CN109654998B

CN109654998B - Wheel detection method and system

Info

Publication number: CN109654998B
Application number: CN201910153987.3A
Authority: CN
Inventors: 王治纲; 张思瑾; 杨召利; 高见; 唐刚; 汪耀; 余海滨; 李中伟; 钟凯; 陈瀚
Original assignee: WUHAN POWER3D TECHNOLOGY Ltd; Xinyang Tonghe Wheel Co ltd
Current assignee: WUHAN POWER3D TECHNOLOGY LTD.
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2020-09-22
Anticipated expiration: 2039-02-28
Also published as: CN109654998A

Abstract

The utility model provides a wheel detection method and system, relate to the detection technology field, through obtaining the image of waiting to detect the wheel, discern and extract the word number information in the image, after extracting the word number information in the image, rotate the wheel of waiting to detect with first preset angle many times, obtain the cross section data that the wheel of waiting to detect rotated with first preset angle at every turn, according to obtaining a plurality of cross section data that obtain, confirm the coordinate system of the wheel of waiting to detect, based on the coordinate system of the wheel of waiting to detect, detect and obtain the size data of the wheel of waiting to detect, and carry out the associative storage with the size data with word number information, realized the digital management of testing result, and the precision is high.

Description

Wheel detection method and system

Technical Field

The disclosure relates to the technical field of detection, in particular to a wheel detection method and system.

Background

With the improvement of the scientific and technological level of China's society, the detection technology of industrial parts is gradually developing towards the direction of standardization, digitization, programming and rapidness. Traditional wheel detection technique relies on the manual work to accomplish, needs quality testing personnel to carry out outward appearance to the product with the naked eye and detects, utilizes height chi, slide caliper rule etc. to carry out the marking off detection, and this kind of mode not only precision is poor, can't carry out digital management to the testing result moreover.

Disclosure of Invention

In view of the above, the present disclosure provides a wheel detecting method applied to a wheel detecting system, the method including:

acquiring an image of a wheel to be detected, and identifying and extracting character size information in the image.

And rotating the wheel to be detected for multiple times at a first preset angle to acquire section data of the wheel to be detected after rotating at the first preset angle every time.

And determining a coordinate system of the wheel to be detected according to the acquired plurality of section data.

And detecting to obtain the size data of the wheel to be detected based on the coordinate system of the wheel to be detected, and performing associated storage on the character size information and the size data.

Further, the wheel detection system comprises a character size database, the character size database is prestored with character size information of a plurality of wheels, and the step of acquiring the image of the wheel to be detected, identifying and extracting the character size information in the image comprises the following steps:

and acquiring the image of the wheel to be detected, and identifying and extracting the character number information of the wheel to be detected.

And detecting whether the word size information has errors according to a preset word size naming rule.

And if the detection is not wrong, detecting whether repeated character size information exists in the character size database, if so, sending first alarm information, and storing the image of the wheel to be detected, the character size information and the current detection time in an associated manner.

And if the detection is wrong, sending second alarm information, marking the wheel to be detected with the user-defined number, and performing associated storage on the image, the user-defined number and the current detection time of the wheel to be detected.

Further, the wheel detecting system includes a plurality of laser sensors, the step of rotating the wheel to be detected multiple times at a first preset angle includes the step of obtaining section data of the wheel to be detected after rotating at the first preset angle each time:

for the wheel to be detected which rotates by the first preset angle each time, the laser sensors respectively measure the surface of the wheel to be detected from a plurality of preset point positions to obtain a plurality of profile data of the wheel to be detected.

And splicing the plurality of profile data of the wheel to be detected to obtain the section data of the wheel to be detected.

Further, the step of determining the coordinate system of the wheel to be detected according to the acquired plurality of section data includes:

and for each section datum, taking the contour line of the inner side surface of the rim of the wheel to be detected as a first datum line, and offsetting the contour line of the inner side surface of the rim to the contour line of the outer side surface of the rim of the wheel to be detected by a preset distance along the normal direction of the inner side surface of the rim to obtain a first straight line.

And acquiring the intersection point of the first straight line and the contour line of the wheel tread of the wheel to be detected.

And performing fitting calculation on intersection points in the plurality of section data to obtain a fitted circular ring, and obtaining the circle center of the circular ring.

And determining the coordinate system of the wheel to be detected by taking the circle center of the circular ring as the origin of the coordinate system of the wheel to be detected and the normal line of the circular ring as the first coordinate axis of the coordinate system of the wheel to be detected.

Further, the coordinate system of the wheel to be detected further includes a second coordinate axis perpendicular to the first coordinate axis, and the step of obtaining the size data of the wheel to be detected based on the coordinate system of the wheel to be detected includes:

and fitting to obtain a plurality of measuring points in the section data according to each section data, and respectively calculating the distance from each measuring point to the first coordinate axis to obtain the radial dimension of the wheel to be detected.

And respectively fitting a plurality of contour lines to be detected in the cross section data into straight lines parallel to the second coordinate axis aiming at each cross section data, and respectively calculating the distance from each straight line to the second coordinate axis so as to obtain the axial dimension of the wheel to be detected.

Further, the step of, by the wheel detection system, pre-storing the digital-analog data of the wheel to be detected, and detecting the size data of the wheel to be detected based on the coordinate system of the wheel to be detected, further includes:

and calculating a first deviation value of the section data and the digital-analog data aiming at each section data so as to detect the wheel rim and the tread appearance of the wheel to be detected.

Aiming at each section data, determining a theoretical equation of an envelope curve of the web plate outline of the wheel to be detected in the coordinate system of the wheel to be detected, and substituting the coordinate value of the web plate outline point of the wheel to be detected in the coordinate system of the wheel to be detected into the theoretical equation for calculation to obtain a calculation result; and detecting the shape of the wheel disc of the wheel to be detected according to the calculation result.

Calculating the diameter of the rolling circle of the wheel to be detected in the section data aiming at each section data; and performing difference calculation on the calculated maximum rolling circle diameter and the minimum rolling circle diameter to obtain a difference value between the maximum rolling circle diameter and the minimum rolling circle diameter, and detecting the roundness of the rolling circle of the wheel to be detected according to the calculated difference value.

Further, the method further comprises:

splicing the acquired plurality of section data to obtain the measurement data of the wheel to be detected; the measurement data comprise rim inner side face data, rim outer side face data, tread data and wheel hub hole data of the wheel to be detected.

Carrying out plane fitting on the data of the inner side surface of the rim to obtain a reference plane; calculating a second deviation value of the inner side surface data of the wheel rim and the reference plane; and detecting the flatness of the inner side surface of the rim of the wheel to be detected according to the calculated second deviation value.

