CN102565080A - Vision detection device and system - Google Patents
Vision detection device and system Download PDFInfo
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- CN102565080A CN102565080A CN2011104598256A CN201110459825A CN102565080A CN 102565080 A CN102565080 A CN 102565080A CN 2011104598256 A CN2011104598256 A CN 2011104598256A CN 201110459825 A CN201110459825 A CN 201110459825A CN 102565080 A CN102565080 A CN 102565080A
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- 238000007689 inspection Methods 0.000 claims description 35
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Abstract
The embodiment of the invention discloses a vision detection device and system. The vision detection device disclosed by the embodiment of the invention comprises a rotating platform and a photographic device; the rotating platform is used for locking and rotating a detected part, so that the detected surface of the detected part is aligned to a lens of a camera in the photographic device; a preset distance is reserved between the photographic device and the rotating platform, and the photographic device is used for carrying out image acquisition on the detected surface of the detected part; the rotating platform comprises a base, a horizontal plane X-axis moving module, a horizontal plane Y-axis moving module and a detected surface adjusting module which are connected in sequence in the vertical direction; the detected surface adjusting module is used for locking the detected part and enabling the detected part to rotate by taking a vertical direction as a rotating shaft or enabling the detected part to overturn by taking an X-axis as an overturning shaft, wherein the X-axis is vertical to an optical axis of the lens on the horizontal plane; the horizontal plane X-axis moving module is used for controlling the detected part to move along the X-axis; and the horizontal plane Y-axis moving module is used for controlling the detected part to move along a Y-axis, wherein the Y-axis is vertical to the optical axis of the lens. According to the invention, the performance of the vision detection system can be effectively improved.
Description
Technical field
The present invention relates to field of visual inspection, relate in particular to a kind of vision inspection apparatus and system.
Background technology
The detection of product processing quality; Developed into the modern Machine Vision Detection based on computer graphics from initial manual detection, the principle of vision-based detection is: use the high precision camera that certain plane of measured piece is taken, behind the image that computing machine obtains to take; Compare through vision software and the sample pictures of taking at same position point in advance; Computing is carried out in monitoring point to delimiting, but if the data difference that contrast obtains in the range of receiving that presets, then this monitoring point is qualified; If but the data difference that obtains of contrast is in the range of receiving that presets, then this monitoring point is underproof.
Detection for products such as circuit board, parts shape, surface quality; Usually need the single plane of testing product can arrive the detection requirement; Can be through measured piece be fixed on certain location; Carry out vision-based detection with vision system then, and judge whether conformance with standard of measured piece according to testing result.
If need a plurality of faces of product be detected; What often use is the method that mechanical arm combines vision-based detection; Use mechanical arm that measured piece is carried out moving of level (X axle, Y axle) and vertical (Z axle) direction; And measured piece carried out the rotation (R axle) of transverse axis and the upset of vertical direction (F axle), promptly utilize mechanical arm successively the tested surface of measured piece to be aimed at the high precision camera of the vision system that is used for vision-based detection, and carry out vision-based detection.
But the method for mechanical arm and vision-based detection of utilizing of the prior art is carried out the problem below the multiaspect detection existence to measured piece:
The manipulate weight product of big (for example 30 kilograms) will produce bigger inertia in the process that moves, rotates or overturn, limited the manipulation speed of mechanical arm, reduce testing efficiency; The mechanical arm that can handle the greater weight product needs very high cost, and mechanical arm need occupy huge space, does not meet the requirement of factory floor on-line testing.
Summary of the invention
The embodiment of the invention provides a kind of vision inspection apparatus and system, is used for a plurality of faces of measured piece are detected automatically, can effectively bear the greater weight measured piece, has improved the overall performance of vision inspection apparatus.
