CN103376093A - Method and device for imaging non-uniform velocity moving object by TDI (Time Delayed Integration) CCD (Charge Coupled Device) - Google Patents
Method and device for imaging non-uniform velocity moving object by TDI (Time Delayed Integration) CCD (Charge Coupled Device) Download PDFInfo
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Abstract
The invention relates to an industrial vision inspection technology, and discloses a method and device for imaging a non-uniform velocity moving object by a TDI (Time Delayed Integration) CCD (Charge Coupled Device). Speed signals measured by a rotary encoder connected with a measured moving object are divided into two paths which are respectively transmitted to a light source illuminance controller and a camera flipping frequency controller, the light source illuminance controller is used for controlling the illuminance of the light source, the camera flipping frequency controller is used for controlling the exposure of the TDI CCD, the line sweeping speed rate of the CCD and the movement speed rate of the measured object are the same so as to complete the imaging of the measured object. The light source illuminance controller converts pulse frequency signals into voltage signals, the voltage signals control a constant current source so as to further output current to an LED (Light Emitting Diode) light source, so that the illuminance of the light source is adjusted. According to the method and the device, the measured object can be clearly imaged and an image with a uniform gray level can be obtained under the condition of non-uniform movement.
Description
Technical field
The present invention relates to the industrial vision detection technique, relate in particular to a kind of for formation method and the device of TDI CCD camera to the non-uniform movement object.
Background technology
The TDI camera is a kind of new technology that development in recent years is got up, TDI(Time Delayed Integration, time delay integration) CCD is a kind of Novel photoelectric sensor that grew up in recent years.TDI-CCD is based on same target multiexposure, multiple exposure, by postponing the method for integration, has greatly increased the collection of luminous energy, compares with general line array CCD, and it has the advantages such as responsiveness height, wide dynamic range.TDI camera CCD chip utilizes the time delay integration technology that same target is carried out multiexposure, multiple exposure, thereby makes the picture signal of acquisition have very high sensitivity and signal to noise ratio (S/N ratio).This advantage just is so that the TDI camera is widely used in the fields such as spacer remote sensing remote measurement.
The TDI camera is realized the exposure of maximum duration in order to satisfy the technical requirement of fast imaging to greatest extent when design, and maximally utilises the time interval between the double exposure trigger pip, so its time shutter is designed to non-adjustable.For the uniform motion object and in the constant situation of light illumination, the TDI camera can satisfy application requirements well.Detect application at industrial vision, because the movement velocity of most of measurands is not constant, when light illumination remains unchanged, uncertain because of time shutter of being associated with the measurand movement velocity, larger light and shade difference will appear in the image that obtains when velocity variations is larger, thereby affects the performance of detection system.When the measurand movement velocity was high, because of cumulative exposure time weak point, the image averaging gray-scale value was low; When the measurand movement velocity was hanged down, the cumulative exposure time was long, and the image averaging gray-scale value is high.Therefore, TDI CCD camera is general only is used for the measurand velocity variations not quite or the occasion of uniform motion.
This fast imaging technical advantage for effective application TDI camera in the industrial vision detection system need to suitably change testing environment, in the hope of obtaining the more consistent measurand image of gray scale.In the certain situation of the parameters such as camera aperture, image-forming range, gradation of image and time shutter and light illumination are closely related.When the measurand movement velocity was fast, the time shutter of TDI camera was short; When the measurand movement velocity was slow, the time shutter of TDI camera was long.In order to obtain the more consistent image of gray scale, then need to when the measurand movement velocity is fast, suitably improve normal bright light source illumination, when measurand speed is slow, suitably reduce normal bright light source illumination.In addition, in order to guarantee TDI CCD camera blur-free imaging, need to keep row to sweep the synchronously strict of speed and measurand movement rate.
Chinese patent CN101660966 discloses a kind of analogue means of TDI CCD camera dynamic imaging, and this application of installation is in space industry; Chinese patent CN101309370 discloses a kind of opto-electronic conversion analogue means and method of TDI CCD device ", this patent has been described opto-electronic conversion testing equipment and the method for TDI CCD device.These patents all do not relate to the imaging technique in the measurand non-uniform movement situation in the vision detection system.
