TWI564555B - Omnidirectional reflecting and image capturing module and omnidirectional reflecting and image capturing method - Google Patents

Description

Full-circumference reflection imaging module and full-circumferential reflection imaging method

The invention relates to a reflection imaging module and a reflection imaging method, and in particular to a full-circumference reflection imaging module and a full-circumference reflection imaging method.

In recent years, for the detection method of the appearance of the product, for example, detecting the maturity of the fruit or detecting the flaw of the workpiece, many devices and methods for taking the image by the image taking component (for example, a camera) and detecting the appearance of the product are increasingly The more popular, the technology to detect the appearance of the product by the human eye, and improve the accuracy of detection. For example, by taking an image of the product by the image capturing component, a partial or overall image of the product can be known, and then the processing unit or the related software can perform the required analysis to determine whether the appearance of the product is flawed.

In order to obtain an overall image of the product to determine the overall appearance of the object to be tested, it is common practice to use one of the single image capturing unit and the product to move relative to the other, so that the single image capturing unit can successively access the product from a plurality of different directions. Take the image. or At present, there is also a practice of directly taking images from multiple directions of the product by using multiple image capturing units. In addition, it is currently practiced to make the product roll (for example, placing the fruit on a conveyor belt) and adjust the angle by itself, and the image taking unit to image multiple parts of the product one by one. However, the above practice usually requires placing the product on the platform so that the product is partially shielded, thereby affecting the integrity of the product image obtained by the image taking component. Further, in the practice of causing the product to roll and take an image, the product is liable to be damaged during the image capturing process due to rolling.

The invention provides a full-circumference reflection imaging module and a full-circumference reflection imaging method, which is suitable for obtaining a full-circumference image of an object to be tested without contacting the object to be tested, so as to prevent the object to be tested from being in the image capturing process. Damage is generated, and the locality of the object to be tested is prevented from being obscured to affect the integrity of the image of the whole week.

The full-circumference reflection imaging module of the present invention is adapted to obtain a full-circumference image of an object to be tested. The full-circumference reflection imaging module includes a full-circumference mirror group and an image capturing unit. The full perimeter mirror set has an annular reflective area. The full-circumference mirror group and the object to be tested are adapted to move relative to each other, so that the object to be tested passes through the annular reflection area, and the entire circumference mirror group reflects the appearance of the object to be tested corresponding to the annular reflection area. The image capturing unit is disposed on one side of the full-circumference mirror group, and is adapted to obtain a full-circumferential image obtained by reflecting the appearance of the object to be tested corresponding to the annular reflection region by the entire peripheral mirror group from below the object to be tested. .

The full-circumferential reflection imaging method of the present invention is suitable for obtaining a full-circumference image of a test object. The full-circumferential reflection imaging method includes the following steps: relatively moving a full-circumference mirror The group and the object to be tested pass the object to be tested through an annular reflection area of the full-circumference mirror group, and reflect the appearance of the object to be tested corresponding to the annular reflection area by the full-circumference mirror group. A full-circumference image obtained by reflecting the appearance of the object to be tested corresponding to the annular reflection region by the entire peripheral mirror group is obtained from the lower side of the object to be tested by an image capturing unit.

Based on the above, in the full-circumference reflection imaging module and the full-circumference imaging method of the present invention, the whole-peripheral mirror group and the object to be tested are adapted to be relatively moved, so that the object to be tested passes through the annular reflection of the full-circumference mirror group. The region, and the full-circumference mirror group thereby reflects the appearance of the object to be tested corresponding to the annular reflective region. Thereafter, the image capturing unit is adapted to obtain, from the lower side of the object to be tested, a full-circumferential image obtained by reflecting the appearance of the object to be tested corresponding to the annular reflection region by the entire peripheral mirror group. Accordingly, the full-circumference reflection imaging module and the full-circumference imaging method of the present invention are suitable for obtaining a full-circumference image of the object to be tested without contacting the object to be tested, so as to prevent the object to be detected from being generated during the image capturing process. Damage can also prevent the locality of the object to be tested from being obscured and affecting the integrity of the image throughout the week.

In order to make the above-described features of the present invention more comprehensible, the following detailed description of the embodiments will be described in detail below.

50, 50a‧‧‧Test objects

100, 100a‧‧‧ full-circumference reflex imaging module

110‧‧‧Full-Circumference Mirror Set

112‧‧‧Circular reflection area

114‧‧‧ annular mirror

114a‧‧‧reflecting surface

120‧‧‧Image capture unit

130‧‧‧Processing unit

140, 140a‧‧‧ mobile unit

150‧‧‧Auxiliary light source

A, A1 to A6‧‧‧ full week images

B‧‧‧Bottom image

D‧‧‧ normal direction

D1, D2‧‧‧ black spots

P1 to P6‧‧‧ image taking position

θ‧‧‧Tilt angle

1 is a perspective view of a full-circumference reflection imaging module according to an embodiment of the present invention.

2 is a side elevational view of the full-circumference reflection imaging module of FIG. 1.

3 is a schematic view of the full-circumference mirror assembly of FIG. 1.

