CN106023240B - A kind of mounting screw missing detection method of automobile lighting lamp - Google Patents
A kind of mounting screw missing detection method of automobile lighting lamp Download PDFInfo
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- CN106023240B CN106023240B CN201610576561.5A CN201610576561A CN106023240B CN 106023240 B CN106023240 B CN 106023240B CN 201610576561 A CN201610576561 A CN 201610576561A CN 106023240 B CN106023240 B CN 106023240B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0008—Industrial image inspection checking presence/absence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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Abstract
The invention discloses a kind of mounting screws of automobile lighting lamp to lack detection method, using infrared band image capturing system, the infrared band image capturing system is arranged in car light tooling, the infrared band image capturing system includes infrared camera, infrared light supply and sensors in place, the visual field of the infrared light supply and infrared camera covers all screw ranges of car light, establishes model library using the infrared band image capturing system.The mounting screw missing detection method of automobile lighting lamp of the invention utilizes infrared band image capturing system, and infrared band image capturing system is easy for installation not to be needed especially accurately to align, and determines that screw position is very convenient.Processing speed is fast, and high degree of automation and production line connection are convenient.The image data of acquisition can save, and trace for the later period, and Detection accuracy is high.
Description
Technical field
The present invention relates to a kind of mounting screws of automobile lighting lamp to lack detection method.
Background technique
Car light rigging screw is the basis for guaranteeing car light quality.Continuous promotion with client to car light quality requirements, it is raw
Business men also increasingly payes attention to the quality problems generated by screw neglected loading.The detection spiral shell automated using machine vision technique
Follow closely neglected loading increasingly it is necessary to.
Original car light screw detecting is detected mainly by artificial detection, metal sensor.This mode of artificial detection is main
It is direct labor in the production line with from the point of view of eyes.It can solve most of problem by suitably managing.But due to artificial
The problems such as it is slow inevitably to there is speed in relationship, causes detection quality uncontrollable by people's fatigue.Improved metal sensor
Although solving the problems, such as measuring speed, some other problems of band, such as it is difficult to install, contraposition is inaccurate, and reason is
The relative position between sensor and screw need to be adjusted, to obtain the response sensitivity met the requirements, but also there are a variety of types
The problems such as number car light is not general.The tool structure form of existing lamps and lanterns is difficult that adjustment personnel is intuitively allowed to observe from below sensor
Adjustment process, seriously affect the Detection accuracy of system.
Therefore, it is necessary to a kind of new detection devices to solve the above problems.
Summary of the invention
Goal of the invention: of the existing technology in order to overcome the problems, such as, the present invention provides a kind of better automotive lighting of effect
The mounting screw of headlight lacks detection method.
In order to solve the above technical problems, used by the mounting screw missing detection method of automobile lighting lamp of the invention
Technical solution are as follows:
A kind of mounting screw missing detection method of automobile lighting lamp, it is described using infrared band image capturing system
Infrared band image capturing system is arranged in car light tooling, and the infrared band image capturing system includes infrared camera, red
The visual field of outer light source and sensors in place, the infrared light supply and infrared camera covers all screw ranges of car light, utilizes institute
State infrared band image capturing system and establish model library, the method for building up of the model library the following steps are included:
A, the screw surface of tested automobile lighting lamp is irradiated using the infrared light supply；
B, the image for the reflected light that the infrared camera acquisition step a is generated；
C, step a and b are repeated, acquire to have respectively in each of automobile lighting lamp position to be detected and screw and does not have screw
Image, obtain model library, while extracting the image around position to be detected as positioning datum；
Detection method includes the following steps for the mounting screw missing:
One, automobile lighting lamp is packed into car light tooling, after the sensors in place detects automobile lighting lamp in place,
The infrared light supply is opened, the infrared camera acquires image, obtains testing image；
Two, the testing image that step 1 obtains is positioned, extraction step one is to be detected from the model library
Picture around position is as positioning datum；
Three, positioning datum and testing image are subjected to image convolution using NCC algorithm, obtain testing image in step 1
Convolution exports deviant of the position coordinates of maximum value as testing image；
Four, the deviant of the testing image obtained using step 3 carries out offset correction to the testing image, is determined
Testing image behind position；
Five, by the testing image after positioning that step 4 obtains respectively with the image for having screw in model library and do not have screw
Image is handled using NCC algorithm, wherein with the output valve of the image procossing for having screw be X1, with do not have screw image at
The output valve of reason is X2, judges whether screw lacks according to the following formula:
When detection, meet X1-X2 > a and X1 > b, then output has screw；Meet X1-X2 < a or X1 <b, then exports spiral shell
Nail missing, wherein a is comparison threshold value, and b is minimum threshold, and a and b are known parameters.
