技术领域technical field
本发明涉及的是检测技术领域的视觉检测系统，具体是一种基于LED照明和逆反射技术的能够抵抗太阳光干扰的视觉检测系统及方法。The invention relates to a visual detection system in the field of detection technology, in particular to a visual detection system and method based on LED lighting and retroreflection technology that can resist sunlight interference.
背景技术Background technique
视觉检测系统是应用计算机技术、数字图像处理技术、影像匹配模式识别、摄影测量等学科的理论和方法完成对物体的测量，因而具有智能化程度高、检测效率高、测量精度高等卓越性能，并得到广泛应用。实际测量中较为常见的情况是利用被测物体的若干个特征点(例如安置一些特殊的标志)来获取相关信息。因此，整个测量系统的精度就取决于对标志中心进行定位的精度，而整个检测系统的可靠性取决于能否获得标志的清晰图像并准确定位。The visual inspection system uses theories and methods of computer technology, digital image processing technology, image matching pattern recognition, photogrammetry and other disciplines to complete the measurement of objects, so it has excellent performance such as high intelligence, high detection efficiency, and high measurement accuracy. be widely used. A more common situation in actual measurement is to use several feature points of the measured object (such as placing some special signs) to obtain relevant information. Therefore, the accuracy of the entire measurement system depends on the accuracy of positioning the center of the mark, and the reliability of the entire detection system depends on whether a clear image of the mark can be obtained and positioned accurately.
然而在实际的应用过程中，当标志周围出现较强的环境光的时候，特别是在有太阳光直接照射的环境下，传统的视觉检测系统将出现很大问题：随着太阳光入射角度的不同，普通漫反射标志的反射光强会发生变化。由于标志区域反射系数与周围背景相差不大，因此标志区域边界不明显，这样就无法准确地将标志区域提取出来，导致定位不准或失效。这已成为视觉检测系统的世界性共性难点问题之一，而国内外目前并无有效的方法来有效抑制太阳光对视觉检测系统的干扰。However, in the actual application process, when there is strong ambient light around the sign, especially in an environment with direct sunlight, the traditional visual inspection system will have a big problem: with the increase of the incident angle of sunlight Different, the reflected light intensity of ordinary diffuse reflection signs will change. Since the reflection coefficient of the mark area is not much different from the surrounding background, the boundary of the mark area is not obvious, so the mark area cannot be extracted accurately, resulting in inaccurate or invalid positioning. This has become one of the worldwide common difficulties of the visual inspection system, and there is currently no effective method at home and abroad to effectively suppress the interference of sunlight on the visual inspection system.
赵辉等(CN201110108191.X)首次提出一种能够抵抗太阳光干扰的视觉检测系统及方法，该系统采用激光器为光源，利用逆反射材料制作反射标志，在摄像机前面设置窄带滤光片，可以有效抵抗视觉检测系统对太阳光的干扰。这是系统和非对于抵抗太阳光的干扰是十分有效的，但是该系统和非存在两个严重问题：其一，作为光源的激光器，由于激光本身的极强的相干性的缘故，激光器在照明区域内产生明显的暗斑，从而导致照明区域的照度明显不均匀，由此将产生测量误差；其二，由于逆反射材料一般采用微棱镜材料制作，微棱镜尺寸一般为数mm级别，当准直性极好的激光束照射到逆反射材料制成的反射标志上的时候，不同微棱镜产生的反射光束存在差异，从而导致反射标志在摄像机上的成像出现明暗不均的现象，从而产生测量误差。Zhao Hui et al. (CN201110108191.X) proposed a visual detection system and method capable of resisting sunlight interference for the first time. The system uses a laser as a light source, uses a retroreflective material to make a reflective mark, and arranges a narrow-band filter in front of the camera, which can effectively Resist the interference of sunlight by the visual inspection system. This system and non is very effective for resisting the interference of sunlight, but there are two serious problems in this system and non: one, as the laser as the light source, due to the strong coherence of the laser itself, the laser cannot be illuminated. There are obvious dark spots in the area, which will lead to obvious uneven illumination in the illuminated area, which will cause measurement errors; second, since retroreflective materials are generally made of micro-prism materials, the size of micro-prisms is generally several millimeters in size, when collimated When the laser beam with excellent performance is irradiated on the reflective mark made of retroreflective material, there are differences in the reflected light beams produced by different microprisms, resulting in uneven brightness and darkness in the imaging of the reflective mark on the camera, resulting in measurement errors .
