CN104101608B - 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 PDF

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Publication number
CN104101608B
CN104101608B CN201410310313.7A CN201410310313A CN104101608B CN 104101608 B CN104101608 B CN 104101608B CN 201410310313 A CN201410310313 A CN 201410310313A CN 104101608 B CN104101608 B CN 104101608B
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China
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camera
image
slide unit
glass slide
described
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CN201410310313.7A
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Chinese (zh)
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CN104101608A (en
Inventor
陈仁文
朱霞
夏桦康
章飘艳
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南京航空航天大学
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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

The intelligent detection device of defects detection can be carried out by irregularly shaped product to polytypic

Technical field

The present invention relates to a kind of can carry out the intelligent detection device of defects detection by irregularly shaped product to polytypic, belong to Product quality detection technique.

Background technology

Product of production line is carried out with defects detection is one of factory products important step before dispatching from the factory, using hand inspection Mode slow due to there is detection speed, the defect such as affected by the fatigue of people and emotional factor, it is difficult to ensure that reaching enough Detection accuracy.Therefore, machine vision technique is incorporated in Product checking link, replaces with machine human eye to carry out destination object Identification, judgement and measurement, replace traditional manual detection mode, it will help improve detection efficiency and industrial automation water Flat.

Machine vision technique is a kind of science of vision and engineering science, this technology from the 1950's development since, There is tremendous development in the depth of research and range, its application in terms of industrial automation is also more and more extensive, wherein It is no lack of the example that this technology is applied to Product checking.But traditional machine vision product detecting system is most of to produce to detection Product are restricted, and that is, a set of detecting system can only be detected for a kind of one model of product, or can only be to detecting system data In storehouse, existing several prods type and model are detected.Former means that a manufacturer with diversification need to join The detection of all products just can be completed for many set detecting systems and production line, certain production can be caused and waste and increased The production cost of factory and enterprise.Latter detecting system means that every increase or a kind of product type of replacing are required for its system Database edited again, and here carries out system testing.This does not obviously adapt to the model change of today's society The increasingly faster rhythm of speed, the renewal with product and upgrading, manpower and materials to be spent can carry out the renewal of detecting system.With When its camera parameter and illumination etc. change be often still and manually carry out.Sum it up, the traditional detection of both the above System does not have intelligentized feature.

Content of the invention

Goal of the invention: the technology existing for conventional production lines products detection system and applied defect, the present invention provides one Kind can carry out the intelligent detection device of defects detection by irregularly shaped product to polytypic, it can pass through automatic identification standard component, To store standard component characteristic information, pipeline organization Intelligent Measurement product can be automatically adjusted.

Technical scheme: for achieving the above object, the technical solution used in the present invention is:

The intelligent detection device of defects detection can be carried out, including glass slide unit, bottleneck by irregularly shaped product to polytypic Punishment in advance mechanism and image capturing system;

Described glass slide unit is inclined relative to horizontal and is arranged in frame, defines one on the gradient direction of glass slide unit Glass slide unit is divided into two regions in left and right by individual perpendicular s, perpendicular s;

Described bottleneck punishment in advance mechanism includes two physical dimension identical spoon type baffle plates, described two spoon type baffle plate spoon mouth phases It is contrary to and is symmetrical in perpendicular s setting, spoon type baffle plate setting, on glass slide unit, limits motion on glass slide unit for the part to be detected Region;The spoon mouth position of spoon type baffle plate is higher than kettleholder position, the end of two spoonfuls of mouths as the feeding end of part to be detected, two spoonfuls of mouths Deep recess spacing is minimum and guarantees to detect passing through of product, and two kettleholder afterbodys become to;

