CN105204840A

CN105204840A - Editing environment for machine vision system of part program

Info

Publication number: CN105204840A
Application number: CN201510334979.0A
Authority: CN
Inventors: M.德拉尼; B.E.塞勒
Original assignee: Mitutoyo Corp
Current assignee: Mitutoyo Corp
Priority date: 2014-06-17
Filing date: 2015-06-16
Publication date: 2015-12-30
Anticipated expiration: 2035-06-16
Also published as: JP6585934B2; CN105204840B; DE102015208337A1; JP2016004043A

Abstract

In a machine vision system editing environment for a part program, a continuous stream of image acquisition operations is performed in a run mode. Previously, a continuous stream of image capture operations was implemented by utilizing different programming representations in the part program and syntax for programming and grouping the image capture operations. A new general syntax and representation is utilized in which such successive image acquisition operations are recorded in the same manner as the conventional operations, and the execution of the component program is performed in two stages. First, the portion of the part program that will have a continuous image acquisition stream is scanned for image acquisition operations and the most efficient order for acquiring images is determined. Next, in performing the image acquisition, the part of the component program is scanned again, and then the image analysis operation is performed.

Description

For the editing environment of the Vision Builder for Automated Inspection of part programs

The cross reference of related application

The application is the part continuation application of U.S. Patent Application No. 13/297,220 submitted on November 15th, 2011, by reference full content disclosed in it is incorporated into this.

Technical field

The disclosure relates generally to Machine Vision Inspecting System, particularly comprises the editing environment of the part programs of continuous high speed Image Acquisition in such systems.

Background technology

The accurate dimension that precision machine vision inspection (or referred to as " vision system ") can be used for obtaining object to be detected is measured and detects other object features various.This type systematic can comprise computing machine, camera and optical system, and can move to allow camera to scan the precision surface plate of detected workpiece features in multiple directions.A commercially available exemplary prior art systems is the QUICK that the rich company of the U.S. three (MAC) being positioned at Illinois Ao Luola sells series the vision system based on personal computer (PC) and software.Such as, at the users' guidebook of QVPAK3DCNC vision measurement machine that in January, 2003 publishes, and the operating guidance of the QVPAK3DCNC vision measurement machine published in September, 1996, in QUICK series vision system and general description is carried out in the characteristic sum operation of software, and its full content is incorporated to herein accordingly by the mode quoted.Such as, microscope-type optical system can be used to provide the image of workpiece by different amplification with the product of QV-302Pro model illustration, and on demand mobile platform with the restriction making surface of the work cross any single video image.Typically, single video image only comprises a part for workpiece that is observed or that detect, and it provides enlargement factor, Measurement Resolution and the physical size restriction needed for this type systematic.

Machine Vision Inspecting System generally uses automated video to detect.U.S. Patent number 6,542,180 give instruction to each side that this type of automated video detects, and its full content is incorporated to herein by way of reference.As in ' 180 patent instructed, automated video detects gauge and usually has program capability, and it allows user, and for the configuration of each specific workpiece, definition detects sequence of events automatically.This can be programmed by text based and realize, such as, or by store by means of graphic user interface the apparatus control instruction sequence corresponding with the sequence that the detection that user performs operates and gradually " study " detect the logging mode of sequence of events and realize, or to be realized by the combination of these two kinds of methods.This logging mode is commonly called " mode of learning " or " training mode ".Once define detection sequence of events in " mode of learning ", then can use the image of this sequence automatic acquisition (and analyze in addition or detect) workpiece in " operational mode ".

Can manually use video frequency tool (or referred to as " instrument ") and other graphical user interface features to complete manual detection and/or apparatus control operation (in " manual mode ").Also its parameter arranged and operation can be recorded in mode of learning, to create autotest, or " part programs ".Such as, video frequency tool can comprise edge/boundary testing tool, auto-focusing instrument, shape or pattern match instrument, dimension measurement tool etc.Other graphical user interface features can comprise the dialog box relevant to data analysis, step and repetitive cycling programming etc.Such as, this type of instrument is generally used in various available machinery vision detection system, QUICK as discussed above the vision system of series and relevant software.

The apparatus control instruction comprising particular detection sequence of events (that is, how to obtain each image and how to analyze/detect each image obtained) is stored as usually for specific workpiece configuration specific " part programs " or " work procedure ".Such as, how part programs definition obtains each image, such as, as how what illumination level, what magnification level etc. carry out positioning shooting head relative to workpiece.Further, the image obtained is analyzed/detected to part programs definition how, such as, by using one or more video frequency tool, as edge/boundary detects video frequency tool.The ability created with the part programs of the instruction carrying out detection operation in a predetermined order can provide multiple benefit, comprise the detection that enhancing is provided repeatable, and on the Machine Vision Inspecting System of one or more compatibility, repeatedly automatically perform the ability of same part programs.

For the general machine vision detection system for various workpieces of can programming rapidly, QUICK as previously mentioned the vision system of Based PC of series, traditionally, image acquisition operations is interted with the graphical analysis operation carried out nearest obtained image and/or feature detection operation and is carried out (" interting " type that is referred to herein as operates).But, provide the demand of higher throughput growing for making general machine vision detection system.According to a kind of method, can while utilizing the continuity relative motion between camera and work piece platform by carry out Image Acquisition meet described demand (with intermittently to stop and starting relative motion contrary, this is needed for interlude operation), thus significantly improve the handling capacity of detection.This type of operation is referred to herein as the operation of continuous sports type.This will be conducive to making this type systematic comprise flash lamp illumination to assist Image Acquisition in moving continuously, and can not make image blurring.

High speed " straight " vision detection system for high-speed production lines provides continuous sports type Image Acquisition.But straight like this vision system is normally exclusively used in single production line and repeatedly repeatedly can obtains the image of " equally ", such as on transfer system for continuous print workpiece.In this case, for each image, movement velocity and flash lamp illumination parameter etc. are identical.In addition, work piece configuration and/or image acquisition parameters etc. seldom can change.Therefore, the programmed method of this type systematic can do nothing to help relatively unskilled user and carries out fast programming to unlimited various workpieces, camera position, image acquisition parameters etc.

On the contrary, experience shows that general machine vision detection system must help relatively unskilled user can carry out fast programming to unlimited various workpieces, camera position, image acquisition parameters etc.The programming that continuous sports type can not be made to operate for the programmed method before general machine vision detection system is enough simple or quick.In addition, not make to operate with interlude programming that the continuous sports type that combines operates enough simple or fast for programmed method before.Programing system and the method that can be used alone or in combination to overcome these problems and shortcoming are desirable.

At U.S. Patent number 7,590, exemplified with an exemplary art methods of some problem that can overcome in these problems and shortcoming and shortcoming in 276, the full content of this patent is incorporated to herein accordingly by the mode quoted.As described in the patent of ' 276, which provide a kind of method of component programming, it allows user easily to define multiple image acquisition operations, wherein, described image acquisition operations in mode of learning operation with nature with the relation of intuitivism apprehension can be interspersed with associated picture analysis operation.Then, in obtained part programs, automatically the image acquisition operations being used at least some image can be rearranged into continuous moving image acquisition order, it obtains image and storage figure picture, to increase the handling capacity of Machine Vision Inspecting System in the mode of " non-interspersed ".

But, as as shown in the patent of ' 276, a shortcoming of the programmed method before some is usually by analyzing the various operations inputted by user in mode of learning, the programming of " restructuring " is used to represent the image acquisition operations having achieved continuous stream with its order in part programs of grammer change or " restructuring ", thus can Image Acquisition instruction be grouped into together, multiple image is obtained to use motion continuously, and change or " restructuring " its respective image analysis instruction are to follow Image Acquisition instruction, operate in motion continuously not intert or interrupt high speed image to make described graphical analysis and obtain.Therefore, when calling part programs instruction again for editing or checking, graphical analysis instruction can be separated for its respective image with acquisition instruction.This proof can cause the puzzlement of this type of system user, be separated with image processing commands by intervening " haveing nothing to do " Image Acquisition this is because associated picture obtains with analysis instruction, when user attempts read or edit " rearranging " part programs instruction, this also can not cause inefficiency and mistake intuitively.In other words, represent for the programming rearranged image acquisition operations is grouped into together in part programs and to make with grammer the programming of this type of part programs and editor for user, become more difficult.Therefore, need to overcome the component programming grammer of these and other deficiency and editing operation and function, thus realize programming more efficiently, intuitively and flexibly and editing of the continuous image acquisition part programs being used for precision machine vision inspection.

Summary of the invention

Provide summary of the present invention, introduce the selection of concept in a simple form, and these concepts will further illustrate in the following description.The object of this summary, neither as the supplementary means determining subject area required for protection neither key feature in order to identify theme required for protection.

In various embodiments, provide a kind of editing environment of precision machine vision system, wherein in operational mode, carry out continuous or continual continuous stream image acquisition operations.Precision machine vision inspection comprises imaging moiety, for being carried on the platform of the one or more workpiece in the visual field (FOV) of described imaging moiety, control section, display and user interface.