Vision inspection apparatus in the embodiment of the invention comprises: universal stage, camera head; Universal stage is used for locking and rotates measured piece, makes the tested surface of measured piece aim at the camera lens of camera in the camera head; The distance that camera head and universal stage apart preset is used for the tested surface of measured piece is carried out IMAQ; Universal stage comprises base, surface level X axle mobile module, surface level y-axis shift dynamic model piece and the tested surface adjusting module that connects successively on the vertical direction; The tested surface adjusting module is used to lock measured piece, and makes that measured piece is that turning axle is rotated with the vertical direction, or is that trip shaft overturns with the X axle, and the X axle is vertical on surface level with the optical axis of camera lens; Surface level X axle mobile module is used to control measured piece and moves along the X axle; It is moving along y-axis shift that surface level y-axis shift dynamic model piece is used to control measured piece, and the Y axle is parallel with the optical axis of camera lens,
Vision detection system in the embodiment of the invention comprises: industrial computer, programmable logic controller (PLC), travelling belt, testing station; Comprise vision inspection apparatus in the said testing station; Said travelling belt is arranged on the two ends of said testing station, is used to transmit measured piece; Said vision inspection apparatus in the said testing station is used for measured piece carried out IMAQ by the side; Said programmable logic controller (PLC) is used for said travelling belt, said testing station are controlled; Said industrial computer is used for handling the view data that the vision inspection apparatus of said testing station is gathered.
Can find out that from above technical scheme the embodiment of the invention has the following advantages:
Universal stage is set in vision inspection apparatus; Realize measured piece moving on surface level through the surface level X axle mobile module on the universal stage, surface level y-axis shift dynamic model piece and tested surface adjusting module; And the rotation and the upset of measured piece; Make it possible to a plurality of tested surfaces of measured piece are detected automatically, and this universal stage can bear the bigger measured piece of weight, cost is low, applied widely.
Description of drawings
Fig. 1 is the integrated stand composition of vision inspection apparatus in the embodiment of the invention;
Fig. 2 is the structural drawing of surface level X axle mobile module in the embodiment of the invention;
Fig. 3 is the structural drawing of surface level y-axis shift dynamic model piece in the embodiment of the invention;
Fig. 4-a is the structural drawing of rotary module in the embodiment of the invention;
Fig. 4-b is the structural drawing of clamp base and cylinder in the embodiment of the invention;
Fig. 4-c is the structural drawing of releasable clamp in the embodiment of the invention;
Fig. 5 is the outside drawing of camera head in the embodiment of the invention;
Fig. 6 is the front view of camera head in the embodiment of the invention;
Fig. 7 is the structural drawing of vision detection system in the embodiment of the invention.
Embodiment
The embodiment of the invention provides a kind of vision inspection apparatus and system; Be used for a plurality of tested surfaces of measured piece are detected; The rotation or the upset of the mobile and tested surface of the position of the effectively bigger measured piece of load capacity, and realization measured piece make that the cost of vision inspection apparatus is low; Applied widely, improved the performance of vision detection system.
See also Fig. 1, in the embodiment of the invention, a kind of integrated stand composition of vision inspection apparatus comprises:
Wherein, universal stage 101 is used for locking and rotates measured piece 103, makes the tested surface of measured piece 103 aim at the camera lens of camera in the camera head 102; Camera head 102 and the distance that universal stage 101 apart presets are used for the tested surface of measured piece 103 is carried out IMAQ.
In embodiments of the present invention, universal stage 101 comprises on the vertical direction base 104 that connects successively, surface level X axle mobile module 105, surface level y-axis shift dynamic model piece 106, and tested surface adjusting module 107;
In embodiments of the present invention, tested surface adjusting module 107 is used to lock measured piece 103, and makes that measured piece 103 is that turning axle is rotated with the vertical direction, or is that trip shaft overturns with the X axle, and wherein, the X axle is vertical on surface level with the optical axis of camera lens;
In embodiments of the present invention, it is moving along y-axis shift that surface level y-axis shift dynamic model piece 106 is used to control measured piece 103, and wherein, the Y axle is parallel with the optical axis of camera lens; Surface level X axle mobile module 105 is used to control measured piece 103 and moves along the X axle, makes measured piece 103 can be implemented in the change of the position on the surface level, better tested surface is aimed at camera head 102.
Need to prove; In embodiments of the present invention; The change of the surface level position of the measured piece 103 that surface level X axle mobile module 105, surface level y-axis shift dynamic model piece 106 and tested surface adjusting module 107 are realized; The rotation and the upset that reach measured piece 103 all are to be provided with in advance and to be carried out by programmable logic controller (PLC) (PLC, Programmable Logic Controller) control by computer program.
