CN110196252A

CN110196252A - Groove defects detection algorithm and device

Info

Publication number: CN110196252A
Application number: CN201910477124.1A
Authority: CN
Inventors: 刘坚; 姜潮; 索鑫宇; 董力成; 杨世辉; 胡钊川
Original assignee: Hunan University
Current assignee: Jiangsu Upna Technology Co ltd
Priority date: 2019-06-03
Filing date: 2019-06-03
Publication date: 2019-09-03
Anticipated expiration: 2039-06-03
Also published as: WO2020243992A1; CN110196252B

Abstract

The invention discloses a kind of groove defect detecting systems, it is adapted to detect for the defect of the annular groove of tubular element end, the system includes: visual component, camera lens, camera including annular light source and positioned at annular light source rear, annular light source is suitable for carrying out groove ring light polishing, and camera lens and camera are suitable for acquisition groove image；Transmission component is suitable for driving tubular element mobile, so that tubular element is located at the front of annular light source and coaxial with annular light source；Equipment is calculated, is connected with camera, is suitable for obtaining groove image, and detect the defect of groove according to groove image.The present invention discloses corresponding groove defect inspection method together and calculates equipment.

Description

Groove defects detection algorithm and device

Technical field

The present invention relates to workpiece intelligent online detection technique fields more particularly to a kind of for detecting tubular element end The algorithm and device of annular groove defect.

Background technique

Nuclear energy has been widely used in military, production and economic as a kind of cleaning, efficient, free of contamination clean energy resource Equal fields.Since heavy water reactor has the features such as residual waste is few, capacity usage ratio is high and industrial application technical maturity is high, It all has in worldwide nuclear power system and is widely applied.Therefore, primitive of the nuclear fuel rod as heavy water reactor, adds The quality of work production is directly related to the normal operation of nuclear power station.In existing processing scheme, since zirconia material is in high temperature, height It is still able to maintain good metallic character under radiation regimes, therefore generally nuclear fuel is wrapped using zirconium alloy pipe and is sold of one's property to prevent crack arrest Object overflows.Filling nuclear fuel is needed inside zirconium pipe, and is filled the zirconium pipe completed and be also required to weld end plug at both ends to prevent internal combustion Material is contacted with external environment.Before welding, at zirconium pipe both ends, vehicle goes out groove for welding, and the quality of groove quality, which affects, to be welded into Power, the nuclear fuel rod of end plug failure welding will cause fission product leakage when participating in nuclear reaction, and then safety accident occurs, So it is particularly important with zirconium pipe to carry out groove defects detection to nuclear power.

Currently, generalling use the mode of artificial sampling detection to detect groove quality, since nuclear fuel has radiativity, length Phase is exposed to unfavorable to the health of staff in nuclear radiation environment.In addition, manual detection efficiency is lower, cannot achieve Line full inspection limits the efficiency of whole welding producing line.In addition, artificial detection result is associated with the subjective judgement of people, Wu Fabao Demonstrate,prove the consistency of examination criteria.

Summary of the invention

For this purpose, the present invention provides a kind of groove defects detection algorithm and device, to try hard to solve or at least alleviate deposit above The problem of.

According to the first aspect of the invention, a kind of groove defect detecting system is provided, tubular element end is adapted to detect for Annular groove defect, the system comprises visual components, the mirror including annular light source and positioned at the annular light source rear Head, camera, the annular light source are suitable for carrying out ring light polishing to the annular groove, and the camera lens and camera are suitable for acquisition slope Mouth image；Transmission component is suitable for driving the tubular element mobile, so that before the tubular element is located at the annular light source It is square and coaxial with the annular light source；Equipment is calculated, is connected with the camera, is suitable for obtaining groove image, and according to described Groove image detects the defect of the annular groove.

Optionally, in groove defect detecting system according to the present invention, the visual component further includes coaxial light source, institute It is between the annular light source and the camera lens and coaxial with the annular light source to state coaxial light source, is suitable for the annular slope Mouth carries out axis light polishing.

Optionally, in groove defect detecting system according to the present invention, including symmetrically arranged two groups of visual components, institute State the groove image that two groups of visual components are suitable for acquiring the tubular element both ends respectively.

Optionally, in groove defect detecting system according to the present invention, further includes: protective cover is suitable for regarding described in mask Feel component；Hood is rotatably connected in front of the protective cover and with protective cover, is provided on the antetheca of the hood Suitable for accommodating the gap of the tubular element, flexible light-blocking member is arranged in the inside of the antetheca.

Optionally, in groove defect detecting system according to the present invention, the visual component further include: annular light source tune Module is saved, is connect with the annular light source, suitable for adjusting the position of annular light source；Camera adjustments module is connect with the camera, Suitable for adjusting the position of the camera.

It optionally, further include the first bottom plate, the second bottom plate and linear in groove defect detecting system according to the present invention Module is fixed with the annular light source adjustment module and the camera adjustments module on first bottom plate；The linear block It is fixed on second bottom plate including driving device, guiding device and sliding terminal, the guiding device, the sliding terminal Upper end connect with first bottom plate, the driving device is suitable for driving the sliding terminal cunning in the guiding device It is dynamic, so that first bottom plate and the visual component linear movement being fixed on the first bottom plate.

Optionally, in groove defect detecting system according to the present invention, the transmission component includes horizontal conveyor module With vertical transmission module, the horizontal conveyor module is set to the lower section of the optical axis of the annular light source, is suitable for driving the pipe The very best part moves in the horizontal direction；The vertical transmission module is suitable for the optical axis for driving the tubular element in the annular light source It is moved up and down on the vertical plane at place.

Optionally, in groove defect detecting system according to the present invention, the horizontal conveyor module includes stepper motor And conveyer belt, the tubular element are set on the conveyer belt, the stepper motor be suitable for that the conveyer belt is driven to advance with The tubular element is driven to move in the horizontal direction.

Optionally, in groove defect detecting system according to the present invention, the vertical transmission module includes lifting shift fork With for driving the lifting cylinder of the lifting shift fork, the lifting shift fork is located at the underface of the optical axis of the annular light source, Suitable for driving the tubular element for the underface for being located at the optical axis to move up, so that the tubular element and the annular light source Coaxially.

It optionally, further include sensor in groove defect detecting system according to the present invention, the sensor is set to Whether the underface of the optical axis of the annular light source, the underface for being adapted to detect for the optical axis have tubular element arrival.

According to the second aspect of the invention, a kind of groove defect inspection method is provided, in groove defect as described above It is executed in detection system, is adapted to detect for the defect of the annular groove of tubular element end, which comprises move tubular element Move position to the front of the annular light source and coaxial with the annular light source；Acquire groove image；According to the groove figure As come the defect that detects the annular groove.

