以動差為基礎之智能影像量測技術_電光所-賴岳益博士

1. 以動差(moment)為基礎
之智能影像量測技術
電光所 生產線檢測技術部
2014.10.15

2. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 2
Outline
• Introduction of AOI
• Pattern Matching
• Results and Discussion
• HAWK AOI System

3. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 3
Automatic Optical Inspection
Lighting
Capturing
Processing
Data
Collection AOI

4. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 4
Pattern Matching
• Automatic Measurement
• User friendly
– To place the object at arbitrary position and angle
• How to do?
– Brute force
• 2560 x 1920
• Pattern:
– 1040 x 984 Pattern
Captured Image
1520 x 936 x 360 = 512179200 !!
(8536.32 min. = 142.27 hrs. = 5.93 days)

5. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 5
Hierarchical Approach
Original Image
1/4 size Image
1/16 size Image
1/64 size Image
Pattern
Captured Image
(40 x 30)
(160 x 120)
(640 x 480)
(2560 x 1920)
40 x 30 x 360 = 432000
20 x 20 x 20 = 8000
20 x 20 x 20 = 8000
20 x 20 x 20 = 8000
456000 !!
(7.6 min. << 8536 min.)

6. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 6
Hierarchical Approach
But, how about this object?
Original Image
1/4 size Image
1/16 size Image
1/64 size Image
Pattern
Cannot detect the orientation!!

7. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 7
動差(moment)智能影像量測技術
7
• Moment of an image • Central moments
• Symmetric Axis
with a,b, and c respectively
being the 2nd central moments μpq
defined as: pq=20, 02 and 11
𝑀𝑖𝑗 = 𝑥𝑖 𝑦𝑗 𝐼(𝑥, 𝑦)
𝑦𝑥
𝜇 𝑝𝑞 = 𝑥 − 𝑥 𝑝 𝑦 − 𝑦 𝑞 𝑓(𝑥, 𝑦)
𝑦𝑥
sin 2𝜃 =
±𝑏
𝑏2 + (𝑎 − 𝑐)2
References:
• Image analysis by moments, PhD thesis, S.X. Liao
http://docs.opencv.org/modules/imgproc/doc/structural_analysis_and_shape_descriptors.html?highlight=moments#moments
• “Visual Pattern Recognition by Moment Invariants", Ku, 1962
http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/OWENS/LECT2/node3.html
Orientation of group of points
θ

8. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 8
Verifications of Rotation Angle
0.99º1º 3º
1º1º
1º
3º
1.01º
3.00º
3.00º
3º 3.00º

9. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 9
Pattern Matching
𝜇 𝑝𝑞 = 𝑥 − 𝑥 𝑝 𝑦 − 𝑦 𝑞 𝑓(𝑥, 𝑦)
𝑦𝑥
sin 2𝜃 =
±𝑏
𝑏2 + (𝑎 − 𝑐)2
Computation Time:
276.945 ms!!

10. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 10
Experimental Results _1
Pattern Image
Matching Result_1
Matching Result_2
Matching Result_3
Process Time: 320 ms
(image size: 3840 x 2748)

11. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 11
Experimental Results _2
Pattern Image
Matching Result_1
Matching Result_2
Matching Result_3
Process Time: 297 ms
(image size: 3840 x 2748)

12. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 12
Experimental Results _3
Pattern Image
Matching Result_1
Matching Result_2
Matching Result_3
Process Time: 304 ms
(image size: 3840 x 2748)

13. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 13
Outline
• Introduction of AOI
• Pattern Matching
• Results and Discussion
• HAWK AOI System

14. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 14
Performance of HAWK AOI System
• Accuracy
– Target: 光學標準片
• 國家標準實驗室送校
– 測試程序
• 每個量測項目測試15筆資料
1
2
3
4
5 圓徑 實測值
6 6.00025
10 9.99676
14 13.99846
18 17.99488
22 21.99642
24台量測誤差皆小於 3 m !!

15. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 15
Performance of HAWK AOI System
• Repeatability
– How to setup the standard deviation (1)?
1σ=1.5 μm GRR=7.5%
(USL-LSL= 20μm)
Ca=5% Cp=2.22 Cpk=2.1
A級 A+級 A+級
廠商最嚴謹需求：0.02 mm  0.04 mm
0.04  10% = 0.004 mm = 4 m
必須滿足99% (5.15) 的測試範圍
4 / 5.15 = 0.77 m
Excellent: 0.77 m
Good: 1.54 m
Normal: 2.21 m
Normal
2.21 m
Good
1.54 m
Excellent
0.77 m

16. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 16
• GR&R Analysis
– AIAG standards
• 10 parts, 3 appraisers,
and 3 trials
% Total Tolerance
Percent Equipment Variation
%EV = 100 [ EV / Total ]
= 100 [0.0185 / 0.2 ]
= 9.25 %
Percent Appraiser Variation
%AV = 100 [ AV / Total ]
= 100 [0.0052 / 0.2 ]
= 2.6 %
Percent Gage Repeatability & Reproducibility Variation
%GRR = 100 [ GRR / Total ]
= 100 [0.0192 / 0.2 ]
= 9.6 %
8.177 mm
Performance of HAWK AOI System

17. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 17
生產線上精密量測機
• 高量測重現精度 ±3μ(2σ)
• 適用於CNC產線的IPQC全檢系統
• 連結製程統計管理系統 (SPC)
• 授權國內自動化業者生產，設備完全國產化。
Aerospace
fasteners
Rough machining
CNC machining center
intermediate machining
Precision Image Insepction + SPC

18. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 18
Conclusion
• Pattern Matching
– Image Moment
• Computation Time
– 8536 min  7.6 mm  276.9 ms
• Measure Performance
– Accuracy < 3 m
– Stability (1 ) < 3 m

19. 工業技術研究院內部資訊，禁止複製、轉載、外流，不再使用請銷毀│ ITRI proprietary documents, do not copy or distribute, please destroy after use 19
專心追求卓越，成功自然就會跟著你！
Chase Excellence, Success will follow.