Calculating a first distance value between the rim outer side surface data and the reference plane according to the reference plane obtained by fitting; and detecting the parallelism of the outer side surface of the rim of the wheel to be detected relative to the inner side surface of the rim according to the first distance value obtained by calculation.

Acquiring a normal of the reference plane according to the reference plane obtained by fitting; performing cylindrical surface fitting on the wheel hub hole data, and calculating the axis of the cylindrical surface obtained by fitting; calculating a second distance value from the axis to a second datum line by taking a normal of the datum plane as the second datum line; and detecting the verticality of the hub hole of the wheel to be detected relative to the inner side surface of the rim according to the second distance value.

Fitting the tread surface data to obtain a plurality of first section circles, and fitting the hub hole data to obtain a plurality of second section circles; and calculating the circle center distance between each first cross-section circle and each second cross-section circle according to each cross-section datum, and detecting the coaxiality of the hub hole of the wheel to be detected relative to the tread according to the circle center distance.

Further, the wheel detecting system further includes a rotating platform, and before the wheel to be detected is rotated for multiple times at a first preset angle and the section data of the wheel to be detected after being rotated at the first preset angle each time is acquired, the method further includes:

and calibrating the wheel detection system, and calibrating a rotating shaft of the rotating platform.

And placing the wheel to be detected on the rotating platform, and centering and calibrating the position of the wheel to be detected based on the calibrated rotating shaft of the rotating platform.

Further, the method further comprises:

and acquiring a plurality of images of the wheel to be detected after the wheel to be detected rotates for a second preset angle for a plurality of times, and extracting feature points in each image.

And calculating the position data of the feature point relative to the rotating shaft in the image corresponding to the feature point for each feature point.

And carrying out ellipse fitting on the position data of each feature point obtained by calculation to obtain a first ellipse.

And calculating a third deviation value from each feature point to the first ellipse according to each feature point, judging whether each third deviation value is within a preset range, and if not, judging that the wheel to be detected slips in the rotation process.

The present disclosure provides a wheel inspection system including a camera, a processor, a rotating platform, and a plurality of laser sensors.

The camera is used for acquiring an image of a wheel to be detected, and the processor is used for identifying and extracting character size information in the image.

The rotating platform is used for rotating the wheel to be detected for multiple times at a first preset angle, and each laser sensor is used for acquiring section data of the wheel to be detected after rotating at the first preset angle every time.

The processor is further configured to determine a coordinate system of the wheel to be detected according to the acquired plurality of section data, detect and acquire size data of the wheel to be detected based on the coordinate system of the wheel to be detected, and perform association storage on the character size information and the size data.

According to the wheel detection method and system, the image of the wheel to be detected is obtained, the character number information in the image is recognized and extracted, after the character number information in the image is extracted, the wheel to be detected is rotated for multiple times at a first preset angle, the section data of the wheel to be detected after the wheel to be detected is rotated at the first preset angle every time is obtained, the coordinate system of the wheel to be detected is determined according to the obtained multiple section data, the size data of the wheel to be detected is obtained through detection based on the coordinate system of the wheel to be detected, and the character number information and the size data are stored in an associated mode, so that digital management of detection results is achieved, and the wheel detection method and system are high in precision and efficiency.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

To more clearly illustrate the technical solutions of the present disclosure, the drawings needed for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present disclosure, and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a wheel inspection system provided in the present disclosure.

Fig. 2 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 3 is a schematic flow chart of another wheel detection method provided by the present disclosure.

Fig. 4 is a schematic interface diagram of a wheel inspection system provided by the present disclosure.

Fig. 5 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 6 is a schematic diagram of profile data of a wheel inspection method provided by the present disclosure.

Fig. 7 is a schematic cross-sectional data diagram of a wheel inspection method provided by the present disclosure.

Fig. 8 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 9 is a schematic diagram of a coordinate system of a wheel of the wheel detection method provided by the present disclosure.

Fig. 10 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 11 is a schematic dimension view of a wheel to be inspected provided by the present disclosure.

Fig. 12 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 13 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 14 is a schematic cross-sectional view of a wheel inspection method according to the present disclosure.

Fig. 15 is a schematic view of another interface of a wheel inspection system provided by the present disclosure.

Fig. 16 is a schematic view of yet another interface of a wheel inspection system provided by the present disclosure.

Fig. 17 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 18 is a schematic structural diagram of a verification wheel provided by the present disclosure.

Fig. 19 is a schematic flow chart of a wheel detection method provided by the present disclosure.

Fig. 20 is a schematic structural view of a cross support provided in the present disclosure.

Icon: 100-a wheel detection system; 10-a camera; 20-a laser sensor; 30-a rotating platform; 40-a transfer device; 50-a cross support; 51-rubber non-slip mat; 200-a wheel to be detected; 210-inner rim side; 220-outer side of rim; 230-tread; 240-hub inboard face; 250-the outer side of the hub; 260-web; 300-a check wheel; 310-step block.

Detailed Description

The technical solutions in the present disclosure will be described clearly and completely with reference to the accompanying drawings in the present disclosure, and it is to be understood that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The components of the present disclosure, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

With the improvement of the scientific and technological level of China's society, the detection technology of industrial parts is gradually developing towards the direction of standardization, digitization, programming and rapidness. The traditional wheel detection technology is finished manually, quality testing personnel are required to perform appearance detection on a product by naked eyes, and a height gauge, a caliper and the like are used for performing marking detection, so that the method is poor in precision, low in efficiency and low in speed, and the detection result cannot be digitally managed; artificial factors cannot be eliminated in the detection process, and effective tracing cannot be carried out when quality problems occur; for some parts with complex modeling profiles, the traditional detection technology cannot measure the whole size of the part.

Based on the above research, the present disclosure provides a wheel detection method and system to improve the above problems.

Referring to fig. 1, the present disclosure provides a wheel inspection method applied to the wheel inspection system 100 shown in fig. 1. Referring to fig. 2, fig. 2 is a schematic flow chart of a wheel detecting method according to the present disclosure, and a detailed flow chart of the wheel detecting method shown in fig. 2 is described below.

Step S10: the method comprises the steps of acquiring an image of a wheel 200 to be detected, and identifying and extracting character size information in the image.

In the present disclosure, the wheel detecting system 100 includes a camera 10, each wheel 200 to be detected is provided with character number information, after the wheel 200 to be detected is placed at a measuring station, the camera 10 is configured to obtain an image of one side of the wheel 200 to be detected, where the character number information is provided with the character number information, identify the character number information in the image after the image is obtained, and extract the character number information obtained by the identification.