Described image acquisition system includes overhead view image collecting mechanism, side elevation image collecting mechanism, IMAQ triggering machine Structure and image analysis system, the image acquisition region of overhead view image collecting mechanism and side elevation image collecting mechanism is located at two kettleholder phases To region in;Described overhead view image collecting mechanism includes overlooking camera, overlooks camera vertical glass slide unit and arranges and be located at perpendicular In straight plane s, overlook the top that camera is located at glass slide unit, lower upright in glass slide unit is provided with planar light to vertical view camera Source;Described side elevation image collecting mechanism includes first camera, second camera and third camera, first camera, second camera and Three cameras are placed in a plane parallel to glass slide unit, and by overlook camera in the projection on glass slide unit centered on, 120 ° of interval annular settings, corresponding first camera is provided with the first spot light, and corresponding second camera is provided with the second spot light, right Third camera is answered to be provided with thirdly light source;Described image trigger collection mechanism includes Fibre Optical Sensor, and Fibre Optical Sensor is just right Perpendicular s is arranged, and triggers vertical view camera, first camera, second camera and third camera work by Fibre Optical Sensor simultaneously, And the image of collection is sent to image analysis system;Described image analysis system includes standard component image acquisition units and to be checked Survey part image acquisition units, by the figure of the image of part image acquisition units to be detected collection and the collection of standard component image acquisition units As being contrasted, judge whether part to be detected is qualified products.

The present invention changes the requirement that traditional detection system flowing water line width limits according to product size, is kept off using two spoon types Plate constitutes the slideway of product, the end of two spoonfuls of mouths as the feeding end of part to be detected, can dock with streamline it is possible to according to The width design spacing of streamline;Small areas between the deep recess of two spoonfuls of mouths are used for adjusting the position that product enters photograph region Put, can be according to the shape and size design pitch of product.Enter under product is with certain initial velocity and Action of Gravity Field and slide After arriving, after the small areas between the deep recess of two spoonfuls of mouths are adjusted, photograph area is entered with certain attitude, entering photograph area Before, product can be sensed by Fibre Optical Sensor first, and Fibre Optical Sensor triggers four camera work according to induction information;Due to light Fiber sensor trigger camera there is certain time delay it is considered to time delay and and product continuous movement, can be with two spoonfuls of comprehensive Design The deep recess spacing of mouth and Fibre Optical Sensor position are so that when camera works, product is located at side elevation image harvester as far as possible The center of structure;Meanwhile, the focal length of four cameras of regulation and position are so that the image that camera photographs the most clearly may be used Distinguish.

In specific works, after adjusting parameters, first standard component is taken pictures, four cameras shoot and obtain Standard component image send into standard component image acquisition units, as reference picture picture;In order to improve the accuracy rate of judgement, need to the greatest extent may be used Standard component image more than energy, in general, at least needs five standard component images.After gathering again as standard component image, you can right Part to be detected be have detected, and is taken pictures under identical Parameter Conditions based on standard component, treats detection piece and is taken pictures, the treating of acquisition Detection piece image sends into part image acquisition units to be detected, and part image to be detected and standard component image are carried out contrast can be analyzed Whether qualified obtain part to be detected.

In this case, in image analysis system, can not there is any database, before detecting certain a collection of product, by several Standard component passes sequentially through slideway, is obtained by camera and is transmitted further to image analysis system after standard component image, then graphical analysis system System carries out the detection of this batch products according to these standard component images obtaining;It means that meeting any of detection requirement Product can use this device, has larger detection range;Therefore, the device that this case is given and corresponding method can not be deposited In the restriction of product category, even without the expansion carrying out database and modification.Correspondingly, according to the standard component figure obtaining As information, actively or control robotic arm that relevant parameter is initially adjusted, after the completion of adjusting, related image can be started Collection.

Preferably, described glass slide unit inclination angle with respect to the horizontal plane is 30 °.

Preferably, the deep recess location of described two spoonfuls of mouths is provided with displacement transducer, detects two spoonfuls by displacement transducer The spacing of the deep recess of mouth, that is, measure the width of bottleneck position.

Preferably, the initial and tail sections of described two spoon type baffle plates are all arranged in frame by leading screw slipway mechanism, by adjusting Section leading screw slipway mechanism adjusts the spacing of two spoon type baffle plates.

Preferably, described vertical view camera is arranged in frame by lifting camera frame, and lifting camera frame includes ball-screw Mechanism, crossbeam and stepper motor, are vertically moved up and down by the leading screw of driving stepper motor ball screw framework, one end of crossbeam Fix with the leading screw of ball screw framework, the other end of crossbeam is installed and overlooked camera.

Preferably, described vertical view camera, first camera, second camera and third camera are provided with automatic focusing dress Put.

