• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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  • 优先权
    • 专利摘要:
    SAM MANDRAGThe invention relates to a device for product control of a product (20, 21), during or after the production process, in a transport device (10, 11) which is arranged totransport the product (20, 21) to be checked. The device also includes a firstcamera device (31) arranged to take at least a picture of at least a part of the product (20, 21) when the product is in or on the transport device (10, 11). The device further comprises a first lighting device (30; 60) which is arranged to emit light for detection of the first camera device (31). The device includesalso a calculating unit which is arranged to receive the said At least one image from thefirst camera device (31) and to determine at least one geometric property of the product (20, 21) on the basis of said At least one image. The invention also relates to a method, a computer program and a computer program product for controlling a product which is transported during or after the production process.
    公开号:SE1450427A1
    申请号:SE1450427
    申请日:2014-04-07
    公开日:2015-10-08
    发明作者:Hans Åhlén
    申请人:Optonova Sweden Ab；
    IPC主号:
    专利说明:

    Device and procedure for product controlTECHNICAL FIELDThe present invention presents an apparatus, a method, a computer program and acomputer software product for product control.
    BACKGROUNDThe production of floor furniture is becoming more automated. Fewer people will manufacture more and more furniture without sacrificing the quality of what is produced. The production lines will be alitmore complex and the investment cost for new lines increases. It is therefore important to keep onehog availability p5 each line and shorten stable times between product changes. A time-consuming step when changing product is to manually check the hl and dimension of the first pieces and adjust the production facility so that the panels stay within a specification before the new panel type can start production. The capacity of the production lines is thus limited.
    Important quality on flat mobile panels If all h5If is in the right place, has the right sizeand has steering wheel depth. If there are faults in the tail, the furniture risks being complained about by the end users. Furthermore, the size (eg length, width and perpendicularity) and shape must be rough. Wag performs this part of the quality control mainly completely manually by sampling panels that are checked manually or semi-manually at free-standing dining tables. Dproduction speed Jr hog, many may have been produced between samplingpanels with inaccuracies that must be adjusted or most commonly discarded. Furthermore, it is not uncommon for panels with functional faults, such as those that do not have a h51, to reach the end customer.
    In addition to the above functional quality measures, the aesthetics of the panels' surfaces must be free of major defects.
    The above problems apply not only to floor furniture but also to the production of othersproducts.2SUMMARY OF THE INVENTIONAn object of the present invention is to reduce the disadvantages of the above-described devices and methods of product control.
    A further object of the invention is to present a device, a method, acomputer software and a computer software product for fast product control.
    A further object of the invention is to present an apparatus, a method, a computer program and a computer program product for space-saving product control.
    A further object of the invention is to present an apparatus, a method, a computer program and a computer program product for accurate product control.
    At least some of the objects are achieved by means of a device for product control of a product,during or after the production process, at a transport device which is designed to transport the product to be inspected. The device also comprises a first camera device which is arranged to take at least a picture of at least a part of the product when the product is in or on the transport device. The device further comprises afirst lighting device. The first lighting device is designed to send out lightdetection of the first camera device. The device also comprises a calculating unit which is arranged to receive said At least one image from the first camera device. The calculating unit is also designed to determine at least one geometric property of the product on the basis of said at least one image.
    Through this device, the possibility of performing the product control p5 is a space savertrue. No additional components are needed p5 or in the transport device. For example, no orientation or holding elements p5 or in the transport device that brings the product into a specific position and / or a specific position in relation to the first camera device are required. PA s5 sat can transport devices in existing production linesbe used without requiring more space for a rebuild of the transport device.
    The product can, for example, advantageously be checked before it is packaged or packaged. Furthermore, the device ensures that very quickly a result of the product control s5 that systematic production errors can be found quickly. As a result, production can be stopped quickly in the event of any faults and / or these faults are quickly rectified.3In a further development, the first lighting device is arranged on the same side of the product as the first camera device. The first illumination device is preferably arranged in relation to the first camera device so that the illumination angle is the same or almost the same as that of the first camera device.observation angle for each point in the camera device's field of view. The device includesfurthermore, a retroreflective foil arranged on an opposite side of the product in relation to the side of the first camera device and the first lighting device. The retroreflective foil is further arranged to reflect at least a part of the light emitted by the first lighting device to the first camera device.
    Through this device, the first camera device and the firstthe lighting device is arranged in the same or almost the same stable. This reduces the need for space for any cables or stand devices. As a result, a special space-saving device can be provided. Furthermore, a retroreflective foil enables sharp contrasts in the image between product and background, which facilitates the determination ofat least one geometric property has the product.
    In a further development, at least one calibration object is arranged in the field of view of the first camera device. The at least one calibration object is preferably partially retroreflective and is arranged so that the light coming from the first lighting device is reflected in the said at least one calibration object to thefirst camera device.
    This facilitates the calibration of the first camera device, resp. increase the calibration accuracy. In this way a more accurate determination of the said at least one geometric property of the product is achieved.
    In a further development, the transport device comprises a roller conveyor.
    It enables a fast and easy transport of the product.
    In a further development, the first lighting device is arranged on the side opposite the first camera device. The first lighting device preferably comprises a luminous screen.
    Through a luminous screen, a high and even light emission can be achieved.4In a further development, the calculating unit is further arranged to determine the layer for the edges of the product in the said At least one image and thus the product's position and / or orientation on or in the transport device.
    Thereby, the product p5 can be easily assigned to a relative coordinate system assigned, whosereference point, for example origin, is always at a specific point of the product andwhose orientation follows the orientation of the product.
    In a further development, the name Atminstone comprises a geometric property Atminstone part of the outer contour of the product.
    This provides a particularly advantageous way of determining the position of the productand / or orientation.
    In a further development, the calculation unit is designed to calculate at least some of the product's width, length, steering angle, or shape.
    It allows a simple comparison with a specification of the product.
    In a further development, the first lighting device comprises LEDs, whichpreferably emits pulsed light.
    It minimizes power consumption, while pulsing requires the life of the LEDs and the heat generation of the LEDs. This also reduces the heating of the first camera device in case it is located in the same stable or almost the same stable as the first lighting device.
    In a further development, the product is to be controlled by a plant oressentially flat object. The flat or substantially flat object Jr is preferably a panel.
    Thereby the invention is particularly useful in the furniture industry where many products or at least sub-products are flat or substantially flat.
    In a further development, the device comprises at least one secondlighting device. Named at least one second lighting device Jr arranged inin relation to the transport device so that light from the at least one second lighting device is reflected by the product to the first camera device.
    The calculating unit is further arranged to determine the track and holding configuration of the product on the side facing the first camera device based on said at least one image. The track and tail configuration preferably includes any neck and any spare presence and / or any neck and any track position relative to the product and / orany hAls and any savings size.
