METHOD, DEVICE AND INSPECTION LINE FOR DETERMINING THREE DIMENSIONAL GEOMETRY OF A CONTAINER RING SU

专利摘要:
A method, a device and an inspection line for determining the three-dimensional geometry of a container ring surface, comprising forming, by two optical systems (24, 24 '), two images of the surface ring of the container, according to two peripheral observation fields having a first and a second angle of elevation of observation (γ1, γ2) different.
公开号:FR3076620A1
申请号:FR1850209
申请日:2018-01-10
公开日:2019-07-12
发明作者:Julien Fouilloux；Marc Leconte
申请人:Tiama SA；
IPC主号:

专利说明:

The invention relates to the field of inspection of containers, in particular of glass, and more specifically the control of the flatness of the ring surface of such containers.
The ring surface is the top surface or the top edge of the container ring. Annular in shape around a theoretical central axis of the ring, the ring surface is more or less thick in a direction radial to the theoretical central axis. In theory, this surface is planar in a plane perpendicular to the theoretical central axis, in the sense that it has at least one continuous contact line on 360 degrees of angle around the axis with this plane, and it is perfectly circular. While being planar in the sense above, its profile in sections by a radial plane containing the theoretical central axis can have different shapes: the profile can be flat, rounded, in inverted V, etc.
In many applications, the ring surface is that which is intended to come into contact with the seal of the cover or the capsule. When the ring surface is not flat, leaks will be possible after closing. It is therefore important to know the flatness defects of the ring surface. These flatness defects can be analyzed, at a given point on the ring surface, as a difference in height understood in this text as a difference in position, in a direction parallel to the theoretical central axis of the ring of the container, between a given point on the actual ring surface of the container and the corresponding point on a theoretical ring surface. These two points are corresponding in that, in a cylindrical coordinate system, centered on the theoretical central axis, the corresponding points have the same angular coordinate, and belong, for one to the real ring surface, and for l other to the theoretical ring surface. This theoretical surface is therefore flat relative to a reference plane perpendicular to the theoretical central axis. This reference plane can be linked to the container in question, and can for example correspond to the height of the highest point of the real ring surface, to the height of the lowest point of the real ring surface, to an average height of the ring surface over its angular extent, etc. The reference plane can also be defined independently of the container, with reference for example to a display, control or measurement device.
The flatness of the ring surface is often distinguished into at least two types. Defects of the type “lack of glass” (“dip” in English) are linked to problems of filling the ring mold with molten glass during manufacture. They are characterized by height differences which extend over a small angular amplitude around the theoretical central axis. Defects of the “veiled ring” type are generally less marked differences in height, which extend over a greater angular amplitude around the theoretical central axis, but are nevertheless annoying faults, often due to sagging, problems when removing items from the mold, or thermal problems during manufacturing.
The ring surface may have other geometry faults. It can for example have a characteristic plane inclined relative to the body of the article or relative to the bottom of the article. A characteristic plane of the ring surface can be a mean plane, or a geometric plane based on the ring. It is considered that the ring is inclined if this characteristic plane is not parallel to the plane of laying of the article, or not orthogonal to the axis of symmetry of the article, with an angle greater than a given threshold.
The ring surface, and generally the entire ring, may have a defect in circularity, for example an ovalization, that is to say that the ring surface seen from above, or else the planar section of the ring by a plane horizontal, is neither a circle nor a ring. For example the shape is that of an oval or the shape may have a crushing.
Currently, flatness defects are detected mainly by a so-called “bell” system by detecting gas leaks. The residual leakage is measured when a flat metallic surface is pressed on the ring. The disadvantage is that the control does not give any element making it possible to evaluate the extent of the defect, but only makes it possible to obtain a binary indication (leak / no leak) indicative of the flatness or not of the surface. Such a system requires mechanical means of relative displacement of the container with respect to the device which are not only expensive but which also slow down the rate of the inspection line: raising and lowering of the bell, temporary immobilization of the article under the bell, etc .... In addition there is a real interest in removing any contact with the ring of the article to avoid risks of breakage or pollution.
According to US Pat. No. 6,903,814 B1, it is planned to measure the height of the ring at 4 points arranged at an angle of 90 degrees, by means of 4 laser triangulation distance sensors, adapted to specular reflection. The article is rotated and we compare to each increment of rotation the position of a point relative to the plane passing through the other 3. Several calculation alternatives are possible, but the drawbacks of the system are on the one hand the costly use of handling equipment for the rotation, on the other hand the difficulty of completely separating the effects of rotation defects from the effects flatness defect, despite convolution calculations.
Vision systems are also known in which the rings are observed according to at least two views from above or below. Diffuse lighting located opposite the cameras in relation to the articles illuminates the article to be checked during transmission. The disadvantage of this system is that it requires at least two cameras and two light sources and possibly two telecentric optics and their supports and settings. The assembly is expensive, and it requires long optical paths, which results in a significant bulk.
To overcome these drawbacks, it has been proposed to use, as explained above, cameras already provided for carrying out another control of the container, for example, in the case of transparent glass bottles, an aspect control to shoulder. However, this requires choosing positions of the control device which can only be a compromise between the settings for detecting faults in the shoulder area and the settings for detecting geometric faults in the ring surface. These compromises are not satisfactory either for the measurement initially targeted by these cameras, or for the measurement of flatness that we are trying to make them perform.
By multiplying the viewing angles, in particular by combining similar views from different diving or diving angles, it is also possible to measure 3D portions of the ring and then combine these measurements to reconstruct the total geometry by calculation of the ring surface. It uses the acquisition of several optical images. These optical images are then combined two by two by algorithms for matching points in pairs, from which are calculated by triangulation of the real points in 3D coordinates. The technique is that of stereovision with complex algorithms. Several pairs of stereovision views are necessary, which therefore requires for example 4 or 6 cameras. These systems can be precise, but they are very expensive and bulky. Due to the numerous parameters, the accuracy is not kept in operation over a long period.
Document US Pat. No. 6,172,748 describes a device comprising several distinct light sources which illuminate the ring from below, that is to say from a point situated below a plane perpendicular to the axis of the ring and tangent to the ring surface. The device comprises several separate mirrors which each provide an image of only an angular sector of the ring. An additional camera makes a top view of the ring surface. Even if the lateral images overlap, there is an azimuthal angular discontinuity between the images because, at a possible intersection point of the two images, there is a break in the point of view between the intersection point in each of the images. This necessitates a computer reconstruction of the image which requires complex algorithms threatening the measurement accuracy.
The document WO-2016/059343 of the applicant describes an innovative method of visualizing the flatness of a ring surface, and of an associated device. The methods and devices described in this document are particularly relevant but can be sensitive in particular to off-center or uncontrolled inclination of the ring surface.
Document WO-2008/050067 of the applicant describes a device making it possible to observe an area to be inspected from a container from several different viewing angles.
An objective of the invention is therefore to propose a method and device for determining the three-dimensional geometry of a ring surface, in particular with a view to determining the presence of possible flatness defects which remain simple to implement but whose results are less influenced by an offset or an uncontrolled inclination of the ring surface relative to the installation axis.
Also, the invention proposes in particular a method for determining a three-dimensional geometry of an actual ring surface of a container, the ring surface having a theoretical plane and annular or circular geometry around a theoretical central axis, of the type comprising: - illumination of the actual ring surface of the container, from above, using a first incident incident light beam comprising first incident radial light rays contained in radial planes containing the central axis theoretical and distributed at 360 degrees of angle around the installation axis, said first incident radial light rays being directed towards the theoretical central axis, and some of the first incident radial light rays of the first incident light beam being reflected by reflection specular on the ring surface, in the form of reflected rays; - The formation, with the rays reflected and through a first optical system, of a first planar optical image of the ring surface of the container, on a first two-dimensional photoelectric sensor capable of delivering a first global digital image; and of the type in which the step consisting in forming a first planar optical image comprises the observation of the ring surface, from above, by a first optical system, according to a first peripheral observation field which observes the surface of ring according to first radial observation rays which are contained in radial planes containing the theoretical central axis and which are distributed at 360 degrees of angle around the theoretical central axis, the first peripheral observation field having a first observation elevation angle, which will in some cases be less than or equal to 45 degrees of angle, sometimes less than 25 degrees of angle, relative to a plane perpendicular to the theoretical central axis, so as to collect on the first two-dimensional photoelectric sensor, in a first annular zone of the sensor, rays reflected to form a first two-dimensional digital image in a first image zone of the first The global digital image delivered by the first sensor.
The method is characterized in that it comprises: - the formation, via a second optical system, of a second planar optical image of the ring surface of the container, distinct from the first planar image, on a second two-dimensional photoelectric sensor capable of delivering a second global digital image, by observing the ring surface, from above, by the second optical system, according to a second peripheral field of observation, symmetrical in rotation around the theoretical central axis, which observes the ring according to second radial observation radii which are contained in radial planes containing the theoretical central axis, which are distributed at 360 degrees of angle around the theoretical central axis, the second field peripheral observation having a second observation elevation angle relative to a plane perpendicular to the theoretical central axis, but different from the first elevation angle observation, so as to collect on the second two-dimensional photoelectric sensor, in a second annular zone of the sensor, reflected rays to form a second two-dimensional digital image of the ring surface in a second image zone of the second global digital image delivered by the second sensor; - And in that the method comprises the determination, for a number N of analyzed directions originating from a reference point of the digital image considered and angularly offset from one another around the reference point: • of a first point image of the first two-dimensional digital image of the ring surface, on the direction analyzed, and of a first value representative of the distance from this first image point to the reference point in the first digital image; • a second image point of the second digital image of your ring surface, on the direction analyzed, and of a value representative of the distance from this second image point to the reference point in the second digital image; - and in that the method deduces, for the N directions analyzed, by a geometric relationship using the N first values, the N second values, the first observation elevation angle, and the second observation elevation angle , at least one value representative of an axial position, along the direction of the theoretical central axis, of each of the N points of the real ring surface whose images by the first optical system and the second optical system are respectively the N first image points and the N second image point.
According to other optional characteristics of the process, taken alone or in combination: - The process can include: • the simultaneous observation of the ring surface by the first optical system, according to the first peripheral field of observation, and by the second optical system, according to the second peripheral field of observation; • the simultaneous formation, from the reflected rays collected according to the first and second peripheral fields of observation, by means of the first and the second optical system, the first and the second two-dimensional image of the ring surface of the container simultaneously both in a first image zone corresponding to the observation according to the first peripheral observation field and in a second image zone corresponding to the observation according to the second peripheral observation field. - The first optical system can comprise a first primary reflection surface and the second optical system can comprise a second primary reflection surface, the two primary reflection surfaces being frustoconical surfaces of revolution, each generated by a line segment per revolution around the theoretical central axis, facing the theoretical central axis and arranged to reflect directly or indirectly light rays, coming from the real ring surface under the corresponding observation elevation angle, in the direction of the associated sensor. - The formation of the first and the second planar optical image can include for each the optical formation of a complete and continuous two-dimensional image of the real ring surface. - The first peripheral incident light beam may comprise, in the same radial plane, non-parallel incident radial light rays. - The first incident beam can illuminate the ring surface at an incidence such that, at the point of reflection of a first incident ray, whose radius reflected by the real ring surface is seen by the first sensor according to the first field of peripheral observation, the normal to the ring surface forms an angle less than 30 degrees from the direction of the theoretical central axis. - The second incident beam can illuminate the ring surface at an incidence such that, at the point of reflection of a second incident ray, the radius of which is reflected by the real ring surface is seen by the second sensor according to a second field of peripheral observation, the normal to the ring surface forms an angle less than 30 degrees from the direction of the theoretical central axis. - The difference between the two observation elevation angles can be less than or equal to 20 degrees of angle. - As an alternative, the second observation elevation angle may be greater than 65 degrees of angle, or even greater than or equal to 75 degrees of angle. - For the N directions Di, the method can deduce, for each direction, by a geometric triangulation relation using the distance from the first image point to the reference point in the first two-dimensional digital image, the distance from the second image point to the reference point in the second two-dimensional digital image, the first observation elevation angle, and the second observation elevation angle, at least one value representative of an axial offset, along the direction of the theoretical central axis, between the actual ring area and a theoretical ring area. - For the N directions Di: • the first value representative of the distance from the first image point to the reference point in the first two-dimensional digital image can be the value of a first image radial offset between a line representative of the first image of the ring surface and a theoretical line representative of a theoretical image of ring surface in the first image; • the second value representative of the distance from the second image point to the reference point in the second two-dimensional digital image can be the value of a second image radial offset between a line representative of the image of the ring surface and a theoretical line representative of a theoretical image of the ring surface in the second image; • and the method can deduce, for each direction, by a geometric triangulation relation using the first radial offset, the second radial offset, the first observation elevation angle, and the second observation elevation angle, at minus a value representative of an axial offset, along the direction of the theoretical central axis, between the real ring surface and a theoretical ring surface. - The line representative of the image of the ring surface can be the image, formed by the corresponding optical system on the associated sensor, of the reflection of the corresponding incident beam on the ring surface. - The first and second two-dimensional photoelectric sensors can be combined into one and the same two-dimensional photoelectric sensor delivering a common global digital image, the first image area and the second image area being disjoint in the common global digital image. The invention also relates to a device for determining a three-dimensional geometry of a real ring surface of a container, the ring surface having a theoretical plane and annular or circular geometry around a theoretical central axis, of the type in which the device has an installation zone for a container, this installation zone having an installation axis, of the type comprising: - a first lighting system having a first light source which is focused on the axis d installation, which has a diameter greater than the diameter of the ring surface and which is capable of providing a first incident incident light beam comprising first incident radial light rays contained in radial planes containing the installation axis and distributed at 360 degrees of angle around the installation axis, said first incident radial light rays being directed towards the installation axis; - a first two-dimensional photoelectric sensor, connected to an image analysis unit; - A first optical system interposed between the installation area of the container and the first sensor capable of forming on the sensor a first image of the ring surface of a container placed in the installation area; of the type in which the first optical system comprises at least a first primary reflection surface arranged in a downstream portion of the field of vision of the first sensor, the first primary reflection surface being a frustoconical surface of revolution, generated by a straight line segment revolution around the installation axis, turned towards the installation axis, and arranged to reflect, directly or indirectly, towards the first sensor of the first light rays coming from the installation area in radial planes containing the installation axis and along a first peripheral observation field having a first angle of observation elevation relative to a plane perpendicular to the installation axis thus defining a first peripheral observation field which observes the surface ring according to first radii of radial observations which are contained in a radial plane containing the axis of installation, which are distributed at 360 degrees of angle around the theoretical central axis, and which form with respect to a plane perpendicular to the installation axis the first observation elevation angle, which will in some cases be less than or equal to 45 degrees of angle, sometimes less than 25 degrees; and of the type in which the first lighting system, the first sensor and the first optical system are arranged above the installation area; characterized in that - the device comprises a second optical system, interposed between the container installation area and a second two-dimensional photoelectric sensor, and capable of forming on the sensor a second image of the ring surface of a container placed in the installation area; - in that the second sensor and the second optical system are arranged above the installation area; - in that the second optical system is configured to conduct, directly or indirectly, towards the second sensor, second light rays coming from the installation area according to radial planes containing the installation axis and according to a second field peripheral observation angle having a second observation elevation angle relative to a plane perpendicular to the installation axis thus defining a second peripheral observation field which observes the ring surface according to second radii of radial observations which are contained in a radial plane containing the installation axis, which are distributed at 360 degrees of angle around the theoretical central axis, and which form with respect to a plane perpendicular to the installation axis the second viewing elevation angle, said second viewing elevation angle being different from the first viewing elevation angle; - And in that the first optical system and the second optical system determine for the first sensor and for the second sensor respectively a first portion of upstream field of vision and a second portion of upstream field of vision which overlap in the area of installation according to a useful revolution inspection volume around the installation axis, such as any object point placed in the useful volume, and illuminated by at least the first light source so as to be imaged by a first image point in the first image formed by the first optical system on the first sensor is also imaged by a second image point in the second image formed by the second optical system on the second sensor.
