CN103808732B - Capacitive detection system based on machine vision and method - Google Patents

Capacitive detection system based on machine vision and method Download PDF

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Publication number
CN103808732B
CN103808732B CN201410064017.3A CN201410064017A CN103808732B CN 103808732 B CN103808732 B CN 103808732B CN 201410064017 A CN201410064017 A CN 201410064017A CN 103808732 B CN103808732 B CN 103808732B
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system
electric capacity
subsystem
conveyer belt
cylinder
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CN201410064017.3A
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Chinese (zh)
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CN103808732A (en
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苗立刚
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图灵视控(北京)科技有限公司
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Abstract

The present invention relates to a kind of capacitive detection system, including feeding mouth subsystem, conveyer belt system, optical chamber system, electric mounting box system, wherein optical chamber includes optical image acquisition system, optical chamber cleaning cooling, air discharging system, air cleaning FFU system;Conveyer belt system includes device conveyer belt system, device turntable;Electric mounting case includes system power supply pond, algorithm subsystem, motor control PLC subsystem;Feeding mouth subsystem includes pan feeding grabbing device, feed bin, shake charging tray and electric capacity angular adjustment apparatus.The invention provides a kind of realizing in packing function and detecting system integration to device systems, save self-feeding and the pin correction system of front equipment end, and the secondary injury that may bring due to carrying blowing after avoiding capacitance detecting, single capacitor detection efficiency is 40 50/minute, electric capacity inspection efficiency is up to each electric capacity and has only to 1.2s, can substitute manual detection completely.

Description

Capacitive detection system based on machine vision and method

Technical field

The invention belongs to field of machine vision, particularly to a kind of capacitive detection system and method.

Background technology

Producing in preparation process, the various defects of electric capacity include: lead-in wire rod scuffing, casing collapse, foaming, cut, beat Trace, aluminum hull expose, expand, anti-plug, plug are protruding, tilt, ball rod exposes, overlap pipe range, sleeve pipe is dug, it is bad to seal, sleeve pipe Cut bad, plug wound, pack the problems such as dirty.Machine vision technique in indivedual application that only has in capacitance detecting field, such as in Disclosed in state patent CN 102401800A, a kind of high voltage ceramic capacitor welding quality on-line checking based on machine vision sets Standby, but the defects detection of above-mentioned electric capacity can not be incorporated on a device systems realization by this equipment, particularly packing merit Can realize on detecting system integration a to device systems.In prior art, owing to carrying after there is also capacitance detecting The secondary injury that blowing brings, and the technical problem that single capacitor detection efficiency is relatively low.

Summary of the invention

The invention provides one and can expand to the electron-like device of other various capacitance resistance inductance according to user's request The apparent flaws of part and the detecting system of size detection, this system can be whole with detecting system entirety for multinomial detection packing function Close and realize on a device systems.

A kind of based on machine vision the capacitive detection system that the present invention provides, including feeding mouth subsystem, conveyer belt system System, optical chamber system, electric mounting box system.

Feeding mouth subsystem includes pan feeding grabbing device, feed bin, shake charging tray and electric capacity angular adjustment apparatus.Shake charging tray Main Function is the adjustment by shaking charging tray, and the electric capacity allowing all entrance shake charging tray conveyer belt levels backward carry out transmitting all realizes rule Discharge then.Shake charging tray includes: hopper, chassis, controller, straight line feeder.The operation principle of shake charging tray: have individual below hopper Impulse mgnet, can make hopper vertical vibration, due to the inclination of spring leaf, makes hopper rock around its vertical axis and shakes Dynamic.Electric capacity in hopper, due to by this vibration, and rises along helical orbit, until delivering to discharging opening.Make the rule of electric capacity First horizontal direction then vertical direction is put, it is simple to system carries out follow-up detection.The pan feeding grabbing device of the present invention, is to pass through Gas is grabbed realization and is captured transmission testing capacitance to follow-up link.This system passes through one vertical cylinder of a horizontal cylinder and a gas Grab and realize, it is achieved flow process as follows: the horizontal cylinder of a. system instruction runs to initial point, and vertical cylinder drops to minimum point, gas Grab Guan Bi and capture electric capacity;B. vertically cylinder rises to peak, and the most horizontal cylinder runs to distalmost end;C. gas is grabbed to unclamp and is put down Electric capacity, vertical cylinder rises to peak, and horizontal cylinder returns initial point;Capture circulation the most next time.

Conveyer belt system includes device conveyer belt system, device turntable.Device conveyer belt system is for realizing electric capacity Flowing water measure, according to detection station be broadly divided into five major part: feeding mouth part conveyer belt: complete from shake charging tray to feeding mouth to Dimensional measurement is remedied to, to pin, the transmission that pan feeding captures to cubic content measurement;Side Defect Detection conveyer belt: complete from turntable Arrive the side transmission from Defect Detection afterwards;Bottom Defect Detection conveyer belt: complete bottom Defect Detection transmission;Pin flaw is examined Survey conveyer belt: complete pin detection and transmit;Top Defect Detection conveyer belt: complete top Defect Detection transmission.The control of conveyer belt System is main uses step-by-step system to carry out: that is to say the most mobile station, treats that the operation of current station completes, then carry out successively Move next time.Realize water operation, improve the efficiency of system.Turntable uses automatically controlled turntable system to realize, and is used for realizing 360 degree of rotation tomographies of testing capacitance, this turntable uses the product of smc can the most accurately realize the rotation of any controlled number of degrees Turn.

