CN104101608A - Intelligent detecting device for detecting defects of multi-type irregularly shaped product - Google Patents
Intelligent detecting device for detecting defects of multi-type irregularly shaped product Download PDFInfo
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- CN104101608A CN104101608A CN201410310313.7A CN201410310313A CN104101608A CN 104101608 A CN104101608 A CN 104101608A CN 201410310313 A CN201410310313 A CN 201410310313A CN 104101608 A CN104101608 A CN 104101608A
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Abstract
The invention discloses an intelligent detecting device for detecting the defects of multi-type irregularly shaped products. The intelligent detecting device comprises a glass sliding table, a bottleneck material passing mechanism and an image collecting system, wherein the glass sliding table is arranged on a rack in an inclining manner relative to a horizontal plane; the bottleneck material passing mechanism comprises two spoon-shaped baffle plates with the same structural size; the spoon mouths of the two spoon-shaped baffle plates are contrary to each other and symmetrically arranged; the image collecting system comprises an overlooking image collecting mechanism, a side-looking collecting system, an image collecting triggering mechanism and an image analyzing system. According to the invention, multi-type products can be detected without a preset database; in addition, a camera and lamplight are designed, so that the photographing effect is enabled to be better, and the detecting quality can be improved; the automation and the intelligence of detecting the defects of the multi-type irregularly shaped products are realized, the labor force and the material resources are greatly saved, and the detecting accuracy is improved.
Description
Technical field
The present invention relates to a kind of intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection, belong to product quality detection technique.
Background technology
It is one of factory products important step before dispatching from the factory that product of production line is carried out to defects detection, adopts the mode of hand inspection owing to existing detection speed slow, is subject to the defects such as people's fatigue and emotional factor affect, and very difficult guarantee reaches enough Detection accuracies.Therefore, machine vision technique is incorporated in product detection, with machine replace human eye carry out identification, judgement and the measurement of destination object, replace traditional manual detection mode, will contribute to improve detection efficiency and industrial automation level.
Machine vision technique is that a kind of Science and engineering of vision is learned, this technology is since development the 1950's, depth & wideth in research has had tremendous development, its application aspect industrial automation is also more and more extensive, is wherein also no lack of this technology is applied to the example that product detects.But traditional machine vision product detection system major part is restricted to testing product, a set of detection system can only detect for model of a kind of product, maybe can only detect the existing several prods type of detection system lane database and model.Frontly a kind ofly mean that a manufacturer with diversification need be equipped with many cover detection systems and production line and just can complete the detection of all products, can cause certain production to waste and increased the production cost of factory and enterprise.Rear a kind of detection system means every increase or changes a kind of product type and all need the database of its system to edit again, and carries out system testing at this.The more and more faster rhythm of model change speed that this can not adapt to society obviously, along with renewal and the upgrading of product, can spend manpower and materials and carry out the renewal of detection system.The change of its camera parameter and illumination etc. simultaneously is often still manually carried out.Generally speaking, above two kinds of traditional detection systems do not have intelligentized feature.