Further, referring to fig. 3, the wheel inspection system 100 includes a font size database, the font size database pre-stores font size information of a plurality of wheels, and the steps of acquiring an image of the wheel 200 to be inspected, and identifying and extracting the font size information in the image include steps S11 to S15.

Step S11: and acquiring an image of the wheel 200 to be detected, and identifying and extracting the character number information of the wheel 200 to be detected.

After the image of the side, with the character number information, of the wheel 200 to be detected is obtained, the image is identified, and the character number information of the wheel 200 to be detected in the image is extracted. If the character number information of the wheel 200 to be detected cannot be successfully extracted within the set times, alarming is given out. Optionally, in the present disclosure, the wheel detecting system 100 further includes a display (not shown in the figure), the alarm prompt may be an audible and visual prompt, if the number information of the wheel 200 to be detected is not successfully extracted within the set number of times, the audible and visual alarm is triggered to prompt a worker, and meanwhile, the display displays a current error and modification scheme, and the worker may manually add the number information of the wheel 200 to be detected according to the modification scheme, as shown in fig. 4.

Further, optionally, in the present disclosure, the alarm prompt may preset an alarm duration, and if the operator is not in the detection site and cannot manually add the alarm duration, the wheel detection system 100 automatically marks the wheel 200 to be detected with a default number after the set alarm duration is over time, and simultaneously stores the image of the wheel 200 to be detected and the current detection time for the later-stage operator to identify and add the wheel.

Step S12: and detecting whether the word size information has errors according to a preset word size naming rule.

After the word size information of the wheel 200 to be detected is successfully extracted, detecting whether the word size information has errors according to a preset word size naming rule, and if the word size information has no errors, executing step S14; if an error is detected, step S13 is executed.

Step S13: and sending second alarm information, marking the wheel 200 to be detected with a custom number, and performing associated storage on the image, the custom number and the current detection time of the wheel 200 to be detected.

The character number information of the wheel 200 to be detected comprises a plurality of characters, each character has a specific meaning, such as a wheel specification and a wheel model, therefore, after the character number information of the wheel 200 to be detected is extracted, the character information of the wheel 200 to be detected is identified according to a preset character number naming rule so as to detect whether the character number information has a mistake, if the character number information has the mistake, the second alarm information is sent, the wheel 200 to be detected is marked by a self-defined number, and an image, the self-defined number and the current detection time of the wheel 200 to be detected are stored in an associated mode. Optionally, the second alarm information sent by the word number information in error according to the preset word number naming rule may be an audible and visual prompt, and optionally, in the present disclosure, an alarm duration of the second alarm information may also be preset, if there is a response of a worker within the alarm duration, the wheel 200 to be detected may be marked by the worker inputting a number, and if there is no response of the worker within the alarm duration, the wheel 200 to be detected may be marked by the wheel detection system 100 with a self-defined number.

Step S14: and detecting whether repeated word size information exists in the word size database.

If yes, go to step S16, otherwise go to step S15.

Step S15: and storing the character number information of the wheel 200 to be detected.

Step S16: and sending first alarm information, and storing the image, the character number information and the current detection time of the wheel 200 to be detected in an associated manner.

The wheel detection system 100 comprises a character size database, wherein the character size database is pre-stored with character size information of a plurality of wheels, and the character size database is self-checked every time the character size information is stored, so that the character size database is stored after no repeated character size information exists. And if repeated character size information appears, sending first alarm information, and storing the character size information, the picture and the current detection time of the wheel 200 to be detected in an associated manner for later-stage query. And if no repeated character exists, storing the character number information of the wheel to be detected 200 and the current detection time in an associated manner, wherein the first alarm information can also be an acousto-optic prompt.

Referring back to fig. 2, after the font size information in the image is extracted, step S20 is performed.

Step S20: and rotating the wheel 200 to be detected for multiple times at a first preset angle to acquire section data of the wheel 200 to be detected after rotating at the first preset angle each time.

The wheel detection system 100 includes a plurality of laser sensors 20, a plurality of code mark points are disposed on the surface of the wheel 200 to be detected, and each laser sensor 20 is configured to obtain position information of the code mark points on the surface of the wheel 200 to be detected, and obtain measurement data of the wheel 200 to be detected according to the position information of the code mark points.

Further, referring to fig. 5, the step of rotating the wheel 200 to be detected multiple times by a first preset angle to obtain the cross-sectional data of the wheel 200 to be detected after rotating by the first preset angle each time includes steps S21 to S22.

Step S21: for the wheel 200 to be detected which rotates by the first preset angle each time, each laser sensor 20 measures the surface of the wheel 200 to be detected from a plurality of preset point positions, so as to obtain a plurality of profile data of the wheel 200 to be detected.

Referring to fig. 1 and fig. 6, in order to more accurately measure the surface of the wheel 200 to be detected, each of the laser sensors 20 is respectively disposed at a predetermined point, the surface of the wheel 200 to be detected is measured from different measurement view angles, position information of a plurality of code mark points disposed on the surface of the wheel 200 to be detected is obtained, and profile data at different measurement view angles is obtained according to the position information of each code mark point.

The wheel detecting system 100 further includes an encoder (not shown in the drawings) and a rotating platform 30, the wheel 200 to be detected is placed on the rotating platform 30, and the encoder is used for precisely controlling the rotating angle of the rotating platform 30, so that the wheel 200 to be detected rotates at a preset angle.

Step S22: and splicing the plurality of profile data of the wheel 200 to be detected to obtain the section data of the wheel 200 to be detected.

After the wheel 200 to be detected is rotated by the first preset angle each time and a plurality of profile data of the wheel 200 to be detected are obtained through measurement, the plurality of profile data of the wheel 200 to be detected are spliced to obtain section data of the wheel 200 to be detected, as shown in fig. 7, fig. 7 is a schematic view of the section data of the wheel 200 to be detected. After each rotation by the first preset angle, one section data of the wheel 200 to be detected is obtained, for example, the first preset angle is 30 °, after one rotation, 12 section data of the wheel 200 to be detected can be obtained, and for example, the first preset angle is 20 °, after one rotation, 18 section data of the wheel 200 to be detected can be obtained.

Referring back to fig. 2, after the section data of the wheel to be inspected 200 is obtained, step S30 is performed.

Step S30: and determining a coordinate system of the wheel 200 to be detected according to the acquired plurality of section data.

After the plurality of section data of the wheel 200 to be detected are obtained, the coordinate system of the wheel 200 to be detected is determined according to the obtained section data.

Further, referring to fig. 8, the step of determining the coordinate system of the wheel 200 to be detected according to the acquired plurality of section data includes steps S31 to S34.