In various embodiments, Machine Vision Inspecting System also comprises mode of learning, and it can operate to receive user and inputs with the operation of control machine vision detection system and record the instruction corresponding to controlled operation, to create part programs.Mode of learning also can operate to edit part programs, and the part programs instruction of recording before performing according to the edit pattern performed.In certain embodiments, mode of learning can comprise user interface capabilities, the parts the edited program representation of such as user's controllable flow mode instruction element and part programs instruction.User's controllable flow mode instruction element can be used for specifying stream mode section, and wherein, described stream mode section comprises the part programs section of specifying and performing for stream mode.In various embodiments, stream mode performs and can be included in continuous motion sequence and carries out image acquisition operations by sequential order, wherein platform and imaging moiety toward each other continuously or roughly continuous moving to obtain at least two images.Parts program representation can be edited comprise the Image Acquisition instruction corresponding to image acquisition operations and represent, operate corresponding graphical analysis instruction represent with graphical analysis, and stream mode segment table can be comprised in certain embodiments show.

In various embodiments, described Machine Vision Inspecting System comprises operational mode, its part programs created before can operating to perform.Described operational mode generally comprises the stream mode of the execution for performing at least some in described part programs instruction.In certain embodiments, wherein, stream mode section is defined within part programs, and described operational mode can comprise the non-stream mode of the part programs instruction for performing the stream mode section not being arranged in definition, and for the stream mode of the part programs instruction that performs the stream mode section being arranged in definition.In certain embodiments, the described non-stream mode of execution perform be not arranged in described more than first the part programs instruction of stream mode section Image Acquisition instruction and respective image analysis instruction to perform described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.

In various embodiments, configuration mode of learning can represent by the first order more than first the part programs instruction and respective image analysis instruction that comprise Image Acquisition to make editing parts program representation, wherein, described first order is corresponding to the order of the corresponding controlled operation carried out in order to create part programs.In addition, mode of learning can be configured further and perform the part programs Image Acquisition instruction of more than first part programs instruction and respective image analysis instruction to carry out image acquisition operations and respective image analysis operation by the mode with the first sequence consensus, no matter and whether more than first part programs Image Acquisition and respective image analysis instruction are included in (if defining) in stream mode section to make the edit pattern of execution.

In various embodiments, configuration operation pattern, make when more than first part programs Image Acquisition and respective image analysis instruction are included in stream mode section, make stream mode according to the second order (such as, acquiescently, or in certain embodiments, when it is included in the stream mode section of definition) perform instruction.In one embodiment, the second order comprises the instruction of execution more than first part programs Image Acquisition and obtains operation to perform its respective image by sequential order, and performs respective image analysis operation without the need to depending on.In addition, the second order also can comprise execution more than first part programs graphical analysis instruction to carry out its respective image analysis operation after its respective image of acquisition.In one embodiment, the execution of the image acquisition operations after obtaining its respective image completes in the image acquisition operations in sequential order.

In certain embodiments, wherein, described Machine Vision Inspecting System comprises flash lamp illumination or other method to allow image exposure and not fuzzy fast, complete during real continuous print motion sequence by the execution of the described image acquisition operations of sequential order, wherein said platform and described imaging moiety be continuous moving (such as, described platform is relative to described imaging moiety continuous moving) relative to each other.In some configurations, Platform movement can operate with physics travelling workpiece in surface level (such as, X-Y plane), and not mobile imaging part, but Platform movement also can operate with in the vertical direction (such as, Z-direction) mobile imaging part, and not travelling workpiece.In other configuration, Platform movement can operate with a horizontal direction (such as, X-direction) physics travelling workpiece, and not mobile imaging part, but Platform movement also can operate with in different horizontal directions (such as, Y-direction) and vertical direction (such as, Z-direction) mobile imaging part, and not travelling workpiece.In various embodiments, image acquisition operations can be carried out at least two images by motion sequence continuously.In other embodiments, wherein, described Machine Vision Inspecting System lacks flash lamp illumination, or needs to slow down or temporarily stop relative motion fuzzy with limited images, completes during roughly continuous print motion sequence by the execution of the described image acquisition operations of sequential order.Described roughly continuous print motion sequence can comprise and prevents image blurring motor performance (such as, as required by Image Acquisition order slow down or temporarily stop otherwise be continuous print motion), but do not comprise the motion delay relevant to performing graphical analysis etc.

In various embodiments, the execution that the graphical analysis after obtaining its respective image operates is perform in the sequential order in image acquisition operations at least in part.

In certain embodiments, configuration mode of learning, make call again comprise stream mode section part programs for editing time, can edit parts program representation by the first order display, and the edit pattern performed performs image acquisition operations and respective image analysis operation by the mode with the first sequence consensus.According to another aspect of the present disclosure, configuration mode of learning, make user that the part programs instruction be included in stream mode section can be selected to represent, as the position of initiating the edit pattern performing corresponding component programmed instruction, afterwards, then part programs instruction is subsequently performed by the mode with the first sequence consensus.According to another aspect of the present invention, part programs instruction is subsequently performed by the mode with the first sequence consensus.

In certain embodiments, stream mode section comprises first group of instruction and second group of instruction, first group of instruction comprises the first Image Acquisition instruction and the first graphical analysis instruction, described first graphical analysis instruction comprises the video frequency tool instruction of the first video frequency tool, and second group of instruction comprises the second Image Acquisition instruction and the second graphical analysis instruction, described second graphical analysis instruction comprises the video frequency tool instruction of the second video frequency tool, wherein in the edit pattern performed, before the second graphical analysis instruction starting the video frequency tool instruction performing the second Image Acquisition instruction and comprise the second video frequency tool, perform the first Image Acquisition instruction and comprise the first graphical analysis instruction of video frequency tool instruction of the first video frequency tool.In operational mode, due to stream mode instruction element, stream mode section is performed in stream mode, and the operational mode performed, in the execution of stream mode section, perform the first and second Image Acquisition instructions by sequential order and comprise the corresponding first and second graphical analyses operations of the video frequency tool instruction of the first and second video frequency tools without the need to depending on execution.According to another aspect of the present disclosure, the first and second video frequency tools comprise rim detection video frequency tool.

In certain embodiments, part programs also comprises non-streaming schema section, and in mode of learning, owing to lacking the stream mode instruction element being used for non-streaming schema section, non-streaming schema section and stream mode section can be distinguished, non-streaming schema section comprises the 3rd group of instruction and the 4th group of instruction, 3rd group of instruction comprises the 3rd Image Acquisition instruction and the 3rd graphical analysis instruction, described 3rd graphical analysis instruction comprises the video frequency tool instruction of the 3rd video frequency tool, and the 4th group of instruction comprises the 4th Image Acquisition instruction and the 4th graphical analysis instruction, described 4th graphical analysis instruction comprises the video frequency tool instruction of the 4th video frequency tool, wherein in the edit pattern performed, before the 4th graphical analysis instruction starting the video frequency tool instruction performing the 4th Image Acquisition instruction and comprise the 4th video frequency tool, perform the 3rd Image Acquisition instruction and comprise the 3rd graphical analysis instruction of video frequency tool instruction of the 3rd video frequency tool.In operational mode, owing to lacking the stream mode instruction element being used for non-streaming schema section, non-streaming schema section is performed in non-stream mode, and in the operational mode of non-streaming schema section performs, the third and fourth Image Acquisition instruction is performed by sequential order, and without the need to depending on the corresponding third and fourth graphical analysis operation performing and comprise the video frequency tool instruction of the third and fourth video frequency tool.

In certain embodiments, when call again comprise stream mode section part programs for editing time, can edit parts program representation by the first order display, and the edit pattern performed performs image acquisition operations and respective image analysis operation by the mode with the first sequence consensus.

In certain embodiments, in mode of learning, user can select any part programs instruction in stream mode section, as the position of execution starting parts programmed instruction, afterwards, then performs part programs instruction subsequently by the mode with the first sequence consensus.

In certain embodiments, stream mode section comprises first group of instruction and second group of instruction.First group of instruction comprises the first Image Acquisition instruction and the first graphical analysis instruction, described first graphical analysis instruction comprises the video frequency tool instruction of the first video frequency tool, and second group of instruction comprises the second Image Acquisition instruction and the second graphical analysis instruction, described second graphical analysis instruction comprises the video frequency tool instruction of the second video frequency tool.In one embodiment, in the edit pattern performed, before the second graphical analysis instruction starting the video frequency tool instruction performing the second Image Acquisition instruction and comprise the second video frequency tool, perform the first Image Acquisition instruction and comprise the first graphical analysis instruction of video frequency tool instruction of the first video frequency tool.Then, in operational mode, due to stream mode instruction element, in stream mode, perform stream mode section.In the operational mode of the execution of stream mode section, perform the first and second Image Acquisition instructions by sequential order, and without the need to depending on the corresponding first and second graphical analysis operations performing and comprise the video frequency tool instruction of the first and second video frequency tools.In one embodiment, the first and second video frequency tools comprise rim detection video frequency tool.

