CN101666633A - Non-contact detection system of hollow cylindrical part and detection method thereof - Google Patents
Non-contact detection system of hollow cylindrical part and detection method thereof Download PDFInfo
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Abstract
The invention provides a non-contact detection system of a hollow cylindrical part and a detection method thereof. The detection system comprises: an illumination part, a transmission part and a datareceiving processing part, wherein the illumination part comprises a dual parallel light source and a slide way with a bracket and a base; the transmission part comprises a controller and an electriccontrol translational platform; and the data receiving processing part comprises a linear array CCD and a computer with a bracket and a base. One side of the electric control translational platform isprovided with the slide way; the parallel light source and the CCD are respectively arranged on the slide way by the bases thereof; the dual light source is symmetrically positioned relative to the CCD in x direction, and slantwise irradiated on the surface of a part A to be tested from the left upper direction and the right upper direction with angle Theta0<->; the width of the slit of the lightsource is adjusted according to the width upper limit d0<->; the CCD receives the reflected light of the surface of the part from the upper direction; and the data is transmitted to the computer to be processed. The detection method comprises the steps of: harmoniously controlling the translational platform and the CCD by the computer to equidistantly distantly acquire the data; preprocessing theacquired line image and conducting edge extracting; and fitting the circle center position and the circle radius of the outer circle with the circle center position and the circle radius of the innercircle, thus calculating the concentricity of the outer circle and the inner circle.
Description
Technical field
The present invention relates to robotization and detect the non-contact detecting of vision, especially a kind of non-contact detection system of hollow cylindrical part and detection method thereof.
Background technology
The eighties, machine vision has begun global research focus, and vision detection system widespread use in Americanized industry at that time mainly is to have applied to various robotization detection ranges.In recent years, along with the huge advance made that industrial technology obtains at aspects such as new material, new technology, new equipments, it is flourish that this technology has obtained, and new ideas, new theory continue to bring out, and the detection technique of product has also been proposed requirements at the higher level.Tradition contact detecting method speed is slower, easily part is caused damage, can reduce measuring accuracy.Measuring technique based on computer vision has at a high speed, advantages such as real-time is good, noncontact, low cost, is widely used in the precision measurement to various accessory sizes.The each several part of detection system all towards improving accuracy of detection, is accelerated the detection speed aspect and is updated.In the mechanical industry parts detect, the detection of circular hole and round piece is an important detection content, according to this project needs, detects the concentricity and the inside and outside circle radius of hollow cylindrical part, then need to obtain the piece surface two-dimensional image information, again view data is handled calculating.Common employing area array CCD is obtained in the collection of face data in the traditional detection method, directly determinand is imaged on the CCD two dimension pixel face, again the two-dimensional array after signal digitalized on the image planes is handled computing accordingly, obtains the parameters of determinand.This method is easy to use, but the area array CCD pixel dimension is big, precision is not high, but need detect the concentricity of part for this project, the precision of home position depends on the accuracy of the coordinate position of putting on the circle that collects, the bearing accuracy of the point on the image that promptly will guarantee to collect, common area array CCD collection can not be satisfied such high-precision requirement.Simultaneously, accessory size to be measured is in a centimetre magnitude, if adopt the high-precision area array CCD of large tracts of land, cost is very expensive, and cost is too high for this test item.Tradition improves the piece test precision and speed mostly is conceived to the improvement on the successive image Processing Algorithm, but as the important composition in the non-contact detection system, the light illumination part has material impact to testing result.Mainly be the extraction at edge for the content of the detection of part, according to the content that will detect further Treatment Analysis is done at the edge that extracts again, the detection at edge depends on the picture contrast of both sides of edges, and it is significant for detecting part therefore to improve lighting contrast ratio.Therefore, improve strong light-source illuminating system and the corresponding means of illumination of development one cover contrast and important and practical meanings and using value are arranged for non-contact detecting.Singularity based on part profile to be measured, particular design and the combination experiment of carrying out illumination section partly design accurately to algorithm, under low cost, finish a cover to the high-speed fast non-contact detection system of the precision of hollow cylindrical part, very strong practical value and meaning are arranged.
Summary of the invention
The objective of the invention is provides a kind of non-contact detection system and detection method thereof of hollow cylindrical part at this not high general weak point of present stage detection technique accuracy of detection, and the present invention has precision height, fireballing characteristics.
