CN107121439A - The method of inspection and system of a kind of liquid-transfering sucker - Google Patents
The method of inspection and system of a kind of liquid-transfering sucker Download PDFInfo
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- CN107121439A CN107121439A CN201710180320.3A CN201710180320A CN107121439A CN 107121439 A CN107121439 A CN 107121439A CN 201710180320 A CN201710180320 A CN 201710180320A CN 107121439 A CN107121439 A CN 107121439A
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- liquid
- circle
- transfering sucker
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- 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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- 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
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20224—Image subtraction
Abstract
The invention discloses the method for inspection of liquid-transfering sucker and system, the image of liquid-transfering sucker port to be measured is obtained by image collecting device, port image is handled to recognize the size dimension of calculating exit port burr, detection process can be all automatically performed, the experience by testing staff is not required to be judged, it is to avoid reviewer because ability level is uneven manual identified judged caused by test stone can not quantify the problem of.The indexs such as the perpendicularity and internal-and external diameter of liquid-transfering sucker to be measured are also dissolved into whole checkout procedure simultaneously voluntarily detected by control device, follow-up digital independent and result judge automatically, it is to avoid in original inspection process in each link is examined all unavoidable artificial operating error generation.
Description
Technical field
The present invention relates to inspection technology field, more particularly to a kind of method of inspection and system for liquid-transfering sucker.
Background technology
In the experimental study of the every profession and trade such as biology, chemistry, food, medical treatment, liquid-transfering sucker is frequency of use highest and disappeared
Consume one of maximum experiment consumptive material.It is qualified as a kind of experiment equipment for being widely used in all kinds of accurate measurement occasions in laboratory
Liquid-transfering sucker require port impulse- free robustness, suction nozzle any surface finish is smooth, and adhesional wetting property is small, to avoid liquid from staying caused by outer wall by mistake
Difference, while the port of liquid-transfering sucker and tube wall size are all needed strictly by design requirement, has ensured the precision and accuracy of imbibition,
The presence of each trickle error in dipping is avoided, has ensured that testing result is accurate and reliable.
But at present, using liquid-transfering sucker to be the materials such as polyethylene or polytetrafluoroethylene (PTFE) mostly in experimental study, it is produced
Shaping needs to undergo multiple tracks production stage., it is necessary to will in liquid-transfering sucker tube extrusion and follow-up production process
The tubing of machine-shaping is cut according to certain length, is also needed to carry out tubing chamfering after cutting, is inhaled at bits and burr
Reason.But due to being that the tubing that raw material are extruded is firmly crisp with polyethylene or polytetrafluoroethylene (PTFE) etc., simultaneously because being needed in production process
It is processed by all kinds of mechanical and each procedure, current knife is cut or sawing plant equipment can not be fully achieved and reach accurate
Straight, port is smooth, without the harsh technical requirements such as chip, impulse- free robustness, even tube wall, so as to be difficult to ensure that produce all
Liquid-transfering sucker all meets product design specification (PDS).Therefore matter is carried out to the liquid-transfering sucker product being finally completed by each road production process
Amount has been examined into a cumbersome and essential step.Traditional check system is all to pass through naked eyes et al. by testing staff
Work means carry out the detection of burr and other specifications, and detection efficiency is low, and detection fineness is not enough, and each batch liquid relief is inhaled
The detection quality of head is all difficult to unified standard.
The content of the invention
It is all that manually liquid-transfering sucker is entered in turn by reviewer that the present invention is examined in technique for existing liquid-transfering sucker
The detection of row burr and other specifications, detection efficiency is low, and detection fineness is not enough and quality control standards (QCS) can not be kept
Unified the problem of, is specific as follows there is provided a kind of method of inspection of liquid-transfering sucker and system：
A kind of method of inspection of liquid-transfering sucker, for being tested to the liquid-transfering sucker being positioned on verifying bench, specifically
Including：
S11, obtains the binary image of the port one of the liquid-transfering sucker；
S12, carries out limb recognition to obtain the edge of port one to the binary image of port one；
S13, nonlinear fitting is carried out to the edge of port one and obtains corresponding central coordinate of circle and radius；
S14, judges whether each pixel in edge is more than threshold to the distance of the correspondence central coordinate of circle with radial difference
Value one, judges that the liquid-transfering sucker burr is not up to standard if being more than；
S15, does not change the relative position of liquid-transfering sucker and verifying bench, obtains the binary image of port two；
S16, carries out limb recognition to obtain the edge of the port two to the binary image of the port two；
S17, carries out nonlinear fitting to the edge of port two and obtains corresponding central coordinate of circle；
S18, judges whether the corresponding central coordinate of circle spacing in the edge of port one and two is more than threshold value two, and institute is judged if being more than
State liquid-transfering sucker perpendicularity not up to standard.