In certain embodiments, part programs also comprises non-streaming schema section, and in mode of learning, owing to lacking the stream mode instruction element being used for non-streaming schema section, non-streaming schema section and stream mode section can be distinguished.In one embodiment, non-streaming schema section comprises the 3rd group of instruction and the 4th group of instruction.3rd group of instruction comprises the 3rd Image Acquisition instruction and the 3rd graphical analysis instruction, it comprises the video frequency tool instruction of the 3rd video frequency tool, and the 4th group of instruction comprises the 4th Image Acquisition instruction and the 4th graphical analysis instruction, it comprises the video frequency tool instruction of the 4th video frequency tool.In the edit pattern performed, before the 4th Image Acquisition instruction starting to perform the video frequency tool instruction comprising the 4th video frequency tool and the 4th graphical analysis instruction, perform the 3rd Image Acquisition instruction and the 3rd graphical analysis instruction that comprise the video frequency tool instruction of the 3rd video frequency tool.Then, in operational mode, owing to lacking the stream mode instruction element being used for non-streaming schema section, in non-stream mode, perform non-streaming schema section.In the operational mode of non-streaming schema section performs, perform the third and fourth Image Acquisition instruction by sequential order, and without the need to depending on the corresponding third and fourth graphical analysis operation performing and comprise the video frequency tool instruction of the third and fourth video frequency tool.

In certain embodiments, in mode of learning, perform first and second groups of instructions by the first order, wherein, at least some first and second Image Acquisition instruction is interspersed with the video frequency tool instruction of the first video frequency tool and the second video frequency tool, and instruction is shown in user interface with the first order.Then, in operational mode, in stream mode, process the part programs instruction corresponding to stream mode section, thus determine to comprise the Image Acquisition instruction of first and second groups of instructions but do not comprise the image acquisition procedure of video frequency tool instruction, perform image acquisition procedure for acquisition image, and perform video frequency tool instruction while the instruction of execution video frequency tool.

In certain embodiments, in operational mode, walked abreast by the execution of the instruction of video frequency tool at least partially during stream mode section and the execution of image acquisition procedure in second time in stream mode.

In certain embodiments, in operational mode, in the execution of image acquisition procedure, the multiple Image Acquisition instruction of continuous execution, when performing multiple Image Acquisition instruction continuously, the any video frequency tool instruction interted in mode of learning does not also perform, thus performs instruction with the second order being different from the first order.

In certain embodiments, in operational mode, perform image acquisition procedure time, platform and imaging moiety relative to each other continuous moving to obtain image.

In certain embodiments, stream mode instruction is specified to represent the stream mode section of identification component program in the beginning of stream mode section and end.

In certain embodiments, in mode of learning, part programs instruction in the stream mode section of display in part programs represents is formed into has the outward appearance identical with the similar part programs instruction being positioned at stream mode section outside, make when programming to the operation being positioned at the stream mode intersegmental part outside relative with stream mode section or edit, user represents or grammer without the need to using different programmings.

Although foregoing general description highlights comprise clear and definite stream mode segment mark or the embodiment of instruction, stream mode segment mark and/or the identification of the operator scheme of separating or operations flows may be indigestions or incoherent concerning some users.Such as, stream mode performs can be available and/or can be the acquiescence that performs of operational mode on machine or unique execution pattern on all machines had by user, therefore may not need the one or more streaming mode distinguished for specific identification or reason.In certain embodiments, automatically can perform instruction and/or the operation of some or all stream mode compatibilities in stream mode during operational mode.In some implementations, this can be for operational mode perform acquiescence or uniquely arrange.In other implementation, described user can select stream mode or non-stream mode to perform the overall situation " automatically " pattern as the execution during operational mode.

In any situation, be understood that no matter whether stream mode instruction is marked explicitly in the user interface or in part programs, is defined during operational mode, indicate stream mode to perform, non-streaming edit pattern represent and many in the preceding feature that performs and benefit or all keep during mode of learning and/or editing operation concerning user be expect with useful, as what describe in further detail with reference to Fig. 6 A, 6B and 7 below.

Accompanying drawing explanation

Also above-mentioned aspect of the present invention and many bonus can more easily and be better understood by reference to the accompanying drawings with reference to detailed description below, wherein:

Fig. 1 is the figure of each typical components of versatile smart Machine Vision Inspecting System;

The control system part that Fig. 2 is the Machine Vision Inspecting System similar to the system shown in Fig. 1 and the block diagram of visual component part, and described system comprises according to function of the present invention;

Fig. 3 is the figure comprising the editing interface that part programs represents, described part programs comprises stream mode section to carry out the image acquisition operations of continuous stream in operational mode;

Fig. 4 is the figure of user interface, and described user interface comprises the part of the workpiece of the part programs step performing Fig. 3 thereon; And

Fig. 5 A and Fig. 5 B is the process flow diagram of an embodiment of routine, and described routine is used for providing editing environment for the part programs comprising stream mode section;

Fig. 6 A and 6B is the process flow diagram of an embodiment of routine, the embodiment that described routine can use the stream mode of operation to perform for realizing wherein part programs during operational mode, and represent and perform " non-stream mode " edit pattern can be used in mode of learning during; And

Fig. 7 shows compared with the stream mode performed, the sequential chart 700 of the feature of the non-stream mode of execution or an aspect of edit pattern.

Embodiment

Fig. 1 is the block diagram of an example machine vision detection system 10 that can use by method as herein described.Machine Vision Inspecting System 10 comprises vision measurement machine 12, and it is operably connected to exchange data and control signal with computer for controlling system 14.Computer for controlling system 14 is also operably connected to exchange data and control signal with monitor or display 16, printer 18, operating rod 22, keyboard 24 and mouse 26.Monitor or display 16 can show user interface, and it is applicable to the operation of control and/or programming Machine Vision Inspecting System 10.

Vision measurement machine 12 comprises removable work piece platform 32 and can comprise the optical imaging system 34 of zoom lens or interchangeable lens.The image that zoom lens or interchangeable lens can be optical imaging system 34 usually to be provided provides various enlargement factor.Machine Vision Inspecting System 10 usually can with QUICK discussed above series vision system and software, and similar state-of-the-art commercial precision machine vision inspection compares favourably.At the common U.S. Patent number 7,454,053,7,324,682,8,111,938 and 8,111 transferred the possession of, also illustrate that Machine Vision Inspecting System 10 in 905, wherein the full content of each patent is incorporated to herein by way of reference.

The control system part 120 of Fig. 2 for the Machine Vision Inspecting System 100 similar to the Machine Vision Inspecting System shown in Fig. 1 and the block diagram of visual component part 200, and described system comprises function according to the present disclosure.As described in more detail below, control system part 120 can be used for controlling visual component part 200.Visual component part 200 comprises optical components sector 205, light source 220,230 and 240 and has the work piece platform 210 of central transparent part 212.Work piece platform 210 can move in a controlled manner along the X-axis and Y-axis being arranged in plane, and the platform surface that wherein said plane and workpiece 20 may be positioned at is almost parallel.Optical components sector 205 comprises camera system 260 and interchangeable objective lens 250, and can comprise the turret lens assembly 280 with camera lens 286 and 288.As the substitute of turret lens assembly, fixing or manual interchangeable enlargement factor alter shots also can be comprised, or zoom lens configuration etc.Optical components sector 205 can use controllable motor 294 to move in a controlled manner along the Z axis substantially vertical with X-axis and Y-axis.

Machine Vision Inspecting System 100 to be used carries out the workpiece 20 of imaging or carries the pallet of multiple workpiece 20 or fixture is placed in work piece platform 210.Work piece platform 210 can be controlled to move relative to optical components sector 205, thus make to move between the position of interchangeable objective lens 250 on workpiece 20 and/or between multiple workpiece 20.One or more lamps of platform lamp 220, coaxial lights 230 and surperficial lamp 240 can send source light 222,232 or 242 respectively, thus illuminate one or more workpiece 20.Source light reflects as workpiece light 255 or transmits, and workpiece light 255 is understood by interchangeable objective lens 250 and turret lens assembly 280 and assembled by camera system 260.The image of the one or more workpiece 20 caught by camera system 260 exports control system part 120 to by signal wire 262.Light source 220,230 and 240 can be connected to control system part 120 respectively by signal wire or bus 221,231 and 241.In order to change image magnification, control system part 120 can along axle 284 rotating mirror cephali disc assembly 280 to select turret lens by signal wire or bus 281.

In various exemplary embodiments, can use controllable motor 294 that optical components sector 205 is moved at vertical Z direction of principal axis relative to work piece platform 210, and controllable motor 294 driving actuator, stube cable etc., with along Z axis moving optical assembly part 205, thus change the focus of the image of the workpiece 20 caught by camera system 260.At the axle be for focusing on the image obtained by optical components sector 205 of term Z axis used herein feeling the pulse with the finger-tip.In use, controllable motor 294 is connected to input/output interface 130 by signal wire 296.

As shown in Figure 2, in various exemplary embodiments, control system part 120 comprises controller 125, input/output interface 130, storer 140, work procedure maker and actuator 170 and power unit 190.Each assembly, and following add-on assemble, be all interconnected by one or more data/control bus and/or application programming interface, or be interconnected by directly connecting between different elements.

