CN106546190A - A kind of robot device and method for surface defects detection - Google Patents
A kind of robot device and method for surface defects detection Download PDFInfo
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- CN106546190A CN106546190A CN201611090449.7A CN201611090449A CN106546190A CN 106546190 A CN106546190 A CN 106546190A CN 201611090449 A CN201611090449 A CN 201611090449A CN 106546190 A CN106546190 A CN 106546190A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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Abstract
The invention provides a kind of robot device and method for surface defects detection, the work platformses of described device are installed on pedestal by bearing, multidiameter etc., realize the continuous rotation around its center of circle；The moving sets of each motion branch, turns auxiliary shaft line are respectively perpendicular to work platformses mounting surface and end face, are mounted on motor and sensor in each motion vice division chief；Digital camera for gathering image is installed at branches end, and the moving sets angle of adjacent motion branch is 45 °；The laser scanner Real-time Collection measured object three-D profile data being installed on pedestal, generate movement locus, digital camera adjustment space position and attitude under driving with reference to hardware parameters such as digital camera object distance, focal lengths.The present invention is applied to the surface defects detection of the complicated shape thing such as bridge, tunnel, and environmental suitability is strong, it is flexible, applied widely to move, and changes tradition by artificial cognition efficiency is low, Intelligent Measurement means bad adaptability present situation, with important using value.
Description
Technical field
The invention belongs to industrial automation, is related to visual detection robot technology, more particularly to one kind can be right
Complicated shape thing surface defect carries out the mechanical hand and method of intellectualized detection.
Background technology
In recent years, it is widely used in surface defects detection based on the Dynamic Non-Destruction Measurement of machine vision, can be significantly
Improve production efficiency and the automaticity of production, are especially not suitable for the dangerous work environment of manual work or people at some
Work vision is difficult to meet the occasion for requiring, generally requires using machine vision to replace artificial vision to detect.Lead in vision-based detection
Domain, first have to ensure that picture quality is good, feature substantially, obtaining the high-quality image that processes carries out Intelligent treatment with identification
It is crucial, it is therefore necessary to a suitable image collecting device will be designed.Digital camera is arranged on into a fixation often at present
Station acquisition movement in object, or digital camera is installed on a portable carrier, is quickly moved by carrier
The dynamic collection and storage realized to tested object image.
When the technology is applied to the surface defects detection of the Large-sized Communication infrastructure such as bridge, tunnel, due to measured object
It is bulky, multiple stage camera being generally required while shooting could obtain complete image.Importantly, this measured object shape
Complex, by taking freeway tunnel as an example, its section configuration is an arc-shaped surface, and the section configuration in different tunnels
And size is entirely different, machine vision promotion and application in this field are which also limits.Robot is rising in recent years
One subject, has the advantages that multi-shaft interlocked, kinematic accuracy is high, bearing capacity is strong, compact conformation, is widely used in pose tune
The fields such as whole, motion simulation, system emulation, drive motion platform to realize space multiple degrees of freedom by each motion branch suitable swing
Motion and positioning function.Therefore, roboticses are introduced in the field of non destructive testing of view-based access control model, fundamentally can be solved
The image acquisition quality that causes because acquisition parameters are not up to standard is low, bad adaptability the problems such as.
The content of the invention
A kind of Intelligent mechanical arm device is proposed to solve the above problems, using robot motion is flexible, multi-shaft interlocked, work
The advantages of space is big, the device can be according to the locus of checking matter shape real-time adjustment camera and attitudes so as in optimal
Shot location, realizes to large-scale, complicated shape thing surface defect intellectualized detection.
A kind of robot device for surface defects detection, including pedestal, work platformses, three structure identical motions
Branch and digital camera etc..External shape is that circular work platformses are installed on pedestal by bearing, multidiameter etc., is capable of achieving
Around the continuous rotation in its center of circle；Each motion branch rotates secondary (R) by a moving sets (P), two and connecting rod is constituted, wherein moving
Dynamic secondary, turns auxiliary shaft line is respectively perpendicular to work platformses mounting surface and end face, each motion vice division chief be mounted on motor and
Sensor；Digital camera for gathering image is installed at branches end, and the moving sets angle of adjacent motion branch is 45 °.