    This adds an important control function to the product control. The presence and / or position and / or size of any [Al and / or sp5r are usually crucial for the product's function.In a further development, the imaging of the first camera device takes place when bAclesaid first lighting device and said at least one second lighting deviceilluminates the product at the same timeThis ensures that the at least one geometric property and the said possible h51 and / or track configuration are in the same image and thereby in the same coordinate system, so that there is no relative error between the at least one geometric propertyand said possible h51 and / or track configuration arises.In a further development, said at least one second lighting device emits light stroboscopically.
    It allows a sharp image of the product even if it moves quickly on the conveyor belt.In a further development, the device further comprises a second camera device.
    The second camera device is arranged to take at least a picture of at least a part of the product when the product is in or on the transport device. The device further comprises a third lighting device which is arranged in relation to the transport device so that light from the third lighting device is reflected by the product to the secondthe camera device. The second camera device is then arranged on the first onethe camera device opposite the side of the product. The calculating unit is further arranged to receive at least one image of the second camera device and to determine the track and sliding configuration of the product on the side facing the second camera device based on said at least one image from the second camera device.6It is possible to detect tracks and / or slippery configuration Irk] more than one page.
    In a further development, the imaging of the second camera device is time-synchronized with the imaging of the first camera device.
    As a result, information obtained through an image can be taken from the firstthe camera device is used to increase the accuracy when the value is determined based onan image Irk] the other camera device.
    In a further development, at least one calibration object is arranged in the field of view of the other camera device.
    This further increases the accuracy and calibration accuracy.
    In a further development is the first lighting device and the possible secondthe lighting device arranged to emit light with a first wavelength or within a first wavelength range. The third lighting device is arranged to emit light with a second wavelength or within a second wavelength range. The second wavelength or the second wavelength range is different / 4 the first wavelength resp. the first v5glangdsomr5det. Thethe first camera device is then arranged to detect light substantially outside the secondv5glangden or the other v5glandsomr5det. The second camera device is then arranged to detect light substantially outside the first wavelength or the first wavelength range.
    This minimizes the amount of unwanted stray light in the camera devices.
    In a further development, the device comprises a first laser device which isarranged to project at least one first laser line onto the product substantially transverselythe direction of transport of the transport device. It is said that the at least one first laser line at least partially falls into the field of view of the first camera device. The first laser device is further arranged to form a tank triangle between said first laser device, said first camera device and the product. Preferably nothingdistance in the tank triangle substantially greater or less than another distance in the tankthe triangle. The calculating unit is further arranged to calculate a distance between the product and the first camera device based on triangulation by means of the known distance between the first camera device and the first laser device, the first7the pointing direction of the laser device and the location of the first laser line p5 said received At least one image.
    Thereby, the calculating unit can compensate for movements of the product in the direction of the first and / or the second camera device, resp. for rotations of the product which involveda distance change of at least a part of the product in relation to acamera device. PS s5 further increased the accuracy of the product control.
    In a further development, the device comprises a second laser device which is arranged to project a second laser line p5 the product substantially transverse to the transport directionof the transport device. The Ors p5 s5 set to the second laser line 5 at least partiallyends up in the field of view of the first camera device. The second laser device is furtherarranged to form a tank triangle between the second laser device, the first camera device and the product. The distance between the second laser device and the first camera device in the tank triangle is preferably substantially smaller than the two other distances in the tank triangle. The calculation unit is further arranged to calculate onedistance between the product and the first camera device at many points along itsecond laser line. The calculation of the distance is based on triangulation with the aid of the known distance between the first camera device and the second laser device, the pointing direction of the second laser device and the position of the second laser line on said received At least one image. The calculation unit is further designed to determine the depth ofany slippage or savings based on the calculated distance between the product and the firstthe camera device at many points.
    This enables further control of the product.
    In a further development, when the device comprises said At least one furtherlighting device, then the calculating unit is further arranged to identify surface damage pthe product based on p5 named Atminstone an image.
    This enables further control of the product.
    At least some of the objects are also achieved by a method for controlling a product which is transported at a transport device during or after the production process. The method comprises sending first light from at least one first side towards the product8It is stated that a part of the first light nears the product and the other part of the first light is substantially reflected from a surface which is arranged on an opposite side of the product. The method also comprises detecting a first image of the product on substantially the same side of the product as the first light was emitted from it so that the illumination angle Jrthe same or almost the same as the observation angle for each point in the field of view. The procedurealso includes extracting edge information from the first detected image and determining the shape and / or position and / or orientation of the product in the image based on the extracted edge information.
    This makes it possible to carry out the determination of the product's shape and / or positionand / or orientation p5 a space-saving set. At the same time, the determination ofthe product's shape and / or position and / or orientation through increased contrast in the image.
    In a further development, the method further comprises determining whether the geometry of the product corresponds to a predefined specification of the product based on the determined shape and / or position and / or orientation.
    This provides a space-saving and accurate product control procedure.
    Furthermore, the process ensures that a very fast result of the product control s5 that systematic production errors can be found quickly. As a result, production can be stopped quickly in the event of any errors and / or these errors Atgardas quickly.
    In a further development, the geometry of the product includes At least some ofproduct width, length, steering angle, and / or other TVDimensional geometric shape.
    It is possible to easily compare the product with a specification.
    In a further development, the method further comprises illuminating the product from one or more angles which preferably do not deviate more than 90 degrees from the direction from which the first light is emitted. The method further comprises detecting in an image, whichpreferably the first image is the light from the additional illumination of the productreflected there. The method also includes judging whether the h51 and / or spar configuration of the product corresponds to a specification of the product based on the detected image.
    This enables further control of the product.9In a further development, the h51 and / or spear configuration of the product comprises at least some of the presence, position or size of the Miens and / or spores.
    It is possible to determine most often decisive properties for a product's function.In a further development, the method comprises projecting at least one laser line intomainly transverse threshing direction p5 the product. The procedure further comprises detectingsaid, at least projected a laser line p5 an image, which preferably corresponds to the first image. The method also comprises determining an distance between an image detecting element and the product based on the detected image and triangulation and assimilating the determined distance in determining the shape of the product and / or hSI.and / or track configuration.
    This further increases the accuracy of product control.In a further development, the method comprises projecting a laser line substantially transverse to the direction of movement of the product. The method further comprises detecting the projected laser line p5 an image, which preferably corresponds to the first image. The procedure also includesto determine the aystAnd between an image detecting element and several points along itprojected the laser line based on the detected image and triangulation and am / arid the determined distances to assess whether the product's height and / or groove depth correspond to a specification of the product.
    This enables further control of the productAt least some of the objectives are also achieved through a computer program for product control, darsaid computer program includes program code for causing some of the above procedures to be performed.
    At least some of the objects are also achieved by a computer program product comprising a program code stored on a computer readable medium for performing any of the above methods.
    Has and throughout the description the terms retroreflective and 5reflect reflect that light is reflected back in the same direction as it came from, or at least almost the same direction as it came from.
    DESCRIPTION OF FIGURESFig. 1 schematically shows an embodiment of the device according to the invention.
    Fig. 2 schematically shows another embodiment of the device according to the invention.
    Fig. 3a shows a possible image of a product taken by the first camera device when the light from the first lighting device was emitted.