Optionally, it in groove defect inspection method according to the present invention, is detected described according to the groove image After the step of defect of the annular groove, further includes: if detecting the annular groove zero defect, record groove letter Breath, discharge current tubular element, by next tubular element be moved to the front of annular light source and with annular light source it is coaxial It is detected position；If detecting the annular groove existing defects, warning message is generated, manually to be rechecked.

According to the third aspect of the present invention, a kind of groove defect inspection method is provided, executes, is suitable in calculating equipment The defect of annular groove is detected according to groove image, this method comprises: obtaining groove image；It determines in the groove image Annular groove region, by the annular groove regional implementation to obtain the band image of rectangle；For in the band image Any pixel corrects the pixel value of the pixel according to the pixel in the pixel or so neighborhood, to obtain amendment image；Determine institute The abnormal area in the residual absolute value image of band image and the amendment image is stated, with the defect of the determination annular groove Position.

Optionally, in groove defect inspection method according to the present invention, the annular groove region is in accordance with the following methods It determines: binaryzation being carried out to the groove image, obtains bianry image；The hole and burr in the bianry image are removed, is obtained To outer circular image；Determine internal diameter, outer diameter and the central coordinate of circle in annular groove region, according to the outer circular image with the determination ring Shape groove region.

Optionally, it in groove defect inspection method according to the present invention, is removed using Morphological scale-space method described Hole and burr in bianry image.

Optionally, in groove defect inspection method according to the present invention, internal diameter, outer diameter and central coordinate of circle are according to lower section Method determines: the mean value of the coordinate for all pixels for being 1 using pixel value in the outer circular image is as the central coordinate of circle, according to institute The quantity for the pixel that pixel value is 1 in outer circular image is stated to determine the outer diameter, according to the reality of the outer diameter and tubular element Border internal diameter, actual outside diameter determine the internal diameter.

Optionally, in groove defect inspection method according to the present invention, it is described by the annular groove regional implementation with The step of obtaining the band image of rectangle includes: using outer circumference as the width of the band image, by the difference of outer diameter and internal diameter As the height of band image, each pixel in the band image is determined according to the pixel value of each pixel in annular groove region Pixel value, to obtain the band image.

Optionally, in groove defect inspection method according to the present invention, the pixel value of each pixel in the band image It determines in accordance with the following methods: determining the pixel in groove image corresponding to object pixel, the mesh by polar coordinates conversion Marking pixel is any pixel in band image；Using interpolation method, according to the pixel of the pixel in corresponding groove image Value determines the pixel value of the object pixel.

Optionally, in groove defect inspection method according to the present invention, the picture according in the pixel or so neighborhood The step of usually correcting the pixel value of the pixel includes: the equal of the pixel value of each pixel in the calculating pixel and its left and right neighborhood Value；Calculate the pixel value of the pixel and the absolute value of the difference of the mean value；If the absolute value is greater than threshold value, by the pixel Pixel value is revised as the mean value.

Optionally, the exceptions area in groove defect inspection method according to the present invention, in the residual absolute value image Domain determines in accordance with the following methods: carrying out binaryzation to the residual absolute value image, obtains residual error bianry image；According to described residual Pixel that pixel value in poor bianry image is 1 determines abnormal area.

According to the fourth aspect of the present invention, a kind of calculating equipment is provided, comprising: at least one processor；Be stored with The memory of program instruction, when described program instruction is read and executed by the processor, so that the calculating equipment executes Groove defect inspection method as described above.

According to the fifth aspect of the present invention, a kind of readable storage medium storing program for executing for being stored with program instruction is provided, when the journey When sequence instruction is read and executed by calculating equipment, so that the calculating equipment executes groove defect inspection method as described above.

Groove defects detection scheme of the invention realizes the on-line automaticization full inspection to workpiece grooves quality, improves slope Mouth detection efficiency.

Groove defect detecting system of the invention includes visual component, transmission component and calculates equipment, wherein visual component Including annular light source, camera lens and camera.In the groove defect for needing to detect tubular element, transmission component is mobile by tubular element Front and the position coaxial with annular light source to annular light source, annular light source carry out polishing to annular groove, adopt camera The groove picture quality collected is higher, and groove region is highlighted in the picture, imaging clearly, to ensure that groove defect is examined The precision of survey.

Further, groove defective system of the invention further includes coaxial light source, and coaxial light source can be with annular light source group It closes and uses, while polishing is carried out to tubular element, to keep groove image image quality higher, convenient for defining the shape of groove defect Looks feature ensure that the precision of groove defects detection.

Further, groove defect detecting system of the invention includes symmetrically arranged two groups of visual components.Two groups of visions Component acquires the groove image at tubular element both ends respectively, realizes the synchronous acquisition of both ends groove image, improves image and adopts Collect efficiency.

Further, groove defect detecting system of the invention further includes protective cover and hood, in protection visual component While avoid the interference of environment light source, keep the imaging effect of groove more preferable, and there are groove defects convenient for artificial pickup Tubular element.When detecting the tubular element of groove existing defects, staff can be started hood, take out defect member Part.

Groove defect inspection method of the invention calculation amount while guaranteeing precision is small, and calculating is time-consuming short, high-efficient, real The quick online detection of groove defect is showed.

The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can It is clearer and more comprehensible, the followings are specific embodiments of the present invention.

Detailed description of the invention

To the accomplishment of the foregoing and related purposes, certain illustrative sides are described herein in conjunction with following description and drawings Face, these aspects indicate the various modes that can practice principles disclosed herein, and all aspects and its equivalent aspect It is intended to fall in the range of theme claimed.Read following detailed description in conjunction with the accompanying drawings, the disclosure it is above-mentioned And other purposes, feature and advantage will be apparent.Throughout the disclosure, identical appended drawing reference generally refers to identical Component or element.

Fig. 1 shows the schematic diagram of tubular element 100 and its end groove according to an embodiment of the invention；

Fig. 2 shows the structure charts of groove defect detecting system 200 according to an embodiment of the invention；

Fig. 3 A~3C respectively illustrates annular optical module, coaxial optical module, protective cover according to an embodiment of the invention And the Local map of hood；

Fig. 4 shows the flow chart of groove defect inspection method 400 according to an embodiment of the invention；

Fig. 5 shows the flow chart of groove defect inspection process according to an embodiment of the invention；

Fig. 6 shows the schematic diagram according to an embodiment of the invention for calculating equipment 600；

Fig. 7 shows the flow chart of groove defect inspection method 700 according to an embodiment of the invention；

Fig. 8 shows the schematic diagram of polar coordinates conversion process according to an embodiment of the invention；

Fig. 9 shows the implementation flow chart of step S730, S740 according to an embodiment of the invention；

Figure 10 shows groove image, histogram in groove defect inspection process according to an embodiment of the invention Picture, the schematic diagram for correcting image, residual error bianry image and identified defect area；

Figure 11 shows the surface chart of groove defects detection software according to an embodiment of the invention.

Specific embodiment

Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure It is fully disclosed to those skilled in the art.