The object of the present invention is achieved like this:
A kind of non-contact detection system of hollow cylindrical part, its characteristics are that the formation of this system comprises:
Hop: form by controller and electronic control translation stage, described electronic control translation stage is used to put hollow cylindrical part to be measured, be designated hereinafter simply as part to be measured, described controller links to each other with the output terminal of described computing machine, described controller drives the motion of described electronic control translation stage under the control of described computing machine, drive the motion of described part to be measured;
Illumination section: the slide rail by first source of parallel light, second source of parallel light and band scale constitutes, described slide rail places a side of described electronic control translation stage along described electronic control translation stage direction of motion, first source of parallel light, second source of parallel light are installed in respectively on first light source bracket, the secondary light source support, and two light source brackets are fixed on the described slide rail by first base, second base respectively;
Data snooping and processing section: constitute by line array CCD and computing machine, described line array CCD is fixed on the CCD support, this CCD support is fixed on the described slide rail by the 3rd base, described the 3rd base is linked to each other by data line between described line array CCD and the described computing machine between described first base, second base;
The described electronic control translation stage of described computer control delivers part transmission to be measured, first source of parallel light, second source of parallel light are from the described part to be measured of top inclination symmetrical illumination, described CCD receives the reflected light of described part to be measured, described computer control CCD image data, computing machine carries out data processing to the data of input.
Utilize above-mentioned hollow cylindrical part non-contact detection system to the method that hollow cylindrical part detects, comprise the following steps:
The first step: prepare
1. with first source of parallel light, second source of parallel light the symmetria bilateralis of line array CCD be installed on the slide rail of band scale and constitute illumination section, whole illumination section is placed on a side of described electronic control translation stage, and described slide rail is parallel with the direction of motion of described electronic control translation stage;
2. adjust illumination section to the distance of electronic control translation stage, finely tune described first base, second base and the 3rd base again, make the spot center of described CCD center, first source of parallel light and second source of parallel light all aim at the center line of described electronic control translation stage;
3. measure the height h and the interior circular diameter a of part to be measured with vernier caliper and ruler sampling, calculate critical angle θ
0=arctan (h/a) adjusts the angle of first source of parallel light and second source of parallel light, the light source incident angle is adjusted to is slightly less than θ
0Angle θ
0 -, fixing;
4. according to θ
0 -Calculate the wide upper limit of slit of light source with h
The slit of first source of parallel light and second source of parallel light all is adjusted to compares d
0 -Little width, the light source outgoing is the arrowband hot spot at this moment;
5. getting a part to be measured at random stands up on the table top of the electronic control translation stage under the described CCD, regulate the distance between first source of parallel light and second source of parallel light, two light sources are placed with respect to the CCD symmetry on the x direction, and the narrow band light spot region of two light source outgoing overlap at the upper surface of part to be measured;
6. with the direction of motion of part A to be measured along described electronic control translation stage, promptly x direction spacing stand up on electronic control translation stage, open the power supply of CCD, electronic control translation stage and computing machine, make its work, computer run detects software program and begins to detect and initialization: comprise part flag terminal to be measured is initialized as invalid (EN=0) that expression does not scan part to be measured;
Second step: COMPUTER DETECTION:
In the 1st step, part to be measured begins transportation with electronic control translation stage;
The 2nd step, CCD shooting, computer acquisition line data;
The 3rd step, the data line elder generation binaryzation of computing machine to collecting, corrosion operation is again judged operating result, if be 0 entirely after this line data operation, then is background, if be not 0 entirely, then is part image to be measured;
When being background and EN=0, then returned for the 2nd step, gather the next line data;
When not being background, then entered for the 4th step;
When being background and EN=1, then entered for the 5th step;
In the 4th step, deposit line data and the corresponding position coordinates that collects in two-dimensional array, and the EN end is changed to effectively (EN=1), returned for the 2nd step afterwards again, gather the next line data, carried out for the 3rd step, circulate with this, until the whole line data that obtain a part A to be measured;
In the 5th step, data in the two-dimensional array are carried out expansion algorithm offset in the 4th step erosion algorithm one dimension Prewitt operator extraction edge is used in the influence of image border again;
The 6th step, simulate parameter according to the position coordinates of the edge that extracts in two-dimensional array respectively with least square method: the radius of the home position of interior circle, cylindrical and interior circle, cylindrical, calculate concentricity according to two home positions, judge whether to meet production requirement then, qualifiedly entered for the 7th step; Defective then enter the 8th the step;
The 7th step was saved to hard disk with described parameter, emptied two-dimensional array so that store next part data to be measured, simultaneously the EN end was changed to invalid (EN=0), returned for the 2nd step then, continued to gather the line data of next part to be measured;
The 8th step, preserve described parameter to hard disk and warning shut down procedure, wait for artificial the processing and order.