发明内容Contents of the invention
针对现有技术存在的上述不足，本发明提供一种既可以抵抗太阳光的干扰，又可以获得高精度的视觉检测系统和方法，不仅可以有效减小太阳光的影响，而且可以回避激光束导致的视场照度不均匀问题，也可避免激光束照射到逆反射材料后产生的反射不均匀问题，从而显著提高检测系统的精度。Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a visual detection system and method that can resist the interference of sunlight and obtain high precision, which can not only effectively reduce the influence of sunlight, but also avoid the The uneven illumination of the field of view can also avoid the uneven reflection caused by the laser beam irradiating the retroreflective material, thereby significantly improving the accuracy of the detection system.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
根据本发明的第一个方面，提供一种基于LED和逆反射的抗太阳光视觉检测系统，所述系统包括发射组件、接收组件、反射标志和处理系统，所述发射组件与所述接收组件并列安置，并同时对准反射标志；所述发射组件、所述接收组件均与所述处理系统连接；反射标志安置于被测目标的任一特征点上，并随被测目标一同移动；其中：According to the first aspect of the present invention, there is provided an anti-sunlight visual detection system based on LED and retroreflection, the system includes a transmitting component, a receiving component, a reflective mark and a processing system, the transmitting component and the receiving component Arranged side by side and aligned with the reflective marks at the same time; the transmitting component and the receiving component are connected to the processing system; the reflective mark is placed on any feature point of the measured target and moves together with the measured target; wherein :
所述发射组件由LED光源、聚焦镜组和发射滤光片组成，所述接收组件由图像采集装置和接收滤光片组成；所述LED光源与所述处理系统相连并接收所述处理系统的控制指令发出一束发散光，发散光束经过所述聚焦镜组和所述发射滤光片后形成一束窄带光束，并直接投向所述反射标志所在区域，以形成均匀的照明视场；所述反射标志的反射光束经过所述接收滤光片后，由所述图像采集装置产生视频信号并传输到所述处理系统；所述处理系统与所述摄像机相连，所述处理系统接收所述摄像机传输的视频信号并对获得的视频信号进行处理，最终得到反射标志的具体位置，从而实现对被测目标的定位和检测。The emitting assembly is composed of an LED light source, a focusing lens group and an emission filter, and the receiving assembly is composed of an image acquisition device and a receiving filter; the LED light source is connected with the processing system and receives the The control command sends out a bunch of divergent light, and the divergent light beam forms a bunch of narrow-band light beams after passing through the focusing lens group and the emission filter, and directly projects to the area where the reflective sign is located, so as to form a uniform illumination field of view; After the reflected light beam of the reflective mark passes through the receiving filter, a video signal is generated by the image acquisition device and transmitted to the processing system; the processing system is connected to the camera, and the processing system receives the video signal transmitted by the camera. The video signal is processed and the obtained video signal is processed, and finally the specific position of the reflective mark is obtained, so as to realize the positioning and detection of the measured target.
优选地，所述的LED光源为高功率LED光源，具有体积小、重量轻的优点。Preferably, the LED light source is a high-power LED light source, which has the advantages of small size and light weight.
更优选地，所述的LED光源的光谱特性与摄像机的光谱特性一致或者接近。More preferably, the spectral characteristics of the LED light source are consistent with or close to the spectral characteristics of the camera.
优选地，所述的聚焦镜组将LED光源发出的发散光束汇聚成为一束小角度光束，并投向反射标志所在区域，形成一照度均匀的视场。Preferably, the focusing lens group converges the divergent light beam emitted by the LED light source into a small-angle light beam, which is projected to the area where the reflective sign is located, forming a field of view with uniform illumination.
优选地，所述的发射滤光片为窄带滤光片，使得投向发射标志的光束为接近单色光束，以进一步减小太阳光的干扰；Preferably, the emission filter is a narrow-band filter, so that the light beam cast on the emission sign is close to a monochromatic light beam, so as to further reduce the interference of sunlight;
所述的发射滤光片的中心波长依据摄像机的成像器件光谱特性确定。The central wavelength of the emission filter is determined according to the spectral characteristics of the imaging device of the camera.
优选地，所述的反射标志包括：基板和位于基板几何中心的反射板；其中：Preferably, the reflective sign includes: a substrate and a reflective plate located at the geometric center of the substrate; wherein:
所述反射板形状为圆形、或矩形的多种规则形状；反射板采用逆反射材料制成，The shape of the reflecting plate is a variety of regular shapes such as circles or rectangles; the reflecting plate is made of retroreflective material,
所述基板的形状为矩形、圆形、多边形的各种规则形状；基板为中心对称结构的轻质板材，表面涂敷亚光漫反射材料制成。The shape of the substrate is various regular shapes such as rectangle, circle and polygon; the substrate is a lightweight plate with a centrally symmetrical structure, and the surface is made of matte diffuse reflection material.
更优选地，所述的反射板由薄膜层和位于薄膜层表面的微棱镜组成，其中：所述薄膜层为透明塑料膜材料制成，所述微棱镜由聚氯乙烯为原材料制成的颗粒组成。More preferably, the reflector is composed of a film layer and microprisms located on the surface of the film layer, wherein: the film layer is made of transparent plastic film material, and the microprisms are particles made of polyvinyl chloride composition.
更优选地，所述的基板的面积大于反射板的面积；进一步的，所述的基板的面积为反射板面积的两倍以上。More preferably, the area of the substrate is larger than the area of the reflection plate; further, the area of the substrate is more than twice the area of the reflection plate.