Groove defects detection scheme of the invention includes that groove defect detecting system and the groove executed within the system lack Detection method is fallen into, to realize the on-line automaticization full inspection of groove quality, improves groove detection efficiency.

Groove defects detection scheme of the invention is adapted to detect for the quality of the annular groove of tubular element end, judges groove With the presence or absence of defect.The type of defect includes burr, lacks side, fracture etc., but not limited to this.It should be noted that, although this hair Zirconium pipe bevel defects detection problem of the bright technical solution based on nuclear power field and propose, but those skilled in the art can manage Solution, groove defects detection scheme of the invention can be used for detecting the end groove quality of any tubular element, and be not limited to zirconium Pipe.The present invention to material, size of tubular element to be detected etc. with no restrictions.

Fig. 1 shows the schematic diagram of tubular element 100 and its end face groove according to an embodiment of the invention.Such as Fig. 1 Shown, the end face of tubular element 100 is provided with annular groove 110, groove 110 include outer chamfer face 111, inner chamfer face 113 with And the fillet 112 of two fillet surfaces of connection, fillet 112 are located at the top of groove 110.Tubular element 100 for example can be zirconium pipe, The both ends of the zirconium pipe process to form groove by tool special, and the inside and outside fillet surface of groove forms 120 ° of chamfering, the chamfering Top forms the fillet that diameter is 0.1mm.In practice, fuel pellet can be loaded in zirconium pipe, but not influences skill of the invention Detection of the art scheme to annular groove defect.It should be appreciated that tubular element 100 shown in FIG. 1 is only an example, the present invention couple Material, inside and outside wall diameter, length, groove chamfer dimesion of tubular element 100 etc. are with no restrictions.

Fig. 2 shows the structure charts of groove defect detecting system 200 according to an embodiment of the invention.System 200 can For detecting the defect of the annular groove of tubular element (such as aforesaid tubular element 100) end.System 200 includes visual component 210, transmission component 220 and calculating equipment 600 (since length is limited, it is not shown in FIG. 2 to calculate equipment 600).

Visual component 210 is for acquiring groove image.According to a kind of embodiment, as shown in Fig. 2, system 200 includes symmetrical Two groups of visual components being arranged, are located at the lower left corner and the upper right corner of Fig. 2.It should be noted that in Fig. 2, the lower left corner Visual component 210 is exposed, and the visual component 210 in the upper right corner is enclosed within protective cover 260 and hood 270, this drafting side Formula be in order to and meanwhile show visual component 210, protective cover 260, the structure of hood 270 and three's positional relationship.In reality In, two groups of visual components 210 are enclosed within protective cover 260 and hood 270.Symmetrically arranged two groups of visions Component 210 is respectively used to the groove image at acquisition 100 both ends of tubular element, adopts to realize synchronizing for both ends groove image Collection, improves Image Acquisition efficiency, realizes the on-line checking of groove defect.

As shown in Fig. 2, visual component 210 includes annular light source 211 and the camera lens 213 positioned at 211 rear of annular light source, phase Machine 214.

It should be noted that in the present specification, front, rear are for tubular element 100 to be detected, far Direction from tubular element 100 is " rear ", is " front " close to the direction of tubular element 100.

Annular light source 211 is suitable for carrying out the groove of tubular element 100 polishing of ring light, the shape of annular light source 211 It is adapted with the bevel shape of tubular element 100, thus keep the 214 collected groove picture quality of institute of camera higher, groove area Domain is highlighted in the picture, imaging clearly, ensure that the precision of groove defects detection result.

According to a kind of embodiment, as shown in Fig. 2,3A, visual component 210 further includes annular light source adjustment module 215.Annular Light source adjustment module 215 is connected with annular light source 211, suitable for adjusting the position of annular light source 211.According to a kind of embodiment, ring Shape light source adjustment module 215 further comprises the Level tune platform and vertical regulating platform for being set to 211 lower section of annular light source, the two Be respectively used to adjustment annular light source 211 in the horizontal direction with the position of vertical direction.It, can be to ring by operating Level tune platform Position of the shape light source 211 in plane X-axis, Y direction is finely adjusted；It, can be to annular light source by operating vertical regulating platform 211 position in the Z-axis direction is finely adjusted.

It should be noted that annular light source adjustment module 215 is used to adjust the position of annular light source 211, but the present invention couple The specific structure of annular light source adjustment module 215 is with no restrictions.All can be realized is finely adjusted the position of annular light source 211 Structure it is within the scope of the present invention.

According to a kind of embodiment, as shown in Fig. 2,3B, visual component 210 further includes coaxial light source 212, coaxial light source 212 Between annular light source 211 and camera lens 213, and coaxial light source 212 is coaxial with annular light source 211, that is, coaxial light source 212 The optical axis of optical axis and annular light source 211 is located on the same line.Coaxial light source 212 be suitable for the groove of tubular element 100 into The polishing of row axis light.

According to a kind of embodiment, as shown in Fig. 2,3B, visual component 210 further includes coaxial light source adjustment module 216.Coaxially Light source adjustment module 216 is connected with coaxial light source 212, suitable for adjusting the position of coaxial light source 212.According to a kind of embodiment, together Axis light source adjustment module 216 further comprises the Level tune platform and vertical regulating platform for being set to 212 lower section of coaxial light source, the two Be respectively used to adjustment coaxial light source 212 in the horizontal direction with the position of vertical direction.It, can be to same by operating Level tune platform Position of the axis light source 212 in plane X-axis, Y direction is finely adjusted；It, can be to coaxial light source by operating vertical regulating platform 212 position in the Z-axis direction is finely adjusted.

It should be noted that coaxial light source adjustment module 216 is used to adjust the position of coaxial light source 212, but the present invention couple The specific structure of coaxial light source adjustment module 216 is with no restrictions.All can be realized is finely adjusted the position of coaxial light source 212 Structure it is within the scope of the present invention.

Annular light source 211 can be used alone with coaxial light source 212, can also use simultaneously.Due in actual production Cheng Zhong, the polishing mode of artificial detection exception is that axis light is used alone, to illuminate groove top radius area, using this kind Groove image acquired in polishing mode more meets the habit and cognition of staff, convenient for defining the pattern spy of groove defect Sign.Ring light is then since shape is consistent with bevel shape, it is thus possible to uniformly, groove is clearly illuminated, using this kind of polishing side Groove image acquired in formula is convenient for the edge defect at detection groove chamfering.Annular light source 211 and 212 coaxial is used simultaneously The advantages of the two can be had both.Those skilled in the art can self-setting annular light source 211 and axis light according to actual needs Source 212 is applied in combination mode, the present invention to combination usage mode with no restrictions.