Technique effect of the present invention:
1. computing machine moves and the ccd data collection by coordinating the control translation stage, realization is to the equidistant home row data acquisition of part, obtain translation stage position (step number of moving playing surface) by function, the identical step number in every interval triggers to call gathers function collection delegation view data, by step number * resolution (the every moved further distance of translation stage) * this row row-coordinate in two-dimensional array, can determine the x coordinate of this line data, thereby realize the high precision that the row view data is located on the x direction.
2. in image preprocessing part and image storage section, carry out threshold operation earlier, realize binaryzation, again to the salt-pepper noise on the image erosion operation removal background after the binaryzation, classify according to result then, optionally carry out image storage,, give up background data is capable the capable two-dimensional array that deposits in of part data.
3. the edge extracting part is offset the effect of corroding previously with plavini earlier, and the border is restored, and with one dimension Prewitt operator the row image is extracted the edge line by line again, and the edge of Ti Quing has accounted for two pixels like this, and the mid point of getting two pixels is a marginal position.
4. part is extracted in the center of circle, and the radius of circle calculating section simulates inside and outside home position and inside and outside radius of a circle by position in two-dimensional array, edge respectively with least square method, calculates concentricity then.
5. the processing of the collection of part data and part data is calculated and is hocketed, the collection of part data and be stored in whole part through finishing in the time of CCD, extract in the edge extracting of part data, the center of circle and calculation of parameter was finished in the time that transmit in the space between part and next adjacent parts, whole transmission course is carried out continuously, need not take time out to part is detected, improve the efficient that detects.
The present invention has higher detection precision and detection speed, can realize the automatic detection of hollow cylindrical part cross section inside and outside circle concentricity and inside and outside circle radius, and judge according to testing result whether cylindrical part to be measured meets production requirement, meet and then continue to detect next part, do not meet then and give the alarm, all part Coefficient finally all have storage to keep so that subsequent examination.The present invention is simple in structure, is easy to regulate, and applicability is wide, has good practical value.
Description of drawings
Fig. 1 is a system architecture synoptic diagram of the present invention;
Fig. 2 is illumination section core illumination synoptic diagram of the present invention;
Fig. 3-Fig. 6 is the schematic diagram of light illumination angle design of the present invention;
Fig. 7-Fig. 9 is the schematic diagram of illumination section slit width design of the present invention;
Figure 10 is part image pickup method to be measured of the present invention and imaging synoptic diagram;
Figure 11 is the software flow block diagram of non-contact detection method of the present invention;
Figure 12 is the synoptic diagram of system of the present invention Flame Image Process computational algorithm.
Embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments, but protection scope of the present invention will not only be confined to the statement of following content.
See also Fig. 1 earlier, Fig. 1 is a system architecture synoptic diagram of the present invention.As seen from the figure, the formation of the non-contact detection system of hollow cylindrical part of the present invention comprises:
Hop: form by controller 17 and electronic control translation stage 12, described electronic control translation stage 12 is used to put hollow cylindrical part to be measured, be designated hereinafter simply as part A to be measured, described controller 17 links to each other with the output terminal of described computing machine 16, described controller 1) motion of the described electronic control translation stage 12 of driving under the control of described computing machine 16 drives the motion of described part A to be measured;
Illumination section: the slide rail 10 by the first source of parallel light 13-1, the second source of parallel light 13-2 and band scale constitutes, described slide rail 10 places a side of described electronic control translation stage 12 along described electronic control translation stage 12 direction of motion, the first source of parallel light 13-1, the second source of parallel light 13-2 are installed in respectively on the first light source bracket 6-1, the secondary light source support 6-2, and two light source brackets are fixed on the described slide rail 10 by the first base 9-1, the second base 9-2 respectively;
Data snooping and processing section: constitute by line array CCD 11 and computing machine 16, described line array CCD 11 is fixed on the CCD support 18, this CCD support 18 is fixed on the described slide rail 10 by the 3rd base 9-3, described the 3rd base 9-3 is linked to each other by data line between described line array CCD 11 and the described computing machine 16 between the described first base 9-1, the second base 9-2;
Described electronic control translation stage 12 deliveries of described computing machine 16 controls part transmission to be measured, the first source of parallel light 13-1, the second source of parallel light 13-2 are from the described part A to be measured of top inclination symmetrical illumination, described CCD11 receives the reflected light of described part A to be measured, described computing machine 16 control CCD11 image data, the data of 16 pairs of inputs of computing machine are carried out data processing.