4 is a schematic diagram of a full-circumference image acquired by the full-circumference reflection imaging module of FIG. 1.

FIG. 5 is a side elevational view of a full-circumference reflection imaging module according to another embodiment of the present invention.

6 is a flow chart of a full-circumference reflection imaging method according to an embodiment of the present invention.

7 is a flow chart of a full-circumference reflection imaging method according to another embodiment of the present invention.

FIG. 8 is a schematic diagram of a multi-segment full-circle image obtained by the full-circumference reflection imaging method of FIG. 7. FIG.

FIG. 9 is a schematic exploded view of the multi-segment full-circumference image of FIG. 8 via binarization.

1 is a perspective view of a full-circumference reflection imaging module according to an embodiment of the present invention. 2 is a side elevational view of the full-circumference reflection imaging module of FIG. 1. 3 is a schematic view of the full-circumference mirror assembly of FIG. 1. 4 is a schematic diagram of a full-circumference image acquired by the full-circumference reflection imaging module of FIG. 1. Referring to FIG. 1 to FIG. 4 , in the embodiment, the full-circumference reflection imaging module 100 is adapted to obtain the full-circumference image A of the object to be tested 50 (shown in FIG. 2 ) (shown in FIG. 4 ). The full-circumference reflection imaging module 100 includes a full-circumference mirror group 110, an image capturing unit 120, and a processing unit 130. The full perimeter mirror set 110 has an annular reflective region 112. The full-circumference mirror group 110 and the object to be tested 50 are adapted to move relative to each other, so that the object to be tested 50 passes through the annular reflection region 112, and the entire circumference mirror group 110 reflects the appearance of the object to be tested 50 corresponding to the annular reflection region 112. The image capturing unit 120 is disposed on one side of the full-circumference mirror group 110, and is adapted to obtain, from the lower side of the object to be tested 50, the appearance of the object to be tested 50 reflected by the full-circumference mirror group 110 corresponding to the appearance of the annular reflection region 112. The full week image A obtained. The processing unit 130 is electrically connected to the image capturing unit 120 to be based on the full-circumference image. A detecting the object to be tested 50 corresponds to the appearance of the annular reflection region 112.

Specifically, in the present embodiment, the full-circumferance mirror group 110 includes an annular mirror 114. The annular mirror 114 is annular and has a continuous reflecting surface 114a to constitute an annular reflecting region 112. However, in other embodiments not shown, the full-circumference mirror group may also adopt a plurality of mirrors arranged closely to each other to form an annular reflection region 112 to reflect the appearance of the object to be tested 50 corresponding to the annular reflection region 112. The invention does not limit the components that make up the annular reflective region 112. Furthermore, the reflecting surface 114a is inclined toward the image capturing unit 120, for example, the inclination angle θ between the reflecting surface 114a and the horizontal reference surface not shown is between 10 degrees and 80 degrees, but the present invention does not For the limit. As such, the annular mirror 114 can reflect the appearance of the object to be tested 50 corresponding to the annular reflection region 112 to the image capturing unit 120 by the reflecting surface 114a. It can be seen that, by the arrangement of the annular reflection area 112, when the whole-circumference mirror group 110 and the object to be tested 50 relatively move, the object to be tested 50 can pass through the annular reflection area 112, so that the whole-circumferential mirror group 110 Thereby, the reflection object 50 corresponds to the appearance of the annular reflection region 112. Wherein, in the embodiment, the object to be tested 50 is not in contact with the full-circumference mirror group 110. That is, when the whole-peripheral mirror group 110 and the object to be tested 50 are relatively moved, and the object to be tested 50 passes through the annular reflection region 112, the object to be tested 50 does not contact the annular mirror 114 constituting the annular reflection region 112. So that the annular mirror 114 can reflect the appearance of the object to be tested 50 corresponding to the annular reflective region 112. In addition, in this embodiment, the image capturing unit 120 is, for example, a charge coupled device (CCD) camera or other suitable camera for obtaining an image reflected by the entire peripheral mirror group 110, but The invention does not limit the kind of the image capturing unit 120. When the full perimeter mirror set 110 is used After the annular mirror 114 reflects the appearance of the object to be tested 50 corresponding to the annular reflection region 112 to the image capturing unit 120, the image capturing unit 120 can obtain the full-circumference image A of the object to be tested 50 from below the object to be tested 50.

