housing, and the protection plate is accommodated in the accommodation groove, and the connection surface faces away from the opening of the accommodation groove.
  • a machine vision system includes a four-wheel locator and the target target assembly described above.
  • the protection plate can provide functions such as mechanical support, flatness, waterproof and scratch resistance, etc., and a substrate in the prior art can be eliminated, so that The weight of the target target unit in this embodiment is reduced, and the thickness of the product is reduced, making it possible to make a thinner product.
  • the product assembly process is simplified, the production time is shortened, and the cost of the product is reduced.
  • FIG. 1 is a schematic structural diagram of a target target assembly of a machine vision system provided by an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a target target unit of the target target assembly shown in FIG. 1, wherein in the target target unit, a light absorbing layer is located between a protection plate and a light reflecting layer;
  • FIGS. 3 to 5 are schematic structural diagrams of a target target assembly provided by some embodiments of the present invention, wherein in the target target assembly shown in FIGS. 3 to 5, the bonding method of the target target unit and the housing is different;
  • FIGS. 1 to 5 is a schematic view of the bonding of the protective plate, light absorption layer, and light reflection layer of the target unit shown in FIGS. 1 to 5;
  • FIG. 7 is a schematic structural diagram of a target target assembly of a machine vision system provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a target target unit of the target target assembly shown in FIG. 7, wherein in the target target unit, the reflective layer is located between the protective plate and the light absorbing layer;
  • FIG. 9 is a schematic view of the bonding of the protective plate, light absorption layer, and light reflection layer of the target unit shown in FIG. 8;
  • 10 to 12 are schematic structural diagrams of a target target assembly of a machine vision system provided by an embodiment of the present invention, wherein the housing of the target target assembly includes a first housing and a second housing;
  • FIG. 13 is a schematic structural diagram of a machine vision system provided by an embodiment of the present invention.
  • FIG. 14 is a schematic view of the state of use of the machine vision system shown in FIG. 13.
  • a target target assembly 100 of a machine vision system provided by an embodiment of the present invention includes a housing 10, a target target unit 20, and an adhesive portion 30.
  • the target target unit 20 is attached to the housing 10 through the adhesive portion 30.
  • a machine vision system refers to a technology that uses an image pickup device (ie, CMOS, CCD, and other types of camera and photography instruments) to capture an image of an object to be captured, and obtain relevant position information based on the captured image.
  • an image pickup device ie, CMOS, CCD, and other types of camera and photography instruments
  • the image signals are obtained by collecting the captured images, and then transmitted to a dedicated image processing system, such as a desktop computer, a laptop computer, etc., to obtain the morphological information of the subject, according to the pixel distribution
  • the information such as brightness and color is converted into a digital signal; the image system performs various operations on these signals to extract the characteristics of the target, and then determines the location of the captured target according to the result of the discrimination.
  • the housing 10 is provided with an accommodating groove 12, an inner wall of the accommodating groove 12 is provided with a stepped portion 14, the target target unit 20 is accommodated in the accommodating groove 12, and the target target unit 20 is supported on the step Department 14.
  • the housing 10 can be made of plastic materials or metal materials. If it is a plastic material, it can be made by injection molding or casting molding. If it is a metal material, it can be made by milling or other methods.
  • the target target unit 20 is accommodated in the accommodating groove 12.
  • the target target unit 20 includes a protective plate 21, a light absorption layer 22 and a light reflection layer 23.
  • the light absorption layer 22 is located between the protection plate 21 and the light reflection layer 23.
  • the protective plate 21 is a light-transmitting plate.
  • One of its functions is to provide a light-transmitting protective layer for the entire target unit 20, which has the physical characteristics of being scratch-resistant and water-proof.
  • the other function is to support the light-absorbing layer 22 and reflect light
  • the layer 23 provides the reflective layer 23 with higher flatness or flatness.
  • the "light transmission" is relative to the working band of the target target unit 20, and the target target unit 20 will cooperate with a sensing device such as a camera to reflect light or electromagnetic waves in a certain band, And at least part of the light or electromagnetic waves in a certain wavelength band is suitable for being captured by a sensing device such as a camera to form an image, and the wavelength band captured by a sensing device such as a camera to form an image is called the working band of the target target unit 20.
  • the “light transmission” means that light or electromagnetic waves in the working wavelength band of the target target unit 20 can be substantially passed through, and is not limited to the need to be transparent to the naked eye.
  • the protective plate 21 may be ordinary glass and / or hardened glass, glass with anti-explosion measures such as anti-riot film, tempered glass and transparent plastic with high flatness, such as organic glass or acrylic plate, PMMA , PC, PVC, etc.
  • the protective plate 21 may not be limited to the above-mentioned materials, as long as it can provide functions such as anti-scratch, anti-leakage, transparency, etc., and materials with sufficient surface smoothness.
  • the protection plate 21 includes a connection surface 210 that faces away from the opening of the receiving slot 12.
  • the area of the connection surface 210 may be larger than the area of the light-absorbing layer 22 and the area of the light-reflecting layer 23 so that the protective plate 21 has an edge portion 212 that protrudes from the light-absorbing layer 22
  • the edge and the edge of the light reflecting layer 23, the edge portion 212 is supported by the stepped portion 14, the light absorbing layer 22 and the light reflecting layer 23 are suspended in the receiving groove 12.
  • the light-absorbing layer 22 and the light-reflecting layer 23 are not in contact with the housing 10, which can prevent the light-absorbing layer 22 and the light-reflecting layer 23 from colliding with the housing 10 and being damaged or squeezed and deformed , Thereby affecting the flatness of the light absorbing layer 22 and the light reflecting layer 23.
  • the connecting surface 210 has sufficient surface flatness so that the light absorbing layer 22 and the light reflecting layer 23 can be attached to the connecting surface 210 flatly, so that the camera can obtain high-precision images.
  • Providing good flatness for the reflective material layer is essential for high-precision image recognition and high-precision position determination. The higher the flatness or flatness, the higher the accuracy of image recognition and position determination.
  • the commonly used materials that provide support for the target target unit are glass, plexiglass, plastic board, PCB board (material board used to make printed circuit board), and metal plates such as aluminum.
  • the flatness of the above materials is not completely the same, and glass can provide higher flatness under ordinary process conditions, and is the preferred material for the target target unit support structure in industrial manufacturing.
  • the materials suitable for the protective plate of the embodiments of the present invention are not limited to glass, as long as the current and future developed material plates that meet the relevant requirements are applicable.
  • the “sufficient surface flatness” means that the target target unit 20 with different precisions needs different surface flatness to meet product use requirements. In some target target units 20 with lower precision requirements, The flatness of the connecting surface 210 may be relatively low.
  • the protective plate 21 can change the corresponding thickness according to actual needs. When the thickness is thicker, it can be referred to as a "board” or when the thickness is thinner, it can be referred to as a “protective sheet.” (sheet) ".
  • the light absorption layer 22 is connected to the protection plate 21 through the connection surface 210.
  • the light absorption layer 22 includes a preset pattern, and the pattern includes a pattern light absorption region 220 and a pattern light transmission region 222.
  • the pattern light absorption area 220 is made of a light absorption material, so that when the light or electromagnetic wave passing through the protection plate 21 is irradiated on the pattern light absorption area 220, there is substantially no transmission at the irradiated area, and there is substantially no generation Flare and reflection, or although there is a certain amount of transmission at the irradiated area, after reflection by the reflection layer 23 and again by the light absorption layer, substantially no light or electromagnetic wave can be captured by the camera device.
  • the pattern light absorption region 220 may be black or dark material.
  • the pattern light-transmitting area 222 may be a hollowed-out area, or a light-transmitting material, which may allow light or electromagnetic waves in the working band of the target target unit 20 to pass through.
  • the reflective layer 23 is connected to the light absorbing layer 22, and the surface 230 of the reflective layer 23 facing away from the protection plate 21 is the outer surface of the target target unit 20.
  • the reflective layer 23 is used to reflect the light or electromagnetic wave passing through the pattern light-transmitting region 222, so that the reflected light or electromagnetic wave passes through the pattern light-transmitting region 222 and the protective plate 21 in order to enter the camera.
  • the reflective layer 23 only needs to reflect light or electromagnetic waves in the working band of the target target unit 20.
  • the reflective layer 23 may be coated or printed with a reflective material on the light absorbing layer 22, or may A reflective paper is used as the reflective layer 23, or a reflective film with a thin film layer, a flat sheet coated or coated with a reflective substance (the sheet may be any material suitable for coating or coated with a reflective substance), reflective Fabrics and other materials with reflective function.
  • the pattern may be formed on the film layer of the reflective film by methods such as photolithography or printing, or a white material layer such as white paper or white film may also be used as the reflective layer, and the pattern may be formed by methods such as photolithography or printing For white material layer.
  • the reflective layer 23 is a retroreflective layer, which may be retroreflective paper, or a retroreflective film with a plastic film on the surface. If the imaging device is relatively far away from the target target and insufficient light is captured, or the image definition of the target target pattern is required to be high, it is preferable to use the retroreflective reflective layer as the reflective layer of the target target. For example, in a four-wheel positioning system of a vehicle, a target target unit 20 having a retroreflective layer is generally used.
  • the light-absorbing layer 22 is a film negative film (that is, the material used for the film of the traditional camera, which may be different in the specific composition of the material due to the adjustment of the manufacturing process, but all use similar imaging principles to form the pattern)
  • the film negative is placed flat on the connecting surface 210, and is connected to the protection plate 21 through the connecting surface 210.
  • the film negative forms a pattern, and the pattern includes the pattern light absorption region 220 and the pattern light transmission region 222. Due to the flattenable nature of the film negative film, using the film negative film as the light-absorbing layer 22 can form a higher-precision pattern on the film negative film, resulting in higher accuracy of the target image.
  • the bonding portion 30 is bonded between the stepped portion 14 and the edge portion 212.
  • the bonding portion 30 seals the light-absorbing layer 22 and the light-reflecting layer 23 in the receiving groove 12.
  • the adhesive part 30 is preferably a water-proof, moisture-proof and dust-proof adhesive, and preferably has a certain elasticity, which can buffer a part of the force applied to the housing without directly applying it to the target unit.
  • the location of the viscose is the sealed connection of the shell, which can be sealed and coated around to obtain better waterproof and moisture resistance, thereby protecting the reflective layer and other components that are easily affected by moisture.
  • the material of the bonding part 30 may be a glue such as sealant, silicone, UV glue, AB glue, etc., or may be a finished adhesive of 3M, TESA, Sekisui and other companies.
  • a glue such as sealant, silicone, UV glue, AB glue, etc.
  • the target target assembly 100 can have better functions of anti-vibration and anti-drop, waterproof and dustproof.
  • the bonding portion 30 may also bond the end surface of the protection plate 21 and the inner wall of the receiving groove 12, the edge is perpendicular to the connection surface In the direction of 210, the adhesive portion 30 has an “L” -shaped cross section, so that the adhesive portion 30 can more firmly bond the protective plate 21 to the housing 10, and the adhesive portion 30 Filling the gap between the protection plate 21 and the inner wall of the accommodating groove 12 makes the target target assembly 100 more effective in preventing vibration and falling, and waterproof and dustproof.
  • the bonding portion 30 may also bond only the end surface of the protection plate 21 and the inner wall of the receiving groove 12 to fix the protection plate 21 ⁇ ⁇ ⁇ 10 ⁇ The shell 10.
  • the areas of the protection plate 21 and the light absorption layer 22 and the light reflection layer 23 may be not much different, so that at least one of the light absorption layer 22 or the light reflection layer 23 is supported by