Further, multiple car light same positions are acquired in the method for building up of the model library to be had screw and not to have screw
Image is as model.To improve robustness.
Further, the infrared camera, infrared light supply and sensors in place are arranged in car light tooling.It prevents from shaking
Influence of the offset to system caused by dynamic.
Further, the infrared band image capturing system further includes infrared filter, and the infrared filter is set
It sets between the infrared camera and car light.It will filter out most of environment light (including fluorescent lamp, non-direct projection day by this process
Light), greatly reduce influence of the environment light to system, to adapt to the operating condition of different production lines.
Further, determination obtains comparison threshold value a and minimum threshold b by the following method in step 5:
(1), testing image is carried out with the image for having screw in model library and the image for not having screw using NCC algorithm respectively
Processing, wherein the output valve with the image procossing for having screw is X1, and the output valve with the image procossing for there be not screw is X2, then plus
Upper one artificial determines marks Y, wherein Y=0 or 1,0 indicates do not have screw, and 1 indicates screw；
(2), step (1) is repeated, is mapped to a two-dimensional coordinate system for output valve X1 and X2 as a coordinate points, manually
Determine output of the label Y as point (X1, X2)；
(3), the average value for enabling X1-X2 is a, and the average value of X1 is b, wherein a is comparison threshold value, and b is minimum threshold.Benefit
Determine obtained a and b for judging it is higher whether screw lacks accuracy rate with the method.
Further, determination obtains comparison threshold value a and minimum threshold b by the following method in step 5:
(1), testing image is carried out with the image for having screw in model library and the image for not having screw using NCC algorithm respectively
Processing, wherein the output valve with the image procossing for having screw is X1, and the output valve with the image procossing for there be not screw is X2, then plus
Upper one artificial determines marks Y, wherein Y=0 or 1,0 indicates do not have screw, and 1 indicates screw；
(2), step (1) is repeated, is mapped to a two-dimensional coordinate system for output valve X1 and X2 as a coordinate points, manually
Determine output of the label Y as point (X1, X2)；
(3), the two-dimensional coordinate system obtained according to step (2) determines so that Y is X1-X2 in the range of 1 point (X1, X2)
Average value be a, determine so that the average value of X1 is b in the range of the point (X1, X2) that Y is 0, wherein a is comparison threshold value, and b is
Minimum threshold.Obtained a and b is determined using the method, more targetedly, so that for judging whether screw lacks accuracy rate
It is higher.In order to reduce omission factor, one stable comparison threshold value (difference of positive and negative model result can be set according to the result repeatedly measured
Absolute value).
Further, the car light tooling includes bracket, and the bracket includes cross bar, and more are provided on the cross bar
Upright bar, the car light are fixed in the upright bar.
Further, the infrared light supply and infrared camera are respectively provided on the cross bar.
Further, the infrared light supply and the relatively described cross bar sliding of infrared camera.Facilitate adjustment infrared light supply and
The position of infrared camera and visual field.
Further, the length of the upright bar is all different, and the sensors in place is arranged in the longest upright bar
On.Sensors in place is arranged in longest upright bar, and detection accuracy is higher.
The utility model has the advantages that the mounting screw missing detection method of automobile lighting lamp of the invention is adopted using infrared band image
Collecting system, infrared band image capturing system is easy for installation not to be needed especially accurately to align, and determines that screw position is very convenient.