优选地，所述的接收滤光片为窄带滤光片，使得进入摄像机的光束仅为窄带单色光，以进一步减小太阳光的干扰；Preferably, the receiving filter is a narrow-band filter, so that the light beam entering the camera is only narrow-band monochromatic light, so as to further reduce the interference of sunlight;
更优选地，所述的接收滤光片与所述的发射滤光片的中心波长与带宽一致。More preferably, the central wavelength and bandwidth of the receiving filter and the emitting filter are consistent.
优选地，所述的图像采集装置包括镜头和摄像机，反射标志的反射光束经过接收滤光片后，由镜头成像到摄像机的像面上，从而产生视频信号；其中：Preferably, the image acquisition device includes a lens and a camera, and the reflected light beam of the reflective sign passes through the receiving filter and is imaged by the lens onto the image plane of the camera, thereby generating a video signal; wherein:
所述摄像机为面阵CCD、CMOS摄像机，具体根据测量的精度和速度要求选取；Described video camera is area array CCD, CMOS video camera, specifically selects according to the accuracy and speed requirement of measurement;
所述镜头根据反射标志的大小、距离和移动范围设计和选取。The lens is designed and selected according to the size, distance and moving range of the reflective sign.
优选地，所述的处理系统由计算机或者高性能微处理器组成，用于进行图像处理和分析计算，以最终获得反射标志的中心位置。Preferably, the processing system is composed of a computer or a high-performance microprocessor, which is used for image processing and analysis calculation, so as to finally obtain the center position of the reflective sign.
本发明所述系统抵抗太阳光干扰的原理为：The principle of the system of the present invention resisting sunlight interference is:
当来自LED光源发出的发散光束经过聚焦镜组和发射滤光片之后，照射到反射标志，由于反射板中逆反射材料的逆反射特性，绝大部分的反射光均将沿着与入射光平行的方向返回至所述系统所在位置，并由镜头和摄像机接收；因此在摄像机上的成像不仅仅是整个反射标志所在区域的图像，而且还有逆反射材料制成的反射板形成的光斑，该光斑的形状恰好就是反射板的形状，光斑的能量中心恰好就是反射板的中心，也就是整个反射标志的中心，从而实现反射标志中心坐标的准确测量。When the divergent light beam from the LED light source passes through the focusing lens group and the emission filter, it irradiates the reflective sign. Due to the retroreflective characteristics of the retroreflective material in the reflective plate, most of the reflected light will be parallel to the incident light. The direction of the system returns to the location of the system and is received by the lens and the camera; therefore, the imaging on the camera is not only the image of the area where the entire reflective sign is located, but also the spot formed by the reflective plate made of retroreflective material. The shape of the light spot is exactly the shape of the reflective plate, and the energy center of the light spot is exactly the center of the reflective plate, that is, the center of the entire reflective mark, so as to realize accurate measurement of the center coordinates of the reflective mark.
(1)当太阳处于反射标志正前方位置，即所述系统后方时：(1) When the sun is in the position directly in front of the reflector, that is, behind the system:
整个反射标志区域被太阳光照亮；由于太阳光对反射标志的整个区域的照度是均匀的，而反射标志的反射板的逆反射材料的定向反射作用使得逆反射区即反射板的亮度远远高于漫反射区即基板的反射光亮度，因此在摄像机所获得图像中，反射板成像的光斑与周围区域对比度差异明显；此时，处理系统通过设置合适的阈值对摄像机获得的图像进行二值化处理，将光斑的边缘和能量中心提取出来，从而实现可靠准确的定位；该阈值的大小采用包括浮动阈值法在内的多种常规方法来确定；此时，太阳光的存在不会影响所述系统的工作。The entire area of the reflective sign is illuminated by sunlight; because the illuminance of sunlight on the entire area of the reflective sign is uniform, and the directional reflection of the retroreflective material of the reflective plate of the reflective sign makes the brightness of the retroreflective area, that is, the reflective plate far away. It is higher than the reflected light brightness of the diffuse reflection area, that is, the substrate, so in the image obtained by the camera, the contrast between the spot imaged by the reflective plate and the surrounding area is significantly different; at this time, the processing system performs binarization processing on the image obtained by the camera by setting an appropriate threshold , to extract the edge and energy center of the light spot, so as to achieve reliable and accurate positioning; the size of the threshold is determined by various conventional methods including the floating threshold method; at this time, the existence of sunlight will not affect the system work.