Summary of the invention
Goal of the invention: the application defect existing for conventional production lines products detection system, the invention provides a kind of intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection, it can pass through automatic criterion of identification part, carry out storage standards part characteristic information, can automatically regulate pipeline organization Intelligent Measurement product.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
The intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection, comprises glass slide unit, bottleneck punishment in advance mechanism and image capturing system;
Described glass slide unit is inclined relative to horizontal and is arranged in frame, defines a perpendicular S on the gradient direction of glass slide unit, and glass slide unit is divided into two regions, left and right by perpendicular S;
Described bottleneck punishment in advance mechanism comprises two spoon type baffle plates that physical dimension is identical, and described two spoon type baffle plate spoon mouths are runed counter to and are symmetrical in perpendicular S and arrange, and a spoon type baffle plate is arranged on glass slide unit, limits to be detected the moving region on glass slide unit; The spoon mouthful position of spoon type baffle plate is higher than kettleholder position, and the end of two spoonfuls of mouths is as the feeding end of to be detected, and the dark recess spacing of two spoonfuls of mouths is minimum also guarantees passing through of testing product, and two kettleholder afterbodys become to;
Described image capturing system comprises overhead view image collecting mechanism, side elevation image collecting mechanism, image acquisition trigger mechanism and image analysis system, and overhead view image collecting mechanism is positioned at the image acquisition region of side elevation image collecting mechanism the region that two kettleholders are relative; Described overhead view image collecting mechanism comprises overlooks camera, overlooks camera vertical glass slide unit setting and be positioned at perpendicular S upper, overlooks camera and be positioned at the top of glass slide unit, is provided with planar light source in the lower Founder of glass slide unit to overlooking camera; Described side elevation image collecting mechanism comprises first camera, second camera and third phase machine, first camera, second camera and third phase machine are placed in a plane that is parallel to glass slide unit, and arrange to overlook the center that is projected as, 120 ° of interval annulars of camera on glass slide unit, corresponding first camera is provided with the first pointolite, corresponding second camera is provided with second point light source, and corresponding third phase machine is provided with thirdly light source; Described image acquisition trigger mechanism comprises Fibre Optical Sensor, Fibre Optical Sensor just arranges perpendicular S, trigger simultaneously and overlook camera, first camera, second camera and the work of third phase machine by Fibre Optical Sensor, and the image of collection is sent to image analysis system; Described image analysis system comprises standard component image acquisition units and to be detected image acquisition units, the image of the image of to be detected image acquisition units collection and the collection of standard component image acquisition units is contrasted, judge whether to be detected be specification product.
The present invention changes the requirement that traditional detection system streamline width limits according to product size, adopt two spoon type baffle plates to form the slideway of product, the end of two spoonfuls of mouths, as the feeding end of to be detected, can be docked with streamline, and can be according to the width design spacing of streamline; Narrow region between the dark recess of two spoonfuls of mouths, can be according to the shape and size design pitch of product for regulating the position in product introduction photograph region.After product enters under with certain initial velocity and Action of Gravity Field and slides into, after regulating, the narrow region between the dark recess of two spoonfuls of mouths enters photograph district with certain attitude, entering before photograph district, first product can be sensed by Fibre Optical Sensor, and Fibre Optical Sensor triggers four camera work according to induction information; Because triggering camera, Fibre Optical Sensor there is certain time delay, consider time delay and and the continuous movement of product, dark recess spacing and Fibre Optical Sensor position that can two spoonfuls of mouths of comprehensive Design, while making camera work, product is positioned at the center of side elevation image collecting mechanism as far as possible; Meanwhile, regulate focal length and the position of four cameras, the image that camera is photographed is the most clear and legible.
In the time of specific works, when adjusting after parameters, first standard component to be taken pictures, four cameras are taken the standard component image obtaining and are sent into standard component image acquisition units, as with reference to image; In order to improve the accuracy rate of judgement, need standard component image as much as possible, in general, at least need five standard component images.Gather again as after standard component image, can treat detection piece has detected, take pictures under identical Parameter Conditions based on standard component, treating detection piece takes pictures, to be detected the image obtaining sent into be detected image acquisition units, by be detected image and standard component image contrast can analyze obtain to be detected whether qualified.
In this case, in image analysis system, can not there is not any database, before certain a collection of product of detection, several standard components are passed through to slideway successively, after obtaining standard component image by camera, be transferred to image analysis system, then image analysis system carries out the detection of this batch products according to these standard component images that obtain again; This just means, any products that meets testing requirement can be used this device, has larger sensing range; Therefore, can not there is not the restriction of product category in the device that this case is given and corresponding method, even without expansion and the amendment of carrying out database.Correspondingly, according to the standard component image information of obtaining, can initiatively or control robotic arm correlation parameter is carried out to initial adjustment, after adjusting completes, start relevant image acquisition.
Preferably, described glass slide unit inclination angle is with respect to the horizontal plane 30 °.
Preferably, the dark recess location of described two spoonfuls of mouths is provided with displacement transducer, detects the spacing of the dark recess of two spoonfuls of mouths by displacement transducer, measures the width of bottleneck position.
Preferably, the initial and tail sections of described two spoon type baffle plates is all arranged in frame by leading screw slipway mechanism, regulates the spacing of two spoon type baffle plates by adjusting screw slipway mechanism.