Optical chamber includes optical image acquisition system, optical chamber cleaning cooling, air discharging system, air cleaning FFU system.Examine Considering the requirement arriving machine vision equipment for environment cleanliness, the optical chamber internal inspection system of the present invention preferably uses envelope Close optical chamber.So while both ensure that imaging system is for the requirement of cleanliness factor, shield again extraneous light environment Impact.

Electric mounting box includes system power supply pond, algorithm subsystem, motor control PLC subsystem.

The motor control PLC subsystem of the present invention realizes the control of the motor system for whole system, all fortune in system The operation of motivation structure and the spectrum assignment of image capturing system are all realized by this part.PLC is by special purpose interface and upper strata work Control machine realizes communication.

The algorithm subsystem of the present invention includes that central authorities control cpu system, keyboard and LCD shows, cabinet.

The subsystem of the present invention include embedded platform plate, keyboard and LCD show, cabinet;The most embedded flat Platen includes DSP subsystem, FPGA subsystem, ARM subsystem, and described FPGA subsystem is by EMIF interface and ARM subsystem Interconnection, described DSP subsystem is by HPI interface and ARM sub-system Interconnect;Described platform also include a DDRII memorizer, Two DDRII memorizeies, SRAM memory, described FPGA subsystem and a DDRII memorizer and SRAM memory interconnection;Described DSP subsystem includes the SRIO of interconnection between 2 or more than 2 dsp processors and the SRIO interface of FPGA interconnection, two panels DSP Interface, DDR2 cache controller, EMAC control module, DMA direct memory access module, described DDR2 cache controller connects the Two DDRII memorizeies, described EMAC control module is connected with kilomega network PHY, completes the communication with industrial camera.

The term implication of the present invention is as follows:

DSP (Digital Signal Processing), Digital Signal Processing;

FPGA (Field-Programmable Gate Array), field programmable gate array.

GigE Vision is a kind of camera interface standard based on the exploitation of gigabit Ethernet communication protocol.

Hub hub;

HPI (Host-Port Interface) is the parallel interface of and main-machine communication;

EMIF external memory interface;

GPIO (General Purpose Input Output) universal input/output interface;

SRAM is the abbreviation of English Static RAM, i.e. SRAM.

DDR2 (Double Data Rate 2) SDRAM is to be opened by JEDEC (EEE electronic equipment engineering joint committee) The memory techniques standard of new generation sent out.

Kilomega network PHY, refers to the Ethernet interface of 1000M.

The present invention includes that device size differentiates subsystem, cubic content measurement subsystem, electric capacity capacitive test system, electric capacity outward appearance Defect Detection system, qualified electric capacity automatic packaging system, defective electric capacity classification eliminating system, pin apparatus for correcting subsystem, Side Defect Detection subsystem, bottom Defect Detection subsystem, pin Defect Detection subsystem, top Defect Detection subsystem it In one or more.

Device size differentiates subsystem, is whether the size for differentiating the electric capacity after angle adjustment is in accordance with setting Electric capacity specification, to avoid mixed specification electric capacity to be mixed into.System includes constituting as follows: industrial camera, light source, photoelectric sensor, pick Except mechanism.The size that realization mechanism mainly uses an industrial camera to gather testing capacitance include height and diameter whether with in advance Definite value is coincide, the automatic rejection misfitted.The electric capacity becoming vertical direction from the prime shake charging tray electric capacity that sorts out is laggard Enter this grade of system.Implement process as follows:

A. it is placed in the photoelectric sensor on electric capacity conveyer belt, detects that electric capacity, photoelectric sensor return this useful signal To control system;

B. control system sends corresponding control signal and carries out data to the light source and camera controlling size discrimination subsystem Gather;

C. view data passes back to image processing platform;

D. image processing platform judges that capacitance present size is the most qualified;

The most defective electric capacity is disallowable in the fixed position of conveyer belt.

Including automatic rejection system, the rejecting mechanism of the present invention, includes that cylinder, gas are grabbed, measure subsystem in capacitor size Fixed position, imaging station rear arranges a gas and grabs, and this gas is grabbed and carried out electric capacity Weeding according to prime testing result, real Existing process is as follows:

The most horizontal cylinder drives whole system to judge that the end of subsystem carries out electric capacity crawl to capacitor size;

The most defective electric capacity when horizontal cylinder goes to stroke half, unclamp gas grab abandon defective electric capacity to electric capacity collect Case;

The most qualified electric capacity is by book systems communicate to follow-up conveyer belt.

Cubic content measurement subsystem, whether the capacity mainly for detection of testing capacitance coincide with preset value, it is achieved Mechanism is to use general measuring capacitance capacity module to be integrated into native system.And the underproof electric capacity of automatic rejection.This part The function realized needs to use gas grapple structure to coordinate conveyer belt to carry out intermittent movement to carry out capacitance test.Test Main thought is as follows: a. electric capacity conveyer belt moves a station (the corresponding electric capacity of each station);B. capacitance test is right Two probes answered are installed gas and are grabbed two pins clamping current testing capacitance;C. gas is grabbed after wait volume test completes automatic Unclamp;D. capacity defective electric capacity automatic rejection.

Pin apparatus for correcting subsystem, is to be realized the clamping of twice different directions of electric capacity pin to bending by cylinder The rectification of pin.This part is mainly grabbed by two pneumatic gas and is realized, and the placing direction that two gas is grabbed becomes 90 degree of angles, respectively Realize the clamping movement of horizontal x-axis and horizontal y-axis, realize the clamping to capacitor pin and correct.

