3D照相机

IntroductionRangerandRulerTechnicalTraining:ApplicationEngineering2007-04-12:Page2(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)RangerandRuler:Top-of-the-line3Dcameras:DatastreamersforPC-basedvisionapplications(notstandalone):Rangeroffersworld-leadingperformancefor3DandMultiScanvision.Fullflexibilitywithgeometryandlenses:Ruleroffersfactory-calibrated3Ddatainmm,fixedgeometry,androbustIP65housingPriceofsolutionFlexibility&performanceVisionsensorsSmartcameras3Dcameras:Page3(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)ApplicationsWood:360°logmeasurement:Boardgrading:Cuttingoptimization:Barkmeasurement3DMultiScan:Page4(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)ApplicationsElectronics:BGA(BallGridArray:Ballheight:Co-planarity:Gullwings:Legheightandposition:Co-planarity:Solderpaste:Volume,height,andlocation:Substratewarpage:Componentflatness:Page5(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)ApplicationsFood:Portioning:Fishandmeatslicing:Sizemeasurement:Volume,length,width,height:Slaughtering:Positioning:Page6(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)GrayscaleScatter3DApplicationsPharmaceutical:Blisterpack:2Dgrayscalefortextreading(OCR):3Dforshapedefects:Scatterforfindingemptyblisters:MultiScanexample:Severalinspectionssimultaneouslywithonecamera:Page7(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)ApplicationsAutomotive:Tireinspection:Text(OCR):Threads:Laminatelayerassembly:Wheelrim:Typeclassification:Dimensionmeasurement:Page8(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)ApplicationsSteelandMining:Railwayandtraminspections:Railprofilewear:Bulkvolumeofcrushedstone:Productionvolumeanddeliveryverification5010015020025030050100150200250300TramrailgrooveCrushedstonetransporter:Page9(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)FunctionalOverviewHardware:PC:Camera:Laser:Encoder:Photoswitch:Page10(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)FunctionalOverviewSoftware:Visionsystemsoftwareparts:RangerStudioforsetupofimageacquisitionparameters:iConAPI(ApplicationProgrammingInterface)forcameracontrolandimageaccess:Yourownsoftwareapplicationforimageanalysis(C,C++,.NET):Page11(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)BuildingaVisionApplication:Applicationbuildingworkflow1.Findtherightwaytomountthecameraandlightings2.Configurethecameratotakegoodimages–RangerStudio3.WritethePCapplicationfortheimageanalysis–C,C++,.NET4.Integratewiththemachineincontroloftheprocess(PLC,rejectmechanism,etc)1234:Page12(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)Creating3DwithLaserTriangulation:Alaserlineisprojectedontotheobject:Thecameraseesthelaserlinefromanotherangle(viewangle):3Dcross-sectionprofileoftheobject:Theobjectmovesunderthelaserlineandmultipleprofilesarecollectedtoforma3Dimage:ScanningmethodSnapshotisnotpossibleLaserViewangleCameraFOV:Page13(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)OpticalPropertiesandDefinitions:Featuretypedeterminetheopticalapproach:Range(3D),gloss,grayscale(2D),scatter,color(R,G,B):Surfacecharacteristicsaffectfeasibility:Glossy(shiny),matte(notshiny),semi-transparent,transparent:Color–brightordark:Mattesurfacesareoftenfeasible,whereasshinyandtransparentaremoredifficult:Page14(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)OcclusionandMissingData:Occlusion:Cameraocclusion=Thelaserlineishiddenfromthecamerabehindobjectfeatures:Laserocclusion=Thelasercannotilluminatepartsbehindobjectfeatures:Missingdata:Partsoftheimagecontainnoinformationbecauseofocclusionorunderexposure:Page15(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)TriangulationGeometries:Differenttriangulationgeometriesservedifferentpurposes:Ruleofthumb:Increasedviewanglewillincreasetheheightresolution,butalsoocclusionOrdinaryReverseordinarySpecularLook-away:Page16(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)MultiScan:UniqueSICKIVPtechnology:Simultaneousscanningofdifferentfeatures:3D,2D,HiRes2D,gloss,scatter,RGB:Differentareasofthesensorareusedfordifferentpurposes3D2DScatter:Page17(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)MeasurementMethodsComponents:Differentcomponents(sensoralgorithms)fordifferentpurposes:3D–Hi3D,HorizontalThreshold,HorizontalMax,etc:2D–Gray,HiResgray:Scatter:MultiScan=SeveralcomponentsatonceComponentsParametereditor:Page18(Nameoffile).ppt:(Nameofspeaker)(Date):Department(Department)WhichCameratoChoose?:WhentochooseRanger?:SmallFOV(fieldofview)andhighestresolutionrequirements:Highestspeeds:MultiScanneeds:Specialgeometryneeded:PCapplicationneededfortheanalysistask:Mergingofimagesfromseveralcamerasneeded:WhentochooseRuler?:Toughenvironments,IP65needed:3Dandscatterisenough:Reverseordinarygeometryworks:PCapplicationneededfortheanalysistask:Mergingofimagesfromseveralcamerasnotneeded:WhentochooseIVC-3D?:Stand-aloneneeded:Mergingofimagesfromseveralcamerasnotneeded:Simplerimageprocessingneeds:Sm