  • the step portion 14 can also be applied to the embodiment of the present invention under specific accuracy requirements. This is usually due to process limitations or considerations for specific purposes.
  • the area of the connection surface 210 may actually be equal to the area of the light absorbing layer 22 and the area of the light reflecting layer 23, the end surface of the protection plate 21, the end surface of the light absorbing layer 22 and the light reflecting layer 23 Is flush with the end surface, and the surface of the reflective layer 23 facing away from the protection plate is supported by the step portion 14.
  • the protective plate 21 is a fragile material, such as glass, and a layer of shatterproof material may be added to the protective plate 21.
  • the shatterproof material layer may be attached to the connection surface 210 of the protection plate 21 or another surface opposite to the connection surface 210, or the protection plate 21 is sandwiched between two layers of the fragile material.
  • the shatterproof material layer may be a light-transmitting film with good adhesion, and light or electromagnetic waves in the working band of the target unit 20 may pass through the light-transmitting film.
  • the light absorption layer 22 is directly connected to the protection plate 21 and the light reflection layer 23, it can be understood that, in some embodiments, the art A person skilled in the art can add the required layer structure between the protective plate 21 and the light absorption layer 22 or between the light absorption layer 22 and the light reflection layer 23 according to actual needs or the needs of the manufacturing process.
  • the light absorbing layer 22 and the light reflecting layer 23 are mutually independent layer structures.
  • the light absorbing layer 22 is a film negative film
  • the light reflecting layer 23 is a light reflecting film
  • the target target unit 20 It can be prepared by the following preparation methods:
  • the protective plate 21, the light-absorbing layer 22 and the reflective layer 23 are bonded together so that the light-absorbing layer 22 is connected to the protective plate 21 through the connecting surface 210, the reflective layer 23
  • the surface 230 facing away from the protection plate 21 is the outer surface of the target target unit 20, so that the target unit 20 is obtained. It can be glued around each layer, or glued between every two layers.
  • the protection plate 21, the light-absorbing layer 22, and any contact in the light-reflecting layer 23 may be bonded on the whole surface, and the whole surface is coated with transparent colloid or adhered
  • the transparent adhesive makes the two of any contact combine with each other.
  • the moisture resistance and stability of this viscose method will be better, and the glued layers are not easy to move or deform each other.
  • the adhesive used for bonding is preferably a transparent adhesive so as not to affect the capturing and imaging of light or electromagnetic waves by the imaging device.
  • liquid or semi-liquid transparent viscose can be applied on a flat surface in a very thin and uniform manner, for example, the coating thickness is about 0.1 mm-0.02 mm or even lower (eg, close to 0.01 mm).
  • the thinner glue has a smaller change in the absolute value of the thickness due to the uneven thickness of the glue, and therefore has less influence on the refraction and reflection path of light or electromagnetic waves. If it can be brushed very evenly, thicker glue can also be applied.
  • the contact surface between any two of the protective plate 21, the light absorbing layer 22, and the light reflecting layer 23 that are in contact with each other is not bonded, but through the bonding portion 30 Adhere the end faces of the protective plate 21, the light-absorbing layer 22 and the light-reflecting layer 23, and bond the three together.
  • adhesive can be applied to the non-graphic areas or other areas that do not affect the pattern on the edges of at least two of the protective plate 21, the light absorbing layer 22, and the reflective layer 23, and the three are adhered Together. For example, you can manually apply glue to the non-graphic area on the edge of a certain two layers, and then bond the two layers.
  • the protective plate 21, the light-absorbing layer 22 and the light-reflecting layer 23 may also be bonded together by local bonding, please refer to FIG. 6.
  • the glue may be applied to a part of the pattern area so that the glue will not be exposed through the protective plate 21.
  • the pattern is formed in the light absorbing layer 22, that is, the light absorbing layer 22 includes several light absorbing regions (for example, black or dark patterns) and several light transmitting regions.
  • the light-absorbing layer 22 may be a film film that has been rinsed with a black pattern, and the remaining areas are light-transmitting parts.
  • the protective plate 21 may be glass, and the reflective layer 23 may be reflective paper. In FIG.
  • a pattern may be formed on the connection surface 210 of the protection plate 21, and the pattern is an exemplary shielding area 218 as shown in the figure.
  • the first adhesive paste layer 228 may be formed on the patterned protective plate 21 by using a printing technique such as screen printing. The first adhesive layer 228 can be formed on the protective plate 21 by any feasible process.
  • the first adhesive layer 228 contains a pattern and there is adhesive only at the pattern, and the pattern of the first adhesive layer corresponds to the pattern on the protective layer 21, except that the size of each pattern of the first adhesive layer is smaller than the protective layer 21 The size of the corresponding pattern on the top, so that the glue will not be exposed through the glass protection plate.
  • the first adhesive layer 228 may use a dark-colored adhesive, without limiting the color or transparency of the adhesive, and will not affect the appearance of the product. Of course, if you don't consider the impact on the appearance of the product, or if the protective plate is not a visually transparent material such as glass, you can not use this kind of adhesive setting.
  • An exemplary adhesive area 228 of the first adhesive layer 228 pattern is shown in FIG. 6, and is referred to as the first adhesive area for convenience of description.
  • a sticker can be temporarily attached to protect the adhesive layer.
  • the adhesive paper is torn off to perform bonding.
  • the pattern on the film negative 22 corresponds to the pattern on the protective layer 21, but the size of the pattern on the film negative 22 is slightly larger than the size of the corresponding pattern on the protective layer 21, so that the outer edge of the pattern on the film negative 22 can be exposed.
  • the light absorption region 220 is slightly larger than the blocking region 218 so that the outer edge of the light absorption region 220 can be exposed.
  • the accuracy of the pattern is directly related to the accuracy of the machine vision system. Regardless of whether the pattern is formed on the light-absorbing layer or the light-reflecting layer, it is preferable to use a technology with a certain accuracy requirement.
  • a film negative film can be used to obtain a pattern with higher accuracy, which satisfies the requirement of high-precision measurement.
  • the accuracy requirements for forming patterns on the protection plate need not be very high, and can be produced by a process method with lower accuracy requirements. Therefore, when making a cursor target, the outer edge of the high-precision pattern needs to be exposed to allow the camera to capture its image. In fact, for image recognition considerations, as long as the outer edge of the light absorption region 220 is partially exposed, it may meet the requirements of image recognition and measurement.
  • the first adhesive layer 228 can also be disposed on the light-absorbing layer 22, and the setting method and the alignment and bonding method are similar to those provided on the protection board.
  • the protective plate 21 may be slightly larger than the light-absorbing layer 22 and the light-reflecting layer 23, enough to make the protective plate 21 contact the target shell and set the sealant.
  • the light absorption layer 22 and the light reflection layer 23 may have the same size.
  • alignment marks may be provided to assist the alignment of each layer pattern. As shown in FIG. 6, the alignment marks can mark the positions of the four corners of the light absorbing layer 22 and the light reflecting layer 23.
  • the light-absorbing layer 22 may be a film negative
  • the light-reflecting layer 23 may be a reflective paper. By aligning the film negative film and the reflective paper according to the four top corners, the alignment between the various layer patterns can be achieved.
  • the alignment mark may also mark the positions around the light absorbing layer 22 and the reflective layer 23, or mark the positions of the four sides, or set at other suitable positions to make corresponding marks.
  • common alignment marks such as doji stars can be used.
  • the shape of the alignment mark may be optimized to improve alignment accuracy.
  • the thickness of the mark line of the alignment mark may have a gradient, and the tip of the line may have a smaller feature size to obtain higher alignment accuracy.
  • other alignment methods commonly used in the industry can also be used, for example, alignment can be performed by aligning target patterns and supplemented by using rulers.
  • the second adhesive layer 238 may be formed on the reflective paper 23.
  • the second adhesive layer 238 may include a pattern, and an exemplary adhesive area is shown in FIG. 6, referred to as a second adhesive area (reference numeral 238 is also used).
  • the second adhesive area is smaller than the pattern light absorption area 220 so that the second adhesive area will not be exposed through the protection plate 21.
  • the second adhesive layer 238 can be formed on the reflective paper 23 by screen printing or the like, and then the back adhesive is applied to protect the adhesive. When the adhesive is needed, the adhesive tape is removed, and the alignment with the alignment mark provided on the protection plate 21 is performed to achieve the alignment of the second adhesive area 238 with respect to the pattern light absorption area 220 and the blocking area 218.
  • the second adhesive layer 238 may be disposed on the light-absorbing layer 22 in a similar manner to the reflective board.
  • the glue between the above-mentioned layers can be set on the corresponding layer by manual glue application if necessary.
  • the light-absorbing layer 22 and the light-reflecting layer 23 are not independent layer structures, but are formed on another layer by printing or photolithography.
  • the target target unit 20 can be manufactured by the following preparation method: In one embodiment, the preset pattern is formed on the connection surface 210 by photolithography or printing, and the layer structure formed by the pattern is The light absorbing layer 22; the light reflecting layer 23 is adhered to the light absorbing layer 22, or a light reflecting material is coated on the light absorbing layer 22 to form a light reflecting layer 23, thereby obtaining the target unit 20.
  • the preset pattern (ie, light absorption pattern) may be formed by: printing black or dark ink on the connection surface 210 to form a light absorption pattern; or a dark photosensitive adhesive It is coated on the connection surface 210, and then exposed using a mask plate, and after exposure, the exposed or unexposed parts are washed away to obtain a light absorption pattern.
  • the light absorbing layer 22 and the protective plate 21 may be aligned and pasted in a similar manner to the aforementioned manner of this specification.
  • the target target unit 20 may be manufactured by the following preparation method: a predetermined pattern is formed on one surface of the reflective layer 23 by photolithography or printing, and the pattern The layer structure is the light absorbing layer 22; the protective plate 21 is adhered to the light absorbing layer 22, and the surface of the reflective layer 23 facing away from the protective plate 21 is an outer surface, thereby obtaining the target unit 20 .
  • the preset pattern (ie, light absorption pattern) can be formed on the reflective layer 23 by: printing ink directly on the surface of the reflective layer 23 to form a light absorption pattern; The glue is coated on the surface of the reflective layer 23, and then exposed using a mask plate. After exposure, the exposed or unexposed parts are washed away to obtain a light absorption pattern.
  • the reflective layer 23 is reflective paper with a plastic film on the surface, and the flat surface of the plastic film is advantageous for printing and photolithography.
  • the reflective layer 23 may also be ordinary reflective paper or white paper, and printing may be performed on the surface to form a light absorption pattern.
  • the reflective layer 23 may be a thin film or a hard plate-shaped material. After the pattern is formed on the reflective layer 23, the reflective layer 23 and the protective plate 21 may be aligned and pasted in a manner similar to the aforementioned manner of this specification.
  • the light absorbing layer 22 and the light reflecting layer 23 are both formed on the protective plate 21.
  • the light absorption pattern may be formed on the protective plate 21 in a similar manner as described above. Then, white or light-colored ink is printed on the protective plate 21, or a liquid or semi-liquid reflective material is coated on the patterned protective plate 21.
  • the target target unit formed in this way has an integrated effect and is thinner and lighter.
  • the printing method includes printing methods such as screen printing (screen printing), pad printing, and jet printing (commonly known as “jet printing”).
  • the positions of the light-absorbing layer and the light-reflecting layer can be reversed, that is, the light-reflecting layer can be located between the light-absorbing layer and the protection plate. Therefore, the light-reflecting layer is connected to the light-absorbing layer, one of the light-absorbing layer and the light-reflecting layer includes a predetermined pattern and is connected to the protection plate through the connecting surface, the light-absorbing layer
  • the surface facing away from the protection plate with the other of the reflective layers is the outer surface of the target target unit, which can realize the function of the target target unit of the present application.
