CN109461156B - Threaded sealing plug assembly detection method based on vision - Google Patents

Threaded sealing plug assembly detection method based on vision Download PDF

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Publication number
CN109461156B
CN109461156B CN201811561215.5A CN201811561215A CN109461156B CN 109461156 B CN109461156 B CN 109461156B CN 201811561215 A CN201811561215 A CN 201811561215A CN 109461156 B CN109461156 B CN 109461156B
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sealing plug
threaded sealing
image
vision
industrial camera
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CN109461156A (en
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武建伟
魏小保
朱伟
徐念
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Research Institute of Zhejiang University Taizhou
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting 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
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/20—Image enhancement or restoration by the use of local operators
    • G06T5/30—Erosion or dilatation, e.g. thinning
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Abstract

The invention discloses a visual-based threaded sealing plug assembly detection method, which is characterized in that images of a threaded sealing plug at different stations in an assembly process are acquired and analyzed, and whether each step of an assembly link is normal or not is judged according to an analysis result, so that the defective rate of an assembly product is reduced.

Description

Threaded sealing plug assembly detection method based on vision
Technical Field
The invention relates to a visual-based threaded sealing plug assembly detection method, which is applied to online detection of an assembly process in automatic assembly equipment of a sealing plug.
Background
The machine vision is to use a machine to replace human eyes for measurement and judgment, and a machine vision system acquires digital image signals through image acquisition equipment, transmits the digital image signals to a vision processing system, and performs corresponding image processing to extract required information according to pixel distribution characteristics in an image, so that defect detection, size measurement and the like of an object to be detected are realized. A typical industrial machine vision inspection system would include an image capture device, a vision processing system, a light source, a sensor, and a control unit.
With the increasing demand of the sealing plug in the field of automobile parts, the quality requirements of users are higher and higher. Because each part of the threaded sealing plug is small in size, multiple in assembly steps and large in assembly quantity, neglected assembly, wrong assembly and the like are easy to occur in the assembly process, manual detection is low in efficiency, low in detection precision and high in labor intensity, and the production cost of enterprises is increased.
Disclosure of Invention
The invention aims to solve the technical problems of uneven gluing amount of a sealing plug groove, easy inclination or neglected installation of a magnet and a sealing ring, low assembly quality efficiency, low precision and high labor intensity of manual detection of the threaded sealing plug in the conventional automatic assembly production line of the threaded sealing plug.
In order to achieve the above object, the present invention provides a method for detecting the assembly of a threaded sealing plug based on vision, which comprises the following steps:
(1) the photoelectric sensor triggers the industrial camera: the method comprises the steps that pictures of the front side and the side face of a threaded sealing plug are respectively obtained by two industrial cameras, when the threaded sealing plug moves to a specified position along with a turntable, two photoelectric sensors respectively detect the threaded sealing plug moving to the corresponding position and generate trigger signals, and the trigger signals are respectively transmitted to the corresponding industrial cameras;
(2) the industrial camera acquires pictures: after the photoelectric sensor triggers the industrial camera, the first industrial camera positioned on the front side of the threaded sealing plug is used for acquiring a top view RGB color image of the plug body of the threaded sealing plug, and the second industrial camera positioned on the side surface of the threaded sealing plug is used for acquiring a gray level image of the assembly body of the threaded sealing plug;
(3) visual system image processing: after the two industrial cameras acquire images in sequence, respectively processing the images by a vision system, wherein the vision system adopts parallel processes, a first main process is used for processing the RGB color images to judge whether the glue coating amount of the groove of the threaded sealing plug reaches the standard, and a second main process is used for processing the gray scale images to judge whether a magnet positioned on the top surface of the plug body of the threaded sealing plug and a sealing ring of the base of the plug body of the threaded sealing plug are installed in place; if the detection results of the two main processes meet the requirements, a qualified signal is output, and a qualified product is discharged by the discharging mechanism.
Further, the processing procedure of the RGB color image by the first main process in step (3) is as follows: extracting the color of the image under an HSV color model to obtain a binary image, performing morphological expansion operation on the binary image to fill fine holes, establishing an ROI (region of interest) with the threaded sealing plug as a circle center, wherein the area of the ROI is larger than that of the threaded sealing plug, and analyzing a white communication domain in the ROI by using a Blob (the communication domain is a groove gluing region), wherein if the pixel area S of the region is (S)min,Smax) Within the range, the glue coating amount is judgedAnd outputting an OK signal according with the requirement, otherwise, judging that the gluing amount does not meet the requirement, outputting an NG signal, and rejecting unqualified parts.
Further, the processing procedure of the grayscale image by the second main flow in step (3) is as follows:
performing binarization operation on the gray level image, wherein the lowest threshold value is 200, the highest threshold value is 255, then establishing two rectangular ROI areas R1 and R2, detecting the distance H between the two widest sides in the vertical direction in the first rectangular ROI area R1, and if the distance H is within (H1)min，Hmax) Indicating that the magnet is normally installed in the pixel interval, otherwise, indicating that the magnet is abnormally installed and outputting an NG signal to remove unqualified parts; detecting the distance W between the two widest sides in the horizontal direction in the second rectangular ROI area R2, if the distance W is (W)min，Wmax) And indicating that the sealing ring is normally installed in the pixel interval, otherwise, the sealing ring is abnormally installed and outputting an NG signal, and rejecting unqualified parts.