According to other optional characteristics of the device, taken alone or in combination: - In the first portion of the upstream field of vision determined by the first optical system for the first sensor, the first rays of radial observations determined by the first optical system can be, when traversed from the useful inspection volume, centripetal towards the installation axis, then can cut the installation axis to become centrifugal towards the first optical system. - The device can form two complete, distinct and continuous optical images of the real ring surface on the associated two-dimensional photoelectric sensor. - The first primary reflection surface can indirectly reflect light rays towards the sensor, and the device can comprise, between the first primary reflection surface and the first sensor, at least one secondary reflection surface. - The second optical system may comprise at least a second primary reflection surface in a downstream portion of the field of vision of the second sensor, the second primary reflection surface being a frustoconical surface of revolution, generated by a line segment by revolution around the installation axis, facing the Installation tax and arranged to reflect directly or indirectly towards the light ray sensor, coming from the installation area along radial planes containing the installation axis and according to the second peripheral observation field having the second angle of observation elevation relative to a plane perpendicular to the installation axis. - The first primary reflection surface and the second primary reflection surface can indirectly reflect light rays towards the sensor, and the device can comprise, on the one hand, the first primary reflection surface and the second primary reflection surface and on the other hand the common sensor, at least one secondary surface of reflection of revolution around the installation axis. - The first primary reflection surface and the second primary reflection surface may each comprise a frustoconical surface of revolution, facing the installation charge, having a small diameter and a large diameter both greater than the largest diameter of the surface of theoretical ring so as to return, in the direction of the installation axis, light rays coming from the real ring surface under the corresponding observation elevation angle, said rays being intercepted by a reflecting surface deflection which has a frustoconical surface of revolution turned opposite the installation axis so as to return the rays towards the associated sensor. - The trajectory of the rays between the two primary reflection surfaces and the reflecting reflection surface can be perpendicular to the installation axis. The first primary reflection surface and the second primary reflection surface may each be a concave frustoconical surface and having a half-angle at the apex equal to half the observation elevation angle, and having a small diameter and a large diameter both greater than the smallest diameter of the theoretical ring surface. - The difference between the two observation elevation angles can be less than 20 degrees of angle. - The second portion of the upstream field of vision determined by the second optical system for the second sensor, the second radii of radial observations determined by the second optical system are, when viewed from the useful inspection volume, centripetal in direction of the installation axis, then cut the installation axis to become centrifugal towards the second optical system. - The second primary reflection surface can directly reflect light rays towards the second sensor, without secondary reflection reflection surface. - In the second portion of upstream field of vision determined by the second optical system for the second sensor, the second radii of radial observations determined by the second optical system can be, when traversed from the useful inspection volume, centrifugal towards the second primary reflecting surface. - In the second portion of upstream field of vision determined by the second optical system for the second sensor, the second radii of radial observations determined by the second optical system can be, when traversed from the useful inspection volume, parallel to the installation axis or centripetal towards the installation axis without cutting the installation axis so as to move away from the installation axis when traversed from the useful volume d to the second optical system. - The second optical system can be devoid of any surface for reflecting revolution. - The second observation elevation angle may be greater than 65 degrees of angle, preferably greater than or equal to 75 degrees of angle. - The first optical system may include a telecentric optical system. - The second optical system may include a telecentric optical system. - The first and second two-dimensional photoelectric sensor can be merged into the same common two-dimensional photoelectric sensor, the first primary reflection surface and the second primary reflection surface are both in disjoint portions of the downstream field of vision of the sensor. - The first light source can be an annular source of revolution focused on the axis of installation. The invention also relates to a container inspection line having a ring surface, of the type in which containers are moved on a conveyor line by a conveyor which transports the containers in a horizontal direction of movement perpendicular to a theoretical central axis. containers which thus have their ring surface in a horizontal plane facing upwards, characterized in that the installation comprises a device having any of the above characteristics, which is arranged on the installation with its axis d installation in a vertical position, so that the observation fields and the incident light beams are arranged downwards, towards the installation zone which is located between the device and a conveyor transport member.
In such an inspection line, the conveyor can bring the containers so that their theoretical central axis coincides with the installation axis, and, at the time of this coincidence, at least one image can be acquired using the device. , without contact of the device with the container.
Various other characteristics will emerge from the description given below with reference to the appended drawings which show, by way of nonlimiting examples, embodiments of the subject of the invention.
Figure IA is an axial sectional view of a first embodiment of a device according to the invention.
Figure IB is a perspective diagram of some elements of the first embodiment of FIG. IA.
Figure IC is an enlarged diagram in axial section illustrating the fields of vision for the first embodiment of FIG. IA.
Figure 1D is a diagram of an image obtained with the device of FIG. IA.
Figure 2 is an enlarged diagram in axial section illustrating an alternative embodiment of a lighting system.
Figures 3, 4 and 5 are views similar to that of FIG. 1 illustrating other embodiments of a device according to the invention.
Figure 6 illustrates an inspection line according to the invention.
Figures 7A and 7B are views which illustrate variants of the invention in which neither of the two viewing elevation angles is less than 25 degrees of angle. In the example of FIG. 7A, the first observation elevation angle is less than or equal to 45 degrees of angle and the second observation elevation angle is greater than 45 degrees of angle.
In the example of FIG. 7B, the first and second viewing elevation angles are both greater than 45 degrees of angle.
Illustrated in Figs. IA, 3, 4, 5Z 7A, and 7B, in section through a radial plane Pri as illustrated in FIG. IB, different embodiments of a device for determining the three-dimensional geometry of an actual ring surface of a container, each of these devices allowing the implementation of a method according to the invention. There is illustrated in the figures only the upper part of the ring 12 of a container 14. A container 14 is defined as a hollow container defining an interior volume which is closed over its entire volume periphery except at the level of an upper ring 12 open at one end.
For convenience, and only as an arbitrary definition, it will in fact be considered that the container has a theoretical central axis A1, defined as being the theoretical central axis of its ring 12. It will also be arbitrarily considered that the ring is arranged at the upper end of the container. Thus, in the present text, the concepts of top, bottom, top and bottom have a relative value corresponding to the orientation of the device 10 and of the container 14 as shown in the figures. However, it is understood that the invention could be implemented with an absolute orientation indifferent in space, insofar as the different components remain arranged with the same relative arrangement.
The ring 12 of the container is cylindrical of revolution around the axis A1. The body of the container, not shown, may also be a volume of revolution or not. The ring 12 is connected by its lower end (not shown) to the rest of the body of the container, while its other free end, known as the upper end by arbitrary choice in the context of the present description, ends in a ring surface 16.
The ring surface 16 is theoretically planar and parallel to a plane perpendicular to the axis A1, in that it has at least one continuous contact line at 360 degrees of angle around the theoretical central axis with such a plane, and it is theoretically circular or annular in this plane.
In the present text, a distinction will be made on the one hand from the actual ring surface of the container, and on the other hand from a theoretical ring surface. This theoretical ring surface is therefore a plane surface or a planar circle in a reference plane perpendicular to the theoretical central axis A1. This reference plane can be defined as linked to the container considered, such as the reference plane PRef in FIG. IA which is tangent to a point on the real ring surface 16, for example the highest point along the direction of the theoretical central axis A1. Alternatively, this reference plane can for example be located at the height of the point le lower than the actual ring surface, at an average height of the ring surface over its angular extent, etc. The reference plane can also be defined independently of the container, with reference for example to one of the elements of the device 10, for example at a lower surface of a housing of the device 10. The reference plane can thus be a reference plane of the installation P'ref perpendicular to an axis of installation. tion as defined below.
The determination of the three-dimensional geometry of the ring surface can for example comprise the quantification of a position deviation, along the direction of the theoretical central axis A1, between a given point Ti of the real ring surface and a corresponding point Tti of the theoretical ring surface. These two points are corresponding in that, in a cylindrical coordinate system, centered on the theoretical central axis, the corresponding points Ti, Tti have the same angular coordinate, and belong, for one to the real ring surface, and for the other to the theoretical ring surface. In other words, they are arranged in the same radial plane Pri containing the theoretical central axis A1.
In the examples illustrated, the ring surface 16 has, in sections through a radial plane containing the theoretical central axis, a convex, convex radial profile, between an internal edge and an external edge. The internal edge can be considered to be at the intersection of the ring surface 16 and an internal surface of the container ring, whose general orientation is close to that of the axis Al of the container 14. However the profile of the ring surface 16, in sections by radial planes containing the theoretical central axis, could have a different shape: the profile can be flat, rounded, in inverted V, etc.
In order for the container to be inspected correctly, care should be taken to ensure that the container is adequately presented in front of the device 10. For this, the device 10 according to the invention comprises an installation zone E in which the container will have to be installed. This installation area can be defined by an installation axis A'I and an installation plane (not shown) defined as being a plane perpendicular to the installation axis A'I located at the most bottom of the device. Thus, to be properly inspected, a container will preferably be presented so that its theoretical central axis A1 is at best parallel to the installation axis A'I, in particular if its laying plane is parallel to the installation plane . Thus, to be properly inspected, a container will also preferably be presented in such a way that its theoretical central axis A1 corresponds best to the installation axis A'I, and that its ring is presented with its open upper end turned in direction of the device 10, but below the installation plan. In an ideal case, which will form the hypothesis of the explanations below, the two axes Al and A'I are merged. However, with the invention, it will be seen that a possible offset, between the two axes Al and A'I (in the sense of a transverse deviation in a direction perpendicular to these axes Al and A'I, and / or d ' an angular difference between the two axes A1 and A′I) will be compensated for by the invention and will not significantly affect the determination of the axial position of a point on the ring surface 16. It is understood that the The entire device 10 according to the invention can be positioned above the installation plane while the container will be brought below the installation plane, without risk of contact with the device. The container 14 can therefore be brought into the installation zone E by any movement, preferably of translation on a straight path or not, in a direction perpendicular to the installation axis A'I, without risking d '' interfere with the device 10.
The device and method according to the invention use at least one two-dimensional photoelectric sensor 18 intended to acquire a two-dimensional image of the actual ring surface of the container, or, in certain embodiments, two such sensors 18, 18 ′ . Such a sensor, also qualified as a matrix, can be incorporated into a camera 19, 19 ′ and it can for example be of the CCD or CMOS type. Such a sensor 18, 18 ′ for example consists of a two-dimensional matrix of photoelectric elements. The sensor is generally associated with an electronic circuit for processing the signals supplied by the photoelectric elements to deliver an analog or digital signal representative of the image received by the sensor. This signal representative of the optical image received by the sensor preferably constitutes an electronic, digital, two-dimensional image, which can then be delivered to an image processing device and / or to a viewing device and / or to a device. image storage (not shown).
Such a sensor 18, 18 'is generally associated with an optical objective system 20, 20' which may comprise one or more optical elements, in particular one or more thin lenses, and possibly a diaphragm, associated to allow the formation of an optical image. of the installation area on the sensor. The optical objective system 20, 20 ', or in any case a part of it, and the sensor 18, 18' are generally part of the camera 19,19 '.
The term “optical system” is understood to mean, according to the invention, an observation system into which light rays from an illuminated object enter to form a planar image.
According to the invention, it is considered that two optical systems 24, 24 ′ are interposed optically, ie both in parallel between the installation zone E of the container and the same common sensor 18, in the sense that the two optical systems 24, 24 'form an image of the same object in the installation zone on the same sensor 18, that is to say each between the installation zone E of the container and an associated sensor 18, 18', in which case, the two optical systems 24 , 24 'each form an image of the same object in the installation area on the associated sensor 18, 18'. It is considered that there exists for each image point, an upstream path downstream of the light rays starting from a source, reflecting on the object, then entering the optical observation system to be deflected there by elements. dioptric and / or catoptric optics, filtered (modification of their spectral composition or their polarization), cut by a diaphragm etc ... in order to form an image of the object on the sensitive surface of the sensor. An element "optically interposed" between a first and a second other element therefore means that, following the path of the light rays contributing to the image, said element is located on said path downstream of the first element and upstream of the second .
In the embodiments of Figs. IA, 4, 5, 7A or 7B, the two optical systems are associated with the same common sensor 18. In this case, it is possible, in a notional manner, to dissociate this single common sensor into two sensors, namely a first sensor associated with a first optical system 24 and a second sensor associated with a second optical system 24 '. In reality, in this case, it will be possible to have a common sensor of which a first part of the image pickup surface, or first image forming area, is dedicated to the first optical system 24 and of which a second part of the surface of image capture, or second image formation zone, is dedicated to the second optical system 24 ′. In this case, the first part of the common sensor forms a first sensor 18 and the second part of the common sensor forms the second sensor 18 '.
In the embodiment of FIG. 3, the two optical systems 24, 24 'are each associated with its own associated sensor, with a first optical system 24 associated with a first sensor 18, and a second optical system 24' associated with a second sensor 18 '.
Each optical system 24, 24 ′ defines, for the associated sensor, an upstream field of vision in the installation area, defined as all the points of the installation area which are likely to be imaged by the optical system considered on the sensor in question. In this upstream field of vision, the first and second optical systems 24, 24 'respectively define, for the associated sensor, a first and a second peripheral observation field. It is arbitrarily considered here that the upstream and downstream correspond to the upstream path downstream of a light ray coming from the installation area and moving towards the associated sensor.
Each optical system 24, 24 ′ can thus form on the associated sensor an image of the same ring surface 16 of a container 14 placed in the installation zone E, each image being formed by the rays propagating from the surface of ring according to the corresponding peripheral observation field.
In the exemplary embodiments, at least the first optical system 24 comprises, in addition to the optical objective system 20, at least one optical element 122, 261, which is here arranged between the objective system 20 and the installation area E. L the assembly of the first optical system 24 between the first sensor 18 and the installation area thus comprises the objective system 20 and the optical element or elements 122.
In the embodiments of Figs. IA, 5, 7A and 7B, the second optical system 24 'comprises, in addition to an optical objective system 20', in this common case for the two optical systems 24, 24 ', at least one optical element 122, 262, which is here arranged between the objective system 20 'and the installation area.
In the embodiments of Figs. 3, 4, 7A and 7B, the second optical system 24 'comprises only an optical objective system 20', without any surface for reflecting revolution between the objective system 20 'and the installation area. In the embodiment of FIG. 4, the second optical system 24 'comprises an optical objective system 20 entirely common with that of the first optical system 24, 24'. In the embodiment of FIG. 3, the second optical system 24 'comprises a second optical objective system 20' which is only partially common with the first optical objective system 20 'of the first optical system 24. Thus, the example of FIG. 3 comprises a first optical objective system 20 and a second optical objective system 20 'which incorporate a common separation blade 21, which we will see that it can be dichroic, arranged at 45 degrees angle on the installation axis A 'I, to separate the optical rays coming from the installation area into two parts. A first part of these optical rays is sent to a first sensor 18, belonging in this example to a first camera 19, and another part is sent to a second sensor 18 ', which in this example belongs to a second camera 19'. In the example, the first and second objective systems 20, 20 ′ have common elements, including for example a telecentricity lens and the separation blade 21, and elements specific to each of them, namely optical elements which are interposed between the separation blade 21 and the respective sensors 18, 18 '. The focal lengths of the objective systems 20 and 20 ′ can be different.
In some of the examples illustrated, the optical objective system 20, 20 ′ associated with one or other of the sensors 18, 18 ′ is a telecentric objective system. A telecentric objective system is well known to those skilled in the art of machine vision devices because it is used to form on the sensor an image which has little or no parallax effect. In optical theory, a telecentric objective system is an objective system whose entrance pupil is positioned at infinity. It follows that such an objective observes in its field of vision according to main rays of observations which, through the associated optical system 24, 24 ', pass through the center of the entrance pupil CO of the objective system 20 , 20 ', and which are parallel or almost parallel to the optical axis, hence the absence of parallax effect. However, the optical objective system 20, 20 ′ is not necessarily telecentric, as illustrated by the embodiment of FIG. 4.