Summary of the invention
The object of the present invention is to provide a kind ofly for formation method and the device of TDI CCD camera to the non-uniform movement object, the method and device can realize in the non-uniform movement situation that the measurand blur-free imaging also obtains the image of uniform gray level.
For achieving the above object, the present invention has adopted following technical scheme:
A kind of for the formation method of TDI CCD camera to the non-uniform movement object, the rate signal that will record with the rotary encoder that tested Moving Objects is connected divides two-way to be delivered to light illumination controller and camera trigger rate controller, light illumination controller control light illumination, camera trigger rate controller control TDI CCD camera exposure, TDI CCD camera is capable, and to sweep the movement rate of speed and measurand synchronous, finishes the imaging of measurand.
Described camera trigger rate controller output signal is
, wherein:
The rotary encoder output pulse frequency,
Be camera trigger pip conversion coefficient;
Described light illumination controller converts pulse duration frequency signal to voltage signal, voltage signal control constant current source, and then output current is to led light source, thus regulate light illumination.
A kind of for the imaging device of TDI CCD camera to the non-uniform movement object, comprise cylinder, rotary encoder, light source, TDI camera, light illumination controller, camera trigger rate controller, the cylinder warp beam is installed on the bearing seat, buncher is connected head roll through speed reduction unit and shaft coupling and rotates with axle, the analog detection object is fixed on the cylinder, buncher is controlled by speed setting controller, at an end of axle rotary encoder is housed; Light source is installed on the light source adjusting mechanism, the TDI camera is installed on the camera adjusting mechanism, camera adjusting mechanism is installed on the camera fixing support, light illumination controller and camera trigger rate controller are installed on the mounting bracket, the rotary encoder output line connects respectively light illumination controller and camera trigger rate controller, the light illumination controller connects light source, and the light illumination controller comprises frequency-voltage converter and constant current source, and camera trigger rate controller output line connects the TDI camera.
Described light source is led light source, and this led light source has the nanosecond response speed.
Technical scheme of the present invention compared with prior art, its beneficial effect is:
1, in the vision-based detection project of using TDI CCD camera, overcome the variation of the image averaging gray scale that causes because of the measurand velocity variations.
2, in the vision-based detection project of using TDI CCD camera, cooperate the normal bright light source of LED of TDI CCD exposure to adjust illumination according to the movement velocity real-time synchronization of measurand, thereby obtain the consistent measurand image of gray scale.
3, in the vision-based detection project of using TDI CCD camera, by the trigger rate controller, the realization camera is capable sweeps the synchronously strict of speed and measurand movement rate, thereby exports clearly measurand image.
The present invention mainly is a kind of imaging technique of and uniform gray level clear for non-uniform movement detected object energy under TDI CCD camera.The present invention can at a high speed, the band that requires of high resolving power as: use in the surface quality vision detection systems such as band steel, glass, cloth, and applicable to the working condition of industry spot non-uniform movement measurand, such as startup, acceleration and moderating process.
Description of drawings
Fig. 1 is that the present invention is used for TDI CCD camera to the control principle drawing of the formation method of non-uniform movement object;
Fig. 2 is implementing procedure synoptic diagram of the present invention;
Fig. 3 is that the present invention is used for TDI CCD camera to the imaging device front elevational schematic of non-uniform movement object;
Fig. 4 is imaging device schematic side view of the present invention;
Fig. 5 is that TDI CCD camera pushes away and sweeps the exposure process synoptic diagram.
