CN108020564A - Pulp goods detection method of surface flaw - Google Patents

Pulp goods detection method of surface flaw Download PDF

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Publication number
CN108020564A
CN108020564A CN201610977377.1A CN201610977377A CN108020564A CN 108020564 A CN108020564 A CN 108020564A CN 201610977377 A CN201610977377 A CN 201610977377A CN 108020564 A CN108020564 A CN 108020564A
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China
Prior art keywords
product
detected
qualified
detection method
grasping mechanism
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CN201610977377.1A
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Chinese (zh)
Inventor
麻中锋
李顺海
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Shandong Heaven And Green Packaging Technology Co Ltd
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Shandong Heaven And Green Packaging Technology Co Ltd
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Priority to CN201610977377.1A priority Critical patent/CN108020564A/en
Publication of CN108020564A publication Critical patent/CN108020564A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • G01N21/95Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/956Inspecting patterns on the surface of objects
    • G01N21/95607Inspecting patterns on the surface of objects using a comparative method
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • G01N21/8851Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8887Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84Systems specially adapted for particular applications
    • G01N21/88Investigating the presence of flaws or contamination
    • G01N21/95Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/956Inspecting patterns on the surface of objects
    • G01N21/95607Inspecting patterns on the surface of objects using a comparative method
    • G01N2021/95615Inspecting patterns on the surface of objects using a comparative method with stored comparision signal

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The present invention relates to a kind of pulp goods detection method of surface flaw, the surface of product to be detected is imaged, and contrasted with the surface image of certified products, when the difference of contrast is more than setting value, then judge that product to be detected are unqualified, when the difference of contrast is less than setting value, then judge that product to be detected are qualified.The present invention is imaged pulp goods to be detected using imaging device, it is and whether qualified by signal processing apparatus automatic decision product, the problems such as overcoming visual fatigue present in human eye detection and easily being influenced by subjective factor, has the advantages that judging result is accurate, processing speed is fast.

Description

Pulp goods detection method of surface flaw
Technical field
The present invention relates to visual imaging detection method, especially a kind of pulp goods detection method of surface flaw.
Background technology
Pulp goods generally also need to by trimming after thermocompression forming and detect program, in program is detected, mainly It is that optical detection is carried out to the surface of pulp goods, the surface as checked product is no, and there are stain, edge incompleteness and metal residual Deng examining the product of qualification can case shipment, and defective work then needs to carry out repair process or directly returns to mashing.It is existing Detection method is generally detected mainly by eye-observation, and this detection method is there are larger subjectivity, and worker sees for a long time Examine and be easy to cause visual fatigue, influence the accuracy of detection.The Chinese invention patent of Application No. 201410546478.4 discloses A kind of dixie cup defective vision detection method and system and device, include the following steps:Adopted using the USB being connected with embedded system Truck and CCD camera lenses gather dixie cup image in real time;Gray-scale map is converted the image into, adaptive threshold fuzziness is utilized in gray-scale map With contours extract positioning dixie cup position;Utilize boundary chain code extraction algorithm positioning dixie cup rim of a cup region;Utilize contours extract and circle Detection positioning dixie cup bottom of a cup region, and further positioning paper cup sidewall region;Ultimately generate a width dixie cup mark figure, including four Part:Paper cup mouth region domain, dixie cup sidewall areas, paper cup bottom contour area and paper cup bottom region, perform different zones Corresponding difference defect algorithm is detected.Although the invention realizes the automation optical detection to dixie cup, but due to its mirror Head unidirectional can only take pictures dixie cup, therefore, it is difficult to obtain all images of dixie cup, influence the accuracy of its detection.
Given this present invention is proposed.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of alternative artificial detection, and with detection Speed is fast, the high pulp goods detection method of surface flaw of accuracy rate.