It is preferred that, step S15 includes in methods described：Do not change the relative position of liquid-transfering sucker and verifying bench, adjust
Verifying bench position simultaneously records translational movement, obtains the binary image of port two.Step S18 includes：End is calculated according to translational movement
Central coordinate of circle before the translation of mouth two, judges that whether the central coordinate of circle of port one and port two translate preceding central coordinate of circle spacing more than threshold value
Two, judge that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
It is preferred that, step S14 includes in methods described：Judge each pixel in the edge to the correspondence central coordinate of circle
Whether distance is more than threshold value one with radial difference, and if judging more than if, the liquid-transfering sucker burr is not up to standard and end is moved to described
The inspection of liquid suction nozzle, otherwise continues next step.
It is preferred that, step S14 may also comprise in methods described：Obtain edge pixel point actual coordinate；Calculate burrs on edges
Actual size D, D=(L-R) * P, wherein L be the edge pixel point actual coordinate arrive central coordinate of circle distance, P be this figure
The actual size of pixel as in, R is the radius of circle that the edge obtained after nonlinear fitting；Judging actual size D is
The no threshold value one for being more than setting, judges that the liquid-transfering sucker burr is not up to standard if being more than.
It is preferred that, step S18 includes in methods described：Inquire about the port one, two edges and distinguish corresponding two centers of circle seat
Mark；Distance of center circle S, the S=E*P of two central coordinate of circle are calculated, wherein E is the distance between two central coordinate of circle, and P is pixel in this image
Actual size；Judge whether distance of center circle S is more than threshold value two, judge that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
It is preferred that, step S18 may also comprise in methods described：Inquire about the edge of port one and two and distinguish the corresponding center of circle
Coordinate O1、O2；According to translational movement and central coordinate of circle O2Calculate central coordinate of circle O before port two is translated3；Calculate central coordinate of circle O1And O3's
Distance of center circle S, S=E*P, wherein E are the distance between two central coordinate of circle, and P is the actual size of pixel in this image；Judge the center of circle
Whether it is more than threshold value two away from S, judges that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
It is preferred that, methods described also includes：Nonlinear fitting is carried out to the edge of port two and obtains corresponding center of circle seat
Mark and radius；Judge whether each pixel in edge is more than threshold value one to the distance of correspondence central coordinate of circle with radial difference, if being more than
Then judge that the liquid-transfering sucker burr is not up to standard.
The invention also discloses a kind of checking system of liquid-transfering sucker, including：
Image collecting device, is configured as obtaining the two-port image of the liquid-transfering sucker perpendicular to the face of shooting；
Verifying bench, the relative position for adjusting liquid-transfering sucker and image collecting device so that described image collection dress
Put image needed for acquisition；
And control device, the control device includes：Image processing module, for the two ends obtained to image collecting device
Mouth image carries out processing and obtains port binary image；Limb recognition module, for carrying out edge knowledge to port binary image
Not to obtain the port edge；And the corresponding central coordinate of circle of nonlinear fitting acquisition and/or half are carried out to the port edge
Footpath；Inspection module, be with radial difference for judging each pixel of the port edge to the distance of the correspondence central coordinate of circle
It is no to be more than threshold value one, judge that the liquid-transfering sucker burr is not up to standard if being more than；And/or judge that the two-port edge is right respectively
Whether the central coordinate of circle spacing answered is more than threshold value two, judges that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
It is preferred that, the control device is additionally configured to tie after the inspection module judges that any determine object is not up to standard
Inspection of the beam to the liquid-transfering sucker.
It is preferred that, the control device also includes motor control module, and the motor control module is configured as according to outer
The movement of portion's input instruction control test platform simultaneously records translational movement；The inspection module is additionally configured to be judged according to translational movement
Whether the two-port edge correspondence central coordinate of circle spacing in same position is more than threshold value two, and if judging more than if, the liquid relief is inhaled
Head perpendicularity is not up to standard.
The present invention obtains following beneficial effect：
Real invention obtains the image of liquid-transfering sucker port to be measured by image collecting device, port image is handled with
Identification calculates the size dimension of exit port burr, and detection process can be all automatically performed, and is not required to come by the experience of testing staff
Judged, it is to avoid reviewer is uneven so that test stone can not measured caused by manual identified judgement because of ability level
The problem of change.The indexs such as the perpendicularity and internal-and external diameter of liquid-transfering sucker to be measured are also all dissolved into simultaneously in whole checkout procedure and led to
Cross that computer self is detected, follow-up digital independent and result judge automatically, it is entirely avoided in original inspection process
Examine the generation of all unavoidable artificial operating error in each link.Testing staff need to only input instructions and can complete respectively
The inspection of item quality index, improves the checkability of liquid-transfering sucker, while also ensure that the detection matter of each batch liquid-transfering sucker
That measures is consistent.It can select simultaneously and do not terminate the whole liquid relief by the way that any index of liquid-transfering sucker to be measured to detecting is not up to standard
The inspection process of suction nozzle, has been greatly improved the detection efficiency of the liquid-transfering sucker of substantial amounts.Detecting system passes through movement simultaneously
Platform can examine the liquid-transfering sucker group to be measured for being positioned over platform in batches, and testing staff need to only input instructions can be complete successively
Into the inspection of every quality index of all liquid-transfering suckers, the quick inspection of the liquid-transfering sucker of factory's magnanimity is effectively increased, greatly
The big checkability for improving liquid-transfering sucker.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the disclosed view detected to liquid-transfering sucker of one embodiment of the invention.