    Fig. 3b shows a possible picture of a product taken by the first camera device whenthe light from said at least one second lighting device was emitted.
    Fig. 3c shows a possible image of a product taken by the first camera device when the light from both the first lighting device and from the at least one second lighting device was emitted.
    Fig. 4 shows a flow chart of the method according to the invention.
    Fig. 5 shows a flow chart of a possible further development of the inventionprocedure.
    Fig. 6 shows a flow chart of a further possible further development of the method according to the invention.
    Fig. 7 shows a flow chart of a further possible further development of the method according to the invention.
    DESCRIPTION OF EMBODIMENTSThe device according to the invention is most easily described with the aid of a possible embodiment 1 which is schematically illustrated in Fig. 1. The embodiment 1 has been specially chosen so that a clearexplain the purpose and function of the invention. Not all parts of Embodiment 1 are11necessary to practice the invention. 1staIlet shows the embodiment 1 several advantageous further developments of the invention.In the possible embodiment 1, a product 20 is transported on a transport device 10, 11. In the example shown, the product is a substantially flat panel. The panel can be tra- ormetal based. The product can also be plastic-based. The panel can also consist of othersmaterial. The device can preferably be used for flat products 20.1 another example, the device can also be used for other products. In the example shown, the product 20 comprises several halls 21, of which for the sake of clarity only one hall 21 has been marked with a male reference designation. The product may also include savings. Savings and / or slips can be found onmore than one page of the product. Any hall 21 and / or savings go in one example throughoutthe product. In one example, any hall 21 and / or has a certain depth, but is not continuous, ie. one "can not look through the product".In the example shown, the transport device 10, 11 consists of a frame 10 and several rollers 11, of which, for the sake of clarity, only one roller 11 has been marked with a male reference numeral.
    The rollers 11 can in one embodiment be rotated electrically or mechanically so that a product 20 pathe rollers are displaced due to the kinetic energy transferred to the product by the rollers. In one embodiment, at least some of the rollers are connected by a band. The band is not shown in the figure. The belt can shape the connected rollers to rotate at the same speed. In this case, the transport device comprises a conveyor belt. In this case, the tape is preferably only on onecertain stall of the rollers 11, for example next to the rollers at the stand 10, said that the product20, 21 will not or substantially will not be transported on the belt. The transport device can in principle be any transport device which does not completely embrace the product. It is important that the transport device does not obscure the product p5 s5 so that the light mentioned in the following description is absorbed or reflected too much by the transport device. 1 ettFor example, the transport device 10, 11 is in a production line, e.g. afterthe product 20 has been continued with hall 21 and / or spar. That the horse product with hall 21 can, for example, be achieved by means of a drilling device. In one example, the transport device 10, 11 is located after the product has been continued with a surface treatment, for example a surface coating. In one example, the transport device was used in one step beforethe product is packaged. The product 20 may be part of a larger product and be packagedtogether with other products in a packaging device. 1 an example is the product12a part of a piece of furniture which, together with other furniture parts, must be packed after the production inspection.
    The embodiment 1 comprises a first camera device 31. The first camera device 31 comprises in embodiments several cameras. In other embodiments, the former includesthe camera device 31 and camera. Preferably, the camera / cameras are in the firstthe camera device 31 and in any additional camera devices digital cameras, for example cameras based on p5 CMOS or p5 CCD technology. In the embodiment 1, the first camera device 31 is located at a building stand 13. In other embodiments, the first camera device is located at the roof. In still other embodiments, the camera sits on the floor. INIn other embodiments, the first camera device is located at another element, e.g.at a cradle or camera stand. Said placement possibilities for the first camera device are also available for a possible second camera device or for any additional camera devices. The first camera device 31 is arranged to take at least a picture of at least a part of the product when the product is in or onthe transport device 10, 11. In other words, the first camera device 31 is arrangedIt is stated that at least a part of the product 20, 21 is in the line of sight of the first camera device 31 during the transport process. The embodiment 1 also comprises a first illumination device 30. The first illumination device 30 is arranged to emit light for detection of the first camera device 31. In the embodiment shown 1,the first lighting device 30 arranged on the same side of the product 20 as itthe first camera device 31. In one example, the first lighting device 30 comprises LEDs, which preferably emit pulsed light. By using LEDs, an energy saving can be achieved even with light bulbs, halogen lamps or similar lighting fixtures. By sending out pulsed light, the life of the LED is required. Also reducedthe heat production in the LED. The pulse frequency of the LEDs is connected tothe shooting frequency of the first lighting device 30 s5 that the LEDs emit light while the first camera device 31 is taking a picture. Another advantage of the LEDs is that the emitted light spectrum is limited compared to other light sources such as light bulbs or halogen lamps. Thereby, the first lighting device 31send out the light within a certain range that may differ from the range for13other LEDs in a possible third lighting device. The benefits of this will be explained later.
    The embodiment 1 comprises a retroreflective foil 40 which is arranged on an opposite side of the product 20, 21 in relation to the first camera device 31 and the firstside of the lighting device 30. The reflective foil 40 is arranged to reflectAt least a portion of the light emitted by the first illumination device 30 to the first camera device 31. Has, and throughout the document, the term retroreflective foil not only includes a foil but which retroreflective element is lifted.
    The first lighting device 30 in the embodiment 1 Jr arranged p5 s5 set, thatthe illumination angle is the same or almost the same as that of the first camera device 31observation angle for habit point in its image field. This means that a light beam emitted by the first lighting device 30 and reflected by the retroreflective foil 40 reaches the first camera device 31. This is achieved in the embodiment 1 in that the first lighting device 30 is arranged in a ring around the first camera device.31. As a result, the first lighting device 30 and the first camera device 31 are located in almost the same stable. In a preferred embodiment, the light reflected from the retroreflective foil 40 to the first illumination device 30 causes the taken at least one image in these stalls to be overexposed, while the light reaching the first camera device 31 by reflection from the product 20, 21 preferably leads.that the taken at least one image in these places is underexposed.
    The embodiment 1 also comprises a calculating unit, which is not shown in Fig. 1. In an example, the calculating unit is located in or near the camera device. In another example, the calculation unit p5 is located in another stable. In one example, the calculator is an external computer. In one example, the calculation unit is integrated in a possible control device forthe production process. In one example, the calculation unit is designed to communicate with oneany control device for the production process and to transfer data to it. The calculating unit is arranged to receive the at least one image from the first camera device 31. The calculating unit is further arranged to determine on the basis of the at least one image at least one geometric property of the product 20. In aexamples include said at least one geometric property at least a part of14the outer contour of the product. This is done in an example through image processing, e.g. in a software, in the calculator. If the image p5 of the stables not showing the product 20 is overexposed and p5 the stables showing the product are underexposed, s5 as described above, it is particularly easy to distinguish between image portions belonging to the product 20 and image portions not belonging toproduct 20, and p5 s5 sat determine a geometric property of product 20, toExample 5 At least a portion of the outer contour of the product. A clear example can be seen in Figure 3a.
