CN109967374A - A kind of connector pin size detecting system and method based on three-dimensional machine vision - Google Patents
A kind of connector pin size detecting system and method based on three-dimensional machine vision Download PDFInfo
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- CN109967374A CN109967374A CN201811609893.4A CN201811609893A CN109967374A CN 109967374 A CN109967374 A CN 109967374A CN 201811609893 A CN201811609893 A CN 201811609893A CN 109967374 A CN109967374 A CN 109967374A
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- China
- Prior art keywords
- sliding rail
- dimensional
- connector
- clamping jaw
- point cloud
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Classifications
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- 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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of machine vision technique applications, specifically refer to a kind of connector pin size detecting system based on three-dimensional machine vision, including sliding rail, line laser scanner, clamping jaw cylinder, PC machine and defective products magazine, the line laser scanner and clamping jaw cylinder prolong slide direction and are sequentially arranged above sliding rail, the defective products magazine be located at the end of sliding rail and for clamping jaw cylinder by, the PC machine is connect with line laser scanner and clamping jaw air cylinder signal respectively；Point cloud data is pre-processed to obtain optimal point cloud data model, to realize that contact size precise measurement lays the foundation, runing time can not only be greatlyd save in such a way that three dimensional point cloud is combined with two dimensional image processing, it precisely can also efficiently intercept pin field and datum level region, and by the way that the two-dimensional image information of interception to be mapped in three-dimensional data, three-dimensional vision information algorithm is enable fast and accurately to carry out.
Description
Technical field
The present invention relates to a kind of applications of machine vision technique, in particular to a kind of connector based on three-dimensional machine vision to insert
Needle size detecting system and method.
Background technique
With the development of industrial technology, the requirement of measurement accuracy is also higher and higher, and conventional machines vision measurement is because of its two dimension
Limitation can not meet the requirement of Precision measurement, and line laser three-dimensional scanning measurement technology is to collect light, mechanical, electrical and computer technology
With a new technology of one, have the advantages that strong robustness, accuracy are high.Study and use line laser three-dimensional scanning measurement skill
Art not only can satisfy the high-precision demand of measurement, also comply with the development trend of modern measure technology.
What is obtained due to line laser structured light is mass cloud data and along with noise effects, and there are short time hardly possiblies
With the problem handled and noise jamming is big, and there are power consumption height, low efficiency, essence for existing connector pin size detecting system
Spend the disadvantages of low, false detection rate is high.
Summary of the invention
For above-mentioned deficiency in the prior art, the present invention provide it is a kind of it is low in energy consumption, high-efficient, precision is high, false detection rate is low
And stable connector pin size detecting system and method based on three-dimensional machine vision.
To realize the above technical purpose, the technical scheme is that a kind of connector based on three-dimensional machine vision is inserted
Needle size detecting system, including sliding rail, line laser scanner, clamping jaw cylinder, PC machine and defective products magazine, the line laser structured light
Instrument and clamping jaw cylinder prolong slide direction and are sequentially arranged above sliding rail, and the defective products magazine is located at the end of sliding rail and for clamping jaw
By cylinder, the PC machine is connect with line laser scanner and clamping jaw air cylinder signal respectively.
To realize the above technical purpose, the technical scheme is that a kind of connector based on three-dimensional machine vision is inserted
Needle size detecting method, includes the following steps:
Step 1: it opens sliding rail and is moved, connector to be measured is put on the slide rail；
Step 2: the point cloud data information on connector to be measured is acquired by line laser scanner, and to collected point
Cloud data, which are sent in PC machine, carries out data preprocessing, obtains ideal point cloud data model；
Step 3: it is quickly oriented in two dimensional image in such a way that three dimensional point cloud is combined with two dimensional image processing
Pin field and datum level region and then be efficiently quickly accomplished detection to contact size, determine that connector to be measured is each to be inserted
Whether needle size is qualified；
Step 4: if each contact size of connector to be measured be it is qualified, prolong sliding rail and move on and fall into sliding rail end
It is recycled lower section；
Step 5: if each contact size of connector to be measured be it is underproof, PC machine can control clamping jaw cylinder will be unqualified
Connector clamping and be put into defective products magazine.