The present invention aims to provide a kind of non-contact detection system and non-contact detection method that has than high measurement accuracy and very fast detection speed, with the inside and outside circle concentricity in realization hollow cylindrical part cross section and the automatic detection of inside and outside circle radius.Singularity according to target to be measured, the software algorithm of system illumination part and data processing partly combines, a kind of special lighting method is provided, speed and precision that follow-up data is handled have been accelerated, the thinking of detection method design itself and software algorithm have selected also to have improved the precision and the speed that detect, partly make detailed description respectively with regard to system illumination part and detection method flow process and algorithm selection below.
One, system illumination part:
Because the image processing section of back relates to edge extracting, especially adopt threshold method to row view data binaryzation at the image preprocessing part, the contrast that this and image throw light on is closely bound up, the image border of good contrast is sharp keen, under simple algorithm, just edge accurately be can extract, thereby the speed and the precision that detect improved.The invention provides a kind of special lighting system and method according to this thinking.Fig. 3-Fig. 6 is the schematic diagram of illumination section angle design of the present invention, when light source with different angular illumination to part, the inside and outside lighting contrast ratio of hole in piece part is also different.If the vertical illumination of single source of parallel light is E, then the illumination of part U is E beyond the part aperture
U=2Esin θ, when about two bundle directional light L and R incident angle θ when big, as Fig. 3, the inner D in aperture can receive illumination, i.e. E
D≠ 0, even can reach E in D central area illumination
D=E
U, the illumination contrast of inside and outside both sides, aperture is very low like this, is unfavorable for the detection at edge; When about two bundle directional light L and R incident angle θ as shown in Figure 4 the time, this moment θ=arctan (h/a), h is the part height, a is the diameter of hole in piece part (interior circle), the inner D in aperture does not just receive illumination, i.e. E
D=0, claim that this moment, θ was critical angle θ
0, at this moment, the illumination of inside and outside both sides, aperture has very strong contrast, is beneficial to the detection at edge; When about two bundle directional light L and R incident angle θ when very little, as Fig. 5, the inner D in aperture does not receive illumination, E
D=0, this moment E
U＜2Esin θ
0, when incident angle θ is too little, E
UToo little, contrast decreases again, is unfavorable for the detection at edge; To sum up, for guaranteeing E
D=0, take than critical angle θ
0Slightly little angle incident, the contrast effect is best, and incident angle is called θ
0 -, θ
0 -Be to determine like this in practical operation: the support among the present invention (6-1) with (6-2) on the angle scale of display light source incident angle is installed, if its minimum division value is MIN, so θ
0 -Be set at less than θ
0The number of degrees that can on angle scale, accurately read, and
Simultaneously, this two-source illumination method can also play certain shielding action to the noise effect that some little fluctuating cuts of surface form at the aperture context of detection.With reference to Fig. 6, piece surface has a depression B who does not influence part quality, when left and right sides light source L and R shine on the B, it in the frame of broken lines enlarged drawing of depression radiation situation, b surface for depression, its inclination angle is greater than the light source incident angle, therefore R light illumination on b is 0, if use single light source irradiation (be without loss of generality, establish and have only the R rayed), then this moment, the b surface formed a blackening on CCD, this rim detection for the aperture is a noise spot, the symmetric double light illumination that adopts in the system of the present invention has solved this problem, and L light illumination on the b face is not 0, its illumination E
b＞E
D, (E
D≈ 0) in follow-up data processing, with threshold value establish lower, make the b face at the brightness of image numerical value that forms on the CCD on threshold value, promptly removed the noise effect of b, and illumination is almost 0 in the hole, threshold value reduces its not influence, and the low regional centralized of brightness of image numerical value in like manner can push away to such an extent that a face situation is the same in inside, aperture.