(2)当太阳处于反射标志的侧前方位置，即所述系统的侧前方时：(2) When the sun is in the side front position of the reflective sign, that is, the side front of the system:
整个反射标志被太阳光侧向照亮；由于反射板的逆反射材料的定向反射特性，太阳光照射在逆反射区即反射板的光线绝大部分将被反射回太阳所在位置，而不会进入所述系统所在的位置，只有来自LED光源发出的单色光束照射到逆反射区即反射板后，被反射回所述系统所在的测量点位置；因此，在摄像机获所得的图像中，漫反射区域即基板的亮度将明显弱于逆反射区即反射板；处理系统通过设置合适的阈值将反射板光斑的边缘和能量中心提取出来，从而实现可靠准确的定位，太阳光的存在同样不会影响所述系统的工作；The entire reflective sign is illuminated laterally by sunlight; due to the directional reflection characteristics of the retroreflective material of the reflector, most of the light irradiated by the sun on the retroreflective area, that is, the reflector will be reflected back to the position of the sun without entering Where the system is located, only the monochromatic light beam from the LED light source is irradiated on the retro-reflective area, that is, the reflector, and is reflected back to the measurement point where the system is located; therefore, in the image obtained by the camera, the diffuse reflection The brightness of the area, that is, the substrate, will be significantly weaker than that of the retroreflective area, that is, the reflector; the processing system will extract the edge and energy center of the light spot of the reflector by setting an appropriate threshold, so as to achieve reliable and accurate positioning, and the existence of sunlight will not affect the the operation of the system;
(3)当太阳处在反射标志背面位置时：(3) When the sun is on the back of the reflective sign:
此时反射标志不会被太阳光照亮，只有来自LED光源发出的单色光束照射到逆反射区即反射板后，被反射回所述系统所在的测量点位置；太阳光逆光照射反射标志，会产生一定的光衍射作用；由于反射标志的基板遮挡左右，使太阳光不会对逆反射区即反射板的亮度产生影响；只要反射标志的基板的尺寸显著大于敏感区即反射板的尺寸，太阳光由于衍射作用产生的影响能够消除，此时太阳光的存在同样不会影响所述系统的工作。At this time, the reflective sign will not be illuminated by sunlight, only the monochromatic beam from the LED light source will be reflected back to the measurement point where the system is located after the monochromatic beam from the LED light source hits the retroreflective area, that is, the reflective plate; There will be a certain light diffraction effect; because the substrate of the reflective sign blocks the left and right, the sunlight will not affect the brightness of the retroreflective area, that is, the reflector; as long as the size of the substrate of the reflective sign is significantly larger than the size of the sensitive area, that is, the reflective plate, The influence of sunlight due to diffraction can be eliminated, and the existence of sunlight at this time will not affect the work of the system.
通过上述的措施，从而保证了太阳光在360°入射范围内变化时，逆反射区即反射板的成像位置基本保持恒定，从而完全克服了太阳光的干扰和影响。Through the above measures, it is ensured that when the sunlight changes within the 360° incident range, the imaging position of the retroreflective area, that is, the reflecting plate, remains basically constant, thereby completely overcoming the interference and influence of sunlight.
根据本发明的第二个方面，提供一种基于LED和逆反射的抗太阳光视觉检测方法，具体如下：According to a second aspect of the present invention, a kind of anti-sunlight visual inspection method based on LED and retroreflection is provided, specifically as follows:
(1)在处理系统的控制下，由LED光源发出一束小角度光束并投向反射标志；(1) Under the control of the processing system, a beam of light with a small angle is emitted by the LED light source and cast on the reflective sign;
(2)摄像机通过镜头获取反射标志的图像，并传输至处理系统；(2) The camera acquires the image of the reflective sign through the lens and transmits it to the processing system;
(3)关闭LED光源，摄像机再次获取反射标志的第二张图像，并传输至处理系统；(3) Turn off the LED light source, and the camera acquires the second image of the reflective sign again, and transmits it to the processing system;
(4)处理系统将两次获取的图像进行差分处理，从而得到反射标志中反射板的差分图像；(4) The processing system performs differential processing on the images acquired twice, so as to obtain the differential image of the reflective plate in the reflective sign;
(5)处理系统对(4)得到的差分图像进行处理，以提取反射标志中反射板的边缘轮廓；(5) The processing system processes the differential image obtained in (4), to extract the edge profile of the reflective plate in the reflective sign;
(6)处理系统根据反射板的边缘轮廓数据进行拟合，获得反射板的中心坐标。(6) The processing system performs fitting according to the edge profile data of the reflector to obtain the center coordinates of the reflector.
本发明与现有技术相比较，具有如下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明以大功率LED作为光源，辅以聚焦镜组和窄带滤光片，形成小角度单色光束并投向反射标志，反射标志利用具有逆反射性能的薄膜材料制作，在摄像机前面仍然设置窄带滤光片，这样不仅可以有效减小太阳光的影响，而且可以回避激光束导致的视场照度不均匀问题，也可避免激光束照射到逆反射材料后产生的反射不均匀问题，从而显著提高检测系统的精度。In the present invention, a high-power LED is used as a light source, supplemented by a focusing lens group and a narrow-band filter to form a small-angle monochromatic beam and cast it on a reflective mark. Light sheet, which can not only effectively reduce the influence of sunlight, but also avoid the uneven illumination of the field of view caused by the laser beam, and also avoid the uneven reflection caused by the laser beam irradiating the retroreflective material, thereby significantly improving the detection efficiency. system precision.