Among Fig. 3 and Fig. 4: 1 speed setting controller, 2 bunchers, 3 speed reduction units, 4 shaft couplings, 5 bearing seats, 6 cylinders, 7 rotary encoders, 8 mounting brackets, 9 light sources, 10 light source adjusting mechanisms, 11 camera adjusting mechanisms, 12 TDI cameras, 13 camera fixing supports, 14 light illumination controllers, 15 base fixing plates, 16 camera trigger rate controllers.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
Referring to Fig. 1, a kind of for the formation method of TDI CCD camera to the non-uniform movement object, the rate signal that will record with the rotary encoder that tested Moving Objects is connected divides two-way to be delivered to light illumination controller and camera trigger rate controller, light illumination controller control light illumination, camera trigger rate controller control TDI CCD camera exposure, TDI CCD camera is capable, and to sweep the movement rate of speed and measurand synchronous, finishes the imaging of measurand.
In order to guarantee TDI CCD camera in pushing away inswept journey, TDI pixels at different levels push away the frequency sweep rate to be needed strictly synchronous with the speed of swing roller.Described camera trigger rate controller output signal is
, wherein:
The rotary encoder output pulse frequency,
Be camera trigger pip conversion coefficient;
In the formula:
---the resolution of-scrambler, pulse/turn,
---the length of side of each square pixel of-camera, um,
By camera trigger rate controller output signal, TDI CCD camera is capable, and to sweep the movement rate of speed and measurand strictly synchronous, can realize the blur-free imaging of measurand.
TDI CCD camera to the light illumination control method of the even imaging of non-uniform movement measurand is: the rate signal of non-uniform movement measurand sends to the light illumination controller with the form of encoder pulse, the light illumination controller converts pulse duration frequency signal to voltage signal, with this Control of Voltage constant current source output current to led light source, thereby adjusting light illumination, realization is to the real-time synchronization control of illumination, cooperate TDI CCD camera to finish exposure to measurand, be not subjected to that movement velocity affects, the image of uniform gray level.
The impact of the direct camera subject exposure of the gray scale of camera output image, and the time that exposure depends on the illuminance that ccd sensor obtains and continues to expose.According to exposure formula E(exposure)=I(illumination) * the T(time shutter), make exposure E consistent, a kind of method is the opening and closing sequential of control light source, so that measurand total time shutter in cumulative exposure process keeps constant; Another kind method is to control light illumination according to the time shutter, and the time shutter is reduced light illumination when long, and the time shutter increases light illumination in short-term.What the present invention taked is rear a kind of method, namely for the non-uniform movement object, in order to obtain the gray level image of measurand uniformity, according to the movement velocity of measurand light illumination is carried out real-time synchronization control.Keep under the normal bright state at light source, with the TDI CCD that movement velocity triggers synchronously, its time shutter and the movement velocity relation of being inversely proportional to, when namely speed was fast, the time shutter was short, and when speed was slow, the time shutter was long.Keeping exposure is steady state value, then has
Between movement velocity and light illumination, there is proportional relation, namely
When (k is coefficient, and t is time parameter), the exposure that lower surface analysis ccd sensor obtains.TDI CCD camera pushes away sweeps exposure process as shown in Figure 5.
For non-uniform movement measurand and N level TDI CCD camera, when delegation's image is exported in exposure from the first order to the N level, can be similar to and think that this process speed remains unchanged, namely
, then this process light illumination also remains unchanged, and has
If the distance of cumulative exposure process measurand motion is
, then the time shutter is
, the exposure that CCD obtains is:
The cumulative exposure process speed of setting changes, and velocity amplitude is
, then light illumination is:
(2)
If the cumulative exposure time is
, the distance of in the cumulative exposure process, moving because of measurand with on an exposure process identical, then the cumulative exposure time is
, the cumulative exposure amount is:
Can illustrate from formula (1) to formula (3), when light illumination and measurand movement velocity are adjusted by linear relationship, can make ccd sensor obtain consistent exposure, thereby obtain the image of uniform gray level.