In embodiments of the present invention; Universal stage 101 is set in vision inspection apparatus; Realize measured piece 103 moving on surface level through the surface level X axle mobile module 105 on the universal stage 101, surface level y-axis shift dynamic model piece 106 and tested surface adjusting module 107, and the rotation and the upset of measured piece 103, make it possible to a plurality of tested surfaces of measured piece 103 are detected automatically; And this universal stage can bear the bigger measured piece of weight, and cost is low, applied widely.
Vision inspection apparatus among the embodiment sees also Fig. 2 for a better understanding of the present invention, and in the embodiment of the invention, the structural drawing of surface level X axle mobile module 105 specifically comprises:
First leading screw 201, first motor 202; And first movable block 203, wherein, first leading screw 201 is fixed on the base 104; First movable block 203 is arranged on first leading screw 201; And drive first movable block 203 by first motor 202 and on first leading screw 201, move, make surface level X axle mobile module 105 can drive surface level y-axis shift dynamic model piece 106 and tested surface adjusting module 107 moves on the X axle, better tested surface is aimed at camera head 102.
See also Fig. 3, in the embodiment of the invention, the structural drawing of surface level y-axis shift dynamic model piece 106 comprises:
Second leading screw 301, second motor 302, and second movable block 303; Wherein, Second leading screw 301 is connected with first movable block 203; Second movable block 303 is arranged on second leading screw 301; Second motor 302 drives second movable block 303 and on second leading screw 301, moves, and makes surface level y-axis shift dynamic model piece 106 can drive tested surface adjusting module 107 and on the Y axle, moves, and better tested surface is aimed at camera head 102.
In embodiments of the present invention, tested surface adjusting module 107 comprises: rotary module 401, releasable clamp 402, clamp base 403, cylinder 404; See also Fig. 4-a and Fig. 4-b, and Fig. 4-c, wherein; Fig. 4-a is the structural drawing of rotary module 401 in the embodiment of the invention; Fig. 4-b is the structural drawing for clamp base 403 and cylinder 404 in the embodiment of the invention, and Fig. 4-c is the synoptic diagram of releasable clamp 402, and is concrete:
Wherein, The top of turning axle 4014 is connected with clamp base 403, and clamp base 403 is used to lock releasable clamp 402, and this releasable clamp 402 is used to lock measured piece 103; It is that trip shaft overturns with the X axle that 404 in cylinder is used to promote clamp base 403; Can make the upper surface of measured piece 103 aim at camera head, perhaps the lower surface of measured piece 103 is aimed at camera head, can effectively accomplish the IMAQ to tested surface.
Need to prove; It is the rotation of turning axle that the clamp base that can drive whirligig 401 among the present invention realizes with the vertical direction; Make four faces all around of measured piece can aim at camera head; Realize the IMAQ of tested surface, wherein, the rotatable maximum angle of whirligig is 270 degree.
Need to prove, in embodiments of the present invention, can be according to the shape and the different releasable clamp 402 of size design of measured piece; Make the size and the measured piece 103 of releasable clamp 402 mate, but releasable clamp 402 all has fixing interface, make it possible to by clamp base 403 lockings; In addition, releasable clamp 402 is not blocked the monitoring point on the tested surface of measured piece 103, and is preferred; Also limited block can be set on the releasable clamp 402, be used to lock measured piece 103.
To introduce the camera head 102 in the embodiment of the invention below in detail, see also Fig. 5, and Fig. 6, Fig. 5 is the outside drawing of camera head 102, Fig. 6 is the front view of camera head 102, specifically comprises:
Wherein, camera comprises fixed camera 504 and removable camera 505.
Wherein, Bracing frame 503 is used to support semi-enclosed casing 501; And the opening of semi-enclosed casing 501 is aimed at universal stage 101; LED lamp 502 is installed in the inside of semi-enclosed casing 501, and fixed camera 504 and removable camera 505 are set on the face relative with opening of the inboard of semi-enclosed casing 501, is used for the IMAQ that carries out to the tested surface of the measured piece on the universal stage 101 103; Concrete: fixed camera 504 is fixed on the position of presetting; Removable camera 505 is arranged on the 4th vertical leading screw 506, and it is mobile on the 4th leading screw 506 to drive removable camera 505 by the 4th motor 507, makes removable camera 505 in the vertical directions realize moving up and down.