Processing speed is fast, and high degree of automation and production line connection are convenient.The image data of acquisition can save, and trace for the later period, and
And Detection accuracy is high.
Detailed description of the invention
Fig. 1 is the circuit diagram of infrared band image capturing system of the invention；
Fig. 2 is the structural schematic diagram of infrared band image capturing system of the invention；
Fig. 3 is that the mounting screw of automobile lighting lamp lacks the flow diagram of detection method.
Specific embodiment
It please refers to shown in Fig. 1, Fig. 2 and Fig. 3, the mounting screw of automobile lighting lamp of the invention lacks detection method, adopts
With infrared band image capturing system, infrared band image capturing system is arranged in car light tooling, infrared band Image Acquisition
System includes infrared camera, infrared light supply and sensors in place, and infrared light supply and the equal face car light of infrared camera utilize infrared waves
Section image capturing system establishes model library.Infrared camera, infrared light supply and sensors in place are arranged in car light tooling.It prevents
Influence of the offset to system caused by vibration.Infrared band image capturing system further includes infrared filter, and infrared filter is set
It sets between infrared camera and car light.It will filter out most of environment light (including fluorescent lamp, non-direct sunlight) by this process,
Greatly reduce influence of the environment light to system, to adapt to the operating condition of different production lines.
The method for building up of model library the following steps are included:
A, the screw surface of tested automobile lighting lamp is irradiated using the infrared light supply；
B, the image for the reflected light that the infrared camera acquisition step a is generated；
C, step a and b are repeated, acquire to have respectively in each of automobile lighting lamp position to be detected and screw and does not have screw
Image, obtain model library, while extracting the image around position to be detected as positioning datum；
Detection method includes the following steps for the mounting screw missing:
One, automobile lighting lamp is packed into car light tooling, after the sensors in place detects automobile lighting lamp in place,
The infrared light supply is opened, the infrared camera acquires image, obtains testing image；
Two, the testing image that step 1 obtains is positioned, extraction step one is to be detected from the model library
Picture around position is as positioning datum；
Three, positioning datum and testing image are subjected to image convolution using NCC algorithm, obtain testing image in step 1
Convolution exports deviant of the position coordinates of maximum value as testing image；
Four, the deviant of the testing image obtained using step 3 carries out offset correction to the testing image, is determined
Testing image behind position；
Five, by the testing image after positioning that step 4 obtains respectively with the image for having screw in model library and do not have screw
Image is handled using NCC algorithm, wherein with the output valve of the image procossing for having screw be X1, with do not have screw image at
The output valve of reason is X2, judges whether screw lacks according to the following formula:
When detection, meet X1-X2 > a and X1 > b, then output has screw；Meet X1-X2 < a or X1 <b, then exports spiral shell
Nail missing, wherein a is comparison threshold value, and b is minimum threshold, and a and b are known parameters.
Determination obtains comparison threshold value a and minimum threshold b by the following method in step 5:
(1), testing image is carried out with the image for having screw in model library and the image for not having screw using NCC algorithm respectively
Processing, wherein the output valve with the image procossing for having screw is X1, and the output valve with the image procossing for there be not screw is X2, then plus
Upper one artificial determines marks Y, wherein Y=0 or 1,0 indicates do not have screw, and 1 indicates screw；
(2), step (1) is repeated, is mapped to a two-dimensional coordinate system for output valve X1 and X2 as a coordinate points, manually
Determine output of the label Y as point (X1, X2)；
(3), the average value for enabling X1-X2 is a, and the average value of X1 is b, wherein a is comparison threshold value, and b is minimum threshold.Benefit
Determine obtained a and b for judging it is higher whether screw lacks accuracy rate with the method.
