CN105269403A - Detecting system and detecting method - Google Patents
Detecting system and detecting method Download PDFInfo
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- CN105269403A CN105269403A CN201510839955.0A CN201510839955A CN105269403A CN 105269403 A CN105269403 A CN 105269403A CN 201510839955 A CN201510839955 A CN 201510839955A CN 105269403 A CN105269403 A CN 105269403A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2409—Arrangements for indirect observation of the working space using image recording means, e.g. a camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2428—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a detecting system and a detecting method. The detecting system comprises an image collecting unit, a detecting unit, a containing unit, moving units, support units and a control system. According to the detecting system, the image collecting unit is used for collecting images of workpieces to be detected, movement indication information is generated according to image information, then the moving units are controlled to shift according to the movement indication information, so that the containing unit can be driven to generate displacement relative to the detecting unit, the workpieces to be detected in the containing unit are moved to the correct positions, and detection of the detecting unit on the workpieces to be detected is completed. The detecting system is simple in principle and easy to implement, and the production and detection efficiency of factories can be greatly improved; a machine is used for replacing manpower for detection, the detection speed and accuracy are high, and occasionality and nondeterminacy of manual detection can be avoided; and the detecting system is combined with a production line, automation of the whole production line can be really achieved, and production efficiency is improved.
Description
Technical field
The present invention relates to detection field, be specifically related to a kind of detection system and detection method.
Background technology
In modern production, need to carry out various detection to guarantee its satisfactory quality to product, as the small-sized aluminium alloy heat radiator shown in for Fig. 1, the degree of depth of the stepped hole, boss, groove, blind hole etc. detecting its appearance and size and workpiece is needed whether to meet production drawing requirement.For the workpiece of this type, the method that current most of factory adopts relies on workman in conjunction with measurer sampling Detection product, this traditional detection mode not only affects the production efficiency of factory, also directly can affect product quality due to its uncertainty, cause a large amount of wastes of manpower and materials.Many plant produced environment are relatively more severe, carry out the health that testing also can affect workman for a long time.
Summary of the invention
According to an aspect of the present invention, provide a kind of detection system, it comprise image acquisition units, detecting unit, hold unit, moving cell, carrier unit, control system.
Hold unit to be flexibly connected with moving cell, for holding workpiece for measurement; Image acquisition units to be arranged on carrier unit and to communicate to connect with control system, for gathering the image of workpiece for measurement; Control system is used for the image information gathered according to image acquisition units, produces motion indication information; Moving cell is connected with carrier unit and communicates to connect with control system, for the motion indication information of receiving control system, and carries out displacement according to motion indication information thus drive holding the surveyed area that unit moves to detecting unit; Detecting unit to be arranged on carrier unit and to communicate to connect with control system; Control system to drive according to motion indication information at moving cell and holds after unit completes displacement, controls detecting unit and detects workpiece for measurement.
According to a second aspect of the invention, provide a kind of detection method, comprise following process:
Image acquisition process: control the image that image acquisition units collection is positioned over the workpiece for measurement held on unit.
Image analysis process: the image information gathered according to image acquisition units, produces motion indication information.
Displacement process: carry out displacement according to motion indication information controlled motion unit thus drive holding the surveyed area that unit moves to detecting unit.
Testing process: control detecting unit and workpiece for measurement is detected.
Detection system of the present invention, image acquisition units is utilized to gather the image of workpiece for measurement, motion indication information is produced according to image information, controlled motion unit carries out displacement according to motion indication information thus drives holding the displacement of unit generation relative to detecting unit again, workpiece for measurement is made to move to correct position, thus complete the detection of detecting unit to workpiece for measurement, relative to the mode of the manual detection workpiece of prior art, can increase work efficiency and accuracy.
Accompanying drawing explanation
Fig. 1 is that the needs of prior art carry out radiator workpiece schematic diagram being detected;
Fig. 2 is the detection system structure chart of the embodiment of the present invention one;
Fig. 3 is the detection system structure chart of the embodiment of the present invention one;
Fig. 4 is the detection system structure chart of the embodiment of the present invention one;
Fig. 5 is the workpiece for measurement schematic diagram of the embodiment of the present invention one.
Detailed description of the invention
By reference to the accompanying drawings the present invention is described in further detail below by detailed description of the invention.
Embodiment one:
As shown in Figure 2, the detection system of the present embodiment is workpiece hole depth detection system, concrete example, as the system that can be Aulomatizeted Detect small-sized aluminium alloy heat radiator surface blind hole depth, comprises image acquisition units and smart camera 1, detecting unit and laser range finder 2, holds unit and tray for work pieces 31, moving cell 30, carrier unit, control system 10.