Side Defect Detection subsystem, for detecting the flaw of electric capacity side, including correctness and the electric capacity of electric capacity label The Defect Detection on the whole body, side;This subsystem is made up of four major parts: industrial camera, light source, laser measurement system, rotation Platform.The Main Function of the industrial camera of this part is to measure whether electric capacity label represents correctness, and casing damage is packed dirty, And the polarity of electric capacity is the most correct.It is as follows that this part realizes process:

A. being rotated by turntable band dynamic condenser, camera arrives border, electric capacity side Image Acquisition;

B. according to the character within the Image Acquisition label on electric capacity label;

C. carry out character recognition and obtain the concrete model of electric capacity;

D. judge that the model of capacitance present is the most consistent with the image that label indicates acquisition;

E. the electric capacity polarity pin obtained according to label indicates and compares with actual pin;

F. labelling records defective electric capacity and rejects respectively according to error category.

By obtain electric capacity side image, use algorithm process judge the various open defects of sleeve pipe such as: sleeve pipe break, The lacuna such as foaming, cut, aluminum hull expose, overlap pipe range, sleeve pipe is dug, casing-pipe cutting is bad, outer package is dirty, electrolyte leaks outside.

Laser measurement system uses the line laser of customization and ccd camera to coordinate the system of composition to carry out the defect of electric capacity side Detection, this detecting system, mainly by the laser scanning to electric capacity side, then utilizes ccd camera to obtain this laser scanning line Obtain the planarization of the side of capacitance present.The Defect Capacitance that this detection method can obtain is as follows: beat trace, sleeve pipe has hole, Casing shrink is bad.

Bottom Defect Detection subsystem, for detecting the flaw bottom electric capacity, detection mechanism is to use industrial camera imaging Gather capacitive head image, with two industrial camera detections, a positive top figure for base plane being placed in described electric capacity As gathering, one is placed in the position parallel with bottom described electric capacity, for detecting the defect of bottom protrusion etc;Grab including gas, Vertically cylinder, oscillating cylinder.The defect of the electric capacity that this subsystem can detect is as follows: plug sink, plug tilts, do not passes through glue Consent, without plug, anti-plug, plug wound, plug is protruding, ball rod is convex, aluminum casing bottom expands, it is as follows that this part realizes flow process:

A. finger grip testing capacitance is started;

B. finger 90-degree rotation upset electric capacity bottom level is started;

C. top bowl light source is started;

D. top camera imaging is started;

E. side camera imaging is started;

F. post processing of image is carried out respectively according to the two width images obtained;

The most defective electric capacity is rejected according to defect classification.

Top Defect Detection subsystem, with two industrial camera detections, one is placed in the positive top of described electric capacity for top The image acquisition of plane, one is placed in the position parallel with capacitive head, for detecting the defect of top bump etc.This subsystem The Defect Capacitance that system can detect is as follows: (upper sealing has gap, sealing part to have must shape aluminum bits, across seal portion to seal bad defect Split, inner burr, cutting, breach, without seal, deform, overlap pipe range, aluminum hull variable color, aluminum casing bottom expansion, without aluminum hull, aluminum casing bottom Have that wound, explosion-proof valve are porose, component is bad (without explosion-proof valve), bottom aluminum hull polishing scratch.The realization of this subsystem relatively bottom and sidepiece are wanted Simply, it is not necessary to specific grasping system realizes, the imaging system on-line equipment of this subsystem on a moving belt, by conveyer belt Motion coordinates imaging system to carry out.The operation of conveyer belt uses step-by-step system (one station of motion every time) to coordinate light source and phase The exposure image of machine.Algorithm process controls automatic rejection system after completing and rejects according to defect classification.

Present invention additionally comprises man machine interface subsystem, automatic boxing subsystem.

The automatic boxing subsystem of the present invention realizes the automatic packing and binding function of the electric capacity qualified for detection, institute of casing The carton needed needs specification consistent, and has and put into appointment position manually, by manually after system is cased Take joint sealing away.Two-dimensional motion mechanism platform is used to realize.The entrance of the carton required for packing and output use conveyer belt to realize. Automatic boxing subsystem, is the operation scale parameter automatically calculating according to parameters described below and controlling motor system, (1) single case The number of plies of the electric capacity supported;(2) line number of every layer capacitance;(3) columns of every layer capacitance;(4) electric capacity diameter and height.From The motion flowing water of dynamic vanning subsystem is as follows:

A. the qualified electric capacity of conveyer belt single step traveling transmission grabs crawl position to the gas of packaging system;

B. the conveyer belt single step that gas is grabbed according to control system feedback is advanced, and obtains electric capacity and reaches information;

C. level electricity cylinder returns initial point;

D. gas is grabbed and is opened;

E. vertically cylinder drops to minimum point;

F. operator places electric capacity containing box to vertically electricity cylinder for fixing screens;

G. operator provides the dimension information of capacitance present, and the number of plies of electric capacity of storage packing list case support, every layer of electricity The line number of appearance, the columns of every layer capacitance;

H. system calculates level electricity cylinder x and level electricity cylinder Y and the operational factor of the most electric cylinder Z automatically;

I. vertically electricity cylinder Z runs to the coordinate that system provides;

J. gas crawl electric capacity;

K. vertically cylinder rises to extreme higher position;

L. level electricity cylinder X and level electricity cylinder Y runs to the correct position of containing box automatically: transport according to the order of Row Column Row is to the respective coordinates of containing box;