In order to realize the purpose, the present invention adopts the following technical scheme that:
A kind of pulp goods detection method of surface flaw, is imaged the surface of product to be detected, and with certified products Surface image is contrasted, and when the image difference of contrast is more than setting value, then judges that product to be detected are unqualified, when the figure of contrast When aberration value is less than setting value, then judge that product to be detected are qualified.
Further, the detection method, including the first imaging process and the second imaging process;
First imaging process is:
The upper surface of product to be detected is imaged, and judges whether the upper surface of product to be detected is qualified, if product to be detected Upper surface it is unqualified, then the product to be detected are positioned over defective work lay down location by handling device, and to next product weight to be detected The multiple above process, if the upper surface of product to be detected is qualified, performs the second imaging process;
Second imaging process is:
Product to be detected are moved to next image space by the handling device, in next image space, to product to be detected Lower surface is imaged, and judges whether the lower surface of product to be detected is qualified, and if qualification, then handling device is by the product to be detected Certified products lay down location is positioned over, if unqualified, is then positioned over defective work lay down location, and next product to be detected are started to repeat First imaging process.
Further, the product to be detected are imaged by different imaging devices, respectively the corresponding upper table for being imaged product to be detected Face and lower surface, in imaging process, the signal processing apparatus is by way of individually contrasting by the image got with depositing The certified products image of storage is contrasted, and judges whether product to be detected are qualified according to comparing result.
Further, the handling device controls its action by the trigger signal that signal processing apparatus produces, and works as signal processing When device sends defective work signal, product to be detected are directly moved to defective work lay down location by the handling device, work as signal When processing unit sends certified products signal twice in succession, product to be detected are moved to certified products lay down location by handling device.
Further, the handling device has a rotatable rocking arm and is arranged on the grasping mechanism of rocking arm free end, institute Stating grasping mechanism has multiple suckers, and captures product to be detected by the sucker;After the grasping mechanism picks up product to be detected, Product to be detected are driven to move by the rotation of rocking arm.
Further, the rocking arm has multiple stop positions, is respectively, the first image space, the second image space, qualification Product placement location and defective work placement location;In the first image space, the grasping mechanism captures product to be detected;Second During image space, imaging device is imaged the lower surface of product to be detected;Placed in certified products placement location or defective work During position, grasping mechanism discharges product to be detected.
Further, the process that the grasping mechanism captures product to be detected is,
A1, grasping mechanism, which move down, contacts sucker and the surface of product to be detected;
A2, by sucker extract be vacuum, make sucker and product to be detected fixed;
A3, grasping mechanism move up, and product to be detected are lifted from lay down location, complete crawl process.
Further, the process that the grasping mechanism discharges product to be detected is,
B1, grasping mechanism, which move down, makes product to be detected drop to certain altitude;
B2, by sucker be filled with gases at high pressure, sucker is separated with product to be detected;
B3, product to be detected fall into lay down location, while grasping mechanism moves up, and complete release process.
Further, the signal processing apparatus judges whether qualified process includes product to be detected, and border judges and surface Stain judges;
The border is judged as that the signal processing apparatus extracts the side of product to be detected by boundary extraction algorithm Boundary, and registration contrast is carried out with the border of certified products, if registration is more than setting value, the edge of product to be detected is qualified;
The surface blot is judged as that the image of product to be detected is carried out gray proces by the signal processing apparatus, and Contrasted with the gray level image of certified products, according to both luminance differences, the blemished area on product to be detected is obtained, if each The area of stain is respectively less than setting value, then the surface blot amount of product to be detected is qualified;
If the surface blot amount and edge of product to be detected are all qualified, the product to be detected are judged for qualification, otherwise for not It is qualified.
Further, when being imaged to product to be detected, light supply apparatus is opened, and illuminate the surface of product to be detected.