The laser scanner Real-time Collection measured object three-D profile data being installed on pedestal, it is hard with reference to digital camera object distance, focal length etc.
Part parameter generates robot motion track, and under each driving effect, digital camera adjusts its locus and attitude, to obtain most
Good picture quality.
The technical solution used in the present invention is as follows：
A kind of robot device for surface defects detection, it is characterised in that by pedestal, work platformses, three structures
Identical motion branch, digital camera and laser scanner are constituted, wherein：
Work platformses center position with circular configuration is disposed with circular hole and keyway, by bearing, multidiameter and key
It is installed on pedestal, pedestal is welded by a horizontally disposed rectangular platform and two bearing blocks vertically arranged；Pedestal
Laser scanner is installed in rectangular platform, for Real-time Collection measured object three-D profile data, surrounding is disposed with lower margin installation
Hole, for connecting carrier；Base bearing seat one end is installed driving means, the other end and is provided with counting assembly, for driving work
Platform is rotated, and records its corner；
Motion branch is one and there is space three-freedom to move (PRR) branch, turned by connecting rod, a moving sets and two
Dynamic secondary composition, wherein moving secondary axis perpendicular to work platformses mounting surface, two turns auxiliary shaft lines are parallel to each other and are each perpendicular to
Mounting platform end face；Three structure identical motion branches are installed on work platformses surface, mobile secondary axis folder in contiguous branch
Angle is 45 °；Digital camera is installed on branches end, is mounted on driving means and sensor in motion vice division chief of branch, in each drive
Movement and rotation of the digital camera in work platformses plane under dynamic device effect, realization are accurately positioned and posture adjustment.
Preferably, the driving means at the base bearing seat are motors, counting assembly is encoder.
Preferably, the implementation of moving sets is servo electric jar in motion branch.
Preferably, the implementation of moving sets is leading screw, slide block, the compound mode of guide rail in motion branch.
Preferably, rotate pair in motion branch being made up of multidiameter, bearing, end cap.
Preferably, the grating scale for accurate measurement linear motion is installed by mobile vice division chief, rotate vice division chief be provided with for
The absolute value encoder of accurate measurement rotational motion.
Preferably, digital camera is installed on branches end, optical axis rotates the connecting rod direction of vice division chief along branch is moved.
Preferably, when using industrial line scan digital camera, controller servo period is less than 20ms.
Preferably, when using industrial face battle array digital camera, controller servo period is less than 100ms.
The robot device for surface defects detection is used for the method for detection and comprises the following steps：
(1), in carrier traveling process, laser scanner measures measured object 3D shape size in real time, and generates based on sensing
The measured object profile mathematic(al) representation of device coordinate system；
(2) according to measured object profile mathematic(al) representation evaluation work platform rotational angle so as to move to detected profile
Center position；
(3) after work platformses move to specified location, shoot with reference to digital camera focus, object distance, aperture parameters planning
Scope, and digital camera optical axis is made perpendicular to tested curved surface, camera is calculated on this basis reaches required during optimal shooting pose
Motion compensation quantity；
(4) according to mechanical hand arrangement form and structural parameters, with digital camera pose compensation dosage, work platformses amount of spin,
Measured object profile parameters are input quantity, and real-time resolving motion branch respectively moves the value of vice division chief's drive displacement, speed, acceleration；
(5) it is input into above-mentioned value of calculation as control system, motor motion is controlled Jing after signal conversion, in each motion
Vice division chief drives mechanical hand under collective effect to move along intended trajectory, respectively moves vice division chief's sensor Real-time Collection motion letter at the same time
Number；
(6) when each sensor values reach required value, stop drive system, digital camera starts image acquisition and deposits
Storage, so far completes the detection work of a position；When carrier movement is to next position, repeat the above steps.
Present invention innovation proposes a kind of visual detection robot device, it is adaptable to the complicated shape thing such as bridge, tunnel
Surface defects detection, has the advantages that environmental suitability is strong, it is flexible, applied widely to move, and changes tradition by artificial knowledge
The present situations such as other efficiency is low, Intelligent Measurement means bad adaptability, with important using value.