Further, when the object to be tested 50 moves relative to the full-circumference mirror group 110 and the object to be tested 50 passes through the annular reflection region 112 (as shown in FIG. 2), the image capturing unit 120 can directly measure from the object to be tested. The bottom image B of the object to be tested 50 is obtained under the object 50, and the full-circumference image A of the object to be tested 50 is obtained by reflecting the appearance of the object to be tested 50 corresponding to the annular reflection region 112 by the full-circumference mirror group 110 ( As shown in Figure 4). The bottom image B is an image obtained by converting the bottom appearance of the object to be tested 50, and is taken directly from the bottom of the object to be tested 50 by the image capturing unit 120. Thereby, the bottom image B can be used to calculate the outer diameter, size or related parameters of the object to be tested 50 for classification or classification of the object to be tested 50. Furthermore, the full-circumference image A is an image in which the object to be tested 50 is converted corresponding to the appearance of the annular reflection region 112. Since the annular reflection area 112 surrounds the object to be tested 50 when the object to be tested 50 passes, the full-circumference image A obtained by the image capturing unit 120 is 360 degrees of the object to be tested 50 corresponding to the annular reflection area 112. Exterior. Further, in the present embodiment, the object to be tested 50 substantially presents a specific color. After the image capturing unit 120 obtains the full-circumference image A of the object to be tested 50 from the lower side of the object to be tested 50, the processing unit 130 detects that the object to be tested 50 corresponds to the ring by determining the proportion of the specific color in the full-circumference image A. The appearance of the reflective region 112 is, for example, determined whether the proportion of the specific color in the full-circumference image A satisfies a predetermined value, and the uniformity of the specific color in the full-circumference image A can be known, and the specificity can be further determined. Whether the color has a color difference in the entire week image A.

Taking the fruit, for example, a strawberry, as the sample to be tested 50, the specific color is, for example, red. Therefore, after the image capturing unit 120 obtains the bottom image B and the full-circumference image A from the bottom of the strawberry as the object to be tested 50, the processing unit 130 calculates the outer diameter of the strawberry as the object to be tested 50 by the bottom image B, Size or related parameters, and based on the results obtained, the size of the strawberry is graded. Furthermore, the processing unit 130 can determine the uniformity of red in the full-circumference image A by judging whether the proportion of red in the full-period image A meets a predetermined value, and further know the maturity of the fruit, and can further It is judged whether or not the red color has a chromatic aberration in the full-circumference image A, and it is known whether the fruit has a flaw (for example, a dent) in appearance, thereby detecting the whole-week appearance of the fruit, and classifying the maturity of the strawberry based on the obtained result.

However, the present invention does not limit the kind of the object to be tested 50. For example, in other embodiments not shown, the object to be tested may also be a workpiece (for example, a screw or a lacquer), which also presents a specific color (for example, iron gray). Therefore, after the image capturing unit 120 obtains the bottom image and the full-circumference image from the bottom of the workpiece, the processing unit 130 calculates the outer diameter, the size, or the related parameter of the workpiece as the object to be tested by the bottom image, and according to the obtained result. The size of the workpiece is graded. Furthermore, the processing unit 130 can determine whether the iron gray is uniform in the full-circumference image by judging whether the proportion of the iron gray in the full-circumference image meets a predetermined value, and further whether the workpiece is faded or the paint is uneven. It is also possible to further determine whether the iron-gray has a chromatic aberration in the full-circumference image, and whether the workpiece has flaws in appearance (for example, rust or scratches), thereby detecting the full-circumference appearance of the workpiece, or further depending on the The result is the classification of the workpiece. Therefore, the full-circumference reflection imaging module 100 of the embodiment is applicable to each The type of the object to be tested, and the object to be tested can obtain the full-circumference image by the image capturing unit 120 through the annular reflection area 112 of the image capturing module 100, and then applied to the correlation detection.

Furthermore, referring to FIG. 2, in the embodiment, the relative movement refers to the movement of the whole-circumference mirror group 110 relative to the stationary object 50, so that the object to be tested 50 is supported by the full-circumference mirror group 110. The movement moves relatively through the annular reflective region 112. Specifically, in the embodiment, the full-circumference reflection imaging module 100 further includes a moving unit 140. The moving unit 140 is, for example, a robot arm or other suitable component, and the full-circumference mirror group 110 and the image capturing unit 120 are disposed on the moving unit 140 to move relative to the object to be tested 50 by the moving unit 140. Further, the full-circumference mirror group 110 and the image capturing unit 120 can be moved upward from the object under test 50 in the normal direction D of the annular reflection region 112 relative to the object to be tested 50 by the moving unit 140. Until the object to be tested 50 passes through the annular reflection area 112, the whole-circumference mirror group 110 reflects the appearance of the object to be tested 50 corresponding to the annular reflection area 112, and the image capturing unit 120 obtains the object to be tested from below the object to be tested 50. 50 corresponds to the full-circumference image A of the annular reflection region 112. Thereby, the object to be tested 50 of the present embodiment may be a fruit (for example, a strawberry), and is preferably a living crop (not taken from the plant), so that the object to be tested 50 is in a hanging state, and The movement of the circumferential mirror group 110 passes through the annular reflective region 112. In addition, when the object to be tested is the aforementioned workpiece (for example, a screw or a lacquer), the whole-peripheral mirror group 110 can also be moved relative to the object to be tested by the above method, and the present invention does not limit the object to be tested 50. The type, which can be adjusted according to needs.

In addition, in this embodiment, the full-circumference reflection imaging module 100 can also be based on The auxiliary light source 150 is configured as required. The auxiliary light source 150 is disposed between the full-circumference mirror group 110 and the image capturing unit 120, for example, fixed around the image capturing unit 120 (as shown in FIG. 2), or fixed under the annular mirror 114, and is adapted to be Light is provided below the object to be tested 50. However, the present invention does not limit the position and configuration of the auxiliary light source 150, which can be adjusted as needed. For example, when the full-circumference reflection image capturing module 100 is operated in a place where the light is insufficient, the background light can be brightened by the auxiliary light source 150 providing light. However, when the full-circumference reflection image capturing module 100 is applied to a place with sufficient light, since the brightness of the background environment has met the requirements, the use of the auxiliary light source 150 may be omitted, and the present invention is not limited thereto.

