CN102565080B - Vision detection device and system - Google Patents
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- CN102565080B CN102565080B CN201110459825.6A CN201110459825A CN102565080B CN 102565080 B CN102565080 B CN 102565080B CN 201110459825 A CN201110459825 A CN 201110459825A CN 102565080 B CN102565080 B CN 102565080B
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- 238000001514 detection method Methods 0.000 title claims abstract description 33
- 230000003287 optical effect Effects 0.000 claims abstract description 8
- 238000012360 testing method Methods 0.000 claims description 37
- 238000007689 inspection Methods 0.000 claims description 35
- 210000003141 lower extremity Anatomy 0.000 claims description 4
- 239000004922 lacquer Substances 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims description 2
- 238000010422 painting Methods 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010079 rubber tapping Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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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, from initial manual detection, developed into the modern Machine Vision Detection based on computer graphics, the principle of vision-based detection is: use high precision camera to take certain plane of measured piece, computing machine obtains after the image of taking, by vision software and the sample pictures of taking at same position point in advance, contrast, computing is carried out in the monitoring point of delimiting, if the data difference that obtains of contrast preset can range of receiving in, this monitoring point is qualified, if the data difference that obtains of contrast not preset can range of receiving in, this monitoring point is underproof.
Detection for products such as circuit board, parts shape, surface quality, conventionally need the single plane of testing product can arrive testing requirement, can be by measured piece being fixed on to specific position, then with vision system, carry out vision-based detection, and judge according to testing result whether measured piece meets standard.
If desired a plurality of faces of product are detected, what often use is that mechanical arm is in conjunction with the method for vision-based detection, use mechanical arm to carry out level (X-axis, Y-axis) and the vertically movement of (Z axis) direction to measured piece, and measured piece is carried out to the rotation (R axle) of transverse axis and the upset of vertical direction (F axle), utilize mechanical arm successively the tested surface of measured piece to be aimed to the high precision camera for the vision system of 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 following problem of multiaspect detection existence to measured piece:
The robotic manipulation weight product of large (for example 30 kilograms) will produce larger inertia in the process that moves, rotates or overturn, and has limited the manipulation speed of mechanical arm, has reduced testing efficiency; The mechanical arm that can handle greater weight product needs very high cost, and mechanical arm need to occupy huge space, does not meet the requirement of factory floor on-line testing.
Summary of the invention
The embodiment of the present invention provides a kind of vision inspection apparatus and system, for a plurality of faces to measured piece, automatically detects, and can effectively bear greater weight measured piece, has improved the overall performance of vision inspection apparatus.
Vision inspection apparatus in the embodiment of the present invention comprises: universal stage, camera head; Universal stage is for locking and rotate measured piece, makes the tested surface of measured piece aim at the camera lens of camera in camera head; Camera head and universal stage are at a distance of preset distance, for the tested surface of measured piece is carried out to image acquisition; Universal stage comprises base, surface level X-axis mobile module, surface level Y-axis mobile module and the tested surface adjusting module connecting successively on vertical direction; Tested surface adjusting module is used for locking measured piece, and makes measured piece take vertical direction to be rotated as turning axle, or take X-axis and overturn as trip shaft, and X-axis is vertical on surface level with the optical axis of camera lens; Surface level X-axis mobile module is used for controlling measured piece and moves along X-axis; It is moving along y-axis shift that surface level Y-axis mobile module is used for controlling measured piece, and Y-axis is parallel with the optical axis of camera lens,
Vision detection system in the embodiment of the present invention comprises: industrial computer, programmable logic controller (PLC), travelling belt, testing station; In described testing station, comprise vision inspection apparatus; Described travelling belt is arranged on the two ends of described testing station, for transmitting measured piece; Described vision inspection apparatus in described testing station is for being carried out image acquisition to measured piece by side; Described programmable logic controller (PLC) is for controlling described travelling belt, described testing station; The view data that described industrial computer gathers for the treatment of the vision inspection apparatus in described testing station.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages:
Universal stage is set in vision inspection apparatus, by surface level X-axis mobile module, surface level Y-axis mobile module and tested surface adjusting module on universal stage, realize the movement of measured piece on surface level, and the rotation of measured piece and upset, make it possible to a plurality of tested surfaces of measured piece automatically to detect, and this universal stage can bear the measured piece that weight is larger, cost is low, applied widely.