After technical solutions according to the invention, following beneficial effect is brought:
The present invention is imaged pulp goods to be detected using imaging device, and is sentenced automatically by signal processing apparatus Whether stopping pregnancy product are qualified, the problems such as overcoming visual fatigue present in human eye detection and easily influenced by subjective factor, have and sentence Disconnected the advantages of result is accurate, processing speed is fast.In addition, the handling device of the present invention can substitute manually, it is automatically performed to be detected The work such as the carrying and classification placement of product, and handling device cooperates with imaging device, by mobile pulp goods, makes into As device obtains complete pulp goods image from different perspectives, the accuracy of signal processing apparatus judgement is substantially increased, is made It is more accurate to obtain its judgement to defective work, effectively reduces careless omission, improves the product quality image of enterprise.
Brief description of the drawings
Fig. 1:The flow chart of the present invention;
Fig. 2:The overall structure diagram of detection device of the present invention;
Fig. 3:The front view of detection device of the present invention;
Fig. 4:The top view of detection device of the present invention;
Fig. 5:The structure diagram of handling device of the present invention;
Fig. 6:The structure diagram of product placement platform of the present invention;
Fig. 7:The structure diagram at another visual angle of product placement platform of the present invention;
Fig. 8:The present invention shelves the structure diagram of platform;
Fig. 9:The structure diagram of pulp goods separator of the present invention;
Wherein:1st, rack 2, shelve platform 3, handling device 4, the first imaging device 5, the second imaging device 6, light Source device 7, product placement platform 8 to be detected, certified products placement platform 9, defective work placement platform 20, lid 21, platform Plate 22, supporting rack 23, motor 24, small pulley 25, big belt wheel 26, synchronous belt 27, rack 28, guide rail 29, sliding block 31st, rocking arm 32, power set 33, lifting cylinder 34, sucker fixed frame 35, sucker 36, guide rod 111, retainer 112nd, retainer ring 113, threaded rod.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 2, Figure 3 and Figure 4, a kind of pulp goods surface defect detection apparatus, including:One fixes on the ground Rack 1, the signal processing apparatus (not shown in specific installation site figure) for being fixed on the side of rack 1, with rack 1 it is relatively-stationary into As device, and one is movably arranged on the handling device 3 for being used to move and capture pulp goods in the rack 1, described to remove Shipping unit 3 and imaging device are connected by cable with signal processing apparatus, and the signal processing apparatus can be to be provided with image The computer of software is handled, and is stored with the image information of certified products, for the image comparison with the product to be detected collected, Judge whether product to be detected are qualified.
The imaging device includes, the first imaging device 4 and the second imaging device 5, first imaging device 4 and second The gross area that imaging device 5 can obtain is suitable with the area on pulp goods surface.Wherein, the first imaging device 4 can be used for The upper surface of pulp goods is shot, the second imaging device 5 is used for the lower surface for shooting pulp goods, and signal processing apparatus will be shot To upper and lower surface of the upper and lower surface respectively with certified products of pulp goods contrasted.
Specifically, the rack 1 shelves platform 2 with a level, and the platform 2 of shelving is semicircular arc, is pacified thereon Equipped with three liftable product placement platforms, pulp goods are placed for classifying, is respectively product placement platform 7 to be detected, closes Lattice product placement platform 8 and defective work placement platform 9, the handling device 3 are installed on higher than the frame top for shelving platform 2, And can be moved between product placement platform 7 to be detected, certified products placement platform 8 and defective work placement platform 9, for carrying paper Milk products.
Under normal conditions, pulp goods to be detected can stack placement, wherein, positioned at the upper table of the pulp goods of top Face image can be obtained directly by taking pictures, its lower surface with other pulp goods due to being bonded, it is necessary to by handling device 3 first After it is separated with other pulp goods, then its lower surface take pictures and obtains image.Arbitrary surfaces in upper and lower surface When unqualified, then judge the pulp goods for substandard product.