A sensor 18, 18 'generally has a rectangular or square shape, therefore two-dimensional, so that it delivers a two-dimensional digital image representative of the two-dimensional optical image formed on the sensor by the optical objective system 20, 20'. We will call global image IG, IG 'the entirety of the digital image delivered by such a sensor 18, 18'. It will be seen later that, in this global digital image, only one or more image areas will be useful. Preferably, the global image IG, IG ′ is acquired during a single integration time (also called exposure time) of the sensor. Alternatively, two acquisitions that are very close in time are made so that the article moves only negligibly between the two acquisitions. The optical axis of the objective system 20, 20 ′ is preferably merged with the installation axis A'I. In certain cases, this optical axis is not rectilinear, but segmented, for example by integrating a deflection mirror into the objective system or else when using a separation blade 21. It is thus possible to provide a deflection mirror at 45 degrees from the installation axis, thus with a first segment of the optical axis, on the sensor side, which would be arranged at 90 degrees from the axis of installation, and a second segment, on the other side of the deflection mirror, which would be arranged in accordance with the installation axis A'I. Thus, in the example of FIG. 3 comprising a first and a second physically separate sensor 18, 18 ′, associated respectively with a first and a second optical system 20, 20 ′, the second objective system 20 ′ is present, due to the presence of a separation blade 21 which returns some of the light rays at 90 degrees to the second sensor 18 ', a downstream segment of optical axis, on the side of the second sensor 18', which is arranged at 90 degrees to the axis installation A'I, and an upstream segment on the other side of the separation blade 21, which is arranged in accordance with the installation axis A'I. As a reminder, here it is arbitrarily considered that the upstream and downstream correspond to the upstream path downstream of a light ray coming from the installation area and moving towards the associated sensor.
In the examples illustrated, the first optical system 20 is arranged vertically along the axis A'I, and it is turned downward to observe the installation area E below the device, so to observe from above, ie from above, a possible container 14 arranged in the installation area. The first photoelectric sensor 18, which in the embodiments of Figs. IA, 4, 5, 7A and 7B, is a common sensor associated with the two optical systems 24, 24 ', is therefore at the top of the device 10 and it is turned down towards the installation area E. With this provision, it is understood that the theoretical ring surface of a container 14 placed in the installation area is therefore contained in a plane parallel to the plane of the sensor. This remains true for the example in FIG. 3 if we consider the tilting of the optical axis which is induced by the presence of the separation blade 21. Thus, with a simple telecentric objective, without any other optical system, the image of the ring surface which would be formed on a single sensor would not allow to "see" a flatness defect. On the contrary, no variation in height of this ring surface would be visible. This will however be implemented for the second optical system of FIG. 3.
In practical terms, the installation axis A'I will be defined as being the extension in the installation zone E of the optical axis of the first optical system 24.
According to another aspect of the invention, provision is made for the actual ring surface 16 of the container to be lit using at least one first incident incident light beam, that is to say extending 360 degrees of angle around the installation axis A'I, The ring surface is lit from above, in the sense that first incident light rays arrive on the ring surface 16 coming from points located above from the plane PRef perpendicular to the theoretical central axis A1 and tangent to a point on the ring surface, preferably the highest point in the direction of the theoretical central axis A1. The first light beam comprises, for a whole series of radial planes distributed at a 360 degree angle around the installation axis A'I, the first incident radial light rays contained in these radial planes containing the installation axis. The radial radii are, at least for some of them, directed towards the installation axis A'I, as illustrated in Fig. 2. These first incident radial light rays are, at least for most of them, not perpendicular to this axis. The incident radial light rays are preferably non-parallel to each other and, in the process illustrated in FIG. IA, the peripheral incident light beam comprises, in a given radial half-plane Pri (illustrated in Fig. IB), containing the installation axis and delimited by the installation axis, non-parallel incident radial light rays . Thus, it is illustrated in FIG. IA that the first peripheral incident light beam may contain incident radial light rays which form an elevation angle, with a plane perpendicular to the installation axis, preferably between 0 and 45 degrees. Preferably, the first light beam contains incident radial light rays in a continuous or substantially continuous angular range. This fan can have an angular extent of at least 30 degrees or more. The rays contained in this range can form an elevation angle, with a plane perpendicular to the theoretical central axis, between 5 and 40 degrees.
In addition to the first radial rays, the first peripheral incident light beam may also contain non-radial incident light rays.
In the illustrated embodiments, the device 10 comprises at least a first lighting system intended to ensure the lighting of the ring surface according to the first peripheral incident light beam. It is thus the rays coming from this first lighting system which are reflected by the ring surface and collected at least by the first optical system according to at least the first field of observation to be directed in the direction of the first sensor 18. In the embodiments illustrated, this first lighting system comprises a first light source 28 which is annular and focused on the installation axis, and which is arranged above the installation area. The first light source 28 has a diameter greater than the diameter of the ring surface 16.
In the example illustrated, the diameter of the first annular light source 28 is greater than the diameter of the annular ring 122 which carries at least the primary reflection surface 261. In this embodiment, the light source 28 is arranged substantially at the same height along the direction of the installation axis A'I as the lower primary reflecting surface 261. However, this position is purely illustrative and could be adapted as a function of the diameter and the axial position of the ring surface of the container to inspect.
Note that FIG. 2 illustrates a variant of the embodiment of FIG. IA which differs only in that the lighting system comprises, in addition to the annular light source 28, a reflector 140 arranged just below the annular light source 28. This reflector 140 here has a frustoconical surface, turned in direction of the installation axis. The surface of the reflector 140 is flared upwards and therefore has a diameter substantially identical to that of the light source 28. It reflects substantially vertical rays, emitted by the light source 28, towards the installation area, according to a grazing incidence, towards the ring surface. Such a reflector makes it possible to concentrate the light emitted by the light source 28 in the direction of the ring surface, under a grazing incidence favorable for the embodiments which have a first angle of elevation of grazing observation, that is to say - say less than 25 degrees of angle.
In the embodiment of FIG. IA, and also for that of FIG. 7B, for which the first and second observation elevation angles differ by less than 20 degrees of angle, the first light source 28 is that which also provides the light intended to form the second image of the ring surface 16 through the second optical system 24 '. One could however, in either case, provide for the presence of a second light source dedicated to the formation of the second image of the ring surface 16 through the second optical system 24 '.
Indeed, for the embodiments of Figs. 3, 4, 5, and 7A, provision is made to provide a second lighting system, distinct from the first, and intended to provide lighting for the ring surface. It is thus at least mainly the rays coming from this second lighting system which are reflected by the ring surface 16 and which are collected according to the second field of observation in the direction of the second sensor 18 ′ or of the common sensor. This second lighting system includes a second light source 28 ′ and is capable of providing a second peripheral incident light beam, here distinct from the first, comprising second incident radial light rays contained in radial planes containing the installation axis ΑΊ and distributed at 360 degrees of angle around the installation axis A'I. They illuminate the installation area, and therefore a ring surface 16 caused to be there, from above.
In the examples of Figs. 3 and 5, said second incident radial light rays are directed so as to move away from the installation axis A'I when they are traversed from the second light source 28 ', which second light source 28' is, as in the other embodiments, arranged above the reference plane Pref of the ring surface 16.
In the embodiment of FIG. 3, the second light source 28 ′ is annular and focused on the installation axis and it has a diameter which is slightly less than the diameter of the ring surface 16. Preferably, these two diameters will be very close, in order to have a directions of incidence of light rays coming from the second light source 28 ′ close to 90 ° relative to a reference plane perpendicular to the installation axis. In the embodiment of FIG. 5, the second light source 28 ′ is a central source, which can be considered as point sources and placed on the installation axis A'I. It therefore also has a diameter which is less than the diameter of the ring surface 16. In this way, the ring surface 16 is lit from the installation axis A'I, in other words, from the inside.
Illustrated in FIG. 4 a possible variant for the second light source 28 ′. In such a variant, the light source 28 ′ can be annular, focus on the installation fee and have a diameter which is greater than the diameter of the ring surface 16. It is also placed above the optical elements 122 and 132. In this case, it is noted that the second radial rays are directed towards the installation axis A'I when they are traversed from the second light source 28 ', which is arranged above the reference plane Pref of the ring surface 16. This variant is also implemented in the embodiment of FIG. 7A, and it can also be implemented in the context of the embodiment of FIG. 3.
Preferably, for each field of observation, provision is made for the incident beam to illuminate the ring surface 16 from above, at an incidence such that, at the point of reflection T ′ of an incident ray, the ray of which is reflected by the actual ring surface is seen by the associated sensor through the associated optical system, the normal "n" to the ring surface forms an angle with respect to the axis A'I less than 30 degrees, preferably less than 10 degrees of angle. In the context of perfect geometry, with an actual ring surface corresponding to the theoretical ring surface, it is thus ensured that the light reflected by the ring surface which is seen by the sensor 18 is the light which is reflected by the locally highest point, or near the highest local point on the ring surface. We only consider here what is happening in a radial half-plane Pri of the device and of the ring surface to be checked. Thus, the locally highest point on the ring surface is the point which, in the profile of the ring surface in this radial half-plane Pri, is the highest along the direction of the installation axis. Furthermore, the locally highest point can generally be defined as that for which the normal to the ring surface is parallel to the installation axis. FIG. 2 illustrates an incident ray RII emitted by the light source, which is reflected by a point Ti of the ring surface in a first reflected ray RR1 which is intercepted by the first primary reflection surface 261 and thus sent to the associated sensor . Another incident ray RI2 is reflected according to a second reflected ray RR2 by the same point Ti of the ring surface into a second reflected ray which is intercepted by the second primary reflection surface 262 and thus sent to the associated sensor. For the illustration, the normal “n” to the ring surface 16, at the point Ti, is substantially parallel to the direction of the installation axis, and the point Ti is the locally highest point of the surface profile ring in the corresponding radial half-plane. Within the framework of the device, this condition will be fulfilled by selecting the appropriate position of the light source or sources 28, 28 ′. This position, which can for example be defined by the diameter of the annular source 28, 28 ', and by its position in height along the direction of the installation axis A'I, indeed defines the angle of incidence of the rays which are likely to illuminate the ring surface. Of course, the diameter and the position in height of the real ring surface 16 determine, in combination with the orientation of the normal to the point of reflection on the ring surface, which or which rays emitted by the source 28 are susceptible to be reflected towards the sensor. It is therefore understood that for each diameter of the ring surface, it could be useful to adapt either the diameter of the annular source, or its position in height relative to the ring surface 16. However, it is not necessarily critical to detect the highest point locally on the ring surface. Indeed, in the context of a flat and annular ring surface, the internal and external radial edges of the ring surface have an edge which means that, if the point of reflection of the incident light is located on this edge, the height difference between the reflection point and the locally highest point will in this case be considered negligible. In the context of a ring surface whose profile in the radial half-plane is rounded, it will also be considered that the fact that the reflection can be done on a point which is not the locally highest point is largely compensated by the fact that this situation is repeated over the entire periphery at 360 degrees of angle so that, from a viewpoint of the analysis of flatness for example, the error thus made is generally considered to be negligible. Thus, it is certainly possible to provide a device in which the light source or sources would be adjustable, by adjusting the radial position or the position according to the direction of the installation axis, to adjust the angle of incidence of the light beam. on the ring surface. However, such a provision is not mandatory. To best cover a wide range of ring surface diameter, provision may be made for the device to be provided with several annular light sources, for example offset along the direction of the installation axis and / or of different diameter, these different light sources can be used simultaneously, or alternatively depending on the diameter and shape of the ring surface of a container to be inspected. In practice, light sources are generally used which have, in a radial plane, an extent in the radial direction and which emit a light beam containing radial rays according to a continuous or substantially continuous angular range which may have an angular extent of at least minus 30 degrees or more. Such light sources, which have a radial extent and which are diffuse, make it possible to adequately illuminate a whole series of receptacles having ring surfaces having a diameter, a profile and a height position which may differ in certain ranges, without requiring of adaptation in position.
Note that, in particular in the embodiment of FIG. IA, or in that of FIG. 7B, it will be advantageous to provide that the difference between the two observation elevation angles γΐ, Y2 is less than or equal to 20 degrees of angle, which will limit the errors which could be induced by reflections which, for the two images of the ring surface, would take place at different points of the ring surface, which, while being in the same radial plane could be offset radially and axially from each other. This will be particularly advantageous insofar as it will favor the possibility of using a common light source for observation according to the two observation elevation angles.
In the embodiments with a large difference between the observation elevation angles γΐ, Y2, provision will preferably be made for two separate light sources 28, 28 ′ arranged so that, in a given radial plane Pri, the first and the second incident beam illuminate the ring surface at an incidence such that the rays reflected by the real ring surface 16 are seen through the two optical systems after reflection at the same point on the ring surface. But we can accept that the points of reflection are different, because this can be taken into account in the processing of images.
In the examples illustrated, for an optical system 24, 24 ', the sensor 18, 18', its objective system 20, 20 ', the optional optical element 122 and the installation area are aligned in this order along the same axis optic corresponding to the installation axis A'I.
In the examples illustrated, the peripheral vision optical element 122 comprises at least a first primary reflection surface 261 belonging to the first optical system 24. In the example of FIG. IA, the same optical element 122 comprises a second primary reflection surface 262 belonging to the second optical system 24 ', so that the optical element 122 is common to the two optical systems, but by means of two different primary reflection surfaces. In the example of FIG. 5, a second, separate optical element 122 ', comprises the second primary reflection surface 262 belonging to the second optical system 24'.
The first primary reflection surface 261, and, for the embodiments which are provided with it, the second primary reflection surface 262, are arranged in a downstream field of vision of the associated sensor 18, 18 ′, that is to say say in the portion of the sensor's field of vision which, in the examples illustrated, is defined by the associated objective system 20, 20 ′. The upstream field of vision is therefore that which is outside the associated optical system 24, 24 ′, upstream of the latter in the direction of circulation of light from the installation area to the associated sensor.
In the examples illustrated, the first primary reflection surface 261 and the possible second primary reflection surface 262 are frustoconical surfaces of revolution generated by rotation, each of its own generating line segment, around the same axis, here l installation axis A'I, and they are arranged to reflect light rays, coming from the ring surface, towards the associated sensor, through the associated objective system 20, 20 ′. They therefore have specular reflection properties. They can advantageously be formed by a mirror, but they can also be produced in the form of a prism, i.e. an optical diopter.
In the illustrated embodiments, the first primary reflection surface 261, and the possible second primary reflection surface 262, is a frustoconical surface of revolution, concave in a plane perpendicular to the installation axis A'I, which is turned towards the installation axis A'I, and which can for example be formed on an internal face of an annular ring, for example of the optical element 122, 122 '. In this way, each primary reflection surface 261, 262 can return, directly or indirectly, towards the installation axis A'I, light rays coming from the real ring surface at an elevation angle of corresponding observation γΐ, Y2.
For a given peripheral observation field, the observation rays are the rays coming from the installation zone E and capable of being received by the associated sensor 18, 18 'through the associated optical system 24, 24'. Among these rays, the main observation rays are those which, through the associated optical system 24, 24 ', pass through the center of the entry pupil CO of the objective system 20, 20'. The observation elevation angle of a main observation radius corresponds to the angle, relative to a reference plane of the installation Pref 'perpendicular to the installation axis A'I, d' a main viewing radius in the installation area where it is likely to impact the ring surface of a container to be inspected. We can arbitrarily consider that the observation rays propagate from upstream to downstream from the observation area towards the associated sensor 18,18 '.
In the context of a device provided with a telecentric optical system, the main observation rays received by the sensor all enter the objective system 20, 20 ′ in parallel. If in addition, as in some of the systems illustrated, the optical system comprises as first optical element according to the upstream-downstream propagation of light from the installation area to the associated sensor, a primary frustoconical reflection surface 261, 262 generated by a line segment, the observation elevation angle Yl, Y2 of the corresponding peripheral observation field is then a single angle for any main observation radius belonging to this given peripheral observation field, and it can be directly deduced from the inclination of the corresponding primary reflection surface 261, 262 relative to the installation axis A'I. This angle is then considered to be the observation elevation angle γΐ, Y2 of the peripheral observation field.
However, in certain cases, in particular the case of a device not having a telecentric objective system, the observation rays received by the sensor, including the main rays, may have different observation elevation angles the relative to each other within a peripheral observation field determined by a given optical system 24, 24 '. In this case, it can be assumed that the observation elevation angle of a peripheral observation field is the angle, measured in the installation area where it is likely to impact the ring surface. of a container to be inspected, with respect to a plane perpendicular to the installation axis A'I, of an average principal observation radius. The mean principal radius of a peripheral observation field is that which has an observation elevation angle which is the arithmetic mean of the minimum and maximum values of the observation elevation angles for the principal rays of the field considered .
Preferably, in all the embodiments, the first and / or the second peripheral observation field is without azimuthal break around the installation axis A'I. In particular, there is no azimuthal angular discontinuity between two radial radii of observation infinitely close angularly around the installation axis. In this way, there is no point of view break in the image generated by the field considered, which could make the image more difficult to interpret. For this, the first and / or the second primary reflection surface 261, 262 is preferably without discontinuity of curvature around the installation axis A'I, the curvature being analyzed in a plane perpendicular to the axis of A'I installation, to ensure a field of observation without azimuthal break. The primary reflecting surfaces 261, 262 are also preferably continuous in azimuth in the sense that they are continuously reflecting around the installation axis A'I, without hidden angular sector, to ensure the azimuthal continuity of the field of observation . However, in certain cases, notably due to hardware installation constraints, by the presence of a power cable, it is possible that one or more angular sectors, around the installation axis, are hidden. Preferably, such a masked azimuth angular sector will be of small or very small extent, preferably less than 5 degrees around the installation axis.