Fig. 7 to Fig. 9 is the schematic diagram of illumination section slit width design of the present invention.Left-half is the radiation situation synoptic diagram under the different slit width among the figure, and wherein, h is the part height, and Su is the part upper surface, and Sd is the mobile platform table top, and light source is according to the θ of above-mentioned design
0 -Angle incident, because employing is line array CCD, the zone of imaging is one section arrowband that width is J in fact on CCD; Right half part is the vertical view of imaging object among the figure, the white annulus is part upper surface Su, black partly is mobile platform table top Sd, imaging moiety is that width is the narrowband region of J, is without loss of generality, and vertical view is got is near when part movement just images in CCD its diameter parts situation, analyze light conditions from 1,2,3 three parts respectively, the 1st, hole in piece part inside (background), the 2nd, part upper surface, the 3rd, the translation stage face portion (background) beyond the part.
According to the principle of foregoing illumination section angle design of the present invention as can be known, 1 illumination is almost 0,2 illumination
So slit width influence is 3 illumination.Fig. 7 is the situation of slit broad, and have illumination this moment in the J zone of the Sd face that does not have part to block, and illumination is 2Esin θ
0 -, the illumination in 3 zones in such cases that Here it is, E
3=E
2, the differentiation in 2,3 zones is the reflectivity difference of the two, 2,3 region contrasts are not high; Fig. 8 is a critical width, and promptly slit is in width upper limit d
0 -The time situation, this moment, left and right sides two-beam did not just have intersection, the J zone on table top Sd
The contrast in 2,3 zones improves than Fig. 7, and this moment, width was called width upper limit d
0 -,
Fig. 9 is the less situation of slit width, stitches wide
All non-intersect in the J zone of two-beam on the Sd face, then this moment the J zone E
3=0,2,3 region contrasts are very high, and the interests rim detection is arranged.Owing to detect the pixel width very little (having only micron dimension) of the line array CCD that adopts, corresponding imaging narrowband region J also very narrow (micron dimension) therefore in practical operation, only needs earlier according to θ
0 -Calculate the wide upper limit d of slit with h
0 -, slit is adjusted to compares d again
0 -The width of little millimeter magnitude promptly is enough to satisfy the E in J zone
3=0.Final lighting system such as Fig. 2, black partly represent slit.
The explanation of synthesizing map 2-Fig. 9, detection for footpath with holes part edge, illuminator that proposes among the present invention and means of illumination have following advantage: 1. the particular design of illumination incident angle has strengthened in the hole and the lighting contrast ratio of part upper surface, the particular design of the width of optical slits has strengthened the lighting contrast ratio of background beyond part upper surface and the part, both combinations, strengthen the contrast of part imaging, make part imaging edge clear sharp keen; 2. can mask the The noise that some little fluctuating cuts of part upper surface form, play the denoising effect physically; 3. above-mentioned 2 have been improved picture quality, thereby have simplified the algorithm of subsequent treatment, have improved the speed and the precision that detect.
Two, detection method flow process and algorithm are selected part
Area array CCD is adopted in the detection of traditional images usually, directly determinand is imaged on the CCD two dimension pixel face, again the two-dimensional array after signal digitalized on the image planes is handled computing accordingly, obtains the parameters of determinand.This method is easy to use, but the area array CCD pixel dimension is big, precision is not high, need detect the concentricity of part for the present invention, the precision of home position depends on the accuracy of the coordinate position of putting on the circle that collects, the bearing accuracy of the point on the image that promptly will guarantee to collect, the area array CCD collection can not be satisfied such high-precision requirement.The method that adopts line array CCD equidistantly to gather imaging data among the present invention is finished the two-dimensional imaging record to part to be measured, and as Figure 10, black part is divided into the delivery table top, and white is part, table top carry part with
Motion, a is a certain moment imaging situation, has only place, straight line place to become delegation's image at CCD; B is that every interval l is apart from gathering Polaroid capable image; C has shown the two-dimensional discrete image that finally collects.The line array CCD pixel is little, the precision height has guaranteed the bearing accuracy of picture point on the y direction, and computing machine moves and the ccd data collection by coordinating the control translation stage, realization is to the equidistant home row data acquisition of part, thus the high precision that realization row view data is located on the x direction.