附图说明Description of drawings
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1为本发明一实施例的系统组成结构示意图；Fig. 1 is a schematic diagram of the system composition and structure of an embodiment of the present invention;
图2为本发明一实施例的反射标志结构示意图；Fig. 2 is a schematic structural diagram of a reflective sign according to an embodiment of the present invention;
图3为本发明一实施例的基于主动定向照明和逆反射技术的抗太阳光干扰方法原理示意图；3 is a schematic diagram of the principle of an anti-sunlight interference method based on active directional lighting and retroreflection technology according to an embodiment of the present invention;
图中：1 为LED光源，2 为聚焦镜组，3 为发射滤光片，4 为反射标志，5 为接收滤光片，6 为镜头，7 为摄像机，8 为处理系统，9 为反射板，10 为基板。In the figure: 1 is the LED light source, 2 is the focusing lens group, 3 is the emission filter, 4 is the reflection mark, 5 is the reception filter, 6 is the lens, 7 is the camera, 8 is the processing system, and 9 is the reflector , 10 is the substrate.
具体实施方式detailed description
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
如图1所示，一种基于LED和逆反射的抗太阳光视觉检测系统，所述的视觉检测系统包括：LED光源1、聚焦镜组2、发射滤光片3、反射标志4、接收滤光片5、镜头6、摄像机7和处理系统8，其中：As shown in Figure 1, a kind of anti-sunlight visual inspection system based on LED and retroreflection, the described visual inspection system includes: LED light source 1, focusing lens group 2, emission filter 3, reflection mark 4, receiving filter Light sheet 5, lens 6, camera 7 and processing system 8, wherein:
所述LED光源1、聚焦镜组2和发射滤光片组3成发射组件，摄像机5、镜头6和接收滤光片7组成接收组件；所述发射组件与所述接收组件并列安置，并同时对准反射标志4；所述发射组件与所述接收组件均与处理系统8连接；反射标志4安置于被测目标的某个特征点上，并可以随被测目标一同移动。The LED light source 1, the focusing lens group 2 and the emission filter group 3 form a transmitting assembly, and the camera 5, lens 6 and receiving filter 7 form a receiving assembly; the emitting assembly is arranged side by side with the receiving assembly, and simultaneously Align the reflective mark 4; the transmitting component and the receiving component are both connected to the processing system 8; the reflective mark 4 is placed on a certain feature point of the measured target and can move together with the measured target.
本实施例所述系统的工作流程如下：The workflow of the system described in this embodiment is as follows:
在处理系统8的控制下，由LED光源1发出一束发散光，经过聚焦镜组2和发射滤光片3之后形成一束小角度窄带光束，直接投向反射标志4所在区域，形成均匀的照明视场；反射标志4的反射光束经过接收滤光片5后，由镜头6成像到摄像机7的像面之上，产生的视频信号传输到处理系统8；处理系统8对获得的视频信号进行处理，最终得到反射标志4的具体位置，从而实现对被测目标的定位和检测。Under the control of the processing system 8, a beam of divergent light is emitted by the LED light source 1, and after passing through the focusing lens group 2 and the emission filter 3, a beam of small-angle narrow-band light beam is formed, which is directly projected to the area where the reflective sign 4 is located, forming uniform illumination Field of view: after the reflected light beam of the reflective mark 4 passes through the receiving filter 5, it is imaged by the lens 6 onto the image plane of the camera 7, and the generated video signal is transmitted to the processing system 8; the processing system 8 processes the obtained video signal , and finally obtain the specific position of the reflective marker 4, so as to realize the positioning and detection of the measured target.
本实施例中，所述的LED光源1为高功率LED光源，具有体积小、重量轻的优点。例如，对于12m探测距离，可以采用功率20W左右的LED光源1，可以满足曝光要求。In this embodiment, the LED light source 1 is a high-power LED light source, which has the advantages of small size and light weight. For example, for a detection distance of 12m, an LED light source 1 with a power of about 20W can be used to meet the exposure requirements.
本实施例中，所述的LED光源1的光谱特性尽可能与摄像机7的光谱特性一致或者接近。例如，假设摄像机成像器件的光谱峰值波长为550nm，则LED光源1的光谱峰值波长应尽可能接近550nm为宜In this embodiment, the spectral characteristics of the LED light source 1 are as consistent or close to the spectral characteristics of the camera 7 as possible. For example, assuming that the spectral peak wavelength of the camera imaging device is 550nm, the spectral peak wavelength of the LED light source 1 should be as close to 550nm as possible
本实施例中，所述的聚焦镜组2，用于将LED光源1发出的发散光束汇聚成为一束小角度光束，并投向反射标志4所在区域，形成一个照度均匀的视场。例如，假设反射标志4距离为12m，所需照明视场大小为直径0.5m，则照射角度约为2*arctan(0.5*0.5m/12m)＝2.4°。In this embodiment, the focusing lens group 2 is used to converge the diverging light beams emitted by the LED light source 1 into a small-angle light beam, and project the beams to the area where the reflective sign 4 is located to form a field of view with uniform illumination. For example, assuming that the reflective sign 4 is at a distance of 12m and the required illumination field of view is 0.5m in diameter, the illumination angle is about 2*arctan(0.5*0.5m/12m)=2.4°.