Preferably, first imaging device 4 is arranged on the surface of product placement platform 7 to be detected, by directly taking pictures The upper surfaces of to be detected product of the mode to being placed on product placement platform 7 to be detected be imaged, second imaging device 5 Deviate the setting of 4 certain distance of the first imaging device, and positioned at the lower section of 3 mobile route of handling device, handling device 3 first will be to be checked Survey product are taken down from product placement platform 7 to be detected, then product to be detected are moved to the top of the second imaging device 5, to be checked The lower surface of product to be detected is imaged in the case that survey product lower surface is unobstructed.
As shown in figure 5, specifically, the handling device 3 includes, a rocking arm 31 being rotatablely connected with rack 1, drives rocking arm 31 power set 32 rotated relative to rack 1, and positioned at the crawl section of 31 free end of rocking arm.The power set 32 include solid Servomotor of the Dingan County in rack 1, and the retarder being connected with servomotor, the shaft of servomotor pass through retarder It is connected with rocking arm 31, to drive rocking arm 31 to rotate.Product placement platform 7 to be detected, certified products placement platform 8 and the defective work Placement platform 9 is distributed on same circular arc, and the center of circle of the circular arc and the pivot of rocking arm 31 are described to shake on same vertical curve The length of arm 31 and the radius of circular arc are same or like.
Specifically, the crawl section includes, a lifting cylinder 33, sucker fixed frame 34, guiding mechanism, the lifting cylinder 33 cylinder body is fixedly connected with rocking arm 31, and the cylinder body is equipped with air inlet and gas outlet, and is connected with exterior air supply system, The piston rod of lifting cylinder 33 can opposing cylinder move up and down, for driving sucker fixed frame 34 to move up and down;The sucker is consolidated The bottom for determining frame 34 is provided with multiple suckers 35, and the sucker 35 is used to contact with the surface of pulp goods, and utilizes generation Negative pressure holds pulp goods.More specifically, the sucker 35 is connected by triple valve with high-pressure gas pipeline and vacuum line, It is used to pick up pulp goods when sucker 35 is connected with vacuum line, is used to put down when sucker 35 is connected with high-pressure gas pipeline Pulp goods.The sucker fixed frame 34 is fixedly connected with the piston rod of lifting cylinder 33, is driven by lifting cylinder 33 above and below it It is mobile;The guiding mechanism includes at least a guide rod 36 being fixedly connected with sucker fixed frame 34, guide rod 36 and lifting air Cylinder 33 is arranged in parallel, and the through hole coordinated with the guide rod 36 is equipped with rocking arm 31, and guide rod 36 can slide in the through hole, By the cooperation of through hole and guide rod 36, the 34 in the vertical direction movements of sucker fixed frame are ensure that.
Preferably, the guide rod 36 is a pair, and is symmetrical arranged centered on lifting cylinder 33, the sucker fixed frame 34 shape can be linear type, " ten " font, " H " font or other shapes that can match with pulp goods, the sucker 35 are preferably fixed to the end or edge of sucker fixed frame 34.
As shown in Figure 6 and Figure 7, the product placement platform 7 to be detected, certified products placement platform 8 and defective work are placed flat Platform 9 is identical structure, is included respectively, positioned at the circular flat platen 21 shelved above platform 2, positioned at being used for for the lower section of landing slab 21 Drive the driving mechanism of 21 lifting moving of landing slab, and be arranged on specific location, for detection platform plate 21 in place with it is to be checked The sensor (not showed that in figure) of survey product height, specifically, the sensor is multiple, including upper sensor and lower sensing Device, the lower sensor are disposed proximate to shelve at the upper surface of platform 2, and whether lowest order is reached for detection platform plate 21 Put, be made since landing slab 21 is generally ferrous material, the lower sensor is preferably magnetic sensor, when landing slab 21 declines To setting extreme lower position when, lower sensor will be triggered, make landing slab 21 stop decline.The upper sensor is away from shelving platform 2 Certain altitude is set, which is exactly the minimum altitude that crawl section can reach, and upper sensor is arranged on the upper of landing slab 21 Side, the height of the product to be detected on detection platform plate 21, when the height of product to be detected exceedes setting value, landing slab is by under Drop, it is preferable that the upper sensor is optical sensor.