Preferably, the described camera of overlooking is arranged in frame by lifting camera frame, lifting camera frame comprises ball screw framework, crossbeam and stepper motor, drive the leading screw of ball screw framework vertically to move up and down by stepper motor, one end of crossbeam and the leading screw of ball screw framework are fixed, and the other end of crossbeam is installed and overlooked camera.
Preferably, described in, overlook on camera, first camera, second camera and third phase machine and be provided with automatic focusing device.
Beneficial effect: the intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection provided by the invention, can detect the product of Multiple Type, without presetting database; In the present invention simultaneously, the design of camera and light, also makes the shooting effect of product better, has improved detection quality; The present invention has realized robotization and intellectuality that the irregular product defects of polytypic detects substantially, has greatly saved manpower and materials, has improved detection accuracy.
Brief description of the drawings
Fig. 1 is plan structure schematic diagram of the present invention;
Fig. 2 is perspective view of the present invention;
Fig. 3 is workflow diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
Be a kind of intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection as shown in Figure 1 and Figure 2, comprise glass slide unit 1, bottleneck punishment in advance mechanism, image capturing system and industrial computer.
Described glass slide unit 1 is inclined relative to horizontal and is arranged in frame, and angle of inclination is 30 °, defines a perpendicular S on the gradient direction of glass slide unit 1, and glass slide unit 1 is divided into two regions, left and right by perpendicular S.
Described bottleneck punishment in advance mechanism comprises two spoon type baffle plates 2 that physical dimension is identical, and 2 spoonfuls of mouths of described two spoon type baffle plates are runed counter to and are symmetrical in perpendicular S and arrange, and a spoon type baffle plate 2 is arranged on glass slide unit 1, limits to be detected the moving region on glass slide unit 1; The initial and tail sections of two spoon type baffle plates 2 is all arranged in frame by leading screw slipway mechanism 17, regulates the spacing of two spoon type baffle plates 2 by adjusting screw slipway mechanism 17; The spoon mouthful position of spoon type baffle plate 2 is higher than kettleholder position, and the end of two spoonfuls of mouths is as the feeding end of to be detected, and the dark recess spacing of two spoonfuls of mouths is minimum also guarantees only passing through of a testing product, and two kettleholder afterbodys become to; The dark recess location of described two spoonfuls of mouths is provided with displacement transducer 16, detects the spacing of the dark recess of two spoonfuls of mouths by displacement transducer 16.
Described image capturing system comprises overhead view image collecting mechanism, side elevation image collecting mechanism, image acquisition trigger mechanism and image analysis system, and overhead view image collecting mechanism is positioned at the image acquisition region of side elevation image collecting mechanism the region that two kettleholders are relative.
Described overhead view image collecting mechanism comprises overlooks camera 4, overlooks that the vertical glass slide unit 1 of camera 4 arranges and to be positioned at perpendicular S upper, overlooks camera 4 and be positioned at the top of glass slide unit 1, is provided with planar light source 9 in the lower Founder of glass slide unit 1 to overlooking camera 4, described side elevation image collecting mechanism comprises the first camera 5 being arranged on first camera support 8, be arranged on the second camera 6 on second camera support 13 and be arranged on the third phase machine 7 on third phase machine support 14, first camera 5, second camera 6 and third phase machine 7 are placed in a plane that is parallel to glass slide unit 1, and to overlook the be projected as center of camera 4 on glass slide unit 1, 120 ° of interval annulars arrange, corresponding first camera 5 is provided with the first pointolite 10, corresponding second camera 6 is provided with second point light source 11, corresponding third phase machine 7 is provided with thirdly light source 12, overlook on camera 4, first camera 5, second camera 6 and third phase machine 7 and be provided with automatic focusing device 18.
The described camera 4 of overlooking is arranged in frame by lifting camera frame 3, lifting camera frame 3 comprises ball screw framework, crossbeam and stepper motor, drive the leading screw of ball screw framework vertically to move up and down by stepper motor, one end of crossbeam and the leading screw of ball screw framework are fixed, and the other end of crossbeam is installed and overlooked camera 4.