Step S31: for each piece of the cross-sectional data, taking the contour line of the rim inner side surface 210 of the wheel 200 to be detected as a first reference line, and offsetting the contour line of the rim inner side surface 210 to the contour line of the rim outer side surface 220 of the wheel 200 to be detected by a preset distance along the normal direction of the rim inner side surface 210 to obtain a first straight line.

Step S32: and acquiring the intersection point of the first straight line and the contour line of the wheel tread 230 of the wheel 200 to be detected.

Referring to fig. 9, after the contour line of the inner rim surface 210 is shifted to the contour line of the outer rim surface 220 of the wheel 200 to be detected by a preset distance along the normal direction of the inner rim surface 210 to obtain a first straight line, the first straight line intersects with the contour line of the wheel tread surface 230 of the wheel 200 to be detected, and an intersection point of the first straight line and the contour line of the wheel tread surface 230 of the wheel 200 to be detected, that is, a point Q in fig. 9, is obtained. For each section data, the intersection point of the first straight line and the contour line of the wheel tread 230 of the wheel 200 to be detected in the section data is obtained.

Step S33: and performing fitting calculation on intersection points in the plurality of section data to obtain a fitted circular ring, and obtaining the circle center of the circular ring.

Referring to fig. 9, for each section data, after an intersection point of the first straight line and the contour line of the wheel tread 230 of the wheel 200 to be detected is obtained, fitting calculation is performed on the intersection points in the section data to obtain a fitted ring, and a circle center of the ring is obtained. In the present disclosure, different cross-sectional data are obtained by measuring the wheel 200 to be detected at different rotation angles, and therefore, an intersection point of the first straight line in each cross-sectional data and the contour line of the wheel tread 230 of the wheel 200 to be detected is fitted, so that a circular ring can be obtained.

Step S34: and determining the coordinate system of the wheel 200 to be detected by taking the circle center of the circular ring as the origin of the coordinate system of the wheel 200 to be detected and the normal line of the circular ring as the first coordinate axis of the coordinate system of the wheel 200 to be detected.

After the circle is obtained, the circle center of the circle is taken as the origin of the coordinate system of the wheel 200 to be detected, the normal line of the circle is taken as the first coordinate axis of the coordinate system of the wheel 200 to be detected, wherein the first coordinate axis is the Z axis shown in fig. 9, and after the first coordinate axis (Z axis) is determined, the second coordinate axis (X axis) and the third coordinate axis (Y axis) can be set according to specific situations.

Referring back to fig. 2, after determining the coordinate system of the wheel 200 to be detected, step S40 is performed.

Step S40: and detecting to obtain the size data of the wheel 200 to be detected based on the coordinate system of the wheel 200 to be detected, and performing associated storage on the character size information and the size data.

The coordinate system of the wheel 200 to be detected further comprises a second coordinate axis perpendicular to the first coordinate axis. Optionally, in the present disclosure, the first coordinate axis is a Z axis in fig. 9, and the second coordinate axis is an X axis in fig. 9.

Further, referring to fig. 10, the step of obtaining the size data of the wheel 200 to be detected based on the coordinate system of the wheel 200 to be detected includes steps S41 to S42.

Step S41: and fitting each section data to obtain a plurality of measuring points in the section data, and respectively calculating the distance from each measuring point to the first coordinate axis to obtain the radial dimension of the wheel 200 to be detected.

After the coordinate system of the wheel 200 to be detected is determined, for each piece of section data in the coordinate system of the wheel 200 to be detected, the contour lines of the wheel 200 to be detected are extracted from the section data, and dimension detection is performed on each contour line. In fig. 11, D is the diameter of the rolling circle of the wheel 200 to be detected, H is the rim width of the wheel 200 to be detected, and D₁Is the outside diameter of the rim of the wheel 200 to be detected, D₂Is the inner diameter of the inner side of the rim of the wheel 200 to be detected, F is the inner hub rim distance of the wheel 200 to be detected, D₃Is the outer diameter, D, of the inner side surface 240 of the hub of the wheel 200 to be detected₄Is the outer diameter of the hub outer side surface 250 d of the wheel 200 to be detected₀The wheel hub aperture of the wheel 200 to be detected, L the wheel hub length of the wheel 200 to be detected, C the same-side wheel hub wall thickness of the wheel 200 to be detected, and B the rim thickness of the wheel 200 to be detected.

For each of said segmentsAnd fitting to obtain measuring points in the section data. And the measuring point in the section data is the intersection point of the contour line and the contour line in the section data. When the dimension C is measured, the measuring point is the intersection point of the contour line of the inner side face 240 of the hub and the contour line of the spoke plate 260, and the contour line of the inner side face 240 of the hub is fitted into a straight line, the contour line of the spoke plate 260 is fitted into an arc and the measuring point is the intersection point of the fitted straight line and the fitted arc because the spoke plate 260 has a chamfer; likewise, dimension D₃Is the intersection of the fitted straight line and the fitted circular arc, dimension D₁、D₂And D₄Are all the intersection points of the fitting straight lines and the fitting straight lines.

After the measurement points of the cross-sectional data are obtained by fitting, the distance between the measurement points and the first coordinate axis (Z axis) is calculated, and the dimension D, D to be detected in fig. 11 can be obtained₁、D₂、D₃、D₄、d₀. After obtaining the size to be detected in each of the cross-sectional data, averaging the detected sizes, and taking the average as the final detected size, for example, if the data of the size D in the cross-sectional data 1 is a1, the data of the size D in the cross-sectional data 2 is a2, and the data of the size D in the cross-sectional data 3 is a3, the data of the size D is (a1+ a2+ a 3)/3.

Step S42: and respectively fitting a plurality of contour lines to be detected in the cross section data into straight lines parallel to the second coordinate axis aiming at each cross section data, and respectively calculating the distance from each straight line to the second coordinate axis so as to obtain the axial dimension of the wheel 200 to be detected.

As shown in fig. 11, in the two-dimensional cross-sectional state, each surface to be measured is a contour line, and therefore, for each piece of the cross-sectional data, a plurality of contour lines to be measured in the cross-sectional data are respectively fitted to straight lines parallel to the second coordinate axis (X axis), and distances from the straight lines to the second coordinate axis (X axis) are respectively calculated, so that a dimension L, F, H to be detected in fig. 11 can be obtained, that is, the axial dimension of the wheel 200 to be detected can be obtained. Similarly, after obtaining the desired detection size in each of the cross-sectional data, the sizes obtained by the detection are averaged, and the average is taken as the final detection size.

Further, referring to fig. 12, the wheel detecting system 100 prestores digital-to-analog data of the wheel 200 to be detected, and the step of detecting and obtaining the size data of the wheel 200 to be detected based on the coordinate system of the wheel 200 to be detected further includes steps S43 to S45.