The first and / or the second field of observation are peripheral in the sense that the corresponding radial rays of observation are distributed in radial planes at 360 degrees of angle around the axis of installation A'I. In the examples, the first peripheral observation field is rotationally symmetrical about the installation axis ΑΊ. Similarly, the second peripheral observation field is symmetrical in rotation about the installation axis ΑΊ.
The first and / or the second peripheral observation field observes "from above" in the sense that the ring surface is observed from above a plane Pref perpendicular to the theoretical central axis A1 of the ring surface , and containing at least one point on the ring surface, for example the highest point along the direction of the theoretical central axis A1.
In the embodiments illustrated in Figs. IA to 5, the first optical system 24, possibly the second optical system 24 ′, further comprises, optically interposed between the optical element 122 and the objective system 20, a reflecting reflection surface 132. Thus, as can be see in Fig. IA, the rays reflected by the two primary reflection surfaces 261, 262 are intercepted by the return reflection surface 132. The return reflection surface 132 is arranged in the downstream field of vision of the sensor 18, this downstream field of vision being defined by the optical objective system 20, 20 ′. In the example, this return reflection surface 132 comprises a convex surface of revolution turned opposite to the installation axis A'I, so as to return the rays towards the sensor. Preferably, the reflecting reflection surface 132 is a convex frustoconical surface which is centered on the installation axis A'I. The reflecting reflection surface 132 is therefore formed on the external surface of a truncated cone. In certain embodiments, it has a small diameter and a large diameter which are both less than the diameter of the ring surface of a container to be checked, but this characteristic is only compulsory for the embodiments for which the second optical system 24 'provides the second sensor 18' associated with a direct view of the ring surface 16, as in the embodiments of FIGS. 3 and 4. The large diameter is arranged below the small diameter.
The reflecting reflection surface 132 fits into the downstream field of vision defined by the objective system 20 for the first sensor 18. In the embodiment of FIG. IA, the reflecting reflection surface 132 also fits into the downstream field of vision defined by the objective system 20 ′ for the second sensor 18 ′, here the common sensor.
In the embodiments of Figs. IA to 5, the first primary reflection surface 261, and, for the embodiment of FIG. IA, also the second primary reflection surface 262, while being a surface of revolution centered on the installation axis A'I, is therefore arranged to indirectly reflect light rays, coming from the real ring surface from angles respective observation elevation γΐ, Y2, towards the associated sensor 18, 18 '. Indeed, the reflection on each of the primary reflection surfaces 261, 262 is indirect because followed by at least one reflection, here on the return reflection surface 132, before arriving at the associated sensor 18,18 '.
In the exemplary embodiments of Figs. 7A and 7B, the reflection, on the first primary reflection surface 261, of the light rays coming from the ring surface towards the associated sensor, is a direct reflection, with no other reflection surface between the ring surface 16 and the sensor 18 for a given light ray coming from the ring surface.
In the embodiment illustrated in FIG. 5, the reflection, on the second primary reflection surface 262, of the light rays coming from the ring surface towards the associated sensor, is a direct reflection, with no other reflection surface between the ring surface 16 and the sensor 18 for a given ray of light from the ring surface.
In the case of an indirect reflection, it is advantageously provided that the trajectory of the main rays between each of the primary reflection surfaces 261, 262 and the return reflection surface 132 is perpendicular or substantially perpendicular to the installation axis. Such an arrangement makes it possible to considerably reduce the sensitivity of the device to a possible lack of centering of the primary reflection surfaces 261, 262 or of the return reflection surface 132. For this, the frustoconical return reflection surface 132 has a half angle at the top of 45 degrees of angle and it is arranged at the same height along the direction of the installation axis ΑΊ as the primary reflection surfaces 261, 262. Each primary reflection surface 261, 262 present in this case a half-angle at the apex a1, a2 which is equal to half of the corresponding observation elevation angle γΐ, Y2 desired for the primary reflection surface 261, 262 considered. Thus, for a desired observation elevation angle γΐ of 15 degrees of angle, the first primary reflection surface 261 has a conicity whose half-angle at the top a2 is 7.5 degrees of angle, the first surface tapered reflection primer 261 being flared downwards, with its large diameter arranged below its small diameter in the direction of the Installation tax. In this configuration, it is particularly advantageous that in addition the objective system 20, 20 ′ is telecentric, so that the trajectory of all the main rays between each of the primary reflection surfaces 261, 262 and the deflection reflection surface 132 is perpendicular or substantially perpendicular to the installation axis A'I.
However, as a variant, still in the case of an indirect reflection, the reflecting reflection surface 132 could be a frustoconical surface having a half-angle at the apex less than 45 degrees of angle, for example equal to 45 degrees of angle minus an angle δ (delta). In this case, the reflecting reflection surface 132 may be disposed above the level of the primary reflection surface (s) 261, 262, and the primary reflection surface (s) 261, 262 would then have a half-angle at the top. al, a2 equal to half the angle of observation elevation γΐ, Y2 desired, minus the value of the angle δ (delta).
In the example of FIG. IA, the first primary reflection surface 261 and the second primary reflection surface 262 are arranged to work both in indirect reflection jointly with a return reflection surface 132, and they are advantageously offset axially while being directly attached to one another. to each other in the direction of the installation axis, that is to say that they are not arranged axially at the same level. Arbitrarily, it is considered that the primary reflection surface which is located below the other in the direction of the installation axis A'I is the first primary reflection surface 261, the second primary reflection surface 262 being then arranged above the first. The two primary reflection surfaces can then have a common circular edge corresponding to the lower edge of the upper surface, here the second primary reflection surface 262, and to the upper edge of the lower surface, here the first primary reflection surface 261.
However, the first primary reflection surface 261 and the second primary reflection surface 262 could be offset axially by being axially separated by a non-zero axial difference between the lower edge of the upper surface and the upper edge of the lower surface, as in the example of FIG. 5.
In the illustrated embodiments, it can be seen that, with respect to the axis Al of the ring surface, the observation made via a primary reflection surface is made peripherally radially from the outside by relative to the ring surface, in the sense that the first primary reflection surface 261, and moreover also the second primary reflection surface 262 for the embodiments of FIGS. IA and 5, is arranged radially outside with respect to the diameter of the ring surface 16.
Note, however, that for the embodiments of Figs. IA to 7A, an observation radius of the first observation field, coming from the ring surface 16, is intercepted by the first primary reflection surface 261 at a point diametrically opposite the point of origin on the surface ring, along a long path which cuts the installation axis A'I. Thus, it can be seen that the ring surface 16 is observed, according to at least the first field of observation, by the side of its inner edge, that is to say that the observation rays, in their trajectory from the ring surface towards the sensor, are directed towards the installation axis when they leave the ring surface 16 in the direction of the first primary reflection surface 261, and they intersect this installation axis A ' I before arriving at the first primary reflection surface 261.
In the embodiment of FIG. 7B, the first optical system 24 defines a peripheral field of observation radially from the outside and observing the ring surface from the side of its outer edge. Thus, a first observation ray coming from the ring surface 16 does not intersect the installation axis A'I between the ring surface and the first optical system 24.
In the embodiment of FIG. IA, the second optical system 24 ′, defines, like the first, a peripheral observation field radially from the outside and observing the ring surface from the side of its inner edge, therefore according to observation rays which cut the 'installation axis A'I when the installation axis and the theoretical central axis Al are merged.
In the embodiment of FIG. 3, the second optical system 24 ′, without revolution reflection surface, therefore in telecentric direct vision, defines, with respect to the theoretical central axis A1 of the ring surface, an observation perpendicular to the reference planes of the installation and ring surface.
In the embodiments of Figs. 4, 7A and 7B, the second optical system 24 ′, without a reflection reflection surface, therefore in non-telecentric direct vision, defines, with respect to the axis Al of the ring surface, an observation radially from the inside by relative to the ring surface. However, in this embodiment of FIG. 4, the ring surface 16 is observed, according to the second field of observation, by the side of its inner edge, as for the first embodiment.
In the embodiment of FIG. 5, the second optical system 24 ′, defines a peripheral field of observation radially from the outside and observing the ring surface from the side of its outer edge.
In the embodiments of Figs. 3, 4, and 5, a second observation ray coming from the ring surface 16 does not cut the installation axis A'I between the ring surface and the second optical system 24 '.
In all the illustrated embodiments for which the optical system includes a primary reflection surface arranged for direct or indirect reflection, the primary reflection surface has a small diameter and a large diameter both greater than the diameter of the ring surface theoretical, so that it defines a peripheral field of observation radially from the outside. In cases where the primary reflection surface is arranged for indirect reflection, it is preferably flared in the direction of the installation axis going towards the installation area. On the contrary, in the configurations of the embodiments of Figs. 5, 7A and 7B, with an optical system 24, 24 'comprising a primary reflection surface 261 and / or 262 which is arranged for direct reflection towards the sensor, said primary reflection surface 261 and / or 262 can be flared in the direction of the installation axis going towards the associated sensor, or be cylindrical of revolution around the installation axis A'I.
In the embodiments of Figs. IA to 5, the first peripheral observation field, defined for the first sensor or for the common sensor by the first optical system 24 including the first primary reflection surface, present, relative to a plane PRef perpendicular to the axis d 'installation ΑΊ, a first observation elevation angle Yl, which is for example between 5 and 25 degrees of angle, for example 15 degrees of angle. In the examples illustrated, the first peripheral observation field comprises the observation rays according to which incident light rays are reflected by the first primary reflection surface 261 towards the sensor 18. In other words, this first field of peripheral observation constitutes a first upstream portion CAM1 of the field of vision of the first sensor 18 through the first optical system 24, as determined by the first primary reflection surface 261, in the installation zone E up to this first primary surface reflection 261.
For the embodiments of Figs. 7A and 7B, the first peripheral observation field, defined for the first sensor or for the common sensor by the first optical system 24 including the first primary reflection surface, present, relative to a plane PRef perpendicular to the axis d 'installation A'I, a first observation elevation angle γΐ, which, for FIG. 7A, is included in the range from 25 to 45 degrees of angle, and which, for FIG. 7B, is greater than 45 degrees of angle.
For the embodiments of Figs. IA to 5, as well as that of FIG. 7A, in the upstream portion of the observation rays which is in the installation zone E up to this first primary reflection surface 261, the first radial observation rays determined by the first optical system are first centripetal when '' they are traversed from the ring surface, therefore oriented towards the installation axis A'I, then cut the installation axis A'I to become, beyond the installation axis, centrifugal in the direction of the first primary reflection surface 261 of the first optical system, until impacting this first primary reflection surface 261.
For the embodiment of FIG. 7B, in direct reflection by the first primary reflection surface 261 without other reflection on a reflection reflection surface, the first rays of radial observations determined by the first optical system are, when they are traversed from upstream to downstream from the ring surface towards the sensor, centrifugal with respect to the installation axis A'I, until impacting the first primary reflection surface 261 of the first optical system 24.
The second peripheral observation field has, with respect to a plane PRef perpendicular to the installation axis A'I, a second observation elevation angle Y2, which is for example between 20 degrees of angle and 90 degree angle, this second angle being different from the first observation elevation angle γΐ.
Preferably, the first and second viewing elevation angles differ by at least 5 degrees of angle. Indeed, such an angular difference appears necessary for good precision of the triangulation operations which will be described later. In the examples illustrated, but arbitrarily, the second observation elevation angle Y2 is strictly greater than the first observation elevation angle Yl
In the examples illustrated in Figs. IA and 5, the second peripheral observation field comprises the observation rays according to which incident light rays are reflected on the second primary reflection surface 262, therefore through the second optical system 24 ′, in the direction of the second sensor 18 ', in this case formed by the common sensor. This second peripheral observation field constitutes a second upstream portion CAM2 of the field of vision of the common sensor 18, 18 'through the second optical system 24', as determined by the second primary reflection surface 262, in the area of installation E to the second primary reflection surface 262.
For the embodiment of FIG. IA, in the upstream portion of the second observation rays which is in the installation zone E, up to this second surface 261, 262, the second radial observation rays determined by the second optical system are first centripetal when traveling from upstream to downstream from the ring surface in the direction of the sensor, therefore first oriented in the direction of the installation axis A'I, then cut the installation axis A'I to become centrifugal beyond the installation axis A'I in the direction of the second primary reflection surface 262 of the second optical system 24 ', until impacting the second primary reflection surface 262.
In the embodiment of FIG. IA, the second observation elevation angle Y2 is, like the first observation elevation angle Yl, a grazing angle, less than 25 degrees of angle.
In the embodiment of FIG. 5, in direct reflection by the second primary reflection surface 262 without any other reflection on a reflection reflection surface, the second observation elevation angle Y2 is a plunging angle, greater than 65 degrees of angle, preferably greater at 75 degrees of angle. For this embodiment of FIG. 5, the second radial observation radii determined by the second optical system are, when traversed from upstream to downstream from the ring surface in the direction of the sensor, centrifugal with respect to the installation axis A'I , until impacting the second primary reflection surface 262 of the second optical system 24 '.
We note, in the embodiments of Figs. IA and 5, which have in common the presence of the second reflection surface 262 and the presence of a common sensor 18, that the first primary reflection surface 261 and the second primary reflection surface 262 are each in disjoint portions of the downstream field of vision of the common sensor 18, in the sense that they can be seen simultaneously by the sensor through the objective system 20, without masking each other. Insofar as one would partially mask the other, for the partially masked one, only the useful non-masked part will be considered.
In the embodiments of Figs. 3 and 4, in direct vision without reflection on a surface reflecting a revolution, the second observation elevation angle Y2 is also a plunging angle, greater than 65 degrees of angle, preferably greater than 75 degrees of angle. In the embodiment of FIG. 3, the presence of a telecentric objective system means that the second observation elevation angle Y2 is equal to 90 degrees of angle. In these two embodiments also, this second peripheral observation field constitutes a second upstream portion CAM2 of the field of vision, of the common sensor 18 for the embodiment of FIG. 4, or the second sensor 18 'for the embodiment for FIG. 3, through the second optical system as determined by the objective system 20 '. In the portion of the observation rays which is in the installation zone E up to the objective system 20 ′, the observation rays of this second observation field are, for the embodiment of FIG. 4, centripetal towards the axis ΑΊ, or, for the embodiment of FIG. 3, parallel to this axis, when traversed from the installation area E to the objective system 20 '. It is noted that, in these embodiments not comprising a surface of reflection of revolution for the second optical system 24 ', which is then reduced to the objective system 20', it can be considered that the upstream portion and the downstream portion of the field of view vision for the second sensor, separate or common, are combined.
It is therefore noted that the upstream portion of the second field of vision is of annular section by a plane perpendicular to the installation axis A'I. In the two embodiments of Figs. 3 and 4, the internal limit of this annular zone is determined by the external contour of the deflection surface 132, or even by the external contour of the second annular light source 28 ′ for the example of FIG. 3. Its external limit is determined by the internal contour of the optical element 122, or by a possible second annular light source 28 ′ in the embodiment of FIG. 4, or also by the field limit of the associated sensor 18,18 '.
In the embodiment of FIG. 3, the second sensor 18 'being a dedicated sensor, it is possible to provide a specific positioning of the second sensor or a specific focusing of the second objective system 20', which makes it possible to take account of the relatively large difference in path length on the one hand the rays through the first optical system 24 and on the other hand the rays through the second optical system 24 '. In the embodiment of FIG. 4, as in that of FIG. 5, comprising a common sensor 18 associated with the two optical systems 24, 24 ′, the difference in path can be compensated for example by increasing the depth of field, for example by means of a diaphragm, and / or by performing a focusing midpoint of the objective system 20, and / or using an additional dioptric or catoptric optical system interposed in one or the other of the two optical systems 24, 24 ′.
In the embodiment of FIG. 7A, a first common light source 28 illuminates a point T on the ring surface 16 by means of radial incident light rays RII which are reflected in reflected rays RR1 for the first observation system whose first peripheral observation field defines a first observation elevation angle Yl less than 45 degrees of angle, but greater than or equal to 25 degrees of angle, the reflected rays RR1 being, in the first zone upstream of the field of vision of the common sensor 18, centripetal in their course between the ring surface 16 and the axis of the installation A'I, to reflect in a centrifugal manner on the first primary frustoconical reflection surface 261 after having intersected the axis A'I. In Fig. 7A always, a second, separate light source 28 ′ illuminates the same point T of the ring surface 16 by means of second radial incident light rays RI2 which are reflected in reflected rays RR2 for the second optical system 24 ′ including the second peripheral observation field defines a second observation elevation angle Y2 distinct from the first angle, here greater than 45 degrees of angle, for example greater than 65 degrees of angle, or even greater than 75 degrees of angle, the reflected rays RR2 being, in the second upstream portion of the field of vision, centripetal towards the axis of the installation A'I in their course from the ring surface 16 towards the second optical system 24 'which is here limited to l 'objective 20'.
In Fig. 7B, a common single light source 28, annular around the installation axis A'I, illuminates the ring surface 16 by means of the incident rays RII, RI2 which are reflected, at the same point T on the ring surface , respectively - in reflected rays RR1 according to the first peripheral observation field, defined by the first optical system 24, and which here has a first observation elevation angle γΐ greater than 45 °, the reflected rays being in the first upstream portion of the field of vision, centrifugal in their path between the ring surface 16 and the first primary frusto-conical reflection surface 261. - in reflected rays RR2 according to the second peripheral observation field, defined by the second optical system 24 , and which here has a second observation elevation angle Y2, distinct from the first angle, here greater than 45 °, for example greater than 65 degrees of angle, or even greater than 75 deg angle d, the reflected rays RR2 being, in the second upstream portion of the field of vision, centripetal towards the axis of the installation A'I in their course from the ring surface towards the second optical system 24 'which is here limited to the 20 'objective.