According to a kind of embodiment, as shown in Figure 3A, visual component 210 further includes baffle vane 218, and baffle vane is set to annular The inside of light source 211, and it is coaxial with annular light source 211.Baffle vane 218 be used for annular light source 211 and coaxial light source 212 simultaneously In use, the light issued to coaxial light source 212 blocks, to reduce the diverging light of coaxial light source 212 to annular light source 211 Interference.

Camera lens 213, camera 214 are for acquiring groove image.Camera lens 213 can for example pass through hickey and camera 214 It is connected, but not limited to this.Camera lens 213, camera 214 can be disposable type, the present invention to the model of the two with no restrictions.It is preferred that Ground, camera lens 213, camera 214 are reliability, the preferable industrial lens of stability and industrial camera.

According to a kind of embodiment, as shown in Fig. 2, visual component 210 further includes camera adjustments module 217.Camera adjustments mould Block 217 is connected with camera 214, suitable for adjusting the position of camera 214.According to a kind of embodiment, camera adjustments module 217 is further Level tune platform, vertical regulating platform, pitch angle regulating platform and rotation regulating platform including being set to 214 lower section of camera.Pass through Level tune platform is operated, position of the camera 214 in plane X-axis, Y direction can be finely adjusted；By operating vertical adjust Platform is saved, the position of camera 214 in the Z-axis direction can be finely adjusted；It, can be to camera by operating pitch angle regulating platform 214 pitch angle is finely adjusted；By operation rotate regulating platform, can to the rotation angle in the horizontal direction of camera 214 into Row fine tuning, to adjust camera 214 to the shooting angle of tubular element 100.

It should be noted that camera adjustments module 217 is used to adjust the position of camera 214, but the present invention is to camera adjustments The specific structure of module 217 is with no restrictions.All structures being finely adjusted to the position of camera 214 that can be realized are in the present invention Protection scope within.

According to a kind of embodiment, as shown in Fig. 2, annular light source adjustment module 215, coaxial light source adjustment module 216, camera Adjustment module 217 is both secured on the first bottom plate 230.

System 200 further includes linear block 250, and linear block 250 further comprises driving device 251, guiding device 252 With sliding terminal 253.Driving device 251 such as can be servo motor, cylinder, but not limited to this.Guiding device 252 is for example Can be linear guide, sliding terminal 253 for example can be sliding block or sliding connection plate, but not limited to this.

Guiding device 252 is fixed on the second bottom plate 240, and the upper end of sliding terminal 253 is connected with the first bottom plate 230, is driven Dynamic device 251 is suitable for driving sliding terminal 253 and slides in guiding device 252, to drive the first bottom plate 230 being attached thereto And the visual component 210 being fixed on the first bottom plate 230 does linear movement, makes camera lens 213 relative to the slope of tubular element 100 Mouth moves to focusing.

According to a kind of embodiment, as shown in Fig. 2,3C, system 200 further includes protective cover 260 and hood 270.Protective cover 260 are rotatably connected with the second bottom plate 240, are suitable for mask visual component 210, to protect to visual component 210.It can be rotated Connection type opens protective cover 260 convenient for overturning, consequently facilitating staff safeguards visual component, debugs.Such as Shown in Fig. 3 C, protective cover 260 can be for example rotatablely connected by first axle 261 and the second bottom plate 240, but not limited to this.

Hood 270 is located at 260 front of protective cover and is rotatably connected with protective cover 260.As shown in Figure 3 C, hood 270 can be for example rotatablely connected by second hinge 272 and protective cover 260, but not limited to this.It is set on the antetheca of hood 270 It is equipped with the gap 271 for being suitable for accommodating tubular element 100, flexible light-blocking member 273 is arranged in the inside of antetheca, thus in ring light When source 211 and/or coaxial light source 212 carry out polishing to the groove of element, the interference of environment light source is avoided, the imaging of groove is imitated Fruit is more preferable.Elastic light-blocking member 273 for example can be shading sponge, but not limited to this.In addition, hood 270 is also convenient for manually There are the tubular elements of groove defect for pickup, and when detecting the tubular element of groove existing defects, staff can will be hidden Light shield 270 starts, and takes out defective element.

Visual component 210 is for acquiring groove image, and transmission component 220 is then for driving tubular element 100 to be detected It is mobile, so that tubular element 100 is located at the front of annular light source 211 and coaxial with annular light source 211, so that visual component 210 is adopted Collect groove image.

According to a kind of embodiment, transmission component 220 includes horizontal conveyor module and vertical transmission module.

Horizontal conveyor module is set to the lower section of annular light source 211, suitable for driving tubular element 100 to move in the horizontal direction It is dynamic.According to a kind of embodiment, horizontal conveyor module includes stepper motor 224 (stepper motor 224 is not shown in FIG. 2) and transmission Band 221.Tubular element 100 to be measured is set on conveyer belt 211, and stepper motor 224 is suitable for driving conveyer belt 221 and advances, with Tubular element 100 thereon is driven to move in the horizontal direction.As shown in Fig. 2, the surface of conveyer belt 221 is in dentation, each tooth A root tubular component 100 is placed in slot.Stepper motor 224 drives 221 stepping of conveyer belt, thus successively to each root canal champion Part 100 carries out groove detection.

Vertical transmission module on the vertical plane where driving optical axis of the tubular element 100 in annular light source suitable for moving up and down. According to a kind of embodiment, as shown in Fig. 2, vertical transmission module includes lifting shift fork 222 and and lifts shift fork 222 for driving Lifting cylinder 223.Lifting shift fork 222 is located at the underface of the optical axis of annular light source 211, is located at immediately below optical axis suitable for driving Tubular element 100 moves up, so that tubular element 100 and annular light source 211 are coaxial.

According to a kind of embodiment, system 200 further includes sensor 290 (sensor 290 is not shown in FIG. 2), sensor 290 are set to immediately below the optical axis of annular light source 211, are adapted to detect for whether having tubular element arrival immediately below optical axis.Work as detection To when having the arrival of tubular element 100, the driving lifting shift fork 222 of lifting cylinder 223 is moved up, and tubular element 100 is moved to It is coaxial with annular light source 211.Sensor 290 such as can be photoelectric sensor, electromagnetic sensor, but not limited to this, this hair It is bright to type, model, size of sensor 290 etc. with no restrictions.

After tubular element 100 and annular light source 211 are coaxial, camera 214 can acquire the groove image of tubular element 100. After the completion of Image Acquisition, the driving lifting shift fork 222 of lifting cylinder 223 is moved down, and current tubular element 100 is returned to biography It send on band 221.221 stepping of conveyer belt continues to carry out groove detection to next tubular element 100.

According to a kind of embodiment, visual component 210 and transmission component 220 are mounted on third bottom plate 280.

It calculates equipment 600 to be connected with camera 214, the groove image acquired suitable for obtaining camera 214, and according to groove figure As come the defect that detects annular groove.Calculating equipment 600 can be any equipment with storage and computing capability, such as can To be the computer of the personal configuration such as desktop computer, laptop, it is higher to be also possible to the hardware configurations such as work station, server Computer, can also be the mobile terminals such as mobile phone, tablet computer, intelligent wearable device, but not limited to this.214, camera It can be such as connected by USB data line with equipment 600 is calculated, but not limited to this.