Fig. 2 is a kind of method of inspection schematic flow sheet of liquid-transfering sucker disclosed in one embodiment of the invention.
Fig. 3 is liquid-transfering sucker port to be measured binary image disclosed in one embodiment of the invention.
Fig. 4 is the method for identification of edge flow chart disclosed in one embodiment of the invention.
Fig. 5 is binary image processing figure disclosed in one embodiment of the invention.
Fig. 6 is the miscellaneous point deletion processing figure of binary image disclosed in one embodiment of the invention.
Fig. 7 is port inner port edge identification figure disclosed in one embodiment of the invention.
Fig. 8 is burr decision method flow chart disclosed in one embodiment of the invention.
Fig. 9 is perpendicularity decision method flow chart disclosed in one embodiment of the invention.
Figure 10 is the structural representation of liquid-transfering sucker checking system disclosed in one embodiment of the invention.
Figure 11 is the structural representation of liquid-transfering sucker checking system disclosed in another embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme to the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright a part of embodiment, rather than whole embodiments.Based on described embodiments of the invention, ordinary skill
The every other embodiment that personnel are obtained on the premise of without creative work, belongs to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " first ", " second " etc. be only used for describe purpose, without
It is understood that to indicate or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the
One ", one or more this feature can be expressed or be implicitly included to the feature of " second ".In the description of the invention,
" multiple " are meant that two or more, unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；It can be machine
Tool is connected or electrically connected；Can be joined directly together, can also be indirectly connected to by intermediary, can be two members
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
Embodiment 1：
As shown in accompanying drawing 1,2, present embodiment discloses a kind of method of inspection of liquid-transfering sucker, for examining flat to being positioned over
Liquid-transfering sucker 4 on platform 3 is tested, and is specifically included：
S11, obtains the binary image of the port one of the liquid-transfering sucker.
In the present embodiment, liquid-transfering sucker to be measured is disposed vertically on verifying bench, image collecting device 2 is perpendicular to inspection
Platform 3 is tested to obtain the port image of liquid-transfering sucker 4 to be measured.The liquid-transfering sucker to be measured can be small end in upper, big end placement
It is positioned in detection platform or by fixing device in detection platform；Can certainly be big end upper, small end is positioned over inspection
Survey on platform or be positioned over by fixing device in detection platform.Small end is chosen in the embodiment upper, big end is positioned over inspection
Illustrated exemplified by surveying on platform.Image collecting device acquisition is port one perpendicular to the small end of the liquid-transfering sucker of imaging surface
Image.
Then gradation conversion processing is carried out to the image of port one of acquisition, the image after gradation conversion is handled carries out two again
Value is handled, to obtain the binary image of port one, as shown in Figure 3.In this checkout procedure, due to port image letter
Single, contrast is larger between image and background, and with more uniform intensity profile, therefore can use based on gradation of image characteristic
Method carries out image segmentation.When the present embodiment carries out image segmentation using threshold rule, all gray scales are directly more than or equal to threshold value T
Pixel be all judged as belonging to background, be entered as 0, and the pixel less than threshold value T belongs to target, is entered as 1, wherein threshold value T
Selection setting can be carried out according to sample image debugging.Carrying out image threshold segmentation not only can a large amount of compressed data, reduce memory capacity,
And follow-up analysis and process step can be greatly simplified.
S12, carries out limb recognition to obtain the edge of the proximal port to the binary image of port one.
As shown in Figure 4, in certain embodiments, the S11 steps are specifically included：
S121, is filled up to the annulus endoporus in the binary image of port one, obtains image A1。
Port annulus endoporus in the proximal port binary image that is obtained after binary conversion treatment in step S11 is filled out
Mend, i.e., the pixel of annulus endoporus is entered as 1, form new binary image A1。
In certain embodiments, the step can also include：Miscellaneous point identification is carried out to binary image and is deleted, such as accompanying drawing
Shown in 5.Can be by being less than the region recognition of setting value to connected region area, and to deleting；Also can be described by search
Binary image A1In profile and from profile tree delete area be less than some threshold value profile to complete the deletion to miscellaneous point,
Threshold value shown in it can carry out experiment selection as needed.The deletion work of the miscellaneous point to binary image can be reduced subsequently
Image burr recognizes the error with edge fitting.
S122, to image A1Frame difference operation is carried out with the binary image of the port one, obtains and includes endoporus circle diagram case
Image A2。
By outer hole figure A1Carry out frame difference operation with the binary image of port one, will the pixel assignment of two images enter
Row subtracts each other, that is, causes inner hole areas pixel to be entered as 1, as white portion, described white portion is interior sectional hole patterns, is obtained
The image A for including hole circle diagram case is taken2。
In certain embodiments, the step S112 may also comprise to binary image A2Carry out miscellaneous point identification and delete,
Clearly endoporus bianry image is obtained, as shown in Figure 6.Concrete mode is with similar in above-mentioned steps S111, again just no longer
Repeated description.
