CN107632025A - Curved surface high accuracy imaging system - Google Patents
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- CN107632025A CN107632025A CN201710862369.7A CN201710862369A CN107632025A CN 107632025 A CN107632025 A CN 107632025A CN 201710862369 A CN201710862369 A CN 201710862369A CN 107632025 A CN107632025 A CN 107632025A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 76
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 14
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- 230000008569 process Effects 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 30
- 238000010586 diagram Methods 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 6
- 239000004579 marble Substances 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
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- 238000007689 inspection Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
The present invention relates to a kind of curved surface high accuracy imaging system, moves to the imaging point of camera with product by motion platform, confirms that movement locus will ensure that product every bit at edge in motion all can adopt the upper of figure point in camera；Line-scan digital camera adopts figure using outer synchronous external trigger, and in motion process, motion-control module equidistantly can send out pulse to camera, and it is equal often to send the distance that a pulse product is walked；To one triggering of camera figure signal is adopted after product, which moves to, specifies and adopt figure point, camera starts to carry out adopting figure according to the pulse of reception, adopts figure after the complete circle of product motion and terminates, the output complete image of one width；Then result output is carried out to image with algorithm.The present invention simplifies the imaging system problem of arc surface using line-scan digital camera and the motion of three-shaft linkage high accuracy interpolation, effectively shortens the time of Product checking, and to the imaging of arc surface Related product be present, detection serves very big help.
Description
Technical field
The present invention relates to curved planar reformation and technical field of image processing, especially a kind of curved surface high accuracy imaging system.
Background technology
Detected for the outward appearance of curved face product, because motion control difficulty is big, imaging difficulty is big, therefore currently without fine
Solution method can handle the imaging of curved surface；Currently used method is to use area array cameras, but area array cameras is to curved surface
Imaging is especially cumbersome, and area array cameras needs 3 shootings of progress to clap complementary surface, and area array cameras needs the very big visual field, this
Sample makes imaging system more complicated, is also unable to reach high-precision testing requirements；When being shot particularly at R angles, face battle array is used
Camera not only will repeatedly shoot and be imaged poor effect, and the so complicated cumbersome imaging scheme of four straight flanges and four R angles causes
The CT times are very long, and image processing time is very long；If accomplish the testing conditions of outward appearance detection all defect by such face battle array
Scheme needs very big installing space certainly, to accomplish that the cooperation difficulty of taking pictures between camera is also bigger；If using high-precision
Spending imaging system, then cost is very high；Can not multi-angled shooting etc..
The content of the invention
The technical problem to be solved in the present invention is：A kind of curved surface high accuracy imaging system is proposed, solves face in the prior art
The problems such as array camera imaging precision is relatively low, and shooting number is more, and detection time is longer, and light source camera installing space is larger.
The technical solution adopted in the present invention is：A kind of curved surface high accuracy imaging system, including put down for the motion of loading
Platform, the imaging mechanism and kinetic control system shot to the product on motion platform；Described motion platform is with production
Product are moved at the imaging point of imaging mechanism, are confirmed movement locus and are ensured that product every bit at edge in motion is all being imaged
Mechanism is adopted on figure point；Imaging mechanism adopts figure using outer synchronous external trigger, and in motion process, kinetic control system can equidistantly be given
Imaging mechanism sends out pulse, and it is equal often to send the distance that a pulse product is walked；When product move to specify adopt after figure point to
Figure signal is adopted in one triggering of imaging mechanism, and imaging mechanism starts to carry out adopting figure according to the pulse of reception, complete in product motion
Figure is adopted after one circle to terminate, and exports the complete image of a width；Then result output is carried out to image with algorithm.
Further, imaging mechanism of the present invention includes line-scan digital camera, telecentric lens and imaging source；It is described
Motion platform be three-shaft linkage motion platform；Including the axle of X, Y, R tri-.
Further say, before Product checking of the present invention, the appearance profile CAD diagram paper of product is imported into motion control system
System；After kinetic control system reads the CAD diagram paper, capture the data of outline and change into electric cam；According to electric cam,
Control motion of the axle of X, Y, R tri- in each point position.
Further say, product center of the present invention is overlapping with R axis centers, and ensures Product Level.