M. vertically cylinder drops to extreme lower position, unclamps gas and grabs;

N. vertically cylinder rises to extreme higher position;

Level electricity cylinder X and level electricity cylinder Y runs to initial point automatically, and gas is grabbed and opened;

O. vertically cylinder drops to extreme lower position;

P. the putting of electric capacity when preceding layer it is sequentially completed;

Q. vertically electricity cylinder is lowered downward to suitable position according to electric capacity altitudinal belt dynamic condenser containing box;

Complete the putting of electric capacity of another layer the most in the order described above;

S. system counts automatically, it is judged that completing the collection of the containing box of current electric capacity, system prompting operator move away from Containing box;

T. system waits that operator puts new containing box, then carries out the automatic boxing that new one takes turns.

The beneficial effects of the present invention is, it is provided that a kind of packing function and detecting system integration to equipment Realize in system, save self-feeding and the pin correction system of front equipment end, and owing to removing after avoiding capacitance detecting The secondary injury that amplifier material may bring, single capacitor detection efficiency is at 40-50/minute, and electric capacity inspection efficiency is up to each electric capacity Have only to 1.2s, manual detection can be substituted completely.

The present invention will be described below in conjunction with the accompanying drawings, wherein " schematic diagram ", " schematic block diagram ", is intended only as system overall A signal, be not intended as the true form that equipment realizes, the meaning of this figure mainly general frame and function to system One understanding of structure.The when of implementing, the exhaust position of subsystems and form likely can be variant, but from From the point of view of on the functional form of equipment, the overall framework that realizes should be in accordance with the guidance with reference to present patent application.

Accompanying drawing explanation

Fig. 1. capacitive detection system overview block schematic diagram;Fig. 2. the embedded platform plate structure schematic diagram of the present invention;Fig. 3. The band chlamydate embedded platform plate structure schematic diagram of the present invention;Fig. 4. size discrimination subsystem schematic block diagram;Fig. 5. bottom Flaw differentiates subsystem schematic block diagram;Fig. 6. pin flaw differentiates subsystem schematic block diagram;Fig. 7. top flaw differentiates subsystem Schematic block diagram;Fig. 8. shake charging tray schematic block diagram;Fig. 9. electric capacity transmits and adjusts station meaning block diagram;Figure 10. defective electric capacity is rejected and is shown Meaning block diagram;Figure 11. size discrimination flow chart;Figure 12. capacity differentiates flow chart;Figure 13. pin corrects schematic diagram;Figure 14. pan feeding Grabbing device schematic diagram;Figure 15. pan feeding captures control flow chart;Figure 16 .FFU control flow chart;Figure 17. side flaw differentiates son System schematic block diagram;Figure 18. side flaw differentiates subsystem controlling stream graph;Figure 19. bottom flaw differentiates that subsystem motion shows Meaning block diagram;Figure 20. bottom flaw differentiates subsystem motion controlling stream graph;Figure 21. top flaw differentiates subsystem flow chart; Figure 22. automatic packaging system schematic block diagram;Figure 23, board system structured flowchart.

Accompanying drawing number: 1, industrial camera;2, electric capacity;3, light source;4, horizontal cylinder;5, vertical cylinder;6, gas is grabbed;7, side Camera;8, electric capacity;9, top camera;10, bowl light source;11-14 industrial camera;15, side camera;16, top camera;17, electricity Hold;18, embedded platform plate;19, RS232 serial ports;20, Ethernet interface;21, USB interface;22, UART serial ports;23, cabinet; 24, conveyer belt;25, electric capacity containing box;26, hopper;27, straight line feeder;28, chassis;29, pin;30, probe;31, rotate Platform;;32, switch 34;33, video signal USB interface, power interface POWER.

Detailed description of the invention

Embodiment 1

As it is shown in figure 1, the capacitive detection system of embodiment 1, including feeding mouth subsystem, conveyer belt system, the light of closing Learn chamber system, electric mounting box system, man machine interface subsystem, automatic boxing subsystem.Wherein feeding mouth subsystem includes material Storehouse, shake charging tray and electric capacity angular adjustment apparatus;Conveyer belt system includes device conveyer belt system, device turntable, and (smc is raw Produce), pan feeding grabbing device;Optical chamber includes optical image acquisition system, optical chamber cleaning cooling, air discharging system, air cleaning FFU system;Electric mounting box includes system power supply pond, algorithm subsystem, motion control subsystem.Device conveyer belt system Including five major parts: feeding mouth part conveyer belt, side Defect Detection conveyer belt, bottom Defect Detection conveyer belt, pin flaw Detection conveyer belt, top Defect Detection conveyer belt.

As shown in Figure 8, shake charging tray includes hopper 26, chassis 28, controller (not shown), straight line feeder 27.

As shown in Figure 4, device size differentiate subsystem include: industrial camera 1, light source 3, photoelectric sensor (not shown), Rejecting mechanism (not shown).

The photoelectric sensor (not shown) being placed on electric capacity conveyer belt 24, detects electric capacity 2, and photoelectric sensor passback should Useful signal is to control system;

Control system sends corresponding control signal and carries out data acquisition to the light source and camera controlling size discrimination subsystem Collection;

The view data of book system camera passes back to image processing platform;

Image processing platform judges that capacitance present size is the most qualified;

Defective electric capacity is disallowable in the fixed position of conveyer belt 24.