Preferably, determination obtains comparison threshold value a and minimum threshold b by the following method in step 5:
(1), testing image is carried out with the image for having screw in model library and the image for not having screw using NCC algorithm respectively
Processing, wherein the output valve with the image procossing for having screw is X1, and the output valve with the image procossing for there be not screw is X2, then plus
Upper one artificial determines marks Y, wherein Y=0 or 1,0 indicates do not have screw, and 1 indicates screw；
(2), step (1) is repeated, is mapped to a two-dimensional coordinate system for output valve X1 and X2 as a coordinate points, manually
Determine output of the label Y as point (X1, X2)；
(3), the two-dimensional coordinate system obtained according to step (2) determines so that Y is X1-X2 in the range of 1 point (X1, X2)
Average value be a, determine so that the average value of X1 is b in the range of the point (X1, X2) that Y is 0, wherein a is comparison threshold value, and b is
Minimum threshold.Obtained a and b is determined using the method, more targetedly, so that for judging whether screw lacks accuracy rate
It is higher.In order to reduce omission factor, one stable comparison threshold value (difference of positive and negative model result can be set according to the result repeatedly measured
Absolute value).
Wherein, car light tooling includes bracket 5, and bracket 5 includes cross bar, is provided with more upright bars on cross bar, car light is fixed on
In upright bar.Infrared light supply 3 and infrared camera 2 are arranged on cross bar.Preferably, 2 opposing rail of infrared light supply 3 and infrared camera
Sliding.Facilitate position and the visual field of adjustment infrared light supply and infrared camera.The length of upright bar is all different, and sensors in place 1 is set
It sets in longest upright bar.Sensors in place is arranged in longest upright bar, and detection accuracy is higher.
In order to reduce omission factor, one stable comparison threshold value (positive and negative model result can be set according to the result repeatedly measured
Absolute value of the difference).Positioning correcting has been carried out to screw position by image around screw first.Then everywhere is corresponded to containing spiral shell
It follows closely image and positive and negative model carries out NCC algorithm process, be X1 with positive model processing output valve, be with positive model processing output valve
X2, along with artificial determines marks Y (0 or 1, indicated whether screw), totally 3 are worth.Pass through several hundred data acquisitions
Statistical data (X1, X2) is mapped to a two dimension as a two-dimemsional number strong point and sat by processing (include screw and without screw)
Mark system, output of the handmarking Y as point (X1, X2).Determine that a and b make the Y output 1 in X1-X2 > a and X1 > b,
The Y output 0 in X1-X2 < a or X1 <b, and the case where mistake classification two-dimensional points, is minimum.A and b are obtained according to calculating.a
Threshold value as a comparison, b as minimum threshold, in this, as detection screw whether there is or not parameter.When detection with meet X1-X2 > a and
X1>b, which is then exported, screw, meets X1-X2 Then (note: a, b are it is known that X1, X2 are current detection to output screw missing to<a or X1<b
The value being calculated).It is fitted detection parameters a and b by the data largely marked, will utmostly reduce the general of mistake classification
Rate.
Embodiment 1:
Multiple GIGE cameras are packed into the car light tooling on car light production line, the visual field of camera will cover all need of car light
The screw to be detected.Install the LED infrared light supply of multiple fixations around camera additional.The somewhere that car light is put into plus it is infrared in place
Sensor, camera, light source, sensor access control box with line.Control box is fixed in tooling.It controls and contains light source control in box
Device processed.Control box by can the interface of quick-speed plug be connected on the IO card of industrial personal computer plate.
It establishes infrared band image capturing system: irradiating the screw surface of tested headlight for vehicles using infrared LED as light source,
The reflected light of generation must filter by infrared filter, finally be received by infrared camera.It will filter out major part by this process
Environment light (including fluorescent lamp, non-direct sunlight), greatly reduces influence of the environment light to system, to adapt to the work of different production lines
Condition.Camera, light source and sensor are all fixed in the tooling of car light, prevent influence of the offset to system caused by vibration.
It establishes model library: acquiring the image for having screw and not having screw respectively in each of car light position to be detected, as
Positive and negative model.Multiple car light same position situations can be acquired as model, to improve robustness.Every money car light has multiple spiral shells
Nail, all screw positions will all establish a model, so a car light will build up a Model sequence.A plurality of car lights are exactly more
A Model sequence.Model sequence will save into file, and production line is when replacing lamp-type by switching model sequence.