Accompanying drawing explanation
Fig. 1 is the integrated stand composition of vision inspection apparatus in the embodiment of the present invention;
Fig. 2 is the structural drawing of surface level X-axis mobile module in the embodiment of the present invention;
Fig. 3 is the structural drawing of surface level Y-axis mobile module in the embodiment of the present invention;
Fig. 4-a is the structural drawing of rotary module in the embodiment of the present invention;
Fig. 4-b is the structural drawing of clamp base and cylinder in the embodiment of the present invention;
Fig. 4-c is the structural drawing of releasable clamp in the embodiment of the present invention;
Fig. 5 is the outside drawing of camera head in the embodiment of the present invention;
Fig. 6 is the front view of camera head in the embodiment of the present invention;
Fig. 7 is the structural drawing of vision detection system in the embodiment of the present invention.
Embodiment
The embodiment of the present invention provides a kind of vision inspection apparatus and system, for a plurality of tested surfaces of measured piece are detected, the effective larger measured piece of load capacity, and realize the movement of position and the rotation of tested surface or the upset of measured piece, make the cost of vision inspection apparatus low, applied widely, improved the performance of vision detection system.
Refer to Fig. 1, in the embodiment of the present invention, a kind of integrated stand composition of vision inspection apparatus, comprising:
Universal stage 101, camera head 102;
Wherein, universal stage 101 is for locking and rotate measured piece 103, makes the tested surface of measured piece 103 aim at the camera lens of camera in camera head 102; Camera head 102 and universal stage 101 are at a distance of preset distance, for the tested surface of measured piece 103 is carried out to image acquisition.
In embodiments of the present invention, universal stage 101 comprises base 104, surface level X-axis mobile module 105, surface level Y-axis mobile module 106 and the tested surface adjusting module 107 connecting successively on vertical direction;
In embodiments of the present invention, tested surface adjusting module 107 is for locking measured piece 103, and makes measured piece 103 take vertical direction to be rotated as turning axle, or take X-axis and overturn as trip shaft, and wherein, X-axis is vertical on surface level with the optical axis of camera lens;
In embodiments of the present invention, surface level Y-axis mobile module 106 is moving along y-axis shift for controlling measured piece 103, and wherein, Y-axis is parallel with the optical axis of camera lens; Surface level X-axis mobile module 105 moves along X-axis for controlling measured piece 103, makes measured piece 103 can realize the change of the position on surface level, better tested surface is aimed to camera head 102.
It should be noted that, in embodiments of the present invention, the change of the surface level position of the measured piece 103 that surface level X-axis mobile module 105, surface level Y-axis mobile module 106 and tested surface adjusting module 107 are realized, and the rotation of measured piece 103 and upset are all to be set in advance and control to be carried out by programmable logic controller (PLC) (PLC, Programmable Logic Controller) by computer program.
In embodiments of the present invention, universal stage 101 is set in vision inspection apparatus, by the surface level X-axis mobile module 105 on universal stage 101, surface level Y-axis mobile module 106 and tested surface adjusting module 107, realize the movement of measured piece 103 on surface level, and the rotation of measured piece 103 and upset, make it possible to a plurality of tested surfaces of measured piece 103 automatically to detect, and this universal stage can bear the measured piece that weight is larger, cost is low, applied widely.
Vision inspection apparatus in embodiment, refers to Fig. 2 for a better understanding of the present invention, and in the embodiment of the present invention, the structural drawing of surface level X-axis mobile module 105, specifically comprises:
The first leading screw 201, the first motor 202, and first movable block 203, wherein, the first leading screw 201 is fixed on base 104, the first movable block 203 is arranged on the first leading screw 201, and drive the first movable block 203 to move on the first leading screw 201 by the first motor 202, and make surface level X-axis mobile module 105 can drive surface level Y-axis mobile module 106 and tested surface adjusting module 107 to move in X-axis, better tested surface is aimed to camera head 102.