FIG. 5 is a side elevational view of a full-circumference reflection imaging module according to another embodiment of the present invention. Referring to FIG. 5, in the embodiment, the relative movement means that the object to be tested 50a moves relative to the stationary full-circumference mirror group 110a, so that the object to be tested 50a passes through the annular reflection area 112. Specifically, in the embodiment, the full-circumference reflection imaging module 100a further includes a moving unit 140a disposed on one side of the full-circumference mirror group 110 and adapted to move relative to the full-circumference mirror group 110. The test object 50a is moved relative to the full-circumferance mirror group 110 to pass through the annular reflection region 112. Further, the moving unit 140a is, for example, a clamp that can move the object to be tested 50a from above the full-circumference mirror group 110 in the normal direction D of the annular reflection region 112 until the object to be tested 50a passes through the ring. The reflection region 112, and the entire circumference mirror group 110 reflects the appearance of the object to be tested 50a corresponding to the annular reflection region 112, so that the image capturing unit 120 obtains the object to be tested 50 from below the object to be tested 50a corresponding to the annular reflection region 112. Full-circle image A. In addition, in other embodiments, the relative movement may also be the full-circumference mirror group 110 and the measured Both the object 50 or 50a produces a movement. The present invention does not limit which of the whole-peripheral mirror group 110 and the object to be tested 50 or 50a is moved, as long as the object to be tested 50 or 50a can pass through the annular reflection region 112.

Therefore, the full-circumference reflection imaging module 100 of the embodiment can move relative to the object to be tested 50 by the whole-peripheral mirror group 110 (may be one of the two moves relative to the other, The object to be tested 50 can pass through the annular reflection region 112 of the full-circumference mirror group 110, and the image capturing unit 1120 can be taken from the lower side of the object to be tested 50 by the entire circumference mirror group 110. The reflected object 50 corresponds to the full-circumference image A obtained by the appearance of the annular reflection region 112, and the processing unit 130 further determines the proportion of the specific color in the full-circumference image A to detect that the object to be tested 50 corresponds to the ring. The appearance of the reflective region 112. Accordingly, the full-circumference reflection imaging module 100 of the present invention can obtain the full-circumference image of the object to be tested 50 without contacting the object to be tested 50, so as to prevent the object 50 from being damaged during the image capturing process (for example, It can be avoided that the fruit as the object to be tested 50 is damaged by clamping or rolling with an additional jig), and the partiality of the object to be tested 50 can be prevented from being obscured to affect the integrity of the image A of the whole week (for example, it can be avoided) The test object 50 is placed on an additional platform to obscure its partial appearance).

6 is a flow chart of a full-circumference reflection imaging method according to an embodiment of the present invention. Referring to FIG. 2, FIG. 4 and FIG. 6, in the embodiment, the full-circumference reflection imaging method is adapted to obtain the full-circumference image A of the object to be tested 50 (shown in FIG. 2) (as shown in FIG. 4). The full-circumferential reflection imaging method includes the following steps.

First, in step S110, the whole-peripheral mirror group 110 and the object to be tested 50 are relatively moved, so that the object to be tested 50 passes through the annular reflection region 112 of the full-circumference mirror group 110, The appearance of the object to be tested 50 corresponding to the annular reflection region 112 is reflected by the full-circumference mirror group 110. For a description of the full-circumference mirror group 110 and the relative movement, reference may be made to the foregoing, and no further details are provided herein. Thereby, the object to be tested 50 can pass through the annular reflection area 112 of the full-circumference mirror group 110 by the relative movement of the full-circumference mirror group 110 and the object to be tested 50, and is reflected by the entire-circumferential mirror group 110. The object 50 corresponds to the appearance of the annular reflection region 112. In other words, by the design of the annular reflection region 112, the 360-degree appearance of the object to be tested 50 corresponding to the annular reflection region 112 can be reflected in the step of relatively moving the entire circumference mirror group 110 and the object to be tested 50 (step S110). .

Then, in step S120, the bottom image B of the object to be tested 50 is obtained from the bottom of the object to be tested 50 by the image capturing unit 120, and the object to be tested 50 is reflected by the full-circumference mirror group 110 corresponding to the annular reflection region. The entire circumference image A of the object to be tested 50 is obtained by the appearance of 112. In other words, after the full-circumference mirror group 110 reflects the 360-degree appearance of the object to be tested 50 corresponding to the annular reflection region 112 to the image capturing unit 120, the image capturing unit 120 can thereby obtain the object to be tested 50 corresponding to the annular reflection region. The full-circumference image A of 112 (shown in Figure 4). The full-circumference image A is an image obtained by the image capturing unit 120 reflecting the 360-degree appearance of the object to be tested 50 corresponding to the annular reflection region 112 by the full-circumference mirror group 110. At the same time, the image capturing unit 120 can also directly obtain the bottom image B of the object to be tested 50 from below the object to be tested 50. For the description of the image capturing unit 120, reference may be made to the foregoing content, and details are not described herein.