Need to prove; In embodiments of the present invention; Surface level X axle mobile module 105, surface level y-axis shift dynamic model piece 106, tested surface adjusting module 107 and removable camera 505 can cooperatively interact; Make that tested surface to be detected can secured in alignment camera 504 and/or removable camera 505, effectively accomplish IMAQ tested surface.
Need to prove that the inboard of the semi-enclosed casing 501 in the embodiment of the invention can cooperate with LED lamp 502 for mute lac varnish face, and the light source that meets the demands is provided.
In embodiments of the present invention, the type of LED lamp 502 has multiple, comprising: bar shaped reflection LED white light source, and the bar shaped side is according to the LED white light source, and bar shaped direct projection LED red light source, bar shaped side are penetrated LED lamp blue-light source;
Wherein, Bar shaped reflection LED white light source be arranged on semi-enclosed casing 501 opening inside edges around, promptly comprise coboundary 601, left hand edge 602; Right hand edge 603 and lower limb 604, can cooperate semiclosed casing 501 inboard sub-gloss varnish faces is that measured piece provides even high angle white light source;
The bar shaped side according to the LED white light source be arranged on semi-enclosed casing 501 opening inside edges around, promptly comprise coboundary 601, left hand edge 602, right hand edge 603 and lower limb 604 can provide the low angle white light source for measured piece 103;
Bar shaped direct projection LED red light source 605 is arranged on the left and right sides of fixed camera 504, and with the angle setting that installed surface becomes to preset, be used for the detection of thread tapping;
The bar shaped side is penetrated LED lamp blue-light source and is arranged on the lower limb 604 on the semi-enclosed casing 501 opening inside edges, can uniform high angle blue-light source be provided for measured piece 103.
Need to prove that in embodiments of the present invention, bar shaped reflection LED white light source and bar shaped side through installing at a distance from tabula rasa, can be avoided the interference between the light source according to being provided with between the LED white light source at a distance from tabula rasa.
In embodiments of the present invention; Setting through fixed camera 504 and removable camera 505 and LED lamp 502; Can realize automatic thread tapping, label detects, processes mistakes and omissions, sprayed protection, sealing joint strip detection to false retrieval survey, element disappearance, and silk-screen is to multiple detections such as false retrieval survey, measured piece aperture and hole relative position detections; Can effectively reduce the production test operation, reduce and detect cost.
Need to prove that in embodiments of the present invention, the number of fixed camera 504 and removable camera 505 and LED lamp 502 can be confirmed according to actual conditions, not do qualification here.
In embodiments of the present invention; Through using universal stage 101 to realize rotation and the upset of moving the tested surface that reach measured piece of measured piece on horizontal level, can effectively realize automatic detection to a plurality of tested surfaces of measured piece, and the detection that can bear the bigger measured piece of weight; Make that the cost of vision inspection apparatus is low; Applied widely, in addition, also removable camera is set in the inboard of the semi-enclosed casing 501 of camera head 102; Effectively realize IMAQ to tested surface; And different types of LED lamp is set in semi-enclosed casing, makes this vision inspection apparatus can effectively realize a series of detections such as thread tapping, improved detection efficiency.Simultaneously, also can design releasable clamp as required, make it possible to realize purpose that multiple different measured piece is detected reduced cost.
Vision inspection apparatus among the embodiment sees also Fig. 7 for a better understanding of the present invention, and the vision detection system in the embodiment of the invention comprises:
Industrial computer 701, programmable logic controller (PLC) 702, travelling belt 703, testing station 704,, wherein comprise vision inspection apparatus (not shown) as shown in Figure 1 in the testing station 704;
Wherein, travelling belt 703 is arranged on the two ends of testing station 704, is used to transmit measured piece;
Vision inspection apparatus in the testing station 704 is used for measured piece carried out IMAQ by the side;
Programmable logic controller (PLC) 702 is used for travelling belt 703, testing station 704 are controlled;
701 of industrial computers are used for handling the view data that the vision inspection apparatus of testing station 704 is gathered.