Among the present invention the part detection method process flow diagram as shown in figure 11, generally when testing began, part was not sent to the CCD place as yet, promptly CCD does not also detect part, will detect the part flag terminal earlier after the CCD scanning and be initialized as invalid (EN=0) so open.Computing machine is opened the translation stage motion, and obtains translation stage motion step number in real time by function.Image acquisition is subjected to the control of part localization part, the step number of moving playing surface by the acquisition of part localization part, the identical step number triggering collection in every interval is partly gathered delegation's view data, motorized precision translation stage resolution is micron number magnitude (being to have only the micron distance per step), determines the x coordinate of row view data thus and realize the high precision that the row view data is located on the x direction.The design of front illumination section makes that the contrast of part and background is very big, background illuminance is almost 0, then such Design Conception is being arranged at image preprocessing part and storage area, carry out threshold operation earlier, realize binaryzation, again to the salt-pepper noise on the image erosion operation removal background after the binaryzation, classify and selectivity storage according to result then: if the row processing result image is 0 and EN=0 entirely, it then is background parts, also do not detect part, continue to get back to collecting part and wait for the next line data; If result is not 0 entirely, then detected part, the image of will going deposits the two-dimensional array corresponding line in, and will detect the part flag terminal and be changed to effectively (EN=1), gets back to the collection of collecting part wait next line; Treat that a part is all gathered and finish that CCD captures background again, result is 0 entirely, this moment EN=1, expression has detected part and also has been untreated, and then carries out the processing calculating section to the two-dimensional image data that has kept.Corrosion operation when storage is judged in the front can make the part border dwindle, and with plavini the border is restored earlier, uses one dimension Prewitt operator extraction edge again, and the edge of Ti Quing has accounted for two pixels like this, and the mid point of getting two pixels is a marginal position.Go out the coordinate of marginal point according to position, pixel size and the acquisition interval distance transform of edge in two-dimensional array, simulate inside and outside home position and inside and outside radius of a circle by edge coordinate respectively with least square method, thereby the concentricity of calculating, it is qualified to judge whether.The part parameter is preserved, and empty two-dimensional array, flag terminal is changed to invalid (EN=0), gets back to collecting part and prepares to carry out the detection of next part.
Figure 12 is the synoptic diagram of system of the present invention Flame Image Process computational algorithm, wherein a is a raw digitized row image (having noise), b is the capable image (clear-cut margin) after the threshold method binaryzation, c (has removed noise on the background for the capable image that restores with plavini again after corroding, marginal position is not damaged), d is row Edge extraction (by the conversion of line data to point data), and e is the distribution of marginal point in two-dimensional array, and f is by the inside and outside center of circle O that obtains behind the marginal point least square
1, O
2And radius r
1, r
2
Conclusion is got up, and utilizes above-mentioned hollow cylindrical part non-contact detection system that hollow cylindrical part is carried out non-contact detection method, comprises the following steps:
The first step: prepare
1. with the first source of parallel light 13-1, the second source of parallel light 13-2 the symmetria bilateralis of linear array CCD11 be installed on the slide rail 10 of band scale and constitute illumination section, whole illumination section is placed on a side of described electronic control translation stage 12, and described slide rail 10 is parallel with the direction of motion of described electronic control translation stage 12;
2. adjust the distance of illumination section to electronic control translation stage 12, finely tune the described first base 9-1, the second base 9-2 and the 3rd base 9-3 again, make the spot center of center, the first source of parallel light 13-1 and the second source of parallel light 13-2 of described CCD11 all aim at the center line of described electronic control translation stage 12;
3. measure height h and the interior circular diameter a of part A to be measured with vernier caliper and ruler sampling, calculate critical angle θ
0=arctan (h/a) adjusts the angle of the first source of parallel light 13-1 and the second source of parallel light 13-2, the light source incident angle is adjusted to is slightly less than θ
0Angle θ
0 -, fixing;
4. according to θ
0 -Calculate the wide upper limit of slit of light source with h
The slit of the first source of parallel light 13-1 and the second source of parallel light 13-2 all is adjusted to compares d
0 -Little width, the light source outgoing is the arrowband hot spot at this moment;
5. getting a part A to be measured at random stands up on the table top of the electronic control translation stage under the described CCD11 12, regulate the distance between the first source of parallel light 13-1 and the second source of parallel light 13-2, two light sources are placed with respect to the CCD11 symmetry on the x direction, and the narrow band light spot region of two light source outgoing overlap at the upper surface of part A to be measured;