Note that, in the embodiments of Figs. 7A and 7B, the two optical systems 24, 24 'are non-telecentric. Alternatively, one and / or the other of the two optical systems 24, 24 'could be telecentric. Likewise, although illustrated with a common sensor, variants can be provided with separate dedicated sensors.
It is therefore understood that all the angle combinations are possible for the torque formed by the first elevation angle and by the second observation elevation angle, provided that these two angles differ, preferably by at least 5 degrees d 'angle.
In all cases, the first and second optical systems are configured, with respect to the associated sensor 18, 18 ′, to determine respectively a first portion of upstream field of vision CAM1 and a second portion of upstream field of vision CAM2 which overlap , in the installation area E according to a useful inspection volume VUI of revolution around the installation axis ΑΊ. Thus, any point of an object located in the useful inspection volume, which is suitably lit, and which is imaged by a first image point in the first image formed by the first optical system on the first sensor, is also imaged by a second image point in the second image formed by the second optical system on the second sensor. This useful volume VUI, which forms a common inspection zone, must have a geometry suitable for being able to receive the ring surface 16 of a container to be inspected. In the examples illustrated, this useful volume has a shape generated by the revolution, around the installation axis A'I, of a rhombus, this rhombus possibly being truncated, for example in the embodiment of FIG. IA, as a function of the depth of field determined by the optical systems 24, 24 ′ for the associated sensors.
For the embodiment of FIG. IA, this property is highlighted on the schematic graph in FIG. IC. In this graph, the dotted lines in section in one half of a radial plane Pr are shown the upper and lower limits of the first portion of upstream field of vision CAM1 and the upper and lower limits of the second portion of field of CAM2 upstream vision. These two portions overlap according to the useful volume of VUI inspection.
In all the embodiments, these two portions of upstream field of vision CAM1, CAM2 are each imaged, by the associated optical system 24, 24 ′, respectively on a first zone and on a second image formation zone of the image sensor. image, said image formation zones of the sensor associated respectively with a first and a second image zone of the global image IG delivered in the sensor, this global image therefore being common for the two optical systems in the example illustrated in Fig. 1D. This reasoning is held for the embodiments comprising a single common sensor associated with the two optical systems 24, 24 '.
In the embodiments comprising two separate dedicated sensors, one for each optical system, as illustrated in FIG. 3, it will be possible to ensure that a first global image IG delivered by the first sensor, and a second global image IG 'delivered by the second sensor 18' in this way respectively comprise a first image of the ring surface 16, in a first image zone of the first global image, and a second image of the ring surface 16, in a second image zone of the second global image. In this case, it will also be noted that it is possible to merge the two global images, by computer, to obtain a composite global image identical or similar to the common global image obtained with a common sensor, provided that they are represented as separate .
In the embodiments comprising a single common sensor associated with the two optical systems 24, 24 ′, it will be noted that the first image area ZI1 and the second image area ZI2 are disjoint in the common global digital image. The two optical systems simultaneously form, on the same two-dimensional sensor 18, two separate images in two distinct image-forming zones of the sensor, so that the latter delivers an overall image comprising two distinct image zones, each zone d 'distinct image comprising an image of the ring surface from the rays collected according to the peripheral field of observation having the angle of observation elevation determined by the primary surface of corresponding reflection. Thus, this allows the simultaneous formation, from the reflected rays collected according to the first and second peripheral observation fields, via the optical systems 24, 24 ', of a two-dimensional image 1161, 1162 of the ring surface. of the container both in the first image zone ZI1 corresponding to the observation according to the first peripheral observation field having the first observation elevation angle γΐ and in the second image zone ZI2 corresponding to the observation according to the second peripheral observation field having the second observation elevation angle Y2. In this case, there will therefore be available, for each container, an overall image comprising two image zones each comprising an image of the ring surface, under two different observation elevation angles. This global image IG common is preferably acquired during a single acquisition time of the image sensor 18. In the case of two sensors, the two global images can advantageously be acquired simultaneously. However, it can on the contrary be provided for the first ring surface image and the second ring surface image to be acquired at separate times.
The images of the ring surface 1161, 1162 are formed by the radial rays of the corresponding incident light beam which are reflected by specular reflection on the ring surface 16 and directed by the corresponding optical system 24, 24 ', on the associated sensor 18 , 18 '. In certain embodiments, it will be considered that the image 1161.1162 of the real ring surface consists only of these radial rays of the corresponding incident light beam which are reflected by specular reflection on the ring surface 16 and directed by the system. corresponding optics 24, 24 ', on the associated sensor 18.
In certain embodiments, in particular those comprising two separate dedicated sensors and two separate light sources, with a dedicated sensor and a light source for each optical system, as illustrated in FIG. 3, it will be possible to ensure that each global image only comprises an image of the ring surface. Indeed, one can provide a first light source 28 emitting in a first range of wavelengths and a second light source 28 'emitting in a second range of wavelengths, distinct from the first range. In certain embodiments, two ranges of wavelengths which do not overlap will be chosen. It is then sufficient, in the formation of the first image and of the second image of the ring surface, to operate a chromatic filtering so that each image is formed with the reflected rays coming from the corresponding light source. This chromatic filtering can be carried out for example in the form of a chromatic optical filter in the optical path through one or both optical systems 24, 24 '. In the embodiment of FIG. 3, comprising two separate sensors 18, 18 ′ and a separation blade 21, provision can be made for the separation blade to be a dichroic blade. Chromatic filtering can be carried out at the level of the sensor or sensors, using sensors operating in different chromatic ranges, using only part of the collected light signal in the processing of the signal collected by the sensor. In a system comprising a single common sensor, for example tri-chromic (Tri CCD or of the Bayer type), it is for example possible to use only one chromatic channel for the first image zone and another chromatic channel for the second image area. This can help identify the image of the ring surface in the corresponding image. This in particular makes it possible to at least partially compensate for any stray reflections, including those due to the possible presence of the two light sources within the device.
Advantageously, each of the two optical systems 24, 24 ′ allows the optical formation of a two-dimensional image 1161.1162 of the complete and continuous ring surface at 360 degrees of angle around the theoretical central axis A1 of the ring surface. 16 on the associated sensor 18, 18 '. This complete and continuous optical image is formed on the associated sensor without digital transformation, only by an optical process acting on the light. In the examples illustrated, this complete and continuous optical image of the ring surface is formed on the sensor by the optical system 24, 24 ', without digital transformation.
There is shown in FIG. 1D an example of a common global image or of a composite global image obtained as described above. Through each optical system 24, 24 ′, two plane optical images 1161, 1162 of the real ring surface 16 were thus obtained on the associated sensor, by means of two optical geometric transformations which each convert the ring surface 16 into a ring surface image 1161, 1162. Preferably, for each of the optical geometric transformations, the relative angular positioning of two points of the ring surface around the theoretical central axis A1 is not modified, in that meaning that two points of the real ring surface, separated by an angular difference around the theoretical central axis A1, see, in the image obtained by the optical geometric transformation considered, their respective images separated by the same angular difference around l image of the theoretical central axis. For each of the two optical transformations, it is considered that the same transformation theoretically converts the theoretical ring surface into a theoretical image of the ring surface 1161t, I162t, in the sense that the theoretical ring surface image is the image, which would be formed by the transformation of an actual ring surface which would be confused with the theoretical ring surface.
In Fig. IC, the trajectory of two observation radii has been illustrated in solid line, respectively according to the first observation elevation angle and according to the second observation elevation angle, coming from the point Ti of the real ring surface , towards the photoelectric sensor 18, passing respectively through the first and the second primary reflection surfaces.
In Fig. 1D, the global image IG has been illustrated as received by the sensor 18 through the two optical systems 24, 24 '. The two real images of the same ring surface, formed respectively according to the two viewing elevation angles, therefore respectively via the two primary reflection surfaces 261, 262, are here illustrated in the form each of a image line 1161, 1162 which is the image, formed by the corresponding optical system on the common sensor 18, of the reflection of the corresponding incident beam on the ring surface 16. The thickness of these two image lines in the radial direction in the overall image IG is determined in particular by the geometry, for example planar, rounded, inverted V or polygonal, of the profile of the ring surface in section in a radial plane, by the extent of the light source in the same plane radial, and by the angle of the luminous fan delivered by this source. In most cases, an image of the ring surface 1161,1162 can be compared to a line, otherwise it will be possible to define a line representative of the image of the ring surface, for example choosing a border line inside or outside or a center line of the image of the ring surface as a representative line. We can also determine such a line by segmentation, by "skeletonization", by looking for a particular point for each radius traveled from the center etc ...
As illustrated in Figs. IC and 1D, we consider here that the corresponding point Tti of the theoretical ring surface 16t is the point of this theoretical surface which would have the same angular coordinate as the point considered Ti of the real ring surface 16 in a cylindrical coordinate system (Z, p, Θ) centered on the theoretical central axis Al. The difference in position between a point considered Ti of the real ring surface and a corresponding point Tti of the theoretical ring surface is the combination of a difference of real height dZ, along the direction of the theoretical central axis, and a real radial difference dp, along the radial direction perpendicular to the theoretical central axis Al.
The image points ITil, ITi2 of the image of the ring surface of the container are the images of the point considered Ti of the real ring surface through the first and second optical systems respectively, due to the corresponding optical geometric transformation.
In this Fig. 1D, two lines I161t, I162t have been reported, respectively illustrating the theoretical image of the ring surface according to the two observation elevation angles. The corresponding theoretical image points ITtil, ITti2 of the theoretical images I161t, I162t of the ring surface 16t are the images of the corresponding point Tti of the theoretical ring surface through the first and second optical systems respectively, due to the geometric transformation corresponding optics.
A theoretical line I161t, Ï162t representative of the theoretical image of the ring surface can be a predefined line, for example a circle centered on the image of the installation axis IA'l.
Alternatively, a theoretical line I161t, I162t representative of the theoretical image of the ring surface can be deduced from the image of the ring surface 1161, 1162, for example by calculation within an image processing device, by estimating the corresponding theoretical line I161t, I162t. Different methods are possible to deduce this theoretical line, for example of the “best fit curve” type, Hough transform, correlation, search for the largest inscribed circle, etc. In these methods it is possible to take into account diameter values a priori of the ring. Indeed, the theoretical line I161t, I162t in a perfect optical system and for a container centered in the installation zone E (Al = A'I) is a circle. The diameter of the circle of a theoretical ring image (theoretical line I161t, I162t) can be known a priori from the image processing system, by means of adjustment or initialization, for example by learning, or by input. or download a value. It therefore remains to know the theoretical line I161t, I162t to determine its center from the image of the ring surface 1161, 1162. It is possible to generalize these methods with more elaborate forms of theoretical curves like ellipses, or other parametric curves for non-centered containers, so if Al is offset from A'I.
The two digital image zones ZI1, ZI2, each containing respectively one of the two images of the same ring surface are, in the example illustrated, concentric annular zones which correspond respectively to the two primary reflection surfaces 261, 262 .
As illustrated in Figs. IC and 1D, at least one of the two optical geometric transformations, and, at least for the embodiments of FIGS. IA, 3, 4 and 5, in reality the two optical geometric transformations, converts, except in special cases, a difference in position between a point considered Ti of the real ring surface and a corresponding point Tti of the theoretical ring surface, into a radial image shift dRli, dR2i. A radial offset image dRli, dR2i, in the global image IG, IG ', is the distance between, on the one hand, the image point ITil, ITi2 in the corresponding actual ring surface image 1161, 1162, and, on the other hand, the corresponding theoretical image point ITtil, ITti2 in the theoretical image of the ring surface I161t, I162t corresponding.
In the example illustrated, the two images of real ring surface 1161, 1162, illustrated in solid line, are substantially coincident over the entire periphery with the corresponding theoretical image of ring I161t, I162t, which are illustrated in broken line. We can see that, in the first image area ZI1, in the angular sector corresponding to the point Ti of the ring surface having a localized defect, the first image of the real ring surface 1161 differs from the first theoretical image of the corresponding ring I161t, and has, in the image, an image radial offset dRli with respect to the latter. It can be seen that the difference in position between the two points Ti and Tti is converted according to the first optical geometric transformation, due to the optical system 124, into a radial image shift dRli on the image seen by the sensor.
In the example illustrated, for which the second observation elevation angle Y2 is also a grazing angle, it can be seen that, in the angular sector corresponding to the same point Ti of the ring surface having a localized defect, the second image of the actual ring surface 1162 also stands out from the second theoretical image of the corresponding ring I162t, and has, in the image, a radial offset image dR2i with respect to the latter. We see that, in this hypothesis, the position difference is converted according to the second optical geometric transformation, due to the optical system 124, into a second radial image shift dR2i on the image seen by the sensor.
It is noted that, for the configurations in which the reflected rays undergo the same number of reflections, or a number of the same parity, in their path between the real ring surface and the sensor 18, the two radial image shifts dRli and dR2ï can be measured, in the global image IG delivered by sensor, on the same ray coming from a central point of the image which corresponds to the image IA'l of the installation axis A'I.
Preferably, for at least the first of the two optical geometric transformations, for example that implemented through the first reflection surface 261, it is observed, in the first plane image area ZI1 collected by the first sensor 18, that the radial image offset dRli resulting from a real height difference dZi unit is greater than the radial image offset resulting from a real radial offset dpi of the same dimension between a point considered of the real ring surface and a corresponding point of the surface of theoretical ring. In other words, preferably, for at least the first of the two optical geometric transformations, the influence of a real height difference dZi is greater than the influence of a real radial difference dpi in the radial image offset obtained in the first optical geometric transformation obtained by the first optical system 24. Thus, a height offset of 1 mm from the real ring surface with respect to the theoretical ring surface would result in an image radial offset of axial origin, while that a radial offset of 1 mm from the actual ring surface with respect to the theoretical ring surface would result in another radial image offset, of radial origin, of lower value.
In certain embodiments of a device of the invention, such a preponderance of the radial shifts image of axial origin is ensured by the fact that the first observation elevation angle is less than or equal to 45 ° degrees of angle, even more if it is less than 25 degrees of angle. However, in the embodiment of FIG. 7B, such a preponderance is not provided for any of the two geometric transformations defined by the two optical systems 24, 24 ′. In the illustrated embodiments comprising a first primary reflection surface 261 frustoconical, concave in a plane perpendicular to the installation axis, this property, according to which the influence of a real difference in height is greater than the influence of a real radial difference in the radial image offset obtained in the optical geometric transformation, is ensured in particular by the angle of the primary reflection surface 261 with respect to the installation axis A1. More precisely, the half-angle at the apex a1, characteristic of the primary reflection surface 261, determines the influence ratio, on the radial offset image, between a height difference and a radial difference of the real surface compared to the theoretical ring surface.
In the illustrated embodiments, with a first primary reflection surface 261 concave and a return reflection surface 132, the more this half-angle at the apex a1 of the primary reflection surface 261 decreases as it approaches 0 degrees of angle, the greater the influence of the height difference on the radial image shift. Of course, it will preferably be ensured that the top of the cone which carries the primary reflection surface is disposed upward relative to said surface, so that the optical element 122 which carries the primary reflection surface 261, 262 can be arranged above the ring surface 16, the sensor 18 thus seeing the ring surface 16 from above through the optical system 24. In the illustrated case where the deflection reflection surface 132 has an angle of 45 degrees of angle, this half angle at the top a1 is less than 12.5 degrees of angle so that the influence of the actual height difference is very much greater than the influence of an actual radial offset in the radial image shift.
Preferably, for at least the first of the two peripheral observation fields, the radial image offset corresponding to a unit real height difference is at least 2.14 times greater, and more preferably at least 3 times greater than the corresponding image radial offset. to a real radial offset of the same dimension between said point of the real ring surface and a corresponding point of the theoretical ring surface. In this way, it is ensured that, in the image obtained, an image radial offset is very largely due to an offset in height of the real ring surface relative to the theoretical ring surface rather than to a radial offset between these two surfaces.
In the examples illustrated in Figs. IA at 5, the observation elevation angle γΐ defined by the first primary reflection surface 261 is 15 degrees of angle, and the half-angle at the apex al of the first primary reflection surface 261 is 7 , 5 degrees of angle. More generally, in the configuration of the device of FIG. IA, the first primary concave reflection surface 261 can be a frustoconical revolution surface, continuous at 360 degrees of angle around the installation axis A'I, and having a half-angle at the top al equal to half of the observation elevation angle.
In the configuration of the device of FIG. IA, the second observation elevation angle Y2 also is less than 45 degrees of angle, and even preferably less than 25 degrees of angle, therefore grazing, as seen above. It appears that there is also, in the second image 1162 of the ring surface, a radial offset image dR2 corresponding to a difference in unit real height greater than the radial offset image corresponding to an actual radial offset of the same dimension between said point of the real ring surface 16 and a corresponding point of the theoretical ring surface 16t.
On the contrary, in the embodiments of Figs. 4, 5, 7A and 7B, the second angle of observation elevation Y2 is not grazing, as seen above. It can for example be greater than 65 degrees of angle, or even greater than 75 degrees of angle. In this case, an image radial offset is very largely due to an actual radial offset dp of the actual ring surface with respect to the theoretical ring surface rather than to a height offset between these two surfaces. This radial image offset for the second image is therefore mainly of radial origin.