Finally, in step S130, the processing unit 130 determines the proportion of the specific color in the full-circumference image A to detect the appearance of the object to be tested 50 corresponding to the annular reflection region 112. In other words, in the present embodiment, the object to be tested 50 is substantially presented with a specific colour. Taking the aforementioned fruit (for example, strawberry) as an example of the object to be tested 50, the specific color is, for example, red. Accordingly, after the image capturing unit 120 obtains the step (step S120) that the object to be tested 50 corresponds to the full-circumference image A of the annular reflection region 112, the processing unit 130 may further determine that the specific color is in the full-circumference image A. The ratio is measured to detect the appearance of the object to be tested 50 corresponding to the annular reflection region 112. Similarly, after the bottom image B obtained by the image capturing unit 120, the processing unit 130 may calculate the outer diameter, the size, or the related parameter of the object to be tested 50 by using the bottom image B, and perform the object to be tested according to the obtained result. Classification or classification of 50. For a description of the processing unit 130, reference may be made to the foregoing content, and details are not described herein.

Therefore, the full-circumference image capturing method of the present embodiment can obtain the full-circumference image A of the object to be tested 50 corresponding to the annular reflection region 112 without contacting the object to be tested 50, so as to avoid the object to be tested. 50 damage is generated during the image capturing process, and the partiality of the object to be tested 50 is prevented from being obscured to affect the integrity of the image A of the whole week. In addition, since the above method can obtain the full-circumference image A of the object to be tested 50 corresponding to the annular reflection region 112, when the height range of the annular reflection region 112 can cover most of the object to be tested 50, the whole-peripheral reflection is taken. The image module 100 (shown in FIG. 2) can obtain a full-circumference image corresponding to the entire object 50 to be tested at a time by the above method.

7 is a flow chart of a full-circumference reflection imaging method according to another embodiment of the present invention. FIG. 8 is a schematic diagram of a multi-segment full-circle image obtained by the full-circumference reflection imaging method of FIG. 7. FIG. FIG. 9 is a schematic exploded view of the multi-segment full-circumference image of FIG. 8 via binarization. Referring to FIG. 2, FIG. 7, and FIG. 8, in the embodiment, the full-circumference reflection imaging method includes the following steps. The following is a description of the steps of the full-circumference reflection method in a textual diagram. FIG. 8 is a schematic diagram of a multi-segment full-circumference image obtained by the full-circumference reflection imaging method of FIG. 7 , and is matched with the relative positions of the full-circumference mirror group 110 and the object to be tested 50 to make the description clearer and easier to understand. In addition, FIG. 9 is a schematic diagram showing the expansion of the multi-segment full-circumference image of FIG. 8 via binarization. The full-circumference image is typically colored to show the aforementioned particular color. The black-and-white state through binarization helps to determine the proportion of a particular color in the full-circle image. However, the present invention does not limit the processing unit 130 to binarize the full-circumference image, which can be adjusted according to requirements.

First, referring to FIG. 2, FIG. 7 and FIG. 8(a), in step S210, the whole-peripheral mirror group 110 and the object to be tested 50 are relatively moved to the image capturing position P1, and obtained by the image capturing unit 120. Full-circle image A1. For a description of the full-circumference mirror group 110 and the relative movement, reference may be made to the foregoing, and no further details are provided herein.

Next, referring to FIG. 7 , FIG. 8( a ) and FIG. 9( a ), the full-circumference mirror group 110 and the object to be tested 50 are relatively moved, and the full-circle image A1 is obtained by the image capturing unit 120 . After the step (step S110), in step S220, it is determined whether the object to be tested 50 enters the annular reflection region 112 based on the full-circumference image A1. Specifically, the step of determining whether the object to be tested 50 enters the annular reflection region 112 includes determining whether the proportion of the specific color in the full-circumference image A1 is greater than a predetermined value. For example, taking the fruit (for example, strawberry) as the sample to be tested 50 as an example, which has a specific color in a red color, after the image capturing unit 120 obtains the full-circumference image A1 (as shown in (a) of FIG. 8 ) The full-cycle image A1 can be further binarized into a black-and-white state by the processing unit 130 (shown in FIG. 2) (as shown in FIG. 9(a)), thereby determining red (corresponding to the binarized white region). Whether the proportion in the full-circumference image A1 is greater than a predetermined value. The reservation The value is 10% in this embodiment, that is, if it is judged that the white area after binarization of the full-circumference image A1 accounts for more than 10% in the full-circumference image A1, it can be regarded that the object to be tested 50 has entered the ring reflection. Area 112. If not, it means that the object to be tested 50 has not entered the annular reflection area 112, and steps S210 to S220 are repeated to move the object to be tested 50 relative to the entire circumference mirror group 110 to re-image and judge.