S123, to image A2Carry out limb recognition and obtain inner port edge.
Canny operator extractions edge is used in the present embodiment, closed operation is carried out to obtained discontinuous edge, then enter road wheel
Exterior feature tracking obtains inner port edge, as shown in Figure 7.Certainly other RobertS operators, Sobel operators, Prewitt can also be used
Operator and Laplaciaft operators etc. carry out inner port edge extraction.
S124, to image A1Carry out limb recognition and obtain outer bore edges.
It is similar with step S123, no longer discuss.
S13, nonlinear fitting is carried out to the edge of port one and obtains corresponding central coordinate of circle and radius.
In this embodiment, the edge of port one include inner port edge and outer bore edges, specifically, respectively extract endoporus and
Outer bore edges, by least square method respectively come be fitted the parameter of exit port endoporus and exit orifice, i.e. endoporus central coordinate of circle and
Internal bore radius, and exit orifice central coordinate of circle and outer pore radius.In other embodiment, also can select maximum inscribed circle method or
Hough transform loop truss method obtains the center of circle and the radius of endoporus and exit orifice.
S14, judges whether each pixel in edge is more than threshold to the distance of the correspondence central coordinate of circle with radial difference
Value one, judges that the liquid-transfering sucker burr is not up to standard if being more than.
In the present embodiment, because there are two parts, respectively inner port edge and outer bore edges in the edge of acquisition, therefore internally
Bore edges and outer bore edges carry out burr detection respectively, to examine the inside and outside wall burr of liquid-transfering sucker port with the presence or absence of not up to standard
Phenomenon.Because the process of the burr detection to inner port edge and outer bore edges is just the same, then this just only illustrates to inner port edge
The method of inspection of burr is described, as shown in Figure 8, and it specifically may include：
S141, obtains edge pixel point actual coordinate；
Edge pixel actual coordinate is acquired successively, edge pixel point actual coordinate is obtained.
S142, calculates actual size D, D=(L-R) * P of burrs on edges, and wherein L is the edge pixel point actual coordinate
To the distance of central coordinate of circle, P is the actual size of pixel in this image, and R is that the edge obtained after nonlinear fitting
Radius of circle.
In the present embodiment the center of circle is corresponded to calculate each pixel real coordinate position of inner port edge to wherein inner port edge
The distance of coordinate, wherein R are the inner port edge correspondence radius of circle that the inner port edge obtained after nonlinear fitting.This image
The actual size P of middle pixel carries out detection postscript than counterpart method by measurement standard part for test is preceding to image collecting device
The actual size value of record.
S143, judges whether actual size D is more than the threshold value one of setting, and the liquid-transfering sucker burr is judged not if being more than
It is up to standard.The threshold value one wherein set is the liquid-transfering sucker burr full-size that burr allows in the case of up to standard.
S15, does not change the relative position of liquid-transfering sucker and verifying bench, obtains the binary image of port two.
The another port two of liquid-transfering sucker to be measured is close to the port of verifying bench in the present embodiment.Adjust IMAQ
Device with liquid-transfering sucker distance so that the image of clearly port two can be obtained, in the present embodiment distal port be move
The overhead view image at the big end of liquid suction nozzle, and the image of distal port is handled to obtain its binary image, its specific processing
Step is similar with S11, not reinflated description.
S16, carries out limb recognition to obtain the edge of the port two to the binary image of the port two.
Specifically, being identified to the exterior measuring edge in the binary image of port two and obtaining outward flange.The present embodiment
In can use Canny operator extractions edge, closed operation is carried out to obtained discontinuous edge, then carries out Contour extraction obtaining exit orifice
Edge.Certainly it can also be carried out using other RobertS operators, Sobel operators, Prewitt operators and Laplaciaft operators etc.
Exit orifice edge extracting.
S17, carries out nonlinear fitting to the edge of port two and obtains corresponding central coordinate of circle.
S18, judges that the edge of port one and two distinguishes whether corresponding central coordinate of circle spacing is more than threshold value two, if being more than
Then judge that the liquid-transfering sucker perpendicularity is not up to standard, as shown in Figure 9, specifically include：
S181, inquires about the edge of port one and two and distinguishes corresponding two central coordinate of circle.The edge of its middle port one can be with
For the endoporus correspondence central coordinate of circle in step S13 or exit orifice correspondence central coordinate of circle.
S182, calculates distance of center circle S, the S=E*P of two central coordinate of circle, and wherein E is the distance between two central coordinate of circle, and P is this figure
The actual size of pixel as in；The actual size P of pixel is to compare peer by measurement standard part before testing in this image
The actual size value that method is recorded after being detected to image collecting device.
S183, judges whether distance of center circle S is more than the threshold value two of setting, and the liquid-transfering sucker perpendicularity is judged not if being more than
It is up to standard.The distance of center circle ultimate range that wherein threshold value two allows for liquid-transfering sucker perpendicularity in the case of up to standard.