In order to make, smart camera 1 is more clear to be taken, and workpiece hole depth detection system can also comprise light source cell 89.
Control system 10 can be personal computer or other parametric controller.
Carrier unit is used for carrying out support and fixation to smart camera 1, laser range finder 2, tray for work pieces 31, moving cell 30, light source cell 89, and those skilled in the art can according to the concrete structure of actual conditions flexible design carrier unit.
As shown in Figure 3, the present embodiment medium-height trestle unit comprises frame upper unit 5, support supporter 6, frame bottom unit 7.Smart camera 1, laser range finder 2 are arranged on frame upper unit 5; First direction motion platform 32 is arranged on frame bottom unit 7.Frame upper unit 5 is connected with frame bottom unit 7 by support supporter 6, and support supporter 6 plays the effect of supporting bracket upper unit 5.Tray for work pieces 31 is arranged between moving cell and smart camera 1, laser range finder 2.Frame upper unit 5 can adopt crossbeam form, and the suspention of smart camera 1, laser range finder 2 is arranged on frame upper unit 5.In other embodiments, frame upper unit 5 also can be separated with frame bottom unit 7, does not need to arrange supporting structure between.
The system of the present embodiment can also arrange the Z-direction drive division 4 be connected with smart camera 1 and/or laser range finder 2, for driving smart camera 1 and/or laser range finder 2 to produce displacement at vertical direction, thus person easy to use regulates the height of smart camera 1 and/or laser range finder 2.
The system construction drawing of the present embodiment as shown in Figures 2 and 3, tray for work pieces 31 is flexibly connected with moving cell, for holding workpiece for measurement 001.Moving cell is by first direction motion platform 32(X axle motion platform 32), second direction motion platform 33(Y axle motion platform 33) form.Second direction motion platform 33 is flexibly connected with tray for work pieces 31, and first direction motion platform 32 is flexibly connected with second direction motion platform 33, and first direction motion platform 32 is arranged on carrier unit.First direction described in the present embodiment is X-direction, and second direction is Y direction.Second direction motion platform 33 produces displacement for driving tray for work pieces 31 towards Y direction; First direction motion platform 32 is for driving second direction motion platform 33 towards X-direction motion thus making tray for work pieces 31 produce displacement towards X-direction.
Further, as shown in Figure 3, the workpiece hole depth detection system of the present embodiment, the Y direction fixed part 331 that Y direction motion platform 33 comprises Y direction displacement portion 332 and is flexibly connected with it.Y direction motion platform 33 also comprises Y direction drive division 333, Y direction drive division 333 is arranged on one end of Y direction fixed part 331 and is connected with Y direction displacement portion 332, the mode connected can connect for threaded screw rod, Y direction drive division 333 is for driving Y direction displacement portion 332 thus making it move along Y direction on Y direction fixed part 331, and the mode of driving can be promote or pull the modes such as Y direction displacement portion 332.Y direction displacement portion 332 on Y direction fixed part 331 can be carry out sliding, the motion mode such as roller rolling.Y direction displacement portion 332 is connected with tray for work pieces 31, thus the movement of Y direction displacement portion 332 can drive tray for work pieces 31 to move.The X-direction fixed part 321 that X-direction motion platform 32 comprises X-direction displacement portion 322 and is flexibly connected with it, X-direction fixed part 321 is arranged on frame bottom unit 7, and X-direction displacement portion 322 is connected with Y direction fixed part 331.X-direction motion platform 32 also comprises X-direction drive division 323, X-direction drive division 323 is arranged on one end of X-direction fixed part 321 and is connected with X-direction displacement portion 322, connect, the mode connected can connect for threaded screw rod, X-direction drive division 333 is for driving X-direction displacement portion 322 thus making it move along X-direction on X-direction fixed part 321, and the mode of driving also can be promote or pull the modes such as X-direction displacement portion 322; X-direction displacement portion 322 X-direction fixed part 321 also can be carry out sliding, the motion mode such as roller rolling.Because X-direction displacement portion 322 is connected with Y direction fixed part 331, thus the movement of X-direction displacement portion 322 can drive Y direction motion platform 33 entirety to be moved along X-direction, and then tray for work pieces 31 is moved along X-direction.Y direction drive division 333, X-direction drive division 323 and Z-direction drive division 4 can adopt drive motors.