Next, referring to FIG. 7 and FIG. 8( a ), the determination result of obtaining the full-circumference image A1 is that the object to be tested 50 has entered the annular reflection region 112 as an example, and the object to be tested 50 enters the annular reflection region. After 112, in step S230, the relative position of the object to be tested 50 and the full-circumference mirror group 110 (ie, the image capturing position P1) is taken as the initial image capturing position, and the relative-moving full-circumference mirror group 110 and the object to be tested are continuously moved. 50 to another image capturing position P2, and the image capturing unit 120 obtains another full-circumference image A2 of the object to be tested 50 corresponding to the annular reflection region 112 (as shown in (b) of FIG. 8).

Next, referring to FIG. 7 , FIG. 8( b ) and FIG. 9( b ), after the step of acquiring the full-circumference image A2 of the object to be tested 50 by the image capturing unit 120 (step S230 ), in the step In S240, it is determined whether the object to be tested 50 moves out of the annular reflection area 112 according to the full-circumference image A2. Specifically, the step of determining whether the object to be tested 50 moves out of the annular reflection area 112 includes determining whether the proportion of the specific color in the full-circumference image A2 is less than a predetermined value. For example, the fruit (for example, strawberry) as the object to be tested 50 has a specific color of red, so that the image capturing unit 120 obtains the full-circumference image A2 (as shown in (b) of FIG. 8 ) and binarizes it into a black-and-white state ( After (b) of FIG. 9 , the processing unit 130 can thereby determine whether the proportion of red (corresponding to the binarized white area) in the full-circumference image A2 is less than a predetermined value. The predetermined value is in this embodiment 40%, that is, the white area after the second-degree image A2 binarization is judged to be less than 40% in the full-circumference image A2. Alternatively, it is also possible to reversely determine the black area after binarization of the full-circumference image A2 (ie, other color areas before binarization, such as the leaves of the fruit or the background environment), and the proportion in the full-circumference image A2 is greater than 60. %, it can be considered that the object to be tested 50 has been removed from the annular reflection region 112. The above ratios are for illustrative purposes only and are not intended to limit the invention. If not, it means that the object to be tested 50 has not been removed from the annular reflection area 112, and steps S230 to S240 are repeated to move the object to be tested 50 relative to the entire circumference mirror group 110 to re-image and judge.

For example, when the processing unit 130 determines that the proportion of the specific color in the full-circle image A2 is not less than a predetermined value, that is, the object to be tested 50 at the image capturing position P2 has not moved out of the annular reflection region 112, step S230 needs to be performed again. Up to S240, the whole-peripheral mirror group 110 and the object to be tested 50 are continuously moved to another image capturing position P3, and another full-circumference image of the object to be tested 50 corresponding to the annular reflection region 112 is obtained by the image capturing unit 120. A3 (as in (c) of Fig. 8). Thereafter, it is judged based on the full-circumference image A3 whether or not the object 50 is moved out of the annular reflection region 112 (for example, by the binarization result at (c) of FIG. 9 , the ratio of the specific color in the full-circumference image A3 is determined). If the object to be tested 50 at the image capturing position P3 is judged that the annular reflection region 112 has not been removed, the steps S230 to S240 are further performed, for example, the full-cycle images A4 to A6 are sequentially acquired at the image capturing positions P4 to P6 ( As shown in (d) to (f) of FIG. 8 , it is sequentially determined whether the object to be tested 50 moves out of the annular reflection region 112 according to the full-circumference images A4 to A6 (for example, by (d) to (f) of FIG. 9 . The binarization result determines the proportion of a particular color in the full-circumference image A4 to A6). In this embodiment, the distance between each of the image taking positions P1 to P6 is 8 mm. (millimeter, mm) to 10 mm, but the invention is not limited thereto, and it can be adjusted according to requirements.

Next, referring to FIG. 7 and FIG. 8(f), taking the above-mentioned determination result of the full-circumference image A6 as an example, the object to be tested 50 has been removed from the annular reflection region 112, and the object to be tested 50 is removed from the annular reflection region. After 112, in step S250, the relative position of the object to be tested 50 and the full-circumferance mirror group 110 (ie, the image capturing position P6) is taken as the final image capturing position, and the relative movement of the entire circumference of the mirror group 110 and the object to be tested is stopped. . In other words, the full-circumference reflection and image capturing operation by the full-circumference reflection imaging module 100 is performed up to this point. The object to be tested 50 passes through the annular reflection area 112 through the above steps, and the plurality of full-circumference images A1 to A6 are obtained by the image capturing unit 120. Therefore, the object 50 can be known by the full-circumference images A1 to A6. A plurality of partial 360-degree appearances, in turn, can be combined to obtain an overall 360-degree appearance of the object to be tested 50.

In addition, after the object to be tested 50 moves out of the annular reflection area 112 to complete a series of full-cycle image capturing operations, please refer to FIG. 2, FIG. 7 to FIG. 9. In step S260, color difference determination is performed according to the full-circumference images A1 to A6. . The color difference determination includes determining a proportion of a specific color in each of the full-circumference images A1 to A6 to detect uniformity of a specific color, and/or determining a color difference of a specific color in a different region of each of the full-circumference images A1 to A6, To detect the flaw of the analyte. For example, a fruit (for example, a strawberry) is described as the object to be tested 50, and the color difference determination includes determining a proportion of a specific color (for example, red) in each of the full-length images A1 to A6 to detect a specific color. The uniformity, and thus the maturity of the fruit as the test object 50 can be known against the database (not shown) built in the processing unit 130. Alternatively, the color difference judgment may also be judged The color difference of a specific color (for example, red) in different regions of each of the entire week images A1 to A6 to detect the flaw of the fruit as the object to be tested.