The present embodiment obtains the image of liquid-transfering sucker port to be measured by image collecting device, and port image is handled
To recognize the size dimension for calculating exit port burr, detection process can be all automatically performed, and be not required to the experience by testing staff
Being judged, it is to avoid reviewer is uneven so that test stone can not caused by manual identified judgement because of ability level
The problem of quantization.The indexs such as the perpendicularity and internal-and external diameter of liquid-transfering sucker to be measured are also all dissolved into whole checkout procedure simultaneously
Detected by computer self, follow-up digital independent and result judge automatically, it is entirely avoided in original inspection process
The generation of all unavoidable artificial operating error in each link is examined.Testing staff need to only input instructions and can complete
The inspection of every quality index, effectively increases the quick inspection of the liquid-transfering sucker of factory's magnanimity, substantially increases liquid-transfering sucker
Checkability, while also ensure that the consistent of the detection quality of each batch liquid-transfering sucker.
In certain embodiments, step S17 includes：Nonlinear fitting is carried out to the edge of port two and obtains corresponding circle
Heart coordinate and radius, judge whether the distance of each pixel in the edge of port two to correspondence central coordinate of circle is more than with radial difference
Threshold value one, judges that the liquid-transfering sucker burr is not up to standard if being more than.Complete to the complete of liquid-transfering sucker both sides to be measured port burr
Detect in portion, it is ensured that detection quality.
Above-mentioned steps label does not represent sequencing, those skilled in the art can enter line translation to said sequence and simultaneously
Without departing from protection scope of the present invention.For example in certain embodiments, the binaryzation close to detection platform side ports can first be obtained
Image, and judge whether its burr is up to standard, then obtain whether burr and perpendicularity away from detection platform side ports reach again
Mark.In further embodiments, the binary image processing successively to two ends can be first passed through and obtain the corresponding center of circle of two ends difference
Coordinate and radius, then judge whether the burr and liquid-transfering sucker perpendicularity of wherein Single port or two-port are up to standard again, each step
Rapid concrete processing procedure is same as the previously described embodiments, then this is just no longer discussed.
In further embodiments, step S14 includes：Judge each pixel in the edge to the correspondence central coordinate of circle
Whether distance is more than threshold value one with radial difference, and if judging more than if, the liquid-transfering sucker burr is not up to standard and end is moved to described
The inspection of liquid suction nozzle, otherwise continues next step.Certainly also can it is other it is any it is not up to standard in the case of, for example can also judge
Perpendicularity is not up to standard also to terminate the inspection of liquid-transfering sucker when waiting.It is any by the liquid-transfering sucker to be measured to detecting in the present embodiment
The index inspection process not up to standard for terminating the whole liquid-transfering sucker, i.e., do bad part eject processing to the liquid-transfering sucker, without
Other indexs of not surveying to the liquid-transfering sucker are tested again, substantially increase the detection efficiency of the liquid-transfering sucker of substantial amounts.
In further embodiments, the method for inspection may also include step：
S191, the liquid-transfering sucker two ends are exchanged, and the liquid-transfering sucker proximal port image are obtained again and by place
Reason obtains proximal port binary image；
S192, carries out limb recognition to obtain the edge of the proximal port to proximal port binary image；
S193, nonlinear fitting is carried out to the proximal port edge and obtains corresponding central coordinate of circle and radius；
S194, judges whether each pixel in edge is more than threshold to the distance of the correspondence central coordinate of circle with radial difference
Value one, judges that the liquid-transfering sucker burr is not up to standard if being more than.
By being exchanged to liquid-transfering sucker clearly to obtain the image of the other end, so as to the hair of the endoporus exit orifice to the other end
Thorn is all tested, and improves the test stone and quality of liquid-transfering sucker.Do not reached in the judgement liquid-transfering sucker burr in addition
Also the inspection to the liquid-transfering sucker can be terminated in the case of mark, or also may be selected to take preservation judged result and continue follow-up step
Suddenly.
In further embodiments, the method for inspection may also include step, after near-end or remote port edge fitting
The respective radius of acquisition is tested judgement, wherein being specially：
Calculate the difference L of the radius and established standardses radius：L=P* | R-R0|, wherein R is the port side of the acquisition
The corresponding radius of edge, R0For the established standardses radius, P is pixel in the actual size of pixel in this image, this image
Actual size P be the actual size value that records after being detected before test to image collecting device.
Judge whether difference L is more than the threshold value three of setting, judge that the liquid-transfering sucker sucker radius is not up to standard if being more than.
The threshold value three is the radius error maximum of liquid-transfering sucker radius allowed band in the case of up to standard.
The inspection to the liquid-transfering sucker can terminated in the case of judging that the liquid-transfering sucker radius is not up to standard in addition, or
Person also may be selected to take preservation judged result and continue subsequent step.Pass through the inside radius to liquid-transfering sucker port and outer radius
Whether index meets sets requirement, so that whether the port internal-and external diameter and wall thickness of recognizable liquid-transfering sucker meet liquid-transfering sucker product
Quality standard, improves the test stone and quality of liquid-transfering sucker.