Specifically, the driving mechanism includes, the supporting rack 22 being fixedly connected with rack 1, and support frame as described above 22 is positioned at flat The lower section of platen 21, the motor 23 being fixedly mounted on supporting rack 22, the transmission mechanism being connected with motor 23;The motor 23 Rotate the elevating movement that landing slab 21 is converted into by transmission mechanism.
The transmission mechanism includes, tape handler, rack and pinion mechanism and guide rail mechanism;The tape handler bag Include, the small pulley 24 being connected with 23 shaft of motor, the small pulley 24 is connected by synchronous belt 26 with big belt wheel 25, the gear Rackwork includes, coaxially connected gear (not shown in figure, being hidden in supporting rack) with big belt wheel 25, engaged with gear and One end is fixedly connected on the rack 27 of 21 bottom of landing slab, and the rack 27 is extended downwardly perpendicular to landing slab 21, the guide rail Mechanism includes, it is isometric with rack 27 and be arranged on rack 27 deviate from flank of tooth side guide rail 28, the cunning being fixed on supporting rack 22 Block 29, the guide rail 28 are connected by sliding block 29 with supporting rack 22, it is preferred that the sliding block 29 is arranged to two, to play more Good positioning and supporting role.When motor 23 rotates, small pulley 24 will be driven to rotate, the rotation of small pulley 24 passes through synchronous belt 26 are transferred to big belt wheel 25, rotate big belt wheel 25, while the gear coaxially connected with big belt wheel 25 will rotate, gear The rack 27 that rotating makes to engage moves linearly, and to realize rising or falling for landing slab 21, is moved in rack 28 same When, guide rail 28 is relatively moved with sliding block 29, landing slab 21 is kept rectilinear movement.
For ease of installation, it is preferable that it is described shelve be provided with platform 2 with 21 size of landing slab similar in opening, the opening Closed by a removable lid 20, the lid 20 is equipped with the perforate passed through for rack 27 and guide rail 28, support frame as described above 22 can directly be fixedly connected on lid 20, and can be pulled down as an entirety from rack 1.
Preferably, the certified products placement platform 8 and defective work placement platform 9 are located at product placement platform to be detected respectively 7 both sides, and leave that can to hold be that at least one product to be detected are big between certified products placement platform 8 and product placement platform 7 to be detected Small gap, second imaging device 5 are arranged in the gap, to be carried out into when product to be detected pass through the gap to it Picture.
With reference to shown in Fig. 8 and Fig. 9, since product to be detected generally stack placement, in the product to be detected of crawl top When, easily product to be detected below are taken up in the lump, makes testing result inaccurate, is treated to make crawl section only pick up one every time Detection product, pulp goods separator, the pulp goods separator bag are additionally provided with the periphery of the product placement platform 7 to be detected Include:One is arranged on the retainer 111 that product placement platform 7 to be detected is peripheral and is fixedly connected with rack 1, and the retainer 111 wraps Several pillars upwardly extended are included, and a retainer ring 112 to match with product shape to be detected is equipped with the top of pillar, it is described solid The size for determining ring 112 is more than the size of product to be detected, makes to leave certain gap between retainer ring 112 and product to be detected, fixed The height of ring 112 is slightly less than the stack height of product to be detected, is connect in the inner side of the retainer ring 112 equipped with multiple with product to be detected Tactile threaded rod 113, the threaded rod 113 are vertically arranged, and at least there is the outer edge directly with product to be detected mutually to sting for one end The male thread portion of conjunction, to produce certain resistance when product to be detected and threaded rod 113 slide relatively.Preferably, the spiral shell 113 upper end of rasp bar has an external screw thread, and lower end is smooth surface, and the lower end of the threaded rod 113 is to the side away from product to be detected To deviation, so that product to be detected can smoothly slide to the upper end of threaded rod 113, guiding role is played.The threaded rod 113 Quantity is preferably four, and is uniformly distributed, and product to be detected are when by the threaded portion of threaded rod 113, the edge of product to be detected It will rub with threaded rod 113, and produce certain resistance, the product to be detected being only directly connected with crawl section can just overcome this Resistance, success are separated with threaded rod 113, therefore, are also achieved that the mesh for making crawl section to pick up a product to be detected every time 's.