Referring to Fig. 2, Fig. 3, Fig. 4, a kind of for the imaging device of TDI CCD camera to the non-uniform movement object, comprise cylinder 6, rotary encoder 7, light source 9, TDI camera 12, light illumination controller 14, camera trigger rate controller 16, cylinder 6 warp beams are installed on the bearing seat 5, buncher 2 is connected with shaft coupling through speed reduction unit 3 and is connected head roll 6 with axle and rotates, the analog detection object is fixed on the cylinder, and buncher 2 is by speed setting controller 1 control, at an end of axle rotary encoder 7 is housed; Speed setting controller 1, buncher 2, speed reduction unit 3, shaft coupling 4, bearing seat 5 and rotary encoder 7 are installed on the mounting bracket 8; Light source 9 is installed on the light source adjusting mechanism 10, TDI camera 12 is installed on the camera adjusting mechanism 11, camera adjusting mechanism 11 is installed on the camera fixing support 13, light illumination controller 14 and camera trigger rate controller 16 are installed on the mounting bracket 8, rotary encoder 7 output lines connect respectively light illumination controller 14 and camera trigger rate controller 16, light illumination controller 14 connects light source 9, light illumination controller 14 comprises frequency-voltage converter and constant current source, and camera trigger rate controller 16 output lines connect TDI camera 12.Light source adjusting mechanism 10 and camera fixing support 13 are installed on the mounting bracket 8, and mounting bracket 8 is fixed by four base fixing plates 15.
Described light source 9 is led light source, and this led light source has the nanosecond response speed, and this light illumination can be regulated by curtage.
After buncher 2 starts, by 6 rotations of speed reduction unit 3 head rolls.The tach signal of cylinder 6 is delivered to light illumination controller 13 by rotary encoder 7, is realized the illumination of light source 9 is regulated by light illumination controller 13.Light source adjusting mechanism 10 can be realized the angular setting of light source 9, and camera adjusting mechanism 11 can be realized the angular setting of TDI camera 12, and changeable camera fixed support 13 is realized the adjustment of image-forming range.The adjustment function that the imaging device of non-uniform movement object is possessed camera imaging angle, image-forming range for TDI CCD camera of the present invention, light-source angle is adjusted the adjustment function of function and measurand movement velocity, the various working conditions that can simulate the industry spot measurand.
The analog detection object is fixed on the swing roller, and speed setting controller control motor turns round with friction speed, drives cylinder and rotates.The rotary encoder that the drum rotating axle connects divides two-way to deliver to light illumination controller and camera trigger rate controller rate signal, cooperates the TDI camera to finish the imaging of detected object.The pulse signal of delivering to camera trigger rate controller connects the camera signal trigger end after conversion, to guarantee that the TDI camera can blur-free imaging.The pulse frequency of delivering to the light illumination controller takes the lead in converting voltage to by linear relationship, the output current of this magnitude of voltage control constant current source, thus self-adaptation is adjusted light illumination, to guarantee the consistent image of TDI camera output gray level.
Described frequency-voltage converter circuit has been realized the control of input pulse frequency to output voltage.Changing voltage is in setting range during for the input of assurance low frequency and high frequency input, and the control relation is designed to:
Wherein:
: be output voltage, be used for the control constant current source;
Correlation parameter can be determined voluntarily according to actual operating position.In being applied to the light illumination controller of imaging device of the present invention,
Scope be 0-50kHz, output voltage
Maximal value be 5.0V, bias voltage
Scope be 0-5V, scale-up factor
According to
Value is adjusted.
After the realization of TDI CCD camera is carried out imaging to the analog detection object on the cylinder, the image of output is delivered to pattern process computer, computing machine is analyzed rear output detections result to image.
Being preferred embodiment of the present invention only below, is not for limiting protection scope of the present invention, therefore, all any modifications of doing within the spirit and principles in the present invention, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. one kind is used for TDI CCD camera to the formation method of non-uniform movement object, it is characterized in that: the rate signal that will record with the rotary encoder that tested Moving Objects is connected divides two-way to be delivered to light illumination controller and camera trigger rate controller, light illumination controller control light illumination, camera trigger rate controller control TDI CCD camera exposure, TDI CCD camera is capable, and to sweep the movement rate of speed and measurand synchronous, finishes the imaging of measurand.