The light source cell 89 of the present embodiment can be backlight 8 design combined with annular light source 9, and those skilled in the art can adopt according to actual conditions the light source being applicable to system applied environment.
The course of work and the principle of the workpiece hole depth detection system of the present embodiment is introduced in detail below in conjunction with Fig. 2 to Fig. 5:
S1, image acquisition process
Workpiece for measurement 001 is transported to tray for work pieces 31 with fixed pose and sends enabling signal notice detection system 10 and starts working by S1.1 manipulator;
Or, alternate manner also can be adopted such as manually to place workpiece for measurement 001 in tray for work pieces 31 also open detection system 10;
After S1.2 detection system 10 receives enabling signal, open backlight 8, annular light source 9 and camera 1, control camera 1 pair of workpiece 001 and take pictures, and image or photo are stored in systems soft ware pending.
S2, image analysis process
The image of certain workpiece 001 that the system of the present embodiment is once taken as shown in Figure 5, system needs the degree of depth of four grooves (such as one of them groove is A point) detecting workpiece 001, for this reason, the vertical lower O point first center, A place successively being moved to laser range finder 2 is needed.In the present embodiment, surveyed area i.e. its just right vertical below of laser range finder 2.
Graphical analysis is based on template matching algorithm, template matching algorithm refer to first using the photo of a certain qualified workpiece as template, find the position of other workpiece upper grooves with this.Mainly be divided into Image semantic classification, Iamge Segmentation, feature extraction and result of calculation four steps.The concrete principle of graphical analysis of the present embodiment is:
An image template is prestored in system, image template is the photo image after treatment of qualified workpiece, in image template, marked which position in workpiece (the A groove as Fig. 5) is need to measure, and can obtain the feature (being designated as feature 1) of these positions;
The image of workpiece for measurement 001 is obtained to taking pictures, after Image semantic classification, workpiece for measurement image and template image are carried out the contrast of feature based 1, obtain those parts in workpiece for measurement image with feature 1 thus, and think that these parts are exactly the position (the A groove as Fig. 5) that will survey;
Again the centre coordinate that the Fitting Calculation draws each position is carried out to these positions in workpiece image to be measured.
About how determining X-axis motion platform 32, Y-axis motion platform 33 amount of feed, details are as follows for its principle
When camera 1 is demarcated, the coordinate that the picture centre (position that namely optical center is right) of the workpiece for measurement image that it collects is put is known in world coordinate system, and in image coordinate system, it is by the initial point as every other pixel position in this image of description, the O point namely in Fig. 5.Template matching algorithm is applied to workpiece for measurement image can obtain A point coordinate about initial point (O point) in image coordinate system, and O point world coordinates is known, then can draw the world coordinates of A point according to the transformational relation demarcating rear image pixel and actual range.Namely the coordinate of O point in world coordinate system is known and A point and O point relative position relation is known, then can draw the world coordinates of A point.
The coordinate system no matter adopting world coordinate system, image coordinate system or be initial point with XY mobile platform initial point, the relative position relation of A point and O point is determined, the coordinate of A point and O point is also determined, according to the coordinate position relation of A point and O point, again according to the relation of move distance and pulse number, can show that X-axis motion platform 32, Y-axis motion platform 33 need the displacement of feeding in X, Y-direction, that is, can show that X-axis motion platform 32 needs to feed much displacements in X-direction, Y-axis motion platform 33 needs to feed much displacements in the Y direction just can make A point move to O point.
For A point, the displacement dx that X-axis motion platform 32 needs to feed in X-direction by control system 10, Y-axis motion platform 33 need the displacement dy fed to be sent to X-axis motion platform 32, Y-axis motion platform 33 as motion indication information in the Y direction.
S3, displacement process
X-direction displacement portion 322 to move along X-direction according to motion indication information thus drives Y direction fixed part 331 to produce the displacement of dx towards X-direction, and then drives tray for work pieces 31 to produce the displacement of dx towards X-direction;
Y direction displacement portion 332 to move along Y direction according to motion indication information thus drives tray for work pieces 31 to produce the displacement of dy towards Y direction; Like this, namely the A point of workpiece for measurement 001 moves to O point position.
