CN110161053A - Defect detecting system - Google Patents
Defect detecting system Download PDFInfo
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- CN110161053A CN110161053A CN201910602936.4A CN201910602936A CN110161053A CN 110161053 A CN110161053 A CN 110161053A CN 201910602936 A CN201910602936 A CN 201910602936A CN 110161053 A CN110161053 A CN 110161053A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
Abstract
This application involves a kind of defect detecting systems, belong to technical field of machine vision, which includes: multiple acquisition devices, for acquiring the image data of examined object in all directions；And image data is sent to processing unit；Processing unit, for obtaining the image data of multiple acquisition device acquisitions；The image data that each acquisition device acquires is converted to the 3-D image that examined object is obtained to same three-dimensional system of coordinate；Mapping relations according to the pre-stored data obtain the actual size of 3-D image；Defects detection is carried out to 3-D image, obtains defects detection result；The size of the specified two-dimensional section of examined object is detected, size detection result is obtained；It can solve problem manually lower to the efficiency and reliability of examined object progress defects detection；Improve the efficiency and reliability of defects detection.
Description
Technical field
This application involves a kind of defect detecting systems, belong to technical field of machine vision.
Background technique
Weather strip for automobile is one of the important spare part of automobile, has sealing, damping, waterproof and dustproof, sound insulation, decoration
Etc. important function.It needs to detect the quality of sealing strip before sealing strip comes into operation.
The method of existing sealing strip quality testing is compared by artificial eye, hand touch perception, and truncation sealing strip is artificial
It samples to obtain the slice of cross section.
However, the above method at least has the disadvantage in that 1, there are subjectivities, one-sidedness for artificial judgement, and spot-check ratio
Low, detection data reliability is not high；2, hand dipping after artificial cutting, wastes big content of starting materials and working hour, resource consumption is larger；3,
It can not be measured in real time.
Summary of the invention
This application provides a kind of defect detecting system, the effect that defects detection is manually carried out to examined object can solve
Rate and the lower problem of reliability.The application provides the following technical solutions: a kind of defect detecting system, the system comprises:
Multiple acquisition devices, for acquiring the image data of examined object in all directions；And described image data are sent out
It send to processing unit；
The processing unit, for obtaining the image data of the multiple acquisition device acquisition；Each acquisition device is adopted
The image data of collection converts the 3-D image that the examined object is obtained to same three-dimensional system of coordinate；It is according to the pre-stored data
Mapping relations obtain the actual size of the 3-D image；Defects detection is carried out to the 3-D image, obtains defects detection knot
Fruit；The size of the specified two-dimensional section of the examined object is detected, size detection result is obtained.
Optionally, the system also includes: calibration component；The acquisition device includes laser beam emitting device and Image Acquisition
There are intersections for the laser plane of device, the calibration face for demarcating component and the laser beam emitting device；
The laser beam emitting device, for projecting laser on the calibration face；
Described image acquisition device, for acquiring the uncalibrated image data in the calibration face after projecting laser；And by the mark
Determine image data and is sent to the processing unit；
The processing unit is also used to obtain the reality of the 3-D image in the mapping relations according to the pre-stored data
Before size, according to the picture position between laser in the uncalibrated image data and calibration face intersection point, laser in actual scene
Physical location between calibration face intersection point determines the mapping relations.
Optionally, the calibration face is provided with arc-shaped multiple lug bosses, and the lug boss and the laser are flat
There are intersections in face.
Optionally, the lug boss is cylinder, and the arrangement mode of the cylinder meets each described image acquisition dress
4 cylinders are included at least in the acquisition visual field set, and there is no 3 cylinders are conllinear.
Optionally, the processing unit, is used for:
Obtain the template contours of the examined object；
The user-defined contents defined based on the template contours are obtained, the user-defined contents include size to be detected
Type, the standard figures of the size to be detected and the error range of the size to be detected；
The specified two-dimensional section of the examined object is registrated with the template contours；
Detect whether the corresponding size of type of size to be detected on the specified two-dimensional section is the standard figures, and
Fluctuation situation of the corresponding size of type of size to be detected on the specified two-dimensional section in the error range is obtained, is obtained
To the size detection result.
Optionally, the processing unit, is used for:
Obtain the multiple two-dimensional section profiles for constituting the 3-D image；
Adjacent two-dimensional section profile is registrated, the 3-D image of rule is obtained；
Defects detection is carried out to the 3-D image of the rule, obtains the defects detection result.
Optionally, the 3-D image is stored by two-dimensional matrix, and the two-dimensional matrix is for indicating the object to be detected
The topological structure in body surface face.
Optionally, the examined object includes: sealing strip, squeezes out glue part, profile, tubing and/or steel pipe.