Beneficial effect: the present invention provide can to polytypic irregularly shaped product carry out defects detection Intelligent Measurement dress Put, the product of Multiple Type can be detected, without presetting database;Simultaneously in the present invention camera and light design, Also make the shooting effect of product better, improve detection quality;Invention substantially achieves the irregular product of polytypic The automation of defects detection and intellectuality, have greatly saved manpower and materials, improve detection accuracy.

Brief description

Fig. 1 is the overlooking the structure diagram of the present invention;

Fig. 2 is the perspective view of the present invention;

Fig. 3 is the workflow diagram of the present invention.

Specific embodiment

Below in conjunction with the accompanying drawings the present invention is further described.

As shown in Figure 1 and Figure 2 be a kind of can to polytypic irregularly shaped product carry out defects detection Intelligent Measurement dress Put, including 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 °, in glass slide unit 1 One perpendicular s is defined on gradient direction, glass slide unit 1 is divided into two regions in left and right by perpendicular s.

Described bottleneck punishment in advance mechanism includes two physical dimension identical spoon type baffle plates 2, described two 2 spoonfuls of mouths of spoon type baffle plate Run counter to and be symmetrical in perpendicular s setting, spoon type baffle plate 2 is arranged on glass slide unit 1, limit part to be detected on glass slide unit 1 Moving region;The initial and tail sections of two spoon type baffle plates 2 are all arranged in frame by leading screw slipway mechanism 17, by adjusting screw Slipway mechanism 17 adjusts the spacing of two spoon type baffle plates 2;The spoon mouth position of spoon type baffle plate 2 is higher than kettleholder position, the end of two spoonfuls of mouths Portion simultaneously guarantees passing through of only one detection product as the feeding end of part to be detected, the deep recess spacing minimum of two spoonfuls of mouths, two spoonfuls Handle tail becomes to;The deep recess location of described two spoonfuls of mouths is provided with displacement transducer 16, detects two spoonfuls by displacement transducer 16 The spacing of the deep recess of mouth.

Described image acquisition system includes overhead view image collecting mechanism, side elevation image collecting mechanism, IMAQ triggering machine Structure and image analysis system, the image acquisition region of overhead view image collecting mechanism and side elevation image collecting mechanism is located at two kettleholder phases To region in.

Described overhead view image collecting mechanism includes overlooking camera 4, overlooks camera 4 vertical glass slide unit 1 and arranges and be located at perpendicular In straight plane s, overlook the top that camera 4 is located at glass slide unit 1, in the lower Founder of glass slide unit 1, vertical view camera 4 is provided with flat Area source 9;First camera 5 that described side elevation image collecting mechanism includes being arranged on first camera support 8, it is arranged on the second phase Second camera 6 on machine support 13 and the third camera 7 being arranged on third camera support 14, first camera 5, second camera 6 It is placed in a plane parallel to glass slide unit 1 with third camera 7, and to overlook projection on glass slide unit 1 for the camera 4 Centered on, 120 ° of interval annular settings, corresponding first camera 5 is provided with the first spot light 10, and corresponding second camera 6 is provided with the Two spot lights 11, corresponding third camera 7 is provided with thirdly light source 12;Overlook camera 4, first camera 5, second camera 6 and the It is provided with automatic focusing device 18 on three cameras 7.

Described vertical view camera 4 pass through lift camera frame 3 be arranged in frame, lifting camera frame 3 include ball screw framework, Crossbeam and stepper motor, are vertically moved up and down by the leading screw of driving stepper motor ball screw framework, one end of crossbeam and rolling The leading screw of screw mechanism is fixed, and the other end of crossbeam is installed and overlooked camera 4.

Described image trigger collection mechanism includes Fibre Optical Sensor 15, and Fibre Optical Sensor 15 is just arranged to perpendicular s, leads to Cross that Fibre Optical Sensor 15 triggers vertical view camera 4 simultaneously, first camera 5, second camera 6 and third camera 7 work, and by collection Image is sent to image analysis system;Described image analysis system includes standard component image acquisition units and part image to be detected is adopted Collection unit, it is right that the image that the image of part image acquisition units to be detected collection is gathered with standard component image acquisition units is carried out Ratio judges whether part to be detected is qualified products.