Refer to Fig. 3, in the embodiment of the present invention, the structural drawing of surface level Y-axis mobile module 106, comprising:
The second leading screw 301, the second motor 302 and the second movable block 303; Wherein, the second leading screw 301 is connected with the first movable block 203, the second movable block 303 is arranged on the second leading screw 301, the second motor 302 drives the second movable block 303 to move on the second leading screw 301, make surface level Y-axis mobile module 106 can drive tested surface adjusting module 107 to move in Y-axis, better tested surface is aimed to 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, refer to 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 present invention, Fig. 4-b is the structural drawing for clamp base 403 and cylinder 404 in the embodiment of the present invention, and Fig. 4-c is the schematic diagram of releasable clamp 402, concrete:
Wherein, the top of turning axle 4014 is connected with clamp base 403, clamp base 403 is for locking releasable clamp 402, this releasable clamp 402 is for locking measured piece 103,404, cylinder be take X-axis and is overturn as trip shaft for promoting clamp base 403, can make the upper surface of measured piece 103 aim at camera head, or the lower surface of measured piece 103 aligning camera head, the image acquisition to tested surface can effectively be completed.
It should be noted that, whirligig 401 in the present invention can drive clamp base to realize to take the rotation that vertical direction is turning axle, make four faces of the surrounding of measured piece can aim at camera head, realize the image acquisition of tested surface, wherein, the rotatable maximum angle of whirligig is 270 degree.
It should be noted that, in embodiments of the present invention, can, according to the shape of measured piece and the different releasable clamp 402 of size design, the size of releasable clamp 402 is mated with measured piece 103, but releasable clamp 402 all have fixing interface, make it possible to be locked by clamp base 403, in addition, releasable clamp 402 is not blocked the monitoring point on the tested surface of measured piece 103, preferred, in releasable clamp 402, also limited block can be set, for locking measured piece 103.
By the camera head 102 of introducing in detail in the embodiment of the present invention, refer to Fig. 5 below, 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 for supporting semi-enclosed casing 501, and the opening of semi-enclosed casing 501 is aimed at universal stage 101, LED lamp 502 is arranged on 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 inner side of semi-enclosed casing 501, for the image acquisition of carrying out to the tested surface of the measured piece 103 on universal stage 101, concrete: fixed camera 504 is fixed on preset position, removable camera 505 is arranged on the 4th vertical leading screw 506, and drive removable camera 505 to move on the 4th leading screw 506 by the 4th motor 507, removable camera 505 in the vertical directions are realized to be moved up and down.
It should be noted that, in embodiments of the present invention, surface level X-axis mobile module 105, surface level Y-axis mobile module 106, tested surface adjusting module 107 and removable camera 505 can cooperatively interact, make detected tested surface can aim at fixed camera 504 and/or removable camera 505, effectively complete the image acquisition to tested surface.
It should be noted that, the inner side of the semi-enclosed casing 501 in the embodiment of the present invention is dumb light lacquer painting, can coordinate with LED lamp 502, and the light source meeting 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 bar shaped side is according to 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 is arranged on the surrounding of semi-enclosed casing 501 opening inside edges, comprises coboundary 601, left hand edge 602, right hand edge 603 and lower limb 604, the sub-gloss varnish face that can coordinate semiclosed casing 501 inner sides provides even high angle white light source for measured piece;
Bar shaped side is arranged on the surrounding of semi-enclosed casing 501 opening inside edges according to LED white light source, comprise coboundary 601, left hand edge 602, and right hand edge 603 and lower limb 604, can provide 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 becomes preset angle setting with installed surface, for the detection of thread tapping;
Bar shaped side is penetrated LED lamp blue-light source and is arranged on the lower limb 604 on semi-enclosed casing 501 opening inside edges, can provide uniform high angle blue-light source for measured piece 103.
It should be noted that, in embodiments of the present invention, bar shaped reflection LED white light source and bar shaped side arrange every tabula rasa according to needing between LED white light source, by installing every tabula rasa, can avoid the interference between light source.
In embodiments of the present invention; by the setting of 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; silk-screen is to multiple detections such as false retrieval survey, measured piece aperture and hole relative position detections; can effectively reduce production test operation, reduce testing cost.
It should be noted that, in embodiments of the present invention, the number of fixed camera 504 and removable camera 505 and LED lamp 502 can be determined according to actual conditions, not limit herein.
In embodiments of the present invention, by using universal stage 101, realize rotation and the upset of the tested surface of the movement of measured piece on horizontal level and measured piece, can effectively realize the automatic detection to a plurality of tested surfaces of measured piece, and can bear the detection of the measured piece that weight is larger, make the cost of vision inspection apparatus low, applied widely, in addition, also in the inner side of the semi-enclosed casing 501 of camera head 102, removable camera is set, effectively realize the image acquisition to tested surface, and different types of LED lamp is set in semi-enclosed casing, make this vision inspection apparatus can effectively realize a series of detections such as thread tapping, improved detection efficiency.Meanwhile, also can design as required releasable clamp, make it possible to realize the object that multiple different measured piece is detected, reduce cost.