In various embodiment according to the present disclosure, work procedure maker and actuator 170 comprise edit segment 172, and it provides or activate the various operation relevant to editing part programs and user interface feature, hereafter will be described in more detail.It is to be understood that term " work procedure " and " part programs " can exchange use in this article.In the ordinary course of things, edit segment 172 comprises and controlling for the editing operation controller 174 of the operation of editting function, and provides the editing interface 176 of user interface feature for editting function.Work procedure maker and actuator 170 also comprise stream mode part 178, and it provides the various functions relevant to the disclosure, hereafter will be described in more detail.

As shown in Figure 2, input/output interface 130 comprises imaging control interface 131, motion interface 132, lighting control interface 133 and lens control interface 134.Although position control component 132a and speed/acceleration control element 132b can carry out merging and/or be difficult to distinguish, motion interface 132 still can comprise these elements.Lighting control interface 133 comprises Lighting control element 133a-133n, and it controls to be used for the selection of each respective sources of Machine Vision Inspecting System 100, power supply, ON/OFF and sudden strain of a muscle control burst length and to measure etc. (as being suitable for).

Storer 140 comprises image file storage area 141, can comprise the work procedure storage area 142 of one or more part programs etc. and video frequency tool part 143.Video frequency tool part 143 comprises video frequency tool part 143a and other video frequency tool part (such as, 143m), and it determines the GUI, image processing operations etc. of each corresponding video instrument.Many known video frequency tools include in available machinery vision detection system, QUICK as discussed above the vision system of series is with relevant software etc.Video frequency tool part 143 also comprises region of interest (ROI) maker 143x, and it supports automatic, the semi-automatic and/or manual operation of the various ROI of definition, and ROI can operate in being included in each video frequency tool in video frequency tool part 143.

In the ordinary course of things, storage area 140 stores data, and it can be used for operating vision system components 200 to catch or to obtain the image of workpiece 20, thus makes obtained workpiece 20 image have required characteristics of image.Storage area 140 also can store testing result data, also data can be stored, its vision detection system 100 that can be used for operating machines is with to obtained image (such as, part is implemented as video frequency tool) carry out various detection manually or automatically and measure operation, and export its result by input/output interface 130.Storage area 140 also can comprise data, the user interface that its definition operates by input/output interface 130.

Signal wire or the bus 221,231 and 241 of platform lamp 220, coaxial lights 230 and surperficial lamp 240 are connected to input/output interface 130 respectively.The signal wire 262 being derived from camera system 260 and the signal wire 296 being derived from controllable motor 294 are connected to input/output interface 130.Except carrying view data, signal wire 262 also can carry the signal being derived from the controller 125 starting Image Acquisition.

One or more display device 136 (such as, the display 16 of Fig. 1) and one or more input media 138 (such as, the operating rod 22 of Fig. 1, keyboard 24 and mouse 26) also can be connected to input/output interface 130.Display device 136 and input media 138 can be used for showing user interface, it can comprise and can be used for carrying out detection operation, and/or create and/or amendment part programs, check the image caught by camera system 260, and/or directly control the various user interface features of vision system components 200.

In various exemplary embodiments, when user uses Machine Vision Inspecting System 100 to create part programs for workpiece 20, user by automatic, semi-automatic manually instruction is clearly encoded or uses workpiece programming language and/or by mode of learning machine operated vision detection system 100 to generate instruction thus to provide required image acquisition training sequence and generating unit programmed instruction.Such as, training sequence can be included in positioning workpieces feature in the visual field (FOV), intensity level is set, focusing or automatic focus, acquisition image the analyzing and training sequence being applied to image (such as, using video frequency tool) is provided.Operate learning pattern, to catch or to record one or more sequence and to convert thereof into corresponding part programs step (such as, instruction).When execution unit program, these part programs steps can make Machine Vision Inspecting System again produce housebroken Image Acquisition and analysis operation, automatically to detect one or more workpiece 20 of the workpiece that coupling uses when creating part programs.

In titled "MachineVisionSystemProgramEditingEnvironmentIncludingRealTimeContextGenerationFeatures (including real-time context generation function of machine vision system program editing environment)" (the authorization before and open no. 2013/0123945), "MachineVisionSystemProgramEditingEnvironmentIncludingSynchronizedUserInterfaceFeatures user interface (including synchronization characteristics of the machine vision system program editing environment)" (the authorization before and open no. 2013/0125044) and "SystemandMethodUtilizingAnEditingInitializationBlockInAPartProgramEditingEnvironmentInAMachineVisionSystem (in a machine vision system used in the part program editing environment of editing system and methods of the initialization block)" (the authorization before and open no. 2013/0120567) also explains the relevant editing function, each application is submitted at the same time and by reference into this article.

Fig. 3 is the figure of editing interface 300, described editing interface 300 comprise as selectionbar 310 various measurement and/or operation selectionbar, and the edited expression of part programs 320, part programs with comprise non-streaming schema section represent 330 and stream mode segment table show that the various part programs instructions of 340 are corresponding.Non-streaming schema section represents that 330 comprise one group of part programs instruction and represent 331 and 332, and stream mode segment table shows that 340 comprise one group of part programs instruction and represent 341-349.The part programs 320 sections that stream mode section 340 performs for being designed for stream mode, as described in more detail below.With reference to Fig. 4, hereafter the operation of described particular elements programmed instruction 331-349 will be illustrated in greater detail.

Fig. 4 is the figure that user interface 400 is shown, described user interface 400 comprises the visual field window 410 with workpiece portion 415.User interface 400 also comprises various measurement as selectionbar 420 and 440 and/or operation selectionbar, in real time X-Y-Z (position) coordinate window 430, photocontrol window 450 and video frequency tool parameter box 460.As described in more detail below, the various features on workpiece 415 can be determined according to the associated components programmed instruction of Fig. 3.

Part programs instruction with reference to Fig. 3 represents that 321-350 and the respective behavior relevant to the workpiece 415 of Fig. 4 carry out description below.As shown in Figure 3, part programs 320 starts from instruction and represents 321,331 and 332, and it shows to start node, arrange lamp and to desired location mobile platform respectively.About Fig. 4, the setting of lamp is visual by the light being arranged in visual field window 410, and the movement of platform can be visual and shown in real-time X-Y-Z (position) coordinate window 430 in visual field window 410.As described in more detail below, instruction represents that 331 and 332 represent a part of 330 for non-streaming schema section, as shown in Figure 3, for stream mode segment table shows 340 after it.It is to be understood that for the purpose of illustrating, non-streaming schema section represents that 330 only comprise two instructions and represent, in more detailed embodiment, also can comprise more instruction and represent, as video frequency tool instruction expression etc., as described in more detail below.

Instruction represents that 341 for stream mode instruction element, and it specifies the beginning of stream mode section 340.Insert instruction by activating stream mode part 178 and represent 341, such as, realized by menu setecting for 360 times at programs menu.Then, instruction represents and 342,343,344 and 345 shows to have arranged enlargement factor respectively, closes path smooth, be provided with allowed motion and be provided with lamp.

Then, instruction represents that 346 point out opening circular tool to measure circular C1, as corresponding instruction represents shown in 346A-346C.More specifically, instruction represents that 346A represents measurement (such as, comprise the movement of platform to specified position and the acquisition of respective image) setting, instruction represent 346B then represent use circular tool to determine to be arranged in the marginal point of the circular C1 of obtained image.The function of circular tool and operation and other rim detection video frequency tool be prior art known and be described in detail in the list of references be incorporated to above.As shown in Figure 4, circular tool is shown in visual field window 410, and the round feature (e.g., circular C1) on coating workpieces 415.Then, represent that 346C uses the marginal point determined by circular tool to define circular C1 by instruction.

Similarly, instruction represents that 347 and 348 show opening circular tool to measure circular C2 and C3 respectively, as corresponding instruction represents shown in 347A-347C and 348A-348C.More specifically, instruction represents that 347A and 348A represents measurement (such as, comprise the movement of platform to specified position and the acquisition of respective image) setting, instruction represent 347B and 348B then represent use circular tool to determine to be arranged in the marginal point of circular C2 and C3 of obtained image.With reference to Fig. 4, this shows moveable platform, thus visual field window 415 can show it respectively from circle feature C1 to the movement of round feature C2 and C3, to obtain its respective image.Then, represent that 347C and 348C uses the marginal point determined of circular tool to define circular C2 and C3 by instruction.Instruction represents that 349 for stream mode instruction element, and it specifies the end of stream mode section 340.Instruction represents the end of 350 expression part programs.

About the original establishment of part programs 320, according to user's input (such as, if the user's input provided by user interface is with the operation of control machine vision detection system) recording-member programmed instruction in mode of learning.After this, in edit pattern, in editing interface, above-mentioned part programs instruction is provided to represent 321-350, as the editing interface 300 of Fig. 3, thus corresponding part programs instruction (such as, as with programming language write) is conveniently represented in simplified form with easy-to-use object.As described in more detail below, when in edit pattern with first order (namely, order shown in Fig. 3) when representing in stream mode section 340 part programs instruction and represent the sequence of 341-349, in operational mode, according to the disclosure, corresponding part programs instruction can be performed according to the second order.