Preferably, the periphery of the imaging device is additionally provided with the light supply apparatus 6 for illuminating thing surface to be detected, to improve Image quality, the light supply apparatus 6 are the annular light source for being looped around imaging device periphery, can be the LED light of annular specifically Battle array.
As shown in Figure 1, a kind of pulp goods detection method of surface flaw, first, the surfaces of product to be detected is carried out into Picture, and contrasted with the surface image of certified products, when the image difference of contrast is more than setting value, then judge product to be detected not Qualification, when the image difference of contrast is less than setting value, then judges that product to be detected are qualified.
The detection method is completed using above-mentioned pulp goods surface defects detection detection device, which includes first Imaging process and the second imaging process;
First imaging process is:
The upper surface of product to be detected is imaged, and the image information of acquisition is transmitted to signal processing apparatus, signal Processing unit judges whether the upper surface of product to be detected is qualified, and sends control signal to handling device 3 according to judging result, if The upper surface of product to be detected is unqualified, then the product to be detected are positioned over defective work lay down location by handling device 3, and are treated to next Detection product repeat the above process, if the upper surface of product to be detected is qualified, perform the second imaging process;
Second imaging process is:
Product to be detected are moved to next image space by the handling device 3, in next image space, to product to be detected Lower surface is imaged, and judges whether the lower surface of product to be detected is qualified, and if qualification, then handling device 3 is to be detected by this Product are positioned over certified products lay down location, if unqualified, are then positioned over defective work lay down location, and next product to be detected are started with weight Multiple first imaging process.
The product to be detected are imaged by different imaging devices, respectively the corresponding upper surface for being imaged product to be detected and following table Face, i.e., shoot the upper surface of product to be detected using the first imaging device 4, and the second imaging device 5 shoots the lower surface of product to be detected. Since product mean level to be detected is placed, respectively it is imaged above and below product to be detected to obtain and completely treated Detection product image information, in imaging process, image that the signal processing apparatus will be got by way of individually contrasting Contrasted, i.e., first contrasted the upper surface of the upper surface of product to be detected and certified products with the certified products image of storage, then The lower surface of lower surface and certified products to product to be detected contrasts, and judges whether product to be detected close according to comparing result Lattice.
The certified products lay down location and defective work lay down location correspond to certified products placement platform 8 respectively and defective work is placed Platform 9.
Specifically, the signal processing apparatus judges whether qualified process includes product to be detected, and border judges and surface Stain judges;
The border is judged as that the signal processing apparatus extracts the side of product to be detected by boundary extraction algorithm Boundary, and registration contrast is carried out with the border of certified products, if registration is more than setting value, the edge of product to be detected is qualified;
The surface blot is judged as that the image of product to be detected is carried out gray proces by the signal processing apparatus, and Contrasted with the gray level image of certified products, according to both luminance differences, the blemished area on product to be detected is obtained, if each The area of stain is respectively less than setting value, then the surface blot amount of product to be detected is qualified;
If the surface blot amount and edge of product to be detected are all qualified, the product to be detected are judged for qualification, otherwise for not It is qualified.
The handling device 3 controls its action by the trigger signal that signal processing apparatus produces, when signal processing apparatus is sent out When going out defective work signal, the handling device 3 receives the signal, and product to be detected directly are moved to defective work and are placed Place, when signal processing apparatus sends certified products signal twice in succession, product to be detected are moved to certified products and placed by handling device 3 Place.