In further embodiments, step S15 includes：Do not change the relative position of liquid-transfering sucker and verifying bench, adjust
Verifying bench position simultaneously records translational movement, obtains the binary image of port two.
After the image of port one is obtained, regulation image collecting device focal length and the distance of port two are clear for obtaining
The image of port two.When each parameter of the unsuitable analysis port in the position of port two in the picture, verifying bench position can adjust
To drive the port two of tested liquid-transfering sucker to move in suitable picture position, while the translational movement of records tests platform, most
The suitable image of port two is obtained eventually, and carries out obtaining the binary picture of port two to image after gradation conversion and binary conversion treatment
Picture.
Step S18 includes：Port two is calculated according to translational movement and translates preceding central coordinate of circle, the central coordinate of circle of port one and end is judged
Whether central coordinate of circle spacing is more than threshold value two before the translation of mouth two, judges that the liquid-transfering sucker perpendicularity is not up to standard if being more than, tool
Body includes：
Inquire about the edge of port one and two and distinguish corresponding central coordinate of circle O1、O2；
According to translational movement and central coordinate of circle O2Calculate central coordinate of circle O before port two is translated3；
Calculate central coordinate of circle O1And O3Distance of center circle S, S=E*P, wherein E be two central coordinate of circle between distance, P be this image
The actual size of middle pixel；
Judge whether distance of center circle S is more than threshold value two, judge that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
Due to the movement of verifying bench, the central coordinate of circle of port two is with by coordinate O2Place is moved to coordinate O3Place, therefore need
Obtain the central coordinate of circle O in the port two of detection port a period of time liquid-transfering sucker present position2, by calculating in same position time shift
The distance of center circle of liquid suction nozzle two-port judges whether the liquid-transfering sucker perpendicularity is up to standard.The embodiment can avoid image device from existing
The not good central coordinate of circle that can not calculate the port edge in port image position or radius when obtaining another port image
Problem, the central coordinate of circle that can remain to obtain the liquid-transfering sucker two-port of correspondence same position in the case of mobile verifying bench enters
And prepare to judge whether perpendicularity up to standard.
Embodiment two：
As shown in Figure 10, present embodiment discloses a kind of checking system of liquid-transfering sucker, including image collecting device 2,
Control device 1 and verifying bench 3, described image harvester 2 are configured as obtaining the liquid-transfering sucker perpendicular to the face of shooting
Nearside and remote port image, the verifying bench 3, the relative position for adjusting liquid-transfering sucker and image collecting device,
Described image harvester is enabled to obtain required image.The control device 1 includes：Image processing module 11, for figure
The two-port image obtained as harvester 2 carries out processing and obtains port binary image.Limb recognition module 12, for opposite end
Mouth binary image carries out limb recognition to obtain the edge of the port；And port edge progress nonlinear fitting is obtained
Take corresponding central coordinate of circle and/or radius.Inspection module 13, for judging each pixel of the port edge to the correspondence circle
Whether the distance of heart coordinate is more than threshold value one with radial difference, judges that the liquid-transfering sucker burr is not up to standard if being more than；And/or
Judge that the two-port edge distinguishes whether corresponding central coordinate of circle spacing is more than threshold value two, judge that the liquid relief is inhaled if being more than
Head perpendicularity is not up to standard.
In certain embodiments, the inspection module 13 is additionally operable to judge that the difference of the radius and established standardses radius is
The no threshold value three for being more than setting, judges that the liquid-transfering sucker sucker radius is not up to standard if being more than.
In certain embodiments, the control device 1 is additionally configured to judge any determine object in the inspection module
Terminate the inspection to the liquid-transfering sucker after not up to standard.
In certain embodiments, the control device 1 also includes motor control module, and the motor control module is configured
To instruct the movement of control test platform according to outside input and recording translational movement；The inspection module is additionally configured to according to flat
Shifting amount judges whether the two-port edge correspondence central coordinate of circle spacing in same position is more than threshold value two, and institute is judged if being more than
State liquid-transfering sucker perpendicularity not up to standard.
The specific work process of the control device 1 is similar in appearance to embodiment of the method, because its working method is similar in appearance to method
Embodiment, so describing fairly simple, the relevent part can refer to the partial explaination of embodiments of method.Described above is
Embodiment of uniting is only schematical, wherein the modular unit illustrated as separating component can be or may not be
Physically separate, the part shown as modular unit can be or may not be physical location, you can with positioned at one
Individual place, or can also be distributed on multiple NEs.Part therein can be selected according to the actual needs or complete
Portion's module realizes the purpose of this embodiment scheme.
As shown in Figure 11, in further embodiments, wherein the mobile platform 3 has the transmission device that three axles are moved
The platform that liquid-transfering sucker to be measured is placed with for driving axially is translated in XY two, and drive is installed on image collecting device
Support frame is moved in Z axis, the relative position for adjusting liquid-transfering sucker and image collecting device, to obtain suitable port
Image.