More specifically, in one embodiment, operational mode comprises the stream mode of execution, it is applicable to the stream section be identified, and configuration flow pattern, thus process and stream mode segment table show that 340 corresponding part programs instructions are to identify the image acquisition operations being included in and flowing in section (such as, multiple image acquisition operations).Once this process allows, the image acquisition procedures of multiple image can be started.In addition, process and stream mode segment table show that 340 corresponding part programs instructions operate with the graphical analysis that the image identified Yu obtain is corresponding, once obtain its corresponding image, identified graphical analysis instruction can be started (such as, video frequency tool operates), its condition is that this interrupt images must not obtain the sequence (such as, can proceed the continuous motion for obtaining image, and operate without the need to depending on graphical analysis) operated.

As concrete example, the sequence of operation of part programs 320 performs in the following manner.Instruction for starting node represents 321, and for arrange lamp and mobile platform (its for non-streaming schema section represent 330 a part) instruction represent that 331 and 332 can perform in the order shown.As mentioned above, once reach instruction to represent 341, namely represent that stream mode segment table shows the beginning of 340, this carries out stream mode process by starting.In stream mode, first time to determine the list of image acquisition operations, then will perform list by stream mode section 340, and then, second time is operated (such as, video frequency tool operation) to start performing graphical analysis by stream mode section 340.

More specifically, first time passes through stream mode section 340, and in one embodiment, any operation obtained needed for image is all added in the list of image acquisition procedure, then ignores for the unwanted any operation of image acquisition operations.In a specific embodiment, represent that therefore 342-345 is also added in the list of operation as arranging Machine Vision Inspecting System with the instruction of the part obtaining image, it will become a part for image acquisition procedure.In contrast, represent need the part programs instruction of opening circular survey instrument represent 346 be not added into Image Acquisition example plant list in, this is because of no need of using it to obtain respective image.But, represent the setting of measuring and comprise in-position and the instruction gathering image represents that 346A is then added in the list of image acquisition procedure.The instruction using operation and the circular definition relating to circular tool is not needed to represent that 346B and 346C is to carry out Image Acquisition, therefore can represent 346B and 346C but not be added in list by ignore instruction.Instruction represents that 347 can ignore in a similar fashion, and instruction represents that 347A is added in list, and instruction represents that 347B, 347C and 348 are left in the basket and disregards, and instruction represents that 348A is added in list, and instruction represents that 348B and 348C is left in the basket disregards.

In first time by after stream mode section 340, once represent that 342-345,346A, 347A and 348A determine image acquisition procedure according to instruction, can start to perform image acquisition procedure.When performing image acquisition procedure, second time, by stream mode section 340, also performs graphical analysis operation (such as, video frequency tool operation) during this period.When second time is by stream mode section 340, in one embodiment, ignore instruction represents 342-345, and it does not comprise any graphical analysis operation.Perform instruction and represent 346, it represents that circular measurement opened by needs.

Instruction represents that 346A is particular example, and it shows Image Acquisition and graphical analysis operation, as described in more detail below.Briefly, when second time is passed through, the instruction before indicating image acquisition operations represents that 346A also shows to need load image, is graphical analysis operation, therefore also performs instruction and represents 346A.More specifically, if as mentioned above and the image acquisition procedure started has obtained instruction and represents image represented by 346A, then load image.If also do not obtain image, then temporarily stop the process that second time is passed through, until image acquisition procedure obtains image.Therefore, as instruction represents shown in 346A, some instruction represent can represent first and second times by stream mode section 340 during performed operation.

After execution instruction represents 346A, second time continues instruction by process and represents 346B and 346C, and it can carry out performing to run circular tool according to the marginal point determined by circular tool and define circular C1.Similarly, perform instruction represent 347, and if image acquisition procedure obtains image, then the instruction performing the respective image for loading circular C2 represents 347A, if also do not obtain image, then continue wait for.After execution instruction represents 347A, perform instruction and represent 347B, 347C and 348, if can respective image be obtained, then perform instruction and represent 348A, otherwise, if also do not obtain image, then continue to wait for.After execution instruction represents 348A, perform instruction and represent 348B and 348C, and instruction represents the end of 349 expression stream mode sections 340 and the end of stream mode.It is to be understood that in one embodiment, the extra-instruction after stream mode section 340 represents and is positioned at outside stream mode, and the order according to non-stream mode is performed, and the instruction element 331 and 332 of itself and non-streaming schema section 330 is similar.

It is to be understood that be conducive to the realization of some prior art for the aforesaid operations of stream mode section and editing environment.More specifically, in the realization before some, use detailed command list (CLIST) to carry out Image Acquisition, and use different and the image obtained is analyzed in detailed command list (CLIST).In order to realize continuous sports type Image Acquisition, when programming, Image Acquisition instruction is organized into independent list, and the difference programming being arranged in part programs represents and grammer.This makes the editor of corresponding component program and " misarrangement " become more difficult.More specifically, when user be back to record operate and use different programming to represent and grammer carries out the part programs of continuous sports type Image Acquisition time, determine how to edit or reprogramming to be positioned at the operation of the instruction of continuous moving image acquisition routine inside instead of its outside then more puzzling.In addition, the misarrangement of part programs is then complicated further, this is because there is no easily visual expression to the step originally performed, this thus to make to determine which result which instruction creates more difficult.

According to the disclosure, as mentioned above, provide more gratifying editing environment, wherein parts programme repertoire can be provided to show according to its original order.In addition, the instruction in stream mode section (such as, stream mode section 340) is represented to make to have represent identical outward appearance with the instruction outside stream mode section.As specific example, if instruction represents 346,346A, 346B and 346C to be recorded in outside stream mode section 340 (such as, in non-streaming schema section 330), they, except represented the expression of 341 and " involved " by instruction except, have identical outward appearance in editing interface 300.Contrast the method for above-mentioned prior art, wherein represent at stream mode intersegmental part and provide this type of instruction to represent to be different from outside programming with grammer.As mentioned above, even if also allow the misarrangement by sequential order execution unit program in the expression of the part programs 320 shown in editing interface 300 in stream mode section 340.More specifically, in debug process (such as, under edit pattern), user can select to make the instruction in stream mode section 340 represent with the first order (namely, order shown in editor's expression 300) perform by process progressively, this order is the order that instruction represents initial programming, determines which instruction represents the process causing which result to simplify.

Fig. 5 A and Fig. 5 B is process flow diagram 500A and 500B of an embodiment of routine 500, and routine is used for providing editing environment for the part programs comprising stream mode section.As shown in Figure 5A, in frame 510, provide mode of learning, it can operate to receive user and inputs with the operation of control machine vision detection system and record the instruction corresponding to controlled operation, to create part programs.Mode of learning also can operate to edit part programs and the part programs instruction of record before performing according to the edit pattern performed.

In frame 520, provide user interface feature, it comprises the parts the edited program representation of user's controllable flow mode instruction element and part programs instruction.User's controllable flow mode instruction element can be used for specifying stream mode section, and wherein, described stream mode section comprises the part programs section of specifying and performing for stream mode.Parts program representation can be edited can comprise the Image Acquisition instruction corresponding to image acquisition operations and represent, operate corresponding graphical analysis instruction with graphical analysis and to represent and stream mode segment table shows.

In the block 530, provide operational mode, its part programs created before can operating to perform, operational mode comprises the non-stream mode for performing the part programs instruction not being arranged in stream mode section, and for performing the stream mode of the part programs instruction being arranged in stream mode section.From frame 530, routine proceeds to an A, as hereafter described in more detail with reference to Fig. 5 B.

As shown in Figure 5 B, from an A, routine proceeds to frame 540.In frame 540, configuration mode of learning, thus make to edit parts program representation and can represent more than first part programs instruction and the respective image analysis instruction that comprise Image Acquisition by the first order, wherein, the first order is corresponding to the order of the corresponding controlled operation carried out in order to create part programs.Mode of learning can be configured further, thus make the edit pattern execution unit programmed instruction of execution, thus carry out image acquisition operations and respective image analysis operation by the mode with the first sequence consensus, no matter and more than first part programs instruction whether be included in stream mode section.

In frame 550, configuration operation pattern, thus when more than first part programs instruction is included in stream mode section, make stream mode perform instruction according to the second order.Second order comprises the instruction of execution more than first part programs Image Acquisition and obtains operation to perform its respective image by sequential order, and performs respective image analysis operation without the need to depending on.In one embodiment, in continuous motion sequence, image acquisition operations can be performed by sequential order.Second order also comprises execution more than first part programs graphical analysis instruction to carry out its respective image analysis operation after its respective image of acquisition.

Although aforementioned explanation has highlighted comprise clear and definite stream mode segment mark or the embodiment of instruction, the stream mode segment mark of the operator scheme of separating or operations flows and/or identify some users being indigestion or incoherent.Such as, stream mode execution can be available and/or can be the operational mode execution acquiescence on machine or unique execution pattern on all machines had by user, therefore may not need the one or more streaming mode distinguished for specific identification or reason.Therefore, such as part programs represents that the stream mode user interface of 341 represents and can be removed in certain embodiments with code signing; Such as, in the various embodiments being similar to hereinafter with reference Fig. 6,7A and 7B description.Such as, in certain embodiments, some or all stream mode compatibilities instruction and/or operation can be performed automatically in stream mode during operational mode.In some implementations, this can be for operational mode perform acquiescence or uniquely arrange.In other implementation, described user can select stream mode or non-stream mode to perform the overall situation " automatically " pattern as the execution during operational mode.