Missing differentiate: be put into tooling to car light, sensor detects be put into position after, notify industrial personal computer.Industrial personal computer passes through IO
Light source is opened, and image is acquired by camera, closes light source.The image of acquisition carries out subsequent image processing.Since car light is processed
Error and mechanical engagement problem, position is offset after each car light is put into tooling, so the image of acquisition positions first.From
Picture is extracted around detection position in model picture as localization criteria, by the gray scale normalization cross-correlation method of image with to
Mapping piece carries out convolution, finds the maximum value of testing image as deviant.Detection image after offset obtains positioning.To
Cross-correlation operation will be normalized respectively with positive and negative model in detection image.Because being exported after the normalized crosscorrelation of similar image
As a result larger, so with this to determine whether missing screw.It, can be according to the result setting one repeatedly measured in order to reduce omission factor
A stable comparison threshold value (absolute value of the difference of positive and negative model result).
The mounting screw missing detection method of automobile lighting lamp of the invention utilizes infrared band image capturing system, red
Wave section image capturing system is easy for installation not to be needed especially accurately to align, and determines that screw position is very convenient.Processing speed
Fastly, high degree of automation and production line connection are convenient.The image data of acquisition can save, and trace for the later period, and detect quasi-
True rate.
Claims (10)
1. a kind of mounting screw of automobile lighting lamp lacks detection method, it is characterised in that: use infrared band Image Acquisition
System, the infrared band image capturing system are arranged in car light tooling, and the infrared band image capturing system includes red
The visual field of outer camera, infrared light supply and sensors in place, the infrared light supply and infrared camera covers all screw models of car light
Enclose, establish model library using the infrared band image capturing system, the method for building up of the model library the following steps are included:
A, the screw surface of tested automobile lighting lamp is irradiated using the infrared light supply；
B, the image for the reflected light that the infrared camera acquisition step a is generated；
C, step a and b are repeated, acquires the figure for having screw and not having screw respectively in each of automobile lighting lamp position to be detected
Picture obtains model library, while extracting the image around position to be detected as positioning datum；
Detection method includes the following steps for the mounting screw missing:
One, automobile lighting lamp is packed into car light tooling, after the sensors in place detects automobile lighting lamp in place, opened
The infrared light supply, the infrared camera acquire image, obtain testing image；
Two, the testing image that step 1 obtains is positioned, the position to be detected of extraction step one from the model library
The picture of surrounding is as positioning datum；
Three, positioning datum and testing image are subjected to image convolution using NCC algorithm, obtain the convolution of testing image in step 1
Export deviant of the deviant of the position coordinates of maximum value as testing image；
Four, the deviant of the testing image obtained using step 3 carries out offset correction to the testing image, after obtaining positioning
Testing image；
Five, by the testing image after positioning that step 4 obtains respectively with the image for having screw in model library and the image for not having screw
Handled using NCC algorithm, wherein carry out processing using NCC algorithm as cross-correlation operation is normalized, wherein with have
The output valve of the image procossing of screw is X1, and the output valve with the image procossing for there be not screw is that X2, X1 and X2 are that normalization is mutual
Related coefficient, judges whether screw lacks according to the following formula:
When detection, meet X1-X2 > a and X1 > b, then output has screw；Meet X1-X2 < a or X1 <b, then output screw lacks
It loses, wherein a is comparison threshold value, and b is minimum threshold, and a and b are known parameters.
2. the mounting screw of automobile lighting lamp according to claim 1 lacks detection method, it is characterised in that: the mould
Multiple car light same positions are acquired in the method for building up in type library to be had screw and not to have the image of screw as model.
3. the mounting screw of automobile lighting lamp according to claim 1 lacks detection method, it is characterised in that: described red
Outer camera, infrared light supply and sensors in place are arranged in car light tooling.
4. the mounting screw of automobile lighting lamp according to claim 1 lacks detection method, it is characterised in that: described red
Wave section image capturing system further includes infrared filter, infrared filter setting the infrared camera and car light it
Between.