    In one example, the calculating unit is also arranged to determine the layer of the edges of the product in said at least one image. Thus, the calculating unit can then determine the position and / or orientation p5 of the product or in the transport device.
    In order to achieve a high production rate in a production device, it is usuallyadvantageous to have high transport speeds in the transport device 10, 11, so that as many products 20 as possible can be transported through the production process during a certain period of time. However, the higher the transport speed, the easier it is for a product 20 to rotate on the transport device 10, 11. If the product is, for example, rectangular and amthe edges of the product at a certain point in the production process were parallel tothe transport device resp. perpendicular to the transport device, said rotation can lead to the edges of the product at another time being no longer parallel to the transport device resp. perpendicular to the transport device. If the calculating unit described above determines the orientation of the product, this may cause rotation of the product20 is detected.
    In one example, the calculation unit is designed to compare the product's determined At least one geometric property with a predefined specification of the product. In one example, the calculating unit is arranged to communicate to a possible control device of the production process with a certain deviation between the at least one geometricproperty and the predefined specification have been detected.In one example isthe calculating unit arranged to output a message am a certain deviation between said at least one geometric property and the predefined specification has been detected. The message can be, for example, a message to an operator. In one example, the specific position and / or orientation of the product is considered when the product's determined At least onegeometric property is compared with a predefined specification of the product. In one example,when the predefined specification is a template, the position and / or orientation of the product is adjusted by image processing so that it conforms to the template. In this way, a comparison is facilitated and deviations between the stencil and the product can be detected. In another example, a relative coordinate system is introduced for the product, where the originfor example, located at a particularly excellent point on the product, such as a horn. Then cangeometric properties of the product are described in the relative coordinate system and are compared with geometric properties in a corresponding relative coordinate system for the product specification. These examples are not exhaustive, but any other method of comparison which leads to the same or substantially the same result mayused has.
    In one example, at least one calibration object is arranged in the synthlt of the first camera device 31. It is not shown in the figure. The at least one calibration object may, for example, be arranged at the same MO as the rollers 11. In an example, the at least one calibration object is arranged between the rollers 11. In case the device comprises here acalibration objects, these calibration objects are preferably arranged in such a way that theirrelative position Jr. fixed. The at least one calibration object is preferably partially retroreflective and is arranged so that the light coming into the first illumination device 30 is reflected from the at least one calibration object to the first camera device 31. In this way, the first camera device 31 can be calibrated withoutmanual intervention in the production process.
    In one example, the calculating unit is arranged to calculate at least some of the product's width, length, steering angle, or shape. In one example, said product comprises at least one geometric property of the product, the width, length, steering angle, or shape of the product. The product's width, length, steering angle, or shape are usually decisive for the productfunctionality. Therefore, one or more of these properties may be particularly advantageous in onecomparison with a specification of the product.
    The embodiment 1 further comprises at least one second lighting device 32, 33. In the embodiment 1, the at least one second lighting device 32, 33 consists of a first and a second lighting device 32 and a second second lighting device 33.In the embodiment 1, the other lighting devices 32, 33 are fixed to the frame 10. That which16said above regarding other possibilities of positioning the first lighting device to be attached to the stand also applies to the second lighting devices 32, 33. The second lighting devices 32, 33 are arranged in relation to the transport device 10, 11 so that light from the other lighting devices 32, 33 reflected by the product 20 to itfirst camera device 31.
    In one example, the other lighting devices 32, 33 emit stroboscopic light. In particular with regard to the transport speed of the product 20, high-speed stroboscopic light is with a relatively short time of light exposure and a relatively large amount of light that the first camera device 31 can take sharp pictures of the product. It's an edge for a professional howthe amount of light and the exposure time can be adapted in relation to a certain chamber devicebecause p5 sA set -FA sharp images of an object, in which case the product has 20. Therefore, this adaptation is not described in more detail.
    In the embodiment 1, the calculating unit is further arranged to determine the spAroch h1l configuration of the product 20 on the side facing the first camera device 31. Thisdetermination is based on the at least one image. The savings and account configuration includespreferably any hollow 21 and any spare presence and / or any hollow 21 and any trace position relative to the product and / or any hollow 21 and any spare size. At least one image taken by the first camera device 31 is preferably not overexposed or underexposed when the light from the otherthe lighting devices 32, 33 are detected. Hal 21 and / or ask father pa so put another colorrespectively grAton on the rest of the product 20. This can be seen, for example, in Figure 3c. Figure 3c also shows the outer contour of the panel which is achieved by the said first and the said At least a second lighting device illuminating simultaneously. By, for example, automatic image processing which detects sufficiently strong contrast changes and / or color / shade changes can p5 sAset the presence, size and position of any hall 21 or spAr are detected. Narvaron,the size and position of any h51 21 or spAr has product is then compared in an example with a specification of the product 20. In an example p5 similar to that described above in connection with the product at least one geometric property. Also any messages to an operator and / or communication to anycontrol device for the production process can be sent based on the result of the comparison pthe same way as described above.17The embodiment 1 further comprises a first laser device 50. The first laser device 50 is arranged so as to project at least one first laser line 53 onto the product 20. The first laser device 50 is fixed at a suitable place in or after the production line. In one example, the suitable place is a stand, a cradle, the floor or the ceiling. The firstThe laser device 50 is arranged so that its distance to the first camera device 31 and the pointing direction of the first laser device 50 is known. In one example, these values are fed or determined during the installation of the device or through a calibration process. In another example, these values are determined continuously or at certain intervals during the production control. The at least one first laser line 53 is projected inessentially transverse to the transport direction of the transport device 10, 11 p5 sS sat to be mentionedat least one first laser line 53 at least partially ends up in the field of view of the first camera device 31. The at least one first laser line 53 has a path length that can be detected by the first camera device 31.
    The first laser device 50 is arranged p5 sA so that a tank triangle is formed between itthe first laser device 50, the first camera device 31 and the product 20. With otherswords constitute the first laser device 50, in particular a specific point at the first laser device 50, for example the point where the laser light leaves the first laser device, the first camera device 31, in particular a point at the first camera device 31, for example a specific point in a image sensor of the first camera device 31, andthe product 20, in particular an optional point of the at least a part of the first laser line 53which ends up on the product 20, the horns of the refueling triangle. Preferably, no distance in the tank triangle is substantially greater or less than another distance in the tank triangle. Furthermore, the calculating unit is arranged to calculate a distance between the product 20, in particular a point p5 called at least a part of the first laser line 53 which ends up onthe product 20, and the first camera device 31 based on triangulation. Thiscalculation By triangulation by means of the known distance between the first camera device 31 and the first laser device 50, the pointing direction of the first laser device 50 and the position of the first laser line 53 received at least one image. This distance can be calculated with good accuracy. The accuracy is raised the higherThe resolution form is the first camera device 31. Those skilled in the art will also appreciate thata good compromise between the accuracy and the space for the described embodiment 118would be that the length of the three sides of the thought triangle is approximately equal to 18ng. If the distance between the first camera device 31 and the first laser device is much shorter than the other two sides of the tank triangle, the accuracy is reduced. If the distance between the first camera device 31 and the first laser device 50 ismuch longer than the other tv5 sides in the imaginary triangle, the space required is increasedthe device. Those skilled in the art will appreciate to optimize the arrangement of the first camera device 31 and the first laser device 50 according to the circumstances.