The beneficial effects of the present application are as follows: acquire the image of examined object in all directions by the way that multiple acquisition devices are arranged
Data；And described image data are sent to processing unit；The processing unit obtains the figure of the multiple acquisition device acquisition
As data；The image data that each acquisition device acquires is converted to same three-dimensional system of coordinate, the examined object is obtained
3-D image；Mapping relations according to the pre-stored data obtain the actual size of the 3-D image；The 3-D image is carried out
Defects detection obtains defects detection result；The size of the specified two-dimensional section of examined object is detected, size inspection is obtained
Survey result；It can solve problem manually lower to the efficiency and reliability of examined object progress defects detection；Due to lacking
Sunken detection process, which only needs user to input some Template Informations, to carry out defect inspection automatically to same type of examined object
It surveys, compares without artificial, and defects detection standard is unified, it is thus possible to improve the efficiency and reliability of defects detection.
Above description is only the general introduction of technical scheme, in order to better understand the technological means of the application,
And can be implemented in accordance with the contents of the specification, with the preferred embodiment of the application and cooperate attached drawing below detailed description is as follows.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the defect detecting system that the application one embodiment provides；
Fig. 2 is the structural schematic diagram of the sensor in the acquisition device that the application one embodiment provides；
Fig. 3 is the structural schematic diagram for the defect detecting system that another embodiment of the application provides；
Fig. 4 is the schematic diagram for the calibration component that the application one embodiment provides；
Fig. 5 is the signal that the template contours that the application one embodiment provides are registrated with the profile of specified two-dimensional section
Figure.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the application is described in further detail.Implement below
Example is not limited to scope of the present application for illustrating the application.
Fig. 1 is the structural schematic diagram for the defect detecting system that the application one embodiment provides, as shown in Figure 1, the system
It includes at least: multiple acquisition devices 110 and the processing unit 120 being connected with the communication of each acquisition device 110.
Optionally, multiple acquisition devices 110 are installed on same plane, so that multiple acquisition devices 110 treat detectable substance
Body carries out 360 degree of ground Image Acquisition.With reference to Fig. 2, acquisition device 110 includes sensor, which includes laser beam emitting device
111 and image collecting device 112.Wherein, laser beam emitting device 111 is used to project laser, image collector to examined object
112 are set for acquiring the image data of the examined object after projecting laser.Optionally, image collecting device 112 can be phase
Machine, video camera etc., the present embodiment do not limit the type of image collecting device 112.
Acquisition device 110 for acquiring the image data of examined object in all directions；And image data is sent to place
Manage device 120.With the quantity of acquisition device 110 for 4 in Fig. 1, and 4 acquisition devices for 360 degree acquire object to be detected
It is illustrated for the image data of body, in actual implementation, the quantity of acquisition device 110 can be set as 2 according to demand
Or 2 or more, the present embodiment does not limit the quantity of acquisition device 110.
Wherein, examined object includes: that sealing strip, extrusion glue part, profile, tubing and/or steel pipe etc. need to carry out defect
The object of detection, the present embodiment do not limit the type of examined object.
Optionally, with reference to Fig. 3, defect detecting system further includes programmable logic controller (PLC) (Programmable Logic
Controller, PLC) control system 130, PLC control system 130 communicates phase with acquisition device 110 and processing unit 120 respectively
Even.When needing to carry out defects detection to examined object, PLC control system 130 is periodically adopted to the transmission of acquisition device 110
Collection instruction, acquisition device 110 further include encoder, and encoder sends triggering command to sensor so as to pass according to the acquisition instructions
Sensor starts to acquire image data.Meanwhile PLC control system 130 sends image reading instruction to processing unit 120；Processing dress
It sets 120 and image data is read from acquisition device 110 according to image reading instruction.
Correspondingly, processing unit 120 is used to obtain the image data of multiple acquisition device acquisitions；By each acquisition device
The image data of 110 acquisitions converts the 3-D image that examined object is obtained to same three-dimensional system of coordinate；It is according to the pre-stored data
The actual size of mapping relations acquisition 3-D image；Defects detection is carried out to 3-D image, obtains defects detection result；To be checked
The size for surveying the specified two-dimensional section of object is detected, and size detection result is obtained.
Optionally, defects detection result includes but is not limited to: the surface of examined object whether there is defect, defective locations
And/or flaw size.
Optionally, size detection result includes but is not limited to: the size of the specified two-dimensional section of examined object and/or
Fluctuation situation in error range.
After processing unit 120 obtains defects detection result, if the defects detection result indicates examined object existing defects,
The defects detection result is then sent to PLC control system 130, PLC control system 130 is determined according to the defects detection result and lacked
Position is fallen into, and controls code spraying system 140 in the defective locations coding.
Certainly, defect detecting system can also include other components, such as: power module 150, communication module etc., this reality
Apply example will not enumerate herein.