Further say, present invention additionally comprises alignment compensation mechanism；The contraposition that product is moved to alignment compensation mechanism is mended
Station is repaid, mechanism is shot by alignment compensation；Product center and the deviation of actual pivot are drawn by algorithm, by the amount of deflection
It is given to PLC and carries out interpolation operation.
Further saying, when the present invention completes to adopt figure, algorithm starts to handle image, often detects a flake products,
While image is handled, algorithm reads the code that product is swept and bound with image and result automatically；Treat that product is completed
Output products testing result after all shootings and detection, and PLC is fed back to by IO communications, PLC shows product result.
Further say, motion platform of the present invention is marble motion platform.
Further say, in motion platform motion process of the present invention, product 3D face imaging points and camera lens front end face
Distance remain constant.
Further say, imaging source of the present invention includes dome light source, reflection source or coaxial light source；It is described
Line-scan digital camera be two, two line-scan digital cameras into angle set.
The beneficial effects of the invention are as follows：Arc surface is simplified using line-scan digital camera and the motion of three-shaft linkage high accuracy interpolation
Imaging system problem, the time of Product checking is effectively shortened, to the imaging of arc surface Related product be present, detection serves very
Big help.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Structural representation when Fig. 1 is present invention allotment；
Structural representation when Fig. 2 is normal detection of the invention；
Fig. 3 is linear array shooting station structure schematic diagram of the present invention；
Fig. 4 is the structural representation of three-shaft linkage structure of the present invention；
Fig. 5 is the structural representation of alignment compensation mechanism of the present invention；
In figure：1st, three-shaft linkage rotary table；2nd, imaging source；3rd, telecentric lens；4th, line-scan digital camera；5th, area array cameras
Station；6th, alignment compensation mechanism；7th, X-axis；8th, Y-axis；9th, R axles.
Embodiment
Presently in connection with accompanying drawing and preferred embodiment, the present invention is further detailed explanation.These accompanying drawings are simplified
Schematic diagram, only illustrate the basic structure of the present invention in a schematic way, therefore it only shows the composition relevant with the present invention.
As shown in figure 1, a kind of curved surface high accuracy imaging system, including three-shaft linkage rotary table, imaging source, telecentricity
Camera lens, line-scan digital camera, area array cameras station, PLC control system and image processing system and alignment compensation mechanism.
Motion platform is moved at the imaging point of camera with product, confirms that movement locus will ensure product side in motion
The every bit of edge all can adopt the upper of figure point in camera；Line-scan digital camera adopts figure using outer synchronous external trigger, in motion process, fortune
Dynamic control module equidistantly can send out pulse to camera, and it is equal often to send the distance that a pulse product is walked.When product moves to
Specify to adopt and adopt figure signal to one triggering of camera after figure point, camera starts to carry out adopting figure according to the pulse of reception, in product motion
Figure is adopted after a complete circle to terminate, and exports the complete image of a width；Then result output is carried out to image with algorithm.
Wherein, three-shaft linkage rotary table include two it is orthogonal, can top offset in the horizontal direction straight-line electric
Thermomechanical components, it is used separately as X-axis and Y-axis；And the DD motors of a rotation, as R axles, as shown in Figure 4.
Imaging source is the double or multistation light-source structure driven by servomotor, i.e., two are can configure in the structure
Or multiple imaging sources, it can switch in real time in detection process；The light source used in the present embodiment is dome light source, according to other
Embodiment can also use reflection source or coaxial light source.Because product is not only arc-shaped at R angles, perpendicular to motion side
To face be also curved surface, if only with the horizontal shooting of camera be once product curved profile can not be clapped it is complete, it is contemplated that this
Point, combined light source is coordinated to shoot product using into fixed angle double camera (or polyphaser), it is ensured that product surface can be complete
Portion is imaged, as shown in Figure 1,3.Coordinate in the moving interpolation at R angles at line-scan digital camera cooperation R angles and pulse and shoot product R angles
Into a width plane picture, the complexity that R angles are imaged is reduced.
Telecentric lens and line-scan digital camera are a structures into fixed angle, can shoot mobile phone shell on the back class circular arc product simultaneously
Upper and lower two arc surfaces.