Vision inspection apparatus in embodiment, refers to Fig. 7 for a better understanding of the present invention, and the vision detection system in the embodiment of the present invention, comprising:
Wherein, travelling belt 703 is arranged on the two ends of testing station 704, for transmitting measured piece;
Vision inspection apparatus in testing station 704 is for being carried out image acquisition to measured piece by side;
Programmable logic controller (PLC) 702 is for controlling travelling belt 703, testing station 704;
701 view data that gather for the treatment of the vision inspection apparatus in testing station 704 of industrial computer.
In embodiments of the present invention, the concrete workflow of vision detection system comprises: detect while starting, by operating personnel, measured piece is put into the fixture mating with it, the fixing fixture of measured piece is placed in the preset primary importance of travelling belt 703, start vision detection system; Then, programmable logic controller (PLC) 702 is controlled fixture and is run to the preset second place, and the vision inspection apparatus of controlling in testing station 704 is locked this fixture; Be specially: fixture runs to after the second place, the entrance of testing station 704 is opened, vision inspection apparatus in testing station 704 detects fixture and locks this fixture, entrance is closed, then, in testing station, 704 vision inspection apparatus completes the image acquisition of the tested surface of measured piece under the control of programmable logic controller (PLC) 702, and the view data of collection is sent to industrial computer 701, and the view data of the vision inspection apparatus collection in 701 pairs of testing stations 704 of industrial computer is processed.
In embodiments of the present invention, after the vision inspection apparatus of programmable logic controller (PLC) 701 in controlling testing station 704 completes the detection of measured piece, the outlet of controlling testing station 704 is opened, and control the 3rd preset position on the travelling belt 703 that vision inspection apparatus in testing station 704 is placed on fixture in 704 exits, testing station, and spread out of by travelling belt 703.
It should be noted that, in embodiments of the present invention, the travelling belt moving direction of travelling belt 703 is parallel with X-direction.
It should be noted that, in embodiments of the present invention, before measured piece is detected, operating personnel are written into programmable logic controller (PLC) by the trace routine to this measured piece, make programmable logic controller (PLC) can move the program being written into, complete the detection to measured piece.
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method is to come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium of mentioning can be ROM (read-only memory), disk or CD etc.
Above a kind of vision inspection apparatus provided by the present invention and system are described in detail, for one of ordinary skill in the art, thought according to the embodiment of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (9)
1. a vision inspection apparatus, is characterized in that, comprising:
Universal stage, camera head;
Described universal stage is for locking and rotate measured piece, makes the tested surface of described measured piece aim at the camera lens of camera in described camera head;
Described camera head and described universal stage are at a distance of preset distance, for the tested surface of described measured piece is carried out to image acquisition;
Described universal stage comprises base, surface level X-axis mobile module, surface level Y-axis mobile module and the tested surface adjusting module connecting successively on vertical direction;
Described tested surface adjusting module is used for locking described measured piece, and makes described measured piece take vertical direction to be rotated as turning axle, or take X-axis and overturn as trip shaft, and described X-axis is vertical on surface level with the optical axis of described camera lens;
Described surface level X-axis mobile module is used for controlling described measured piece and moves along described X-axis;
It is moving along y-axis shift that described surface level Y-axis mobile module is used for controlling described measured piece, and described Y-axis is parallel with the optical axis of described camera lens;
Described surface level X-axis mobile module comprises: the first leading screw, the first motor, and first movable block, described the first leading screw is fixed on described base, and described the first movable block is arranged on described the first leading screw, and drives described the first movable block to move on described the first leading screw by described the first motor;
Described surface level Y-axis mobile module comprises the second leading screw, the second motor and the second movable block;
Described the second leading screw is connected with described the first movable block, and described the second movable block is arranged on described the second leading screw, and described the second motor drives described the second movable block to move on described the second leading screw;
Described tested surface adjusting module comprises:
Rotary module, releasable clamp, clamp base, cylinder;
Described rotary module comprises the 3rd leading screw, the first tooth bar, the second tooth bar, turning axle, rotating base, the 3rd motor;
Described rotating base is arranged on described the second movable block, described the 3rd leading screw, the first tooth bar, the second tooth bar, turning axle is all arranged on described rotating base, and described the first tooth bar is connected with described the 3rd leading screw, described the first tooth bar mates with the gear that hold on axle described turning axle bottom, described the 3rd motor drives described the first tooth bar to move on described the 3rd leading screw, make described turning axle rotation, described the second tooth bar and described the first tooth bar be arranged in parallel, and be arranged on the opposite side of described turning axle, the gear holding on axle with described turning axle bottom mates, for avoiding the described turning axle anglec of rotation to be greater than the preset anglec of rotation,
The top of described turning axle is connected with described clamp base, described clamp base is used for locking described releasable clamp, described releasable clamp is used for locking described measured piece, and described cylinder be take described X-axis and overturn as trip shaft for promoting described clamp base.