本实施例中，所述的发射滤光片3为窄带滤光片，使得投向发射标志4的光束为接近单色光束，以便进一步减小太阳光的干扰。In this embodiment, the emission filter 3 is a narrow-band filter, so that the light beam projected on the emission sign 4 is close to a monochromatic light beam, so as to further reduce the interference of sunlight.
本实施例中，所述的发射滤光片3的中心波长应该依据摄像机成像器件的光谱特性来确定。例如，假设摄像机成像器件的光谱峰值波长为550nm，则发射滤光片3的中心波长应尽可能接近550nm为宜，而带宽尽可能窄，一般为±30nm左右为宜。In this embodiment, the central wavelength of the emission filter 3 should be determined according to the spectral characteristics of the imaging device of the camera. For example, assuming that the spectral peak wavelength of the camera imaging device is 550nm, the center wavelength of the emission filter 3 should be as close to 550nm as possible, and the bandwidth should be as narrow as possible, generally about ±30nm.
如图2所示，本实施例中，所述的反射标志4包括反射板9和基板10，其中：As shown in Figure 2, in this embodiment, the reflective sign 4 includes a reflective plate 9 and a substrate 10, wherein:
所述反射板9位于基板10的几何中心，其形状可为多种规则形状，例如圆形、矩形等；反射板9采用逆反射材料制成；The reflector 9 is located at the geometric center of the substrate 10, and its shape can be a variety of regular shapes, such as circular, rectangular, etc.; the reflector 9 is made of retroreflective material;
所述基板10为中心对称结构的轻质板材，表面涂敷亚光漫反射材料制成，其形状可为各种规则形状，例如矩形、圆形、多边形等。The substrate 10 is a lightweight plate with a centrosymmetric structure, and its surface is made of matte diffuse reflective material, and its shape can be various regular shapes, such as rectangle, circle, polygon, etc.
作为优选地，所述的反射板9由薄膜层和位于薄膜层表面的微棱镜组成，其中：薄膜层为透明塑料膜材料制成，微棱镜为聚氯乙烯为原材料制成的颗粒组成。Preferably, the reflector 9 is composed of a film layer and microprisms located on the surface of the film layer, wherein: the film layer is made of transparent plastic film material, and the microprisms are composed of particles made of polyvinyl chloride.
作为优选地，所述的基板10由铝合金材料制成，表面喷砂和黑色阳极氧化处理。Preferably, the substrate 10 is made of aluminum alloy material, and the surface is sandblasted and black anodized.
作为优选地，所述的基板10面积应显著大于反射板的面积。进一步的，所述的基板10的面积为所述的反射板9面积的两倍以上。例如，假设反射板9的尺寸为则正方形基板10的边长可为60mm以上为宜。Preferably, the area of the substrate 10 should be significantly larger than the area of the reflection plate. Further, the area of the substrate 10 is more than twice the area of the reflecting plate 9 . For example, suppose the size of reflector 9 is Then the side length of the square substrate 10 may preferably be more than 60 mm.
本实施例中，所述的接收滤光片5为窄带滤光片，使得进入摄像机7的光束仅为窄带单色光，以便进一步减小太阳光的干扰。In this embodiment, the receiving filter 5 is a narrow-band filter, so that the light beam entering the camera 7 is only narrow-band monochromatic light, so as to further reduce the interference of sunlight.
作为优选地，所述的接收滤光片5与所述的发射滤光片3的中心波长与带宽一致，例如中心波长均为550nm，带宽均为±30nm。Preferably, the central wavelength and bandwidth of the receiving filter 5 and the transmitting filter 3 are consistent, for example, the central wavelength is 550 nm, and the bandwidth is ±30 nm.
本实施例中，所述的镜头6可根据反射标志4的大小、距离和移动范围进行设计和选取。例如，假设反射标志4的距离为12m、横向移动范围为±250mm，反射板9直径为40mm，则镜头6的视角为2*arctan[0.5*(250+20)mm/12m]＝1.3°。In this embodiment, the lens 6 can be designed and selected according to the size, distance and moving range of the reflective sign 4 . For example, assuming that the distance of the reflective sign 4 is 12m, the lateral movement range is ±250mm, and the diameter of the reflective plate 9 is 40mm, the viewing angle of the lens 6 is 2*arctan[0.5*(250+20)mm/12m]=1.3°.