  • the target target assembly 200 provided by the embodiment of the present invention is basically the same as the target target assembly 100 shown in FIGS. 1 and 3 to 5, the difference is that the reflective layer 23a is located on the light absorbing layer 22a and Between the protective plates 21, the reflective layer 23 a includes a predetermined pattern, and the reflective layer 23 a is connected to the protective plate 21 through the connection surface 210.
  • the light absorbing layer 22a is connected to the light reflecting layer 23a, and the surface 220a of the light absorbing layer 22a facing away from the protection plate 21 is the outer surface of the target target unit 20a.
  • the pattern includes a pattern reflective area 230a and a pattern transparent area 232a.
  • the pattern reflective area 230a is used to reflect the light or electromagnetic wave passing through the protective plate 21, so that the reflected light or electromagnetic wave passes through the protective plate 21 again and enters the camera.
  • the pattern reflective area 230a may be a reflective material or Other materials that can reflect light or electromagnetic waves passing through the protective plate 21, such as reflective paper, retro-reflective reflective paper, or white paper.
  • the patterned reflective area 230a is a retroreflective layer, which may generally be retroreflective paper, or a retroreflective film whose surface is a plastic film. If the imaging device is relatively far away from the target target and insufficient light is captured, or the image definition of the target target pattern is required to be high, it is preferable to use the retroreflective reflective layer as the reflective layer of the target target. For example, in a four-wheel positioning system of a vehicle, a target target unit 20a having a retroreflective layer is generally used.
  • the pattern light-transmitting area 232a may be a hollowed-out area, or a light-transmitting material, which may allow light or electromagnetic waves in the working band of the target target unit 20a to pass through.
  • the reflective layer 23a is a plate or sheet structure such as reflective paper or white paper, and a part of the material is removed by punching, laser cutting, etc. using a cutting device to form the hollow patterned light-transmitting area 232a .
  • the light-absorbing layer 22a is made of a light-absorbing material, so that when light or electromagnetic waves passing through the pattern light-transmitting area 232a are irradiated on the light-absorbing layer 22a, there is no transmission at the irradiated area, and no flare and reflection are generated.
  • the light absorbing material may be a black material.
  • the area of the connection surface 210 may be equal to the area of the light-absorbing layer 22a and the area of the light-reflecting layer 23a, the end surface of the protection plate 21, and the area of the light-absorbing layer 22a The end surface is flush with the end surface of the reflective layer 23a.
  • the light absorbing layer 22a may be supported by the step portion 14.
  • the light-absorbing layer 22a and the light-reflecting layer 23a are independent layer structures, for example, the light-absorbing layer 22a is black paper or black plastic sheet (PVC, PC, PE, etc.), the The reflective layer 23a is a plate or sheet structure such as reflective paper or white paper. Partial material is removed by punching, laser cutting, etc. using a cutting device to form the hollow pattern light-transmitting area 232a.
  • the light-absorbing layer 22a is black paper or black plastic sheet (PVC, PC, PE, etc.)
  • PVC black paper or black plastic sheet
  • the reflective layer 23a is a plate or sheet structure such as reflective paper or white paper. Partial material is removed by punching, laser cutting, etc. using a cutting device to form the hollow pattern light-transmitting area 232a.
  • the target target unit 20a It is prepared by using the following preparation method: bonding the protective plate 21, the light absorbing layer 22a and the reflective layer 23a together so that the reflective layer 23a passes through the connection surface 210 and the protective plate 21 In connection, the surface 220a of the light absorbing layer 22a facing away from the protection plate 21 is the outer surface of the target target unit 20a, thereby obtaining the target unit 20a.
  • the protective plate 21, the light-absorbing layer 22a and the light-reflecting layer 23a can be bonded on the entire surface between the two, and the whole surface is coated with transparent colloid or adhered
  • the transparent adhesive makes the two of any contact combine with each other.
  • the contact surface between any two of the protective plate 21, the light-absorbing layer 22a, and the light-reflecting layer 23a that are in contact with each other is not bonded, but through the bonding portion 30
  • the end plates of the protective plate 21, the light-absorbing layer 22a and the light-reflecting layer 23a are bonded together.
  • adhesive may be applied to the protective plate 21, the non-patterned areas at the edges of the light-absorbing layer 22a and the light-reflecting layer 23a to bond the three together.
  • the protective plate 21, the light-absorbing layer 22a and the light-reflecting layer 23a may also be bonded together by using a partial bonding method, please refer to FIG. 9.
  • the glue may be applied to a part of the pattern area so that the glue will not be exposed through the protective plate 21.
  • the pattern is formed in the reflective layer 23a, that is, the reflective layer 23a includes several reflective regions and several transparent regions.
  • the reflective layer 23a may be cut reflective paper, and a part of the reflective paper is removed by laser punching or the like.
  • the protective plate 21 may be glass, and the light absorption layer 22a may be black or dark paper, cloth, or film.
  • FIG. 6 only one exemplary light-transmitting region 230a in the reflective layer 23a, that is, an exemplary hollowed region from which reflective paper has been removed, is illustrated to illustrate the bonding method of each layer.
  • the reflective layer 23a will be in close contact with the light-absorbing layer 22a, so the light-transmitting region 230a is actually the pattern light-absorbing region 230a of the target.
  • a pattern may be formed on the connection surface 210 of the protection plate 21, and the pattern is an exemplary shielding area 218 as shown in the figure.
  • a first adhesive layer 238a may be formed in the shielding area 218, so that the pattern light absorption area 230a is aligned with the shielding area 218, the protection plate 21 and the reflective layer 23a are bonded together, and the The light absorbing layer 22a is bonded to the light reflecting layer 23a, so that the first adhesive layer 238a is adhered between the light absorbing layer 22a and the protection plate 21, and the light reflecting layer 23a is clamped to the protection
  • the first adhesive layer 228 includes a first adhesive area, the first adhesive area is located in the pattern light absorption area 230a and the blocking area 218,
  • the shielding area 218 is larger than the first adhesive area, so that the first adhesive area is not exposed through the protective plate 21, and the shielding area 218 is smaller than the pattern light absorption area 230a, to At least a part of the edge between the pattern light absorption region 230 a and the pattern light transmission region 232 a is exposed through the protection plate 21.
  • the glue between the above-mentioned layers can be set on the corresponding layer by manual glue application if necessary.
  • the light-absorbing layer 22a and the light-reflecting layer 23a are not independent layer structures, and the target target unit 20a may be manufactured by the following preparation method: on the connection surface by photolithography or printing 210 forms the preset pattern, and the layer structure formed by the pattern is the light reflecting layer 23a; the light absorbing layer 22a is adhered to the light reflecting layer 23a, or a light absorbing material is coated on the light reflecting layer 23a, The light absorbing layer 22a is formed to obtain the target unit 20a.
  • the preset pattern (ie, reflective pattern) may be formed in the following manner: white or light-colored ink or reflective substance may be printed on the connection surface 210 to form a reflective pattern. After the pattern is formed on the connection surface 210, the light absorption layer 22a and the protective plate 21 may be aligned and pasted in a similar manner to the aforementioned manner of this specification.
  • the target target unit 20a may be manufactured by the following preparation method: forming the preset pattern on one surface of the light absorption layer 22a by photolithography or printing, and the layer structure formed by the pattern is Reflective layer 23a; the protective plate 21 is adhered to the reflective layer 23a, and the surface of the light absorbing layer 22a facing away from the protective plate 21 is an outer surface, thereby obtaining the target unit 20a.
  • the preset pattern may be formed on the light-absorbing layer 22a in the following manner: white or light-colored ink or a reflective substance may be directly printed on the surface of the light-absorbing layer 22a to form a reflective pattern.
  • the light absorbing layer 22a can be made of plastic, paper, cloth or other materials.
  • the light absorbing layer 22a can be made of film or hard plate. These materials can be printed on the surface under the current process conditions.
  • both the light-absorbing layer 22a and the light-reflecting layer 23a are formed on the protective plate 21.
  • White or light-colored ink or a reflective substance may be printed on the protective plate 21 to form a reflective pattern.
  • the dark or black ink is printed on the patterned protective plate 21, or other dark or black substances are coated on the patterned protective plate 21.
  • the target target unit formed in this way has an integrated effect and is thinner and lighter.
  • the printing method includes printing methods such as screen printing (screen printing), pad printing, and jet printing (commonly known as “jet printing”).
  • a target target assembly 300 provided by an embodiment of the present invention includes a housing 10a and the target target unit 20 shown in FIGS. 1 to 5.
  • the housing 10a includes a first housing 102a and a second housing 104a, the first housing 102 is mounted to the second housing 104a by viscose 40, the first housing 102a and the second The housing 104a surrounds and forms the receiving groove 12a.
  • the adhesive 40 is a waterproof and moisture-proof adhesive.
  • the first housing 102a has a flange portion 106a, and the flange portion 106a surrounds an opening forming the receiving groove 12a.
  • the protection plate 21 includes an installation surface 214, the installation surface 214 and the connection surface 210 are respectively disposed on opposite sides of the protection plate 21, and the installation surface 214 is installed on the flange through an adhesive portion 30a ⁇ 106a.
  • the bonding portion 30a may be made of the same material as the bonding portion 30a shown in FIGS. 1 and 2 to 5, and will not be repeated here.
  • the flange portion 106a surrounds an opening forming the receiving groove 12a, and the mounting surface 214 is mounted to the flange portion 106a via the adhesive portion 30a.
  • the flange portion 106a The target target unit 20 can be prevented from falling off from the housing 10a.
  • the adhesive portion 30a seals the light-absorbing layer 22 and the light-reflecting layer 23 in the receiving groove 12a, so that the target target assembly 300 has various functions such as anti-vibration and anti-drop, waterproof and dustproof.
  • the target target unit 20 may be replaced with the target target unit 20a shown in FIGS. 7 and 8.
  • the target target assembly 300 further includes a buffer portion 50 that is disposed between the edge portion 212 and the bottom wall of the receiving groove 12 a At least two buffer portions 50 are respectively disposed on opposite sides of the protection plate 21.
  • the adhesive part 30a and the buffer part 50 jointly press against the protective plate 21, so that the protective plate 21 is firmly installed on the housing 10a, and can prevent the target target assembly 300 from falling when The protection plate 21 is damaged.
  • the target target assembly 400 provided by the embodiment of the present invention is basically the same as the target target assembly 300 shown in FIG.
  • the area of the layer 23, the end surface of the protection plate 21, the end surface of the light absorbing layer 22 and the end surface of the reflective layer 23 are flush.
  • the buffer portions 50 are disposed between the reflective layer 23 and the bottom wall of the receiving groove 12a. At least two buffer portions 50 are disposed on opposite sides of the reflective layer 23, respectively.
  • the adhesive portion 30a and the buffer portion 50 abut against the target target unit 20 together.
  • the machine vision system 500 provided by the embodiment of the present invention includes a vehicle four-wheel locator 510 and a target target assembly 520.
  • the four-wheel locator 510 may be a four-wheel locator in the prior art
  • the target target assembly 520 may be the target target assembly 100 shown in FIGS. 1, 3 to 5, or the one shown in FIG. 7
  • the target target assembly 200 is either the target target assembly 300 shown in FIGS. 10 and 11 or the target target assembly 400 shown in FIG. 12, and the number of the target target assemblies 520 is four.
  • four target target assemblies 520 are respectively mounted on four tires of a car, and one camera of the four-wheel locator 510 photographs the two target target assemblies 520 on one side of the car , The other camera of the four-wheel locator 510 shoots the other two target target assemblies 520 on the other side of the car, and the computer of the four-wheel locator 510 processes the images obtained by the two cameras to obtain four
  • the position information of the target target assembly 520 is described to obtain parameters such as the camber angle, running height, toe curve, inclination angle, angle relationship of the vehicle body with respect to the tire, and the position of the center line of the vehicle body.
  • the protection plate 21 can provide functions such as mechanical support, flatness, waterproof and scratch resistance, and a substrate in the prior art can be omitted, so that this embodiment
  • the target target units 20, 20a in FIG. 3 are lighter in weight, and at the same time reduce the thickness of the product, making it possible to make a thinner product, and further simplify the product assembly process, shorten the production time, and reduce the cost of the product.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Elements Other Than Lenses (AREA)