In any situation, be understood that, no matter whether stream mode instruction is marked explicitly in the user interface or in part programs, is defined during operational mode, indicate stream mode to perform, due to foregoing summary, non-streaming edit pattern represent and many in the preceding feature that performs and benefit or all keep during mode of learning and/or editing operation concerning user be expect with useful.

Usually summarize such embodiment, precision machine vision inspection can comprise imaging moiety, for being carried on the platform of the one or more workpiece in the visual field (FOV) of described imaging moiety, control section, display and user interface.Described Machine Vision Inspecting System can also comprise mode of learning, and it can operate to receive user's input to control the operation of described Machine Vision Inspecting System and to record the instruction corresponding to controlled operation, to create part programs; Can operate to edit part programs; And the part programs instruction that can operate according to record before the edit pattern execution performed.Described mode of learning can comprise user interface feature, described user interface feature comprises the parts the edited program representation of part programs instruction, and it comprises the Image Acquisition instruction corresponding to image acquisition operations and represents, operates corresponding graphical analysis instruction represent with graphical analysis.Described Machine Vision Inspecting System can also comprise operational mode, its part programs created before can operating to perform, and described operational mode comprises the stream mode for execution unit programmed instruction.Described mode of learning can be configured, described parts program representation of can editing is made to represent by the first order more than first the part programs instruction comprising Image Acquisition and respective image analysis instruction, described first order is corresponding to the order of the corresponding controlled operation performed in order to create described part programs, and the described part programs Image Acquisition instruction of described more than first the part programs instruction of the edit pattern of described execution execution and respective image analysis instruction are to perform described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.Described operational mode can be configured, described stream mode is made to perform described more than first part programs instruction according to the second order, described second order comprises the instruction of execution described more than first part programs Image Acquisition and obtains operation to perform its respective image by sequential order, and perform described respective image analysis operation without the need to depending on, and perform described more than first part programs graphical analysis instruction to perform its respective image analysis operation after its respective image of acquisition.

Fig. 6 A and 6B is for realizing process flow diagram 600A and 600B with an embodiment of the routine of just summarized consistent embodiment above, wherein, part programs generally can use the stream mode of operation to perform during operational mode, and can use more easy-to-use " non-streaming " edit pattern representing and perform during mode of learning.

As shown in Figure 6A, at frame 610, provide mode of learning, it can operate to receive user's input to control the operation of described Machine Vision Inspecting System and to record the instruction corresponding to controlled operation, to create part programs.Described mode of learning also can operate to edit part programs, and the part programs instruction of recording before performing according to the edit pattern performed.At frame 620 place, provide user interface feature, described user interface feature comprises the parts the edited program representation of part programs instruction.Described editable part programs represents that can comprise the Image Acquisition instruction corresponding to image acquisition operations represents, operates corresponding graphical analysis instruction represent with graphical analysis.At frame 630 place, provide operational mode, the part programs created before described operational mode can operate to perform, described operational mode comprises the stream mode for execution unit programmed instruction.From frame 630, described routine proceeds to A point, as described in further detail with reference to figure 6B hereinafter.

As shown in Figure 6B, from A point, described routine proceeds to frame 640.At frame 640 place, configure described mode of learning, make described parts program representation of can editing represent by the first order more than first the part programs instruction comprising Image Acquisition and respective image analysis instruction, described first order is corresponding to the order of the corresponding controlled operation performed in order to create described part programs.The described mode of learning of further configuration, makes the edit pattern of described execution perform described part programs instruction to perform described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.At frame 650 place, configure described operational mode, make described stream mode perform described more than first part programs instruction according to the second order.Described second order comprises the instruction of execution described more than first part programs Image Acquisition and obtains operation to perform its respective image by sequential order, and performs described respective image analysis operation without the need to depending on.In one embodiment, during continuous print motion sequence, image acquisition operations can be performed by sequential order.Described second order can also comprise described more than first the part programs graphical analysis instruction of execution to perform its respective image analysis operation after its respective image of acquisition.

In one embodiment, perform the instruction of described more than first part programs Image Acquisition so as with sequential order perform its respective image acquisition operation can be included in continuous print image acquisition series during perform image acquisition operations, wherein, described platform and described imaging moiety relative to each other roughly continuous moving to obtain image, except except the fuzzy required Image Acquisition motor performance of image space place limited images, and not due to the operation of the motion delay of graphical analysis operation.Such as, about the part programs 320 shown in Fig. 3, during and instruction represents the operation that 346A is corresponding, for arranging of measuring can comprise by platform movement to the position of specifying and when mobile be stopped or sufficiently slow down fuzzy with limited images time obtain corresponding image.Similar movement can be used to and instruction and represent the operation that 347A with 348A is corresponding.

Aforementioned description has highlighted wherein Machine Vision Inspecting System and has comprised flash lamp illumination or other method to allow the stream mode of part programs the term of execution image exposure and unambiguous embodiment fast.In such a system, can by the execution of the image acquisition operations of sequential order described platform and described imaging moiety relative to each other move continuously and complete during non-stop real continuous print motion sequence wherein.But, Machine Vision Inspecting System lacks flash lamp illumination or needs slow down or temporarily stop relative motion with in fuzzy other embodiment of limited images wherein, by the execution of the described image acquisition operations of described sequential order term of execution of can completing at stream mode while using roughly continuous print motion sequence, and the remarkable benefit summarized before can still be kept.In various embodiments, roughly continuous print motion sequence can comprise subsequently prevent image blurring (such as, as Image Acquisition require order slow down or temporarily stop otherwise be continuous print motion) the motor performance of necessity, but do not comprise the motion delay relevant with performing graphical analysis etc., to reduce or to minimize the overall execution time of part programs stream mode the term of execution.This idea is illustrated with reference to figure 7.

Fig. 7 is the sequential chart 700 of the feature of an aspect of the exemplary embodiment describing a non-stream mode or exemplary embodiment of edit pattern 710 and the stream mode 740 of execution performed.The time series be associated with the non-stream mode performed or edit pattern 710 does not indicate image acquisition series in succession.On the contrary, first, perform image acquisition operations 720A, it can comprise following operation: platform and imaging moiety relative to each other move feature to be placed in the visual field of imaging system; Image is provided to throw light on; And other operations needed for acquisition image.After image acquisition operations 720A, the image of this acquisition performs graphical analysis operation 730A, described graphical analysis operation 730A can comprise such as based on the operation of the rim detection of the image obtained during image acquisition operations 720A.After graphical analysis operation 730A completes, perform image acquisition operations 720B (such as, being similar to operation 720A), and after completion, perform graphical analysis operation 730B.This pattern carries out execution image acquisition operations 720C and 720D and graphical analysis operation 730C and 730D etc.Each graphical analysis operation can be interrupted and postpone Image Acquisition subsequently.When needs user action is to define image acquisition parameters, and image analysis result need evaluated with confirms the image expected proceed to definition or verify next part programs operate before produced desired analysis result time, such execution is useful and understandable during mode of learning.In such a case, picture analysis time postpones typically to be inputted by user and the global learning mode treatment of the speed governing such as assessment indistinctively.

On the contrary, the time series be associated with the stream mode 740 performed indicates image acquisition series in succession.First, the image acquisition operations 720A that image acquisition operations 720A ' can be similar in this example performs and comprises following operation: platform and imaging moiety relative to each other move feature to be placed in the visual field of imaging system; Image is provided to throw light on; And other operations needed for acquisition image.After image acquisition operations 720A ' completes, image acquisition operations 720B ' is started immediately and is performed, because the motion between images acquisition locations is normally detecting of more time-consuming in sequence and management overall throughput.Image acquisition operations 720C ' subsequently, 720D ' etc. follow similar pattern due to this reason, form image acquisition series in succession.In modern computer, can place's startup of any real time graphical analysis corresponding with any specific image after image is acquired and/or stores in memory operate.In this example, can comprise such as being included in the graphical analysis operation 730A ' of the operation of the edge detection analysis at the edge in the image of operation 720A ' (such as, to operate 730A similar or identical with graphical analysis) be activated immediately after image acquisition operations 720A ' completes, and carry out with image acquisition operations 720B ' is parallel.Graphical analysis operation 730B ', 730C ', 730D ' etc. subsequently follow similar pattern.Result is the stream mode 740 performed performs the time required for the Image Acquisition of equal number and analysis operation improvement compared to the non-stream mode performed or edit pattern 710.