6. with the direction of motion of part A to be measured along described electronic control translation stage 12, promptly stand up equally spacedly on electronic control translation stage 12 in the x direction, open the power supply of CCD11, electronic control translation stage 12 and computing machine 16, make its work, operation detects software program and begins to detect;
Second step: the flow process that computing machine 16 detects as shown in figure 11:
Initialization: computing machine 16 operations detect software program and begin to detect and initialization: comprise part A flag terminal to be measured is initialized as invalid (EN=0) that expression does not scan part A to be measured, and relevant device parameters such as translation stage movement velocity are set simultaneously;
In the 1st step, part A to be measured begins transportation with electronic control translation stage 12;
The 2nd step, the CCD11 shooting, computing machine 16 is gathered line data (translation stage is whenever walked n step triggering and once gathered);
The 3rd step, the data line elder generation binaryzation that 16 pairs in computing machine collects, corrosion operation is again judged operating result, if be 0 entirely after this line data operation, then is background, if be not 0 entirely, then is part image to be measured;
When being background and EN=0, then returned for the 2nd step, gather the next line data;
When not being background, then entered for the 4th step;
When being background and EN=1, then entered for the 5th step;
In the 4th step, deposit line data and the corresponding position coordinates that collects in two-dimensional array, and the EN end is changed to effectively (EN=1), returned for the 2nd step afterwards again, gather the next line data, carried out for the 3rd step, circulate with this, until the whole line data that obtain a part A to be measured;
In the 5th step, data in the two-dimensional array are carried out expansion algorithm offset in the 4th step erosion algorithm one dimension Prewitt operator extraction edge is used in the influence of image border again;
The 6th step, according to the position coordinates of the edge that extracts in two-dimensional array: step number n * resolution (the every moved further distance of translation stage) * marginal point row-coordinate in two-dimensional array, can determine the x coordinate of this marginal point, marginal point is row coordinate * pixel length of side ÷ camera enlargement ratio in two-dimensional array, can determine the y coordinate of this marginal point.According to marginal point (x, y) coordinate simulate parameter respectively with least square method: the radius of the home position of interior circle, cylindrical and interior circle, cylindrical, calculate concentricity according to two home positions, judge whether to meet production requirement then, qualifiedly entered for the 7th step; Defective then enter the 8th the step;
The 7th step was saved to hard disk with described parameter, emptied two-dimensional array so that store next part data to be measured, simultaneously the EN end was changed to invalid (EN=0), returned for the 2nd step then, continued to gather the line data of next part to be measured;
The 8th step, preserve described parameter to hard disk and warning shut down procedure, wait for artificial the processing and order.
Claims (2)
1, a kind of non-contact detection system of hollow cylindrical part is characterized in that the formation of this system comprises:
Hop: form by controller (17) and electronic control translation stage (12), described electronic control translation stage (12) is used to put hollow cylindrical part to be measured, be designated hereinafter simply as part to be measured (A), described controller (17) links to each other with the output terminal of described computing machine (16), described controller (17) drives the motion of described electronic control translation stage (12) under the control of described computing machine (16), drive the motion of described part to be measured (A);
Illumination section: the slide rail (10) by first source of parallel light (13-1), second source of parallel light (13-2) and band scale constitutes, described slide rail (10) places a side of described electronic control translation stage (12) along described electronic control translation stage (12) direction of motion, first source of parallel light (13-1), second source of parallel light (13-2) are installed in respectively on first light source bracket (6-1), the secondary light source support (6-2), and two light source brackets are fixed on the described slide rail (10) by first base (9-1), second base (9-2) respectively;
Data snooping and processing section: constitute by line array CCD (11) and computing machine (16), described line array CCD (11) is fixed on the CCD support (18), this CCD support (18) is fixed on the described slide rail (10) by the 3rd base (9-3), described the 3rd base (9-3) is positioned between described first base (9-1), second base (9-2), and the output terminal of described line array CCD (11) links to each other with described computing machine (16) input end;
Described computing machine (16) is controlled described electronic control translation stage (12) delivery part transmission to be measured, first source of parallel light (13-1), second source of parallel light (13-2) are from the described part to be measured of top inclination symmetrical illumination (A), described CCD (11) receives the reflected light of described part to be measured (A), described computing machine (16) control CCD (11) image data, computing machine (16) carries out data processing to the data of input.
