CN111122581A - Binocular vision detection system and method and glue spraying device - Google Patents
Binocular vision detection system and method and glue spraying device Download PDFInfo
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- CN111122581A CN111122581A CN201911360892.5A CN201911360892A CN111122581A CN 111122581 A CN111122581 A CN 111122581A CN 201911360892 A CN201911360892 A CN 201911360892A CN 111122581 A CN111122581 A CN 111122581A
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- 239000003292 glue Substances 0.000 title claims abstract description 52
- 238000005507 spraying Methods 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000002023 wood Substances 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000007689 inspection Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 abstract description 4
- 239000000284 extract Substances 0.000 abstract description 2
- 229920000715 Mucilage Polymers 0.000 abstract 3
- 239000000853 adhesive Substances 0.000 abstract 3
- 239000007921 spray Substances 0.000 description 6
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/86—Investigating moving sheets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- 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
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/86—Investigating moving sheets
- G01N2021/8645—Investigating moving sheets using multidetectors, detector array
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
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- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of machine vision detection, and provides a binocular vision detection system and method and a glue spraying device. Binocular vision detection system for detect the gluey region of spouting of plank on the transmission band, including binocular camera and industrial computer. The detection method comprises the following steps: calibrating a binocular camera; collecting grain characteristics of a glue spraying area of the wood board; the industrial personal computer seamlessly splices the images, extracts the characteristics of the side grooves of the wood board surface in the images and carries out three-dimensional reconstruction; and the industrial personal computer plans the glue spraying path. Spout the mucilage binding and put, include the transmission band, spout mucilage binding and construct and binocular vision detecting system, the transmission band with spout the mucilage binding and construct all with binocular vision detecting system connects. The binocular vision detection system is high in integration degree, simple in structure and applicable to different types of wood boards.
Description
Technical Field
The invention relates to the technical field of machine vision detection, in particular to a binocular vision detection system and method and a glue spraying device.
Background
Machine vision refers to the fact that a machine is used for simulating eyes and a brain of a human to judge and measure, wherein monocular vision is commonly used for detecting two-dimensional images, binocular vision is commonly used for obtaining depth information of objects, and multi-ocular vision is commonly used for detecting scenes with more blind areas.
In modern life, each individual trade is more and more big to the demand of different specification wood system cabinet doors, and the current gluey system of spouting of mill can only be used for the wood system cabinet door of single type to the inhomogeneous condition of glue is spouted to appear easily, and is inefficient.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the binocular vision detection system provided by the invention is high in integration degree, simple in structure and applicable to different types of wood boards.
The invention also provides a detection method of the binocular vision detection system.
The invention also provides a glue spraying device.
According to an embodiment of the first aspect of the invention, a binocular vision detection system for detecting a glue spraying area of a wood board on a conveyor belt comprises
The binocular camera is arranged opposite to the glue spraying area of the wood board and used for collecting grain characteristics of the glue spraying area of the wood board;
and the industrial personal computer is connected with the binocular camera and is used for receiving and processing the grain characteristic images acquired by the binocular camera.
According to the binocular vision detection system provided by the embodiment of the invention, the binocular camera and the industrial personal computer are arranged, so that the grain characteristic images of the wood plates on the transmission belt are acquired, the grain characteristic images are processed and analyzed by the industrial personal computer, the acquisition and processing can be performed on the wood plates of different types, the applicability is improved, the integration degree is high, the structure is simple, and the later-stage glue spraying processing is facilitated.
According to one embodiment of the invention, the binocular camera is mounted on a stand that spans the conveyor belt.
According to one embodiment of the invention, the binocular camera comprises two industrial cameras of the same model, the industrial cameras being provided with industrial lenses.
According to one embodiment of the present invention, the two industrial cameras are located at the same horizontal level, and the two industrial cameras are disposed in a direction perpendicular to a conveying direction of the conveyor belt.
According to one embodiment of the invention, the base distance of the two industrial cameras is 100 mm.
According to one embodiment of the invention, the industrial personal computer further comprises a display screen, wherein the display screen is connected with the industrial personal computer and is used for displaying images processed by the industrial personal computer and displaying a control interface.
According to one embodiment of the invention, a light source is arranged on one side of the binocular camera and used for illuminating the wood plates on the conveying belt.
The detection method of the binocular vision detection system according to the embodiment of the second aspect of the invention comprises the following steps:
calibrating a binocular camera;
secondly, acquiring grain characteristics of a glue spraying area of the wood board by using a binocular camera, and transmitting image information to an industrial personal computer;
thirdly, seamlessly splicing the images by using an industrial personal computer, extracting the characteristics of the wood board surface side grooves in the images, and performing three-dimensional reconstruction;
and step four, planning a glue spraying path by the industrial personal computer.