The control device 1 also includes motor control module 14, and the motor control module 14 is configured as according to outside
Input instruction controls the displacement of mobile platform 3.Reviewer can directly be inputted to servo control module 14 by input unit and be controlled
System instruction is used for the movement for controlling transmission device to drive liquid-transfering sucker to be measured so that liquid-transfering sucker to be measured can be in image collecting device
The optimum position of 2 imaging pictures, while the quick movement of mobile platform can be controlled again after a liquid-transfering sucker to be measured has been inspected
Next liquid-transfering sucker to be measured is moved to the optimum position that image collecting device is imaged picture, to carry out next shifting to be measured
The inspection of liquid suction nozzle.
This liquid-transfering sucker checking system embodiment obtains the image of liquid-transfering sucker port to be measured by image collecting device, right
Port image is handled calculates the size dimension of exit port burr to recognize, detection process can all be automatically performed, be not required to according to
Judged by the experience of testing staff, it is to avoid reviewer is uneven so that manual identified judges to draw because of ability level
The problem of test stone risen can not quantify.The indexs such as the perpendicularity and internal-and external diameter of liquid-transfering sucker to be measured are also all incorporated simultaneously
Detected, follow-up digital independent and result judge automatically, avoided completely by computer self into whole checkout procedure
In original inspection process in each link is examined all unavoidable artificial operating error generation.Pass through mobile platform simultaneously
The liquid-transfering sucker group to be measured for being positioned over platform can be examined in batches, and testing staff, which need to only input instructions, can be sequentially completed institute
There is the inspection of every quality index of liquid-transfering sucker, effectively increase the quick inspection of the liquid-transfering sucker of factory's magnanimity, carry significantly
The high checkability of liquid-transfering sucker, while also ensure that the consistent of the detection quality of each batch liquid-transfering sucker.
For convenience of description, description apparatus above and various unit modules are divided into function during system described respectively.When
So, the function of each unit can be realized in same or multiple softwares and/or hardware when implementing the present invention.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Described above is
System embodiment is only schematical, wherein the unit illustrated as separating component can be or may not be physics
Upper separated, the part shown as unit can be or may not be physical location, you can with positioned at a place, or
Person can also be distributed on multiple NEs.Some or all of module therein can be selected according to the actual needs real
The purpose of existing this embodiment scheme.Those of ordinary skill in the art are without creative efforts, you can to understand
And implement.
Each embodiment in this specification can take full hardware embodiment, full software implementation (including firmware, resident soft
Part, microcode etc.) or be combined with software and hardware aspect embodiment form, its this paper can all be collectively referred to as " electricity
Road ", " module " or " system ".In addition, the embodiment of method subject content can take implementation in any tangible expression in the present invention
Computer is implemented with the form of computer program product in medium, the tangible expression medium program code can be used.Retouched
State embodiment can as the computer readable storage devices that may include to be stored thereon with instruction computer program product or software
To provide, these instructions can be used to be programmed to perform according to embodiment computer system (or other electronic equipments)
No matter whether Cheng Yiyi be described herein because wood text in do not enumerate it is every kind of it is conceivable that to variant.It is computer-readable to deposit
Storage equipment includes being used to store the readable instruction of computing device (for example, computer, processor etc.) (for example, software, processing should
With) any mechanism.Computer-readable medium may include but be not limited to magnetic storage medium (for example, floppy disk)；Optical storage media (example
Such as, CD-ROM)；Magnetic-optical storage medium；Read-only storage (ROM)；Random access memory (RAM)；Erasable programmable is stored
Device (for example, EPROM and EEPROM)；Flash memory；Or suitable for storing the other kinds of medium of e-command.Moreover, each embodiment
Can electricity consumption, light, the transmitting signal (for example, carrier wave, infrared signal, data signal etc.) or wired of sound or other forms, it is wireless or
Other communication medias are realized.
The computer program code of operation for performing embodiment of the method can appointing with one or more programming languages
What combines to write, including Object-Oriented Programming Language (such as Java, Smalltalk, C++ or similar language) and routine
Procedural (such as " C " programming language or similar programming language).The program code can be fully in the computer of user
Above, partly on the computer of user, as self-support software kit, partly on the computer of user and partly remote
Performed on journey computer or fully on remote computer or server.In latter scenario, remote computer can pass through
Any kind of network is connected to user's one by one including LAN (LAN), Personal Area Network (PAN) or wide area network (WAN) one by one
Computer, or can (for example, passing through internet using ISP) be made to the connection of outer computer.