Described image acquisition trigger mechanism comprises Fibre Optical Sensor 15, Fibre Optical Sensor 15 just arranges perpendicular S, trigger simultaneously and overlook camera 4, first camera 5, second camera 6 and third phase machine 7 and work by Fibre Optical Sensor 15, and the image of collection is sent to image analysis system; Described image analysis system comprises standard component image acquisition units and to be detected image acquisition units, the image of the image of to be detected image acquisition units collection and the collection of standard component image acquisition units is contrasted, judge whether to be detected be specification product.
To being described as follows of all parts:
Glass slide unit 1: friction force is little, with the only natural downslide under the effect of gravity of product of initial velocity, the transparent material of glass slide unit 1 does not hinder the illumination of planar light source 9 simultaneously.
Lifting camera frame 3: can, according to the difference of product type, drive ball screw motion by stepper motor, regulate the height of crossbeam, realize intelligence and regulate the object of overlooking camera 4 height, make the size to fit of product in the camera visual field; Meanwhile, side elevation image collecting mechanism also can adopt similar structure, realizes the object that camera distance central point regulates apart from intelligence.
Displacement transducer 16: adopt laser displacement sensor, be positioned at bottleneck, for measuring the width of bottleneck, and feed back to industrial computer, industrial computer regulates the width of bottleneck to suitable distance according to the image information intelligence photographing.
Planar light source 9: adopt LED flat lamp, arbitrary size can produce, and has enough brightness and light stability, and can cover the photograph region of corresponding camera.
Fibre Optical Sensor 15: its desired location can regulate according to relevant informations such as product sizes, for triggering camera.
Leading screw slipway mechanism 17: the information providing according to industrial computer, adjust the spacing between both sides spoon type baffle plate 2.
Automatic focusing device 18: for regulating the sharpness of camera, the signal providing according to industrial computer, determines the stepper motor anglec of rotation, drives the fine setting gear coaxially connecting firmly with camera lens thus, reaches the object of automatic focusing.
Industrial computer: the below that is placed in glass slide unit 1, built-in image analysis system, receive the detection signal of all checkout equipments, according to the standard component image information of obtaining, after industrial computer judges, the spontaneous drive motor of controller or mechanical fine adjustment hand a series of such as camera focus, highly, initial adjustment is carried out in the adjusting of Fibre Optical Sensor position and arc controller etc., without manual shift; After adjusting completes, start to carry out the detection of this batch of part, analyzing and testing information obtains testing result.
In this case, planar light source 9 is planar light dorsad, is installed on glass slide unit 1 below; Overlook camera 4 and be positioned at glass slide unit 1 top, camera lens is right against glass slide unit 1, so employing is the mode of throwing light on dorsad; The first pointolite 10, second point light source 11 and thirdly light source 12 are placed in the side of first camera 5, second camera 6 and third phase machine 7 camera lenses, and taking pictures in side, what adopt is the mode of the positive polishing of ring light.For the detection of profiles, compare and adopt positive polishing mode to there will be shade to cause the possibility of image error in judgement, what this case adopted is the mode of throwing light on dorsad, this lighting system can make test product in light ground, form shadow, there is very significantly contrast, be therefore applicable to very much the detection of objective contour; The positive polishing in side, obtains the height of product, hollow out, the information such as color; The shape defect that this device can be realized multiple irregular product detects, size detection etc.
The substandard product detecting by this case device need to be by device for eliminating to reject, to realize further intellectuality; In this case, provide a kind of device for eliminating, it is arranged on the end of glass slide unit 1, and main devices is electromagnetic lock; Adopt the principle of electric magnetisation, in the time that electric current produces, electromagnetic lock can produce powerful suction by stretching chi band, causes baffle plate to produce angle, guiding part whereabouts; Otherwise after power-off, it is that chi band is retracted that electromagnetic lock loses suction, then and cause baffle plate to produce again angle, another whereabouts of guiding part.