Step S43: and calculating a first deviation value of the section data and the digital-analog data aiming at each section data so as to detect the appearance of the rim and the tread 230 of the wheel 200 to be detected.

Wherein, the digital-analog data is standard theoretical data of the wheel 200 to be detected. For each piece of section data, when calculating a first deviation value between the section data and the digital-analog data, the section data and the digital-analog data are firstly unified into a same coordinate system, where the same coordinate system may be an absolute coordinate system of the wheel detection system 100 or a coordinate system of the wheel 200 to be detected, and optionally, in this disclosure, the section data and the digital-analog data are unified into the coordinate system of the wheel 200 to be detected. After the section data and the digital-analog data are unified into the coordinate system of the wheel 200 to be detected and the coordinate system is aligned, the difference value between the coordinate values of the digital-analog data and the section data is calculated, and then the first deviation value between the section data and the digital-analog data can be calculated. Optionally, for each piece of section data, the coordinate system of the wheel 200 to be detected is converted into a two-dimensional coordinate system (OXZ), coordinate values are aligned with the Z axis (the axis direction of the wheel 200 to be detected), and after the coordinate values are aligned with the Z axis direction, only the difference between the section data and the digital-analog data in the X axis direction needs to be calculated. In the X-axis direction, the maximum difference between the section data and the digital-analog data is a first deviation value, and after the first deviation value is obtained, the deviation between the appearance of the rim and the tread 230 of the wheel 200 to be detected and the digital-analog data can be determined according to the first deviation value, so that the detection of the appearance of the rim and the tread 230 of the wheel 200 to be detected can be realized.

Step S44: for each piece of section data, determining a theoretical equation of the envelope curve of the profile of the web 260 of the wheel 200 to be detected in the coordinate system of the wheel 200 to be detected, and substituting the coordinate value of the profile point of the web 260 of the wheel 200 to be detected in the coordinate system of the wheel 200 to be detected into the theoretical equation for calculation to obtain a calculation result; and detecting the shape of the web 260 of the wheel 200 to be detected according to the calculation result.

For each piece of section data, when determining a theoretical equation of the envelope curve of the profile of the web 260 of the wheel 200 to be detected in the coordinate system of the wheel 200 to be detected, first determining the theoretical equation of the envelope curve of the profile of the web 260 of the wheel 200 to be detected in the absolute coordinate system, then aligning the absolute coordinate system with the coordinate system of the wheel 200 to be detected, and converting the theoretical equation of the envelope curve in the absolute coordinate system into the theoretical equation in the coordinate system of the wheel 200 to be detected. After a theoretical equation of the envelope curve of the profile of the web 260 of the wheel 200 to be detected in the coordinate system of the wheel 200 to be detected is obtained, the coordinate value of the profile point of the web 260 of the wheel 200 to be detected in the coordinate system of the wheel 200 to be detected is substituted into the theoretical equation for calculation, and a calculation result is obtained. And judging whether the calculation result is within a preset range, if so, judging that the outer shape of the spoke plate 260 of the wheel 200 to be detected is positioned inside the envelope line, and if not, judging that the outer shape of the spoke plate 260 of the wheel 200 to be detected is not positioned inside the envelope line.

Further, if it is right when the deviation value of radials 260 appearance is detected, only need with digital analog data is unified to in the coordinate system of waiting to detect wheel 200, carry out the alignment of coordinate value, then calculate the contour line of radials 260 appearance with the distance of the theoretical contour line of radials 260 appearance in the digital analog data, regard as with the maximum distance value the deviation value of radials 260 appearance.

Step S45: calculating the rolling circle diameter of the wheel 200 to be detected in the section data aiming at each section data; and performing difference calculation on the calculated maximum rolling circle diameter and the minimum rolling circle diameter to obtain a difference value between the maximum rolling circle diameter and the minimum rolling circle diameter, and detecting the roundness of the rolling circle of the wheel 200 to be detected according to the difference value obtained by calculation.

And calculating the rolling circle diameter D of the wheel 200 to be detected in the section data according to each section data, calculating the difference value between the maximum rolling circle diameter D and the minimum rolling circle diameter D of the plurality of section data, and determining the roundness of the rolling circle of the wheel 200 to be detected according to the difference value, thereby realizing the detection of the roundness of the rolling circle of the wheel 200 to be detected.

Further, referring to fig. 13, the method further includes steps S50 to S54.

Step S50: and splicing the acquired plurality of section data to obtain the measurement data of the wheel 200 to be detected.

The obtained section data are spliced to obtain measurement data of the wheel 200 to be detected, wherein the measurement data are complete three-dimensional data of the wheel 200 to be detected, and the measurement data comprise rim inner side face data, rim outer side face data, tread face data and hub hole data of the wheel 200 to be detected.

Step S51: carrying out plane fitting on the data of the inner side surface of the rim to obtain a reference plane; calculating a second deviation value of the inner side surface data of the wheel rim and the reference plane; and detecting the flatness of the inner side surface 210 of the rim of the wheel 200 to be detected according to the calculated second deviation value.

After the measurement data of the wheel 200 to be detected is obtained, plane fitting is performed on the rim inner side surface data to obtain a reference plane, after the reference plane is obtained, a second deviation value between the rim inner side surface data and the reference plane is calculated, that is, a second deviation value between the rim inner side surface 210 of the wheel 200 to be detected and the reference plane is calculated, in the present disclosure, a plurality of second deviation values are provided between the rim inner side surface 210 and the reference plane, and the flatness of the rim inner side surface 210 of the wheel 200 to be detected is determined according to the largest second deviation value, so that the flatness of the rim inner side surface 210 of the wheel 200 to be detected is detected.

Step S52: calculating a first distance value between the rim outer side surface data and the reference plane according to the reference plane obtained by fitting; and detecting the parallelism of the rim outer side surface 220 of the wheel 200 to be detected relative to the rim inner side surface 210 according to the calculated first distance value.

After the reference plane is obtained through fitting, a first distance value between the rim outer side surface data and the reference plane is calculated, that is, a first distance value between the rim outer side surface 220 and the reference plane is calculated, in the present disclosure, a plurality of first distance values are provided between the rim outer side surface 220 and the reference plane, and the parallelism of the rim outer side surface 220 of the wheel 200 to be detected with respect to the rim inner side surface 210 is determined by using a difference value between a maximum first distance value and a minimum first distance value, so that the parallelism of the rim outer side surface 220 of the wheel 200 to be detected with respect to the rim inner side surface 210 is detected.

Step S53: acquiring a normal of the reference plane according to the reference plane obtained by fitting; performing cylindrical surface fitting on the wheel hub hole data, and calculating the axis of the cylindrical surface obtained by fitting; calculating a second distance value from the axis to a second datum line by taking a normal of the datum plane as the second datum line; and detecting the verticality of the hub hole of the wheel to be detected 200 relative to the inner side surface 210 of the rim according to the second distance value.