Description of the drawings
Fig. 1 is the structural representation of the robot device provided by the present invention for surface defects detection, and reference is such as
Under：
Pedestal -1, work platformses -2, motion branch -3, digital camera -4, bearing -5, multidiameter -6, key -7, rectangle are put down
Platform-(1-1), bearing block-(1-2), moving sets-(3-1), rotation one-(3-2) of pair, rotation two-(3-3) of pair.
Specific embodiment
With reference to specific embodiment to the robot device and method for surface defects detection of the present invention
It is described further, but protection scope of the present invention is not limited to this.
The invention provides a kind of Intelligent mechanical arm device, by pedestal, work platformses, three structure identical motions point
Prop up, digital camera and laser scanner are constituted, each several part composition and type of attachment are as follows：
Work platformses center position with circular configuration is disposed with circular hole and keyway, by bearing, multidiameter, key etc.
It is installed on pedestal, pedestal is welded by a horizontally disposed rectangular platform and two bearing blocks vertically arranged.Pedestal
Laser scanner is installed in rectangular platform, for Real-time Collection measured object three-D profile data, surrounding is disposed with lower margin installation
Hole, for connecting the carriers such as vehicle；Base bearing seat one end is provided with the driving means such as motor, the other end and is provided with encoder etc.
Counting assembly, for driving work platformses to rotate, and records its corner.
Motion branch is a PRR branch with space three-freedom motion, is turned by connecting rod, a moving sets and two
Dynamic secondary composition, wherein moving secondary axis perpendicular to work platformses mounting surface, two turns auxiliary shaft lines are parallel to each other and are each perpendicular to
Mounting platform end face.Three structure identical motion branches are installed on work platformses surface, mobile secondary axis folder in contiguous branch
Angle is 45 °.Digital camera is installed on branches end, is mounted on driving means and sensor in motion vice division chief of branch, in each drive
Any mobile and rotation of the digital camera in work platformses plane under dynamic device effect, realization are accurately positioned and posture adjustment.
In motion branch, the implementation of moving sets has two kinds, and the first is servo electric jar, and second is leading screw, cunning
The compound mode of block, guide rail；Rotate secondary by the realization such as multidiameter, bearing, end cap.
The installation of movement vice division chief of branch can accurately measure the grating scale of linear motion, rotation vice division chief and be provided with can accurately measure and turns
The absolute value encoder of dynamic motion.
Digital camera is fixedly installed in the motion branches end, and its optical axis rotates the connecting rod side of vice division chief along branch is moved
To.
For a kind of described robot device for surface defects detection, corresponding implementation includes following step
Suddenly：
(1), in the carrier traveling process such as vehicle, laser scanner measures measured object 3D shape size in real time, and generates base
In the measured object profile mathematic(al) representation of sensor coordinate system；
(2) according to measured object profile mathematic(al) representation evaluation work platform rotational angle so as to move to detected profile
Center position；
(3) after work platformses move to specified location, clap with reference to parametric programmings such as digital camera focus, object distance, apertures
Scope is taken the photograph, and digital camera optical axis is made perpendicular to tested curved surface, calculate camera on this basis and reach optimal shooting pose when institute
The motion compensation quantity for needing；
(4) according to mechanical hand arrangement form and structural parameters, with digital camera pose compensation dosage, work platformses amount of spin,
Measured object profile parameters are input quantity, and it is equivalent that real-time resolving motion branch respectively moves vice division chief's drive displacement, speed, acceleration；
(5) it is input into above-mentioned value of calculation as control system, motor motion is controlled Jing after signal conversion, in each motion
Vice division chief drives mechanical hand under collective effect to move along intended trajectory, respectively moves vice division chief's sensor Real-time Collection motion letter at the same time
Number；
(6) when each sensor values reach required value, that is, show that mechanical hand reaches specified location, stop drive system,
Digital camera starts image acquisition and storage, so far completes the detection work of a position；When the carrier movements such as vehicle are to next
During position, repeat the above steps.
When using industrial line scan digital camera, controller servo period should be less than 20ms；When using industrial face battle array numeral
During camera, controller servo period should be less than 100ms.