Above description can be seen that the present invention and have following advantages: the company provided by the invention based on three-dimensional machine vision
Device contact size detection system and its method are connect, point cloud data is pre-processed to obtain optimal point cloud data model, is
Realize that contact size precise measurement lays the foundation, it can not only in such a way that three dimensional point cloud is combined with two dimensional image processing
Enough greatly save runing time, additionally it is possible to precisely efficient interception pin field and datum level region, and two by will intercept
Dimension image information is mapped in three-dimensional data, and three-dimensional vision information algorithm is enable fast and accurately to carry out, and finally utilizes measurement
As a result compared with standard value, judge that each contact size is qualified or not.Entire scheme is not only stable but also high-efficient, while precision,
Accuracy rate is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the connector pin size detecting system of the invention based on three-dimensional machine vision.
Fig. 2 is the method schematic diagram of the connector pin size detecting method of the invention based on three-dimensional machine vision.
Detailed description of the invention: 1, sliding rail, 2, line laser scanner, 3, clamping jaw cylinder, 4, PC machine, 5, defective products magazine.
Specific embodiment
Below with reference to the given attached drawing of the present invention and specific example, the present invention is further explained, it should be understood that these embodiments
It is only illustrative of the invention and is not intended to limit the scope of the invention, based on the embodiment of the present invention, ordinary skill people
Member's every other embodiment obtained under the premise of no creative work.Belong to protection scope of the present invention.
A kind of connector pin size detecting system based on three-dimensional machine vision, including sliding rail 1, line laser scanner 2,
Clamping jaw cylinder 3, PC machine 4 and defective products magazine 5, the line laser scanner 2 and clamping jaw cylinder 3 prolong 1 direction of sliding rail and are sequentially arranged at
The top of sliding rail 1, the defective products magazine 5 be located at the end of sliding rail 1 and for clamping jaw cylinder 3 by, the PC machine 4 swashs with line respectively
Photoscanner 2 is connected with 3 signal of clamping jaw cylinder.
A kind of connector pin size detecting method based on three-dimensional machine vision, includes the following steps:
Step 1: it opens sliding rail 1 and is moved, connector to be measured is placed on sliding rail 1；
Step 2: the point cloud data information on connector to be measured is acquired by line laser scanner 2, and to collected point
Cloud data, which are sent in PC machine 4, carries out data preprocessing, obtains ideal point cloud data model；
Step 3: it is quickly oriented in two dimensional image in such a way that three dimensional point cloud is combined with two dimensional image processing
Pin field and datum level region and then be efficiently quickly accomplished detection to contact size, determine that connector to be measured is each to be inserted
Whether needle size is qualified；
Step 4: if each contact size of connector to be measured be it is qualified, prolong sliding rail 1 and move on and fall into sliding rail end
It is recycled lower section；
Step 5: if each contact size of connector to be measured be it is underproof, PC machine 4, which can control clamping jaw cylinder 3, not to be conformed to
The connector clamping of lattice is simultaneously put into defective products magazine 5.
Embodiment: the point cloud data information on connector to be measured is acquired by line laser sensor, and to collected point
Cloud data carry out data preprocessing, obtain ideal point cloud data model；Pass through three dimensional point cloud and X-Y scheme
As the mode that processing combines quickly orients pin field and datum level region in two dimensional image；Efficiently it is quickly accomplished pair
The detection of contact size, it is qualified or not to determine each contact size of connector, specifically comprises the following steps:
Step 1: using line laser structured light connector to be measured, receive to come from the irreflexive striation of line laser by industrial camera
Print image is acquired the point cloud data of connector to be measured by the inside and outside parameter of camera, and carried out a little to collected point cloud data
Cloud data prediction, the preprocess method of point cloud data include point cloud data Denoising Algorithm and put cloud cavity interpolation algorithm, wherein
Point cloud data denoising uses Gaussian filter algorithm, and point cloud cavity interpolation uses the point cloud cavity patch algorithm based on surface fitting,
To obtain optimal point cloud data model.
Step 2: optimal point cloud data model is directed to, by the point cloud data compression algorithm that intercepts based on gray scale by three
Tie up the 2-D gray image that point cloud data boil down to has gray value.Template is carried out for successful 2-D gray image is compressed
Match, affine transformation, image segmentation algorithm quickly position and extract pin field and datum level region.And by that will split
Pin field and datum level region two-dimensional image information are mapped in three dimensional point cloud, to orient more careful region
Optimization realization is improved with processing speed to measure.
Step 3: for step 2 map out come three dimensional point cloud information, carry out three-dimensional vision information algorithm realize insert
Needle dimensional measurement.Three-dimensional vision information algorithm mainly uses three-dimension curved surface fitting, near stratum exhaust algorithm and optimum point iteration to calculate
Method is realized.Using measurement result compared with standard value, judge that each contact size is qualified or not, will judge that information is sent to display circle
Face is to observe.