According to a kind of embodiment, calculate equipment 600 also with stepper motor 224, lifting cylinder 223,251 phase of driving device Even, for sending instruction to three to control the motion conditions of three, so as to adjust tubular element to be detected 100 in level side To the position of, vertical direction, and camera lens 213 is adjusted to groove to be measured and is focused.

Fig. 4 shows the flow chart of groove defect inspection method 400 according to an embodiment of the invention.Method 400 exists It is executed in groove defect detecting system 200, is adapted to detect for the defect of the annular groove of 100 end of tubular element.As shown in figure 4, Method 400 starts from step S410.

In step S410, tubular element is moved to position in front of annular light source and coaxial with annular light source.Step S410 is executed by the transmission component 220 in system 200.

Then, in the step s 420, groove image is acquired.Step S410 is executed by the visual component 210 in system 200.

Then, in step S430, the defect of annular groove is detected according to groove image.Step S430 is by system 200 In calculating equipment 600 execute.

It calculates in equipment 600 and is deployed with corresponding image processing software, groove image can be analyzed, be handled, with Judge that annular groove whether there is defect, and the position of mark defect.If detecting annular groove zero defect, groove is recorded Information discharges current tubular element, executes step S410 again, next tubular element is moved to the front of annular light source And coaxial position is detected with annular light source.Groove information for example may include the number of tubular element, material, size, Processor etc., but not limited to this.If detecting annular groove existing defects, warning message is generated, it is manually multiple to carry out Inspection.Why the reserved link manually rechecked, be since the ratio of defect pipe in the actual production process is not high, and a small number of special Algorithm is likely to occur erroneous judgement in different situation, and the design manually rechecked can satisfy actual quality of production assessment and require.

Fig. 5 shows the schematic diagram of groove defect inspection process according to an embodiment of the invention, which is A specific application example corresponding to preceding method 400.

As shown in figure 5, in the detection process, it is artificial to carry out element feeding, that is, to be placed tubular element by staff On the horizontal conveying belt 221 of system 200,221 surface of conveyer belt is dentation, each tooth socket accommodates a tubular element.With Afterwards, stepper motor 224 controls conveyer belt 221 and advances, and whether the underface that sensor 290 detects the optical axis of annular light source 211 has Tubular element reaches.If there is tubular element arrival, equipment 600 is calculated to lifting cylinder 223 and sends control instruction, make to lift gas The driving lifting shift fork 222 of cylinder 223 moves up, and tubular element is lifted to the position coaxial with annular light source 211.Then, left The groove image at the 210 synchronous acquisition tubular element both ends of visual component of right two sides, and collected groove image is sent to It calculates equipment 600 and carries out image procossing, to judge whether there is groove defect and identify the position of groove defect.

If detecting groove zero defect, groove information is recorded to database, calculates equipment 600 to lifting cylinder 223 Control instruction is sent, the driving lifting shift fork 222 of lifting cylinder 223 is moved down, tubular element is discharged to conveyer belt 221 Tooth socket in.Then, it calculates equipment 600 and sends control instruction to stepper motor 224, stepper motor 224 is made to drive conveyer belt row Into next tubular element being brought into the induction range of sensor 290.Then, equipment 600 is calculated to send out to lifting cylinder 223 Send control instruction, make lifting cylinder 223 driving lifting shift fork 222 move up, by next tubular element lift to annular The coaxial position of light source 211 continues to detect the tubular element.

If detecting, groove is defective, generates warning message, to prompt staff to carry out current tubular element Artificial reinspection.If reinspection result is zero defect, removing of alarming records the groove information of the tubular element to database, with After continue to next tubular element carry out groove detection.If recheck result be it is defective, manually take the defective pipe away The very best part removes alarm, the groove information of the element is recorded to database, continues thereafter with and carries out slope to next tubular element Mouth detection.

Fig. 6 shows the schematic diagram according to an embodiment of the invention for calculating equipment 600.It should be noted that Fig. 6 institute The calculating equipment 600 shown is only an example, and in practice, the calculating of groove defect inspection method for carrying out the present invention is set The standby equipment that can be disposable type, hardware configuration situation can be identical as calculating equipment 600 shown in fig. 6, can also not Together.The calculating equipment of groove defect inspection method for carrying out the present invention can be to calculating equipment 600 shown in fig. 6 in practice Hardware component increased or deleted, the present invention to calculate equipment particular hardware configuration situation with no restrictions.

As shown in fig. 6, calculating equipment 600 in basic configuration 602 and typically comprising system storage 606 and one Or multiple processors 604.Memory bus 608 can be used for the communication between processor 604 and system storage 606.

Depending on desired configuration, processor 604 can be any kind of processing, including but not limited to: microprocessor (μ P), microcontroller (μ C), digital information processor (DSP) or any combination of them.Processor 604 may include such as The cache of one or more rank of on-chip cache 610 and second level cache 612 etc, processor core 614 and register 616.Exemplary processor core 614 may include arithmetic and logical unit (ALU), floating-point unit (FPU), Digital signal processing core (DSP core) or any combination of them.Exemplary Memory Controller 618 can be with processor 604 are used together, or in some implementations, and Memory Controller 618 can be an interior section of processor 604.

Depending on desired configuration, system storage 606 can be any type of memory, including but not limited to: easily The property lost memory (RAM), nonvolatile memory (ROM, flash memory etc.) or any combination of them.System storage Device 606 may include operating system 620, one or more program 622 and program data 624.In some embodiments, Program 622 may be arranged to be executed instruction by one or more processors 604 using program data 624 on an operating system.

Calculating equipment 600 can also include facilitating from various interface equipments (for example, output equipment 642, Peripheral Interface 644 and communication equipment 646) to basic configuration 602 via the communication of bus/interface controller 630 interface bus 640.Example Output equipment 642 include graphics processing unit 648 and audio treatment unit 650.They can be configured as facilitate via One or more port A/V 652 is communicated with the various external equipments of such as display or loudspeaker etc.Outside example If interface 644 may include serial interface controller 654 and parallel interface controller 656, they, which can be configured as, facilitates Via one or more port I/O 658 and such as input equipment (for example, keyboard, mouse, pen, voice-input device, touch Input equipment) or the external equipment of other peripheral hardwares (such as printer, scanner etc.) etc communicated.Exemplary communication is set Standby 646 may include network controller 660, can be arranged to convenient for via one or more communication port 664 and one A or multiple other calculate communication of the equipment 662 by network communication link.