The course of work of this case device as shown in Figure 3, be specially: first, operation camera software, this batch of standard component is placed in to center, the camera visual field, by the position to imaging definition and the shared visual field and ratio judgement, automatically regulated the position of focal length, lifting camera frame 3 height and spoon type baffle plate 2 and the Fibre Optical Sensor 15 of four cameras by controller; Operation software, is placed in approximately 5 standard components under camera, gathers standard component information, after standard component information acquisition, can move the detection of this batch of part; Part is delivered to glass slide unit 1 top by travelling belt, and part, under Action of Gravity Field, enters center, the camera visual field behind the bottleneck position of spoon type baffle plate 2; Part continues to glide, and triggers camera through Fibre Optical Sensor 15, and four cameras are taken pictures simultaneously, obtain a part front view (FV) and three part outboard profiles; Image analysis system is analyzed four figure, draws testing result; Controller moves left and right according to testing result control device for eliminating, completes shunting.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. the intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection, is characterized in that: comprise glass slide unit (1), bottleneck punishment in advance mechanism and image capturing system;
Described glass slide unit (1) is inclined relative to horizontal and is arranged in frame, defines a perpendicular S on the gradient direction of glass slide unit (1), and glass slide unit (1) is divided into two regions, left and right by perpendicular S;
Described bottleneck punishment in advance mechanism comprises two spoon type baffle plates (2) that physical dimension is identical, described two spoon type baffle plates (2) spoon mouth is runed counter to and is symmetrical in perpendicular S setting, it is upper that spoon type baffle plate (2) is arranged on glass slide unit (1), limits to be detected the moving region on glass slide unit (1); The spoon mouthful position of spoon type baffle plate (2) is higher than kettleholder position, and the end of two spoonfuls of mouths is as the feeding end of to be detected, and the dark recess spacing of two spoonfuls of mouths is minimum also guarantees only passing through of a testing product, and two kettleholder afterbodys become to;
Described image capturing system comprises overhead view image collecting mechanism, side elevation image collecting mechanism, image acquisition trigger mechanism and image analysis system, and overhead view image collecting mechanism is positioned at the image acquisition region of side elevation image collecting mechanism the region that two kettleholders are relative, described overhead view image collecting mechanism comprises overlooks camera (4), overlooking the vertical glass slide unit (1) of camera (4) arranges and is positioned on perpendicular S, overlook the top that camera (4) is positioned at glass slide unit (1), be provided with planar light source (9) in the lower Founder of glass slide unit (1) to overlooking camera (4), described side elevation image collecting mechanism comprises first camera (5), second camera (6) and third phase machine (7), first camera (5), second camera (6) and third phase machine (7) are placed in a plane that is parallel to glass slide unit (1), and to overlook the be projected as center of camera (4) on glass slide unit (1), 120 ° of interval annulars arrange, corresponding first camera (5) is provided with the first pointolite (10), corresponding second camera (6) is provided with second point light source (11), corresponding third phase machine (7) is provided with thirdly light source (12), described image acquisition trigger mechanism comprises Fibre Optical Sensor (15), Fibre Optical Sensor (15) just arranges perpendicular S, trigger simultaneously and overlook camera (4), first camera (5), second camera (6) and third phase machine (7) work by Fibre Optical Sensor (15), and the image of collection is sent to image analysis system, described image analysis system comprises standard component image acquisition units and to be detected image acquisition units, the image of the image of to be detected image acquisition units collection and the collection of standard component image acquisition units is contrasted, judge whether to be detected be specification product.
2. the intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection according to claim 1, is characterized in that: described glass slide unit (1) inclination angle is with respect to the horizontal plane 30 °.
3. the intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection according to claim 1, it is characterized in that: the dark recess location of described two spoonfuls of mouths is provided with displacement transducer (16), detect the spacing of the dark recess of two spoonfuls of mouths by displacement transducer (16).
4. the intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection according to claim 1, it is characterized in that: the initial and tail sections of described two spoon type baffle plates (2) is all arranged in frame by leading screw slipway mechanism (17), regulate the spacing of two spoon type baffle plates (2) by adjusting screw slipway mechanism (17).
5. the intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection according to claim 1, it is characterized in that: described in overlook camera (4) and be arranged in frame by lifting camera frame (3), lifting camera frame (3) comprises ball screw framework, crossbeam and stepper motor, drive the leading screw of ball screw framework vertically to move up and down by stepper motor, one end of crossbeam and the leading screw of ball screw framework are fixed, and the other end of crossbeam is installed and overlooked camera (4).
6. the intelligent detection device that can carry out to the irregularly shaped product of polytypic defects detection according to claim 1, is characterized in that: described in overlook on camera (4), first camera (5), second camera (6) and third phase machine (7) and be provided with automatic focusing device (18).
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