2. device according to claim 1, is characterized in that, the size of described fixture is mated with described measured piece;
On described fixture, limited block is set, for locking described measured piece.
3. device according to claim 1, is characterized in that, described camera head comprises:
Semi-enclosed casing, camera, LED lamp, bracing frame;
Support frame as described above is used for supporting described semi-enclosed casing, make the opening of described semi-enclosed casing aim at the measured piece on described universal stage, described LED lamp is arranged on the inside of described semi-enclosed casing, and on the face relative with described opening of the inner side of described semi-enclosed casing, described camera is set, for the image acquisition of carrying out of the tested surface of the described measured piece on described universal stage.
4. device according to claim 3, is characterized in that,
Described camera comprises fixed camera and removable camera, and described fixed camera is fixed on preset position, and described removable camera is arranged on the 4th vertical leading screw, and drives described removable camera to move on described the 4th leading screw by the 4th motor.
5. device according to claim 3, is characterized in that, the inner side of described semi-enclosed casing is dumb light lacquer painting.
6. device according to claim 4, is characterized in that, described LED lamp comprises:
Bar shaped reflection LED white light source, bar shaped side is according to LED white light source, and bar shaped direct projection LED red light source, bar shaped side are penetrated LED lamp blue-light source;
Described bar shaped reflection LED white light source is arranged on the surrounding of described semi-enclosed box opening inside edge;
Described bar shaped side is arranged on the surrounding of described semi-enclosed box opening inside edge according to LED white light source;
Described bar shaped direct projection LED red light source is arranged on the left and right sides of described fixed camera, and becomes preset angle setting with installed surface;
Described bar shaped side is penetrated LED lamp blue-light source and is arranged on the lower limb on described semi-enclosed box opening inside edge.
7. device according to claim 6, is characterized in that, described bar shaped reflection LED white light source and described bar shaped side are according to arranging every tabula rasa between LED white light source.
8. a vision detection system, is characterized in that, comprising:
Industrial computer, programmable logic controller (PLC), travelling belt, testing station;
In described testing station, comprise if claim 1 is to the vision inspection apparatus as described in claim 7 any one;
Described travelling belt is arranged on the two ends of described testing station, for transmitting measured piece;
Described vision inspection apparatus in described testing station is for being carried out image acquisition to measured piece by side;
Described programmable logic controller (PLC) is for controlling described travelling belt, described testing station;
The view data that described industrial computer gathers for the treatment of the vision inspection apparatus in described testing station.
9. system according to claim 8, is characterized in that,
Detect while starting, by operating personnel, measured piece is put into the fixture mating with it, the described fixture of fixing described measured piece is placed in the preset primary importance of described travelling belt, start described vision detection system;
Described in described programmable logic controller (PLC) controls, fixture runs to the preset second place, and the vision inspection apparatus of controlling in described testing station is locked described fixture;
Vision inspection apparatus in described testing station completes the image acquisition to the tested surface of described measured piece under the control of described programmable logic controller (PLC), and the view data of collection is sent to described industrial computer;
Described industrial computer is processed the view data of the vision inspection apparatus collection in described testing station.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110459825.6A CN102565080B (en) | 2011-12-30 | 2011-12-30 | Vision detection device and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110459825.6A CN102565080B (en) | 2011-12-30 | 2011-12-30 | Vision detection device and system |
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| CN102565080A CN102565080A (en) | 2012-07-11 |
| CN102565080B true CN102565080B (en) | 2014-04-30 |
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