For the embodiment of FIG. 3, the second observation elevation angle Y2 is 90 degrees. In this case, an image radial offset dR2 is only due to an actual radial offset dp of the actual ring surface with respect to the theoretical ring surface. A height offset dZi between these two surfaces is not visible on the second ring surface image. In other words, in this device of FIG. 3, a radial offset image dR2i measured in the second image 1162 of the ring surface directly gives a representative value of radial offset of the real ring surface relative to the theoretical ring surface in a direction perpendicular to the installation axis .
In the following description, possible methods of image processing and determination of measures for the inspection of containers are explained. So that the measurements made in units of pixels or sub-pixels in the images are translated into physical measurements relating to containers, in particular in units of length, the calculations take into account the optical and geometric characteristics of the first and second optical systems 24, 24 ', including objective systems 20, 20', and sensors 18 and 18 'such as: pixel dimensions, focal lengths of objectives, distances and positions of optical elements and of the ring surface, and angles of frusto-conical mirrors, etc. These optical and geometric characteristics are therefore considered to be known to the image processing system. They are made available to the image processing system either by any memory medium, for example by input or by calibration of the device.
These optical and geometric characteristics are also used to calculate geometric rays corresponding to otic rays in order to carry out any useful calculation in the three-dimensional measurement space.
Thus, more generally, in the images which are obtained by the method and / or the device described above, it is possible, by image processing, to determine the points of interest of each ring image. These determinations will be made for a number N of directions Di analyzed, originating from a reference point O of the global digital image and angularly offset from one another around the reference point O, which will preferably be image IA ' l of the installation axis.
We note that we can then work in a common global digital image delivered in the case of a common sensor, or, in the case of two dedicated sensors, in a composite global digital image obtained by composition of the two global digital images delivered separately by two dedicated sensors delivered, or separately in the two global digital images delivered separately by two dedicated sensors. In all cases, care will be taken to take into account any optical inversion between the two two-dimensional digital images, any difference in magnification between the two images, any difference in orientation, even if it is necessary to readjust the two images if necessary so that they are geometrically comparable.
Thus, it will be possible to determine, according to the direction Di analyzed, a first image point ITil of the first two-dimensional digital image 1161 of the ring surface 16, on the analyzed direction. This image point ITil is the image of the point Ti of the ring surface through the first optical system. We can then determine a first value representative of the distance from this first image point to the reference point in the first global digital image IG. In the example mentioned above, this representative value can be the value of the first radial image offset dRli, that is to say the distance between the first image point ITil and a first theoretical image point ITtil, belonging to the first theoretical image I161t of surface of ring and located in the same direction. This first radial image offset dRli is therefore, in this example, the distance, in the direction analyzed, from the reference point, between line 1161 representative of the first image of the ring surface 16 and the theoretical line I161t representative of l theoretical image of the ring surface in the first image. However, one could also take as a representative value the value of the distance of the distance from this first image point to the reference point in the first global digital image IG as will be described later.
It is also possible to determine a second image point ITi2 of the second image 1162 of the ring surface 16, on the same analyzed direction Di coming from the reference point IA1, IA'l. This image point ITi2 is the image of the same point Ti of the ring surface through the second optical system 24 '. We can then determine a value representative of the distance from this second image point ITi2 to the reference point IA1, IA'l in the second global digital image IG '. In the example mentioned above, this representative value can be the value of the second radial image offset dR2i, always for the same direction Di analyzed, ie the distance between the second image point ITi2 and a second theoretical image point ITti2, belonging to the second theoretical image I162t of ring surface and located in the same direction. This second radial image offset dR2i is therefore, in this example, the distance, in the analyzed direction, from the reference point IA1, IA'l, between the line 1162 representative of the second image of the ring surface 16 and the line theoretical I162t representative of the theoretical image of the ring surface in the second image. However, as will be seen with reference to FIG. 1E, it is also possible to take, as a representative value the value of the distance, the distance from this second image point to the reference point in the second global digital image IG.
Of course, for the two images, we will take representative values of the same magnitude.
On this basis, we can then deduce, for each direction Di analyzed, by a geometric triangulation relation in the radial plane Pri, at least one value representative of an axial position, along the direction of the axis of the installation A 'I, of the point Ti of the real ring surface 16 whose images by the first and second optical system 24, 24' are respectively the first image point IT1 and the second image point ITi2.
Referring to Fig. 1D, this geometric triangulation relation uses for example: - the first value, for example the first radial image shift dRli; - the second value, for example the second radial image shift dR2i; - the first observation elevation angle γΐ, and - the second observation elevation angle Y2.
Indeed, by orthogonal projection in a radial plane Pri containing the installation axis A'I and passing through the point Ti considered, therefore containing the direction Di analyzed, we can determine relations linking: - a real radial offset dpi between the points Ti and Tti considered in the radial plane Pri containing them; - a difference in height dZi according to the direction of the installation axis between the points Ti and Tti considered - the radial image shifts dRli and dR2i measured in the overall image.
In the illustrated embodiment, this relation can be described by the equations: dRli = dZi * G1 * cos (Yl) + dpi * G1 * sin (γΐ) dR2i = dZi * G2 * cos (Y2) + dpi * G2 * sin (Y2) where G1 and G2 are functions of the magnification of the first objective system 20 and of the second objective system 20 'respectively.
Alternatively, with reference to FIG. 1E, it will be possible to determine, according to the direction Di analyzed, a first image point ITil of the first two-dimensional digital image 1161 of the ring surface 16, on the analyzed direction. This image point ITil is the image of the point Ti of the ring surface through the first optical system. We can then determine the distance Rli from this first image point to the reference point O, for example the image IA'l of the installation axis, in the first global digital image IG. This value can be called radial coordinate image Rli.
We can also determine a second image point ITÎ2 of the second image 1162 of the ring surface 16, on the same analyzed direction Di coming from the reference point O. This image point ITi2 is the image of the same point Ti of the surface of ring through the second optical system 24 '. We can then determine the distance R2i from this second image point ITi2 to the reference point O in the second global digital image IG '. This value can be called radial coordinate image R2i.
On this basis, we can then deduce, for each direction Di analyzed, by a geometric triangulation relation in the plane Pri, at least one value Zi representative of an axial position, along the direction of the axis of the installation A 'I, and a value representative pi of a radial position of the point Ti of the real ring surface 16 whose images by the first and second optical system 24, 24' are respectively the first image point ITil and the second image point RTI2.
This geometric triangulation relation uses for example: - the first value, the radial image coordinate Rli of the first image point ITil; the second value, the radial image coordinate R2i of the first image point ITi2; - the first observation elevation angle γΐ, and - the second observation elevation angle Y2.
Indeed, by orthogonal projection in a radial plane Pri containing the installation axis A'I and passing through the point Ti considered, therefore containing the direction Di analyzed, we can determine relations connecting: - the radial position pi of the point Ti with respect to the installation axis A'I in the radial plane Pri containing them; - the axial position Zi in the direction of the installation axis A'I for the point Ti. - Rli = Zi * Kll * cos (Yl) + pi * K12 * sin (γΐ) + K13 - R2i = Zi * K21 * cos (Y2) + pi * K22 * sin (γ2) + K23 - in which Kij are constants depending on the geometrical and optical characteristics of the device, as described above.
We therefore know, for all directions Di, therefore for all the planes PRi therefore for all the angles 0i, the complete cylindrical coordinates of a point Ti of the ring surface.
An equivalent method is to calculate, in a given radial plane Pri, for the image points ITli and IT2i, the associated main observation radius, and consider the position of the point Ti as being the intersection of the two main observation rays as well. calculated. Indeed, by knowing the optical and geometric characteristics of the device, it is possible to associate with each image point of an image, a main ray of observation for this point of the image. Thus, the two image points ITii and IT2i corresponding to the same real point make it possible to determine the equation of two main observation rays, therefore each having a different observation elevation angle. Such a method remains based on a geometric triangulation relationship using a first value representative of the distance from the first image point to the reference point, a value representative of the distance from the second image point to the reference point, the first elevation angle d 'observation γΐ, and the second observation elevation angle Y2.
According to a variant, one of the two images 1161 (respectively 1162) of the ring surface can be analyzed by considering together the N image points ITli (respectively IT2i) to obtain an estimate of one of the two values, namely the real radial offset. dpi, or the difference in height dZi. For example, from the N points IT2I of the second image 1162, an estimate is determined, for each direction, of the real radial offset dpi. This estimate of the real radial offset dpi is then taken into account to correct estimates of height difference dZi from only the points ITli.
According to a variant, the second image 1162 is obtained with a device like those of FIGS. 3 or 4, with a plunging observation elevation angle, in particular greater than 75 degrees of angle, in which the influence of the real height difference dZi, on the radial position of the second image point or on the radial image shift dR2i , is negligible or even zero if Y2 = 90 degrees of angle. In this case, we can first analyze the second image 1162 of the ring surface by considering together the N points IT2i. From the N points IT2i of the second image 1162, values representative of the offset and / or of the circularity are determined, for example the values of real radial offset dpi. In a second step, these values determining the shape and position of the cylinder of the ring, it is possible to determine with great precision the position dZi of each real object point Ti from the position of the image point ITli.
In fact, in general, it is considered that a real radial offset dpi of a point Ti of the ring surface may be due to: a) the offset of the theoretical central axis Al of the ring relative to the axis A'I of installation when shooting. b) defective circularity.
In the explanation which follows, the influence of a possible inclination is neglected, which can however be taken into account elsewhere.
In all cases, for the first image obtained after reflection on a primary reflection surface, in the absence of any defect in circularity but in the presence of an offset, the first image of the actual ring surface 1161 is a parametric curve, resulting from the observation of a circle through its reflection on the frustoconical mirrors. In the absence of decentering, this first image is a circle.
On the contrary, in the absence of any defect in circularity, the actual ring surface image 1162 is a circle centered or not for the embodiment of FIG. 3 and an ellipse for the embodiment of FIG. 4. It is easy to determine a circle or an ellipse in the image area ZI2 by means of known algorithms and therefore to know the offset. We can define a measurement in the image frame in pixels or in the actual frame in millimeters the distance between the axes Al and A'I.
For the embodiments of Figs. 3 and 4, the circularity defects are then the differences between the theoretical curves and the real curves. A defect in circularity is then determined for example by looking for the second theoretical line I162t of the circle or ellipse type which comes closest to the real curve 1162. An algorithm similar to the previous one is therefore applied. For the embodiments of Figs. 3 and 4 the circularity faults are then the differences between the theoretical curves and the real curves. We can define, in the image frame in pixels or in the real frame in millimeters, measurements, and compare these measurements with tolerance thresholds. An example of measurement is given by the area of the area between the two compared curves, or a distance value between these curves. Other criteria are possible. They are in any case values representative of the distance from the image points to the reference point in the corresponding digital image.
In general, the method of analysis of the images IG, IG ′ by the image processing system, for the determination of a three-dimensional geometry of an actual ring surface of a container, takes into account the optical characteristics and geometric of the device. In the image IG, IG ′, a reference point is selected as the origin O of an image coordinate system of polar coordinates. Preferably this origin is the point IA'l which is the image by the first system of the installation axis ΑΊ. Each pixel P of the image IG, IG ′, therefore has as polar coordinates P (R, θ), its radius R defined as its distance from the reference point and the angle θ of the radius PO.
It is noted that, for certain methods, the more the observation elevation angles γί and Y2 are different, the more the calculation, in particular of triangulation, will be precise. If the second observation is “vertical” or almost vertical (Y2 equal to or close to 90 degrees of angle) it does not “see” almost or almost no possible difference in height dZi and therefore allows a reliable calculation of the real radial offset. The complementary observation, obtained according to the first angle of observation elevation, will be able to evaluate the difference in height dZi with precision because it will be possible to compensate by calculation any radial offset, in particular if the first angle of observation elevation Yl is less than or equal to 45 ° degrees of angle, and even more if it is less than 25 ° degrees of angle.
Thus, by repeating these calculations for a determined number N of different directions Di, preferably distributed over the 360 degrees of angle around the reference point, we can determine the geometry of the real ring surface and deduce the presence of different defects of the ring surface, in particular: - flatness defects, for example of the “lack of glass” type, or of the “veiled ring” type; - defects in circularity; - etc ...
Preferably, for all the above methods, we will take a sufficient number N of directions Di so that, over the 360 degrees of angle of the ring surface, we have geometrical information sufficiently fine for the defects to be observed. Preferably, the number of directions Di is chosen so that, over the 360 degrees of angle, the two directions Di are not separated by more than 20 degrees of angle, preferably not separated by more than 10 degrees of angle , more preferably not more than 5 degrees apart. This will result respectively in at least 18 distinct directions, preferably at least 36 distinct directions, more preferably at least 72 distinct directions.
It will be noted that the device and the method proposed have the advantage of being able to determine flatness defects independently of a possible circularity defect of the ring surface, for example an ovalization, and, even more importantly, independently of a possible defect in centering the ring surface, defect which may be a defect inherent in the geometry of the container (off-center of the ring surface relative to the theoretical central axis of the container Al) or which may be a defect in positioning of the container in the installation at the time of the inspection (centering of the ring surface with respect to the installation axis ΑΊ). This last point is important because it increases the tolerances for positioning the container during the inspection. This is very significant for an online inspection, especially at high speed.
They also make it possible to take into account and measure the inclination faults of the ring.
In a method in which we have determined another representative value, for example the value of the distance from this second image point to the reference point in the first global digital image IG, we will have the coordinates of the corresponding points of the ring surface directly in a cylindrical coordinate system.
In all cases, it is thus possible to determine information representative of the three-dimensional geometry of the real ring surface 16 of the container 14 inspected.
This determination can be made, in a device according to the invention, by an image processing system associated with the sensor 18, notably including for example a computer.
Illustrated in Figure 6 is an inspection line 200 of containers 14 implementing a device 10 according to the invention. In the example illustrated, containers 14 are moved by a conveyor 210 which transports the containers 14 in a direction of movement, for example of horizontal translation perpendicular to the theoretical central axis A1 of the containers 14. In the example illustrated, the conveyor 210 comprises a conveyor belt 212 on which the containers 14 are placed by their bottom surface, also called laying plane, with their theoretical central axis A1 arranged vertically. The conveyor 210 could also include guide means (not shown) cooperating with the lateral faces of the containers 14. The conveyor 210 could also include opposite transport belts, exerting a tightening of the lateral sides of the container for their transport over a linear portion . The conveyor could include a conveyor wheel moving the containers 14 along a circular movement path, especially in a horizontal plane. The containers 14 thus have their ring surface 16 in a horizontal plane facing upwards. The conveyor 210 brings the containers along the horizontal path below the device 10 according to the invention, without risk of interference with the device 10. The device 10 can be carried by support, for example in the form of a box 230, incorporating the device 10, in particular the sensor (s) 18, 18 ', the objective systems 20, 20', the light source (s) 28, 28 ', the primary reflection surface (s) 261,262. The housing 230 is arranged above the conveyor. Inside the housing 230, the device 10 according to the invention is arranged with its installation axis A'I in a vertical position, so that the fields of observation and the incident light beam are oriented downwards, towards the installation zone E which is located between the underside of the housing 230 and the conveyor belt 212. It is therefore understood that, at this inspection station, the conveyor 210 brings the containers so that their axis Theoretical central unit Al coincides at best with the installation axis A'I. At the time of this coincidence, at least a first image and a second image are acquired using the device 10, possibly in the form of a common global digital image, without this requiring either handling of the container or stopping the conveyor. The images acquired by the device 10 can then be sent to a processing device 240, for example an image processing system and / or a display device and / or an image storage device, for example a computer system including a computer. It is then possible to analyze the images thus acquired and to determine the three-dimensional geometry of the ring surface 16 of the container 14.
The camera can be triggered to integrate the images in synchronization with the movement of the articles, in particular to freeze the image at the time of alignment of the theoretical central axis of ring A1 with the installation axis A'I. The integration time is expected to be short, for example less than 1 ms, or even less than 400 ps, in order to reduce the risk of camera shake in the images.
The light source can be pulsed, that is to say produce the lighting for a short duration of the flash type, for example less than 1 ms, or even less than 400 pm, in order to reduce the blurring of camera shake.
Provision may be made for processing system 240 to cooperate with, or include, a control unit, which controls the light source and the camera, in order to synchronize them with the movement of the articles.
The device and the method are therefore without physical contact with the container to be checked. A device according to the invention proves to be less expensive and of smaller bulk than devices of the prior art, in particular allowing its easy installation in a station or on an article inspection line, station or inspection line. which may include other devices intended for other controls, and the device according to the invention can thus be installed in particular in a production line where the containers circulate in a chain. Such a device then makes it possible to control containers online, whether on a production line for the containers, or on a line for processing the containers, or on a filling line, at high speed. The invention is not limited to the examples described and shown since various modifications can be made thereto without departing from its scope.