According to the detection method of the binocular vision detection system, the accuracy of image information acquired by the binocular camera is improved by calibrating the binocular camera, the industrial personal computer performs operation processing on the image information, the characteristics of the side groove of the wood board surface are accurately positioned, and the accuracy and precision of the glue spraying path are improved.
According to an embodiment of the invention, in the first step, the binocular camera is calibrated based on the cross-platform computer vision library by adopting a Zhang-Yongyou calibration method, so as to obtain the internal and external parameters of the binocular camera.
According to the third aspect of the embodiment of the invention, the glue spraying device comprises a conveying belt, a glue spraying mechanism and a binocular vision detection system, wherein the conveying belt and the glue spraying mechanism are connected with the binocular vision detection system.
According to the glue spraying device provided by the embodiment of the invention, the glue spraying speed and the glue spraying uniformity are effectively improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic view of an assembly structure of a binocular vision inspection system according to an embodiment of the present invention;
FIG. 2 is a frame diagram of a binocular vision inspection system according to an embodiment of the present invention;
reference numerals:
1: a conveyor belt; 2: a wood board; 3: a binocular camera; 4: a support; 5: an industrial personal computer; 6: a display screen.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As shown in FIG. 1, the embodiment of the invention provides a binocular vision detection system for detecting a glue spraying area of a wood board 2 on a conveyor belt 1, which comprises
The binocular camera 3 is arranged opposite to the glue spraying area of the wood board 2 and used for collecting grain characteristics of the glue spraying area of the wood board 2;
According to the binocular vision detection system provided by the embodiment of the invention, the binocular camera 3 and the industrial personal computer 5 are arranged, so that the grain characteristic images of the wood boards 2 on the transmission belt 1 are collected, the grain characteristic images are processed and analyzed by the industrial personal computer 5, the wood boards 2 of different types can be collected and processed, the applicability is improved, the integration degree is high, the structure is simple, and the later-stage glue spraying treatment is facilitated.
According to one embodiment of the invention, the binocular camera 3 is mounted on a bracket 4, the bracket 4 spanning the conveyor belt 1. It is understood that, in the present embodiment, two binocular cameras 3 are provided. Support 4 is including setting up the first support in transmission band 1 both sides and the perpendicular second support that sets up with transmission band 1 direction of transfer, and two mesh cameras 3 set up on the second support, and two mesh cameras 3 all set up with plank 2 on the transmission band 1 relatively for gather the line characteristic image acquisition of plank 2.
According to one embodiment of the invention, the binocular camera 3 comprises two industrial cameras of the same type, provided with an industrial lens. As can be understood, the binocular camera 3 realizes the acquisition of the image information of the wood board 2 industrial level by installing an industrial lens, so that the definition degree is ensured, and the accuracy and precision are improved.
According to one embodiment of the present invention, two industrial cameras are located at the same level, and the two industrial cameras are disposed in a direction perpendicular to the conveying direction of the conveying belt 1. It can be understood that two binocular cameras 3 are located collinear, and four industry cameras are located collinear promptly, and set up along the direction of transmission of perpendicular to transmission band 1, guarantee four industry cameras to the all-round image information collection of the plank 2 of transmission on the transmission band 1, improve the reliability of gathering image information.
According to one embodiment of the invention, the base distance of the two industrial cameras is 100mm, and the acquisition range of the industrial cameras is completely covered on the wood board 2.
According to one embodiment of the invention, the system further comprises a display screen 6, the display screen 6 is connected with the industrial personal computer 5, and the display screen 6 is used for displaying images processed by the industrial personal computer 6 and displaying a control interface.
According to one embodiment of the invention, a light source is arranged on one side of the binocular camera 3 and is used for illuminating the wood board 2 on the conveyor belt 1, so that the definition of the image information of the wood board 2 collected by the binocular camera 3 is ensured.
As shown in fig. 2, an embodiment of the present invention further provides a detection method of a binocular vision detection system, including the following steps:
calibrating a binocular camera;
secondly, acquiring grain characteristics of a glue spraying area of the wood board by using a binocular camera, and transmitting image information to an industrial personal computer;
thirdly, seamlessly splicing the images by using an industrial personal computer, extracting the characteristics of the wood board surface side grooves in the images, and performing three-dimensional reconstruction;
and step four, planning a glue spraying path by the industrial personal computer.
According to the detection method of the binocular vision detection system, the accuracy of image information acquired by the binocular camera is improved by calibrating the binocular camera, the industrial personal computer performs operation processing on the image information, the characteristics of the side groove of the wood board surface are accurately positioned, and the accuracy and precision of the glue spraying path are improved.
According to one embodiment of the invention, in the first step, the binocular camera is calibrated based on the cross-platform computer vision library by adopting a Zhang-Zhengyou calibration method so as to obtain the internal and external parameters of the binocular camera.