    Due to the fact that high transport speeds can occur in the transport device 10, 11, the product 20 can be tilted up or down due to the action of the rollers so that, assuming a planetransport ladder and a flat product, a front edge of the product hoists slightly and a rearedge of the product sank n5got during a time in the transport process, or vice versa. However, this tilting causes the geometry of the product to change in the at least one image. For example, tilting in one example meant that the length of the product, as detected in the image, changed. In one example, the tilt changes the distance betweenthe product 20 h51 21, as detected in the image. About the requirement p5 the accuracy ofthe holding position is very stable, for example a few or a few tenths of a millimeter, or even less, such a tilting can easily affect the result of a comparison of the kind mentioned above, for example by the values determined from the calculation unit being outside the product specification. By calculating the distance between the product and itfirst camera device 31 as described above can tilt the productdetected. The calculation unit then takes into account in an example the calculated distance and corrects the determined values based on 135 said calculated distance.In one example, the calculating unit is further arranged to identify surface damage to the product 20 based on said at least one image. Preferably, the light coming from is usedthe two other lighting devices 32, 33 and which are detected by reflection pthe product 20 of the first camera unit 31. P5 s5 set is the part of the image which enables the calculating unit to detect surface damage neither overexposed nor underexposed.
    Fig. 2 shows another embodiment 2 of the device according to the invention. In this embodiment, elements with the same male reference numeral are the same as in Figsthese elements are described therefore have not once again, s5 lange function does not deviate from it19Embodiment 1. In Embodiment 2, 60 denotes a first illumination device which is adapted to emit light for detection of the first camera device 31. In Embodiment 2, the first illumination device 60 is arranged on the side opposite the first camera device 31. The first illumination device 60 preferably comprises ailluminated screen 60. The first camera device 31 then detects the light that has reached therefrom the luminous screen 60 without having been blocked by the product 20. An image similar to Fig. 3a was also placed, and the calculating unit then operates in the same manner as described in connection with embodiment 1.
    In the following, further forms of further development of the invention according to the invention are describedthe device. These further developments are not shown in Fig. 1 or Fig. 2, but are described inrelation to these in order to increase the understanding of the invention.
    In a possible further development, the device further comprises a second laser device. This second laser device is arranged to project a second laser line p5 the product substantially transverse to the transport direction of the transport device p5 s5 so that the second laser lineAt least partially falls within the field of view of the first camera device. The second laser device is further arranged to form a tank triangle between the second laser device, the first camera device and the product. The tank triangle with the second laser device is formed completely analogously to the tank triangle with the first laser device. The difference is that the distance between the second laser device and itthe first camera device in the tank triangle is preferably substantially smaller than the twoother distances in the tank triangle. The calculating unit is then further arranged to calculate a distance between the product and the first camera device at many points Wigs the second laser line based on triangulation. The triangulation is made by means of the known distance between the first camera device and the second laser device, the secondthe pointing direction of the laser device and the location of the other laser line on said receivedAt least one picture. By calculating the distance at many points along the second laser line, a height profile of the product is obtained along the second laser line. If this Ors with many other laser lines, alternatively am this Ors many times at different stalls of the product, s5 one can add the height profiles together to f5 a height profile of all or parts ofthe product. In one example, the device is configured to send the second laser line toMany stables of the product and the calculation unit are designed to calculate the distance betweenthe product and the first camera device at many points along the laser line each time the laser line is on a new stall of the product. The calculating unit is then in an example arranged to determine a height profile of all or parts of the product on the basis of the calculated distances at many points along the laser line each Ong the laser line is on a new stable ofthe product. In the further development described, the calculation unit is then further arranged todetermine the depth of any h51 or track based on the calculated distance between the product and the first camera device at many points. In one example, the calculation unit is then arranged to compare the determined h51 and / or saving depth with a specification of the product.
    By the distance between the second laser device and the first camera device inthe tank triangle is preferably substantially smaller than the two other distances in the tank triangle, the second laser device is preferably much closer to the first camera device than a possible first laser device. It has to MO that the second laser line is lighter near the bottom of any h51 and / or tracks. In particular, it is achieved in casethe product is flat or almost flat and any h51 and / or tracks are arranged at right anglesor almost perpendicular to the flat or almost flat surface of the product. Admittedly, the height resolution is predetermined, as described in connection with the first laser device, but the depth of any hSl and / or groove need not often be determined as accurately as the position and / or size of any neck and / or groove.
    In one example, the first camera device is imaged when both the first andAt least a second lighting device emits light. Figure 3c shows an image registered p5 d5 this set. In this way it is achieved to determine in the same image At least one geometric property of the product and a possible 1151 and / or trace configuration. By having your designation in the same picture, it is ensured that both names at least onegeometric property of the product and said possible h51 and / or saving configurationautomatically located in the same coordinate system. PS s5 sat no error occurs p5 due to a relative position shift.
    In one example, simultaneous registrations of the first camera device and the second camera device take place, the layer for the underside hS1 and the spoke configuration relative to the panelouter contours can be calculated.21In one example, the imaging of the first camera device does not take place at the same time when all possible lighting devices and / or laser devices emit light. In one example, the imaging of the first camera device with light emanating from the first illumination device takes place at a different time than the imaging of the first camera.the camera device with light emanating from the other lighting device. PS s5 truethe calculating unit may use one image to determine at least one geometric property of the product while the calculating unit may use the other image to determine the sliding and / or saving configuration.
    In certain situations, any discrepancies between the product and a specification ofthe product is detected in each product without the need to detect systematic deviations inproduction. Particularly in this case, the possibility of not determining all possible deviations at each imaging can be advantageous for optimizing the device's installations to detect the deviation one is most interested in for the event. A sAclan optimization is in an example the installations in the first camera device, e.g. its lighting time and / orits shooting frequency.
    In one example, the imaging takes place when the second laser device does not project said second laser line p5 the product at the same time as one or more other lighting devices and / or laser devices emit light. In this example, for example, the imaging frequency can be drastically increased so that the second laser line p5 many stalls p5 the product. In one example, it takesfirst camera device in the order of 1000 frames per second while the producttransported past the first camera device, so that p5 s5 sat obtain a height profile of all or parts of the product.
    In another further development, the device according to the invention comprises a second camera device and a third lighting device. The second camera device isarranged to take at least a picture of at least a part of the product when the product is in placein or on the transport device. The third lighting device is arranged in relation to the transport device 55 so that light from said third lighting device is reflected by the product to the second camera device. The second camera device is arranged on the side of the product opposite the first camera device.22This meant that the second camera device is arranged under the product 20 in a further development of embodiment 1 or 2. The third lighting device is then in an example arranged under the product 20. In an example, when the third lighting device is arranged under the product, s5 is the third the lighting device and the otherthe camera device arranged analogously to that described above in relation to the firstthe lighting device and the first camera device.
