METHOD AND APPARATUS FOR RECOGNIZING GEOMETRICAL FEATURES OFPARALLELEPIPED-SHAPED PARTS OF POLYGONAL SECTION

摘要

The method consists in: a) disposing a laser source projecting a plane beam of radiation in such a manner as to illuminate head-on a first face without illuminating an adjacent face; b) placing a linear color video camera facing the adjacent face under consideration so that it observes a line perpendicular to the longitudinal axis of the part in the plane of the beam of laser radiation, so as to observe both the adjacent face and the projection of the first face on the adjacent face; c) simultaneously acquiring the three R G B color signals from the camera; d) processing the R G B signals in real time to provide a succession of adjacent pixels that are associated, as a function of their R G B components, with particular labelled domains in R G B space; e) producing relative longitudinal displacement between the part being scanned and the camera together with the laser source to observe the entire adjacent face together with the projection of the first face on the adjacent face; and f) recognizing geometrical features of the first face on the basis of pixels identified as corresponding to a particular labelled domain of R G B space that corresponds to the monochromatic illumination from the laser source.