Area array cameras station：Area array cameras is horizontal positioned, the main hole position shot on mobile phone shell on the back frame.Shoot hole position master
Have：Multifunctional perforated, sim card slot, lock hole, volume hole and I/O hole, it is contemplated that each hole position only needs shooting once, can root
The hole position that need to be detected according to product carries out photographic schemes design；Can selectively it be shot according to product situation at arc chord angle, to reach inspection
Survey and require.
Alignment compensation mechanism, it is the area array cameras of two adjustable spacing, as shown in figure 5, diagonal for shooting mobile phone shell on the back
Arcuate border, alignment compensation mechanism, product center only is being obtained, used during the debugging of track, removed after the completion of debugging, such as schemed
Shown in 2.Alignment compensation structural principle explanation：Deviation be present in the pivot of pivot and tool reality in view of product,
One group of positional stations is used in equipment debugging, passes through two area array cameras (area array cameras is installed accurately by scaling board) shooting
Product diagonal position；The initial angle of product rotation is drawn, product is once rotated 180 ° afterwards and shot once by shooting, passes through calculation
Method is drawn, the deviation of product center and actual pivot, is shown that the amount of deflection is given to PLC and carries out interpolation operation, is made what is walked out
Track is more accurate.The mechanism only used when changing product, in normal detection process without using.
Linear motion is realized very simple, and to realize the curvilinear motion of more circular arcs compositions will accurately control X, Y-axis to insert
Mend, be product curve outline, every section of circular arc all rotates around its center of circle, and it is every so to require that X, Y motion axle moving interpolation ensure
The pivot of section circular arc is accurate.X, Y linear axis ensure the accurate of pivot, while the cooperation of DD motors carries out rotation and completes song
The motion of line.
Because high-precision imaging system is all very high to the accuracy requirement of motion platform and movement locus, so how real
The moving condition that the accuracy and satisfaction of existing movement locus are stable will be a big technological difficulties；For above technological difficulties provide with
Lower solution：In order to complete accurate movement locus, PLC motion controls are selected, using CAD import features by the foreign steamer of product
Wide (need to move adopts figure track) CAD diagram is imported into PLC, and system automatically generates movement locus, by controlling servomotor
Track is realized with the axle of DD motors three, coordinates camera to complete the outline imaging of whole product；In order to ensure that imaging can erect completely
Directly, and imaging will not produce shake, high to the requirement on machining accuracy of mechanism using marble motion platform；Simultaneously to servo electricity
The rigidity of machine also requires very high, it is desirable to suitable rigidity found in debugging process, to ensure the levelness of board before debugging,
For place product tool levelness and and product contact plane levelness roughness requirements it is all very high.Due to entering in straight flange
When entering circular motion, acceleration and deceleration are had, if camera has larger stretching phenomenon using interior synchronous images, if it is desired that image
Stretching very little or almost not as stretching acceleration will accomplish infinity, but be practically impossible, in order to as far as possible
Reach highly accelerated degree and move carried quality (reduction inertia) it is necessary to reduce this, for whole tool and rotary shaft
Material requires that rigid good quality is small, due to can not also completely arrive at required requirement at present, uses (the motion of outer synchronous working pattern instead
Identical distance sends fixed pulse to camera) figure is adopted, image stretch phenomenon caused by thus can avoiding acceleration and deceleration, but so
The control of pulse signals is accurate, and stable differential pulse signal is particularly sent at straight flange and R angles.In order to avoid
Shake caused by being rotated at R angles, strengthen corner stable movement using linear guides.
In order to solve on the corner to be controlled due to the technical barrier shaken or stretched caused by acceleration and deceleration using electric cam
Pattern, cams mode can equidistant output pulse, carry out to camera row signal adopting figure, plus-minus so on the corner by pulse
Speed would not cause image stretch；When straight line enters moving interpolation, do not consider to accomplish at the uniform velocity to turn, be exactly under certain speed
The suddenly change direction of motion, causes image on the corner to have jitter phenomenon, in order to solve the shake that straight line enters R angles, passes through electricity
The output of sub- cam equi-spaced pulses, on the corner the speed of rectilinear direction subtract not that 0 (movement velocity zero, would not be because of suddenly change
The direction of motion causes to shake), simultaneously start to simulate the moving interpolation in direction, be also simulation in the corner at R angles to straight line
Moving interpolation speed was zero (R angles enter linear motion, and effect of jitter is smaller), subsequently into linear motion.