Optionally, after processing unit 120 gets image data, the pixel distribution of the image data and brightness etc. are believed
Breath is converted into digital signal, optimizes processing and analysis to digital signal, obtains the initial geometric parameter of examined object, than
Such as: length, width, height parameter.
Optionally, before carrying out defects detection to examined object, processing unit 120 needs to obtain mapping relations.This
When, defect detecting system further includes calibration component 160.The laser in the calibration face and laser beam emitting device 111 of demarcating component 160 is flat
There are intersections in face.
Schematically, laser beam emitting device 111, for projecting laser on calibration face；Image collecting device 112, is used for
The uncalibrated image data in the calibration face after acquisition projection laser；And uncalibrated image data are sent to processing unit；Processing unit
120, it is also used to before the actual size that mapping relations according to the pre-stored data obtain 3-D image, according to uncalibrated image data
Physical location in picture position, actual scene between middle laser and calibration face intersection point between laser and calibration face intersection point determines
Mapping relations.
Optionally, processing unit 120 uses perspective transform, based between laser in uncalibrated image data and calibration face intersection point
Picture position, the physical location in actual scene between laser and calibration face intersection point determine mapping relations.
Optionally, calibration face is provided with arc-shaped multiple lug bosses, and there are intersections with laser plane for lug boss.Ginseng
Fig. 4 is examined, lug boss is cylinder, and cylindrical arrangement mode meets in the acquisition visual field of each image collecting device 112 at least
It include 4 cylinders, and there is no 3 cylinders are conllinear for satisfaction.
Since when lug boss is prismatic, processing unit 120 is it needs to be determined that the intersection point of laser plane and seamed edge reflects to determine
Relationship is penetrated, and in the present embodiment, by setting cylindrical for the lug boss in face of demarcating, so that image collecting device 112 acquires
The image in the calibration face arrived is cylindrical cambered surface, at this point, it is equivalent to the cambered surface that numerous seamed edge is constituted, laser plane and cylinder
The intersection of upper any point is that effectively, the efficiency that processing unit 120 determines mapping relations can be improved.
Optionally, when the specified two-dimensional section to examined object carries out size detection, processing unit 120 obtains to be checked
Survey the template contours of object；The user-defined contents defined based on template contours are obtained, which includes to be detected
The error range of the type of size, the standard figures of size to be detected and size to be detected；By the specified two dimension of examined object
Section is registrated with template contours；Detect whether the corresponding size of type of size to be detected on specified two-dimensional section is standard
Numerical value, and the fluctuation situation of the corresponding size of type of size to be detected on specified two-dimensional section in error range is obtained, it obtains
To size detection result.
In the present embodiment, the profile of specified two-dimensional section is registrated by processing unit 120 with template contours；To the finger after registration
Determine two-dimensional section and carry out size detection, obtains size detection result.In this way, being translated even if examined object rotates, shake, inspection
The type that survey tool can still find correct size carries out size comparison.With reference to contour registration schematic diagram shown in fig. 5, wherein
Solid line is template contours, and dotted line is the profile of specified two-dimensional section.
In the present embodiment, processing unit 120 includes human-computer interaction component and display component, which can be
Touch display screen；Alternatively, being also possible to the external modules such as mouse, keyboard, button, the present embodiment is not to the reality of human-computer interaction component
Existing mode limits.Processing unit 120 obtains user-defined contents by human-computer interaction component.User-defined contents can also wrap
It includes but is not limited to following at least one of several:
1, the template contours of examined object.Template contours can be the contour images of user's importing；Alternatively, being also possible to
Pre-stored contour images in processing unit 120；Alternatively, can also be to after the contour images progress pose adjustment imported
It obtains.Template contours are located in user-defined template coordinate system, which is can be by line-of-sight course or point method
Equal definition.
2, the type of detection instrument, title, collection location and/or dimensional tolerance.User can provide from processing unit 120
A variety of detection instruments in by mouse drag select detection instrument, which is towed in template.
3, the minimum geometries of the region of the defects detection of examined object and defect.User can be dragged by mouse
Selection defects detection region is dragged, defines Define defects minimum geometries in menu in the flaw size that processing unit 120 provides.
Optionally, processing unit 120 also detects the local geometric mutation on examined object surface.At this point, processing
Device 120 obtains the multiple two-dimensional section profiles for constituting 3-D image；Adjacent two-dimensional section profile is registrated, is advised
3-D image then；Defects detection is carried out to the 3-D image of rule, obtains defects detection as a result, the defects detection result includes
The geometric catastrophe result on examined object surface.In the present embodiment, processing unit 120 matches adjacent two-dimensional section profile
Standard obtains the 3-D image of rule.After transformation, 3-D image becomes a plane, defective bit other than defective locations
Setting can very stably be extracted by software algorithm, even if noise is violent, regular background also makes filtering algorithm more
Effectively.