After the reference plane is obtained through fitting, a normal of the reference plane is obtained, cylindrical surface fitting is performed on the wheel hub hole data, and an axis of the cylindrical surface obtained through fitting is calculated, wherein the axis of the cylindrical surface is an axis line of the wheel hub hole of the wheel 200 to be detected.

After the axis of the cylindrical surface is obtained, taking the normal of the reference plane as a second reference line, calculating a second distance value between the axis and the second reference line, and simultaneously calculating an included angle θ between the axis and the second reference line.

Step S54: fitting the tread surface data to obtain a plurality of first section circles, and fitting the hub hole data to obtain a plurality of second section circles; and calculating the circle center distance between each first cross-section circle and each second cross-section circle according to each cross-section datum, and detecting the coaxiality of the hub hole of the wheel 200 to be detected relative to the tread 230 according to the circle center distance.

Referring to fig. 14, when the tread surface data is fitted to obtain a plurality of first cross-sectional circles and the hub hole data is fitted to obtain a plurality of second cross-sectional circles, for each of the cross-sectional circles, the contour line of the rim inner side surface 210 of the wheel 200 to be detected is used as a first reference line, and the contour line of the rim inner side surface 210 is shifted to the contour line of the rim outer side surface 220 along the normal direction of the rim inner side surface 210 by a set distance, so as to obtain a first intersection point with the contour line of the tread surface 230 and a second intersection point with the hub hole contour line. Fitting the first intersection points in the plurality of cross-sectional data to obtain a first cross-sectional circle (O in FIG. 14)₁) Fitting the second intersection points in the plurality of cross-sectional data to obtain a second cross-sectional circle (O in fig. 14)₂)。

After the first cross-sectional circle and the second cross-sectional circle are obtained, different cross-sectional circles can be obtained by fitting in the normal direction of the first cross-sectional circle by setting different offset distances in the same method, and then a plurality of first cross-sectional circles are obtained, and different cross-sectional circles and then a plurality of second cross-sectional circles are obtained by fitting in the normal direction of the second cross-sectional circle.

After a plurality of first cross-sectional circles and second cross-sectional circles are obtained, for each cross-sectional data, the circle center distance between each first cross-sectional circle and each second cross-sectional circle is calculated, and the coaxiality of the hub hole of the wheel 200 to be detected relative to the tread 230 is determined according to the maximum circle center distance, so that the coaxiality of the hub hole of the wheel 200 to be detected relative to the tread 230 is detected.

After the size detection of the wheel 200 to be detected is completed and the size data of the wheel 200 to be detected is obtained, the word number information and the size data of the wheel 200 to be detected are stored in an associated manner, so that the size data of the wheel 200 to be detected can be quickly inquired through the word number information of the wheel 200 to be detected, and the digital management of the data is realized.

Further, in the present disclosure, when the character number information and the size data of the wheel 200 to be detected are stored in a correlated manner, the size data of the wheel 200 to be detected is subjected to error detection, whether the size data of the wheel 200 to be detected exceeds an error range is determined, if the size data exceeds the error range, the size data of the wheel 200 to be detected is determined to be unqualified, if the size data is within the error range, the size data of the wheel 200 to be detected is determined to be qualified, and then the qualified wheel and the unqualified wheel are classified, as shown in fig. 15, fig. 15 is an interface schematic diagram for data query provided in the present disclosure. The wheels 200 to be detected are classified, so that the workers can conveniently inquire the data of the wheels according to the requirements.

Further, for an unqualified wheel, when the size data of the wheel is stored, the unqualified size item is specifically identified, as shown in fig. 16. After carrying out special identification to unqualified size item, the staff can carry out special identification, learn unqualified size item fast, reduced the cost of labor.

Further, referring to fig. 17, the wheel inspection system 100 further includes a rotating platform 30, and before the wheel 200 to be inspected is rotated multiple times by a first preset angle to obtain the cross-sectional data of the wheel 200 to be inspected after each rotation by the first preset angle, the method further includes steps S60 to S61.

Step S60: the wheel inspection system 100 is calibrated to calibrate the axis of rotation of the rotary platform 30.

In order to ensure the detection accuracy, before the wheel 200 to be detected is detected, the wheel detection system 100 needs to be calibrated to calibrate the rotating shaft of the rotating platform 30. Referring to fig. 18, in the present disclosure, the calibration of the wheel inspection system 100 uses a standard calibration wheel 300, and the calibration wheel 300 is made of aluminum alloy, has a diameter of 840mm (consistent with the wheel of HEZD 840), and has a black diffuse reflection surface.

The embedding has a plurality of step pieces 310 of high accuracy on the check wheel 300, is inlaying simultaneously install proximity switch on the cross-section of step piece 310, proximity switch is used for judging step piece 310 for laser sensor 20's position, step piece 310 is used for demarcating the laser plane, check wheel 300 still is provided with a plurality of code mark points on the surface.

The wheel detecting system 100 further includes a conveying device 40, the conveying device 40 includes a roller line, a time sensor and a centering mechanism (not shown in the figure), when calibration is performed, the checking wheel 300 is firstly placed on the roller line, the roller line conveys the checking wheel 300 to the rotating platform 30, when the roller line is conveyed to the rotating platform 30, the roller line rotates to trigger the time sensor, the wheel detecting system 100 controls the rotating speed of the roller line according to the size of the checking wheel 300 and the triggering time of the time sensor, so that when the roller line stops, the checking wheel 300 is conveyed to the rotating platform 30, and then the centering mechanism is used for accurately positioning the checking wheel 300. It is right after the check wheel 300 accurate positioning, will the check wheel 300 rotates the round, through set up in proximity switch on the check wheel 300, will the cross-section that the check wheel 300 inlayed the ladder piece 310 is adjusted extremely in laser sensor 20's the measurement cross-section. Then, the calibration wheel 300 is rotated by a preset angle, each laser sensor 20 acquires the position information of a plurality of coding mark points arranged on the calibration wheel 300 every time the calibration wheel is rotated by a preset angle, and after the calibration wheel is rotated by a preset angle for one circle, the rotating shaft of the rotating platform 30 is calibrated according to the acquired position information of the coding mark points, so that the calibration of the wheel detection system 100 is completed.

Step S61: and placing the wheel 200 to be detected on the rotating platform 30, and centering and calibrating the position of the wheel 200 to be detected based on the calibrated rotating shaft of the rotating platform 30.