Because in detection product, not only outline is curved surface (direction of motion) at R angles, it is also being perpendicularly to the direction of movement
Curved surface, then so just have certain difficulty to imaging system requirement, can not be completed for a larger camera of curved surface radian
All shootings, somewhat high is required to the depth of field of camera, it is such in order to solve the problems, such as, using into angle polyphaser photographic schemes,
The outline shooting of whole product can once be completed；In order to coordinate such imaging scheme to employ customization light source, can expire simultaneously
The polishing of the multiple cameras of foot, the double camera easy for installation exclusively for certain angle that light source is integrated design.
Multistation imaging system, the use of multiple light sources is that polytype defect is imaged, only needs toggle lights can
Realize, camera is switched to next light source, to avoid the interference of each light source, often cut after completing to adopt figure with unification light source
The light source of this station is lighted automatically when changing to a light source, and other light sources are closed automatically.
Concretely comprise the following steps：
1st, before a product is detected, the appearance profile CAD diagram paper of product is imported into kinetic control system.Motion control system
After system reads the CAD diagram paper, capture the data of outline and change into electric cam.According to electric cam, the control axles of XYR tri- exist
The motion of each point position.
2nd, after completing data importing, can normally be detected.Product carries out barcode scanning identification and record before detection, afterwards will
Product is positioned on detection carrier, and product is fixed by the detent mechanism on carrier, ensures that product center is overlapping with R axis centers,
And ensure Product Level.
3rd, product is moved to alignment compensation station, and by alignment compensation, mechanism is shot.Product center and reality are drawn by algorithm
The deviation of border pivot, the amount of deflection is given to PLC and carries out interpolation operation.
4th, product is moved to detection station, dome light source igniting, and product reaches correct position, and (motor can be always in motion
Send out pulse signal), voltage triggereds (two cameras simultaneously trigger) of the PLC to one 24V rising edge of capture card, line-scan digital camera starts
Adopt figure (product carries out track motion under the drive of work tool), completion, which is adopted tool after figure and fallen back on, keeps away position, and light source switches over,
While switching, dome light source is closed, and profiling light source igniting (is lighted) when light source only works, and product is according to debugging after switching
Good angle carries out motion and coordinates camera to adopt figure.
5th, the shooting of above-mentioned linear array it is any once during, face battle array station can capture the frame or circular arc of mobile phone shell on the back
Face.
6th, when each station is completed to adopt figure, algorithm starts to handle image, often detects a flake products, schemes in processing
While picture, algorithm can read the code that product is swept automatically and be bound with image and result；All works are completed for product
Standing and shoot and understand after detecting output products testing result, and PLC is fed back to by IO communications, PLC can show product OK (green light),
Result as NG (red light) is shown (or notice manipulator carries out OK, NG sort operation).
Three-shaft linkage rotary table high-precision moving interpolation during rotating or moving horizontally can realize 3D faces
The distance of imaging point and camera lens front end face remains constant；In the case of camera, light-source angle are thick-and-thin, the mistake of difference benefit
Ensure that lighting angle and imaging angle are constant in journey；Outside line-scan digital camera synchronous imaging scheme can realize at a high speed, variable motion
IMAQ, possess high-precision imaging resolution；The angled collocation customization special light sources of polyphaser are shot to arc surface,
The imaging to arc surface can once be completed.
The Optical Resolution of Imaging System of line-scan digital camera is high, and maximum collection line frequency can reach 40k, and high speed acquisition can be achieved, can one
Imaging of the secondary completion to product；Cost is far below high-precision face battle array imaging system.
In mobile phone shell on the back detection project is carried out, to the arc surface imaging problem run into during the progress imaging test of 3D faces, lead to
Cross two line-scan digital cameras to be imaged into angle, then by customizing special light sources while meeting the polishing requirement of two line-scan digital cameras.
Which simplify cumbersome imaging mode, reduces the installing space of hardware, can reach higher resolution requirement, Er Qie great
Improve CT greatly.