Specific operation process is, after the first imaging device 4 is taken pictures, when the upper surface of product to be detected is qualified, carries dress Put 3 to remove the product to be detected from product placement platform 7 to be detected, and move to the gap location where the second imaging device 5, make the Two imaging devices 5 carry out detection of taking pictures to the lower surface of product to be detected, and after detection and qualification is completed, handling device 3 will be to be checked Survey product are positioned on certified products placement platform 8, if any surface testing result is unqualified, handling device 3 directly will be to be detected Product are moved on defective work placement platform 9.
The rocking arm 31 of the grasping mechanism has multiple stop positions when mobile, respectively, the first image space, the Two image spaces, certified products placement location and defective work placement location;It is described to grab when rocking arm 31 is parked in the first image space Mechanism is taken to capture product to be detected;In the second image space, the second imaging device 5 is imaged the lower surface of product to be detected; In certified products placement location or defective work placement location, grasping mechanism discharges product to be detected.
The process that the grasping mechanism captures product to be detected is,
A1, grasping mechanism, which move down, contacts sucker 35 and the surface of product to be detected;
A2, extract sucker 35 for vacuum, makes sucker 35 and product to be detected fixed;
A3, grasping mechanism move up, and product to be detected are lifted from lay down location, complete crawl process.
The process that the grasping mechanism discharges product to be detected is,
B1, grasping mechanism, which move down, makes product to be detected drop to certain altitude;
B2, by sucker 35 be filled with gases at high pressure, sucker 35 is separated with product to be detected;
B3, product to be detected fall into lay down location, while grasping mechanism moves up, and complete release process.
Preferably, when being imaged to product to be detected, light supply apparatus 6 is opened, and illuminate the surface of product to be detected.
The above is embodiments of the present invention, it is noted that for the ordinary skill in the art, not Under the premise of departing from the principle of the invention, various deformation and improvement can also be made, this should also be considered as protection scope of the present invention.

Claims (10)

  1. A kind of 1. pulp goods detection method of surface flaw, it is characterised in that the surface of product to be detected is imaged, and with The surface image of certified products is contrasted, and when the image difference of contrast is more than setting value, then judges that product to be detected are unqualified, when When the image difference of contrast is less than setting value, then judge that product to be detected are qualified.
  2. 2. pulp goods detection method of surface flaw according to claim 1, it is characterised in that:Including the first imaging process With the second imaging process;
    First imaging process is:
    The upper surface of product to be detected is imaged, and judges whether the upper surface of product to be detected is qualified, if product to be detected is upper Surface is unqualified, then the product to be detected is positioned over defective work lay down location, and next product to be detected are repeated the above process, if The upper surface of product to be detected is qualified, then performs the second imaging process;
    Second imaging process is:
    Product to be detected are moved to next image space, in next image space, the lower surface of product to be detected is imaged, and Judge whether the lower surface of product to be detected is qualified, if qualification, then the product to be detected are positioned over certified products lay down location, if not Qualification, then be positioned over defective work lay down location, and next product to be detected are started to repeat the first imaging process.
  3. 3. pulp goods detection method of surface flaw according to claim 2, it is characterised in that:The product to be detected are not by It is imaged with imaging device, respectively the corresponding upper and lower surface for being imaged product to be detected, in imaging process, the signal Processing unit is contrasted the image got with the certified products image stored by way of individually contrasting, and according to contrast As a result judge whether product to be detected are qualified.
  4. 4. pulp goods detection method of surface flaw according to claim 2, it is characterised in that:The product to be detected are by removing Shipping unit is carried, and the handling device controls its action by the trigger signal that signal processing apparatus produces, works as signal processing apparatus When sending defective work signal, product to be detected are moved to defective work lay down location by the handling device, work as signal processing apparatus When sending certified products signal twice in succession, product to be detected are moved to certified products lay down location by handling device.