Abstract

一种机器视觉***的目标靶单元(20)、目标靶组件(100)和机器视觉***,其中目标靶单元(20)包括保护板(21),吸光层(22)和反光层(23)。保护板(21)包括连接表面(210),反光层(23)与吸光层(22)相连接,吸光层(22)和反光层(23)中的一者包括预设的图案并且通过连接表面(210)与保护板(21)相连接,吸光层(22)和反光层(23)中的另一者背向保护板(21)的表面(210)为目标靶单元(20)的外表面。在目标靶单元(20)中,保护板(21)可提供机械支撑、平整度、防水防刮等功能,可省略现有技术中的一个基板,使得目标靶单元(20)重量减轻,同时降低了产品的厚度,使得制作更薄产品成为了可能,另外简化了产品组装工艺,降低了产品的成本。

Description

机器视觉***的目标靶单元、目标靶组件和机器视觉***
本申请要求于2018年10月20日提交中国专利局、申请号为201811225379.0、申请名称为“机器视觉***的目标靶单元、目标靶组件和机器视觉***”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器视觉***技术领域,尤其涉及一种机器视觉***的目标靶单元和包括该目标靶单元的目标靶组件以及包括该目标靶组件的机器视觉***。
背景技术
某些类型的位置确定***,例如车轮定位***、车载传感器标定***等,采用机器视觉***技术来感知及测量相关位置。在机器视觉***技术中,通常采用摄影仪等光学感测装置,通过对例如反光目标靶等光学传感装置的感测来确定各种目标装置的位置。例如,在车轮定位***中,通过对反光目标靶的感测,能够获得关于车辆的对准信息,例如车轮的外倾角、行驶高度、前束曲线、倾斜角度以及车辆车身相对于车辆车轮的角度关系。在车载传感器标定***中,通过对反光目标靶的感测,包括安装在车轮处的反光目标靶以及安装在传感器标定架上的反光目标靶,能够将标定架调整得与车辆的某一轴线进行对齐,进而准确地调整车载雷达、车载摄影仪等传感器的位置及轴向。
典型反光目标靶为平板多层结构,通常包含夹在前后玻璃板之间的反光层。由于玻璃密度很大,这种结构通常比较笨重,使用起来不够方便。
因此有必要设计一种轻型反光目标靶,使得车轮校准人员方便使用。
发明内容
本发明实施例提供一种轻型的机器视觉***的目标靶单元和目标靶组件以及包括所述目标靶组件的机器视觉***,以解决现有技术中目标靶单元笨重,使用不方便的技术问题。
本发明实施例解决其技术问题提供以下技术方案:
一种机器视觉***的目标靶单元,包括:
保护板,所述保护板包括连接表面;
吸光层;以及
反光层,所述反光层与所述吸光层相连接,所述吸光层和所述反光层中的一者包括预设的图案并且通过所述连接表面与所述保护板相连接,所述吸光层 和所述反光层中的另一者背向所述保护板的表面为所述目标靶单元的外表面。
本发明实施例解决其技术问题还提供以下技术方案:
一种目标靶组件,包括:
外壳,所述外壳设有收容槽;以及
以上所述的目标靶单元;
所述保护板安装于所述外壳,且所述保护板收容于所述收容槽,所述连接表面背向所述收容槽的开口。
本发明实施例解决其技术问题还提供以下技术方案:
一种机器视觉***,包括四轮定位仪和以上所述的目标靶组件。
与现有技术相比较,在本发明实施例提供的所述目标靶单元中,所述保护板可提供机械支撑、平整度、防水防刮等功能,可取消现有技术中的一个基板,使得本实施例中的所述目标靶单元重量减轻,同时降低了产品的厚度,使得制作更薄产品成为了可能,另外简化了产品组装工艺,缩短生产时间,降低了产品的成本。
附图说明
为了更清楚地说明本发明实施例的技术方案,下面将对本发明实施例中所需要使用的附图作简单地介绍。显而易见地,下面所描述的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种机器视觉***的目标靶组件的结构示意图;
图2是图1所示的目标靶组件的目标靶单元的结构示意图,其中在所述目标靶单元中,吸光层位于保护板与反光层之间;
图3至图5是本发明一些实施例提供的目标靶组件的结构示意图,其中在图3至图5所示的目标靶组件中,目标靶单元与外壳的粘接方式不相同;
图6是图1至图5所示的目标靶单元的保护板、吸光层、反光层的粘接示意图;
图7是本发明实施例提供的一种机器视觉***的目标靶组件的结构示意图;
图8是图7所示的目标靶组件的目标靶单元的结构示意图,其中在所述目标靶单元中,反光层位于保护板与吸光层之间;
图9是图8所示的目标靶单元的保护板、吸光层、反光层的粘接示意图;
图10至图12是本发明实施例提供的一种机器视觉***的目标靶组件的结构示意图,其中目标靶组件的外壳包括第一壳体和第二壳体;
图13是本发明实施例提供的机器视觉***的结构示意图;
图14是图13所示的机器视觉***的使用状态示意图。
具体实施方式
为了便于理解本发明,下面结合附图和具体实施例,对本发明进行更详细的说明。需要说明的是,当元件被表述“固定于”另一个元件,它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件,它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的,并且仅表达实质上的位置关系,例如对于“垂直的”,如果某位置关系因为了实现某目的的缘故并非严格垂直,但实质上是垂直的,或者利用了垂直的特性,则属于本说明书所述“垂直的”范畴。
除非另有定义,本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外,下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请一并参阅图1和图2,本发明实施例提供的一种机器视觉***的目标靶组件100,包括外壳10,目标靶单元20以及粘接部30。所述目标靶单元20通过所述粘接部30安装于所述外壳10。
在本说明书中,机器视觉***是指使用图像摄取装置(即例如CMOS和CCD等种类的摄像摄影仪器)对被摄取目标进行图像采集,根据采集的图像获得相关位置信息的技术。通常来说,在机器视觉***中,通过对所摄取图像的采集,获得图像信号,传送给专用的图像处理***,例如,台式电脑,笔记本电脑等,得到被摄目标的形态信息,根据像素分布和亮度、颜色等信息,转变成数字化信号;图像***对这些信号进行各种运算来抽取目标的特征,进而根据判别的结果来确定被摄取目标的位置。
所述外壳10开设有收容槽12,所述收容槽12的内壁设有台阶部14,所述目标靶单元20收容于所述收容槽12内,并且所述目标靶单元20支撑于所述台阶部14。所述外壳10可由塑胶材料或者金属材料制得,若为塑胶材料,可通过注塑成型或者浇铸成型等方法制得,若为金属材料,可通过铣削等方法制得。
所述目标靶单元20收容于所述收容槽12内,所述目标靶单元20包括保护板21,吸光层22和反光层23。所述吸光层22位于所述保护板21与所述反光层23之间。
所述保护板21为透光板,它的一个作用是为整个目标靶单元20提供一个 透光的保护层,具有防刮擦、防漏水的物理特性,另一个作用是支撑吸光层22、反光层23,为所述反光层23提供较高平面度或平整度。
在本说明书中,所述“透光”是相对于所述目标靶单元20的工作波段而言,所述目标靶单元20会与照相机等感测仪器相配合,反射一定波段的光或电磁波,且该一定波段的光或电磁波中的至少部分适于被照相机等感测仪器捕捉而形成图像,被照相机等感测仪器捕捉而形成图像的波段称为所述目标靶单元20的工作波段。所述“透光”是指能够让处于所述目标靶单元20的工作波段的光或电磁波实质性地通过,而不限于为需要在肉眼看来为透明状态。因此,所述保护板21可以是普通玻璃和/或表面加硬的玻璃、增加了防暴膜等防爆裂措施的玻璃、钢化玻璃和平整度较高的透明塑胶,如有机玻璃或亚克力板、PMMA、PC、PVC等等。所述保护板21可以不限于上述所述材料,只要能提供防刮擦、防漏水、透明等功能以及具备足够表面平整度的材料都可以应用。
所述保护板21包括连接表面210,所述连接表面210背向所述收容槽12的开口。所述连接表面210的面积可以大于所述吸光层22的面积和所述反光层23的面积,使得所述保护板21具有边缘部212,所述边缘部212凸出于所述吸光层22的边缘和所述反光层23的边缘,所述边缘部212支撑于所述台阶部14,所述吸光层22与所述反光层23悬空于所述收容槽12内。采用这种结构,所述吸光层22与所述反光层23不与所述外壳10接触,可避免所述吸光层22与所述反光层23被所述外壳10碰撞而损坏或挤压而变形,从而影响所述吸光层22与所述反光层23的平整度。
所述连接表面210具有足够表面平整度,使得所述吸光层22和所述反光层23可平整地附着于所述连接表面210,以使得照相机可获得高精度图像。为反光材料层提供良好的平面度,对高精度图像识别及高精度位置的确定来说至关重要,平面度或平整度越高,才能获得越高精度的图像识别及位置确定。目前在业内,为目标靶单元提供支撑作用的常用材料有玻璃、有机玻璃、塑料板、PCB板(用于制作printed circuit board的材料板),以及铝等金属板。但在实用中发现,上述材料的平整度并不完全相同,而玻璃能在普通工艺条件下提供较高平面度,是工业制造中目标靶单元支撑结构的优选材料。但如前所述,适用于本发明实施例的保护板的材料并不限于玻璃,只要满足相关要求的目前及未来开发的材料板都可适用。
所述“足够表面平整度”指满足产品使用需求而言,对于不同精度的所述目标靶单元20,所需的表面平整度不同,在一些精度要求较低的所述目标靶单元20中,所述连接表面210的表面平整度可以相对较低。
本领域所属技术人员应理解,所述保护板21可以根据实际需要改变相应厚度,当厚度较厚时可称为“保护板(board or plate)”,当厚度较薄时可称为“保护片(sheet)”。
所述吸光层22通过所述连接表面210连接所述保护板21。所述吸光层22包括预设的图案,所述图案包括图案吸光区域220和图案透光区域222。所述 图案吸光区域220由吸光材料制得,使得穿过所述保护板21的光或电磁波照射在所述图案吸光区域220之上时,于照射之处实质上无透射,也实质上不产生耀斑和反光,或者虽然于照射处有一定量的透射,但经过反光层23的反射、并再次经过吸光层后,实质上没有光或电磁波可以被摄像装置捕捉。例如所述图案吸光区域220可为黑色或深色材料。所述图案透光区域222可为镂空区域,或者为透光材料,可允许处于所述目标靶单元20的工作波段的光或电磁波穿过。
所述反光层23连接于所述吸光层22,所述反光层23背向所述保护板21的表面230为所述目标靶单元20的外表面。所述反光层23用于反射穿过所述图案透光区域222的光或电磁波,使得反射的光或电磁波再依次穿过所述图案透光区域222和所述保护板21后进入照相机。所述反光层23只要能实现反射处于所述目标靶单元20的工作波段的光或电磁波即可,例如,可以在所述吸光层22涂覆或印刷反光材料形成所述反光层23,或者可以采用反光纸作为所述反光层23,或者采用带薄膜层的反光薄膜、涂有或镀有反光物质的平直薄片(该薄片可为适于涂覆或镀上反光物质的任意材料)、反光织物等其他具备反光功能的材料。所述图案可以通过光刻或印刷等方法形成于所述反光薄膜的薄膜层,或者可采用白纸、白色薄膜等白色材料层也可以作为反光层,所述图案通过光刻或印刷等方法形成于白色材料层。