Fig. 1 shows a kind of robot device schematic diagram for surface defects detection in the preferred embodiment of the present invention.Base
Seat (1) is welded by rectangular platform (1-1) and two groups of bearing blocks (1-2), and rectangular platform (1-1) adopts alloy steel material, chi
It is very little be 500 × 1000mm, thickness be 50mm, surrounding is disposed withLower margin installing hole；Bearing block (1-2) thickness is
The distance between 85mm, its center and rectangular platform are 525mm, and the distance between two groups of bearing blocks (1-2) are 200mm.
Work platformses (2) adopt aviation aluminum alloy material, and external shape is circle, a diameter ofThickness is
80mm, center position are provided with a diameter ofCircular hole, keyway size be 22mm × 5.4mm.Work platformses (2) pass through
Bearing (5), multidiameter (6), key (7) are connected with pedestal (1), and selected bearing (5) internal diameter isModel UELP312 band
Base spherical outside surface ball bearing, key (7) size are 22 × 14mm, and multidiameter (6) is a diameter ofLadder shaft length is 320mm keys
Slot cross-section size is 22mm × 9mm, and keyway length is 120mm.
Motion branch (3) version is PRR, is capable of achieving space three-freedom motion.Moving sets (3-1) are by servo-electric
Cylinder realizes that stroke is ± 500mm, and electric cylinder fixing end is installed on work platformses (2), is provided with high accuracy grating scale thereon,
Positioning precision is 0.1mm；Rotate secondary (3-2,3-3) to be realized by multidiameter, bearing, end cap etc., absolute encoder is installed thereon
Device, positioning precision are 0.01 °.The motion vice division chief drives, and in contiguous branch, electric cylinder axis angle is
45°。
0.25 ° of laser scanner angular resolution, 0～270 ° of detection range, are installed in pedestal (1) rectangular platform (1-1)
At surface, in work platformses (2) end face, it is 210mm that central point deviates the distance of work platformses (2) end face to diameter parallel.
Used as a kind of embodiment, using industrial line scan digital camera (4), which is installed on motion branch (3) end to the present invention
Secondary (3-3) place is rotated, selected controller model Siemens Simotion D445, servo period are 4ms.The present invention is corresponding
Implementation is comprised the following steps：
(1), in the carrier traveling process such as vehicle, laser scanner measures measured object 3D shape size in real time, and generates base
In the measured object profile mathematic(al) representation of sensor coordinate system；
(2) according to measured object profile mathematic(al) representation evaluation work platform (2) rotational angle so as to move to tested measuring wheel
Wide center position；
(3) after work platformses (2) move to specified location, with reference to parameters such as digital camera (4) focal length, object distance, apertures
Planning coverage, and make digital camera (4) optical axis perpendicular to tested curved surface, camera (4) is calculated on this basis reaches optimal
Shoot motion compensation quantity required during pose；
(4) according to mechanical hand arrangement form and structural parameters, with digital camera (4) pose compensation dosage, work platformses 2) turn
Momentum, measured object profile parameters are input quantity, and real-time resolving motion branch (3) is each to move vice division chief's drive displacement, speed, acceleration
It is equivalent；
(5) it is input into above-mentioned value of calculation as control system, motor motion is controlled Jing after signal conversion, in each motion
Vice division chief drives mechanical hand under collective effect to move along intended trajectory, respectively moves vice division chief's sensor Real-time Collection motion letter at the same time
Number；
(6) when each sensor values reach required value, that is, show that mechanical hand reaches specified location, stop drive system,
Digital camera (4) starts image acquisition and storage, so far completes the detection work of a position；When the carrier movements such as vehicle are under
During individual position, repeat the above steps.
Present invention innovation proposes a kind of visual detection robot device, it is adaptable to the complicated shape thing such as bridge, tunnel
Surface defects detection, has the advantages that environmental suitability is strong, it is flexible, applied widely to move, and changes tradition by artificial knowledge
The present situations such as other efficiency is low, Intelligent Measurement means bad adaptability, with important using value.
It is understood that the embodiment of above principle being intended to be merely illustrative of the present and the exemplary enforcement for adopting
Mode, but the invention is not limited in this.For those skilled in the art, in the essence without departing from the present invention
In the case of god and essence, various modifications and improvement can be made, these modifications and improvement are also considered as protection scope of the present invention.