本实施例中，所述的摄像机7根据测量的精度和速度要求进行选取，一般可选择面阵CCD、CMOS摄像机。例如，假设反射板9横向移动范围为±250mm9、定位精度要求±0.5mm，则相对精度约为0.5mm/250mm＝1/500，因此摄像机7的像素数应不低于500pixel×500pixel为宜。In this embodiment, the camera 7 is selected according to the measurement accuracy and speed requirements, and generally an area array CCD or CMOS camera can be selected. For example, assuming that the lateral movement range of the reflector 9 is ±250mm9 and the positioning accuracy requires ±0.5mm, the relative accuracy is about 0.5mm/250mm=1/500, so the number of pixels of the camera 7 should not be less than 500pixel×500pixel.
本实施例中，所述的处理系统8由计算机或者高性能微处理器组成，主要职能是进行图像处理好分析计算，最终获得反射标志4的中心位置。In this embodiment, the processing system 8 is composed of a computer or a high-performance microprocessor, and its main function is to perform image processing, analyze and calculate, and finally obtain the center position of the reflective sign 4 .
本实施例还涉及一种基于LED和逆反射的抗太阳光视觉检测方法，具体如下：This embodiment also relates to an anti-sunlight visual detection method based on LED and retroreflection, specifically as follows:
(1)在处理系统8的控制下，由LED光源1发出一束小角度光束，并投向反射标志4；(1) Under the control of the processing system 8, a small-angle light beam is emitted by the LED light source 1, and is thrown at the reflective sign 4;
(2)摄像机7通过镜头6获取反射标志4的图像，并传输至处理系统8；(2) The camera 7 obtains the image of the reflective sign 4 through the lens 6, and transmits it to the processing system 8;
(3)关闭LED光源1，摄像机7再次获取反射标志4的第二张图像，并传输至处理系统8；(3) Turn off the LED light source 1, and the camera 7 acquires the second image of the reflective sign 4 again, and transmits it to the processing system 8;
(4)处理系统8将两次获取的图像进行差分处理，从而得到反射标志4中反射板9的差分图像；(4) The processing system 8 performs differential processing on the images acquired twice, so as to obtain the differential image of the reflective plate 9 in the reflective sign 4;
(5)处理系统8对上述差分图像进行处理，提取反射板9的边缘轮廓；(5) The processing system 8 processes the above-mentioned difference image, and extracts the edge profile of the reflecting plate 9;
(6)处理系统8根据反射板9的边缘轮廓数据进行拟合，获得其中心坐标；(6) The processing system 8 performs fitting according to the edge profile data of the reflector 9 to obtain its center coordinates;
如图3所示，本实施例所述的视觉检测系统抵抗太阳光干扰的原理为：As shown in Figure 3, the principle of resisting sunlight interference of the visual detection system described in this embodiment is as follows:
当来自LED光源1发出的发散光束经过聚焦镜组2和发射滤光片3之后，照射到反射标志4。由于反射板9中逆反射材料的逆反射特性，绝大部分的反射光均将沿着与入射光平行的方向返回至检测系统所在位置，并由镜头6和摄像机7接收。因此，在摄像机7上的成像不仅仅是整个反射标志4所在区域的图像，而且还有逆反射材料制成的反射板9形成的光斑。该光斑的形状恰好就是反射板9的形状，光斑的能量中心恰好就是反射板9的中心，也就是整个反射标志4的中心，从而实现反射标志4中心坐标的准确测量。When the divergent light beam emitted from the LED light source 1 passes through the focusing lens group 2 and the emission filter 3 , it irradiates the reflective sign 4 . Due to the retroreflection characteristics of the retroreflective material in the reflector 9 , most of the reflected light will return to the position of the detection system along the direction parallel to the incident light, and be received by the lens 6 and the camera 7 . Therefore, the imaging on the camera 7 is not only the image of the area where the entire reflective sign 4 is located, but also the light spot formed by the reflective plate 9 made of retroreflective material. The shape of the light spot is just the shape of the reflection plate 9, and the energy center of the light spot is just the center of the reflection plate 9, that is, the center of the entire reflective mark 4, so as to realize accurate measurement of the center coordinates of the reflective mark 4.
当太阳处于反射标志4正前方位置(即所述视觉检测系统后方)时：When the sun is in the position directly in front of the reflective sign 4 (i.e. behind the visual detection system):
整个反射标志4区域将被太阳光照亮。由于太阳光对反射标志4的整个区域的照度是均匀的，而反射板9的逆反射材料的定向反射作用使得逆反射区(即反射板9)的亮度远远高于漫反射区(即基板10)的反射光亮度，因此在摄像机7所获得图像中，反射板9成像的光斑与周围区域对比度差异明显。此时，处理系统8通过设置合适的阈值对摄像机7获得的图像进行二值化处理，就可以将光斑的边缘和能量中心提取出来，从而实现可靠准确的定位。该阈值的大小可以采用包括浮动阈值法在内的多种常规方法来确定。此时，太阳光的存在不会影响视觉检测系统的工作。The entire reflective sign 4 area will be illuminated by sunlight. Since the illuminance of sunlight on the entire area of the reflective sign 4 is uniform, and the directional reflection of the retroreflective material of the reflective plate 9 makes the brightness of the retroreflective area (i.e. the reflective plate 9) much higher than that of the diffuse reflection area (i.e. the substrate 10) Therefore, in the image obtained by the camera 7, the contrast between the spot imaged by the reflective plate 9 and the surrounding area is significantly different. At this time, the processing system 8 performs binarization processing on the image obtained by the camera 7 by setting an appropriate threshold, so as to extract the edge and energy center of the light spot, thereby achieving reliable and accurate positioning. The size of the threshold can be determined by various conventional methods including the floating threshold method. At this time, the existence of sunlight will not affect the work of the visual inspection system.