Further, the first industrial camera is a color camera, and is matched with a common lens and an annular shadowless light source.
Further, the second industrial camera is a black and white camera, and is matched with a telecentric lens and a square backlight source.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the two industrial cameras are used for respectively acquiring the digital images of the sealing plug at different stations, and the acquired images are analyzed and processed by using the vision software, so that whether the assembly result of each step meets the requirements or not is judged, automatic real-time online detection of the assembly link of the sealing plug is realized, the labor is greatly saved, and the defective rate of discharged products can be reduced.
Drawings
FIG. 1 is a schematic workflow diagram of one embodiment of the present invention;
FIG. 2 is a schematic diagram of a visual inspection system in accordance with an embodiment of the present invention;
FIG. 3 is an exploded view of the threaded sealing plug;
FIG. 4 is an elevational view of the assembly of the threaded sealing plug;
FIG. 5 is a schematic view of the plug body of the threaded sealing plug;
FIG. 6 is a schematic view of the sealing ring structure of the threaded sealing plug;
FIG. 7 is a schematic view of the magnet structure of the threaded sealing plug;
fig. 8 is a binary diagram of the plug assembly.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1-8, the visual-based threaded sealing plug assembly detection method of one embodiment of the present invention includes (1) a photosensor triggers an industrial camera: the method comprises the steps that pictures of the front side and the side face of a threaded sealing plug are respectively obtained by two industrial cameras, when the threaded sealing plug moves to a specified position along with a turntable, two photoelectric sensors respectively detect the threaded sealing plug moving to the corresponding position and generate trigger signals, and the trigger signals are respectively transmitted to the corresponding industrial cameras;
(2) the industrial camera acquires pictures: after the photoelectric sensor triggers the industrial camera, the first industrial camera positioned on the front side of the threaded sealing plug is used for acquiring a top view RGB color image of the plug body of the threaded sealing plug, and the second industrial camera positioned on the side surface of the threaded sealing plug is used for acquiring a gray level image of the assembly body of the threaded sealing plug; as shown in fig. 2, the first industrial camera adopts a color camera, and is matched with a common lens and an annular shadowless light source, and the second industrial camera adopts a black-and-white camera, and is matched with a telecentric lens and a square backlight source;
(3) visual system image processing: after the two industrial cameras acquire images in sequence, respectively processing the images by a vision system, wherein the vision system adopts parallel processes, a first main process is used for processing the RGB color images to judge whether the glue coating amount of a threaded sealing plug groove (shown as figure 5) reaches the standard, and a second main process is used for processing the gray scale images to judge whether a magnet positioned on the top surface of a threaded sealing plug body and a sealing ring of a threaded sealing plug body base are installed in place; if the detection results of the two main processes meet the requirements, a qualified signal is output, and a qualified product is discharged by the discharging mechanism.
Preferably, the processing procedure of the RGB color image by the first main process in step (3) is as follows: extracting the color of the image under an HSV (hue, saturation and brightness) color model, wherein the extracted hue range is (125, 290), the saturation range is (100, 220) and the brightness range is (40, 220), obtaining a binary image after extraction, performing expansion operation of morphological treatment on the binary image, filling fine holes, establishing an ROI (region of interest) with a threaded sealing plug as a center, wherein the ROI is larger than the threaded sealing plug, analyzing a white communicating region in the ROI by using a Blob (spot), wherein the communicating region is a groove gluing region, and if the pixel area S of the region is (S)min,Smax) And within the range, judging that the glue coating amount meets the requirement and outputting an OK (passing) signal, otherwise, judging that the glue coating amount does not meet the requirement and outputting an NG (failing) signal, and rejecting unqualified parts. The range of the normal gluing pixel area S measured under the experimental condition of the invention is (18000,20000), and S is artificially determined according to different working conditionsmin、SmaxAnd (6) actually taking a value.
Preferably, the processing procedure of the grayscale image by the second main flow in step (3) is as follows:
performing binarization operation on the gray level image, wherein the lowest threshold value is 200, the highest threshold value is 255, then establishing two rectangular ROI areas R1 and R2, as shown in FIG. 8, detecting the distance H between the widest two sides in the vertical direction in the first rectangular ROI area R1, and if the distance H is (H) Hmin，Hmax) The pixel interval indicates that the magnet is normally installed, otherwise, the magnet is abnormally installed and outputs NG signals, unqualified parts are removed, the pixel interval of the normal installation height of the magnet is (480, 520) under the experimental condition of the invention, and H is artificially determined according to different working conditionsmin、HmaxActually taking a value; detecting the distance W between the two widest sides in the horizontal direction in the second rectangular ROI area R2, if the distance W is (W)min，Wmax) The pixel interval indicates that the sealing ring is normally installed, otherwise, the sealing ring is abnormally installed and outputs NG signals, unqualified parts are removed, and the sealing ring is tested under the experimental conditions of the inventionThe pixel interval of the normal installation width of the sealing ring is (530, 580), and W is artificially determined according to different working conditionsmin、WmaxAnd (6) actually taking a value.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (3)