5. the mounting screw of automobile lighting lamp according to claim 1 lacks detection method, it is characterised in that: step 5
Determination obtains middle comparison threshold value a and minimum threshold b by the following method:
(1), by testing image respectively with the image for having screw in model library and the image for not having screw using NCC algorithm at
Reason, wherein carry out processing using NCC algorithm as cross-correlation operation is normalized, wherein defeated with the image procossing that has screw
Value is X1 out, and it is normalized-cross-correlation function that the output valve with the image procossing for there be not screw, which is X2, X1 and X2, adds one
It is artificial to determine label Y, wherein Y=0 or 1,0 indicates do not have screw, and 1 indicates screw；
(2), step (1) is repeated, is mapped to a two-dimensional coordinate system for output valve X1 and X2 as a coordinate points, it is artificial to determine
Mark output of the Y as point (X1, X2)；
(3), the average value for enabling X1-X2 is a, and the average value of X1 is b, wherein a is comparison threshold value, and b is minimum threshold.
6. the mounting screw of automobile lighting lamp according to claim 1 lacks detection method, it is characterised in that: step 5
Determination obtains middle comparison threshold value a and minimum threshold b by the following method:
(1), by testing image respectively with the image for having screw in model library and the image for not having screw using NCC algorithm at
Reason, wherein the output valve with the image procossing for having screw is X1, and the output valve with the image procossing for there be not screw is X2, is added
One artificial determines marks Y, wherein Y=0 or 1,0 indicates do not have screw, and 1 indicates screw；
(2), step (1) is repeated, is mapped to a two-dimensional coordinate system for output valve X1 and X2 as a coordinate points, it is artificial to determine
Mark output of the Y as point (X1, X2)；
(3), the two-dimensional coordinate system obtained according to step (2), determine so that in the range of the point (X1, X2) that Y is 1 X1-X2 it is flat
Mean value is a, determine so that Y be 0 point (X1, X2) in the range of X1 average out to b, wherein a is comparison threshold value, and b is Minimum Threshold
Value.
7. the mounting screw of automobile lighting lamp according to claim 1 lacks detection method, it is characterised in that: the vehicle
Lamp tooling includes bracket (5), and the bracket (5) includes cross bar, and more upright bars are provided on the cross bar, and the car light is fixed on
In the upright bar.
8. the mounting screw of automobile lighting lamp according to claim 7 lacks detection method, it is characterised in that: described red
Outer light source (3) and infrared camera (2) are respectively provided on the cross bar.
9. the mounting screw of automobile lighting lamp according to claim 8 lacks detection method, it is characterised in that: described red
Outer light source (3) and the relatively described cross bar sliding of infrared camera (2).
10. the mounting screw of automobile lighting lamp according to claim 7 lacks detection method, it is characterised in that: described
The length of upright bar is all different, and the sensors in place (1) is arranged in the longest upright bar.
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| KR101412160B1 (en) * | 2008-10-31 | 2014-06-26 | 삼성테크윈 주식회사 | Control of light method |
| CN104359921A (en) * | 2014-11-20 | 2015-02-18 | 中南大学 | Method and device for detecting fastener loss based on structured light |
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| US7590263B2 (en) * | 2004-11-30 | 2009-09-15 | Honda Motor Co., Ltd. | Vehicle vicinity monitoring apparatus |
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|---|---|---|---|---|
| KR20020025436A (en) * | 2000-09-29 | 2002-04-04 | 이용중 | Visual Equpment and Method for Measuring Main Light Center of a Motor Head Lamp |
| KR101412160B1 (en) * | 2008-10-31 | 2014-06-26 | 삼성테크윈 주식회사 | Control of light method |
| CN102636125A (en) * | 2012-04-18 | 2012-08-15 | 长沙金码高科技实业有限公司 | Surface crack width detector |
| CN104359921A (en) * | 2014-11-20 | 2015-02-18 | 中南大学 | Method and device for detecting fastener loss based on structured light |
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