Specifically, a Zhang-Zhengyou calibration method is adopted to calibrate the binocular camera based on OpenCV (cross-platform computer vision library) so as to obtain internal and external parameters of the binocular camera;
when the wood board passes below the binocular cameras at a constant speed on the transmission belt, the two binocular cameras respectively collect the line characteristics of the glue spraying area of the wood board in real time, wherein the line characteristics comprise plane characteristics, groove characteristics and slope characteristics and are transmitted to the industrial personal computer;
the industrial personal computer seamlessly splices the images so as to ensure that the extracted features of the images of the two binocular cameras are in the same three-dimensional coordinate system, and mainly extracts the surface features and the slope features and the edge features caused by grooves in the wood board images acquired by the two binocular cameras;
matching the characteristic points by adopting a matching algorithm based on position constraint according to the linear characteristics of the edges of the wood board, processing the characteristic area, matching the main characteristic points by adopting a matching algorithm based on position constraint according to the edge characteristics of the wood board, and performing coordinate reconstruction on the characteristic points according to a three-dimensional reconstruction principle;
and planning a glue spraying path by combining with the actual wood board laying condition, and making a spray gun running track corresponding to the coordinates.
The embodiment of the invention also provides a glue spraying device which comprises a conveying belt 1, a glue spraying mechanism and a binocular vision detection system, wherein the conveying belt 1 and the glue spraying mechanism are connected with the binocular vision detection system. The binocular vision detection system can be understood that the planned glue spraying path is transmitted to the glue spraying mechanism, and the glue spraying mechanism sprays glue according to the formulated running track.
According to the glue spraying device provided by the embodiment of the invention, the glue spraying speed and the glue spraying uniformity are effectively improved.
In one example, the glue spraying mechanism comprises a spray gun and a glue storage barrel, and the spray gun is connected with the glue storage barrel to realize continuous glue spraying work. The spray gun is connected with the industrial computer, realizes the transfer of industrial computer to the spray gun.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (10)
1. A binocular vision detection system is characterized in that the binocular vision detection system is used for detecting a glue spraying area of a wood board on a transmission belt, and comprises
The binocular camera is arranged opposite to the glue spraying area of the wood board and used for collecting grain characteristics of the glue spraying area of the wood board;
and the industrial personal computer is connected with the binocular camera and is used for receiving and processing the grain characteristic images acquired by the binocular camera.
2. The binocular vision inspection system of claim 1, wherein the binocular cameras are mounted on a bracket that spans the conveyor belt.
3. The binocular vision detecting system of claim 2, wherein the binocular cameras comprise two industrial cameras of the same model, the industrial cameras being provided with industrial lenses.
4. The binocular vision detecting system of claim 3, wherein the two industrial cameras are located at the same level, and the two industrial cameras are disposed in a direction perpendicular to a conveying direction of the conveyor belt.
5. The binocular vision detection system of claim 4, wherein the base distance of the two industrial cameras is 100 mm.
6. The binocular vision detection system of claim 1, further comprising a display screen, wherein the display screen is connected with the industrial personal computer, and the display screen is used for displaying images processed by the industrial personal computer and displaying a control interface.
7. The binocular vision inspection system of any one of claims 1 to 6, wherein a light source is provided at one side of the binocular camera, the light source being configured to illuminate a wood board on the conveyor belt.
8. The binocular vision detecting system detecting method of any one of claims 1 to 7, comprising the steps of:
calibrating a binocular camera;
secondly, acquiring grain characteristics of a glue spraying area of the wood board by using a binocular camera, and transmitting image information to an industrial personal computer;
thirdly, seamlessly splicing the images by using an industrial personal computer, extracting the characteristics of the wood board surface side grooves in the images, and performing three-dimensional reconstruction;
and step four, planning a glue spraying path by the industrial personal computer.
9. The binocular vision detecting system detecting method of claim 8, wherein in the first step, the binocular camera is calibrated based on a cross-platform computer vision library by a Zhang Zhengyou calibration method to obtain the internal and external parameters of the binocular camera.
10. A glue spraying device is characterized by comprising a conveying belt, a glue spraying mechanism and the binocular vision detection system as recited in any one of claims 1 to 7, wherein the conveying belt and the glue spraying mechanism are connected with the binocular vision detection system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911360892.5A CN111122581A (en) | 2019-12-25 | 2019-12-25 | Binocular vision detection system and method and glue spraying device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911360892.5A CN111122581A (en) | 2019-12-25 | 2019-12-25 | Binocular vision detection system and method and glue spraying device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113624371A (en) * | 2021-08-06 | 2021-11-09 | 中国科学院自动化研究所 | High-resolution visual touch sensor based on binocular vision and point cloud generation method |
| CN115311452A (en) * | 2022-09-20 | 2022-11-08 | 深圳市鑫路远电子设备有限公司 | Precise glue filling evaluation method and system based on machine vision |
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2019
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| CN102107179A (en) * | 2010-12-14 | 2011-06-29 | 浙江工业大学 | Method for controlling single-layer leather gluing based on binocular vision |
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