    In the described further development, the calculating unit is further arranged to receive at least one image of the second camera device and to determine the track and hale configuration of the product on the side facing the second camera device based on the said camera.at least one image from the other camera device. This is done completely analogously to itas described above to determine the track and / or hollow configuration of the product on the side facing the first camera device. By having the second camera device register an image at the same time as the first camera device registers an image, the tracking and / or holding configuration on the side facing the secondthe camera device is calculated relative to the outer contours of the panel.
    The first and the second camera devices are advantageously arranged so that the two camera devices occupy only a small part or no part ails of the field of view of the respective second camera device. This is achieved in one example by the small size of the camera devices. This is achieved in one example by the distance between the camera devices beinglarge. This is achieved in one example by one of the camera devices usually being disconnectedthe product in the line of sight of the other camera device. The lighting devices also have the advantage that they are advantageously not visible in the field of view of a camera device. In an example, it can achieve the same method as just described for the camera devices.
    In one example, the imaging of the second camera device is time synchronized withthe shooting of the first camera device. This allows the calculation unit to usethe determined At least one geometric property of the product obtained by said at least one image from the first camera device to obtain better or further information from said at least one image from the second camera device.
    In a further development of the invention, when it comprises a first and a secondcamera device, is the first lighting device and the said at least one23other lighting devices arranged to emit light with a first wavelength or within a first wavelength range. In one example, this is done by using a filter device in connection with the first lighting device and / or said optionally at least a second lighting device. The filter device then only passes through the said firstvAglangd or named first v5glangdsomr5de. In one example, said first includesand / or said optionally at least one second lighting device LEDs. In one example, the LEDs emit only within said first wavelength range. In said further development, the third lighting device is arranged to emit light with a second wavelength or within a second wavelength range, where the second wavelength or the secondThe length of the road is different / 4 the first length of the road resp. the first v5glangdsomr5det. Thiscan be achieved p5 the same way as for the first Aglangden, resp. first vAglangdsomrAde. The first camera device is further arranged to detect light substantially outside the second wavelength or the second wavelength range and the second camera device is further arranged to detect light substantially outside the first wavelength or the first wavelength range.v5glandsomr5det. P5 s5 set prevents the first camera device from detectingnamed light from the third lighting device. At the same time, the second camera device is prevented from detecting named light from said first and said optionally at least one second lighting device. As a result, in the said At least an image from the first camera device, one does not have to take into account the third lighting device,and in said at least one image from the second camera device need not be takenview of said first and said optionally at least one second lighting device.
    In an example of a device according to the invention which comprises rollers 11 or other elements of a transport device which can be seen when a camera device takes pictures of the product, s5 the first and / or the possible second camera device is arranged to take several pictures ofthe product. It is assumed that different parts of the product are on a roll 11 or por in another element of the transport device at different images. In this way it can be achieved that most or even all parts of the product, at least in one image, are not obscured by the transport device. The calculation unit is then in an example set up to combine these images.
    Fig. 3a shows a possible image of a product taken by the first camera device whenthe light from the first lighting device was emitted.24Fig. 3b shows a possible image of a product taken by the first camera device when the light from said At least a second lighting device was emitted.
    Fig. 3c shows a possible image of a product taken by the first camera device when the light from both the first lighting device and from the said At least a secondlighting device was sent out.
    FIG. 3a-3c, male reference numeral 311 denotes the rollers of a transport device, e.g. of a transport device 10, 11 as shown schematically in Fig. 1 or Fig. 2. In Figs. 3a-3c the product 320 and a luminous screen 340 or a retroreflective foil 340 are also shown. Figs. 3b-3c can also be seen h51 321 , of which for the sake of clarity only one h51 321 has been marked. Avena groove 322 is shown in Figs. 3b-3c.
    If the image according to Fig. 3a has been taken with a device according to the invention according to Fig. 1, the white color of the retroreflective foil 340 from the light emitted by the first illumination device has been Re-reflected from the retroreflective case mainly to the first camera device and p5 sa sat overexposed the image, while the light from the firstThe lighting device sent to the product 320 has been reflected in many different halls, inin particular away from the first camera device, where the part of the light reflected to the first camera device is very small and has thus underexposed the image. The same applies to the rollers 311 as to the product 320.
    If the image according to Fig. 3a has been taken with a device according to the invention according to Figsthe white color of the luminous screen 340 from the fact that the light clarifies directly when the firstthe camera device and thereby has overexposed the image there. The black color of the product 320 is due to the fact that the light emitted from the illuminating screen 340 has been blocked by the product 340 from reaching the first camera device, whereupon the image there has been underexposed. The same applies to the rollers 311 as to the product 320.In Fig. 3b no light has been emitted from the first lighting device, where the luminousthe screen 340 is slack and therefore dark in the picture, resp. no light was reflected from the retroreflective sheeting 340 to the first camera device. The light emitted from the second lighting device has been reflected by the product in many halls, includingthe first camera device, where the product 320 is visible in the image. The same applies to the rollers 311 as to the product 320.
    Since the situation under which the image in Fig. 3c has been taken corresponds to a combination of the situation in Fig. 3a and Fig. 3b, i.e. in Fig. 3a, the first lighting device sent outlight, in Fig. 3b the second lighting device emitted light, and in Fig. 3c it sent outfirst and the second lighting device out light, s5 is also the image in Fig. 3c a combination of the images in Fig. 3a and Fig. 3b.
    Fig. 4 shows a flow chart of the method 400 according to the invention. The method begins with step 410. In step 410, first light is sent out at least one first side towards the product p.s5 set that one part of the first light reaches the product and the other part of the first light essentiallyReflected from a surface that is to the north on an opposite side of the product. This surface is, for example, a retroreflective foil as described above in connection with embodiment 1. The expression towards the product does not mean that all emitted light should reach the product, but only that part of the emitted light should reach the product. It can be raised, for example, bythe product is located, at least in part, in a light bulb of a lighting device, whilethe product does not thank the entire light bulb. The procedure continues with step 420.
    In step 420, a first image of the product is detected on substantially the same side of the product from which the first light was emitted. The detection takes place so that the illumination angle is the same or almost the same as the observation angle for each point in the field of view. In one examplethis by the first image being detected in the same stable or at least almost the samestall like a candle glass top. In one example, the light bulb is the same light bulb as described as an example in connection with step 420. The procedure continues with step 430.
    In step 430, edge information is extracted from the first detected image. This is done in an example through image processing routines. PS an advantageous set can this informationextracted automatically. In one example, edge information includes at least one of one ormulti-edge presence, position and orientation. In one example, said one or more edges are at least one of the outer edges of the product. The procedure continues with step 440.
    In step 440, the shape and / or position and / or orientation of the product in the image is determined based on the extracted edge information.26In one example, the procedure ends after step 440. In another example, the procedure continues with step 450 after step 440.