All parts are described as follows:

Glass slide unit 1: frictional force is little, the product with initial velocity can only natural downslide under gravity, simultaneously The transparent material of glass slide unit 1 does not hinder the illumination of planar light source 9.

Lifting camera frame 3: ball screw motion can be driven by stepper motor, adjust horizontal according to the difference of product type The height of beam, realizes the purpose that Intelligent adjustment overlooks camera 4 height, makes size to fit in camera fields of view for the product;Meanwhile, side Visible image collecting mechanism can also realize the purpose apart from Intelligent adjustment for the camera distance central point using similar structure.

Displacement transducer 16: adopt laser displacement sensor, positioned at bottleneck, for measuring the width of bottleneck, and instead Feed industrial computer, industrial computer is according to the width of the image information Intelligent adjustment bottleneck photographing to suitable distance.

Planar light source 9: using led flat lamp, arbitrarily large I produces, and has enough brightness and photostability, and energy Cover the photograph region of corresponding camera.

Fibre Optical Sensor 15: its setting position can be adjusted according to relevant informations such as product sizes, for triggering camera.

Leading screw slipway mechanism 17: the information being given according to industrial computer, the spacing between adjustment both sides spoon type baffle plate 2.

Automatic focusing device 18: for adjusting the definition of camera, the signal that is given according to industrial computer, determine stepper motor The anglec of rotation, is thus driven the fine setting gear coaxially being connected firmly with camera lens, reaches the purpose of automatic focusing.

Industrial computer: be placed in the lower section of glass slide unit 1, built-in image analysis system, receive the detection letter of all testing equipments Number, according to the standard component image information obtaining, after industrial computer is judged, the spontaneous drive motor of controller or mechanical fine adjustment hand one Series such as camera focus, highly, regulation of Fibre Optical Sensor position and arc controller etc. is initially adjusted, without people Work is adjusted;After the completion of adjusting, proceed by the detection of this batch part, analysis detection information obtains testing result.

In this case, planar light source 9 is dorsad planar light, is installed on below glass slide unit 1;Overlook camera 4 and be located at glass cunning Above platform 1, camera lens is right against glass slide unit 1, so using the mode dorsad illuminating;First spot light 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 camera 7 camera lens, take pictures employing in side Be the polishing of ring light front mode.For the detection of profiles, compare and the moon is occurred using front polishing mode Shadow causes the possibility of image error in judgement, and this case uses the mode dorsad illuminating, and this lighting system can make test product Light ground forms shadow, has and obviously contrast, be therefore especially suitable for the detection of objective contour;Side front is beaten Light, obtains the height of product, hollow out, the information such as color;This device can realize the shape defect detection of multiple irregular products, Size detection etc..

Need to reject by device for eliminating by the substandard product that this case device detects, to realize further Intelligent;A kind of device for eliminating is provided, it is arranged on the end of glass slide unit 1, main devices are electromagnetic lock in this case;Using electricity The principle of magnetisation, when electric current produces, electromagnetic lock can produce powerful suction and stretch tape, lead to baffle plate to produce angle, draw Lead part whereabouts;Otherwise after power-off, electromagnetic lock lose suction be tape retract, then and lead to baffle plate to produce again angle, Another whereabouts of guiding part.

The course of work of this case device is as shown in figure 3, particularly as follows: first, running camera software, this batch standard component is put In camera fields of view center, by judging to the position in imaging definition and the shared visual field and ratio, automatically adjusted by controller The position of the focal length of four cameras of section, lifting camera frame 3 height and spoon type baffle plate 2 and Fibre Optical Sensor 15;Run operation soft Part, about 5 standard components are placed under camera, gather standard component information, after standard component information gathering finishes, you can run this batch The detection of part;Part delivers to glass slide unit 1 top by conveyer belt, part under gravity, through the bottleneck of spoon type baffle plate 2 Camera fields of view center is entered behind position;Part continues to glide, and triggers camera through Fibre Optical Sensor 15, four cameras are simultaneously Take pictures, obtain a part front elevation and three part side views;Image analysis system is analyzed to four figures, draws detection Result;Controller controls device for eliminating to move left and right according to testing result, completes to shunt.