Furthermore, the database built in the processing unit 130 can be built in advance as a ratio/uniformity of the specific color of the fruit of the object to be tested 50 at various maturity levels. For example, when the whole fruit as the object to be tested 50 is red (the ratio of red to the full-circumference images A1 to A6 is 100%), it can be regarded as the maturity of 100%. In contrast, when the object to be tested 50 is only partially red (the proportion of red in each full-peripheral image A1 to A6 is 60%, or the proportion of red in some of the full-circumference images A1 and A6 is only 60%). ), it can be seen as only 60% of its maturity. The above judgment manners and judgment values are for illustrative purposes only and are not intended to limit the present invention. Similarly, the color difference determination may also determine the proportion of a particular color in each of the full-circumference images A1 to A6. For example, when the full-circumference images A1 to A6 of FIG. 8 are obtained by binarization to obtain a black-and-white state as shown in FIG. 9, the white portion substantially corresponds to a specific color (for example, red) of the object 50 to be tested, and The black portion generally corresponds to a color other than a specific color (for example, a fruit leaf or a background environment). Thereby, if the specific color is binarized to have a black dot after the white region, for example, the black dots D1 and D2 at (b) of FIG. 9 , the region corresponding to the specific color has other colors. Thereby, the black spots D1 and D2 are formed, that is, the specific color has a color difference in the full-circumference image A2, and it is further known that the fruit as the object to be tested 50 corresponds to the annular reflection area 112 at the image capturing position P2. There are defects, such as dents or pupils on the surface of the fruit.

Similarly, by the above method, a plurality of full-circumference images of the workpiece (for example, a screw or a lacquer) as the object to be tested can be obtained in stages, and by determining the specificity The color (for example, iron gray) is uniform in each full-circumference image to know whether the workpiece as the object to be tested is discolored or unevenly painted, or whether a specific color has a color difference in each full-length image. Whether the workpiece of the object to be tested has flaws (for example, rust or scratch). Therefore, the above-described full-circumference reflection imaging module 100 and the full-circumference reflection imaging method are applicable to various objects that can pass through the annular reflection region 112, and the present invention does not limit the type of the object to be tested.

In summary, in the full-circumference reflection imaging module and the full-circumference imaging method of the present invention, the whole-peripheral mirror group and the object to be tested are adapted to move relative to each other, so that the object to be tested passes through the ring of the full-circumference mirror group. The reflective region, and the full-circumferential mirror group thereby reflects the appearance of the object to be tested corresponding to the annular reflective region. Thereafter, the image capturing unit is adapted to obtain, from the lower side of the object to be tested, a full-circumferential image obtained by reflecting the appearance of the object to be tested corresponding to the annular reflection region by the entire peripheral mirror group. Furthermore, the processing unit is adapted to detect the appearance of the object to be tested according to the full-circumference image, for example, to determine the proportion of the specific color of the object to be tested in the image of the whole week, and to determine the uniformity of the specific color of the object to be tested or to determine whether Color difference. Accordingly, the full-circumference reflection imaging module and the full-circumference imaging method of the present invention are suitable for obtaining a full-circumference image of the object to be tested without contacting the object to be tested, so as to prevent the object to be detected from being generated during the image capturing process. Damage can also prevent the locality of the object to be tested from being obscured and affecting the integrity of the image throughout the week.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and any one of ordinary skill in the art can make some changes and refinements without departing from the spirit and scope of the present invention. The scope of the invention is defined by the scope of the appended claims.

50‧‧‧Test object

100‧‧‧Full-cycle reflection imaging module

110‧‧‧Full-Circumference Mirror Set

112‧‧‧Circular reflection area

114‧‧‧ annular mirror

114a‧‧‧reflecting surface

120‧‧‧Image capture unit

130‧‧‧Processing unit

140‧‧‧Mobile unit

150‧‧‧Auxiliary light source

D‧‧‧ normal direction

θ‧‧‧Tilt angle

Claims (20)

