CN110702008A - Machine vision and scanning detection device and working method thereof - Google Patents
Machine vision and scanning detection device and working method thereof Download PDFInfo
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- CN110702008A CN110702008A CN201911093480.XA CN201911093480A CN110702008A CN 110702008 A CN110702008 A CN 110702008A CN 201911093480 A CN201911093480 A CN 201911093480A CN 110702008 A CN110702008 A CN 110702008A
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- structured light
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
Abstract
The invention relates to a machine vision and scanning detection device and a working method thereof, which comprises a detection table, wherein a perspective hole is formed in the detection table in a penetrating way up and down, a backlight source is erected below the detection table and right above the perspective hole, a transparent platform is fixedly arranged on the upper surface of the detection table right above the perspective hole, a second camera is erected right above the transparent platform, one side of the second camera forms a certain included angle with the second camera and is erected to the transparent platform to form a first camera, the other side of the second camera forms a certain included angle with the second camera and is erected to the transparent platform to form a structured light scanning mechanism, a movable clamp is arranged on the front side of the detection table, the movable clamp extends to the transparent platform to limit the position, a three-axis motion platform is arranged on the rear side of the detection table, a measuring head is fixedly arranged on a Z axis of the three-axis motion platform, the machine vision and scanning detection device is reasonable in structure, and the problem that the vision or scanning, the scanning detection efficiency is low, and the parts are inconvenient to clamp, position and take and place.
Description
Technical Field
The invention relates to the technical field of part size detection, in particular to a machine vision and scanning detection device and a working method thereof.
Background
At present, automatic detection methods for parts are various, but each detection method has many limitations, so that a part needs to be detected by a plurality of detection processes and can be detected by different detection instruments, and the method specifically comprises the following steps:
the monocular vision and binocular vision detection efficiency is high, but the material and surface characteristics (whether smooth, whether curved surface, light reflection degree, surface texture and the like) of the part per se have great influence on the accuracy of the detection result, parts with different materials and surface characteristics need to use light sources with different types and different structures, the polishing angles and directions are different, and the general performance of the light sources is poor; so far, only the part size parameters which can be detected by using a backlight projection mode in monocular vision have practical value. The binocular vision precision is not high, the binocular vision can only be applied to occasions with low precision requirements, the precision depends on surface textures seriously, and the more complex the surface textures are, the higher the precision is; in addition, the detection results of monocular vision and binocular vision are greatly influenced by ambient light;
structured light scanning is affected by the resolution of structured light, can be high in precision of the height of the part in the Z direction at present, but is not high in precision of the horizontal X direction and the horizontal Y direction, and is also affected by ambient light.
The precision of three-coordinate measurement X, Y, Z in three directions can be very high, but the efficiency is very low, and the measurement precision depends on the precision of X, Y, Z three-axis motion platform, measuring head and algorithm, so the requirements on the precision of X, Y, Z three-axis motion platform and measuring head are very high, the manufacturing cost and difficulty are high, and the requirements on the use environment are also very high; the continuous contour scanning by using three coordinates needs a continuous contour scanning measuring head, the continuous contour scanning measuring head needs to carry out complex detection on the azimuth change of a measuring needle or a measuring ball, and the actual contour of a part can be obtained by utilizing a complex algorithm, so that the manufacturing cost is high.
The problems of single measurable parameter and low detection efficiency exist in modes such as camera focusing measurement, laser interference measurement, laser flight measurement, spectrum gathering measurement, electromagnetic induction measurement, eddy current measurement and the like.
In the detection process, the time consumption for clamping, taking, placing and positioning the part is long, the appearance of the part is various, and great difficulty is brought to the clamping and positioning of the part.
Disclosure of Invention
In view of the defects of the prior art, the technical problem to be solved by the invention is to provide a machine vision and scanning detection device and a working method thereof, which not only have a reasonable structure, but also effectively solve the problems that the vision or scanning single detection method has a narrow application range, low scanning detection efficiency and inconvenient part clamping, positioning and taking and placing for a long time.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a machine vision and scanning detection device, is including one examining test table, it has seted up perspective hole to run through from top to bottom on examining test table, examines test table below and just erects the backlight to perspective hole, examine test table upper surface directly over the perspective hole and set firmly transparent platform, erect the second camera directly over the transparent platform, second camera one side becomes certain contained angle and aims at transparent platform and erect first camera with the second camera, the second camera opposite side becomes certain contained angle and aims at transparent platform and erect structure optical scanning mechanism with the second camera, it is provided with movable fixture to examine test table front side, and this movable fixture extends to and is used for spacingly on the transparent platform, examine test table rear side and install the triaxial motion platform, the Z of this triaxial motion platform is epaxial to set firmly the gauge head.
Furthermore, the backlight source and the second camera form a backlight projection measuring unit, which has the characteristics of high efficiency and high precision and is suitable for measuring parameters capable of using backlight projection measurement; the binocular scanning measuring unit consists of the first camera, the second camera, the three-axis motion platform and the measuring head, has the characteristics of high efficiency, high precision and small influence of ambient light, has wide application range of measuring parameters, and comprises curved surface measurement and continuous profile scanning; the device is matched with a backlight projection measuring unit or a structured light scanning measuring unit, and high-precision reverse modeling can be performed; the second camera and the structured light scanning mechanism form a structured light scanning measuring unit, and the device is suitable for carrying out Z-direction high-precision measurement. The three measuring units can be used independently or in combination, so that the adaptability and the general performance of the automatic detection system are greatly expanded.
Furthermore, the measuring head comprises a shell, the outer wall of the shell is fixedly connected to the Z shaft, an outer tubular permanent magnet is embedded in the inner wall of the shell near the lower end, a lower annular permanent magnet is embedded in the inner wall of the shell above the outer tubular permanent magnet, and an upper annular permanent magnet is embedded in the inner wall of the shell above the lower annular permanent magnet; a measuring rod penetrates through the center of the inner wall of the shell, a measuring ball is arranged at the lower end of the measuring rod, the top of the measuring rod extends out of the shell and is provided with a light source supporting plate, three plane light sources are uniformly distributed along the circumferential direction of the light source supporting plate, photoetching transparent standard circles are arranged on the plane light sources, a suspension annular permanent magnet is arranged on the measuring rod below the supporting plate, and the suspension annular permanent magnet is positioned between an upper annular permanent magnet and a lower annular permanent magnet; the measuring bar in the outer tubular permanent magnet is sleeved with an inner tubular permanent magnet, the inner tubular permanent magnet is fixedly connected with a side lever, the inner diameters of the upper annular permanent magnet and the lower annular permanent magnet are larger than the diameter of the measuring bar, and the inner diameter of the outer tubular permanent magnet is larger than the outer diameter of the inner tubular permanent magnet so as to guarantee the swing range of the measuring bar.
Further, the polarity of the positions near the outer tubular permanent magnet and the inner tubular permanent magnet is the same, and the polarity of the positions near the suspension annular permanent magnet and the upper annular permanent magnet and the lower annular permanent magnet is the same.
Furthermore, the measuring head is designed according to the magnetic suspension principle, when the measuring ball touches the surface of the part, the measuring rod and the photoetching transparent standard circle on the measuring rod swing within a certain three-dimensional space range, and the binocular scanning measuring unit calculates the coordinate of the center of the measuring ball through the position coordinate change of the three photoetching transparent standard circles, so as to detect the measuring parameters of the part; the precision of the binocular scanning measurement unit depends on the precision of a camera lens and the calibration precision of a measuring head, the correlation with the precision of a motion platform is extremely small, the three-axis motion platform is only used for driving the measuring head to scan on a rough scanning track, the magnetic suspension structure ensures that the measuring head always contacts with the surface of a part in the scanning process, and compared with three coordinates, the requirement on the precision of the motion platform is greatly reduced; compared with the existing trigger type measuring head and scanning type measuring head, the measuring head designed according to the magnetic suspension principle is a scanning type measuring head, so that the structure is relatively simple, and the manufacturing and maintenance cost is greatly reduced; in the prior art, the precision of photoetching transparent standard circles can be very high, and the high calibration precision can be achieved by adopting the prior calibration algorithm; the photoetching transparent standard circle is provided with a light source and is equivalent to a self-luminous light source, so that the influence of ambient light on the measurement precision can be greatly reduced; the existing trigger measuring head and scanning measuring head can reach high precision only by a complex algorithm of software due to the interference and delay influence of a mechanical structure, an electronic circuit and a signal line of the existing trigger measuring head and the existing scanning measuring head, the shooting speed of the existing high-speed camera can be very high, the response speed of the existing high-speed camera can reach or exceed the response speed of the existing measuring head, and the binocular vision detection standard circle algorithm is simple, so that compared with three-coordinate measurement, a binocular scanning measuring unit can reach the measuring precision of three coordinates, and the efficiency is greatly higher than the three coordinates.
Furthermore, a wave spring fixing ring is fixedly arranged on the inner wall of the shell between the upper annular permanent magnet and the lower annular permanent magnet, a wave spring is arranged in the wave spring fixing ring, and two driven contact rings are arranged on the wave spring at intervals; the peripheral direction of the suspension annular permanent magnet is fixedly provided with a driving contact ring; the shell penetrates through the inner wall from the outer wall inwards horizontally to form an upper safety contact plate, an upper safety contact, a lower safety contact plate and a lower safety contact in pair, the upper safety contact plate and the upper safety contact are parallel to each other and are located above the suspended annular permanent magnet, and the lower safety contact plate and the lower safety contact are parallel to each other and are located below the suspended annular permanent magnet.
Furthermore, the upper safety contact is bent upwards to form an arc-shaped bulge right above the active contact ring to form a contact matched with the upper safety contact plate, and the lower safety contact is bent downwards to form an arc-shaped bulge right below the active contact ring to form a contact matched with the lower safety contact plate.
Furthermore, two passive contact rings, an upper safety contact plate, an upper safety contact point, a lower safety contact plate and a lower safety contact point which are arranged on the wave spring at intervals are respectively connected with the controller, once the measuring rod exceeds an allowable moving range due to misoperation or equipment failure, or the active contact ring is simultaneously contacted with the two passive contact rings, or the upper safety contact plate is contacted with the upper safety contact point, or the lower safety contact plate is contacted with the lower safety contact point, a loop can be connected, a switching signal is generated, the three-axis motion platform stops moving, and the purpose of protecting the measuring head is achieved; the scheme of a signal connection that one active contact ring is in contact with two passive contact rings is adopted, so that a signal wire only needs to be connected to the two passive contact rings. The structure is simple and durable, and the performance is stable.
Further, movable clamp includes the revolving stage, install the clamping jaw cylinder on the revolving stage, be fixed with the spill support of vertical setting on two clamping jaws of clamping jaw cylinder respectively, the vertical slide rail that is provided with on the spill support, but be provided with the slider rather than sliding fit and elasticity goes up and down on the slide rail, the rear end of slider is provided with the arm lock, and two arm locks all extend towards the back level, and the inboard symmetry in rear end of two arm locks is provided with a plurality of annular spring.
Furthermore, vertical springs are respectively fixed on the upper part and the lower part of the inner side of the concave support, and the other ends of the vertical springs are respectively fixedly connected with the end faces of the corresponding sides of the sliding blocks; the rear end of the sliding block is connected with a fixed block, the rear side of the fixed block is provided with a slot for embedding the front end of the clamping arm, and the fixed block is provided with a locking bolt for locking the clamping arm; the annular springs are four in number, and every two annular springs are arranged on the inner side wall of the rear end of the clamping arm at intervals.
Furthermore, the movable clamp can realize the functions of clamping and turning the part and self-adapting to the transparent platform, so that the bottom surface of the part is in good contact with the transparent platform; the clamping device is adaptive to parts with different shapes, so that the parts can be stably and reliably clamped; the clamping part of the clamp adopts an arc structure, and the part and the clamp have more than three contact points, so that the part can be stably and reliably clamped, and the influence of the clamp on visual detection is reduced to the minimum; as for the activity anchor clamps accessible climbing mechanism is adjusted from top to bottom to the upset that the part was realized to the revolving stage of cooperation is conventional design, does not need here too much to describe again.
Further, structured light scanning mechanism includes structured light scanning axle, the epaxial installation structured light support of structured light scanning, structured light support side are connected with structured light through the solid fixed ring of a structured light, and structured light wears to establish in the solid fixed ring of structured light and fixes.
Furthermore, the resolution ratio cannot be made very high by the current structured light manufacturing technology, so that the precision of the structured light in X and Y directions cannot be improved all the time.
A working method of a machine vision and scanning detection device comprises the following steps: step S1: calibrating a camera model: calibrating a second camera lens, and establishing parameters of a backlight projection model; calibrating a first camera lens and a second camera lens, and establishing binocular vision three-dimensional projection model parameters; calibrating a second camera lens and a structured light scanning mechanism, and establishing parameters of a structured light vision three-dimensional scanning model; when in calibration, all the 3 projection model parameters are calibrated to the same reference coordinate system; step S2: calibrating conversion parameters of a backlight projection image coordinate system and a motion platform coordinate system: a standard smooth ring gauge is placed on a transparent platform, and a backlight projection measuring unit is used for measuring the circular profile C of the working surface of the standard smooth ring gauge1Manually controlling the motion platform to scan the circular contour of the working surface of the ring gauge and calculating C1Circle center coordinate [ C ] of circular contour1x,C1y]And the center coordinate [ V ] of the scanning track1x，V1y]Repeating the above steps for 2 times, respectively placing the smooth ring gauge on different positions of the transparent platform for detection and scanning to obtain circle center coordinates [ C ] of the circular contour at the other 2 positions of the smooth ring gauge2x，C2y]、[C3x，C3y]And the center coordinate [ V ] of the scanning track2x，V2y]、[V3x，V3y]Using the corresponding 2 pairs of four-point coordinates, [ C ]1x，C1y]、[C2x，C2y]And [ V ]1x，V1y]、[V2x，V2y]Calculating the translation and rotation parameters p1, m1 from the backlight projection image coordinate system to the motion platform coordinate system, and using [ C ] to judge whether it is the left-hand coordinate system or the right-hand coordinate system2x，C2y]、[C1x，C1y]Input order of [ V ]1x，V1y]、[V2x，V2y]Calculating conversion coordinatesTranslational and rotational parameters of the train p2, m2, and then [ C3x，C3y]Converting the calculated translation and rotation parameters to obtain x and y coordinates3x，V3y]Subtracting x and y of the image to obtain an absolute value, and taking the input sequence of the translation and rotation parameters and the backlight projection image coordinates with the smaller absolute value as the input sequence of the translation and rotation parameters and the coordinate points during conversion;
step S3: and calibrating the conversion parameters of the structural optical vision three-dimensional coordinate system and the motion platform coordinate system. Calibrating the distances from the centers of three photoetching transparent standard circles of the measuring head to the center of the measuring sphere by utilizing a backlight projection model and a binocular vision three-dimensional projection model: placing a smooth ring gauge on the transparent platform, detecting the working surface circle contour of the ring gauge by backlight projection, and calculating the center XY coordinate [ C ] of the circle contour from the circle contour1_X，C1_Y]And a series of XY coordinates [ X ] along the scanning trajectory of the circular profilei，Yi]Converting the scanning track series XY coordinates into motion platform coordinates, the three-axis motion platform drives the measuring head measuring ball to contact with the working surface of the ring gauge and the transparent platform at the same time and along the series [ X ]i，Yi]Coordinate scanning, the binocular vision system simultaneously tracks three photoetching transparent standard circles above the measuring head, calculates the series three-dimensional circle center coordinates of the standard circles, fits the series three-dimensional circle center coordinates into three circles, and obtains the three-dimensional circle center coordinates of the three circles: [ C ]2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]Since the ball is simultaneously contacted with the working surface of the ring gauge and the transparent platform during scanning, the XY coordinate [ C ] of the circle center calculated by the circle outline1_X，C1_Y]The Z-direction coordinate of (A) is the sphere radius R, from which the sum of [ C ] is obtained2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]Corresponding sphere center three-dimensional coordinate [ C ] of sphere1_X，C1_Y，R]According to the formula of the distance from the midpoint to the point in the three-dimensional space, the equation can be listed to obtain [ C [ ]2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]To [ C ]1_X，C1_Y，R]The distances d1, d2 and d3 are the distances from the centers of the three photoetching transparent standard circles to the center of the sphere; step S4: the binocular vision scanning measurement method comprises the following steps: during scanning, binocular vision tracks three photoetching transparent standard circles above the measuring head, calculates a series of three-dimensional circle center coordinates of the standard circles, and calculates three-dimensional coordinate points of the circle center of the measuring ball corresponding to the circle center coordinates of the three photoetching transparent standard circles according to a distance formula from a point to a point in a three-dimensional space as the distance from the circle center coordinates to the center of the measuring ball is obtained through calibration; if the actual scanning track coordinate points of the part are to be obtained, fitting the three-dimensional coordinate points of the measured spherical center series obtained by calculation into the profiles such as straight lines, circles, ellipses or curves corresponding to the scanning track type according to the scanning track type, wherein the fitted profiles are parallel to the actual profile of the part, and the distance is equal to the radius of the measured sphere, so that the actual profile of the part can be obtained;
step S5: the process of measuring the parts comprises the following steps: the movable clamp clamps the part to the transparent platform, and one or more modes are selected from backlight projection, binocular vision and structured light scanning to be matched for measurement according to the characteristics of the part and the size, the precision requirement and the like. After the measurement is finished, the movable clamp ascends, rotates by 180 degrees, descends to the transparent platform to perform the measurement on the other side, after the measurement on the two sides is finished, the movable clamp classifies the parts according to the detection result, and the parts which are detected are placed at the appointed position by the movable clamp. When binocular vision scanning measurement is used, if a CAD graph exists, a scanning path can be preset, the CAD graph is matched with an actual contour of a part obtained through backlight projection or structured light scanning, a conversion relation matrix of coordinates of the CAD graph and a coordinate system of backlight projection or structured light scanning is obtained, the coordinates of the scanning path are converted into a coordinate system of backlight projection or structured light scanning through the matrix, and then the scanning is carried out according to the coordinate system of backlight projection or structured light scanning and the coordinate system conversion matrix of the motion platform. If no CAD graph exists, the backlight projection or the structured light scanning can be used for detecting the path needing to be scanned and then carrying out binocular vision scanning measurement.
Compared with the prior art, the invention has the following beneficial effects:
1. the three measuring units of backlight projection, binocular scanning and structured light scanning can work independently and can be matched with each other, one or a plurality of detecting units can be selected to be combined for detection according to materials and surface characteristics of different parts, the advantages of the measuring units are fully exerted, the adaptability and the universality of an automatic detecting system are greatly widened, and the detecting process of constructing an automatic detecting assembly line is greatly reduced.
2. The binocular scanning measurement unit ingeniously combines the three-coordinate measurement principle and the binocular vision measurement principle, creates a brand new measurement method with measurement precision irrelevant to the measurement motion platform and the measuring head precision, and achieves the advantages of high precision of three-coordinate measuring and high efficiency of binocular vision measurement under the condition of greatly reducing the manufacturing cost and the assembly complexity.
3. The measuring head is designed according to the magnetic suspension principle, and has simple structure, easy realization and low manufacturing cost; the transparent standard circle is photoetched, the visual inspection is simple, the self-contained light source is not easily influenced by ambient light, and the detection performance is stable.
4. The calibration can be used permanently once and needs to be recalibrated only after replacement of the accessory associated with the measuring unit.
5. The system calibration method and the measurement calculation method can adopt the existing mature method, and are easy to realize and simple to operate.
6. The movable clamp can be arranged on a part conveying manipulator, automatic clamping, picking, placing, conveying and classifying functions of parts are achieved, the system can be arranged on the existing production line to achieve online detection, the cost and the complexity of an automatic detection line are greatly reduced, the movable clamp can also be used as an independent detection line, the difficulty and the pain point in the existing automatic detection field are well solved under the condition that the manufacturing cost and the difficulty of a detection algorithm are reduced, and the movable clamp has a wide application prospect.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a schematic configuration diagram of an embodiment of the present invention;
FIG. 2 is a schematic bottom view of an embodiment of the present invention;
FIG. 3 is a schematic top view of an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a probe according to an embodiment of the present invention;
FIG. 5 is a partial cross-sectional view of FIG. 4;
FIG. 6 is a schematic view of the installation of a wave spring in an embodiment of the present invention;
FIG. 7 is a schematic view showing the construction of a movable clamp in the embodiment of the present invention;
fig. 8 is an external view of a probe according to a second embodiment of the present invention.
In the figure: 1-inspection table, 101-perspective hole, 102-part, 2-transparent platform, 3-backlight, 4-first camera, 5-second camera, 6-three-axis motion platform, 61-X axis, 62-Y axis, 63-Z axis, 7-structured light scanning mechanism, 71-structured light fixing ring, 72-structured light, 73-structured light scanning axis, 74-structured light support, 8-measuring head, 801-measuring ball, 802-measuring rod, 803-shell, 804-plane light source, 805-photoetched transparent standard circle, 806-light source support plate, 807-upper annular permanent magnet, 808-upper safety touch panel, 809-upper safety contact, 810-lower safety touch panel, 811-lower safety contact, 812-wave spring fixing ring, 813-wave spring, 814-passive contact ring, 815-active contact ring, 816-suspended annular permanent magnet, 817-lower annular permanent magnet, 818-inner tubular permanent magnet, 819-outer tubular permanent magnet, 9-movable clamp, 901-annular spring, 902-slider, 903-clamping arm, 904-fixed block, 905-locking bolt 906-clamping jaw air cylinder 907-concave support 908-rotating platform 909-clamping jaw 910-sliding rail 911-vertical spring.
Detailed Description
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1 to 8, a machine vision and scanning detection device comprises a detection table 1, a perspective hole 101 is formed in the detection table in an up-and-down penetrating mode, a backlight source 3 is erected on the perspective hole below the detection table, a transparent platform 2 is fixedly arranged on the upper surface of the detection table above the perspective hole, a second camera 5 is erected above the transparent platform, one side of the second camera and the second camera form a certain included angle and are aligned with the transparent platform to erect a first camera 4, the other side of the second camera and the second camera form a certain included angle and are aligned with a transparent platform to erect a structured light scanning mechanism 7, a movable clamp 9 is arranged on the front side of the detection table, the movable clamp extends to the transparent platform to limit the transparent platform, a three-axis motion platform 6 is installed on the rear side of the detection table, and a measuring head 8 is fixedly arranged on a Z axis 63 of the three-axis motion platform.
In the embodiment of the invention, the measuring head comprises a shell 803, the outer wall of the shell is fixedly connected on the Z axis, an outer tubular permanent magnet 819 is embedded at the lower end of the inner wall of the shell, a lower annular permanent magnet 817 is embedded above the outer tubular permanent magnet at the inner wall of the shell, and an upper annular permanent magnet 807 is embedded above the lower annular permanent magnet at the inner wall of the shell; a measuring rod 802 penetrates through the center of the inner wall of the shell, a measuring ball 801 is arranged at the lower end of the measuring rod, the top of the measuring rod extends out of the shell and is provided with a light source supporting plate 806, three plane light sources 804 are uniformly distributed along the circumferential direction of the light source supporting plate, photoetching transparent standard circles 805 are arranged on the plane light sources, a suspension annular permanent magnet 816 is arranged on the measuring rod below the supporting plate, and the suspension annular permanent magnet is positioned between an upper annular permanent magnet and a lower annular permanent magnet; an inner tubular permanent magnet 818 is sleeved on the measuring rod in the outer tubular permanent magnet, and the inner tubular permanent magnet is fixedly connected with the side rod.
In the embodiment of the invention, the polarities of the positions close to the outer tubular permanent magnet and the inner tubular permanent magnet are the same, and the polarities of the positions close to the suspension annular permanent magnet and the upper annular permanent magnet and the lower annular permanent magnet are the same.
In the embodiment of the invention, a wave spring fixing ring 812 is fixedly arranged on the inner wall of the shell between the upper and lower annular permanent magnets, a wave spring 813 is arranged in the wave spring fixing ring, and two driven contact rings 814 are arranged on the wave spring at intervals; the peripheral direction of the suspension annular permanent magnet is fixedly provided with a driving contact ring 815; the shell horizontally penetrates through the inner wall from the outer wall to the inner wall inwards to form an upper safety contact plate 808, an upper safety contact 809, a lower safety contact plate 810 and a lower safety contact 811 in pairs, the upper safety contact plate and the upper safety contact are parallel to each other and are located above the suspended annular permanent magnet, and the lower safety contact plate and the lower safety contact are parallel to each other and are located below the suspended annular permanent magnet.
In the embodiment of the invention, the upper safety contact is bent upwards to form an arc-shaped bulge right above the active contact ring to form a contact matched with the upper safety contact plate, and the lower safety contact is bent downwards to form an arc-shaped bulge right below the active contact ring to form a contact matched with the lower safety contact plate.
In the embodiment of the present invention, the movable clamp includes a rotating table 908, a clamping jaw cylinder 906 is installed on the rotating table, a vertically arranged concave support 907 is fixed on each of two clamping jaws 909 of the clamping jaw cylinder, a slide rail 910 is vertically arranged on the concave support, a slide block 902 which is slidably matched with the slide rail and can elastically lift is arranged on the slide rail, a clamping arm 903 is arranged at the rear end of the slide block, both clamping arms extend horizontally towards the rear, and a plurality of annular springs 901 are symmetrically arranged on the inner sides of the rear ends of both clamping arms.
In the embodiment of the invention, the upper part and the lower part of the inner side of the concave support are respectively fixed with a vertical spring 911, and the other end of the vertical spring is respectively fixedly connected with the end surface of the corresponding side of the slide block; therefore, the vertical spring is matched with the slide rail to realize the elastic lifting of the slide block, further realize the elastic lifting of the clamping arm, and match with the annular spring to finish the self-adaption during the clamping of the parts 102 with different shapes; the rear end of the sliding block is connected with a fixed block 904, the rear side of the fixed block is provided with a slot for embedding the front end of the clamping arm, and the fixed block is provided with a locking bolt 905 for locking the clamping arm, so that the clamping arm and the fixed block are connected and fixed through the locking bolt; the annular springs are four in number, and every two annular springs are arranged on the inner side wall of the rear end of the clamping arm at intervals.
In the embodiment of the present invention, the structured light scanning mechanism includes a structured light scanning shaft 73, a structured light bracket 74 is installed on the structured light scanning shaft, and a structured light fixing ring 71 is connected to a side edge of the structured light bracket by a structured light 72, and the structured light is fixed in the structured light fixing ring.
A working method of a machine vision and scanning detection device is carried out according to the following steps:
step S1: calibrating a camera model: calibrating a second camera lens, and establishing parameters of a backlight projection model; calibrating a first camera lens and a second camera lens, and establishing binocular vision three-dimensional projection model parameters; calibrating a second camera lens and a structured light scanning mechanism, and establishing parameters of a structured light vision three-dimensional scanning model; and 3 projection model parameters are calibrated to the same reference coordinate system during calibration.
Step S2: calibrating conversion parameters of a backlight projection image coordinate system and a motion platform coordinate system: a standard smooth ring gauge is placed on a transparent platform, and a backlight projection measuring unit is used for measuring the circular profile C of the working surface of the standard smooth ring gauge1Manually controlling the motion platform to scan the circular contour of the working surface of the ring gauge and calculating C1Circle center coordinate [ C ] of circular contour1x，C1y]And the center coordinate [ V ] of the scanning track1x，V1y]Repeating the above steps for 2 times, respectively placing the smooth ring gauge on different positions of the transparent platform for detection and scanning to obtain circle center coordinates [ C ] of the circular contour at the other 2 positions of the smooth ring gauge2x，C2y]、[C3x，C3y]And the center coordinate [ V ] of the scanning track2x，V2y]、[V3x，V3y]Using the corresponding 2 pairs of four-point coordinates, [ C ]1x，C1y]、[C2x，C2y]And [ V ]1x，V1y]、[V2x，V2y]Calculating the translation and rotation parameters p1, m1 from the backlight projection image coordinate system to the motion platform coordinate system, and using [ C ] to judge whether it is the left-hand coordinate system or the right-hand coordinate system2x，C2y]、[C1x，C1y]Input order of [ V ]1x，V1y]、[V2x，V2y]Calculating translation and rotation parameters p2, m2 of the transformed coordinate system, and then calculating [ C [ [ C ]3x，C3y]Converting the two calculated translation and rotation parametersThe x, y coordinates of the result of the sub-conversion are respectively equal to [ V ]3x，V3y]And subtracting the x and y values to obtain absolute values, and taking the input sequence of the translation and rotation parameters and the coordinate of the backlight projection image with the smaller absolute value as the input sequence of the translation and rotation parameters and the coordinate point during conversion.
Step S3: and calibrating the conversion parameters of the structural optical vision three-dimensional coordinate system and the motion platform coordinate system. Calibrating the distances from the centers of three photoetching transparent standard circles of the measuring head to the center of the measuring sphere by utilizing a backlight projection model and a binocular vision three-dimensional projection model: placing a smooth ring gauge on the transparent platform, detecting the working surface circle contour of the ring gauge by backlight projection, and calculating the center XY coordinate [ C ] of the circle contour from the circle contour1_X，C1_Y]And a series of XY coordinates [ X ] along the scanning trajectory of the circular profilei，Yi]Converting the scanning track series XY coordinates into motion platform coordinates, the three-axis motion platform drives the measuring head measuring ball to contact with the working surface of the ring gauge and the transparent platform at the same time and along the series [ X ]i，Yi]Coordinate scanning, the binocular vision system simultaneously tracks three photoetching transparent standard circles above the measuring head, calculates the series three-dimensional circle center coordinates of the standard circles, fits the series three-dimensional circle center coordinates into three circles, and obtains the three-dimensional circle center coordinates of the three circles: [ C ]2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]Since the ball is simultaneously contacted with the working surface of the ring gauge and the transparent platform during scanning, the XY coordinate [ C ] of the circle center calculated by the circle outline1_X，C1_Y]The Z-direction coordinate of (A) is the sphere radius R, from which the sum of [ C ] is obtained2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]Corresponding sphere center three-dimensional coordinate [ C ] of sphere1_X，C1_Y，R]According to the formula of the distance from the midpoint to the point in the three-dimensional space, the equation can be listed to obtain [ C [ ]2_X，C2_Y，C2_Z]、[C3_X，C3_Y，C3_Z]、[C4_X，C4_Y，C4_Z]To [ C ]1_X，C1_Y，R]The distances d1, d2 and d3 are the distances from the centers of the three photoetching transparent standard circles to the center of the sphere of the ball.
Step S4: the binocular vision scanning measurement method comprises the following steps: during scanning, binocular vision tracks three photoetching transparent standard circles above the measuring head, calculates a series of three-dimensional circle center coordinates of the standard circles, and calculates three-dimensional coordinate points of the circle center of the measuring ball corresponding to the circle center coordinates of the three photoetching transparent standard circles according to a distance formula from a point to a point in a three-dimensional space as the distance from the circle center coordinates to the center of the measuring ball is obtained through calibration; if the actual scanning track coordinate points of the part are obtained, the calculated three-dimensional coordinate points of the sphere center series of the measured sphere are fitted into the contours such as straight lines, circles, ellipses or curves corresponding to the type of the scanned track according to the type of the scanned track, and the fitted contours are parallel to the actual contour of the part, and the distance is equal to the radius of the measured sphere, so that the actual contour of the part can be obtained.
Step S5: the process of measuring the parts comprises the following steps: the movable clamp clamps the part to the transparent platform, and one or more modes are selected from backlight projection, binocular vision and structured light scanning to be matched for measurement according to the characteristics of the part and the size, the precision requirement and the like. After the measurement is finished, the movable clamp ascends, rotates by 180 degrees, descends to the transparent platform to perform the measurement on the other side, after the measurement on the two sides is finished, the movable clamp classifies the parts according to the detection result, and the parts which are detected are placed at the appointed position by the movable clamp. When binocular vision scanning measurement is used, if a CAD graph exists, a scanning path can be preset, the CAD graph is matched with an actual contour of a part obtained through backlight projection or structured light scanning, a conversion relation matrix of coordinates of the CAD graph and a coordinate system of backlight projection or structured light scanning is obtained, the coordinates of the scanning path are converted into a coordinate system of backlight projection or structured light scanning through the matrix, and then the scanning is carried out according to the coordinate system of backlight projection or structured light scanning and the coordinate system conversion matrix of the motion platform. If no CAD graph exists, the backlight projection or the structured light scanning can be used for detecting the path needing to be scanned and then carrying out binocular vision scanning measurement. .
In the second embodiment of the present invention, referring to fig. 8, only one lithography transparent standard circle may be used, and when the distance from the center of the lithography transparent standard circle to the center of the sphere is calibrated, as in step S3, the distance d1 from the center of the lithography transparent standard circle to the center of the sphere can be obtained by detecting the center coordinates of one lithography transparent standard circle and the center coordinates of the smooth surface ring gauge obtained by backlight projection through binocular vision scanning, except that when using binocular vision scanning detection, the position of the plane of the lithography transparent standard circle is obtained by deformation of the outline of the lithography transparent standard circle, and then the corresponding scanning coordinates of the center of the sphere are obtained by calculating a line segment whose starting point is the center coordinates of the lithography transparent standard circle, is perpendicular to the plane of the lithography transparent standard circle, and the distance is equal to d 1. The second embodiment can simplify the structure and calibration method of the measuring head, but the calibration accuracy and the measurement accuracy of the second embodiment are correspondingly reduced because the accuracy of binocular vision detection of the pose of the photoetching transparent standard circular plane is lower.
In the third embodiment of the invention, the photoetching transparent standard circle can be replaced by the standard sphere, which has the advantages that the standard sphere shot by the camera in any direction is a standard circle, but the processing difficulty and the manufacturing cost of the standard sphere are higher by one order of magnitude than those of the photoetching transparent standard circle, particularly the lighting scheme is complex, and the processing technology is especially complex if the light-emitting effect of the photoetching transparent standard circle is realized. It is also possible to use standard polygons, and to implement the same function as the first embodiment by detecting corner points or center points of the polygons.
The present invention is not limited to the above preferred embodiments, and various other forms of machine vision and scanning inspection devices and methods of operation thereof can be devised by anyone with the benefit of the present invention. All equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.
Claims (9)
1. A machine vision and scanning inspection device, characterized by: including one examine test table, it has seted up perspective hole to run through from top to bottom on examining test table, examines test table below and just erect the backlight to perspective hole, examine test table upper surface directly over the perspective hole and set firmly transparent platform, erect the second camera directly over the transparent platform, second camera one side becomes certain contained angle with the second camera and aims at transparent platform and erect first camera, the second camera opposite side becomes certain contained angle with the second camera and aims at transparent platform and erect structure light scanning mechanism, it is provided with movable fixture to examine test table front side, and this movable fixture extends to and is used for spacingly on the transparent platform, examine test table rear side and install triaxial motion platform, the Z of this triaxial motion platform is epaxial to set firmly the gauge head.
2. A machine vision and scanning inspection device in accordance with claim 1, wherein: the measuring head comprises a shell, the outer wall of the shell is fixedly connected to a Z shaft, an outer tubular permanent magnet is embedded in the inner wall of the shell close to the lower end, a lower annular permanent magnet is embedded in the inner wall of the shell above the outer tubular permanent magnet, and an upper annular permanent magnet is embedded in the inner wall of the shell above the lower annular permanent magnet; a measuring rod penetrates through the center of the inner wall of the shell, a measuring ball is arranged at the lower end of the measuring rod, the top of the measuring rod extends out of the shell and is provided with a light source supporting plate, three plane light sources are uniformly distributed along the circumferential direction of the light source supporting plate, photoetching transparent standard circles are arranged on the plane light sources, a suspension annular permanent magnet is arranged on the measuring rod below the supporting plate, and the suspension annular permanent magnet is positioned between an upper annular permanent magnet and a lower annular permanent magnet; the measuring rod in the outer tubular permanent magnet is sleeved with an inner tubular permanent magnet, and the inner tubular permanent magnet is fixedly connected with the side rod.
3. A machine vision and scanning inspection device in accordance with claim 2, wherein: the polarity of the near positions of the outer tubular permanent magnet and the inner tubular permanent magnet is the same, and the polarity of the near positions of the suspension annular permanent magnet and the upper and lower annular permanent magnets is the same.
4. A machine vision and scanning inspection device in accordance with claim 1, wherein: a wave spring fixing ring is fixedly arranged on the inner wall of the shell between the upper annular permanent magnet and the lower annular permanent magnet, a wave spring is arranged in the wave spring fixing ring, and two driven contact rings are arranged on the wave spring at intervals; the peripheral direction of the suspension annular permanent magnet is fixedly provided with a driving contact ring; the shell penetrates through the inner wall from the outer wall inwards horizontally to form an upper safety contact plate, an upper safety contact, a lower safety contact plate and a lower safety contact in pair, the upper safety contact plate and the upper safety contact are parallel to each other and are located above the suspended annular permanent magnet, and the lower safety contact plate and the lower safety contact are parallel to each other and are located below the suspended annular permanent magnet.
5. A machine vision and scanning inspection device in accordance with claim 4, wherein: the upper safety contact is bent upwards to form an arc-shaped convex shape right above the active contact ring so as to form a contact matched with the upper safety contact plate, and the lower safety contact is bent downwards to form an arc-shaped convex shape right below the active contact ring so as to form a contact matched with the lower safety contact plate.
6. A machine vision and scanning inspection device in accordance with claim 1, wherein: the movable clamp comprises a rotary table, a clamping jaw cylinder is installed on the rotary table, two clamping jaws of the clamping jaw cylinder are respectively and fixedly provided with a vertically-arranged concave support, a slide rail is vertically arranged on the concave support, a slide block which is matched with the slide rail in a sliding mode and can be lifted elastically is arranged on the slide rail, the rear end of the slide block is provided with clamping arms, the two clamping arms extend towards the rear level, and a plurality of annular springs are symmetrically arranged on the inner sides of the rear ends of the two clamping arms.
7. A machine vision and scanning inspection device in accordance with claim 6, wherein: the upper part and the lower part of the inner side of the concave support are respectively fixed with a vertical spring, and the other end of the vertical spring is respectively fixedly connected with the end surface of the corresponding side of the sliding block; the rear end of the sliding block is connected with a fixed block, the rear side of the fixed block is provided with a slot for embedding the front end of the clamping arm, and the fixed block is provided with a locking bolt for locking the clamping arm; the annular springs are four in number, and every two annular springs are arranged on the inner side wall of the rear end of the clamping arm at intervals.
8. A machine vision and scanning inspection device in accordance with claim 1, wherein: structured light scanning mechanism includes structured light scanning axle, the epaxial mounting structure light support of structured light scanning, structured light support side are connected with structured light through a structured light solid fixed ring, and structured light wears to establish in the structured light solid fixed ring and fixed.
9. A method of operating a machine vision and scanning inspection device, using any of the machine vision and scanning inspection devices of claims 1-8, and performing the steps of: step S1: calibrating a camera model: calibrating a second camera lens, and establishing parameters of a backlight projection model; calibrating a first camera lens and a second camera lens, and establishing binocular vision three-dimensional projection model parameters; calibrating a second camera lens and a structured light scanning mechanism, and establishing parameters of a structured light vision three-dimensional scanning model; when in calibration, all the 3 projection model parameters are calibrated to the same reference coordinate system; step S2: calibrating conversion parameters of a backlight projection image coordinate system and a motion platform coordinate system: a standard smooth ring gauge is placed on a transparent platform, and a backlight projection measuring unit is used for measuring the circular profile C of the working surface of the standard smooth ring gauge1Manually controlling the motion platform to scan the circular contour of the working surface of the ring gauge and calculating C1Circle center coordinate [ C ] of circular contour1x,C1y]And the center coordinate [ V ] of the scanning track1x,V1y]Repeating the above steps for 2 times, respectively placing the smooth ring gauge on different positions of the transparent platform for detection and scanning to obtain circle center coordinates [ C ] of the circular contour at the other 2 positions of the smooth ring gauge2x,C2y]、[C3x,C3y]And the center coordinate [ V ] of the scanning track2x,V2y]、[V3x,V3y]Using the corresponding 2 pairs of four-point coordinates, [ C ]1x,C1y]、[C2x,C2y]And [ V ]1x,V1y]、[V2x,V2y]Calculating translation and rotation of a backlight projection image coordinate system to a motion platform coordinate systemThe parameters p1 and m1 are determined as [ C ] for determining whether the coordinate system is left-handed or right-handed2x,C2y]、[C1x,C1y]Input order of [ V ]1x,V1y]、[V2x,V2y]Calculating translation and rotation parameters p2, m2 of the transformed coordinate system, and then calculating [ C [ [ C ]3x,C3y]Converting the calculated translation and rotation parameters to obtain x and y coordinates3x,V3y]Subtracting x and y of the image to obtain an absolute value, and taking the input sequence of the translation and rotation parameters and the backlight projection image coordinates with the smaller absolute value as the input sequence of the translation and rotation parameters and the coordinate points during conversion;
step S3: calibrating the conversion parameters of the structural light vision three-dimensional coordinate system and the motion platform coordinate system; calibrating the distances from the centers of three photoetching transparent standard circles of the measuring head to the center of the measuring sphere by utilizing a backlight projection model and a binocular vision three-dimensional projection model: placing a smooth ring gauge on the transparent platform, detecting the working surface circle contour of the ring gauge by backlight projection, and calculating the center XY coordinate [ C ] of the circle contour from the circle contour1_X,C1_Y]And a series of XY coordinates [ X ] along the scanning trajectory of the circular profilei,Yi]Converting the scanning track series XY coordinates into motion platform coordinates, the three-axis motion platform drives the measuring head measuring ball to contact with the working surface of the ring gauge and the transparent platform at the same time and along the series [ X ]i,Yi]Coordinate scanning, the binocular vision system tracking three photoetching standard circles above the measuring head, calculating the three-dimensional circle center coordinates of the standard circles, fitting the three-dimensional circle center coordinates into three circles, and obtaining the three-dimensional circle center coordinates of the three circles [ C2_X,C2_Y,C2_Z]、[C3_X,C3_Y,C3_Z]、[C4_X,C4_Y,C4_Z]Since the ball is simultaneously contacted with the working surface of the ring gauge and the transparent platform during scanning, the XY coordinate [ C ] of the circle center calculated by the circle outline1_X,C1_Y]The Z-direction coordinate of (A) is the sphere radius R, from which the sum of [ C ] is obtained2_X,C2_Y,C2_Z]、[C3_X,C3_Y,C3_Z]、[C4_X,C4_Y,C4_Z]Corresponding sphere center three-dimensional coordinate [ C ] of sphere1_X,C1_Y，R]According to the formula of the distance from the midpoint to the point in the three-dimensional space, the equation can be listed to obtain [ C [ ]2_X,C2_Y,C2_Z]、[C3_X,C3_Y,C3_Z]、[C4_X,C4_Y,C4_Z]To [ C ]1_X,C1_Y，R]The distances d1, d2 and d3 are the distances from the centers of the three photoetching transparent standard circles to the center of the sphere;
step S4: the binocular vision scanning measurement method comprises the following steps: during scanning, binocular vision tracks three photoetching transparent standard circles above the measuring head, calculates a series of three-dimensional circle center coordinates of the standard circles, and calculates three-dimensional coordinate points of the circle center of the measuring ball corresponding to the circle center coordinates of the three photoetching transparent standard circles according to a distance formula from a point to a point in a three-dimensional space as the distance from the circle center coordinates to the center of the measuring ball is obtained through calibration; if the actual scanning track coordinate points of the part are to be obtained, fitting the three-dimensional coordinate points of the measured spherical center series obtained by calculation into the profiles such as straight lines, circles, ellipses or curves corresponding to the scanning track type according to the scanning track type, wherein the fitted profiles are parallel to the actual profile of the part, and the distance is equal to the radius of the measured sphere, so that the actual profile of the part can be obtained;
step S5: the process of measuring the parts comprises the following steps: the movable clamp clamps the part to the transparent platform, and one or more modes selected from backlight projection, binocular vision and structured light scanning are matched for measurement according to the characteristics of the part and the size, the precision requirement and the like; after the measurement is finished, the movable clamp ascends, rotates 180 degrees, descends to the transparent platform to perform the measurement on the other side, after the measurement on both sides is finished, the movable clamp classifies the parts according to the detection result, and places the parts which are detected at the appointed position; when binocular vision scanning measurement is used, if a CAD graph exists, a scanning path can be preset, the CAD graph is matched with an actual contour of a part obtained by backlight projection or structured light scanning, a conversion relation matrix of a coordinate of the CAD graph and a coordinate system of the backlight projection or structured light scanning is obtained, the coordinate of the scanning path is converted into a coordinate system of the backlight projection or structured light scanning through the matrix, and then the scanning is carried out according to the coordinate system of the backlight projection or structured light scanning and the coordinate system conversion matrix of the motion platform; if no CAD graph exists, the backlight projection or the structured light scanning can be used for detecting the path needing to be scanned and then carrying out binocular vision scanning measurement.
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| CN111968187A (en) * | 2020-10-21 | 2020-11-20 | 三代光学科技（天津）有限公司 | Annular structure optical parameter calibration method |
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| CN111294491A (en) * | 2020-02-13 | 2020-06-16 | 北京领邦智能装备股份公司 | Image forming apparatus and image forming method |
| CN111968187A (en) * | 2020-10-21 | 2020-11-20 | 三代光学科技（天津）有限公司 | Annular structure optical parameter calibration method |
| CN111968187B (en) * | 2020-10-21 | 2021-01-12 | 三代光学科技（天津）有限公司 | Annular structure optical parameter calibration method |
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