Such as Figure 10, shown in 11, rejecting mechanism is to measure the imaging station rear fixed bit of subsystem in capacitor size to install Putting a gas and grab 6, this gas grabs that to carry out electric capacity Weeding concrete implementation process according to prime testing result as follows:

The most horizontal cylinder 4 drives whole system to judge that the end of subsystem carries out electric capacity 2 and captures to capacitor size;

The most defective electric capacity when horizontal cylinder 4 goes to stroke half, unclamp gas grab 6 abandon defective electric capacity to electric capacity receive Header 25;

The most qualified electric capacity 2 is by book systems communicate to follow-up conveyer belt 24.

As shown in figure 12, cubic content measurement subsystem realizes process and is, a. electric capacity conveyer belt 24 moves station (each work The corresponding electric capacity in position);B. two probes 30 installation gas that capacitance test is corresponding is grabbed 6 and is clamped the two of current testing capacitance Individual pin 29;C. gas is grabbed after 6 wait volume tests complete and is automatically unclamped;D. capacity 2 defective electric capacity automatic rejection.Can by figure Seeing, the when that gas grabbing 6 Guan Bi, driving probe and the electric capacity pins contact of capacity tester, it is permissible that gas grabs electric capacity when of opening The gas passing through volume test corresponding grabs 6.

As shown in figure 13, pin apparatus for correcting subsystem, is by the cylinder folder to twice different directions of electric capacity pin Hold the rectification realized bending pin.This part is mainly grabbed 6 by two pneumatic gas and is realized, the placing direction one-tenth that two gas is grabbed 90 degree of angles, realize the clamping movement of horizontal x-axis and horizontal y-axis respectively, realize the clamping to capacitor pin and correct.Wherein scheme Two fingers that in 13, the gas on the left side is grabbed can ensure that the rectification in a direction of two pins of electric capacity Guan Bi when.Figure 13 The gas on the right is grabbed needs and is fixed a fixed clamp head between two capacitor pins, for joining gas grabs Guan Bi when Close gas to grab rectification while two pins.Should be partially due to Machine Design can ensure that the correct rectification of capacitor pin.Two The open and close controlling that gas is grabbed needs to be realized by upper-level control system, and control system controls electric capacity conveyer belt and the step motion of cylinder, It is automatically stopped after that is to say one station of conveyer belt each run, waits that then gripper cylinder Guan Bi is opened rear conveyer belt and reruned One station.

As shown in figure 17, Defect Detection subsystem in side includes that industrial camera 1, light source 3, laser measurement system (do not show Go out), turntable 31.This part realizes process as shown in figure 18:

A. being rotated by turntable 31 band dynamic condenser 2, border, 1 electric capacity 2 side of camera Image Acquisition arrives;

B. according to the character within the Image Acquisition label on electric capacity label;

C. carry out character recognition and obtain the concrete model of electric capacity;

D. judge that the model of capacitance present is the most consistent with the image that label indicates acquisition;

E. the electric capacity polarity pin obtained according to label indicates and compares with actual pin;

F. labelling records defective electric capacity and rejects respectively according to error category.

As it is shown in figure 5, bottom Defect Detection subsystem includes two industrial cameras and bowl light source 10, grab 6 including gas, vertically Cylinder 5, oscillating cylinder.One positive top top camera 9 for the image acquisition of base plane being placed in described electric capacity, one It is placed in the side camera 7 of the position parallel with bottom described electric capacity, for detecting the defect of bottom protrusion etc;This subsystem can Defect with the electric capacity of detection is as follows: plug sink, plug tilts, not by plug hole, without plug, anti-plug, plug wound, glue Plug is protruding, ball rod is convex, aluminum casing bottom expands, and in conjunction with Figure 19, shown in 20, it is as follows that this part realizes flow process:

A. start finger 31 and capture testing capacitance;

B. finger 31 90-degree rotation upset electric capacity bottom level is started;

C. top bowl light source 10 is started;

D. top camera 9 imaging is started;

E. side camera 7 imaging is started;

F. post processing of image is carried out respectively according to the two width images obtained;

The most defective electric capacity 2 is rejected according to defect classification.

As it is shown in fig. 7, top Defect Detection subsystem, including two industrial cameras and bowl light source 10, by two industrial phases Machine testing, one is placed in the described electric capacity positive top top camera 16 for the image acquisition of top planes, and one is placed in and electricity Hold the side camera 15 of parallel position, top, for detecting the defect of top bump etc.The electric capacity that this subsystem can detect Defect is as follows: seal bad defect (upper sealing have gap, sealing part have must shape aluminum bits, across seal portion split, inner burr, cutting, Breach, without seal, deform, overlap pipe range, aluminum hull variable color, aluminum casing bottom expansion, have without aluminum hull, aluminum casing bottom wound, explosion-proof valve porose, Component bad (without explosion-proof valve), bottom aluminum hull polishing scratch.As shown in figure 21, the realization of this subsystem relatively bottom and sidepiece want simple, Realize without specific grasping system, the imaging system on-line equipment of this subsystem on a moving belt, by the motion of conveyer belt Imaging system is coordinated to carry out.The operation of conveyer belt uses step-by-step system (one station of motion every time) to coordinate light source and camera Exposure image.Algorithm process controls automatic rejection system after completing and rejects according to defect classification.