A full-circumference reflection imaging module is adapted to obtain a full-circumference image of a test object, the full-circumference reflection image capturing module comprising: a full-circumference mirror group having an annular reflection region, the full-circumference reflection The mirror group and the object to be tested are adapted to move relative to each other, so that the object to be tested passes through the annular reflection region, and the full-circumference mirror group reflects the appearance of the object to be tested corresponding to the annular reflection region; The unit is disposed on one side of the full-circumference mirror group, and is adapted to obtain, from the bottom of the object to be tested, the appearance of the object to be tested corresponding to the annular reflection region by the full-circumference mirror group A full week image. The full-circumference reflection imaging module of claim 1, wherein the full-circumference mirror group comprises an annular mirror, the annular mirror forming the annular reflection area to reflect the object to be tested Corresponds to the appearance of the annular reflective area. The full-circumference reflection imaging module of claim 2, wherein the annular mirror has a reflecting surface that is inclined toward the image capturing unit. The full-circumference reflection imaging module of claim 3, wherein an inclination angle between the reflective surface and a horizontal reference surface is between 10 degrees and 80 degrees. The full-circumference reflection imaging module of claim 1, wherein the full-circumference mirror group comprises a plurality of mirrors arranged closely to each other to form the annular reflection region to reflect the object to be tested corresponding to the The appearance of the annular reflection area. The full-circumference reflection imaging module of claim 1, further comprising: an auxiliary light source disposed between the full-circumference mirror group and the image capturing unit, and Suitable for providing a light from below the object to be tested. The full-circumference reflection imaging module of claim 1, further comprising: a mobile unit, wherein the full-circumference mirror group is disposed on the mobile unit, by the mobile unit relative to the object to be tested mobile. The full-circumference reflection imaging module of claim 1, further comprising: a moving unit disposed on one side of the full-circumference mirror group and adapted to move relative to the full-circumference mirror group, The object to be tested is moved relative to the entire peripheral mirror group to pass through the annular reflective region. The full-circumference reflection imaging module of claim 1, further comprising: a processing unit electrically connected to the image capturing unit to detect that the object to be tested corresponds to the ring according to the full-circle image The appearance of the reflective area. The full-circumference reflection imaging module of claim 9, wherein the object to be tested substantially presents a specific color, and the processing unit detects by determining a proportion of the specific color in the full-circle image. The object to be tested corresponds to the appearance of the annular reflection region. A full-circumference reflection imaging method is adapted to obtain a full-circumference image of a test object, wherein the full-circumferential reflection image capturing method comprises: relatively moving a full-circumference mirror group and the object to be tested, so that the object to be tested passes An annular reflection region of the total circumference mirror group, and the external reflection mirror group reflects an appearance of the object to be tested corresponding to the annular reflection region; and an image capturing unit from the object to be tested A full-circumference image obtained by reflecting the appearance of the object to be tested corresponding to the annular reflection region by the full-circumference mirror group is obtained below. The full-circumference reflection imaging method of claim 11, wherein the full-circumference mirror group comprises an annular mirror, the annular mirror forming the annular reflection area to relatively move the whole circumference The step of reflecting the object to be tested in the step of reflecting the object corresponds to the appearance of the annular reflection region. The full-circumference reflection imaging method of claim 11, wherein the full-circumference mirror group comprises a plurality of mirrors arranged closely to each other to form the annular reflection region to relatively move the full-circumference mirror group Reflecting the object to be tested in the step of the object to be tested corresponds to the appearance of the annular reflection region. The method of claim 11, wherein the object to be tested substantially presents a specific color, and after the step of obtaining the full-circle image by the image capturing unit, by a process The unit determines a proportion of the specific color in the full-circle image to detect an appearance of the object to be tested corresponding to the annular reflection region. The full-circumference reflection imaging method of claim 14, further comprising: relatively moving the whole-peripheral mirror group and the object to be tested to an image capturing position, and obtaining the whole by the image capturing unit After the step of the weekly image, determining whether the object to be tested enters the annular reflection area according to the full-circle image, and determining whether the object to be tested enters the annular reflection area comprises determining that the specific color is in the full-circle image Whether the proportion is greater than a predetermined value. The method for all-round reflection imaging according to claim 15 further includes: after the object to be tested enters the annular reflection region, the object to be tested and the whole week The relative position of the mirror group is used as an initial image capturing position, and the total length of the mirror group and the object to be tested are continuously moved to another image capturing position, and the object to be tested is obtained by the image capturing unit corresponding to the ring. Another full-circumference image of the reflective area. The method of the full-circumference reflection imaging method of claim 16, further comprising: determining, by the image capturing unit, the full-circumference image of the object to be tested, determining the to-be-tested according to the full-circumference image Whether the object moves out of the annular reflection area, and determining whether the object to be tested moves out of the annular reflection area comprises determining whether a proportion of the specific color in the full-circumference image is less than a predetermined value. The method of claim 17, wherein the method further comprises: after the object to be tested is removed from the annular reflective region, the relative position of the object to be tested and the total array of mirrors is used as a Finally, the image taking position stops the relative movement of the full-circumference mirror group and the object to be tested. The full-resection reflection imaging method of claim 17, further comprising: performing color difference determination according to the full-circumference images after the object to be tested moves out of the annular reflection area, wherein the color difference determination includes determining a ratio of the specific color in each of the full-circle images to detect uniformity of the specific color, and/or determine a color difference of a different region of the specific color in each of the full-circumference images to detect the object to be tested defect. A full-circumferential reflection imaging method as described in claim 19, wherein The test object includes a fruit, and the color difference determination includes determining a proportion of the specific color in each of the full-circle images to detect the uniformity of the specific color and learning the maturity of the fruit against a database. And/or determining the color difference of the different regions of the particular color in each of the full-circle images to detect defects in the fruit.