Network communication link can be an example of communication media.Communication media can be usually presented as in such as carrier wave Or computer readable instructions, data structure, program module in the modulated data signal of other transmission mechanisms etc, and can To include any information delivery media." modulated data signal " can such signal, one in its data set or more It is a or it change can the mode of encoded information in the signal carry out.As unrestricted example, communication media can be with Wired medium including such as cable network or private line network etc, and it is such as sound, radio frequency (RF), microwave, infrared (IR) the various wireless mediums or including other wireless mediums.Term computer-readable medium used herein may include depositing Both storage media and communication media.

In calculating equipment 600 according to the present invention, application 622 includes for executing groove defect inspection method 700 Instruction, which can indicate that processor 604 executes groove defect inspection method 700 of the invention, by groove image into Row handles to detect the defect for locating annular groove.Method 700 is succinct, effective, and calculating speed is fast, high-efficient, can be realized to slope The quick online detection of mouth defect.

Fig. 7 shows the flow chart of groove defect inspection method 700 according to an embodiment of the invention.Method 700 exists It calculates in equipment (such as aforementioned computing device 600) and executes.As shown in fig. 7, method 700 starts from step S710.

In step S710, groove image is obtained.

As it was noted above, groove image is acquired by visual component 210.Specifically, the camera 214 in visual component 210 is adopted Collect groove image, and groove image is sent to and calculates equipment 600.Correspondingly, it in step S710, calculates equipment 600 and obtains Groove image transmitted by camera 214.

It should be noted that according to the model of camera 214, the difference of parameter, the color feelings of collected groove image Condition different from, groove image may be gray level image, it is also possible to color image.When groove image is gray level image, slope The pixel value of each pixel is the gray value of the pixel in mouth image；When groove image is color image, the pixel of groove image Value can be any combination of each color channel values (such as rgb value) of the pixel.

Then, in step S720, the annular groove region in groove image is determined, by annular groove regional implementation to obtain To the band image of rectangle.

Annular groove region there are many method of determination, the present invention to the determination method in annular groove region with no restrictions.Root According to a kind of embodiment, inner circle, the outer circle of annular groove can be identified using shape feature detection algorithm, determines the circle of groove Heart coordinate, inner circle radius, exradius, so that it is determined that annular groove region.Shape feature detection algorithm for example can be Hough (Hough Transform) algorithm etc. is converted, but not limited to this.

According to another embodiment, annular groove region can be determined with S721~S723 according to the following steps:

In step S721, binaryzation is carried out to groove image, obtains bianry image.

It should be noted that the present invention to specific algorithm used by image binaryzation with no restrictions, arbitrarily can be by slope The algorithm that mouth image is converted into bianry image is within the scope of the present invention.

The polishing of annular light source 211 and/or coaxial light source 212 is highlighted annular groove in groove image, phase Ying Di, after carrying out binaryzation to groove image, annular groove region is shown as bright area, pixel value 1；Other regions are then It is shown as dark areas, pixel value 0.That is, showing a highlighted annulus in bianry image.

Then, in step S722, the hole and burr in bianry image is removed, outer circular image is obtained.

According to a kind of embodiment, hole and burr in bianry image can be removed using Morphological scale-space method.This Invention to specific Morphological scale-space mode, the shape of structural element, size etc. with no restrictions, for example, Morphological scale-space side Formula for example can be dilation operation, opening operation, closed operation etc., but not limited to this.In order to which the processing to annulus is more smooth, form It is preferably round to learn structural element used by handling, but not limited to this.

It will be understood by those skilled in the art that can also be made a return journey using other methods other than Morphological scale-space method Except the hole and burr in bianry image, for example, using identification perforated and the pixel value of perforated pixel is assigned a value of 1 Method fill hole, made a return journey flash removed using filtering method, etc. the present invention is to the hole and burr in removal bianry image Used method is with no restrictions.

By step S722, outer circular image is obtained.Outer circular image shows a highlighted circle, which corresponds to ring The outer circle of shape groove.

Then, in step S723, internal diameter, outer diameter and the central coordinate of circle in annular groove region are determined according to outer circular image, So that it is determined that annular groove region.

In outer circular image, the outer circle of annular groove can be regarded as a standard round, can be by the center of gravity of outer circular image The center of circle as annular groove, that is, the mean value of the coordinate for all pixels for being 1 using pixel value in outer circular image is sat as the center of circle Mark.Central coordinate of circle is denoted as (a, b), then a, b are calculated according to the following formula:

In formula, p_iIndicate the pixel value (value of pixel value is 0 or 1) of ith pixel in outer circular image, x_iIt indicates i-th The abscissa of pixel, y_iIndicate the ordinate of ith pixel.

The outer diameter in annular groove region can be obtained according to the areal calculation of outer circular image China and foreign countries circle.The area of outer circle is outer In circular image pixel value be 1 pixel quantity, therefore, can according to pixel value in outer circular image be 1 pixel quantity come Determine outer diameter.Outer diameter is denoted as r₁, then r₁It calculates according to the following formula:

In formula, p (i, j) indicates coordinate is the pixel value of the pixel of (i, j), and m, n are respectively column included by outer circular image Number, line number.

The internal diameter in annular groove region determines according to the actual inner diameter of outer diameter and tubular element, actual outside diameter, will in Diameter is denoted as r₂, then have:

In formula, R₁、R₂The respectively actual outside diameter, actual inner diameter of tubular element.

Above-mentioned determining central coordinate of circle (a, b), outer diameter r₁, internal diameter r₂Method it is round quasi- compared to being carried out using Hough transformation Calculating speed is faster, as a result more acurrate for the algorithm of conjunction, ensure that the computational efficiency of groove on-line checking.

Central coordinate of circle (a, b), outer diameter r is being determined₁, internal diameter r₂Afterwards, that is, it can determine annular groove region.It then, will be annular Groove regional implementation obtains the band image of rectangle.

According to a kind of embodiment, according to outer diameter r₁Outer circumference is calculated, using outer circumference as the width of band image (width is abbreviated as w), by difference (the i.e. r of outer diameter and internal diameter₁-r₂) as band image height (height, be abbreviated as h), according to The pixel value of each pixel determines the pixel value of each pixel in band image in annular groove region, to obtain band image.

According to a kind of embodiment, the pixel value of each pixel is calculated according to step S724, S725 in band image:

In step S724, the pixel in groove image corresponding to object pixel is determined by polar coordinates conversion, In, object pixel is any pixel in band image.

Fig. 8 shows the schematic diagram of polar coordinates conversion process according to an embodiment of the invention.It is groove figure on the left of Fig. 8 Picture, right side are band image, and the coordinate origin of groove image and band image is respectively positioned on the image upper left corner.As shown in figure 8, with line Section A ' B ' is notch, and the circle ring area in groove image is unfolded, band image as shown on the right is obtained.In band image Point A, B correspond respectively to point A ', B ' in groove image.The wide w=2 π r of band image₁, high h=r₁-r₂。

Pixel C (i, j) (0≤i < w, 0≤j < h) in band image corresponds to the pixel C ' in groove image, point The coordinate (u, v) of C ' can determine according to the following formula:

Wherein,

A, b is respectively cross, the ordinate in the annular groove center of circle.