A kind of connector pin size detecting system based on three-dimensional machine vision that this example provides, including point cloud data
Acquisition module, Point Cloud Processing module and result judge display module, the point cloud data acquisition module and described cloud number
It is electrically connected according to processing module, the Point Cloud Processing module judges that display module is electrically connected with the result.
Connector pin size detecting system and its method provided in this embodiment based on three-dimensional machine vision, to a cloud
Data are pre-processed to obtain optimal point cloud data model, to realize that contact size precise measurement lays the foundation, pass through three
Dimension point cloud data can not only greatly save runing time with the mode that two dimensional image processing combines, additionally it is possible to precisely efficient
Pin field and datum level region are intercepted, and by the way that the two-dimensional image information of interception to be mapped in three-dimensional data, makes three dimensions
It can fast and accurately be carried out according to Measurement Algorithm, finally using measurement result compared with standard value, judge that each contact size is qualified
Whether.Entire scheme is not only stable but also high-efficient, while precision, accuracy rate are high.
The present invention and its embodiments have been described above, description is not limiting, it is shown in the drawings also only
It is one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill people of this field
Member is enlightened by it, without departing from the spirit of the invention, is not inventively designed similar to the technical solution
Frame mode and embodiment, be within the scope of protection of the invention.
Claims (2)
1. a kind of connector pin size detecting system based on three-dimensional machine vision, it is characterised in that: including sliding rail (1), line
Laser scanner (2), clamping jaw cylinder (3), PC machine (4) and defective products magazine (5), the line laser scanner (2) and clamping jaw gas
Cylinder (3) prolongs sliding rail (1) direction and is sequentially arranged above sliding rail (1), and the defective products magazine (5) is located at the end of sliding rail (1) and right
Other in clamping jaw cylinder (3), the PC machine (4) connect with line laser scanner (2) and clamping jaw cylinder (3) signal respectively.
2. a kind of connector pin size detecting method based on three-dimensional machine vision, characterized by the following steps:
Step 1: it opens sliding rail (1) and is moved, connector to be measured is placed on sliding rail (1)；
Step 2: the point cloud data information on connector to be measured is acquired by line laser scanner (2), and to collected cloud
Data are sent on PC machine (4) and carry out data preprocessing, obtain ideal point cloud data model；
Step 3: inserting in two dimensional image is quickly oriented in such a way that three dimensional point cloud is combined with two dimensional image processing
Needle region and datum level region are efficiently quickly accomplished the detection to contact size in turn, determine each contact pin ruler of connector to be measured
It is very little whether qualified；
Step 4: if each contact size of connector to be measured be it is qualified, prolong sliding rail (1) and move on and fall under sliding rail end
Fang Jinhang recycling；
Step 5: if each contact size of connector to be measured be it is underproof, PC machine (4), which can control clamping jaw cylinder (3), not to be conformed to
The connector clamping of lattice is simultaneously put into defective products magazine (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609893.4A CN109967374A (en) | 2018-12-27 | 2018-12-27 | A kind of connector pin size detecting system and method based on three-dimensional machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609893.4A CN109967374A (en) | 2018-12-27 | 2018-12-27 | A kind of connector pin size detecting system and method based on three-dimensional machine vision |
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| CN109967374A true CN109967374A (en) | 2019-07-05 |
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| CN201811609893.4A Pending CN109967374A (en) | 2018-12-27 | 2018-12-27 | A kind of connector pin size detecting system and method based on three-dimensional machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111854939A (en) * | 2020-07-24 | 2020-10-30 | 深圳市明学光电股份有限公司 | Online detection method for LED flexible light bar |
| CN114004888A (en) * | 2021-11-01 | 2022-02-01 | 泉州装备制造研究所 | Object grabbing pose calculation method based on 3D point cloud data |
| CN114101093A (en) * | 2021-11-25 | 2022-03-01 | 西安建筑科技大学 | Method for detecting textile flat knitting machine insertion piece by using machine vision technology |
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Cited By (4)
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|---|---|---|---|---|
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| CN114101093A (en) * | 2021-11-25 | 2022-03-01 | 西安建筑科技大学 | Method for detecting textile flat knitting machine insertion piece by using machine vision technology |
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Application publication date: 20190705 |
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