    In step 450 it is judged whether the geometry of the product corresponds to a predefined specification of the product based on the determined shape and / or position and / orthe orientation. In one example, this is done in the same manner as described above in connection with Fig. 1and Fig. 2. In one example, the geometry of the product comprises at least some of the width, length, steering angle, and / or other two-dimensional geometric shape of the product. The procedure ends after step 450.
    In one example, method 400 includes an additional method 500 which is shown and describedin connection with Fig. 5. The method 500 is carried out in one example at the same time as the method 400. IIn one example, process 500 is performed before or after process 400. Process 500 begins with step 510.
    In step 510, the product is further illuminated from one or more angles which preferably do not deviate more than 90 degrees from the direction from which the first light is emitted. Thisadditional lighting takes place in one example at the same time as the first light is sent out. In one examplethe additional lighting does not take place at the same time as the first light is emitted. Because the direction of the light illuminating the product does not further deviate more than 90 degrees from the direction in which the first light is emitted, in many cases, especially if the product is flat or almost flat, the light from the additional illumination after reflection on the productcan be captured in the same image taken in step 420 or At least in another image taken psame stall as in step 420. The procedure continues with step 520.
    In step 520, in an image, which is preferably the first image, the light & An the additional illumination reflected by the product there is detected. If this detection takes place simultaneously, an image as in Fig. 3c can be phased. If the image is the first image, the procedure does not apply to anyjudgments in step 450 and / or in step 530 are made on the basis of the same image, and thus ofthe same time during the transport process for the product. The procedure continues with step 530.
    In step 530, it is judged whether the product's sliding and / or saving configuration corresponds to a specification of the product based on the detected image. In one example27the h51 and / or spore configuration of the product comprises at least some of the presence, position or size of the heel and / or spurs. This is done in an example 55 as described above in connection with Fig. 1 and Fig. 2.1 an example, when the image from step 520 is for example the same imageas the first image from step 420, sA mojliggiirs a assessment of the product and / ortrack configuration on the basis of the geometry assessment in step 450. 1 an example is possiblethereby relating the product and / or track configuration to the product geometry.
    Process 500 is terminated after step 530.In one example, the method according to the invention is further developed with a method 600 as illustrated in Fig. 6. The method 600 is carried out in an example at the same time as method 400.1In one example, process 600 is performed before or after process 400. Process 600 beginswith step 610.
    In step 610, at least one laser line is projected substantially transversely to the direction of motion of the product.In subsequent step 620, said projected 5 at least one laser line p5 an image is detected. The image preferably corresponds to the first image. In one example, the image is the first image. 1 ettexample If the image was taken in the same stable as the first image, preferably of the samecamera. This ensures that optical errors and / or imaging properties Jr are substantially the same in step 620 and in step 420 sA that the need for image correction is minimized.In a subsequent step 630, a distance is determined between an image detecting element and the product based on the detected image and triangulation. 1 is an advantageous exampleThe laser line is projected in step 610 so that a change in distance between an image detecting element and the product can be easily seen in the image of said detected at least one laser line. An example of how this can be done has been described in connection with Fig. 1 and Fig. 2.In a subsequent step 640, the determined distance was used in determining the productshape and / or h51 and / or track configuration. This step is performed before any step530 is performed in an optional process 500. This step is also performed, if the distance is used to determine the shape of the product, before step 440 is performed. By using the distance, in an example the values for the product's shape and / or position and / or orientation and / or halo and / or track configuration can be corrected for any tilts of the product.28or in general for any rotations of the product about axes perpendicular to the optical axis of a camera device taking said image and / or first image in one of steps 420, 520 and or 620. This has also been described in an example in connection with Fig. 1 and Fig. 2. The process 600 ends after step 640.
    In a further development of the inventive process anyands the process700. Process 700 is performed in one example at the same time as process 400. In one example, process 700 is performed before or after process 400. Process 700 begins with step 710.
    In step 710, a laser line is projected substantially transversely to the direction of motion of the product. The laser lineadvantageously constitutes a different laser line than a laser line in a possible step 610.
    In the subsequent step 720, the projected laser line is detected on an image which preferably corresponds to the first image. In one example, the image was taken in the same stable as the first image, preferably by the same camera. This leads to the same benefits discussed in step 620.
    In a subsequent step 730, a distance is determined between an image detecting element andmultiple points along the projected laser line based on the detected image and triangulation. In this way, a height profile of the product Wigs laser line is obtained in one example. In one example, one or more laser lines are used in many places on the product to obtain a height profile of all or parts of the product. An example of how this can be done has been described inin connection with Fig. 1 and Fig. 2.
    In a subsequent step 740, the determined conditions were used to assess whether the depth and / or saving depth of the product corresponded to a specification of the product. An example of how this can be done has been described in connection with Fig. 1 and Fig. 2. The procedure is completed after step 740.
    权利要求:
    Claims (26)
    [1]
    A device for product control of a product (20, 21), during or after the production process, at a transport device (10, 11) which is arranged to transport the product (20, 21) to be controlled, the device comprising: a first camera device ( 31) arranged to take at least one image of at least a part of the product (20, 21) when the product is in or on the transport device (10, 11), - a first lighting device (30; 60) arranged to send out light for detection of the first camera device (31), a calculating unit arranged to receive at least one image from the first camera device (31) and that on the basis of said at least one image determine at least one geometric property of the product (20, 21).
    [2]
    The device according to the preceding claim, wherein the first illumination device 30 is arranged on the same side of the product as the first camera device (31) and wherein the first illumination device (30) is preferably arranged in relation to the first camera device (31) so that the illumination angle is the same or almost the same as the observation angle of the first camera device (31) for each point in the image field of the camera device (31), the device further comprising a retroreflective foil (40) arranged on an opposite side of the product (20, 21) in relation to the side of the first camera device 31 and the side of the first lighting device (30), which retroreflective foil (40) is further arranged to reflect At least a part of the light emitted by the first lighting device (30) to the first camera device (31).
    [3]
    The device according to claim 2, wherein at least one calibration object Jr arranged in the field of view of the first camera device (31), said at least one calibration object preferably being partially retroreflective and arranged so that the light coming from the first illumination device (30A) is reflected. at least one calibration object to the first camera device (31).
    [4]
    The device of claim 1, wherein the first illumination device (60) is disposed on the side opposite the first camera device (31), and wherein the first illumination device (60) preferably comprises a luminous screen (60).
    [5]
    The device according to any one of the preceding claims, wherein the calculating unit is further arranged to determine the layer of the edges of the product (20, 21) in said at least one image and thus the position and / or orientation p5 of the product (20, 21) or in the transport device (10, 11) .
    [6]
    The device according to any one of the preceding claims, wherein said At least one geometric property comprises At least a part of the outer contour of the product (20).
    [7]
    The device according to any one of the preceding claims, wherein the calculating unit is arranged to calculate At least some of the width, length, steering angle, or shape of the product (20).
    [8]
    The device according to any one of the preceding claims, wherein the first lighting device (30, 60) comprises LEDs, which preferably emit pulsed light.