Corresponding pixel points C ' (u, v) of the object pixel C (i, j) in groove image can be calculated according to above formula.

Then, in step S725, using interpolation method, according to the pixel value of the pixel in corresponding groove image come Determine the pixel value of object pixel.

Theoretically, in band image after deployment, the pixel value of target pixel points C (i, j) should be equal to groove image In corresponding points C ' (u, v) pixel value.That is, after determining point C ' (u, v) corresponding to point C (i, j), by C's ' (u, v) Pixel value is assigned to point C (i, j).But in practice, according to above formula calculated point C ' coordinate (u, v) it is usual It is not integer, therefore, calculated point C ' is not usually the pixel of necessary being in groove image, but is located at multiple pixels Between point, correspondingly, the pixel value of point C ' (u, v) can not be directly acquired and be assigned to C (i, j).

In this case, according to a kind of embodiment, using interpolation method come according to the picture of the pixel around point C ' (u, v) Plain value determines the pixel value of object pixel.There are many interpolation methods, such as bilinear interpolation, arest neighbors interpolation, 4x4 pixel are adjacent The bicubic interpolation method in domain etc., but not limited to this.For example, in bilinear interpolation, according to point C ' (u, v) up and down four The pixel value of a pixel carrys out the pixel value that interpolation goes out point C ' (u, v), that is, interpolation goes out the pixel value of object pixel C (i, j).

According to one embodiment of present invention, picture size can be 2736* by the processing through step S720 2736, the original groove image of cyclic annular groove region only accounting 6.5%, being converted to picture size is 100*7000, groove region Accounting reaches 70% band image, it can be seen that, the processing through step S720 focuses more on sense so that picture size reduces Interest region (i.e. groove region) eliminates other extraneous areas (eliminating interference of the annulus center nuclear fuel to detection), greatly The complexity for reducing subsequent image processing operation greatly, the calculating for reducing method 700 is time-consuming, is advantageously implemented groove defect Quick online detection.

Then, in step S730, for any pixel in band image, according to the pixel in the pixel or so neighborhood The pixel value of the pixel is corrected, to obtain amendment image.

According to a kind of embodiment, the pixel value of the pixel in band image can be come true with S731~S733 according to the following steps It is fixed:

In step S731, the mean value of each pixel in the pixel and its left and right neighborhood is calculated.The length of neighborhood can be by this Field technical staff's self-setting, the present invention are without limitation.For example, the length of neighborhood can be set to 30 pixels, In this case, step S731 be equivalent to calculate pixel (i, j) and 30, its left side pixel (i-1, j), (i-2, j) ..., (i- 30, j) and 30, the right pixel (i+1, j), (i+2, j) ..., the mean value of (i+30, j) totally 61 pixels

Then, in step S732, the pixel value of the pixel and the absolute value of the difference of above-mentioned mean value are calculated, that is, haveWherein, q (i, j) indicates coordinate is the pixel value of the pixel of (i, j).

Then, in step S733, the size of calculated absolute value and threshold value in judgment step S732.If absolute value is big In threshold value, then the pixel value of the pixel is revised as mean value.The size of threshold value can be by those skilled in the art's self-setting, this It invents without limitation.In one embodiment, such as 20 can be set a threshold to, in this case, ifThen enableIfIt does not modify then q (i, j).

Pixel value modification method of the invention is illustrated from the angle of single pixel above.According to a kind of embodiment, in order to Accelerate calculating speed, improves computational efficiency, usually will not be modified to one pixel of a pixel, but to arrange as unit, Pixel value is modified line by line.The pixel value of each column pixel constitutes a column vector, calculate the column vector and its The mean vector of column vector in the neighborhood of left and right.Then, calculate when forefront column vector and mean vector residual absolute value to The pixel value that element value in residual absolute value vector is greater than the pixel of threshold value is replaced with the respective pixel in mean vector by amount Value.

By step S730, that is, it can determine correction map picture.

Then, in step S740, the abnormal area in the residual absolute value image of band image and amendment image is determined, To determine the defective locations of annular groove.

Band image is denoted as f1, amendment image is denoted as f2, residual absolute value image is denoted as f3, then has f3=| f1-f2 |.By making the difference band image and amendment image, the pixel value of the normal region in band image is cancelled, and keeps residual error absolute It is worth the relevant information concentrated in image and retain defective locations.

According to a kind of embodiment, the abnormal area in residual absolute value image is determined in accordance with the following methods: firstly, to residual Poor absolute value images carry out binaryzation, obtain residual error bianry image；It then, is 1 according to the pixel value in residual error bianry image Pixel determines abnormal area, so that it is determined that the defective locations of annular groove.

In residual error bianry image, the pixel that pixel value is 1 forms multiple connected domains, the size of these connected domains, aggregation Situation is different.In this multiple connected domain, certain connected domains likely correspond to true groove defect, and certain connected domains may be only It is only generated deviation in image processing process.In order to more accurately position true slope from the connected domain that pixel value is 1 Mouth defect is screened come the connected domain for being 1 to pixel value according to the size of connected domain, is judged respectively according to a kind of embodiment Whether the size of each connected domain is greater than preset threshold, if so, being determined as abnormal area, indicates the corresponding position of groove Existing defects；If it is not, being then determined as normal region, the corresponding position zero defect of groove is indicated.The size of connected domain can be with It (is connected to by the area of the boundary rectangle of the area (i.e. the quantity of pixel included by connected domain) or connected domain of connected domain The quantity of pixel included by the boundary rectangle in domain) or connected domain boundary rectangle length and/or width etc. indicate.Default threshold The specific value of value can be by those skilled in the art's self-setting, and the present invention is without limitation.

In the above-described embodiments, the defective locations of annular groove directly are determined by carrying out size selection to connected domain. In the image processing process of groove detection, it is possible that a case where actual defects are cut into multiple connected domains, such as Fruit judges the size of each connected domain according to the method for above-described embodiment respectively, then may be due to the ruler of each connected domain Very little both less than preset threshold, and cause the missing inspection of defect.In order to solve this problem, according to a kind of embodiment, firstly, to residual error two Connected domain in value image is filtered, fills, smoothing processing.For example, Morphological scale-space method or filtering method can be used It removes the lesser connected domain of area (the lesser connected domain of area it is more likely that in image processing process generated deviation), it is right The dark areas that adjacent multiple connected domains are surrounded is filled and (pixel value of dark areas is revised as 1) with by this multiple connection Domain is fused into a connected domain, and the edge of connected domain is smoothed, etc..After above-mentioned processing, residual error two The connected domain of original multiple distributions not of uniform size, scattered will be gathered into the biggish connection of one or several areas in value image Domain.Then, judge whether the size of each connected domain is greater than preset threshold respectively, if so, it is determined as abnormal area, table Show the corresponding position existing defects of groove；If it is not, being then determined as normal region, the corresponding position zero defect of groove is indicated. This mode can make defects detection result more accurate, avoid missing inspection.