在一些实施例中,所述反光层23为回射反光层,一般可为回射反光纸,或表面为塑料薄膜的回射反光薄膜。如果摄像装置离目标靶距离相对较远而捕捉光线不足,或者对目标靶图案成像清晰度要求较高,则优选使用回射反光层作为目标靶的反光层。例如,在车辆的四轮定位***中,一般使用具有回射反光层的目标靶单元20。
在一些实施例中,所述吸光层22为菲林底片(即传统照相机的胶卷所用材质,可能因制造工艺的调整,在材质具体构成上有所不同,但都使用类似的成像原理来形成图案),所述菲林底片展平放置于所述连接表面210,通过所述连接表面210与所述保护板21相连接。所述菲林底片形成图案,所述图案包括所述图案吸光区域220和所述图案透光区域222。由于菲林底片的可平展特性,采用菲林底片作为所述吸光层22,可在菲林底片上形成更高精度的图案,使得标靶图像精度更高。
所述粘接部30粘接于所述台阶部14与所述边缘部212之间,所述粘接部30密封所述吸光层22和所述反光层23于所述收容槽12内。所述粘接部30优选为防水防潮防尘的粘胶,优选具有一定弹性,可以将施加于壳体的力缓冲一部分,不会直接施加到目标靶单元上。粘胶所在位置为壳体密封连接处,可以在四周进行密封粘涂以获得较好的防水防潮性,从而保护反光层等易受潮气影响的部件。所述粘接部30的材料可以是密封胶、硅胶、UV胶、AB胶等胶质,也可以是3M、TESA、积水等公司的成品类背胶。通过使用多种物质、多种涂覆方式及多种组合形态,来优化设计粘胶层,可以使得所述目标靶组件100 具有更加良好的防振防跌、防水防尘等多种功能。
可以理解的是,在一些实施例中,请参阅图3,所述粘接部30还可以粘接所述保护板21的端面和所述收容槽12的内壁,在沿垂直于所述连接表面210的方向,所述粘接部30具有“L”形横截面,使得所述粘接部30可更牢固地将所述保护板21粘接于所述外壳10,而且所述粘接部30填充所述保护板21与所述收容槽12的内壁之间的间隙,使得所述目标靶组件100的防振防跌、防水防尘效果更佳。
可以理解的是,在一些实施例中,请参阅图4,所述粘接部30也可仅粘接所述保护板21的端面和所述收容槽12的内壁,使得所述保护板21固定于所述外壳10。
可以理解的是,在一些实施例中,请参阅图5,保护板21与吸光层22和反光层23的面积可以相差不大,以使得吸光层22或反光层23中的至少一者支撑于所述台阶部14,这种情况在特定的精度要求下也能适用于本发明实施例。这样做通常是由于工艺条件限制,或者出于实现特定目的的考虑。例如,所述连接表面210的面积可以实际上等于所述吸光层22的面积和所述反光层23的面积,所述保护板21的端面,所述吸光层22的端面和所述反光层23的端面齐平,所述反光层23背向所述保护板的表面支撑于所述台阶部14。
在一些实施例中,所述保护板21为易碎的材料,比如玻璃,则可以选择在所述保护板21上加入一层防碎材料层。该防碎材料层可以贴在所述保护板21的连接表面210或者与所述连接表面210相对的另一表面,或者所述保护板21夹在两层所述易碎材料层之间。所述防碎材料层可以是敷贴良好的透光薄膜,处于所述目标靶单元20的工作波段的光或电磁波可穿过所述透光薄膜。
在图1至图5所示的所述目标靶单元20中,所述吸光层22分别直接连接所述保护板21和所述反光层23,可以理解的是,在一些实施例中,本领域所属技术人员可根据实际需求或者制备过程的需要,在所述保护板21与所述吸光层22之间,或者所述吸光层22与所述反光层23之间增加所需要的层结构。
在一些实施例中,所述吸光层22和所述反光层23为相互独立的层结构,例如,所述吸光层22为菲林底片,所述反光层23为反光片,所述目标靶单元20可采用以下制备方法制得:
将所述保护板21,所述吸光层22和所述反光层23三者粘合在一起,使得所述吸光层22通过所述连接表面210与所述保护板21相连接,所述反光层23背向所述保护板21的表面230为所述目标靶单元20的外表面,从而获得所述标靶单元20。可以是在各层四周用胶粘合,也可以是在每两层之间用胶粘合。
在一些实施例中,所述保护板21、所述吸光层22和所述反光层23中的任何接触的两者之间可以是整面粘合,通过整面涂覆透明胶质或者粘附透明背胶,使得任何接触的两者相互结合起来。这种粘胶方式的防潮性与稳固性会更好,粘好的各层不容易发生相互移动或变形。此时用于粘合的胶优选为透明粘 胶,以不影响摄像装置对光或电磁波的捕捉及成像。目前工艺条件下,可以将液态或半液态的透明粘胶以非常薄且均匀的方式涂覆在平面上,例如,涂覆厚度约为0.1mm-0.02mm甚至更低(例如接近0.01mm)。越薄的胶因刷胶厚度不均匀带来的厚度绝对值变化约小,因而对光或电磁波的折射及反射路径的影响越小。如果能刷得非常均匀,较厚厚度的胶也可以适用。
在一些实施例中,所述保护板21、所述吸光层22和所述反光层23三者中任何相互接触的二者之间的接触面无粘接,而是通过所述粘接部30粘接所述保护板21,所述吸光层22和所述反光层23三者的端面,将三者粘接在一起。
在一些实施例中,可涂覆粘胶于所述保护板21、所述吸光层22和所述反光层23中至少两者边缘的非图形区域或不影响图案的其他区域,将三者粘接在一起。例如,可以在某两层边缘的非图形区域手工点上粘胶,然后将该两层进行粘合。
在一些实施例中,也可以采用局部粘合方式将所述保护板21、所述吸光层22和所述反光层23粘接在一起,请参阅图6。在局部粘合方式中,粘胶可以涂覆在图案区的局部,以使得粘胶不会通过保护板21外露。在一个实施例中,图案形成在吸光层22中,也就是吸光层22中包括若干个吸光区域(例如,黑色或深色图案)及若干个透光区域。例如,吸光层22可以是冲洗好图案的菲林底片,带有黑色图案,其余区域是透光部分。保护板21可以是玻璃,反光层23可以是反光纸。在图6中仅示出吸光层22中的一个示例性的吸光区域220,即一个示例性的黑色或暗色图案,以此来说明各层粘合方法。可以在所述保护板21的连接表面210形成图案,该图案如图所示为示例性的遮挡区域218。可以采用例如丝印等印刷技术在已经形成图案的保护板21上形成第一粘合胶层228。第一粘合胶层228可以采用任何可行工艺形成在保护板21上。第一粘胶层228包含图案且只在图案处有粘胶,并且第一粘胶层的图案与保护层21上的图案相对应,只是第一粘胶层的各图案大小都小于保护层21上相对应图案的大小,以使得粘胶不会透过玻璃保护板外露。在这种粘胶设置方式下,第一粘合胶层228可以使用暗色胶,无需限制胶的颜色或透明度,不会影响产品外观。当然,如果不考虑对产品外观的影响,或者保护板并非玻璃等在视觉上透明的材料,则可以不使用这种粘胶设置方式。
图6中示出了第一粘胶层228图案的一个示例性的粘胶区域228,为了方便说明,称为第一粘胶区域。在第一粘胶层228制作完成后,可以临时性地贴上背胶纸,以保护胶层。在需要与菲林底片22相粘合时,再撕去背胶纸从而进行粘合。菲林底片22上的图案与保护层21上的图案相对应,只是菲林底片22上的图案大小略微大于保护层21上相对应图案的大小,以使得菲林底片22上的图案外边沿可以外露。如图6所示,吸光区域220比遮挡区域218轻微地大,以使得吸光区域220的外边沿可以外露。这是由于图案精度与机器视觉***精度直接相关联,无论图案形成在吸光层还是反光层,都优选使用具有一定 精度要求的技术。例如,在本实施例中,采用菲林底片可以得到精度较高的图案,满足高精度测量的要求。相比之下,在保护板上形成图案的精度要求不需要很高,可以采用精度要求较低的工艺方式制作。因此,在制作光标靶时,需要将高精度图案的外边沿外露,以让摄像装置捕捉到其图像。事实上,出于图像识别的考虑,只要吸光区域220的外边沿有部分外露,就可能满足图像识别及测量的要求。
第一粘胶层228还可以设置在吸光层22上,设置方式及对准粘合方法与设置在保护板上的情况类似。
在一个实施例中,保护板21可以比吸光层22与反光层23稍大,以足以使保护板21与目标靶外壳接触并设置封胶。吸光层22与反光层23可以具有相同大小。在保护板21上,可以设置对准标记以辅助各层图案的对准。如图6所示,对准标记可以标记出吸光层22与反光层23四个顶角的位置。吸光层22可以是菲林底片,反光层23可以是反光纸。通过将菲林底片与反光纸按照四个顶角进行对齐,则可实现各层图案之间的对齐。在一个实施例中,对准标记还可以标记出吸光层22与反光层23四周所在位置,或者标记出四条边所在位置,或者设置在其他合适的位置上做相应标记。在一个实施例中,可以使用十字星等常用对准标记。在一个实施例中,可以对对准标记的形状进行优化以提高对齐精度,例如对准标记的标记线的粗细可以具有梯度,在线的末梢具有更小的特征尺寸以获得更高的对齐精度。除了使用对准标记外,其他业内常用的对齐方式也可以使用,例如可以通过对齐标靶图案、再辅以使用尺具进行对齐。
可以在反光纸23上形成第二粘合胶层238。第二粘合胶层238可以包括图案,图6中示出了一个示例性的粘胶区域,称为第二粘胶区域(也使用附图标记238)。所述第二粘胶区域比所述图案吸光区域220小,以使得所述第二粘胶区域不会通过所述保护板21外露。可以通过丝印等方式在反光纸23上形成第二粘合胶层238,然后贴上背胶以保护粘胶。在需要粘合时撕去背胶,通过与设置在保护板21上的对准标记进行对齐,以实现第二粘胶区域238相对于图案吸光区域220及遮挡区域218的对齐。在一个实施例中,第二粘合胶层238可以设置在吸光层22上,设置方式及对准粘合方法与设置在反光板上的情况类似。
本领域技术人员可以理解,不排除因特殊需要,在保护板21、吸光层22与反光层23各层之间还设置有其他物质或层结构。
上述各层之间的粘胶都可以视需要使用手工涂胶的方式设置在相应层上。
在一些实施例中,所述吸光层22和所述反光层23不是相互独立的层结构,而是采用印刷或光刻等方式形成在另一层上。所述目标靶单元20可采用以下制备方法制得:在一个实施例中,通过光刻或印刷的方法在所述连接表面210形成预设的所述图案,所述图案构成的层结构为所述吸光层22;将所述反光 层23粘接于所述吸光层22,或者在所述吸光层22涂覆反光材料,形成反光层23,从而获得所述标靶单元20。具体来说,预设的所述图案(即吸光图案)可以通过下述方式形成:可以将黑色或深色油墨印刷在所述连接表面210上以形成吸光图案;也可以将深色的光敏胶涂覆在连接表面210上,再使用掩膜版进行曝光,曝光后将已曝光或未曝光部分洗去,从而得到吸光图案。在连接表面210上形成图案后,可以采用与本说明书前述方式相似的方式对准及粘贴吸光层22与保护板21。
在另一个实施例中,所述目标靶单元20可采用以下制备方法制得:通过光刻或印刷的方法在所述反光层23的一个表面形成预设的所述图案,所述图案构成的层结构为所述吸光层22;将保护板21粘接于所述吸光层22,并使得所述反光层23背向所述保护板21的表面为外表面,从而获得所述标靶单元20。
具体来说,可以通过下述方式在反光层23上形成预设的所述图案(即吸光图案):可以将油墨直接印刷在反光层23表面上以形成吸光图案;也可以将深色的光敏胶涂覆在反光层23表面上,再使用掩膜版进行曝光,曝光后将已曝光或未曝光部分洗去,从而得到吸光图案。优选地,反光层23为表面有塑料薄膜的反光纸,塑料薄膜平整的表面有利于进行印刷及光刻。反光层23也可以为普通反光纸或白纸,在其表面也可以进行印刷从而形成吸光图案。反光层23可以为薄膜或硬板状材料。在反光层23上形成图案后,可以采用与本说明书前述方式相似的方式对准及粘贴反光层23与保护板21。
在一个实施例中,吸光层22、反光层23皆形成在保护板21上。可以在保护板21上使用如上所述类似方式形成吸光图案。再将白色或浅色油墨印刷在保护板21上,或者将液态或半液态的反光物质涂覆在已形成图案的保护板21上。这种方式形成的目标靶单元具有一体化效果,更加轻薄。