In embodiments of the present invention; The concrete workflow of vision detection system comprises: when detecting beginning; By operating personnel measured piece is put into the anchor clamps with its coupling, the fixing anchor clamps of measured piece are placed on the primary importance that travelling belt 703 presets, start vision detection system; Then, programmable logic controller (PLC) 702 control anchor clamps run to the second place that presets, and these anchor clamps of vision inspection apparatus locking in the control testing station 704; Be specially: after anchor clamps run to the second place; The inlet of testing station 704 is opened, and the vision inspection apparatus in the testing station 704 detects anchor clamps and locks this anchor clamps, and inlet is closed; Then; 704 vision inspection apparatus is accomplished the IMAQ of the tested surface of measured piece in the testing station under the control of programmable logic controller (PLC) 702, and gives industrial computer 701 with the image data transmission of gathering, and the view data of the vision inspection apparatus collection in 701 pairs of testing stations 704 of industrial computer is handled.
In embodiments of the present invention; After the vision inspection apparatus of programmable logic controller (PLC) 701 in control testing station 704 accomplished the detection of measured piece; The outlet of control testing station 704 is opened; And the vision inspection apparatus of control in the testing station 704 be placed on anchor clamps the 3rd position of presetting on the travelling belt 703 in 704 exits, testing station, and spread out of by travelling belt 703.
Need to prove that in embodiments of the present invention, the travelling belt moving direction of travelling belt 703 is parallel with X-direction.
Need to prove; In embodiments of the present invention, before measured piece is detected, operating personnel will be written into programmable logic controller (PLC) to the trace routine of this measured piece; Make programmable logic controller (PLC) can move the program that is written into, accomplish detection measured piece.
One of ordinary skill in the art will appreciate that all or part of step that realizes in the foregoing description method is to instruct relevant hardware to accomplish through program; Described program can be stored in a kind of computer-readable recording medium; The above-mentioned storage medium of mentioning can be a ROM (read-only memory), disk or CD etc.
More than a kind of vision inspection apparatus provided by the present invention and system have been carried out detailed introduction; For one of ordinary skill in the art; Thought according to the embodiment of the invention; The part that on embodiment and range of application, all can change, in sum, this description should not be construed as limitation of the present invention.
Claims (11)
1. a vision inspection apparatus is characterized in that, comprising:
Universal stage, camera head;
Said universal stage is used for locking and rotates measured piece, makes the tested surface of said measured piece aim at the camera lens of camera in the said camera head;
The distance that said camera head and said universal stage apart preset is used for the tested surface of said measured piece is carried out IMAQ;
Said universal stage comprises base, surface level X axle mobile module, surface level y-axis shift dynamic model piece and the tested surface adjusting module that connects successively on the vertical direction;
Said tested surface adjusting module is used to lock said measured piece, and makes that said measured piece is that turning axle is rotated with the vertical direction, or is that trip shaft overturns with the X axle, and said X axle is vertical on surface level with the optical axis of said camera lens;
Said surface level X axle mobile module is used to control said measured piece and moves along said X axle;
It is moving along y-axis shift that said surface level y-axis shift dynamic model piece is used to control said measured piece, and said Y axle is parallel with the optical axis of said camera lens.
2. device according to claim 1 is characterized in that,
Said surface level X axle mobile module comprises: first leading screw, first motor; And first movable block; Said first leading screw is fixed on the said base, and said first movable block is arranged on said first leading screw, and is moved on said first leading screw by said first movable block of said first motor-driven;
Said surface level y-axis shift dynamic model piece comprises second leading screw, second motor, reaches second movable block;
Said second leading screw is connected with said first movable block, and said second movable block is arranged on said second leading screw, and said second movable block of said second motor-driven moves on said second leading screw.