Described Machine Vision Inspecting System comprises flash lamp illumination or other method to allow image exposure and in unambiguous embodiment fast wherein, can complete during stream mode 740 by the execution of the image acquisition operations of sequential order during the real continuous print motion sequence of described platform and described imaging moiety relative to each other continuous moving wherein.This is ideal situation, and typically will cause the shortest execution time.Described Machine Vision Inspecting System lacks flash lamp illumination or needs slow down or temporarily stop relative motion with in the fuzzy embodiment of limited images wherein, can complete during stream mode 740 by the execution of the described image acquisition operations of sequential order during " roughly continuous print " motion sequence.Roughly continuous print motion sequence can comprise prevent image blurring (such as, as Image Acquisition require order slow down or temporarily stop otherwise be continuous print motion) motor performance, but do not comprise the motion delay relevant to performing graphical analysis etc.Stream mode in such embodiments performs and remains useful.Experimental result shows, use stream mode 740 than use the non-stream mode that perform or edit pattern 710 perform fast roughly 40% with an example components program of the non-streaming of 16 images of the 4x4 array of the step of 1mm or " tradition " Machine Vision Inspecting System about being captured in X-Y plane, though when during roughly continuous print image acquisition series by the image acquisition operations of sequential order the term of execution temporarily stop or fully slowing down.Therefore, usually, here image acquisition operations is performed during summarized various embodiments can be included in continuous print image acquisition series, described image acquisition operations comprises at least one in following operation: (a) wherein, described platform and described imaging moiety relative to each other continuous moving to obtain the operation of image, or (b) wherein, described platform and described imaging moiety relative to each other roughly continuous moving to obtain image, except except the fuzzy required Image Acquisition motor performance of image space place limited images, and not due to the operation of the motion delay of graphical analysis operation.

Although show and described various preferred and exemplary embodiment of the present invention, it is to be understood that still without departing from the spirit and scope of the present invention, various change can be carried out to it.

Claims

1. a precision machine vision inspection, it comprises imaging moiety, for being carried on the platform of the one or more workpiece in the visual field (FOV) of described imaging moiety, control section, display and user interface, wherein, described Machine Vision Inspecting System also comprises:

Mode of learning, it can operate to receive user's input to control the operation of described Machine Vision Inspecting System and to record the instruction corresponding to controlled operation, to create part programs; Can operate to edit part programs; And the part programs instruction that can operate according to record before the edit pattern execution performed, described mode of learning comprises user interface feature, and described user interface feature comprises:

User's controllable flow mode instruction element, it can be used for specifying stream mode section, and described stream mode section comprises the part programs section being specified for stream mode and performing;

The parts the edited program representation of part programs instruction, it comprises the Image Acquisition instruction corresponding to image acquisition operations and represents, operates corresponding graphical analysis instruction represent with graphical analysis, and stream mode segment table shows; And

Operational mode, its part programs created before can operating to perform, described operational mode comprises the non-stream mode for performing the part programs instruction not being arranged in stream mode section, and for performing the stream mode of the part programs instruction being arranged in stream mode section, wherein

Configure described mode of learning, make:

Described parts program representation of editing represents by the first order more than first the part programs instruction comprising Image Acquisition and respective image analysis instruction, and described first order is corresponding to the order of the corresponding controlled operation performed in order to create described part programs;

The edit pattern of described execution performs the described part programs Image Acquisition instruction of described more than first part programs instruction and respective image analysis instruction to perform described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus, no matter and whether described more than first part programs instruction is included in stream mode section; And

Configure described operational mode, make:

When described more than first part programs instruction is included in stream mode section, described stream mode performs described more than first part programs instruction according to the second order, and described second order comprises:

Perform the instruction of described more than first part programs Image Acquisition and obtain operation to perform its respective image by sequential order, and perform described respective image analysis operation without the need to depending on, and perform described more than first part programs graphical analysis instruction to perform its respective image analysis operation after its respective image of acquisition.

2. system according to claim 1, wherein, completes during continuous print motion sequence by the execution of the described image acquisition operations of sequential order, wherein said platform and described imaging moiety relative to each other continuous moving to obtain image.

3. the system as claimed in claim 1, wherein, complete during continuous print image acquisition series by the execution of the described image acquisition operations of sequential order, wherein said platform and described imaging moiety relative to each other roughly continuous moving to obtain image, except except the fuzzy required Image Acquisition motor performance of image space place limited images, and not due to the motion delay of graphical analysis operation.

4. system according to claim 1, wherein, after its respective image of acquisition, performs the execution of described graphical analysis operation at least in part during the sequential order of image acquisition operations.

5. system according to claim 1, wherein, the non-stream mode of described execution performs the described Image Acquisition instruction not being arranged in stream mode section and the respective image analysis instruction of described more than first part programs instruction, thus performs described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.

6. system according to claim 1, wherein, configure described mode of learning, make call again comprise stream mode section part programs for editing time, can edit parts program representation described in described first order display, and the edit pattern of described execution performs described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.

7. system according to claim 1, wherein, configure described mode of learning, make user that the part programs instruction be included in stream mode section can be selected to represent, as the position of the edit pattern of the execution of initiation corresponding component programmed instruction, afterwards, part programs instruction is subsequently performed by the mode with described first sequence consensus.

8. system according to claim 7, wherein, part programs instruction subsequently described in performing by the mode with described first sequence consensus.

9. system according to claim 1, wherein, described stream mode section comprises first group of instruction and second group of instruction, described first group of instruction comprises the first Image Acquisition instruction and the first graphical analysis instruction, described first graphical analysis instruction comprises the video frequency tool instruction of the first video frequency tool, and described second group of instruction comprises the second Image Acquisition instruction and the second graphical analysis instruction, described second graphical analysis instruction comprises the video frequency tool instruction of the second video frequency tool, wherein during the edit pattern of described execution, before the second graphical analysis instruction starting the video frequency tool instruction performing described second Image Acquisition instruction and comprise described second video frequency tool, perform described first Image Acquisition instruction and comprise the first graphical analysis instruction of video frequency tool instruction of described first video frequency tool, and

During described operational mode, due to described stream mode instruction element, described stream mode section is performed in described stream mode, and during the operational mode of described stream mode section execution, perform described first and second Image Acquisition instructions by sequential order and comprise the corresponding first and second graphical analyses operations of the video frequency tool instruction of described first and second video frequency tools without the need to depending on execution.

10. system according to claim 9, wherein, described part programs also comprises non-streaming schema section, and during described mode of learning, owing to lacking the stream mode instruction element being used for described non-streaming schema section, described non-streaming schema section and described stream mode section are distinguished, described non-streaming schema section comprises the 3rd group of instruction and the 4th group of instruction, described 3rd group of instruction comprises the 3rd Image Acquisition instruction and the 3rd graphical analysis instruction, described 3rd graphical analysis instruction comprises the video frequency tool instruction of the 3rd video frequency tool, and described 4th group of instruction comprises the 4th Image Acquisition instruction and the 4th graphical analysis instruction, described 4th graphical analysis instruction comprises the video frequency tool instruction of the 4th video frequency tool, wherein during the edit pattern of described execution, before the 4th graphical analysis instruction starting the video frequency tool instruction performing described 4th Image Acquisition instruction and comprise described 4th video frequency tool, perform described 3rd Image Acquisition instruction and comprise the 3rd graphical analysis instruction of video frequency tool instruction of described 3rd video frequency tool, and

During described operational mode, owing to lacking the stream mode instruction element being used for described non-streaming schema section, described non-streaming schema section is performed in described non-stream mode, and during the operational mode of described non-streaming schema section execution, perform described third and fourth Image Acquisition instruction by sequential order and comprise the corresponding third and fourth graphical analysis operation of the video frequency tool instruction of described third and fourth video frequency tool without the need to depending on execution.

11. systems according to claim 9, wherein, described first and second video frequency tools comprise rim detection video frequency tool.

12. systems according to claim 9, wherein, during described mode of learning, described first and second groups of instructions are performed by described first order, at least some in wherein said first and second Image Acquisition instructions is interspersed with the described video frequency tool instruction of described first video frequency tool and described second video frequency tool, and described instruction is shown in described user interface with described first order; And

During described operational mode, the described part programs instruction that process is corresponding to described stream mode section in described stream mode, thus determine to comprise the described Image Acquisition instruction of described first and second groups of instructions but do not comprise the image acquisition procedure of described video frequency tool instruction, perform described image acquisition procedure for acquisition image, and perform described video frequency tool instruction while the described image acquisition procedure of execution.

13. systems according to claim 12, wherein, during described operational mode, second time having walked abreast with the execution of described image acquisition procedure at least partially by the execution of the described video frequency tool instruction during described stream mode section in described stream mode.

14. systems according to claim 12, wherein, during described operational mode, described image acquisition procedure the term of execution, the multiple described Image Acquisition instruction of continuous execution, performing between multiple described Image Acquisition order period continuously, any video frequency tool instruction interted during described mode of learning does not also perform, and makes described second order by being different from described first order perform described instruction.

15. systems according to claim 12, wherein, during described operational mode, perform described image acquisition procedure time, described platform and described imaging moiety relative to each other continuous moving to obtain image.

16. systems according to claim 1, wherein, represent the described stream mode section identifying described part programs in the beginning of described stream mode section and end's stream mode instruction.

17. systems according to claim 1, wherein, during described mode of learning, described part programs instruction in the described stream mode section of display in part programs represents is formed into has the outward appearance identical with the similar part programs instruction being positioned at described stream mode section outside, make when programming to the operation being positioned at the described stream mode intersegmental part outside relative with described stream mode section or edit, user represents or grammer without the need to using different programmings.