Using line-scan digital camera, target surface is larger, and precision is high；Line-scan digital camera is angled to coordinate three-shaft linkage high accuracy interpolation
Motion platform is Polaroid to product progress moving camera shooting, solves multiposition area array cameras and repeatedly shoots problem；Line-scan digital camera
Coordinate high-speed collection card highest line frequency to can reach 40K, solve the long problems of CT；Two line-scan digital cameras and customization light source can meet to examine
Survey and require, alternative multiple area array cameras and area array light source, simplify system and hardware installation space.It is included in R for arc surface
(arc surface is perpendicularly to the direction of movement at angle), and line-scan digital camera meets that illumination condition is relatively easy a lot, as long as meeting pixel target surface
The uniform illumination of that line of irradiation can meet the illumination detection of line-scan digital camera；And line-scan digital camera can adjust angle of image easily
Degree, change imaging effect and meet polytype defects detection；The outline shooting of a product, scanning combination can once be completed
It is easy to algorithm process into a figure, this scheme shooting either all greatly reduces processing time in hardware or software, subtracted
Fast Product checking CT.
Linear array imaging scheme, polishing imaging mode is more, and the diversity that defect is detected to outward appearance has more polishings to be imaged
Solution.
The embodiment of the simply present invention described in description above, various illustrations are not to the reality of the present invention
Matter Composition of contents limits, and person of an ordinary skill in the technical field can be to described in the past specific after specification has been read
Embodiment is made an amendment or deformed, without departing from the spirit and scope of the invention.
Claims (9)
- A kind of 1. curved surface high accuracy imaging system, it is characterised in that：Including the motion platform for loading, on motion platform The imaging mechanism and kinetic control system that product is shot；Described motion platform moves to imaging mechanism with product At imaging point, confirm movement locus and ensure every bit all adopting on figure point in imaging mechanism at product edge in motion；Into Camera structure adopts figure using outer synchronous external trigger, and in motion process, kinetic control system equidistantly can send out pulse to imaging mechanism, often It is equal to send the distance that a pulse product is walked；Adopted after product, which moves to, specifies and adopt figure point to one triggering of imaging mechanism Figure signal, imaging mechanism start to carry out adopting figure according to the pulse of reception, adopt figure after the complete circle of product motion and terminate, export The complete image of one width；Then result output is carried out to image with algorithm.
- 2. curved surface high accuracy imaging system as claimed in claim 1, it is characterised in that：Described imaging mechanism includes linear array phase Machine, telecentric lens and imaging source；Described motion platform is three-shaft linkage motion platform；Including the axle of X, Y, R tri-.
- 3. curved surface high accuracy imaging system as claimed in claim 2, it is characterised in that：Before Product checking, by the profile of product Profile CAD diagram paper imports kinetic control system；After kinetic control system reads the CAD diagram paper, capture the data of outline and turn It is melted into electric cam；According to electric cam, motion of the control axle of X, Y, R tri- in each point position.
- 4. curved surface high accuracy imaging system as claimed in claim 2, it is characterised in that：Product center is overlapping with R axis centers, and Ensure Product Level.
- 5. curved surface high accuracy imaging system as claimed in claim 2, it is characterised in that：Also include alignment compensation mechanism；Product The alignment compensation station of alignment compensation mechanism is moved to, mechanism is shot by alignment compensation；Product center and reality are drawn by algorithm The deviation of border pivot, the amount of deflection is given to PLC and carries out interpolation operation.
- 6. curved surface high accuracy imaging system as claimed in claim 2, it is characterised in that：When figure is adopted in completion, algorithm starts to figure As being handled, a flake products are often detected, while image is handled, algorithm reads the code that product is swept and and image and place automatically Reason result is bound；The output products testing result after product completes all shootings and detection, and fed back to by IO communications PLC, PLC show product result.
- 7. curved surface high accuracy imaging system as claimed in claim 2, it is characterised in that：Described motion platform is transported for marble Moving platform.
- 8. curved surface high accuracy imaging system as claimed in claim 2, it is characterised in that：In the motion platform motion process, The distance of product 3D face imaging points and camera lens front end face remains constant.
- 9. curved surface high accuracy imaging system as claimed in claim 2, it is characterised in that：Described imaging source includes dome light Source, reflection source or coaxial light source；Described line-scan digital camera is two, and two line-scan digital cameras are set into angle.
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| CN109682826A (en) * | 2019-01-17 | 2019-04-26 | 东莞市三姆森光电科技有限公司 | NI Vision Builder for Automated Inspection and detection method for the detection of cambered surface appearance |
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