3. device according to claim 2 is characterized in that, said tested surface adjusting module comprises:
Rotary module, releasable clamp, clamp base, cylinder;
Said rotary module comprises the 3rd leading screw, first tooth bar, second tooth bar, turning axle, rotating base, the 3rd motor;
Said rotating base is installed on said second movable block, and said the 3rd leading screw, first tooth bar, second tooth bar, turning axle all are arranged on the said rotating base; And said first tooth bar is connected with said the 3rd leading screw; The gear coupling on the axle is held in said first tooth bar and said turning axle bottom, and said first tooth bar of said the 3rd motor-driven moves on said the 3rd leading screw, makes said turning axle rotate; Said second tooth bar and said first tooth bar laterally arrange; And be arranged on the opposite side of said turning axle, hold the gear coupling on the axle, be used to avoid the said turning axle anglec of rotation greater than the anglec of rotation that presets with said turning axle bottom;
The top of said turning axle is connected with said clamp base; Said clamp base is used to lock said releasable clamp; Said releasable clamp is used to lock said measured piece, and it is that trip shaft overturns with said X axle that said cylinder then is used to promote said clamp base.
4. device according to claim 3 is characterized in that, the size of said anchor clamps and said measured piece coupling;
On the said anchor clamps limited block is set, is used to lock said measured piece.
5. device according to claim 1 is characterized in that, said camera head comprises:
Semi-enclosed casing, camera, LED lamp, bracing frame;
Support frame as described above is used to support said semi-enclosed casing; Make the opening of said semi-enclosed casing aim at the measured piece on the said universal stage; Said LED lamp is installed in the inside of said semi-enclosed casing; And on the face relative of the inboard of said semi-enclosed casing, said camera is set, is used for the IMAQ that carries out the tested surface of the said measured piece on the said universal stage with said opening.
6. device according to claim 5 is characterized in that,
Said camera comprises fixed camera and removable camera, and said fixed camera is fixed on the position of presetting, and said removable camera is arranged on the 4th vertical leading screw, and is moved on said the 4th leading screw by the said removable camera of the 4th motor-driven.
7. device according to claim 5 is characterized in that, the inboard of said semi-enclosed casing is mute lac varnish face.
8. device according to claim 5 is characterized in that, said LED lamp comprises:
Bar shaped reflection LED white light source, the bar shaped side is according to the LED white light source, and bar shaped direct projection LED red light source, bar shaped side are penetrated LED lamp blue-light source;
Said bar shaped reflection LED white light source be arranged on said semi-enclosed casing opening inside edge around;
Said bar shaped side according to the LED white light source be arranged on said semi-enclosed casing opening inside edge around;
Said bar shaped direct projection LED red light source is arranged on the left and right sides of said fixed camera, and the angle setting that becomes to preset with installed surface;
Said bar shaped side is penetrated LED lamp blue-light source and is arranged on the lower limb on the said semi-enclosed casing opening inside edge.
9. device according to claim 8 is characterized in that, said bar shaped reflection LED white light source and said bar shaped side are according to being provided with at a distance from tabula rasa between the LED white light source.
10. a vision detection system is characterized in that, comprising:
Industrial computer, programmable logic controller (PLC), travelling belt, the testing station;
Comprise in the said testing station like each described vision inspection apparatus of claim 1 to claim 9;
Said travelling belt is arranged on the two ends of said testing station, is used to transmit measured piece;
Said vision inspection apparatus in the said testing station is used for measured piece carried out IMAQ by the side;
Said programmable logic controller (PLC) is used for said travelling belt, said testing station are controlled;
Said industrial computer is used for handling the view data that the vision inspection apparatus of said testing station is gathered.
11. system according to claim 9 is characterized in that,
When detecting beginning, measured piece is put into the anchor clamps with its coupling, the said anchor clamps of fixing said measured piece are placed on the primary importance that said travelling belt presets, start said vision detection system by operating personnel;
The said anchor clamps of said PLC controls run to the second place that presets, and the vision inspection apparatus of controlling in the said testing station is locked said anchor clamps;
Vision inspection apparatus in the said testing station is accomplished the IMAQ to the tested surface of said measured piece under the control of said programmable logic controller (PLC), and gives said industrial computer with the image data transmission of gathering;
Said industrial computer is handled the view data of the vision inspection apparatus collection in the said testing station.
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| CN201110459825.6A CN102565080B (en) | 2011-12-30 | 2011-12-30 | Vision detection device and system |
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