The above be only the preferred embodiment of the present invention it should be pointed out that: for the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (5)

1. can to polytypic irregularly shaped product carry out defects detection intelligent detection device it is characterised in that: include 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 on the gradient direction of glass slide unit (1) Glass slide unit (1) is divided into two regions in left and right by one perpendicular s, perpendicular s;
Described bottleneck punishment in advance mechanism includes two physical dimensions identical spoon type baffle plate (2), described two spoon type baffle plate (2) spoon mouths Run counter to and be symmetrical in perpendicular s setting, spoon type baffle plate (2) is arranged on glass slide unit (1), limit part to be detected in glass slide unit (1) moving region on;The spoon mouth position of spoon type baffle plate (2) is higher than kettleholder position, and the end of two spoonfuls of mouths is as part to be detected Feeding end, the deep recess spacing of two spoonfuls of mouths is minimum and guarantees that only one detects passing through of product, and two kettleholder afterbodys become to;
Described image acquisition system include overhead view image collecting mechanism, side elevation image collecting mechanism, IMAQ trigger mechanism and It is relative that image analysis system, overhead view image collecting mechanism and the image acquisition region of side elevation image collecting mechanism are located at two kettleholders In region;Described overhead view image collecting mechanism includes overlooking camera (4), overlooks camera (4) vertical glass slide unit (1) setting position On perpendicular s, overlook the top that camera (4) is located at glass slide unit (1), glass slide unit (1) lower upright to overlooking phase Machine (4) is provided with planar light source (9);Described side elevation image collecting mechanism includes first camera (5), second camera (6) and the 3rd Camera (7), first camera (5), second camera (6) and third camera (7) are placed in a plane parallel to glass slide unit (1) Interior, and by overlook camera (4) in the projection on glass slide unit (1) centered on, 120 ° of interval annular settings, corresponding first camera (5) it is provided with the first spot light (10), corresponding second camera (6) is provided with the second spot light (11), corresponding third camera (7) sets It is equipped with thirdly light source (12);Described image trigger collection mechanism includes Fibre Optical Sensor (15), and Fibre Optical Sensor (15) is just right Perpendicular s arrange, by Fibre Optical Sensor (15) simultaneously trigger overlook camera (4), first camera (5), second camera (6) and Third camera (7) works, and the image of collection is sent to image analysis system;Described image analysis system includes standard component figure As collecting unit and part image acquisition units to be detected, by the image of part image acquisition units to be detected collection and standard component image The image of collecting unit collection is contrasted, and judges whether part to be detected is qualified products;
Described vertical view camera (4) is passed through lifting camera frame (3) and is arranged in frame, and lifting camera frame (3) includes ball-screw machine Structure, crossbeam and stepper motor, are vertically moved up and down by the leading screw of driving stepper motor ball screw framework, one end of crossbeam with The leading screw of ball screw framework is fixed, and the other end of crossbeam is installed and overlooked camera (4).
2. according to claim 1 can carry out the intelligent detection device of defects detection by irregularly shaped product to polytypic, It is characterized in that: described glass slide unit (1) inclination angle with respect to the horizontal plane is 30 °.
3. according to claim 1 can carry out the intelligent detection device of defects detection by irregularly shaped product to polytypic, It is characterized in that: the deep recess location of described two spoonfuls of mouths is provided with displacement transducer (16), is detected by displacement transducer (16) The spacing of the deep recess of two spoonfuls of mouths.
4. according to claim 1 can carry out the intelligent detection device of defects detection by irregularly shaped product to polytypic, It is characterized in that: the initial and tail sections of described two spoon type baffle plates (2) are all arranged in frame by leading screw slipway mechanism (17), pass through Adjusting screw slipway mechanism (17) adjusts the spacing of two spoon type baffle plates (2).
5. according to claim 1 can carry out the intelligent detection device of defects detection by irregularly shaped product to polytypic, It is characterized in that: it is provided with automatically in described vertical view camera (4), first camera (5), second camera (6) and third camera (7) Focus control (18).
CN201410310313.7A 2014-07-01 2014-07-01 Intelligent detecting device for detecting defects of multi-type irregularly shaped product CN104101608B (en)

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