According to a kind of embodiment, after the defects of residual absolute value image position has been determined, it is referred to aforementioned pole and sits Conversion formula is marked, the coordinate of the defective locations is converted into former groove image, to mark annular groove in groove image Defective locations.

Fig. 9 shows the implementation flow chart of step S730, S740 according to an embodiment of the invention.As shown in figure 9, right In band image f1 (x, y), the columns k included by it is calculated.Since first row, successively to each in band image arrange into Row amendment, until completing amendment to all column.

As follows to the makeover process of each column: note is vector X when the pixel value in forefront, and selection is arranged when the left and right 30 in forefront, Comprising totally 61 arranging when forefront, mean value column vector X1 is calculated.Then, the residual absolute value for working as forefront X and mean value column vector X1 is calculated Vector δ=| X-X1 |.Be arranged threshold value T, the pixel of δ > T is denoted as abnormal point, by the pixel value of abnormal point replace with mean value to Measure the value of corresponding position in X1.

By above-mentioned makeover process, amendment image f2 (x, y) is obtained.Then, it seeks band image and corrects the residual of image Poor absolute value images f3 (x, y), i.e. f3 (x, y)=| f1 (x, y)-f2 (x, y) |.Then, to residual absolute value image f3 (x, y) Binaryzation is carried out, residual error bianry image is obtained, the abnormal area in residual error bianry image is extracted, determines groove defective locations, it will Defective locations are counter to be pushed into original groove image, and sunken position of falling vacant is marked in original image, and identification is completed.

Figure 10 shows groove image, histogram in groove defect inspection process according to an embodiment of the invention Picture, the schematic diagram for correcting image, residual error bianry image and identified defect area.In Figure 10, image (a) is camera 214 Collected groove image.Image (b) be by obtained band image after the annular groove regional implementation in groove image, and Give the partial enlarged view of defect area at two.Image (c) is to be modified obtained amendment image to band image, Correct in image, defect area is repaired at two, visually with the normal region of surrounding almost indifference.Image (d) is histogram As the residual error bianry image with amendment image, in the images, the pixel value of normal region is 0, is rendered as black in the picture, Only defect area is rendered as the connected domain of multiple whites.Image (e) is the selection result of groove defect area, and image (e) is pair White connected domain in image (d) is filtered, fills, the processing such as smooth and obtain.It is handled by filtering, filling, smooth etc., The connected domain of multiple distributions not of uniform size, scattered in image (d) is fused into two biggish connected domains, the two are biggish Connected domain corresponds respectively to two defects on annular groove.The boundary rectangle for determining two connected domains respectively, by boundary rectangle The corresponding position in band image is marked, to remember the position of defect area out in the acceptance of the bid of band image, label result is as schemed (f) shown in.Then, the defects of band image regional location can be retrodicted by the methods of polar coordinates conversion to groove image In, fall vacant sunken region to mark in groove image (the defects of groove image zone marker result is not shown in FIG. 10).

Figure 11 shows the surface chart of groove defects detection software according to an embodiment of the invention.It is soft shown in Figure 11 Part, which resides at, to be calculated in equipment (such as aforementioned computing device 600), to the collected groove image of camera 214 Reason, to detect groove defect.User can control detection process by the software and check testing result.The interface of Figure 11 In show two groove testing results, wherein left side groove zero defect；Right side groove is defective, and is marked with oval frame Defective locations (defect is located at position on the upper side on the right side of groove).

Claims

1. a kind of groove defect detecting system is adapted to detect for the defect of the annular groove of tubular element end, the system comprises:

Visual component, camera lens, camera including annular light source and positioned at the annular light source rear, the annular light source be suitable for pair The annular groove carries out ring light polishing, and the camera lens and camera are suitable for acquisition groove image；

Transmission component is suitable for driving the tubular element mobile, so that the tubular element is located at the front of the annular light source And it is coaxial with the annular light source；

Equipment is calculated, is connected with the camera, is suitable for obtaining groove image, and detect the ring according to the groove image The defect of shape groove.

2. the system as claimed in claim 1, wherein the visual component further includes coaxial light source, and the coaxial light source is located at It is between the annular light source and the camera lens and coaxial with the annular light source, it is suitable for carrying out axis light to the annular groove beating Light.

3. system as claimed in claim 1 or 2, including symmetrically arranged two groups of visual components, two groups of visual components are suitable In the groove image for acquiring the tubular element both ends respectively.

4. system as claimed in any one of claims 1-3, further includes:

Protective cover is suitable for visual component described in mask；

Hood is rotatably connected in front of the protective cover and with protective cover, is provided on the antetheca of the hood suitable In the inside of the gap for accommodating the tubular element, the antetheca, flexible light-blocking member is set.

5. the system as claimed in claim 1, wherein the visual component further include:

Annular light source adjustment module is connect with the annular light source, suitable for adjusting the position of annular light source；

Camera adjustments module is connect with the camera, suitable for adjusting the position of the camera.

It further include the first bottom plate, the second bottom plate and linear block 6. system as claimed in claim 5,

The annular light source adjustment module and the camera adjustments module are fixed on first bottom plate；

The linear block includes that driving device, guiding device and sliding terminal, the guiding device are fixed on second bottom On plate, the upper end of the sliding terminal is connect with first bottom plate, and the driving device is suitable for that the sliding terminal is driven to exist It is slided in the guiding device, so that first bottom plate and the visual component linear movement being fixed on the first bottom plate.

7. a kind of groove defect inspection method is held in groove defect detecting system such as of any of claims 1-6 Row, is adapted to detect for the defect of the annular groove of tubular element end, which comprises

By tubular element be moved to the annular light source front and the position coaxial with the annular light source；

Acquire groove image；

The defect of the annular groove is detected according to the groove image.

8. a kind of groove defect inspection method executes in calculating equipment, suitable for detecting annular groove according to groove image Defect, which comprises

Obtain groove image；

The annular groove region in the groove image is determined, by the annular groove regional implementation to obtain the histogram of rectangle Picture；

For any pixel in the band image, the pixel of the pixel is corrected according to the pixel in the pixel or so neighborhood Value, to obtain amendment image；

The abnormal area in the residual absolute value image of the band image and the amendment image is determined, with the determination annular The defective locations of groove.

9. a kind of calculating equipment, comprising:

At least one processor；With

It is stored with the memory of program instruction；

When described program instruction is read and executed by the processor, so that the calculating equipment is executed such as claim 8 institute The method stated.

10. a kind of readable storage medium storing program for executing for being stored with program instruction, when described program instruction is read and is executed by calculating equipment, So that the calculating equipment executes method according to claim 8.