在本实施例中,所述印刷方法包括丝印(丝网印刷)、移印、喷印(俗称的“喷绘”)等印刷方法。
在一个实施例中,吸光层与反光层的位置可以调换,也即反光层可以位于吸光层与保护板之间。因此,所述反光层与所述吸光层相连接,所述吸光层和所述反光层中的一者包括预设的图案并且通过所述连接表面与所述保护板相连接,所述吸光层和所述反光层中的另一者背向所述保护板的表面为所述目标靶单元的外表面,即可实现本申请的目标靶单元的功能。
请一并参阅图7和图8,本发明实施例提供的目标靶组件200与图1和图3至图5所示的目标靶组件100基本相同,区别在于:反光层23a位于吸光层22a与保护板21之间,所述反光层23a包括预设的图案,且所述反光层23a通过所述连接表面210与所述保护板21相连接。所述吸光层22a连接所述反光层23a,且所述吸光层22a背向所述保护板21的表面220a为所述目标靶单 元20a的外表面。
所述图案包括图案反光区域230a及图案透光区域232a。
所述图案反光区域230a用于反射穿过所述保护板21的光或电磁波,使得反射的光或电磁波再次穿过所述保护板21而进入照相机,所述图案反光区域230a可为反光材料或者其它可以反射穿过所述保护板21的光或电磁波的材料,例如反光纸、回射反光纸或白纸等。
在一些实施例中,所述图案反光区域230a为回射反光层,一般可为回射反光纸,或表面为塑料薄膜的回射反光薄膜。如果摄像装置离目标靶距离相对较远而捕捉光线不足,或者对目标靶图案成像清晰度要求较高,则优选使用回射反光层作为目标靶的反光层。例如,在车辆的四轮定位***中,一般使用具有回射反光层的目标靶单元20a。
所述图案透光区域232a可为镂空区域,或者为透光材料,可允许处于所述目标靶单元20a的工作波段的光或电磁波穿过。
在一些实施例中,所述反光层23a为反光纸或白纸等板或片结构,通过使用裁切设备冲裁、激光切割等方法,去除部分材料,形成镂空的所述图案透光区域232a。
所述吸光层22a由吸光材料制得,可使得穿过所述图案透光区域232a的光或电磁波照射在所述吸光层22a之上时,于照射之处无透射,也不产生耀斑和反光,例如所述吸光材料可为黑色材料。
可以理解的是,在一些实施例中,所述连接表面210的面积可等于所述吸光层22a的面积和所述反光层23a的面积,所述保护板21的端面,所述吸光层22a的端面和所述反光层23a的端面齐平。所述吸光层22a可以支撑于所述台阶部14。
在一些实施例中,所述吸光层22a和所述反光层23a为相互独立的层结构,例如,所述吸光层22a为黑色纸或黑色的塑胶薄片(PVC、PC、PE等),所述反光层23a为反光纸或白纸等板或片结构,通过使用裁切设备冲裁、激光切割等方法,去除部分材料,形成镂空的所述图案透光区域232a,所述目标靶单元20a可采用以下制备方法制得:将所述保护板21,所述吸光层22a和所述反光层23a三者粘合在一起,使得所述反光层23a通过所述连接表面210与所述保护板21相连接,所述吸光层22a背向所述保护板21的表面220a为所述目标靶单元20a的外表面,从而获得所述标靶单元20a。
在一些实施例中,所述保护板21,所述吸光层22a和所述反光层23a中的任何接触的两者之间可以是整面粘合,通过整面涂覆透明胶质或者粘附透明背胶,使得任何接触的两者相互结合起来。
在一些实施例中,所述保护板21,所述吸光层22a和所述反光层23a三者中任何相互接触的二者之间的接触面无粘接,而是通过所述粘接部30粘接所述保护板21,所述吸光层22a和所述反光层23a三者的端面,将三者粘接在一起。
在一些实施例中,可涂覆粘胶于所述保护板21,所述吸光层22a和所述反光层23a三者边缘的非图形区域,将三者粘接在一起。
在一些实施例中,也可以采用局部粘合方式将所述保护板21、所述吸光层22a和所述反光层23a粘接在一起,请参阅图9。在局部粘合方式中,粘胶可以涂覆在图案区的局部,以使得粘胶不会通过保护板21外露。在一个实施例中,图案形成在反光层23a中,也就是反光层23a中包括若干个反光区域及若干个透光区域。例如,反光层23a可以是经过裁切的反光纸,使用激光冲切等方式去除了反光纸的部分区域。保护板21可以是玻璃,吸光层22a可以是黑色或深色的纸、布或薄膜。在图6中仅示出反光层23a中的一个示例性的透光区域230a,即一个示例性的被去除了反光纸的镂空区域,以此来说明各层粘合方法。因在制好的目标靶中,反光层23a将紧贴于吸光层22a,因此该透光区域230a事实上为目标靶的图案吸光区域230a。可以在所述保护板21的连接表面210形成图案,该图案如图所示为示例性的遮挡区域218。可以在所述遮挡区域218内形成第一粘合胶层238a,使得所述图案吸光区域230a与所述遮挡区域218对齐,将所述保护板21与所述反光层23a贴合,将所述吸光层22a与所述反光层23a贴合,使得所述第一粘合胶层238a粘接于所述吸光层22a与所述保护板21之间,所述反光层23a夹紧于所述保护板21与所述吸光层22a之间,所述第一粘合胶层228包括第一粘胶区域,所述第一粘胶区域分别位于所述图案吸光区域230a和所述遮挡区域218内,所述遮挡区域218比所述第一粘胶区域大,以使得所述第一粘胶区域不会通过所述保护板21外露,并且所述遮挡区域218比所述图案吸光区域230a小,以使得所述图案吸光区域230a与所述图案透光区域232a之间的边缘的至少一部分通过所述保护板21外露。具体实现方法及原理可以参考对图6所示实施例的描述。
本领域技术人员可以理解,不排除因特殊需要,在保护板21、反光层23a与吸光层22a各层之间还设置有其他物质或层结构。
上述各层之间的粘胶都可以视需要使用手工涂胶的方式设置在相应层上。
在一些实施例中,所述吸光层22a和所述反光层23a不是相互独立的层结构,所述目标靶单元20a可采用以下制备方法制得:通过光刻或印刷的方法在所述连接表面210形成预设的所述图案,所述图案构成的层结构为所述反光层23a;将所述吸光层22a粘接于所述反光层23a,或者在所述反光层23a涂覆吸光材料,形成吸光层22a,从而获得所述标靶单元20a。
具体来说,预设的所述图案(即反光图案)可以通过下述方式形成:可以将白色或浅色的油墨或反光物质印刷在所述连接表面210上以形成反光图案。在连接表面210上形成图案后,可以采用与本说明书前述方式相似的方式对准及粘贴吸光层22a与保护板21。
或者,所述目标靶单元20a可采用以下制备方法制得:通过光刻或印刷的方法在所述吸光层22a的一个表面形成预设的所述图案,所述图案构成的层结 构为所述反光层23a;将保护板21粘接于所述反光层23a,并使得所述吸光层22a背向所述保护板21的表面为外表面,从而获得所述标靶单元20a。
具体来说,可以通过下述方式在吸光层22a上形成预设的所述图案:可以将白色或浅色油墨或反光物质直接印刷在吸光层22a表面上以形成反光图案。吸光层22a为表面可以为塑料、纸质、布质等材质,吸光层22a可以为薄膜或硬板状材料,这些材质都可以在目前工艺条件下在其表面上进行印刷。在吸光层22a上形成图案后,可以采用与本说明书前述方式相似的方式对准及粘贴吸光层22a与保护板21。
在一个实施例中,吸光层22a、反光层23a皆形成在保护板21上。可以将白色或浅色油墨或反光物质印刷在保护板21上以形成反光图案。再将深色或黑色油墨印刷在已形成图案的保护板21上,或将其他深色或黑色物质涂覆在已形成图案的保护板21上。这种方式形成的目标靶单元具有一体化效果,更加轻薄。
在本实施例中,所述印刷方法包括丝印(丝网印刷)、移印、喷印(俗称的“喷绘”)等印刷方法。
请参阅图10,本发明实施例提供的目标靶组件300包括外壳10a和图1至图5中所示的目标靶单元20。
所述外壳10a包括第一壳体102a和第二壳体104a,所述第一壳体102通过粘胶40安装于所述第二壳体104a,所述第一壳体102a和所述第二壳体104a围设形成所述收容槽12a。所述粘胶40为防水防潮的粘胶。
所述第一壳体102a具有凸缘部106a,所述凸缘部106a围设形成所述收容槽12a的开口。
所述保护板21包括安装表面214,所述安装表面214和所述连接表面210分别设置于所述保护板21的相对两侧,所述安装表面214通过粘接部30a安装于所述凸缘部106a。所述粘接部30a可与图1和图2至图5中所示的所述粘接部30a采用相同的材料,在此不再赘述。
在本实施例中,所述凸缘部106a围设形成所述收容槽12a的开口,所述安装表面214通过所述粘接部30a安装于所述凸缘部106a,所述凸缘部106a可防止所述目标靶单元20从所述外壳10a脱落。并且所述粘接部30a密封所述吸光层22和所述反光层23于所述收容槽12a内,使得所述目标靶组件300具有防振防跌、防水防尘等多种功能。
可以理解的是,在一些实施例中,所述目标靶单元20可替换成图7和图8中所示的目标靶单元20a。
可以理解的是,在一些实施例中,请参阅图11,所述目标靶组件300还包括缓冲部50,所述缓冲部50设置于所述边缘部212与所述收容槽12a的底壁之间,至少两个所述缓冲部50分别设置于所述保护板21的相对两侧。所述粘接部30a与所述缓冲部50共同抵紧所述保护板21,使得所述保护板21牢 固地安装于所述外壳10a,并且可防止所述目标靶组件300在跌落时所述保护板21受损。
请参阅图12,本发明实施例提供的目标靶组件400与图10所示的目标靶组件300基本相同,区别在于,所述连接表面210的面积等于所述吸光层22的面积和所述反光层23的面积,所述保护板21的端面,所述吸光层22的端面和所述反光层23的端面齐平。所述缓冲部50设置于所述反光层23与所述收容槽12a的底壁之间,至少两个所述缓冲部50分别设置于所述反光层23的相对两侧。所述粘接部30a与所述缓冲部50共同抵紧所述目标靶单元20。
请参阅图13,本发明实施例提供的机器视觉***500包括车辆四轮定位仪510和目标靶组件520。所述四轮定位仪510可为现有技术中的四轮定位仪,所述目标靶组件520可为图1,图3至图5所示的目标靶组件100,或者为图7所示的目标靶组件200,或者为图10和图11所示的目标靶组件300,或者为图12所示的目标靶组件400,所述目标靶组件520的数量为四个。
请参阅图14,使用时,将四个所述目标靶组件520分别安装于汽车的四个轮胎,所述四轮定位仪510的一个照相机拍摄位于汽车一侧的两个所述目标靶组件520,所述四轮定位仪510的另一个照相机拍摄位于汽车另一侧的另两个所述目标靶组件520,所述四轮定位仪510计算机处理两个照相机拍摄获得的图像,获得四个所述目标靶组件520的位置信息,从而获得四个轮胎的外倾角、行驶高度、前束曲线、倾斜角度、车身相对于轮胎的角度关系以及车身的中心线的位置等参数。
在本发明实施例提供的所述目标靶单元20,20a中,所述保护板21可提供机械支撑、平整度、防水防刮等功能,可省略现有技术中的一个基板,使得本实施例中的所述目标靶单元20,20a重量减轻,同时降低了产品的厚度,使得制作更薄产品成为了可能,另外简化了产品组装工艺,缩短生产时间,降低了产品的成本。
本领域技术人员可以理解,本说明书中各实施例所描述工艺及材料仅为示例性,本发明实施例可以使用未来开发的适用于本发明的任何工艺或材料。
最后应说明的是:以上实施例仅用以说明本发明的技术方案,而非对其限制;在本发明的思路下,以上实施例或者不同实施例中的技术特征之间也可以进行组合,步骤可以以任意顺序实现,并存在如上所述的本发明的不同方面的许多其它变化,为了简明,它们没有在细节中提供;尽管参照前述实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (32)