The wheel inspection system 100 includes a correlation switch (not shown) disposed on the roller line. After the calibration of the wheel detecting system 100 is completed, when the wheel 200 to be detected is detected, the wheel 200 to be detected is firstly placed on the roller line, the correlation switch arranged on the roller line calculates the wheel specification (diameter) of the wheel 200 to be detected, and the calculation result is fed back to the centering mechanism. After the wheel 200 to be detected is placed on the rotating platform 30, the camera 10 acquires an image of the wheel 200 to be detected, identifies and extracts the character number information in the image, obtains the wheel specification of the wheel 200 to be detected according to the character number information in the image, compares the wheel specification obtained by the correlation switch calculation with the wheel specification obtained according to the character number information, if the wheel specification is the same as the wheel specification, performs centering calibration on the position of the wheel 200 to be detected based on the calibrated rotating shaft of the rotating platform 30, and if the wheel specification is different from the wheel specification, sends an alarm indication.

Optionally, in the present disclosure, after the wheel 200 to be detected is measured, the position of the center of the rolling circle of the wheel 200 to be detected relative to the rotating shaft of the rotating platform 30 is calculated by using the measured data, and if the offset of the center of the rolling circle exceeds a preset centering accuracy allowable value, it is determined that the centering mechanism has a fault, and an alarm indication is sent.

Further, referring to fig. 19, the method further includes steps S70 to S75.

In the process of measuring the rotation of the wheel 200 to be detected, there is a possibility of slipping between the wheel 200 to be detected and the rotating platform 30, and in order to avoid the occurrence of slipping as much as possible, please refer to fig. 20 in combination, the present disclosure provides a cross support frame 50, the cross support frame 50 is mounted on the rotating platform 30, and a wear-resistant rubber anti-slip pad 51 is disposed on the cross support frame 50, and is used for increasing the static friction force between the contact surfaces of the wheel 200 to be detected and the cross support frame 50.

Moment of static friction M between contact surfaces₁Greater than the driving moment M of the wheel₂In time, the wheels will not slip. The following can be obtained from the mechanics theory:

M₂＝J.α

wherein f is the friction force at the infinitesimal point, and r is the rotation radius at the infinitesimal point; j- -moment of inertia of the wheel, α is angular acceleration; mu-steel no-lubrication friction, static friction coefficient mu is 0.15, and A is contact surface area.

After the rubber anti-slip pad 51 is mounted on the cross support frame 50, no lubricating friction exists between steel, the static friction coefficient is about 0.15, the static friction coefficient between the rubber anti-slip pad 51 and the steel is about 0.8, and further, the friction force between the wheel 200 to be detected and the cross support frame 50 can be greatly increased.

Meanwhile, in the measurement process, it is still necessary to detect whether the wheel 200 to be detected is slipping, and the process of detecting whether the wheel is slipping is as follows.

S70: and acquiring a plurality of images of the wheel 200 to be detected after rotating for a second preset angle for a plurality of times, and extracting feature points in each image.

In the rotation measurement process of the wheel 200 to be detected, after every second preset angle, a pulse signal is sent to the camera 10, the camera 10 is triggered to acquire an image of the wheel 200 to be detected, after a plurality of images of the wheel 200 to be detected after rotating for a second preset angle for a plurality of times are acquired, feature points in the images are extracted, and optionally, in the present disclosure, the center of a circle of a hub hole of the wheel 200 to be detected is used as a feature point.

S71: and calculating the position data of the feature point relative to the rotating shaft in the image corresponding to the feature point for each feature point.

After extracting the feature points in each image, calculating the position data of the feature points in the image corresponding to the feature points relative to the rotating shaft for each feature point. In the calculation process, the position data of the feature points in the image acquired by first rotating by a second preset angle with respect to the rotating shaft of the rotating platform 30 is used as reference data to calculate the position data of the feature points in the rest of the images with respect to the rotating shaft.

S72: and carrying out ellipse fitting on the position data of each feature point obtained by calculation to obtain a first ellipse.

And after calculating to obtain the position data of each feature point in the image corresponding to the feature point relative to the rotating shaft, performing ellipse fitting on the calculated position data of each feature point to obtain a first ellipse.

S73: calculating a third deviation value from each feature point to the first ellipse, determining whether each third deviation value is within a preset range, and if not, executing step S74; if the preset range is reached, the step S75 is executed.

Step S74: it is determined that the wheel 200 to be detected is slipping during rotation.

Step S75: it is determined that the wheel 200 to be detected does not slip during rotation.

If the wheel 200 to be detected slips during rotation, it is immediately stopped and the measurement is resumed. If the repeated slip frequency exceeds a preset threshold value, the measurement of the wheel 200 to be detected is abandoned, and the image of the wheel 200 to be detected is saved.

According to the wheel detection method provided by the disclosure, the wheel 200 to be detected is rotated for multiple times at the first preset angle, the section data of the wheel 200 to be detected after the wheel 200 to be detected is rotated at the first preset angle every time is obtained, the coordinate system of the wheel 200 to be detected is determined according to the obtained multiple section data, and the size data of the wheel 200 to be detected is obtained through detection based on the coordinate system of the wheel 200 to be detected, so that the detection process automation is realized, the labor cost is effectively reduced, the human errors are reduced, and the detection precision is improved.

Referring back to fig. 1, the present disclosure provides a wheel inspection system 100, which includes a camera 10, a processor (not shown), a rotary platform 30, and a plurality of laser sensors 20;

the camera 10 is used for acquiring an image of the wheel 200 to be detected, and the processor is used for identifying and extracting the character size information in the image.

The rotating platform 30 is configured to rotate the wheel to be detected 200 multiple times at a first preset angle, and each laser sensor 20 is configured to obtain cross-sectional data of the wheel to be detected 200 after each rotation at the first preset angle.

The processor is further configured to determine a coordinate system of the wheel 200 to be detected according to the acquired plurality of section data; and detecting to obtain the size data of the wheel 200 to be detected based on the coordinate system of the wheel 200 to be detected, and performing associated storage on the character size information and the size data.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific operation of the wheel detecting system 100 described above may refer to the corresponding process in the foregoing method, and will not be described in too much detail herein.

According to the wheel detection method and system provided by the disclosure, the wheel to be detected is rotated for multiple times at the first preset angle, the section data of the wheel to be detected after the wheel to be detected is rotated at the first preset angle every time is obtained, the coordinate system of the wheel to be detected is determined according to the obtained multiple section data, and the size data of the wheel to be detected is obtained through detection based on the coordinate system of the wheel to be detected, so that the automation of the detection process is realized, the labor cost is effectively reduced, the human errors are reduced, and the detection precision and the working efficiency are improved.