2. according to claim 1 for the formation method of TDI CCD camera to the non-uniform movement object, it is characterized in that: described camera trigger rate controller output signal is
, wherein:
The rotary encoder output pulse frequency,
Be camera trigger pip conversion coefficient;
In the formula:
---the resolution of-scrambler, pulse/turn,
---the length of side of each square pixel of-camera, um,
3. according to claim 1 for the formation method of TDI CCD camera to the non-uniform movement object, it is characterized in that: described light illumination controller converts pulse duration frequency signal to voltage signal, voltage signal control constant current source, and then output current is to led light source, thus regulate light illumination.
One kind implement claim 1 be used for TDI CCD camera to the imaging device of non-uniform movement object, it is characterized in that: comprise cylinder (6), rotary encoder (7), light source (9), TDI camera (12), light illumination controller (14), camera trigger rate controller (16), cylinder (6) warp beam is installed on the bearing seat (5), buncher (2) is connected 4 through speed reduction unit (3) with shaft coupling) be connected head roll (6) with axle and rotate, the analog detection object is fixed on the cylinder (6), buncher (2) is by speed setting controller (1) control, at an end of axle rotary encoder (7) is housed; Light source (9) is installed on the light source adjusting mechanism (10), TDI camera (12) is installed on the camera adjusting mechanism (11), camera adjusting mechanism (11) is installed on the camera fixing support (13), light illumination controller (14) and camera trigger rate controller (16) are installed on the mounting bracket (8), rotary encoder (7) output line connects respectively light illumination controller (14) and camera trigger rate controller (16), light illumination controller (14) connects light source (9), light illumination controller (14) comprises frequency-voltage converter and constant current source, and camera trigger rate controller (16) output line connects TDI camera (12).
5. according to claim 4 for the imaging device of TDI CCD camera to the non-uniform movement object, it is characterized in that: described light source (9) is led light source, and this led light source has the nanosecond response speed.
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| CN107843741A (en) * | 2017-12-13 | 2018-03-27 | 中国地质大学（武汉） | A kind of cloth movement velocity measurement apparatus and method based on line array CCD |
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| CN110261072A (en) * | 2019-07-12 | 2019-09-20 | 北京空间机电研究所 | The dynamic target being imaged during a kind of analog is dynamic |
| CN111207304A (en) * | 2018-11-22 | 2020-05-29 | 北京世纪东方通讯设备有限公司 | Railway tunnel leaky cable vision inspection device and product positioning detection method |
| CN111982923A (en) * | 2020-08-26 | 2020-11-24 | 陕西科技大学 | Paper defect detection driving power supply optimization method based on stroboscopic imaging principle |
| CN112104808A (en) * | 2019-06-18 | 2020-12-18 | 长城汽车股份有限公司 | Image acquisition device and have its vision processing system, unmanned vehicle |
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| CN111207304A (en) * | 2018-11-22 | 2020-05-29 | 北京世纪东方通讯设备有限公司 | Railway tunnel leaky cable vision inspection device and product positioning detection method |
| CN111207304B (en) * | 2018-11-22 | 2021-09-14 | 北京世纪东方通讯设备有限公司 | Railway tunnel leaky cable vision inspection device and product positioning detection method |
| CN110220475A (en) * | 2019-05-30 | 2019-09-10 | 电子科技大学 | A kind of linear CCD two dimension speed change imaging method based on image segmentation |
| CN112104808A (en) * | 2019-06-18 | 2020-12-18 | 长城汽车股份有限公司 | Image acquisition device and have its vision processing system, unmanned vehicle |
| CN112104808B (en) * | 2019-06-18 | 2022-06-21 | 长城汽车股份有限公司 | Image acquisition device and have its vision processing system, unmanned vehicle |
| CN110261072A (en) * | 2019-07-12 | 2019-09-20 | 北京空间机电研究所 | The dynamic target being imaged during a kind of analog is dynamic |
| CN111982923A (en) * | 2020-08-26 | 2020-11-24 | 陕西科技大学 | Paper defect detection driving power supply optimization method based on stroboscopic imaging principle |
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