    [9]
    The device according to any one of the preceding claims, comprising at least one second lighting device (32, 33) arranged in relation to the transport device (10, 11) such that light from said at least one second lighting device (32, 33) is reflected by the product (20, 21) to the first camera device (31), and where the calculating unit is further arranged to determine the track and hold configuration of the product (20, 21) on the side facing the first camera device (31) based on the at least one image, where the track and the hollow configuration (21) preferably comprises any neck (21) and any spare presence and / or any hollow (21) and any spur position relative to the product and / or any hollow (21) and any spur size.
    [10]
    The device according to the preceding claim, wherein the imaging of the first camera device (31) takes place when both said first lighting device (30) and said at least one second lighting device (32, 33) illuminate the product (20, 21) simultaneously. 4. 5. 6. 7. 8. 9. 31
    [11]
    The device according to any of claims 9-10, wherein said at least one second lighting device (32, 33) emits light stroboscopically.
    [12]
    The device according to any of the preceding claims, further comprising: a second camera device arranged to take at least a picture of at least a part of the product (20, 21) when the product is in or on the transport device (10, 11); and a third lighting device arranged in relation to the transport device (10, 11) so that light from said third lighting device is reflected by the product (20, 21) to the second camera device; the second camera device being arranged on the side of the product (20, 21) opposite the first camera device (31), the calculating unit being further arranged to receive at least one image of the second camera device and to determine the saving of the product (20, 21). and hil configuration (21) on the side facing the second camera device based on said at least one image from the second camera device.
    [13]
    The device according to the preceding claim, wherein the imaging of the second camera device is time-synchronized with the imaging of the first camera device (31).
    [14]
    The device according to any one of claims 12-13, wherein the first lighting device (30; 60) and the optional second lighting device (32, 33) are arranged to emit light with a first wavelength or within a first wavelength range and where the third lighting device is arranged to send out light with a second wavelength or within a second wavelength range, where the second wavelength or the second wavelength range is different from the first wavelength resp. the first wavelength range, and where the first camera device (31) is arranged to detect light substantially outside the second wavelength or the second wavelength range and where the second camera device is arranged to detect light substantially outside the first wavelength or the first wavelength range. 32
    [15]
    The device according to any of the preceding claims, further comprising a first laser device (50) arranged to project at least one first laser line (53) onto the product (20, 21) substantially transverse to the transport direction of the transport device (10, 11) at said At least one first laser line (53) at least partially ends up in the field of view of the first camera device (31), where the first laser device (50) is further arranged to form a tank triangle between said first laser device (50), said first camera device (31) and the product (20, 21), preferably no distance in the tank triangle is substantially greater or less than another distance in the tank triangle, and wherein the calculating unit is further arranged to calculate a distance between the product (20, 21) and the first camera device ( 31) based on triangulation using the known distance between the first camera device (31) and the first laser device (50), the first laser the pointing direction of the order (50) and the position of the first laser line (53) on said received 5 at least one image.
    [16]
    The device according to the claim of further claim, further comprising a second laser device arranged to project a second laser line p5 the product (20, 21) substantially transverse to the transport direction of the transport device (10, 11) p5 so that the second laser line ends at least partially in the view of the first camera device (31), where the second laser device is further arranged to form a tank triangle between the second laser device, the first camera device (31) and the product (20, 21), the distance between the second laser device and the first camera device (31) in the tank triangle is preferably substantially smaller than the two other distances in the tank triangle, and the calculating unit is further arranged to calculate a distance between the product (20, 21) and the first camera device (31) at many points along the the second laser line based on triangulation using the known distance between the first camera device (31) and the n the second laser device, the pointing direction of the second laser device and the location of the second laser line p5 said received at least one image, and wherein the calculating unit is further arranged to determine the depth of any h51 (21) or track based on the calculated distance between the product (20, 21) and the first camera device (31) at many points.
    [17]
    The device according to any one of claims 9-15, comprising said at least one second lighting device (32, 33), wherein the calculating unit is further arranged to identify surface damage to the product based on said at least one image.
    [18]
    A method (400) for controlling a product transported at a transport device during or after the production process, the method comprising: sending first light (410) from at least one first side towards the product so that a portion of the first light reaches the product and the second part of the first light is substantially reflected back to Iran a surface arranged on an opposite side of the product; detecting a first image (420) of the product on substantially the same side of the product as the first light emitted from p5 so that the illumination angle is the same or almost the same as the observation angle of the usual point in the image field; Extracting edge information (430) from the first detected image; 2. determine the shape and / or position and / or orientation (440) of the product in the image based on the extracted edge information.
    [19]
    The method of claim 18, further comprising assessing whether the geometry of the product is consistent with a predefined specification of the product (450) based on the particular shape and / or position and / or orientation.
    [20]
    The method of claim 19, wherein the geometry of the product comprises at least some of the width, length, steering angle, and / or other two-dimensional geometric shape of the product.
    [21]
    The method of any of claims 18-20, further comprising 34 further illuminating the product (510) from one or more angles that preferably do not deviate more than 90 degrees from the direction from which the first light is emitted; detecting (520) in an image, which is preferably the first image, the light from the additional illumination reflected by the product there; that the conditions (530) whether the h51 and / or trace configuration of the product correspond to a specification of the product based on the detected image.
    [22]
    A method according to the preceding claim, wherein the tail and / or track configuration of the product comprises at least some of the presence, position or size of the heel and / or spokes.
    [23]
    The method of any of claims 18-22, further comprising: 1. projecting at least one laser line substantially transversely to the direction of motion of the product; - detecting said projected at least one laser line p5 an image, which preferably corresponds to the first image; Determining a distance between an image detecting element and the product based on the detected image and triangulation; and to am / arida the determined ayst5ndt in the determination of the product shape and / or h51 and / or spkk configuration.
    [24]
    The method of any of claims 21-23, further comprising: 1. projecting a laser line substantially transversely to the direction of motion on the product; 2. detecting the projected laser line p5 an image, which preferably corresponds to the first image; determining the distance between an image detecting element and several points Wigs the projected laser line based on the detected image and triangulation; to use the determined distances to determine whether the depth and / or saving depth of the product is in accordance with a specification of the product.
    [25]
    Computer program for product control, wherein said computer program comprises program code for causing the execution of a method according to any one of claims 18-24.
    [26]
    A computer program product comprising a program code stored on a computer readable medium for performing the method of any of claims 18-24. 1/11 4
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    同族专利:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1450427A|SE537979C2|2014-04-07|2014-04-07|Procedure for product control with camera and lighting device|SE1450427A| SE537979C2|2014-04-07|2014-04-07|Procedure for product control with camera and lighting device|
    PCT/SE2015/050403| WO2015156725A1|2014-04-07|2015-03-31|Arrangement and method for product control|
    EP15724789.1A| EP3129749A1|2014-04-07|2015-03-31|Arrangement and method for product control|
    US15/301,594| US10254234B2|2014-04-07|2015-03-31|Arrangement and method for product control|
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