  5. 5. pulp goods detection method of surface flaw according to claim 4, it is characterised in that:The handling device has One rotatable rocking arm and the grasping mechanism for being arranged on rocking arm free end, the grasping mechanism has multiple suckers, and passes through institute State sucker and capture product to be detected;After the grasping mechanism picks up product to be detected, product to be detected are driven to move by the rotation of rocking arm.
  6. 6. pulp goods detection method of surface flaw according to claim 5, it is characterised in that:The rocking arm has multiple Stop position, is respectively, the first image space, the second image space, certified products placement location and defective work placement location; During the first image space, the grasping mechanism captures product to be detected;In the second image space, imaging device is to product to be detected Lower surface is imaged;In certified products placement location or defective work placement location, grasping mechanism discharges product to be detected.
  7. 7. pulp goods detection method of surface flaw according to claim 6, it is characterised in that:The grasping mechanism crawl The process of product to be detected is,
    A1, grasping mechanism, which move down, contacts sucker and the surface of product to be detected;
    A2, by sucker extract be vacuum, make sucker and product to be detected fixed;
    A3, grasping mechanism move up, and product to be detected are lifted from lay down location, complete crawl process.
  8. 8. pulp goods detection method of surface flaw according to claim 6, it is characterised in that:The grasping mechanism release The process of product to be detected is,
    B1, grasping mechanism, which move down, makes product to be detected drop to certain altitude;
    B2, by sucker be filled with gases at high pressure, sucker is separated with product to be detected;
    B3, product to be detected fall into lay down location, while grasping mechanism moves up, and complete release process.
  9. 9. pulp goods detection method of surface flaw according to claim 3, the signal processing apparatus judge to be detected Whether qualified process includes product, and border judges and surface blot judges;
    The border is judged as that the signal processing apparatus extracts the border of product to be detected by boundary extraction algorithm, and Registration contrast is carried out with the border of certified products, if registration is more than setting value, the edge of product to be detected is qualified;
    The surface blot is judged as, the image of product to be detected is carried out gray proces by the signal processing apparatus, and with conjunction The gray level image of lattice product is contrasted, and according to both luminance differences, obtains the blemished area on product to be detected, if each stain Area be respectively less than setting value, then the surface blot amount of product to be detected is qualified;
    If the surface blot amount and edge of product to be detected are all qualified, the product to be detected are judged for qualification, otherwise to be unqualified.
  10. 10. according to claim 1-9 any one of them pulp goods detection method of surface flaw, it is characterised in that:Treating When detection product are imaged, light supply apparatus is opened, and illuminate the surface of product to be detected.
CN201610977377.1A 2016-11-04 2016-11-04 Pulp goods detection method of surface flaw Pending CN108020564A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109886919A (en) * 2019-01-14 2019-06-14 佛山市南海区广工大数控装备协同创新研究院 A kind of detection method and its system of plastic cement pipe surface defect
CN110738237A (en) * 2019-09-16 2020-01-31 深圳新视智科技术有限公司 Defect classification method and device, computer equipment and storage medium
CN110906972A (en) * 2019-10-28 2020-03-24 浙江大学山东工业技术研究院 Automatic paper monitoring and breaking prevention system
CN113310996A (en) * 2021-07-08 2021-08-27 深圳市华亮五金科技有限公司 Defect detection device and detection method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109886919A (en) * 2019-01-14 2019-06-14 佛山市南海区广工大数控装备协同创新研究院 A kind of detection method and its system of plastic cement pipe surface defect
CN110738237A (en) * 2019-09-16 2020-01-31 深圳新视智科技术有限公司 Defect classification method and device, computer equipment and storage medium
CN110906972A (en) * 2019-10-28 2020-03-24 浙江大学山东工业技术研究院 Automatic paper monitoring and breaking prevention system
CN110906972B (en) * 2019-10-28 2021-06-18 浙江大学山东工业技术研究院 Automatic paper monitoring and breaking prevention system
CN113310996A (en) * 2021-07-08 2021-08-27 深圳市华亮五金科技有限公司 Defect detection device and detection method thereof

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