当太阳处于反射标志4的侧前方位置(也是处于所述视觉检测系统的侧前方)时：When the sun is in the side front position of the reflective sign 4 (also in the side front of the visual detection system):
整个反射标志4将被太阳光侧向照亮。由于反射板9的逆反射材料的定向反射特性，太阳光照射在逆反射区的光线绝大部分将被反射回太阳所在位置，而不会进入所所述视觉检测系统所在的位置，只有来自LED光源1发出的单色光束照射到逆反射区后，被反射回所述视觉检测系统所在的测量点位置。因此，在摄像机7获所得的图像中，漫反射区域的亮度将明显弱于逆反射区。因此，处理系统8同样可以通过设置合适的阈值将反射板9光斑的边缘和能量中心提取出来，从而实现可靠准确的定位，太阳光的存在同样不会影响视觉检测系统的工作。The entire reflective sign 4 will be illuminated sideways by sunlight. Due to the directional reflection characteristics of the retroreflective material of the reflector 9, most of the light irradiated by sunlight on the retroreflective area will be reflected back to the position of the sun, and will not enter the position where the visual detection system is located, only from the LED After the monochromatic light beam emitted by the light source 1 irradiates the retroreflection area, it is reflected back to the measurement point where the vision detection system is located. Therefore, in the image obtained by the camera 7, the brightness of the diffuse reflection area will be obviously weaker than that of the retroreflection area. Therefore, the processing system 8 can also extract the edge and energy center of the light spot of the reflector 9 by setting an appropriate threshold, so as to achieve reliable and accurate positioning, and the existence of sunlight will not affect the work of the visual inspection system.
当太阳处在反射标志4背面位置时：When the sun is on the back of the reflection sign 4:
此时反射标志4将不会被太阳光照亮，只有来自LED光源1发出的单色光束照射到逆反射区后，被反射回所示视觉检测系统所在的测量点位置。太阳光逆光照射反射标志4，将会产生一定的光衍射作用。但是，由于反射标志4的基板10的遮挡左右，使太阳光不会对逆反射区(反射板9)的亮度产生影响。只要反射标志4的基板10的尺寸显著大于敏感区(即反射板9)的尺寸，太阳光由于衍射作用产生的影响也可以消除，此时太阳光的存在同样不会影响视觉检测系统的工作。At this time, the reflective sign 4 will not be illuminated by sunlight, and only the monochromatic light beam emitted from the LED light source 1 will be reflected back to the measuring point where the visual inspection system is located after being irradiated on the retroreflective area. When sunlight illuminates the reflective sign 4 against the light, a certain light diffraction effect will be produced. However, due to the shielding of the substrate 10 of the reflective sign 4, sunlight will not affect the brightness of the retroreflective area (reflective plate 9). As long as the size of the substrate 10 of the reflective sign 4 is significantly larger than the size of the sensitive area (i.e. the reflective plate 9), the impact of sunlight due to diffraction can also be eliminated. At this time, the existence of sunlight will not affect the work of the visual inspection system.
通过上述的措施，就保证了太阳光在360°入射范围内变化时，逆反射区(即反射板9)的成像位置基本保持恒定，从而完全克服了太阳光的干扰和影响。与此同时，可以显著克服激光光源产生的视场照度不均和逆反射不均产生的测量误差，大幅度提高测量精度。Through the above-mentioned measures, it is ensured that when the sunlight changes within the 360° incident range, the imaging position of the retroreflective area (that is, the reflector 9) remains basically constant, thereby completely overcoming the interference and influence of the sunlight. At the same time, it can significantly overcome the measurement error caused by the uneven illumination of the field of view and the uneven retroreflection produced by the laser light source, and greatly improve the measurement accuracy.
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变形或修改，这并不影响本发明的实质内容。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.
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| CN201610590703.3ACN106153010A (en) | 2016-07-25 | 2016-07-25 | Anti-sunshine vision detection system and method based on LED and reflex reflection |
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| CN201610590703.3ACN106153010A (en) | 2016-07-25 | 2016-07-25 | Anti-sunshine vision detection system and method based on LED and reflex reflection |
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| CN106153010Atrue CN106153010A (en) | 2016-11-23 |
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| CN201610590703.3APendingCN106153010A (en) | 2016-07-25 | 2016-07-25 | Anti-sunshine vision detection system and method based on LED and reflex reflection |
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | Application publication date:20161123 | |
| RJ01 | Rejection of invention patent application after publication |