In one embodiment of the invention, do not appear in the visual field of camera 1 to make laser range finder 2 and (namely can not be photographed by camera 1 and affect shooting workpiece), laser range finder 2 is not be arranged in immediately below camera, but to be arranged in below camera 1 with camera 1 at X, Y-direction there is a distance staggered (specifically, lx is the utilizing emitted light mouth of laser range finder 2 and the camera 1 optical center distance in X-direction, ly is utilizing emitted light mouth and the camera 1 optical center distance in the Y direction of laser range finder 2), and this lx, ly distance can be measured and draw.When A point moves to O point, namely after camera initial point, the distance that also will move lx, a ly more just can make the hot spot of laser range finder drop on A point.Those skilled in the art without departing from the inventive concept of the premise, can adjust the position relationship of laser range finder 2 and camera 1 flexibly according to actual conditions.
S4, testing process
For A point, when motion platform moved make A point fall corresponding O point time, the hot spot of laser range finder 2 drops on the A position groove center of workpiece, and now software can send and read degree of depth instruction to laser range finder 2, and the degree of depth that laser range finder 2 feeds back current A position groove is preserved to software.
Range measurement principle is: laser range finder 2 is launched laser and is irradiated to body surface (being the bottom of A groove) herein, can measure the distance of body surface to laser head according to triangulation.
In the present invention, can be a position analysis and complete a tray for work pieces movement, detect after, then carry out the analysis of next position and complete movement, the detection of tray for work pieces next time; Also can be the movement, the detection that successively complete four subjob pallets after the analysis of four positions again.
S4, processing procedure
After all positions have been detected, the absolute fix degree of depth and the theoretical position degree of depth have contrasted by control system 10, if the difference of the dark measured value in a certain position and theoretical value exceedes the tolerance of drawings marked, then this workpiece are considered as substandard products; If depth is all qualified, then this workpiece is considered as certified products.
Software sends different signals according to the whether qualified of workpiece to manipulator, manipulator according to different signals by workpiece handling to certified products district and substandard products district.
For the detection of batch workpiece, native system repeats above step thus completes the whole detections to a certain batch of a large amount of workpiece.
The dark detection system in position of the present embodiment mainly on the basis of NI Vision Builder for Automated Inspection the dark detection module of block position build.Before use NI Vision Builder for Automated Inspection, must camera wherein be demarcated, to determine at the proportionate relationship of camera imaging and actual physics length and the camera initial point coordinate at world coordinate system.This is for ensureing the preparation of the whole system work degree of accuracy.After the installation site of camera is determined, only need carry out the demarcation of a camera.
The realization of native system illumination is realized by the combination of the backlight 8 in system construction drawing and annular light source 9.In NI Vision Builder for Automated Inspection, illumination is a very important part, and its effect highlights key element to be measured, itself and other key element is distinguished so that follow-up image procossing.Consider the position, the LED backlight that native system is taked and the low-angle illumination of annular light source forward direction that need to detect position.This illumination scheme can improve picture contrast, and the image processing algorithm in conjunction with template matches can obtain better effects.
The dark detection system principle of the location of workpiece of the present embodiment is simple, is easy to realize, greatly can improves production and the detection efficiency of factory.
The system of the present embodiment makes to install machines to replace manual labor and detects, and detection speed is fast, and the degree of accuracy is high, can avoid contingency and the uncertainty of manual detection.
Utilize the system of the present embodiment, itself and production line can be combined, and in systems soft ware integrated data library facility, realize " produce-detect-sort out-vanning-record " integration, by to the total detection of product but not sampling Detection, by product quality specific to a certain instead of a certain batch, really realize the automation of whole production line, enhance productivity.
Those skilled in the art are except utilizing the present embodiment systems axiol-ogy workpiece hole depth, can also be applied to and detect workpiece size and the work grooves degree of depth etc., namely except hole depth detection system that the present embodiment exemplifies, the key element that the present invention can detect is not limited to hole depth, can also be that such as depth of groove, boss height, step hole depth etc. have the key element of difference in height relative to surface of the work.
Above content is in conjunction with concrete embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made.
Claims (10)
1. a detection system, is characterized in that,
Comprise image acquisition units (1), detecting unit (2), hold unit (31), moving cell (32,33), carrier unit (5,6,7), control system (10);
The described unit (31) that holds is flexibly connected with described moving cell, for holding workpiece for measurement;
Described image acquisition units (1) to be arranged on described carrier unit and to communicate to connect with described control system, for gathering the image of described workpiece for measurement;
Described control system is used for the image information gathered according to described image acquisition units, produces motion indication information; Described motion indication information is used to indicate direction of displacement and the displacement of described moving cell (32,33);
Described moving cell (32,33) is connected with described carrier unit and communicates to connect with described control system, for receiving the motion indication information of described control system, and carry out displacement according to described motion indication information thus hold the surveyed area that unit moves to described detecting unit described in drive;
Described detecting unit (2) to be arranged on described carrier unit and to communicate to connect with described control system;
Hold after unit completes displacement described in described control system drives at described moving cell, control described detecting unit and described workpiece for measurement is detected.