权利要求:
Claims (38)
[1" id="c-fr-0001]
1 - Method for determining a three-dimensional geometry of an actual ring surface (16) of a container (14), the ring surface having a theoretical plane and annular or circular geometry around a theoretical central axis (Al ), of the type comprising: - the illumination of the actual ring surface (16) of the container, from above, using a first incident incident light beam comprising first incident radial light rays contained in planes radials containing the theoretical central axis (Al) and distributed over a 360 degree angle around the installation axis (ΑΊ), said first incident radial light rays being directed towards the theoretical central axis (Al), and some first incident light rays of the first incident light beam being reflected by specular reflection on the ring surface (16), in the form of reflected rays (RR1); - the formation, with the rays reflected and by means of a first optical system (24, 261), of a first planar optical image of the ring surface of the container, on a first two-dimensional photoelectric sensor (18) capable delivering a first global digital image; and of the type in which the step consisting in forming a first planar optical image comprises observing the ring surface (16), from above, by a first optical system (24, 261), according to a first field of peripheral observation which observes the ring surface (16) according to first radial observation radii which are contained in radial planes containing the theoretical central axis (Al) and which are distributed at 360 degrees of angle around the theoretical central axis (A1), the first peripheral observation field having a first observation elevation angle (Yl) relative to a plane perpendicular to the theoretical central axis (A1), so as to collect on the first two-dimensional photoelectric sensor, in a first annular zone of the sensor, rays reflected to form a first two-dimensional digital image (1161) in a first image zone (ZI1) of the first global digital image delivered by the first heading guardian; characterized in that the method comprises: - the formation, via a second optical system (24 ', 262), of a second planar optical image of the ring surface of the container, distinct from the first planar image , on a second two-dimensional photoelectric sensor (18, 18 ') capable of delivering a second global digital image, by observing the ring surface (16), from above, by the second optical system (24', 262 ), according to a second peripheral observation field, symmetrical in rotation about the theoretical central axis (Al), which observes the ring (16) according to second radial observation rays which are contained in radial planes containing the theoretical central axis (Al), which are distributed at an angle of 360 degrees around the theoretical central axis (Al), the second peripheral observation field having a second observation elevation angle (Y2) relative to a plane perpendicular to the central axis th theoretical (Al), but different from the first observation elevation angle (Yl), so as to collect on the second two-dimensional photoelectric sensor, in a second annular zone of the sensor, reflected rays to form a second two-dimensional digital image ( 1162) of the ring surface in a second image area (ZI2) of the second global digital image delivered by the second sensor; - And in that the method comprises the determination, for a number N of directions (Di) analyzed originating from a reference point of the digital image considered and angularly offset from one another around the reference point: • d ' a first image point of the first two-dimensional digital image of the ring surface (16), on the analyzed direction, and of a first value representative of the distance from this first image point to the reference point in the first digital image; • a second image point of the second digital image of the ring surface (16), on the direction analyzed, and of a value representative of the distance from this second image point to the reference point in the second digital image; - and in that the method deduces, for the N directions analyzed, by a geometric relationship using the N first values, the N second values, the first observation elevation angle (Yl), and the second elevation angle observation (Y2), at least one value representative of an axial position, along the direction of the theoretical central axis (Al), of each of the N points of the real ring surface (16) whose images by the first optical system (24) and second optical system (24 ') are respectively the N first image points and the N second image points.
[2" id="c-fr-0002]
2 - Determination method according to claim 1, characterized in that it comprises: - the simultaneous observation of the ring surface (16) by the first optical system (24, 261), according to the first peripheral observation field , and by the second optical system (24, 262), according to the second peripheral observation field; - the simultaneous formation, from the reflected rays collected according to the first and second peripheral observation fields, via the first and the second optical system (24, 261, 262), of the first and of the two-dimensional image of the ring surface of the container simultaneously both in a first image zone (ZI1) corresponding to the observation according to the first peripheral observation field (γΐ) and in a second image zone (ZI2) corresponding to observation according to the second peripheral observation field (Y2).
[3" id="c-fr-0003]
3 - Determination method according to any one of claims 1 or 2, characterized in that the first optical system (24) comprises a first primary reflection surface (261) and the second system comprises optical (24 ', 262) comprises a second primary reflection surface (262), the two primary reflection surfaces (261, 262) being frustoconical surfaces of revolution, each generated by a line segment by revolution around the theoretical central axis (Al), facing towards the 'theoretical central axis (A1) and arranged to reflect directly or indirectly light rays from the actual ring surface under the corresponding observation elevation angle, towards the associated sensor.
[4" id="c-fr-0004]
4 - Method for determining according to any one of the preceding claims, characterized in that the formation of the first and of the second planar optical image includes for each the optical formation of a complete and continuous two-dimensional image of the real ring surface (16).
[5" id="c-fr-0005]
5 - Determination method according to any one of the preceding claims, characterized in that the first peripheral incident light beam comprises, in the same radial plane, non-parallel incident radial light rays.
[6" id="c-fr-0006]
6 - Determination method according to any one of the preceding claims, characterized in that the first incident beam illuminates the ring surface at an incidence such that, at the point of reflection of a first incident ray, the radius of which is reflected by the real ring surface (16) is seen by the first sensor according to the first peripheral observation field, the normal ("n") to the ring surface (16) forms an angle less than 30 degrees of angle relative to the direction of the theoretical central axis (Al).
[7" id="c-fr-0007]
7 - Determination method according to any one of the preceding claims, characterized in that the second incident beam illuminates the ring surface at an incidence such that, at the point of reflection of a second incident ray, the ray of which is reflected by the real ring surface (16) is seen by the second sensor according to the second peripheral observation field, the normal ("n") to the ring surface (16) forms an angle less than 30 degrees of angle relative to the direction of the theoretical central axis (Al).
[8" id="c-fr-0008]
8 - Determination method according to any one of the preceding claims, characterized in that the first observation elevation angle (γΐ) is less than or equal to 45 degrees of angle, preferably less than 25 degrees of angle .
[9" id="c-fr-0009]
9 - Determination method according to any one of the preceding claims, characterized in that the difference between the two observation elevation angles (γΐ, Y2) is less than or equal to 20 degrees of angle.
[10" id="c-fr-0010]
10 - Determination method according to any one of claims 1 to 8, characterized in that the second observation elevation angle (Y2) is greater than 65 degrees of angle, preferably greater than or equal to 75 degrees d 'angle.
[11" id="c-fr-0011]
11 - Determination method according to any one of claims 1 to 10, characterized in that for the N directions Di, the method deduces, for each direction, by a geometric triangulation relation using the distance from the first image point to the point of reference in the first two-dimensional digital image, the distance from the second image point to the reference point in the second two-dimensional digital image, the first observation elevation angle (γΐ), and the second observation elevation angle (Y2 ), at least one value representative of an axial offset, in the direction of the theoretical central axis (A1), between the real ring surface (16) and a theoretical ring surface.
[12" id="c-fr-0012]
12 - Determination method according to any one of claims 1 to 10, characterized in that for the N directions Di: • the first value representative of the distance from the first image point to the reference point in the first two-dimensional digital image is the value of a first radial image offset (dRli) between a line (1161) representative of the first image of the ring surface (16) and a theoretical line (I161t) representative of a theoretical image of ring surface in the first picture ; • the second value representative of the distance from the second image point to the reference point in the second two-dimensional digital image is the value of a second radial image offset (dR2i) between a line (1162) representative of the image of the surface of ring (16) and a theoretical line (I162t) representative of a theoretical image of the ring surface in the second image; ® and in that the method deduces, for each direction, by a geometric triangulation relation using the first radial offset, the second radial offset, the first observation elevation angle (Yl), and the second elevation angle observation (Y2), at least one value representative of an axial offset, in the direction of the theoretical central axis (Al), between the real ring surface (16) and a theoretical ring surface.
[13" id="c-fr-0013]
13 - Method for determining any one of the preceding claims, characterized in that a line (1161, 1162) representative of the image of the ring surface is the image, formed by the corresponding optical system (24) on the associated sensor (18), of the reflection of the corresponding incident beam on the ring surface (16).
[14" id="c-fr-0014]
14 - Determination method according to any one of the preceding claims, characterized in that the first and the second two-dimensional photoelectric sensor are combined into one and the same two-dimensional photoelectric sensor (18) delivering a common global digital image, the first image area (ZI1) and the second image area (ZI2) being disjoint in the common global digital image.
[15" id="c-fr-0015]
15 - Device for determining a three-dimensional geometry of an actual ring surface (16) of a container (14), the ring surface having a theoretical plane and annular or circular geometry around a theoretical central axis (Al ), of the type in which the device (10) has an installation zone (E) of a container, this installation zone having an installation axis (ΑΊ), of the type comprising: - a first system of lighting (28, 140) having a first light source (28) which is focused on the installation axis (A'I), which has a diameter greater than the diameter of the ring surface (16) and which is capable of providing a first peripheral incident light beam comprising first incident radial light rays contained in radial planes containing the installation axis (A'I) and distributed over 360 degrees of angle around the installation axis (A ' I), said first incident radial light rays being directed towards the a installation x (A'I); - a first two-dimensional photoelectric sensor (18), connected to an image analysis unit; - A first optical system (24, 261) interposed between the installation area of the container and the first sensor (18) capable of forming on the sensor (18) a first image (1161) of the ring surface (16) d 'a container (14) placed in the installation area; of the type in which the first optical system (24, 261) comprises at least a first primary reflection surface (261) arranged in a downstream portion of the field of vision of the first sensor, the first primary reflection surface (261) being a surface frustoconical of revolution, generated by a line segment per revolution around the installation axis (A'I), facing the Installation tax, and arranged to reflect, directly or indirectly, towards the first sensor (18) first light rays coming from the installation area along radial planes containing the installation axis (A'I) and according to a first peripheral observation field having a first observation elevation angle (γΐ) by relation to a plane perpendicular to the installation axis (ΑΊ) thus defining a first peripheral observation field which observes the ring surface (16) according to first radii of radial observations which are contained in u n radial plane containing the installation axis (ΑΊ), which are distributed at 360 degrees of angle around the theoretical central axis (Al), and which form with respect to a plane perpendicular to the installation axis (ΑΊ) the first observation elevation angle; and of the type in which the first lighting system (28, 140), the first sensor (18) and the first optical system (24, 261) are arranged above the installation area; characterized in that - the device comprises a second optical system (24, 262), interposed between the container installation area and a second two-dimensional photoelectric sensor (18), and capable of forming a second image on the sensor (18) (1162) of the ring surface (16) of a container (14) placed in the installation area; - in that the second sensor (18) and the second optical system (24, 262) are arranged above the installation area; - in that the second optical system (24, 262) is configured to conduct, directly or indirectly, in the direction of the second sensor (18), second light rays coming from the installation area according to radial planes containing the axis of installation (ΑΊ) and according to a second peripheral field of observation having a second angle of observation elevation (Y2) relative to a plane perpendicular to the axis of installation (ΑΊ) thus defining a second field d peripheral observation which observes the ring surface (16) according to second radii of radial observations which are contained in a radial plane containing the installation axis (ΑΊ), which are distributed at 360 degrees of angle around l 'theoretical central axis (Al), and which form with respect to a plane perpendicular to the installation axis (ΑΊ) the second observation elevation angle (Y2), said second observation elevation angle ( Y2) being different from the premi er observation elevation angle (γΐ); - And in that the first optical system and the second optical system determine respectively for the first sensor and for the second sensor respectively a first portion of upstream field of vision and a second portion of upstream field of vision which overlap in the area d installation according to a useful inspection volume (VUI) of revolution around the installation axis (ΑΊ), such as any object point placed in the useful volume, and illuminated by at least the first light source so as to be imaged by a first image point in the first image formed by the first optical system on the first sensor, is also imaged by a second image point in the second image formed by the second optical system on the second sensor.
[16" id="c-fr-0016]
16 - Device according to claim 15, characterized in that, in the first portion of upstream field of vision determined by the first optical system for the first sensor, the first rays of radial observations determined by the first optical system are, when they are traversed from the useful inspection volume (VUI), centripetal towards the installation axis, then cut the installation axis to become centrifugal towards the first optical system (24, 261).
[17" id="c-fr-0017]
17 - Device according to one of claims 15 or 16, characterized in that the device forms two complete, distinct and continuous optical images (1161, 1162) of the real ring surface (16) on the two-dimensional photoelectric sensor (18) associated.
[18" id="c-fr-0018]
18 - Device according to one of claims 15 to 17, characterized in that the first primary reflection surface (261) indirectly reflects light rays towards the sensor (18), and in that the device comprises, between the first primary reflection surface (261) and the first sensor (18), at least one secondary reflection surface (132).
[19" id="c-fr-0019]
19 - Device according to one of claims 15 to 18, characterized in that the second optical system comprises at least a second primary reflection surface (262) in a downstream portion of the field of vision of the second sensor (18), the second primary reflection surface being a frustoconical surface of revolution, generated by a straight line by revolution around the installation axis, facing the installation axis and arranged to reflect directly or indirectly towards the sensor (18) light rays, coming from the installation area along radial planes containing the installation axis (A'I) and according to the second peripheral observation field having the second observation elevation angle (Y2) by relative to a plane perpendicular to the installation axis (ΑΊ).
[20" id="c-fr-0020]
20 - Device according to claim 19, characterized in that the first primary reflection surface (261) and the second primary reflection surface (262) indirectly reflect light rays towards the sensor (18), and in that the device comprises, between on the one hand the first primary reflection surface (261) and the second primary reflection surface (262) and on the other hand the common sensor (18), at least one secondary reflection surface (132) of revolution around the installation axis (A'I).
[21" id="c-fr-0021]
21 - Device according to claim 19 or 20, characterized in that the first primary reflection surface (261) and the second primary reflection surface (262) each have a frustoconical surface of revolution, facing the installation axis ( A'I), having a small diameter and a large diameter both greater than the largest diameter of the theoretical ring surface so as to return, in the direction of the installation axis (A'I), radii luminous, coming from the actual ring surface (16) under the corresponding observation elevation angle (γΐ, Y2), said rays then being intercepted by a deflection reflection surface (132) which comprises a frustoconical surface of revolution (132) turned away from the installation axis (A'I) so as to return the spokes towards the associated sensor (18).
[22" id="c-fr-0022]
22 - Device according to claim 21, characterized in that the path of the rays between the two primary reflection surfaces (261, 262) and the return reflection surface (132) is perpendicular to the installation axis (A ' I).
[23" id="c-fr-0023]
23 - Device according to one of claims 21 or 22, characterized in that the first primary reflection surface (261) and the second primary reflection surface (262) are each a concave frustoconical surface and having a half-angle at the top (al, a2) equal to half the observation elevation angle (γΐ, Y2), and having a small diameter and a large diameter both greater than the smallest diameter of the theoretical ring surface.
[24" id="c-fr-0024]
24 - Device according to one of claims 15 to 23, characterized in that the first observation elevation angle (γΐ) is less than or equal to 45 degrees of angle, preferably less than 25 degrees of angle.
[25" id="c-fr-0025]
25 - Device according to one of claims 15 to 24, characterized in that the difference between the two observation elevation angles (γΐ, Y2) is less than 20 degrees of angle.
[26" id="c-fr-0026]
26 - Device according to one of claims 15 to 25, characterized in that, in the second portion of upstream field of vision determined by the second optical system for the second sensor, the second radii of radial observations determined by the second system optics are, when traversed from the useful inspection volume (VUI), centripetal towards the installation axis, then cut the installation axis to become centrifugal towards the second optical system (24 ' , 262).
[27" id="c-fr-0027]
27 - Device according to claim 19, characterized in that the second primary reflection surface (262) directly reflects light rays towards the second sensor (18), without secondary reflection reflection surface.
[28" id="c-fr-0028]
28 - Device according to claim 27, characterized in that, in the second portion of upstream field of vision determined by the second optical system for the second sensor, the second radii of radial observations determined by the second optical system are, when they are traversed from the useful inspection volume (VUI), centrifugal in the direction of the second primary reflection surface (262).
[29" id="c-fr-0029]
29 - Device according to one of claims 15 to 18, characterized in that, in the second portion of upstream field of vision determined by the second optical system for the second sensor, the second radii of radial observations determined by the second system optics are, when traversed from the useful inspection volume (VUI), parallel to the installation axis or centripetal towards the installation axis without cutting the installation axis (A'I ) up to the second optical system.
[30" id="c-fr-0030]
30 - Device according to claim 29, characterized in that the second optical system is devoid of any surface for reflecting revolution.
[31" id="c-fr-0031]
31 - Device according to one of claims 15 to 18 or 29 to 30, characterized in that the second observation elevation angle (Y2) is greater than 65 degrees of angle, preferably greater than or equal to 75 degrees angle.
[32" id="c-fr-0032]
32 - Device according to claim 31, characterized in that the first observation elevation angle (γΐ) is less than or equal to 45 degrees of angle, preferably less than 25 degrees of angle.
[33" id="c-fr-0033]
33 - Device according to any one of claims 15 to 32, characterized in that the first optical system comprises a telecentric optical system (20).
[34" id="c-fr-0034]
34 - Device according to any one of claims 15 to 33, characterized in that the second optical system comprises a telecentric optical system (20).
[35" id="c-fr-0035]
35 - Device according to any one of claims 15 to 34, characterized in that the first and the second two-dimensional photoelectric sensor are combined into one common two-dimensional photoelectric sensor (18), the first primary reflection surface (261) and the second primary reflection surface (262) both being in disjoint portions of the downstream field of vision of the sensor.
[36" id="c-fr-0036]
36 - Device according to any one of claims 15 to 35, characterized in that the first light source (28) is an annular source of revolution focused on the installation axis (A'I).
[37" id="c-fr-0037]
37 - Inspection line (200) of containers (14) having a ring surface (16), of the type in which containers (14) are moved on a conveyor line by a conveyor (210) which transports the containers ( 14) in a direction of horizontal movement perpendicular to a theoretical central axis (Al) of the containers 14 which thus have their ring surface (16) in a horizontal plane turned upwards, characterized in that the installation comprises a device ( 10) according to any one of claims 15 to 36, which is arranged on the installation with its installation axis (A'I) in a vertical position, so that the fields of observation and the incident light beams are arranged downwards, towards the installation zone (E) which is located between the device and a conveyor transport member (212).
[38" id="c-fr-0038]
38 - Inspection line (200) according to claim 37, characterized in that the conveyor (210) brings the containers so that their theoretical central axis (Al) coincides with the installation axis (ΑΊ), and, at the time of this coincidence, at least one image is acquired by the device (10), without contact of the device (10) with the container (14).

