| 主权项 |
1. A method of controlling color lighting in a vision system including a plurality of lightings of different wavelengths and allowing voltages of the plurality of lightings for obtaining optimal images to be searched for, the method comprising:
(S100) defining a probe W for the plurality of lightings as the following,[W1W2W3⋮Wn+1]=[VI,1VII,1…Vn,1VI,2VII,2…Vn,2VI,3VII,3…Vn,3⋮⋮⋮VI,n+1VII,n+1…Vn,n+1] where VI,1, VII,1, VIII,1, . . . denote respective arbitrary voltages for lightings, and n denotes the number of lightings having different wavelengths; (s200) calculating a minus standard deviation ρ for each probe point Wi according to the following equation,
a minus standard deviation ρ=−standard deviation σσ=1mn∑xm∑yn(I(x,y)-Imean)22 where m denotes the number of pixels in a horizontal axis in an image, n denotes the number of pixels in a vertical axis in the image, I(x,y) denotes a grey level value of a pixel corresponding to x,y coordinate in the image, and Imean denotes an average value of grey level values of an entire image; (s300) searching a largest maximum minus standard deviation ρmax from among minus standard deviations ρwi for probe points wi calculated in operation s200, and comparing the searched results with a minus standard deviation ρwt1 at a first test probe point Wt1, wherein a first test probe point Wt1 is formed to be outer than a first intermediate probe point Wm1 on an extension line which is formed by connecting the first intermediate probe point Wm1 and the maximum minus standard deviation probe point Wρmax, wherein the first intermediate probe point Wm1 is obtained by arithmetically averaging coordinate values of other probe points Wi except for the maximum minus standard deviation probe point Wρmax; (s410) when the maximum minus standard deviation probe point Wρmax is larger than a minus standard deviation ρwt1 at the first test probe point Wt1 in operation 300, setting a second test probe point Wt2 to be outer than the first test probe point Wt1 along the extension line; (s420) comparing the minus standard deviation ρwt1 at the first test probe point Wt1 and a minus standard deviation ρwt2 at the second test probe point Wt2; (S430) when the minus standard deviation ρwt2 at the second test probe point Wt2 is larger than the minus standard deviation ρwt1 at the first test probe point Wt1 in operation s420, redefining the probe to be other points Wi except for the maximum minus standard deviation probe point Wρmax, and the first test probe point Wt1, and returning to operation s200; (S440) when the minus standard deviation ρwt2 at the second test probe point Wt2 is smaller than the minus standard deviation ρwt1 at the first test probe point Wt1 in operation s420, redefining the probe to be other points Wi except for the maximum minus standard deviation probe point Wρmax, and the second test probe point Wt2, and returning to operation s200; (S510) when the maximum minus standard deviation ρmax is smaller than the minus standard deviation ρwt1 at the first test probe point Wt1 in operation s300, setting the second probe point Wt2 to be inside the first intermediate probe point Wm1 along the extension line; (S520) comparing the maximum minus standard deviation ρmax and the minus standard deviation ρwt2 at the second test probe point Wt2; (s530) when the maximum minus standard deviation ρmax is larger than the minus standard deviation ρwt2 at the second test probe point Wt2 in operation s520, redefining the probe to be other probe points Wi except for the maximum minus standard deviation probe point Wρmax and the second test probe point Wt2; (s540) when the maximum minus standard deviation ρmax is smaller than the minus standard deviation ρwt2 at the second test probe point Wt2 in operation s520, redefining the probe to be the maximum minus standard deviation probe point Wρmax, the first intermediate probe point Wm1, and a second intermediate probe point Wm2, wherein the second intermediate probe point Wm2 is obtained by arithmetically averaging coordinate values of the minimum minus standard deviation probe point Wρmin and the maximum minus standard deviation probe point Wρmax; (s700) when a distance between the minimum minus standard deviation probe point Wρmin and the maximum minus standard deviation probe point Wρmax is larger than a reference value in operation s530 or s540, returning to operation s200; and (s800) when the distance between the minimum minus standard deviation probe point Wρmin and the maximum minus standard deviation probe point Wρmax is smaller than the reference value in operation s530 or s540, ending the operations. |