  1. 一种机器视觉***的目标靶单元,其特征在于,包括:
    保护板,所述保护板包括连接表面;
    吸光层;以及
    反光层,所述反光层与所述吸光层相连接,所述吸光层和所述反光层中的一者包括预设的图案并且通过所述连接表面与所述保护板相连接,所述吸光层和所述反光层中的另一者背向所述保护板的表面为所述目标靶单元的外表面。
  2. 根据权利要求1所述的目标靶单元,其特征在于,
    所述吸光层包括预设的所述图案,并且所述吸光层通过所述连接表面与所述保护板相连接;
    所述反光层连接所述吸光层,且所述反光层背向所述保护板的表面为所述目标靶单元的外表面;
    所述图案包括图案吸光区域及图案透光区域。
  3. 根据权利要求2所述的目标靶单元,其特征在于,
    所述吸光层包括菲林底片,所述菲林底片通过所述连接表面与所述保护板相连接。
  4. 根据权利要求2所述的目标靶单元,其特征在于,进一步包括第一粘合胶层,所述第一粘合胶层位于所述吸光层与所述保护板之间,且用于粘合所述吸光层与所述保护板,所述第一粘合胶层包括第一粘胶区域;
    所述保护板包括遮挡区域,所述遮挡区域比所述第一粘胶区域大,以使得所述第一粘胶区域不会通过所述保护板外露,并且所述遮挡区域比所述图案吸光区域小,以使得所述图案吸光区域与所述图案透光区域之间的边缘的至少一部分外露。
  5. 根据权利要求4所述的目标靶单元,其特征在于,包括第二粘合胶层, 所述第二粘合胶层位于所述吸光层与所述反光层之间,且用于粘合所述吸光层与所述反光板,所述第二粘合胶层包括第二粘胶区域;
    所述图案吸光区域比所述第二粘胶区域大,以使得所述第二粘胶区域不会通过所述保护板外露。
  6. 根据权利要求2所述的目标靶单元,其特征在于,
    所述图案通过光刻或印刷的方式形成在所述保护板上。
  7. 根据权利要求2所述的目标靶单元,其特征在于,
    所述图案通过光刻或印刷的方式形成在所述反光层上。
  8. 根据权利要求7所述的目标靶单元,其特征在于,
    所述反光层包括薄膜层及形成在薄膜层上的反光物质,所述图案形成于所述硬质薄膜层上。
  9. 根据权利要求1所述的目标靶单元,其特征在于,
    所述反光层包括预设的所述图案,且所述反光层通过所述连接表面与所述保护板相连接;
    所述吸光层连接所述反光层,且所述吸光层背向所述保护板的表面为所述目标靶单元的外表面;
    所述图案包括图案反光区域及图案透光区域。
  10. 根据权利要求9所述的目标靶单元,其特征在于,
    所述反光层包括反光纸,所述图案透光区域通过冲裁或激光切割方法形成。
  11. 根据权利要求9所述的目标靶单元,其特征在于,进一步包括第一粘合胶层,所述第一粘合胶层位于所述吸光层与所述保护板之间,且用于粘合所述吸光层与所述保护板,所述反光层被夹于所述吸光层与所述保护板之间,所 述第一粘合胶层包括第一粘胶区域;
    所述保护板包括遮挡区域,所述遮挡区域比所述第一粘胶区域大,以使得所述第一粘胶区域不会通过所述保护板外露,并且所述遮挡区域比所述图案透光区域小,以使得所述图案反光区域与所述图案透光区域之间的边缘的至少一部分外露。
  12. 根据权利要求9所述的目标靶单元,其特征在于,
    所述图案通过印刷的方式形成在所述保护板上。
  13. 根据权利要求9所述的目标靶单元,其特征在于,
    所述图案通过印刷的方式形成在所述吸光层上。
  14. 根据权利要求1至13任一项所述的目标靶单元,其特征在于,所述保护板为透光的玻璃板或透光的塑料板。
  15. 根据权利要求1所述的目标靶单元,其特征在于,所述反光层是回射反光层。
  16. 一种目标靶组件,其特征在于,包括:
    外壳,所述外壳设有收容槽;以及
    权利要求1至15任一项所述的目标靶单元;
    所述保护板安装于所述外壳,且所述保护板收容于所述收容槽,所述连接表面背向所述收容槽的开口。
  17. 根据权利要求16所述的目标靶组件,其特征在于,
    所述连接表面的面积大于所述吸光层的面积和所述反光层的面积,使得所述保护板具有边缘部,所述边缘部凸出于所述吸光层的边缘和所述反光层的边缘;
    所述收容槽的内壁设有台阶部,所述边缘部支撑于所述台阶部;
    所述吸光层与所述反光层悬空于所述收容槽内。
  18. 根据权利要求17所述的目标靶组件,其特征在于,
    所述保护板包括端面,所述端面与所述连接表面连接;
    所述目标靶组件包括粘接部,所述粘接部粘接所述保护板的端面和所述收容槽的内壁,使得所述保护板固定于所述外壳。
  19. 根据权利要求17所述的目标靶组件,其特征在于,
    所述保护板包括端面,所述端面与所述连接表面连接;
    所述目标靶组件包括粘接部,所述粘接部粘接所述保护板的端面和所述收容槽的内壁,所述粘接部还粘接所述连接表面和所述台阶部,使得所述保护板固定于所述外壳。
  20. 根据权利要求19所述的目标靶组件,其特征在于,沿垂直于所述连接表面的方向,所述粘接部具有“L”形横截面。
  21. 根据权利要求17所述的目标靶组件,其特征在于,
    所述目标靶组件包括粘接部,所述粘接部粘接所述连接表面和所述台阶部,使得所述保护板固定于所述外壳。
  22. 根据权利要求16所述的目标靶组件,其特征在于,
    所述连接表面的面积等于所述吸光层的面积和所述反光层的面积,所述保护板的端面,所述吸光层的端面和所述反光层的端面齐平;
    所述收容槽的内壁设有台阶部;
    所述吸光层和所述反光层中的另一者背向所述保护板的表面支撑于所述台阶部。
  23. 根据权利要求22所述的目标靶组件,其特征在于,
    所述目标靶组件包括粘接部,所述粘接部粘接所述收容槽的内壁与所述保 护板的端面,所述吸光层的端面和所述反光层的端面,使得所述保护板,所述吸光层和所述反光层固定于所述外壳。
  24. 根据权利要求23所述的目标靶组件,其特征在于,
    所述保护板,所述吸光层和所述反光层三者中相互接触的二者之间的接触面无粘接;
    所述粘接部粘接所述保护板的端面,所述吸光层的端面和所述反光层的端面,使得所述保护板,所述吸光层和所述反光层粘接在一起。
  25. 根据权利要求23所述的目标靶组件,其特征在于,
    所述目标靶组件包括粘接部,所述粘接部粘接所述收容槽的内壁与所述保护板的端面,所述吸光层的端面和所述反光层的端面;
    所述粘接部还粘接所述台阶部和所述吸光层和所述反光层中的另一者背向所述保护板的表面。
  26. 根据权利要求25所述的目标靶组件,其特征在于,沿垂直于所述连接表面的方向,所述粘接部具有“L”形横截面。
  27. 根据权利要求16所述的目标靶组件,其特征在于,
    所述外壳包括第一壳体和第二壳体,所述第一壳体安装于所述第二壳体,所述第一壳体和所述第二壳体围设形成所述收容槽;
    所述第一壳体具有凸缘部,所述凸缘部围设形成所述收容槽的开口;
    所述保护板包括安装表面,所述安装表面和所述连接表面分别设置于所述保护板的相对两侧;
    所述安装表面安装于所述凸缘部。
  28. 根据权利要求27所述的目标靶组件,其特征在于,所述目标靶组件包括粘接部,所述粘接部粘接所述安装表面和所述凸缘部,使得所述安装表面安装于所述凸缘部。
  29. 根据权利要求27所述的目标靶组件,其特征在于,
    所述连接表面的面积大于所述吸光层的面积和所述反光层的面积,使得所述保护板具有边缘部,所述边缘部凸出于所述吸光层的边缘和所述反光层的边缘;
    所述目标靶组件包括缓冲垫,所述缓冲垫设置于所述边缘部与所述收容槽的底壁之间,所述缓冲垫支撑所述边缘部。
  30. 根据权利要求27或28所述的目标靶组件,其特征在于,
    所述连接表面的面积分别等于所述吸光层的面积和所述反光层的面积,所述保护板的端面,所述吸光层的端面和所述反光层的端面齐平;
    所述目标靶组件包括缓冲垫,所述缓冲垫设置于所述收容槽的底壁和所述吸光层和所述反光层中的另一者之间。
  31. 根据权利要求27所述的目标靶组件,其特征在于,
    所述第一壳体通过防水防潮的粘胶安装于所述第二壳体。
  32. 一种机器视觉***,其特征在于,包括四轮定位仪和权利要求16至31任一项所述的目标靶组件。
PCT/CN2019/111922 2018-10-20 2019-10-18 机器视觉***的目标靶单元、目标靶组件和机器视觉*** WO2020078459A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/142,613 US20210156680A1 (en) 2018-10-20 2021-01-06 Target unit of machine vision system, target assembly and machine vision system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811225379.0A CN111076660A (zh) 2018-10-20 2018-10-20 机器视觉***的目标靶单元、目标靶组件和机器视觉***
CN201811225379.0 2018-10-20