As in figure 2 it is shown, subsystem include embedded platform plate 18, keyboard and LCD show, cabinet 23;In conjunction with figure Shown in 23, wherein embedded platform plate 18 includes DSP subsystem, FPGA subsystem, ARM subsystem, and described FPGA subsystem leads to Crossing EMIF interface and ARM sub-system Interconnect, described DSP subsystem is by HPI interface and ARM sub-system Interconnect;Described platform is also Including a DDRII memorizer, the 2nd DDRII memorizer, SRAM memory, described FPGA subsystem and DDRII storage Device and SRAM memory interconnection;Described DSP subsystem includes that the SRIO that 2 or more than 2 dsp processors and FPGA interconnect connects The SRIO interface of interconnection, DDR2 cache controller, EMAC control module, DMA direct memory access module between mouth, two panels DSP, Described DDR2 cache controller connects the 2nd DDRII memorizer, and described EMAC control module is connected with kilomega network PHY, completes Communication with industrial camera.

Shown in Fig. 3, embedded platform plate 18 includes that RS232 serial ports 19, Ethernet interface 20, USB interface 21, UART go here and there Mouth 22, power interface POWER 34, video signal USB interface 33, switch 32.

As shown in Figure 6, pin apparatus for correcting subsystem, is by the cylinder clamping to twice different directions of electric capacity pin Realize the rectification to bending pin.This subsystem relies primarily on four cameras 11,12,13,14 around each angle gathering lead-in wire Then the picture of degree carries out subsequent treatment, and the processing mechanism of this part depends on bottom flaw and measures the fitness machine of system Structure, captures the electric capacity then anglec of rotation so that this subsystem can effectively obtain the image of capacitance leading wire part.

Embodiment 2

As different from Example 1, as shown in figure 22, also including automatic boxing subsystem, this system is propped up according to (1) single case The number of plies of the electric capacity held;(2) line number of every layer capacitance;(3) columns of every layer capacitance;(4) electric capacity diameter and height.Deng ginseng Number calculates the operation scale parameter controlling motor system automatically.

Embodiment 3

For a kind of capacitance determining method based on machine vision, including:

Electric capacity sequence step, enters lower system from shake charging tray vertical direction;

Device size discriminating step, this step be the size using industrial camera to gather testing capacitance include height with Whether diameter coincide with predetermined value, the automatic rejection misfitted;Implement process as follows: a. is placed on electric capacity conveyer belt Photoelectric sensor, detects that electric capacity, photoelectric sensor return this useful signal to control system;B. control system sends accordingly Control signal controls the light source of size discrimination subsystem and camera carries out data acquisition;C. view data passes back to image procossing Platform;D. image processing platform judges that capacitance present size is the most qualified;The most defective electric capacity is at the fixed position quilt of conveyer belt Reject;

Enter and reject step, drive whole system to judge that the end of subsystem is carried out to capacitor size including the horizontal cylinder of a. Electric capacity captures;The most defective electric capacity when horizontal cylinder goes to stroke half, unclamp gas grab abandon defective electric capacity to electric capacity receive Header;The most qualified electric capacity is by book systems communicate to follow-up conveyer belt;

Cubic content measurement sub-step, this step needs to use gas grapple structure to coordinate conveyer belt to carry out intermittent movement and carries out Capacitance is tested, including: a. electric capacity conveyer belt moves a station;B. two probes that capacitance test is corresponding install gas Grab two pins clamping current testing capacitance;C. gas is grabbed after wait volume test completes and is automatically unclamped;D. capacity is defective Electric capacity automatic rejection;

Pin corrects step, is to be realized the clamping of twice different directions of electric capacity pin to bending pin by cylinder Correcting, this step mainly grabbed by two pneumatic gas and realizes, and the placing direction that two gas is grabbed becomes 90 degree of angles, realizes water respectively Flat x-axis and the clamping movement of horizontal y-axis, realize the clamping to capacitor pin and correct;

Side Defect Detection step, passes through turntable band dynamic condenser including a. and rotates, and camera is border, electric capacity side image Get;B. according to the character within the Image Acquisition label on electric capacity label;C. carry out character recognition and obtain the concrete of electric capacity Model;D. judge that the model of capacitance present is the most consistent with the image that label indicates acquisition;E. the capacitance pole obtained according to label Property pin indicate with reality pin compare;F. labelling records defective electric capacity and rejects respectively according to error category;

Bottom Defect Detection step, this part includes: a. starts finger grip testing capacitance;B. finger 90-degree rotation is started Upset electric capacity bottom level;C. top bowl light source is started;D. top camera imaging is started;E. side camera imaging is started;F. root Post processing of image is carried out respectively according to the two width images obtained;The most defective electric capacity is rejected according to defect classification;

Top Defect Detection step, this step realizes without specific grasping system, and the imaging system of this subsystem is straight On a moving belt, with the motion of conveyer belt, imaging system is carried out connection device, and the operation of conveyer belt uses step-by-step system (every One station of secondary motion) coordinate light source and the exposure image of camera, algorithm process controls automatic rejection system according to lacking after completing Sunken classification is rejected.

Automatic boxing step, including

A. the qualified electric capacity of conveyer belt single step traveling transmission grabs crawl position to the gas of packaging system;

B. the conveyer belt single step that gas is grabbed according to control system feedback is advanced, and obtains electric capacity and reaches information;

C. level electricity cylinder returns initial point;

D. gas is grabbed and is opened;

E. vertically cylinder drops to minimum point;

F. operator places electric capacity containing box to vertically electricity cylinder for fixing screens;

G. operator provides the dimension information of capacitance present, and the number of plies of electric capacity of storage packing list case support, every layer of electricity The line number of appearance, the columns of every layer capacitance;

H. system calculates level electricity cylinder x and level electricity cylinder Y and the operational factor of the most electric cylinder Z automatically;