Claims (10)
1. a kind of robot device for surface defects detection, it is characterised in that by pedestal, work platformses, three structure phases
Motion branch together, digital camera and laser scanner are constituted, wherein：
Work platformses center position with circular configuration is disposed with circular hole and keyway, is installed by bearing, multidiameter and key
On pedestal, pedestal is welded by a horizontally disposed rectangular platform and two bearing blocks vertically arranged；Pedestal rectangle
Laser scanner is installed on platform, for Real-time Collection measured object three-D profile data, surrounding is disposed with lower margin installing hole, is used
In connection carrier；Base bearing seat one end is installed driving means, the other end and is provided with counting assembly, for driving work platformses to turn
It is dynamic, and record its corner；
Motion branch is a motion branch with space three-freedom, rotates secondary structure by connecting rod, a moving sets and two
Into wherein moving secondary axis perpendicular to work platformses mounting surface, two turns auxiliary shaft lines are parallel to each other and are each perpendicular to install flat
You face；Three structure identical motion branches are installed on work platformses surface, and in contiguous branch, moving sets axis angle is
45°；Digital camera is installed on branches end, is mounted on driving means and sensor in motion vice division chief of branch, drives dress each
The effect of putting lower movement and rotation of the digital camera in work platformses plane, realization are accurately positioned and posture adjustment.
2. the robot device for surface defects detection according to claim 1, it is characterised in that the base bearing
Driving means at seat are motors, and counting assembly is encoder.
3. the robot device for surface defects detection according to claim 1, it is characterised in that move in motion branch
It is servo electric jar to move secondary implementation.
4. the robot device for surface defects detection according to claim 1, it is characterised in that move in motion branch
It is leading screw, slide block, the compound mode of guide rail to move secondary implementation.
5. the robot device for surface defects detection according to claim 1, it is characterised in that motion branch transfer
Dynamic pair is made up of multidiameter, bearing, end cap.
6. the robot device for surface defects detection according to claim 1, it is characterised in that mobile vice division chief installs
For the grating scale of accurate measurement linear motion, rotate vice division chief and the absolute encoder for accurate measurement rotational motion is installed
Device.
7. the robot device for surface defects detection according to claim 1, it is characterised in that digital camera is installed
In branches end, optical axis rotates the connecting rod direction of vice division chief along branch is moved.
8. the robot device for surface defects detection according to any one in claim 1 to 7, its feature exist
In, when using industrial line scan digital camera, controller servo period is less than 20ms.
9. the robot device for surface defects detection according to any one in claim 1 to 7, its feature exist
In, when using industrial face battle array digital camera, controller servo period is less than 100ms.
10. the method that the robot device described in claim 1 to 7 any one is used for detection is comprised the following steps：
(1), in carrier traveling process, laser scanner measures measured object 3D shape size in real time, and generates based on sensor seat
The measured object profile mathematic(al) representation of mark system；
(2) according to measured object profile mathematic(al) representation evaluation work platform rotational angle so as to move to detected profile center
At position；
(3) after work platformses move to specified location, with reference to digital camera focus, object distance, aperture parameters planning coverage,
And make digital camera optical axis perpendicular to tested curved surface, camera is calculated on this basis reaches motion required during optimal shooting pose
Compensation dosage；
(4) according to mechanical hand arrangement form and structural parameters, with digital camera pose compensation dosage, work platformses amount of spin, tested
Thing profile parameters are input quantity, and real-time resolving motion branch respectively moves the value of vice division chief's drive displacement, speed, acceleration；
(5) it is input into above-mentioned value of calculation as control system, motor motion is controlled Jing after signal conversion, in each motion vice division chief
Drive mechanical hand under collective effect to move along intended trajectory, respectively move vice division chief's sensor Real-time Collection motor message at the same time；
(6) when each sensor values reach required value, stop drive system, digital camera starts image acquisition and storage, extremely
This completes the detection work of a position；When carrier movement is to next position, repeat the above steps.
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| CN112903710A (en) * | 2021-01-22 | 2021-06-04 | 山东高速工程检测有限公司 | Method, system and device for monitoring apparent bridge diseases |
| CN116164797A (en) * | 2023-04-20 | 2023-05-26 | 河北拓森建筑装饰工程有限公司 | Road and bridge tunnel lining detection device |
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| CN106546190B (en) | 2019-04-16 |
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