Optionally, 3-D image is stored by two-dimensional matrix, and two-dimensional matrix is used to indicate the topology on examined object surface
Structure.Such as: two-dimensional matrix identifies the information between consecutive points.
In conclusion defect detecting system provided in this embodiment, is acquired in all directions by the way that multiple acquisition devices are arranged
The image data of examined object；And described image data are sent to processing unit；The processing unit obtains the multiple
The image data of acquisition device acquisition；The image data that each acquisition device acquires is converted to same three-dimensional system of coordinate, is obtained
The 3-D image of the examined object；Mapping relations according to the pre-stored data obtain the actual size of the 3-D image；It is right
The 3-D image carries out defects detection, obtains defects detection result；To the size of the specified two-dimensional section of examined object into
Row detection, obtains size detection result；It can solve manually equal to the efficiency and reliability of examined object progress defects detection
Lower problem；Since defect inspection process only needs some Template Informations of user's input can be to same type of object to be detected
Body carries out defects detection automatically, compares without artificial, and defects detection standard is unified, it is thus possible to improve the effect of defects detection
Rate and reliability.
In addition, by setting calibration component, and reflecting between picture position and physical location is determined using the calibration component
The accuracy of defect detecting system positioning defective locations can be improved in the relationship of penetrating.
In addition, by the way that the profile of specified two-dimensional section is registrated with template contours；To the specified two-dimensional section after registration into
Row size detection obtains size detection result；Even if examined object can be made to rotate, translate, shake, detection instrument is still
Correct geometric dimension can be found, the accuracy of defects detection is improved.
In addition, constituting multiple two-dimensional section profiles of 3-D image by obtaining；Adjacent two-dimensional section profile is carried out
Registration obtains the 3-D image of rule；It converts later 3-D image and becomes a plane, defect other than defective locations
Position can very stably be extracted by software algorithm, even if noise is violent, regular background also makes filtering algorithm
More effectively.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (8)
1. a kind of defect detecting system, which is characterized in that the system comprises:
Multiple acquisition devices, for acquiring the image data of examined object in all directions；And described image data are sent to
Processing unit；
The processing unit, for obtaining the image data of the multiple acquisition device acquisition；Each acquisition device is acquired
Image data converts the 3-D image that the examined object is obtained to same three-dimensional system of coordinate；Mapping according to the pre-stored data
The actual size of 3-D image described in Relation acquisition；Defects detection is carried out to the 3-D image, obtains defects detection result；It is right
The size of the specified two-dimensional section of the examined object is detected, and size detection result is obtained.
2. system according to claim 1, which is characterized in that the system also includes: calibration component；The acquisition device
Including laser beam emitting device and image collecting device, the calibration face of the calibration component and the laser of the laser beam emitting device are flat
There are intersections in face；
The laser beam emitting device, for projecting laser on the calibration face；
Described image acquisition device, for acquiring the uncalibrated image data in the calibration face after projecting laser；And by the calibration maps
As data are sent to the processing unit；
The processing unit is also used to obtain the actual size of the 3-D image in the mapping relations according to the pre-stored data
Before, according to the picture position between laser in the uncalibrated image data and calibration face intersection point, laser and mark in actual scene
Determine the physical location between the intersection point of face and determines the mapping relations.
3. system according to claim 2, which is characterized in that the calibration face is provided with arc-shaped multiple protrusions
Portion, there are intersections with the laser plane for the lug boss.
4. system according to claim 3, which is characterized in that the lug boss is cylinder, the arrangement of the cylinder
Mode, which meets, includes at least 4 cylinders in the acquisition visual field of each described image acquisition device, and there is no 3 cylinders to be total to
Line.
5. system according to claim 1, which is characterized in that the processing unit is used for:
Obtain the template contours of the examined object；
The user-defined contents defined based on the template contours are obtained, the user-defined contents include the class of size to be detected
The error range of type, the standard figures of the size to be detected and the size to be detected；
The specified two-dimensional section of the examined object is registrated with the template contours；
It detects whether the corresponding size of type of size to be detected on the specified two-dimensional section is the standard figures, and obtains
Fluctuation situation of the corresponding size of type of size to be detected in the error range, obtains institute on the specified two-dimensional section
State size detection result.
6. system according to claim 1, which is characterized in that the processing unit is used for:
Obtain the multiple two-dimensional section profiles for constituting the 3-D image；
Adjacent two-dimensional section profile is registrated, the 3-D image of rule is obtained；
Defects detection is carried out to the 3-D image of the rule, obtains the defects detection result.
7. system according to any one of claims 1 to 6, which is characterized in that the 3-D image is stored by two-dimensional matrix,
The two-dimensional matrix is used to indicate the topological structure on the examined object surface.
8. system according to any one of claims 1 to 6, which is characterized in that the examined object includes: sealing strip, squeezes
Plastic emitting part, profile, tubing and/or steel pipe.
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