1. The threaded sealing plug assembly detection method based on vision is characterized by comprising the following steps:
(1) the photoelectric sensor triggers the industrial camera: the method comprises the steps that pictures of the front side and the side face of a threaded sealing plug are respectively obtained by two industrial cameras, when the threaded sealing plug moves to a specified position along with a turntable, two photoelectric sensors respectively detect the threaded sealing plug moving to the corresponding position and generate trigger signals, and the trigger signals are respectively transmitted to the corresponding industrial cameras;
(2) the industrial camera acquires pictures: after the photoelectric sensor triggers the industrial camera, the first industrial camera positioned on the front side of the threaded sealing plug is used for acquiring a top view RGB color image of the plug body of the threaded sealing plug, and the second industrial camera positioned on the side surface of the threaded sealing plug is used for acquiring a gray level image of the assembly body of the threaded sealing plug;
(3) visual system image processing: after the two industrial cameras sequentially acquire images, respectively processing the images by a vision system, wherein a vision system program adopts parallel processes, a first main process is used for processing the RGB color image, and the processing process of the RGB color image by the first main process is as follows: extracting the color of the image under an HSV color model to obtain a binary image, performing morphological expansion operation on the binary image to fill small holes, establishing an ROI (region of interest) with the threaded sealing plug as a circle center, wherein the area of the ROI is larger than that of the threaded sealing plug, and analyzing a white communication domain in the ROI by using a Blob (Blob), wherein the communication domain is a groove gluing region if the image of the region is like a groove gluing regionElement area S is in (S)min,Smax) Within the range, judging that the glue coating amount meets the requirement and outputting an OK signal, otherwise judging that the glue coating amount does not meet the requirement and outputting an NG signal, and rejecting unqualified parts; the second main flow is used for processing the gray-scale image, and the processing procedure of the gray-scale image by the second main flow is as follows: performing binarization operation on the gray level image, wherein the lowest threshold value is 200, the highest threshold value is 255, then establishing two rectangular ROI areas R1 and R2, detecting the distance H between the two widest sides in the vertical direction in the first rectangular ROI area R1, and if the distance H is within (H1)min，Hmax) Indicating that the magnet is normally installed in the pixel interval, otherwise, indicating that the magnet is abnormally installed and outputting an NG signal to remove unqualified parts; detecting the distance W between the two widest sides in the horizontal direction in the second rectangular ROI area R2, if the distance W is (W)min，Wmax) The pixel interval indicates that the sealing ring is normally installed, otherwise, the sealing ring is abnormally installed and outputs an NG signal, and unqualified parts are removed; if the detection results of the two main processes meet the requirements, a qualified signal is output, and a qualified product is discharged by the discharging mechanism.
2. The vision-based threaded sealing plug assembly inspection method of claim 1, wherein said first industrial camera is a color camera, incorporating a common lens and an annular shadowless light source.
3. The vision-based threaded sealing plug assembly inspection method of claim 1, wherein said second industrial camera is a black and white camera, with a telecentric lens and a square backlight.
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CN112858312B (en) * 2021-01-20 2022-09-02 上海工程技术大学 Pen cap silicon bead installation visual detection device and method
CN114799806A (en) * 2022-05-31 2022-07-29 大连四达高技术发展有限公司 Automatic bullet body assembling system based on reaction force arm and vision technology

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