2. the system as claimed in claim 1, is characterized in that,
The image information that described control system is used for the workpiece for measurement gathered according to described image acquisition units carries out the process based on matching algorithm, thus produces motion indication information.
3. system as claimed in claim 1 or 2, is characterized in that,
Described carrier unit comprises frame upper unit (5), frame bottom unit (7);
Described image acquisition units (1), described detecting unit (2) are arranged on described frame upper unit (5);
Described moving cell (32,33) is arranged on described frame bottom unit (7);
The described unit (31) that holds is arranged between described moving cell and described image acquisition units, described detecting unit.
4. system as claimed in claim 3, is characterized in that,
Described carrier unit also comprises support supporter (6), and described frame upper unit (5) is connected with described frame bottom unit (7) by described support supporter (6), and described support supporter is for supporting described frame upper unit.
5. system as claimed in claim 3, is characterized in that,
Described frame upper unit is crossbeam, and the suspention of described image acquisition units, described detecting unit is arranged on described frame upper unit.
6. the system as described in any one of claim 3-5, is characterized in that,
Described moving cell comprises first direction motion platform (32), second direction motion platform (33);
Described second direction motion platform (33) is flexibly connected with the described unit (31) that holds, described in driving, hold unit (31) towards second direction generation displacement;
Described first direction motion platform (32) is arranged on described frame bottom unit (7), and be flexibly connected with described second direction motion platform (33), produce displacement for driving described second direction motion platform towards first direction motion thus holding unit described in making towards first direction;
Described motion indication information is used to indicate the displacement that described first direction motion platform (32) should occur along first direction, and the displacement indicating described second direction motion platform (33) should occur along second direction.
7. system as claimed in claim 6, is characterized in that,
The second direction fixed part (331) that described second direction motion platform (33) comprises second direction displacement portion (332) and is flexibly connected with it;
Described second direction displacement portion (332) is connected with the described unit (31) that holds;
The first direction fixed part (321) that described first direction motion platform (32) comprises first direction displacement portion (322) and is flexibly connected with it;
Described second direction fixed part (331) is connected with described first direction displacement portion (322);
Described first direction fixed part (321) is arranged on described frame bottom unit (7);
Described second direction displacement portion (332) produces displacement for moving thus hold unit (31) described in driving along second direction according to described motion indication information on described second direction fixed part (331) towards second direction;
Described first direction displacement portion (322) for moving along first direction according to described motion indication information thus driving described second direction fixed part (331) to produce displacement towards first direction on described first direction fixed part (321).
8. system as claimed in claim 7, is characterized in that,
Described second direction motion platform (33) also comprises the second direction drive division (333) be connected with described second direction displacement portion (332), moves on described second direction fixed part (331) for driving described second direction displacement portion (332) according to described motion indication information along second direction;
Described first direction motion portion (32) also comprises the first direction drive division (323) be connected with described first direction displacement portion (322), moves on described first direction fixed part (321) for driving described first direction displacement portion (322) according to described motion indication information along first direction.
9. a detection method, is characterized in that, comprising:
Image acquisition process: control the image that image acquisition units (1) collection is positioned over the workpiece for measurement held on unit (31);
Image analysis process: the image information gathered according to described image acquisition units, produces motion indication information;
Displacement process: carry out displacement according to described motion indication information controlled motion unit (32,33) thus hold the surveyed area that unit moves to described detecting unit described in drive;
Testing process: control described detecting unit and described workpiece for measurement is detected.
10. method as claimed in claim 9, is characterized in that,
Described image analysis process is:
The image information of the workpiece for measurement gathered according to described image acquisition units carries out the process based on matching algorithm, thus produces motion indication information;
Described motion indication information is used to indicate the displacement that first direction displacement portion (322) should occur along first direction, and the displacement that instruction second direction displacement portion (332) should occur along second direction;
Described displacement process is:
Control described second direction displacement portion (332) to move according to described motion indication information along second direction thus hold unit (31) described in driving and produce displacement towards second direction;
Control described first direction displacement portion (322) according to described motion indication information along first direction move thus drive second direction fixed part (331) towards first direction produce displacement.
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