I. vertically electricity cylinder Z runs to the coordinate that system provides;

J. gas crawl electric capacity;

K. vertically cylinder rises to extreme higher position;

L. level electricity cylinder X and level electricity cylinder Y runs to the correct position of containing box automatically: transport according to the order of Row Column Row is to the respective coordinates of containing box;

M. vertically cylinder drops to extreme lower position, unclamps gas and grabs;

N. vertically cylinder rises to extreme higher position;

Level electricity cylinder X and level electricity cylinder Y runs to initial point automatically, and gas is grabbed and opened;

O. vertically cylinder drops to extreme lower position;

P. the putting of electric capacity when preceding layer it is sequentially completed;

Q. vertically electricity cylinder is lowered downward to suitable position according to electric capacity altitudinal belt dynamic condenser containing box;

Complete the putting of electric capacity of another layer the most in the order described above;

S. system counts automatically, it is judged that completing the collection of the containing box of current electric capacity, system prompting operator move away from Containing box;

T. system waits that operator puts new containing box, then carries out the automatic boxing that new one takes turns.

Embodiment described above only the preferred embodiment of the present invention is described, and not enters the scope of the present invention Row limits, and on the premise of designing spirit without departing from the present invention, technical scheme is made by those of ordinary skill in the art The various deformation gone out and improvement, all should fall in the protection domain that claims of the present invention determines.

Claims (9)