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/142,613 Continuation US20210156680A1 (en) 2018-10-20 2021-01-06 Target unit of machine vision system, target assembly and machine vision system

Publications (1)

Publication Number Publication Date
WO2020078459A1 true WO2020078459A1 (zh) 2020-04-23

Family

ID=70283718

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/111922 WO2020078459A1 (zh) 2018-10-20 2019-10-18 机器视觉***的目标靶单元、目标靶组件和机器视觉***

Country Status (3)

Country Link
US (1) US20210156680A1 (zh)
CN (1) CN111076660A (zh)
WO (1) WO2020078459A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2023013407A1 (zh) * 2021-08-05 2023-02-09

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070101595A1 (en) * 2005-10-28 2007-05-10 Jackson David A Retro-reflective target wafer for a position determination system
CN202382945U (zh) * 2011-12-02 2012-08-15 潘斌 一种汽车四轮定位仪目标靶
CN103134695A (zh) * 2013-02-05 2013-06-05 上海鼎盛汽车检测设备有限公司 应用于三维四轮定位***中的反射盘
CN205861929U (zh) * 2016-07-13 2017-01-04 烟台市思瑞特电子科技有限公司 四轮定位目标靶反光板
CN206038329U (zh) * 2016-09-14 2017-03-22 深圳科澳汽车科技有限公司 一种目标盘
CN108618769A (zh) * 2017-03-15 2018-10-09 深圳北芯生命科技有限公司 带安装座的血管内压力测量导管

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070101595A1 (en) * 2005-10-28 2007-05-10 Jackson David A Retro-reflective target wafer for a position determination system
CN202382945U (zh) * 2011-12-02 2012-08-15 潘斌 一种汽车四轮定位仪目标靶
CN103134695A (zh) * 2013-02-05 2013-06-05 上海鼎盛汽车检测设备有限公司 应用于三维四轮定位***中的反射盘
CN205861929U (zh) * 2016-07-13 2017-01-04 烟台市思瑞特电子科技有限公司 四轮定位目标靶反光板
CN206038329U (zh) * 2016-09-14 2017-03-22 深圳科澳汽车科技有限公司 一种目标盘
CN108618769A (zh) * 2017-03-15 2018-10-09 深圳北芯生命科技有限公司 带安装座的血管内压力测量导管

Also Published As

Publication number Publication date
CN111076660A (zh) 2020-04-28
US20210156680A1 (en) 2021-05-27

Similar Documents

Publication Publication Date Title
US5969869A (en) Prism
JP6916980B2 (ja) 表示装置及び表示装置の製造方法
WO2018006427A1 (zh) 一种电池盖以及电子设备
TW201416924A (zh) 觸控顯示裝置及其製造方法
JP6802531B2 (ja) レーザーセンサー及び外装部品の製造方法
KR20180061532A (ko) 데코 필름 및 이를 포함하는 전자 기기 장치
TWI592715B (zh) 光學膜黏貼位置測定裝置
TWI786412B (zh) 顯示裝置及其製造方法
TW201516530A (zh) 電子裝置、電子裝置蓋板的組裝方法及黏接結構
US11966010B2 (en) Electronic device including camera module
WO2020078459A1 (zh) 机器视觉***的目标靶单元、目标靶组件和机器视觉***
CN113037951B (zh) 保护膜、贴附有该保护膜的摄像模组及其组装方法
WO2022095670A1 (zh) 显示模组及其装配方法、显示装置
CN208968473U (zh) 机器视觉***的目标靶单元、目标靶组件和机器视觉***
KR20190027413A (ko) 표시 장치용 커버 윈도우 및 그 제조 방법
US7373726B2 (en) Retro-reflective target wafer for a position determination system
JP4604348B2 (ja) 写真計測用ターゲット
WO2018159312A1 (ja) マーカ搭載用ユニット
CN210666153U (zh) 手机的多摄像镜头保护装置
TW201925861A (zh) 擋光元件、擋光元件的製作方法及鏡頭模組
WO2018212052A1 (ja) マーカユニット
KR102372306B1 (ko) 휴대 단말용 후면 덮개
JP2019152742A (ja) 表示装置および表示装置の製造方法
CN218412951U (zh) 雾面透镜、3d显示屏幕以及3d显示器
TWM594577U (zh) 多攝像鏡頭保護貼黏貼治具

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19874191

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19874191

Country of ref document: EP

Kind code of ref document: A1