2, utilize the described hollow cylindrical part non-contact detection system of claim 1 to carry out detection method, it is characterized in that comprising the following steps:
The first step: prepare
1. with first source of parallel light (13-1), second source of parallel light (13-2) the symmetria bilateralis of line array CCD (11) be installed in the band scale slide rail (10) go up and constitute illumination section, whole illumination section is placed on a side of described electronic control translation stage (12), and described slide rail (10) is parallel with the direction of motion of described electronic control translation stage (12);
2. adjust the distance of illumination section to electronic control translation stage (12), finely tune described first base (9-1), second base (9-2) and the 3rd base (9-3) again, make the spot center of described CCD (11) center, first source of parallel light (13-1) and second source of parallel light (13-2) all aim at the center line of described electronic control translation stage (12);
3. measure the height h and the interior circular diameter a of part to be measured (A) with vernier caliper and ruler sampling, calculate critical angle θ
0=arctan (h/a) adjusts the angle of first source of parallel light (13-1) and second source of parallel light (13-2), the light source incident angle is adjusted to is slightly less than θ
0Angle θ
0 -, fixing;
4. according to θ
0 -Calculate the wide upper limit of slit of light source with h
The slit of first source of parallel light (13-1) and second source of parallel light (13-2) all is adjusted to compares d
0 -Little width, light source outgoing arrowband hot spot at this moment;
5. getting a part to be measured (A) at random stands up on the table top of the electronic control translation stage (12) under the described CCD (11), regulate the distance between first source of parallel light (13-1) and second source of parallel light (13-2), two light sources are placed with respect to CCD (11) symmetry on the x direction, and the arrowband hot spot of two light source outgoing overlap at the upper surface of part to be measured (A);
6. with the direction of motion of part to be measured (A) along described electronic control translation stage (12), promptly stand up on electronic control translation stage (12) in x direction compartment of terrain, open the power supply of CCD (11), electronic control translation stage (12) and computing machine (16), make its work, computing machine (16) operation detects software program and begins to detect and initialization, part to be measured (A) flag terminal is initialized as invalid (EN=0), and expression does not scan part to be measured (A);
Second step: computing machine (16) detects:
In the 1st step, part to be measured (A) begins transportation with electronic control translation stage (12);
The 2nd step, CCD (11) shooting, computing machine (16) is gathered line data;
The 3rd step, the data line elder generation binaryzation of computing machine (16) to collecting, corrosion operation is again judged operating result, if be 0 entirely after this line data operation, then is background, if be not 0 entirely, then is part image to be measured;
When being background and EN=0, then returned for the 2nd step, gather the next line data;
When not being background, then entered for the 4th step;
When being background and EN=1, then entered for the 5th step;
In the 4th step, deposit line data and the corresponding position coordinates that collects in two-dimensional array, and the EN end is changed to effectively (EN=1), returned for the 2nd step afterwards again, gather the next line data, carried out for the 3rd step, circulate with this, until the whole line data that obtain a part to be measured (A);
In the 5th step, data in the two-dimensional array are carried out expansion algorithm offset in the 4th step erosion algorithm one dimension Prewitt operator extraction edge is used in the influence of image border again;
The 6th step, simulate parameter according to the position coordinates of the edge that extracts in two-dimensional array respectively with least square method: the radius of the home position of interior circle, cylindrical and interior circle, cylindrical, calculate concentricity according to two home positions, judge whether to meet production requirement then, qualifiedly entered for the 7th step; Defective then enter the 8th the step;
The 7th step was saved to hard disk with described parameter, emptied two-dimensional array so that store next part data to be measured, simultaneously the EN end was changed to invalid (EN=0), returned for the 2nd step then, continued to gather the line data of next part to be measured;
The 8th step, preserve described parameter to hard disk and warning shut down procedure, wait for artificial the processing and order.
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