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同族专利:

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公开号 | 公开日

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JP2021509722A|2021-04-01|

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CN111556962A|2020-08-18|

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FR3076619A1|2019-07-12|

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FR3076619B1|2020-01-24|

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RU2020125900A|2022-02-07|

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EP3735579A1|2020-11-11|

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FR3076620B1|2020-01-24|

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US20200333259A1|2020-10-22|

引用文献:

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DE2916361A1|1979-04-23|1980-11-06|Siemens Ag|Video testing of transparent container rims for defects - compares chord length signals derived from video image|

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WO2016059343A1|2014-10-17|2016-04-21|Msc & Sgcc|Method, device and inspection line for visualizing the flatness of a surface of a container ring|

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US11047803B1|2020-09-10|2021-06-29|Applied Vision Corporation|Glass container inspection system|

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CN111982005A|2020-09-16|2020-11-24|北京强度环境研究所|Three-dimensional deformation field measuring device|

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CN112345551B|2020-11-05|2021-07-30|菲特（天津）检测技术有限公司|Method and system for detecting surface defects of inner wall and outer wall of aircraft conduit bell mouth|

法律状态:
2019-01-23| PLFP| Fee payment|Year of fee payment: 2 |

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2019-07-12| PLSC| Publication of the preliminary search report|Effective date: 20190712 |

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2020-01-22| PLFP| Fee payment|Year of fee payment: 3 |

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2021-01-21| PLFP| Fee payment|Year of fee payment: 4 |

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2022-01-21| PLFP| Fee payment|Year of fee payment: 5 |

优先权:

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申请号 | 申请日 | 专利标题

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FR1850105A|FR3076619B1|2018-01-05|2018-01-05|METHOD, DEVICE AND INSPECTION LINE FOR DETERMINING THREE-DIMENSIONAL GEOMETRY OF A CONTAINER RING SURFACE|

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FR1850105|2018-01-05|US16/958,261| US20200333259A1|2018-01-05|2018-12-20|Method, device and inspection line for determining the three-dimensional geometry of a container ring surface|

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RU2020125900A| RU2020125900A|2018-01-05|2018-12-20|METHOD, DEVICE AND LINE OF TECHNICAL CONTROL FOR DETERMINING THREE-DIMENSIONAL GEOMETRY OF CONTAINER Annular Surface|

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EP18840032.9A| EP3735579A1|2018-01-05|2018-12-20|Method, device and inspection line for determining the three-dimensional geometry of a container ring surface|

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JP2020537214A| JP2021509722A|2018-01-05|2018-12-20|Method, device and inspection line to identify the three-dimensional shape of the ring surface of the container|

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PCT/FR2018/053479| WO2019135041A1|2018-01-05|2018-12-20|Method, device and inspection line for determining the three-dimensional geometry of a container ring surface|

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CN201880085520.3A| CN111556962A|2018-01-05|2018-12-20|Method, device and inspection line for determining the three-dimensional geometry of an annular surface of a container|