Although each embodiment is described with reference to various realizations and utilizing, it will be understood that, these embodiments are explanations
Property and the scope of inventive subject matter is not limited to these embodiments.In general, being used for gate as described herein
The technology of master control borad can be realized with the facility of any one or more hardware systems is met.Many variants, change, add
Plus and improve all be possible.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
1. a kind of method of inspection of liquid-transfering sucker, for being tested to the liquid-transfering sucker being positioned on verifying bench, its feature
It is, including：
S11, obtains the binary image of the port one of the liquid-transfering sucker；
S12, carries out limb recognition to obtain the edge of port one to the binary image of port one；
S13, nonlinear fitting is carried out to the edge of port one and obtains corresponding central coordinate of circle and radius；
S14, judges whether each pixel in edge is more than threshold value one to the distance of the correspondence central coordinate of circle with radial difference,
Judge that the liquid-transfering sucker burr is not up to standard if being more than；
S15, does not change the relative position of liquid-transfering sucker and verifying bench, obtains the binary image of port two；
S16, carries out limb recognition to obtain the edge of the port two to the binary image of the port two；
S17, carries out nonlinear fitting to the edge of port two and obtains corresponding central coordinate of circle；
S18, judges whether the corresponding central coordinate of circle spacing in the edge of port one and two is more than threshold value two, and the shifting is judged if being more than
Liquid suction nozzle perpendicularity is not up to standard.
2. the method for inspection according to claim 1, it is characterised in that
Step S15 includes：Do not change the relative position of liquid-transfering sucker and verifying bench, adjust verifying bench position and record translation
Amount, obtains the binary image of port two；
Step S18 includes：Port two is obtained according to translational movement and translates preceding central coordinate of circle, the central coordinate of circle of port one and port two is judged
Whether central coordinate of circle spacing is more than threshold value two before translation, judges that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
3. the method for inspection according to claim 1, it is characterised in that step S14 includes：
Judge whether each pixel in the edge is more than threshold value one to the distance of the correspondence central coordinate of circle with radial difference, if greatly
In the inspection for then judging that the liquid-transfering sucker burr is not up to standard and end is to the liquid-transfering sucker, otherwise continue next step.
4. according to any described methods of inspection of claim 1-3, it is characterised in that step S14 includes：
Obtain edge pixel point actual coordinate；
Actual size D, D=(L-R) * P of burrs on edges are calculated, wherein L is that the edge pixel point actual coordinate is sat to the center of circle
Target distance, P is the actual size of pixel in this image, and R is the radius of circle that the edge obtained after nonlinear fitting；
Judge whether actual size D is more than the threshold value one of setting, judge that the liquid-transfering sucker burr is not up to standard if being more than.
5. the method for inspection according to claim 1 or 3, it is characterised in that step S18 includes：
Inquire about the port one, two edges and distinguish corresponding two central coordinate of circle；
Distance of center circle S, the S=E*P of two central coordinate of circle are calculated, wherein E is the distance between two central coordinate of circle, and P is pixel in this image
The actual size of point；
Judge whether distance of center circle S is more than threshold value two, judge that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
6. the method for inspection according to Claims 2 or 3, it is characterised in that step S18 includes：
Inquire about the edge of port one and two and distinguish corresponding central coordinate of circle O1、O2；
According to translational movement and central coordinate of circle O2Calculate central coordinate of circle O before port two is translated3；
Calculate central coordinate of circle O1And O3Distance of center circle S, S=E*P, wherein E be two central coordinate of circle between distance, P be this image in picture
The actual size of vegetarian refreshments；
Judge whether distance of center circle S is more than threshold value two, judge that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
7. according to any described methods of inspection of claim 1-3, it is characterised in that also include：
Nonlinear fitting is carried out to the edge of port two and obtains corresponding central coordinate of circle and radius；
Judge whether each pixel in edge is more than threshold value one to the distance of correspondence central coordinate of circle with radial difference, judge if more than if
The liquid-transfering sucker burr is not up to standard.
8. a kind of checking system of liquid-transfering sucker, it is characterised in that including：
Image collecting device, is configured as obtaining the two-port image of the liquid-transfering sucker perpendicular to the face of shooting；
Verifying bench, the relative position for adjusting liquid-transfering sucker and image collecting device so that described image harvester is obtained
Take required image；
And control device, the control device includes：
Image processing module, the two-port image for being obtained to image collecting device carries out processing and obtains port binary picture
Picture；
Limb recognition module, for obtaining the port edge to port binary image progress limb recognition；And to described
Port edge carries out nonlinear fitting and obtains corresponding central coordinate of circle and/or radius；
Inspection module, be with radial difference for judging each pixel of the port edge to the distance of the correspondence central coordinate of circle
It is no to be more than threshold value one, judge that the liquid-transfering sucker burr is not up to standard if being more than；And/or judge that the two-port edge is right respectively
Whether the central coordinate of circle spacing answered is more than threshold value two, judges that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
9. checking system according to claim 8, it is characterised in that the control device is additionally configured to examine described
Module judges to terminate the inspection to the liquid-transfering sucker after any determine object is not up to standard.
10. checking system according to claim 8 or claim 9, it is characterised in that the control device also includes motor control mould
Block, the motor control module is configured as instructing the movement of control test platform according to outside input and records translational movement；
The inspection module is additionally configured to judge the two-port edge correspondence central coordinate of circle in same position according to translational movement
Whether spacing is more than threshold value two, judges that the liquid-transfering sucker perpendicularity is not up to standard if being more than.
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