1. a capacitive detection system based on machine vision, it is characterised in that include feeding mouth subsystem, conveyer belt system, Optical chamber system, electric mounting box system,
Described optical chamber includes optical image acquisition system, optical chamber cleaning cooling, air discharging system, air cleaning FFU system;
Described conveyer belt system includes device conveyer belt system, device turntable;
Described electric mounting box includes system power supply pond, algorithm subsystem, motor control PLC subsystem;
Described feeding mouth subsystem includes pan feeding grabbing device, feed bin, shake charging tray and electric capacity angular adjustment apparatus;
Described capacitive detection system includes that device size differentiates subsystem, cubic content measurement subsystem, electric capacity capacitive test system, electricity Hold apparent flaws detecting system, qualified electric capacity automatic packaging system, defective electric capacity classification eliminating system, pin apparatus for correcting System, side Defect Detection subsystem, bottom Defect Detection subsystem, pin Defect Detection subsystem, top Defect Detection One or more among system;
Described shake charging tray includes hopper (26), chassis (28), controller, straight line feeder (27), and described hopper is arranged below arteries and veins Rush electric magnet, hopper vertical vibration can be made, due to the inclination of spring leaf, make hopper rock vibration around its vertical axis;
Described pan feeding grabbing device, is grabbed realized by one vertical cylinder of a horizontal cylinder and a gas, it is achieved flow process As follows: the horizontal cylinder of a. system instruction runs to initial point, vertical cylinder drops to minimum point, and gas is grabbed Guan Bi and captured electric capacity;B. erect Straight cylinder rises to peak, and the most horizontal cylinder runs to distalmost end;C. gas is grabbed to unclamp and is put down electric capacity, and vertical cylinder rises to Peak, horizontal cylinder returns initial point;Capture circulation the most next time.
2. capacitive detection system as claimed in claim 1, it is characterised in that
Described device conveyer belt system includes feeding mouth part conveyer belt: complete from shaking charging tray to feeding mouth to dimensional measurement to appearance Measurement is remedied to, to pin, the transmission that pan feeding captures;Side Defect Detection conveyer belt: complete after turntable to side from The transmission of Defect Detection;Bottom Defect Detection conveyer belt: complete bottom Defect Detection transmission;Pin Defect Detection conveyer belt: complete Pin detection is become to transmit;Top Defect Detection conveyer belt: complete top Defect Detection transmission.
3. capacitive detection system as claimed in claim 2, it is characterised in that described optical chamber internal inspection system uses closes light Learn room.
4. capacitive detection system as claimed in claim 1, it is characterised in that described subsystem includes that central authorities control CPU system System, keyboard and LCD shows, cabinet.
5. capacitive detection system as claimed in claim 2, it is characterised in that described subsystem includes embedded platform Plate, keyboard and LCD show, cabinet;
Described embedded platform plate includes that DSP subsystem, FPGA subsystem, ARM subsystem, described FPGA subsystem pass through EMIF Interface and ARM sub-system Interconnect, described DSP subsystem is by HPI interface and ARM sub-system Interconnect;Described platform also includes One DDRII memorizer, the 2nd DDRII memorizer, SRAM memory, described FPGA subsystem and a DDRII memorizer and SRAM memory interconnects;Described DSP subsystem include 2 or more than 2 dsp processors and the SRIO interface of FPGA interconnection, two Between sheet DSP, the SRIO interface of interconnection, DDR2 cache controller, EMAC control module, DMA direct memory access module, described DDR2 cache controller connects the 2nd DDRII memorizer, and described EMAC control module is connected with kilomega network PHY, completes and work The communication of industry camera.
6. capacitive detection system as claimed in claim 1, it is characterised in that described device size differentiates subsystem, is for differentiating Whether the size of the electric capacity after angle adjustment is in accordance with the electric capacity specification set, to avoid mixed specification electric capacity to be mixed into, system Including industrial camera, light source, photoelectric sensor, rejecting mechanism;Described rejecting mechanism includes that automatic rejection system includes cylinder, gas Grabbing, arrange a gas in the fixed position, imaging station rear of capacitor size measurement subsystem and grab, this gas is grabbed and is detected according to prime Result carries out electric capacity Weeding.
7. capacitive detection system as claimed in claim 1, it is characterised in that described qualified electric capacity automatic packaging system also includes man-machine Interface subsystem, automatic boxing subsystem, described automatic boxing subsystem, is automatically to calculate according to parameters described below to control The operation scale parameter of motor system realizes, 1) number of plies of the electric capacity that single case is supported;2) line number of every layer capacitance;3) every layer of electricity The columns held;4) electric capacity diameter and height.
8. a capacitance determining method based on machine vision, it is characterised in that include device size discriminating step,
Electric capacity sequence step, enters lower system from shake charging tray vertical direction;
Device size discriminating step, this step is that the size using an industrial camera to gather testing capacitance includes height and diameter Whether it coincide with predetermined value, the automatic rejection misfitted;Implement process as follows: a. is placed in the photoelectricity on electric capacity conveyer belt Sensor, detects that electric capacity, photoelectric sensor return this useful signal to control system;B. control system sends corresponding control Signal controls the light source of size discrimination subsystem and camera carries out data acquisition;C. view data pass back to image procossing put down Platform;D. image processing platform judges that capacitance present size is the most qualified;The most defective electric capacity is picked in the fixed position of conveyer belt Remove;
Enter and reject step, drive whole system to judge that the end of subsystem carries out electric capacity to capacitor size including the horizontal cylinder of a. Capture;The most defective electric capacity, when horizontal cylinder goes to stroke half, unclamps gas and grabs and abandon defective electric capacity to electric capacity collecting box; The most qualified electric capacity is by book systems communicate to follow-up conveyer belt;
Cubic content measurement sub-step, this step needs to use gas grapple structure to coordinate conveyer belt to carry out intermittent movement to carry out electric capacity Volume test, including: a. electric capacity conveyer belt moves a station;B. two probes that capacitance test is corresponding are installed gas and are grabbed folder Handle two pins of current testing capacitance;C. gas is grabbed after wait volume test completes and is automatically unclamped;D. the defective electric capacity of capacity Automatic rejection;
Pin corrects step, is to realize rectifying bending pin to the clamping of twice different directions of electric capacity pin by cylinder Just, this step is mainly grabbed by two pneumatic gas and is realized, and the placing direction that two gas is grabbed becomes 90 degree of angles, realizes level respectively X-axis and the clamping movement of horizontal y-axis, realize the clamping to capacitor pin and correct;
Side Defect Detection step, passes through turntable band dynamic condenser including a. and rotates, and camera is border, electric capacity side Image Acquisition Arrive;B. according to the character within the Image Acquisition label on electric capacity label;C. carry out character recognition and obtain the concrete model of electric capacity; D. judge that the model of capacitance present is the most consistent with the image that label indicates acquisition;E. the electric capacity polarity pin obtained according to label Indicate and compare with actual pin;F. labelling records defective electric capacity and rejects respectively according to error category;
Bottom Defect Detection step, this part includes: a. starts finger grip testing capacitance;B. the upset of finger 90-degree rotation is started Electric capacity bottom level;C. top bowl light source is started;D. top camera imaging is started;E. side camera imaging is started;F. according to obtaining The two width images taken carry out post processing of image respectively;The most defective electric capacity is rejected according to defect classification;
Top Defect Detection step, this step realizes without specific grasping system, and the imaging system of top Defect Detection is straight On a moving belt, with the motion of conveyer belt, imaging system is carried out connection device, and the operation of conveyer belt uses step-by-step system to join Closing light source and the exposure image of camera, algorithm process controls automatic rejection system after completing and rejects according to defect classification.
9. capacitance determining method as claimed in claim 8, it is characterised in that also include automatic boxing subsystem implementation method:
A. the qualified electric capacity of conveyer belt single step traveling transmission grabs crawl position to the gas of packaging system;
B. the conveyer belt single step that gas is grabbed according to control system feedback is advanced, and obtains electric capacity and reaches information;
C. level electricity cylinder returns initial point;
D. gas is grabbed and is opened;
E. vertically cylinder drops to minimum point;
F. operator places electric capacity containing box to vertically electricity cylinder for fixing screens;
G. operator provides the dimension information of capacitance present, and storage packing list case support the number of plies of electric capacity, every layer capacitance Line number, the columns of every layer capacitance;
H. system calculates level electricity cylinder x and level electricity cylinder Y and the operational factor of the most electric cylinder Z automatically;
I. vertically electricity cylinder Z runs to the coordinate that system provides;
J. gas crawl electric capacity;
K. vertically cylinder rises to extreme higher position;
L. level electricity cylinder X and level electricity cylinder Y runs to the correct position of containing box automatically: run to according to the order of Row Column The respective coordinates of containing box;
M. vertically cylinder drops to extreme lower position, unclamps gas and grabs;
N. vertically cylinder rises to extreme higher position;
Level electricity cylinder X and level electricity cylinder Y runs to initial point automatically, and gas is grabbed and opened;
O. vertically cylinder drops to extreme lower position;
P. the putting of electric capacity when preceding layer it is sequentially completed;
Q. vertically electricity cylinder is lowered downward to suitable position according to electric capacity altitudinal belt dynamic condenser containing box;
Complete the putting of electric capacity of another layer the most in the order described above;
S. system counts automatically, it is judged that complete the collection of the containing box of current electric capacity, and system prompt operator moves away from containing box;
T. system waits that operator puts new containing box, then carries out the automatic boxing that new one takes turns.
CN201410064017.3A 2014-01-21 2014-02-25 Capacitive detection system based on machine vision and method CN103808732B (en)

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