18. 1 kinds for operating the method for precision machine vision inspection, described system comprises imaging moiety, for being carried on the platform of the one or more workpiece in the visual field (FOV) of described imaging moiety, control section, display and user interface, described method comprises:

There is provided mode of learning, it can operate to receive user's input to control the operation of described Machine Vision Inspecting System and to record the instruction corresponding to controlled operation, to create part programs; Can operate to edit part programs; And the part programs instruction that can operate according to record before the edit pattern execution performed, described mode of learning comprises user interface feature, and described user interface feature comprises:

Operational mode is provided, its part programs created before can operating to perform, described operational mode comprises the non-stream mode for performing the part programs instruction not being arranged in stream mode section, and for performing the stream mode of the part programs instruction being arranged in stream mode section, wherein

Configure described mode of learning, make:

Described parts program representation of editing represents more than first part programs Image Acquisition and respective image analysis instruction by the first order, and described first order is corresponding to the order of the corresponding controlled operation performed in order to create described part programs;

The edit pattern of described execution performs the described part programs Image Acquisition instruction of described more than first part programs instruction and respective image analysis instruction to perform described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus, no matter and whether described more than first part programs image command is included in stream mode section;

Configure described operational mode, make:

19. methods according to claim 18, wherein, when call again comprise stream mode section part programs for editing time, can edit parts program representation described in described first order display, and the edit pattern of described execution performs described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.

20. methods as claimed in claim 18, wherein, perform the instruction of described more than first part programs Image Acquisition so as with sequential order perform its respective image acquisition operation be included in continuous print image acquisition series during perform image acquisition operations, described image acquisition operations comprises at least one in following operation: (a) wherein, described platform and described imaging moiety relative to each other continuous moving to obtain the operation of image, or (b) wherein, described platform and described imaging moiety relative to each other roughly continuous moving to obtain image, except except the fuzzy required Image Acquisition motor performance of image space place limited images, and not due to the operation of the motion delay of graphical analysis operation.

21. 1 kinds of precision machine vision inspection, it comprises imaging moiety, for being carried on the platform of the one or more workpiece in the visual field (FOV) of described imaging moiety, control section, display and user interface, wherein, described Machine Vision Inspecting System also comprises:

The parts the edited program representation of part programs instruction, it comprises the Image Acquisition instruction corresponding to image acquisition operations and represents, operates corresponding graphical analysis instruction represent with graphical analysis; And

Operational mode, its part programs created before can operating to perform, described operational mode comprises the stream mode for execution unit programmed instruction, wherein,

Configure described mode of learning, make:

Described parts program representation of editing represents by the first order more than first the part programs instruction comprising Image Acquisition and respective image analysis instruction, and described first order is corresponding to the order of the corresponding controlled operation performed in order to create described part programs; And

The described part programs Image Acquisition instruction of described more than first the part programs instruction of edit pattern execution of described execution and respective image analysis instruction are to perform described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus; And

Configure described operational mode, make:

Described stream mode performs described more than first part programs instruction according to the second order, and described second order comprises:

22. systems as claimed in claim 21, wherein, complete during continuous print image acquisition series by the execution of the described image acquisition operations of sequential order, described continuous print image acquisition series comprises at least one in following operation: (a) wherein, described platform and described imaging moiety relative to each other continuous moving to obtain the operation of image, or (b) wherein, described platform and described imaging moiety relative to each other roughly continuous moving to obtain image, except except the fuzzy required Image Acquisition motor performance of image space place limited images, and not due to the operation of the motion delay of graphical analysis operation.

23. systems according to claim 21, wherein, after its respective image of acquisition, perform the execution of described graphical analysis operation at least in part during the sequential order of image acquisition operations.

24. systems according to claim 21, wherein, configure described mode of learning, when the part programs making to use stream mode to perform during being invoked at operational mode is again for editing, can edit parts program representation described in described first order display, and the edit pattern of described execution performs described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.

25. systems as claimed in claim 21, wherein, the part programs using described stream mode to perform during operational mode comprises first group of instruction and second group of instruction, described first group of instruction comprises the first Image Acquisition instruction and the first graphical analysis instruction, described first graphical analysis instruction comprises the video frequency tool instruction of the first video frequency tool, and described second group of instruction comprises the second Image Acquisition instruction and the second graphical analysis instruction, described second graphical analysis instruction comprises the video frequency tool instruction of the second video frequency tool, wherein in the edit pattern of described execution, before the second graphical analysis instruction starting the video frequency tool instruction performing described second Image Acquisition instruction and comprise described second video frequency tool, perform described first Image Acquisition instruction and comprise the first graphical analysis instruction of video frequency tool instruction of described first video frequency tool, and

During described operational mode, described part programs is performed in described stream mode, wherein, perform described first and second Image Acquisition instructions by sequential order and comprise the corresponding first and second graphical analyses operations of the video frequency tool instruction of described first and second video frequency tools without the need to depending on execution.

26. systems according to claim 25, wherein, during described mode of learning, described first and second groups of instructions are performed by described first order, at least some in wherein said first and second Image Acquisition instructions is interspersed with the described video frequency tool instruction of described first video frequency tool and described second video frequency tool, and described instruction is shown in described user interface with described first order; And

During described operational mode, processing said components programmed instruction, thus determine to comprise the described Image Acquisition instruction of described first and second groups of instructions but do not comprise image acquisition series or the routine of described video frequency tool instruction, perform described image acquisition series or routine for acquisition image, and perform described video frequency tool instruction while the described image acquisition series of execution or routine.

27. systems as claimed in claim 21, wherein:

Described mode of learning comprises user interface feature, and described user interface feature also comprises user's controllable flow mode instruction element, and it can be used for specifying stream mode section, and described stream mode section comprises the part programs section being specified for stream mode and performing;

The parts the edited program representation of described part programs instruction also comprises stream mode segment table and shows;

Described operational mode also comprises the non-stream mode for performing the part programs instruction not being arranged in stream mode section except described stream mode, and described stream mode is used to perform the part programs instruction being arranged in stream mode section;

During mode of learning, the edit pattern of described execution performs the described part programs Image Acquisition instruction of described more than first part programs instruction and respective image analysis instruction to perform described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus, no matter and whether described more than first part programs instruction is included in stream mode section; And

During described operational mode, described stream mode is only included in described more than first part programs instruction in the condition in stream mode section and performs described more than first part programs instruction according to described second order.

28. 1 kinds for operating the method for precision machine vision inspection, described system comprises imaging moiety, for being carried on the platform of the one or more workpiece in the visual field (FOV) of described imaging moiety, control section, display and user interface, described method comprises:

There is provided operational mode, its part programs created before can operating to perform, described operational mode comprises the stream mode for execution unit programmed instruction, wherein,

Configure described mode of learning, make:

Configure described operational mode, make:

29. methods as claimed in claim 28, wherein, complete during continuous print image acquisition series by the execution of the described image acquisition operations of sequential order, described continuous print image acquisition series comprises at least one in following operation: (a) wherein, described platform and described imaging moiety relative to each other continuous moving to obtain the operation of image, or (b) wherein, described platform and described imaging moiety relative to each other roughly continuous moving to obtain image, except except the fuzzy required Image Acquisition motor performance of image space place limited images, and not due to the operation of the motion delay of graphical analysis operation.

30. methods according to claim 28, wherein, after its respective image of acquisition, perform the execution of described graphical analysis operation at least in part during the sequential order of image acquisition operations.

31. methods according to claim 28, wherein, configure described mode of learning, when the part programs making to use stream mode to perform during being invoked at operational mode is again for editing, can edit parts program representation described in described first order display, and the edit pattern of described execution performs described image acquisition operations and respective image analysis operation by the mode with described first sequence consensus.

32. methods as claimed in claim 28, wherein, the part programs using described stream mode to perform during operational mode comprises first group of instruction and second group of instruction, described first group of instruction comprises the first Image Acquisition instruction and the first graphical analysis instruction, described first graphical analysis instruction comprises the video frequency tool instruction of the first video frequency tool, and described second group of instruction comprises the second Image Acquisition instruction and the second graphical analysis instruction, described second graphical analysis instruction comprises the video frequency tool instruction of the second video frequency tool, wherein in the edit pattern of described execution, before the second graphical analysis instruction starting the video frequency tool instruction performing described second Image Acquisition instruction and comprise described second video frequency tool, perform described first Image Acquisition instruction and comprise the first graphical analysis instruction of video frequency tool instruction of described first video frequency tool, and

33. methods according to claim 32, wherein, during described mode of learning, described first and second groups of instructions are performed by described first order, at least some in wherein said first and second Image Acquisition instructions is interspersed with the described video frequency tool instruction of described first video frequency tool and described second video frequency tool, and described instruction is shown in described user interface with described first order; And

During described operational mode, processing said components programmed instruction, thus determine to comprise the described Image Acquisition instruction of described first and second groups of instructions but do not comprise image acquisition series or the routine of described video frequency tool instruction, perform described image acquisition procedure for acquisition image, and perform described video frequency tool instruction while the described image acquisition procedure of execution.