In addition, according to the wheel detection method and the wheel detection system provided by the disclosure, after the dimensional data of the wheel to be detected is obtained through measurement, the word number information and the dimensional data of the wheel to be detected are stored in an associated manner, so that the dimensional data of the wheel to be detected can be quickly inquired through the word number information of the wheel to be detected, the digital management of the data is realized, and the method and the system have great significance for saving the cost and improving the economic benefit.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system and method embodiments are merely illustrative, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present disclosure may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

The foregoing is illustrative of only alternative embodiments of the present disclosure and is not intended to limit the disclosure, which may be modified and varied by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A wheel inspection method for use in a wheel inspection system, the method comprising:

acquiring an image of a wheel to be detected, and identifying and extracting character size information in the image;

rotating the wheel to be detected for multiple times at a first preset angle to acquire section data of the wheel to be detected after rotating at the first preset angle each time;

determining a coordinate system of the wheel to be detected according to the acquired data of the plurality of sections;

detecting to obtain size data of the wheel to be detected based on the coordinate system of the wheel to be detected, and performing association storage on the character size information and the size data;

the step of determining the coordinate system of the wheel to be detected according to the acquired plurality of section data comprises the following steps:

for each piece of section data, taking the contour line of the inner side surface of the rim of the wheel to be detected as a first datum line, and offsetting the contour line of the inner side surface of the rim to the contour line of the outer side surface of the rim of the wheel to be detected by a preset distance along the normal direction of the inner side surface of the rim to obtain a first straight line;

acquiring an intersection point of the first straight line and a contour line of the wheel tread of the wheel to be detected;

fitting calculation is carried out on intersection points in the plurality of section data to obtain a fitted circular ring, and the circle center of the circular ring is obtained;

and determining the coordinates of the wheel to be detected by taking the circle center of the circular ring as the origin of the coordinate system of the wheel to be detected and the normal line of the circular ring as the first coordinate axis of the coordinate system of the wheel to be detected.

2. The wheel inspection method of claim 1, wherein the wheel inspection system includes a font size database, the font size database pre-stores font size information of a plurality of wheels, and the steps of obtaining an image of a wheel to be inspected, identifying and extracting the font size information in the image include:

acquiring an image of the wheel to be detected, and identifying and extracting the character number information of the wheel to be detected;

detecting whether the font information has errors according to a preset font naming rule;

if the detection is not wrong, detecting whether repeated character size information exists in the character size database or not, if so, sending first alarm information, and storing the image of the wheel to be detected, the character size information and the current detection time in an associated manner;

3. The wheel inspection method according to claim 1, wherein the wheel inspection system includes a plurality of laser sensors, the step of rotating the wheel to be inspected a plurality of times by a first preset angle includes the step of acquiring cross-sectional data of the wheel to be inspected after each rotation by the first preset angle includes:

for the wheel to be detected which rotates by the first preset angle every time, measuring the surface of the wheel to be detected by each laser sensor from a plurality of preset point positions respectively to obtain a plurality of profile data of the wheel to be detected;

4. The wheel inspection method according to claim 1, wherein the coordinate system of the wheel to be inspected further includes a second coordinate axis perpendicular to the first coordinate axis, and the step of obtaining the dimensional data of the wheel to be inspected based on the coordinate system of the wheel to be inspected includes:

for each piece of section data, fitting to obtain a plurality of measuring points in the section data, and respectively calculating the distance from each measuring point to the first coordinate axis to obtain the radial dimension of the wheel to be detected;

5. The wheel inspection method according to claim 4, wherein the wheel inspection system pre-stores digital-to-analog data of the wheel to be inspected, and the step of acquiring the dimensional data of the wheel to be inspected based on the coordinate system of the wheel to be inspected further comprises:

calculating a first deviation value of the section data and the digital-analog data aiming at each section data so as to detect the wheel rim and the tread appearance of the wheel to be detected;

aiming at each section data, determining a theoretical equation of an envelope curve of the web plate outline of the wheel to be detected in the coordinate system of the wheel to be detected, and substituting the coordinate value of the web plate outline point of the wheel to be detected in the coordinate system of the wheel to be detected into the theoretical equation for calculation to obtain a calculation result; detecting the shape of the wheel disc of the wheel to be detected according to the calculation result;

6. The wheel inspection method according to claim 1, further comprising:

splicing the acquired plurality of section data to obtain the measurement data of the wheel to be detected; the measurement data comprises rim inner side surface data, rim outer side surface data, tread data and wheel hub hole data of the wheel to be detected;

carrying out plane fitting on the data of the inner side surface of the rim to obtain a reference plane; calculating a second deviation value of the inner side surface data of the wheel rim and the reference plane; detecting the flatness of the inner side surface of the rim of the wheel to be detected according to the calculated second deviation value;

calculating a first distance value between the rim outer side surface data and the reference plane according to the reference plane obtained by fitting; detecting the parallelism of the outer side surface of the rim of the wheel to be detected relative to the inner side surface of the rim according to the first distance value obtained by calculation;

acquiring a normal of the reference plane according to the reference plane obtained by fitting; performing cylindrical surface fitting on the wheel hub hole data, and calculating the axis of the cylindrical surface obtained by fitting; calculating a second distance value from the axis to a second datum line by taking a normal of the datum plane as the second datum line; detecting the verticality of the hub hole of the wheel to be detected relative to the inner side surface of the rim according to the second distance value;

7. The wheel inspection method according to claim 1, wherein the wheel inspection system further includes a rotation platform, and before the wheel to be inspected is rotated a plurality of times by a first preset angle and the cross-sectional data of the wheel to be inspected after each rotation by the first preset angle is acquired, the method further includes:

calibrating the wheel detection system, and calibrating a rotating shaft of the rotating platform;

8. The wheel inspection method according to claim 7, further comprising:

acquiring a plurality of images of the wheel to be detected after the wheel to be detected rotates for a second preset angle for a plurality of times, and extracting feature points in each image;

for each feature point, calculating position data of the feature point in the image corresponding to the feature point relative to the rotating shaft;

carrying out ellipse fitting on the position data of each feature point obtained by calculation to obtain a first ellipse;

9. A wheel detection system is characterized by comprising a camera, a processor, a rotary platform and a plurality of laser sensors;

the camera is used for acquiring an image of a wheel to be detected, and the processor is used for identifying and extracting character size information in the image;

the rotating platform is used for rotating the wheel to be detected for multiple times at a first preset angle, and each laser sensor is used for acquiring section data of the wheel to be detected after rotating at the first preset angle each time;

the processor is further configured to determine a coordinate system of the wheel to be detected according to the obtained multiple pieces of section data, detect and obtain size data of the wheel to be detected based on the coordinate system of the wheel to be detected, and perform association storage on the font size information and the size data, where the processor is specifically configured to: