CN111060011A - Positioning system of bearing saddle, automatic bearing saddle detection system and method - Google Patents
Positioning system of bearing saddle, automatic bearing saddle detection system and method Download PDFInfo
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- CN111060011A CN111060011A CN201911376700.XA CN201911376700A CN111060011A CN 111060011 A CN111060011 A CN 111060011A CN 201911376700 A CN201911376700 A CN 201911376700A CN 111060011 A CN111060011 A CN 111060011A
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- bearing saddle
- image
- adapter
- saddle
- bearing
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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
-
- 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
Abstract
The invention relates to a positioning system of a bearing saddle, an automatic detection system of the bearing saddle and a method thereof, wherein the positioning system comprises a camera, an image processing system and a fine adjustment device; the camera is used for collecting images of the carrying saddle on the conveying belt; the image processing system carries out image analysis on the acquired image and identifies the offset of the actual position of the bearing saddle and the standard position; the fine adjustment device adjusts the bearing saddle from the actual position to the standard position based on the offset. According to the invention, the bearing saddle is accurately positioned through the positioning system, and then the accurately positioned bearing saddle is subjected to image acquisition and analysis through the image acquisition and detection system, because the bearing saddle is already at the standard position, only size detection is needed during image analysis, and a position coordinate system does not need to be established for each bearing saddle, so that the detection efficiency can be greatly improved.
Description
Technical Field
The invention relates to the technical field of bearing saddles, in particular to a bearing saddle positioning system, and an automatic bearing saddle detection system and method.
Background
The bearing saddle is an important part of a railway wagon bogie, is arranged between a wagon wheel pair rolling bearing and a bogie side frame guide frame, and plays a role in bearing seat of the wagon wheel pair. The working surface of the adapter bears axle load, traction and braking loads during vehicle operation, the action of transverse load generated by serpentine motion of a bogie and curve centrifugal force, the action of impact load of a vehicle and the like, so the size requirement on the working surface of the adapter is particularly strict, and the adapter needs to be subjected to strict size detection before leaving a factory.
The traditional method is manual detection, and the manual detection has the problems of low efficiency, complex tooling, large random size, non-informatization and the like. In recent years, with the rapid development of computer technology, image processing technology, image analysis technology and the like, the visual measurement technology is rapidly developed, the visual measurement belongs to non-contact measurement, the online measurement of industrial field workpieces can be realized, and compared with the conventional detection means such as manual detection, mechanical contact detection and the like, the visual detection system for the 3D (three-dimensional) machine has the unique characteristics and advantages of high detection speed, high reliability, strong environmental adaptability and the like, so that the visual detection system for the bearing saddle is widely applied to the size detection of the bearing saddle. The bearing saddle is automatically detected by using a machine vision detection system, namely, after the bearing saddle is manually placed into a conveying belt, the image of the bearing saddle is collected by a three-dimensional camera, and then the size of each working surface of the bearing saddle is measured by carrying out image analysis. Because the bearing saddles are placed randomly when being placed into the input belt manually, the positions of the bearing saddles on the conveying belt are different, so that a position coordinate system needs to be established separately for each image during image analysis, and then the size is measured, so that the image processing system is required to have high processing capacity, the processing efficiency is greatly reduced, and the detection rate is still required to be improved.
Disclosure of Invention
The invention aims to solve the problem that the detection rate in the prior art still needs to be improved, and provides a positioning system of a bearing saddle, and an automatic detection system and a method of the bearing saddle using the positioning system.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
on one hand, the embodiment of the invention provides a positioning system of a bearing saddle, which comprises a camera, an image processing system and a fine adjustment device; the camera is used for collecting images of the carrying saddle on the conveying belt; the image processing system carries out image analysis on the acquired image and identifies the offset of the actual position of the bearing saddle and the standard position; the fine adjustment device adjusts the bearing saddle from the actual position to the standard position based on the offset.
In the above scheme, after the carrying saddle is placed in the conveying belt, images are collected through the camera, the offset between the current position of the carrying saddle and the standard position is identified based on the image analysis technology, the carrying saddle is adjusted to the standard position based on the offset, namely, the carrying saddle is positioned, so that each carrying saddle is positioned at the standard position, and when the images of the carrying saddle are collected through the three-dimensional camera and the size of the images is detected, a position coordinate system does not need to be established for each carrying saddle, so that the operation amount of an image analysis system can be greatly reduced, and the detection rate of the carrying saddle can be improved.
In a further preferred embodiment, the positioning system further comprises a coarse adjustment device for primarily adjusting the position of the bearing adapter on the conveyor belt. Before image acquisition, the positions of the bearing saddles are preliminarily adjusted through the rough adjusting device, for example, the positions of all the bearing saddles are kept consistent in one direction, and when the position offset is analyzed and calculated through images, the data processing amount of an image processing system can be reduced, so that the speed of the whole detection process of the bearing saddles is further increased, and meanwhile, the hardware requirement of the image processing system is particularly reduced.
On the other hand, the embodiment of the present invention further provides an automatic detection system for a bearing saddle, which includes an image acquisition detection system and a positioning system for the bearing saddle according to any embodiment of the present invention, wherein after the actual position of the bearing saddle is adjusted to the standard position, the image acquisition detection system acquires an image of the bearing saddle at the standard position, and performs image analysis and detection. The image acquisition and detection system comprises a three-dimensional camera and an image analysis system.
In another aspect, an embodiment of the present invention further provides an automatic detecting method for a bearing saddle, including the following steps:
after the bearing saddle is placed on the conveying belt, acquiring an image of the bearing saddle on the conveying belt by using a camera;
the image processing system carries out image analysis on the acquired image and identifies the offset of the actual position of the bearing saddle and the standard position;
the fine adjustment device adjusts the bearing saddle from the actual position to the standard position based on the offset;
the image acquisition and detection system acquires an image of the bearing saddle at a standard position and performs image analysis and detection.
Compared with the prior art, the invention firstly accurately positions the bearing saddle through the positioning system, and then carries out image acquisition and analysis on the bearing saddle which is accurately positioned through the image acquisition and detection system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of a saddle positioning system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an automatic detecting system for a bearing adapter according to an embodiment of the present invention.
FIG. 3 is a flow chart illustrating a method for automatically detecting a bearing adapter according to an embodiment of the present invention.
The labels in the figure are:
a bearing adapter 10; a laser transmitter 20; a clamping plate 30; a conveyor belt 40; a two-dimensional camera 50; an image processing system 60; a three-dimensional camera 70; an image analysis system 80.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, the present embodiment provides a positioning system for a bearing saddle, which includes a coarse adjustment device, a camera, an image processing system, and a fine adjustment device.
In this embodiment, the rough adjusting device includes a pair of parallel clamping plates 30 and a driving device for driving the clamping plates 30 to move. As shown in fig. 1, a pair of clamping plates 30 are symmetrically disposed on two sides of a conveyor belt 40, and after the adapter 10 (shown by a solid line in fig. 1) is placed on the conveyor belt 40 manually or by a robot and is conveyed to the position of the clamping plate 30, a driving device drives the clamping plate 30 to approach the axis of the conveyor belt 40, and the adapter is pressed by the clamping plate 30, so that the central axis of the adapter coincides with the axis of the conveyor belt 40, thereby achieving the primary adjustment of the position of the adapter (the adapter after the position adjustment is shown by a dotted line in fig. 1). The moving direction of the bearing saddle on the conveying belt 40 is taken as a reference, a position sensor is arranged in front of the clamping plate 30, when the bearing saddle is conveyed to the position of the clamping plate 30, the position sensor can sense the bearing saddle, and then the driving device is triggered to drive the clamping plate 30 to be close to the conveying belt 40, so that the position of the bearing saddle is adjusted. As an embodiment, the position sensor may adopt a laser transceiver, that is, the laser transmitter 20 and the laser receiver are respectively symmetrically disposed on two sides of the conveyer belt 40, if the bearing saddle does not reach the position, the laser receiver can receive the laser emitted by the laser transmitter, and if the bearing saddle reaches the position, the laser will be blocked by the bearing saddle, and the laser receiver cannot receive the laser, that is, the driving device (e.g., a motor) is triggered to start, so as to drive the clamp plate 30 to approach the conveyer belt 40.
The camera is a two-dimensional camera 50, and is configured to capture an image of the bearing saddle on the conveyor belt 40 and transmit the captured image (in a wired or wireless manner) to the image processing system 60.
The image processing system 60 performs image analysis on the acquired image, extracts the contour edge of the bearing adapter, and identifies the offset between the actual position of the bearing adapter and the standard position. The standard position is a relative concept here, i.e. a designated position in which all bearing saddles are positioned. The hardware implementation of the image processing system 60 may be a DSP, CPU, etc. It should be noted that the contour edges of the adapter are extracted, and the offset of the actual position of the adapter from the standard position is identified, which may be implemented by using image algorithms in the prior art, and will not be described in detail here.
After the image processing system 60 calculates the positional deviation amount, it controls the fine adjustment device to operate, and adjusts the adapter from the actual position to the standard position. The fine adjustment device can be a mechanical arm capable of carrying out three-axis posture transformation, and the bearing saddle is adjusted to a standard position from an actual position. After the image processing system 60 calculates the position offset, there are various embodiments for controlling the fine adjustment device, for example, the image processing system 60 is directly connected to a driving motor of the fine adjustment device, for example, directly controls the rotation speed and direction of the driving motor and then controls the manipulator to perform corresponding actions; in another embodiment, the image processing system 60 transmits a signal of the position offset to the control system of the fine adjustment device, which in turn controls the rotational speed and direction of the drive motor and thus the robot to perform the corresponding action.
Here, the fine adjustment device can be designed in a variety of ways to adjust the adapter from the actual position to the standard position. For example, in one embodiment, the actual position and the standard position of the adapter are two stations, and the calculated position offset is converted into an action posture of a manipulator of the fine adjustment device, so that the manipulator can accurately lift the adapter and move the adapter from the station at the actual position to the station at the standard position. In another embodiment, the actual position and the standard position of the bearing saddle are two positions of a station, and the calculated position offset is the amount of change of the actual position of the bearing saddle, and is converted into the action posture of the manipulator of the fine adjustment device, so that the manipulator can accurately adjust the bearing saddle from the actual position to the standard position.
After each bearing saddle is positioned by the positioning system, the bearing saddle can be adjusted to a standard position from any position.
It should be noted that in this embodiment, a preferred embodiment is described, and as a simpler embodiment, the arrangement of the rough adjustment device may be omitted, and the two-dimensional camera 50 directly captures images of the adapter arbitrarily placed on the conveyor belt 40, but in this case, the amount of operation of the image processing system 60 is relatively large, and the processing rate is relatively low.
Example 2
In fig. 2 the adapter is shown in phantom in the actual position before positioning (after initial adjustment), and in solid line in the standard position. Referring to fig. 2, the present embodiment provides an automatic detecting system for bearing saddles, which includes the positioning system described in embodiment 1, and further includes an image collecting and detecting system, where the positioning system positions each bearing saddle to a standard position, and the image collecting and detecting system collects images of the bearing saddles in the standard position, and performs analysis and detection according to the collected images to obtain the dimensions of each working surface of the bearing saddles.
In an embodiment, the image capturing and detecting system includes a three-dimensional camera 70 and an image analyzing system 80, and the hardware implementation of the image analyzing system 80 may be a DSP, a CPU, or the like. It should be noted that the image processing system 60 and the image analysis system 80 in the present system are two processing systems, respectively, the image processing system 60 may be integrated with the two-dimensional camera 50 to form one image capturing system, and the image analysis system 80 may be integrated with the three-dimensional camera 70 to form another image capturing system.
Compared with the traditional automatic bearing saddle detection system, the flow of the detection method realized based on the automatic detection system is changed. Specifically, referring to fig. 3, the automatic detection method implemented based on the automatic detection system includes the following steps:
step 1, after the bearing saddle is placed in the conveying belt, the position of the bearing saddle on the conveying belt is adjusted primarily by using a coarse adjustment device, for example, the position of the bearing saddle is adjusted to enable the central axis of the bearing saddle to coincide with the axis of the conveying belt, and then the image of the bearing saddle after the position adjustment is acquired by using a camera.
And 2, carrying out image analysis on the image acquired by the two-dimensional camera by the image processing system, and identifying the offset of the actual position of the bearing saddle and the standard position.
And 3, adjusting the bearing saddle to a standard position from the actual position by the fine adjustment device based on the offset.
And 4, acquiring an image of the bearing saddle at the standard position by the image acquisition and detection system, and analyzing and detecting the image.
In another embodiment, step 1 may also be replaced by the following steps: after the adapter is placed on the conveyor belt, the camera is used to directly capture the image of the adapter on the conveyor belt, i.e. the image of the adapter without preliminary position adjustment is directly captured.
The automatic detection system or the method detects the bearing saddle, and the three-dimensional camera directly acquires the bearing saddle image on the standard position, namely, the image analysis system does not need to establish a position coordinate system for each bearing saddle, but can directly calculate the size of the working surface of the bearing saddle according to the edge contour of the bearing saddle.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (8)
1. A positioning system of a bearing saddle is characterized by comprising a camera, an image processing system and a fine adjustment device; the camera is used for collecting images of the carrying saddle on the conveying belt; the image processing system carries out image analysis on the acquired image and identifies the offset of the actual position of the bearing saddle and the standard position; the fine adjustment device adjusts the bearing saddle from the actual position to the standard position based on the offset.
2. The adapter positioning system of claim 1 further comprising coarse adjustment means for initially adjusting the position of the adapter on the conveyor belt.
3. The adapter positioning system of claim 2 wherein said coarse adjustment means comprises a pair of parallel arranged clamping plates.
4. The adapter positioning system of claim 1 further comprising a fill light.
5. An automatic adapter detection system, comprising an image acquisition detection system, characterized in that, it further comprises a adapter positioning system according to any of claims 1-4, wherein after the adapter is adjusted from the actual position to the standard position, the image acquisition detection system acquires the image of the adapter at the standard position and performs image analysis detection.
6. The automatic adapter detection system of claim 5, wherein said image acquisition detection system comprises a three-dimensional camera and an image analysis system.
7. An automatic detecting method for a bearing saddle is characterized by comprising the following steps:
after the bearing saddle is placed on the conveying belt, acquiring an image of the bearing saddle on the conveying belt by using a camera;
the image processing system carries out image analysis on the acquired image and identifies the offset of the actual position of the bearing saddle and the standard position;
the fine adjustment device adjusts the bearing saddle from the actual position to the standard position based on the offset;
the image acquisition and detection system acquires an image of the bearing saddle at a standard position and performs image analysis and detection.
8. Method according to claim 7, characterized in that the step of taking an image of the adapter on the conveyor belt with the camera after placing the adapter on the conveyor belt is replaced by the following steps:
after the bearing saddle is placed on the conveying belt, the position of the bearing saddle on the conveying belt is adjusted primarily by the coarse adjusting device, and the image of the bearing saddle after the position adjustment is collected by the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911376700.XA CN111060011A (en) | 2019-12-27 | 2019-12-27 | Positioning system of bearing saddle, automatic bearing saddle detection system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911376700.XA CN111060011A (en) | 2019-12-27 | 2019-12-27 | Positioning system of bearing saddle, automatic bearing saddle detection system and method |
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| CN111060011A true CN111060011A (en) | 2020-04-24 |
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| CN201911376700.XA Pending CN111060011A (en) | 2019-12-27 | 2019-12-27 | Positioning system of bearing saddle, automatic bearing saddle detection system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112719828A (en) * | 2020-12-13 | 2021-04-30 | 西南交通大学 | Flexible movable assembling system for bearing saddle |
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