CN111239163A - Windshield scratch connection detection device and detection method based on machine vision - Google Patents
Windshield scratch connection detection device and detection method based on machine vision Download PDFInfo
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- CN111239163A CN111239163A CN202010173120.7A CN202010173120A CN111239163A CN 111239163 A CN111239163 A CN 111239163A CN 202010173120 A CN202010173120 A CN 202010173120A CN 111239163 A CN111239163 A CN 111239163A
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- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 239000011521 glass Substances 0.000 claims abstract description 86
- 238000004140 cleaning Methods 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000004458 analytical method Methods 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims abstract description 6
- 239000000428 dust Substances 0.000 claims description 15
- 230000007547 defect Effects 0.000 claims description 12
- 238000000605 extraction Methods 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 6
- 238000003709 image segmentation Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000001678 irradiating effect Effects 0.000 claims description 5
- 238000005286 illumination Methods 0.000 claims description 4
- 230000010339 dilation Effects 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000003706 image smoothing Methods 0.000 claims description 3
- 230000000877 morphologic effect Effects 0.000 claims description 3
- 238000012805 post-processing Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000010191 image analysis Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 6
- 238000009434 installation Methods 0.000 claims 1
- 230000003028 elevating effect Effects 0.000 description 6
- 238000001914 filtration Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003760 hair shine Effects 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
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/958—Inspecting transparent materials or objects, e.g. windscreens
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- B08B1/143—
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- B08B1/20—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/958—Inspecting transparent materials or objects, e.g. windscreens
- G01N2021/9586—Windscreens
Abstract
The invention discloses a windshield scratch connection detection device and a windshield scratch connection detection method based on machine vision. The interior of the darkroom is provided with a cleaning device, a lighting device and an image acquisition and processing device. The windshield is fixed by the conveying device and conveyed to the darkroom, the cleaning device cleans the glass entering the darkroom, and the number of the lighting devices is determined by the size of the glass. And the industrial cameras above and below continuously detect the front and back surfaces of the glass, and send the shot images into the industrial personal computer to process and analyze the images, so as to finally judge whether the surface of the glass is scratched. The device can adapt to windshields of different sizes based on machine vision analysis images, and the number of the lighting devices can be adjusted, so that the electric power is saved.
Description
Technical Field
The invention relates to the technical field of automobile detection, in particular to a device and a method for detecting scratch connection of a windshield based on machine vision.
Background
The automobile front windshield is an important component of an automobile body and is a first barrier for protecting the life safety of a driver and passengers. If the front windshield has cracks which are not repaired in time, the subsequent use of the automobile is greatly influenced. Therefore, people pay attention to the detection of the scratch of the front windshield.
At present, the detection of the front windshield of the automobile is generally realized by manual observation, so that a large amount of labor is consumed, scratches observed manually are limited, and some particularly tiny scratches cannot be observed, so that the detection result is not accurate easily. Chinese patent application No. 201720879709.2 provides a mar detection device, and the device passes through the motor and drives the glass rotation on loading board and the loading board, has improved detection efficiency, has reduced personnel's intensity of labour, but because glass is the hyperboloid structure, this kind of mode can only detect the one side to be artifical the detection in essence, exist not enoughly. The detection scheme of chinese patent with application number 201720843553.2 can adjusting device's height, enlarges and detect application scope, but light shines on glass through the transparent plate, if there is dust or mar on the transparent plate can reduce the detection precision, and the glass mar still obtains through manual observation simultaneously.
In order to solve the problems, a device which is self-adaptive to windshields of any size based on machine vision and can efficiently continuously detect scratches on the front side and the back side of the glass without turning is necessary.
Disclosure of Invention
The invention provides a windshield scratch continuous detection device based on machine vision, which can be self-adapted to front windshields of any size, can continuously detect the front and back surfaces of the glass without turning over, and is provided with a dust removal device for cleaning dust on the surface of the glass so as to further perform scratch detection.
The technical scheme adopted by the invention for solving the technical problems is as follows: windshield mar detection device that continues based on machine vision, including support frame, conveyer, cleaning device, lighting device and image acquisition processing apparatus, the darkroom of support frame right side upper and lower part for the symmetry, conveyer sets up the front end at the support frame for fixed and send into the darkroom with the glass of unidimensional, cleaning device installs the central authorities at darkroom left side support frame for clear away the dust on glass surface when glass gets into the darkroom, the top of the darkroom of longitudinal symmetry all is provided with the bracing piece, respectively install a plurality ofly on the bracing piece and be used for providing the illumination for glass lighting device, image acquisition processing apparatus fixes the central authorities at upper and lower darkroom top middle support frame, is used for shooting the image on glass surface and handles the analysis, thereby judges whether glass surface has the mar.
Further, the method comprises the following steps: the conveying device comprises a large bottom plate, a left first linear guide rail and a right first linear guide rail which are longitudinally arranged are fixed above the large bottom plate, an upper side slide block and a lower side slide block are respectively arranged on the left first linear guide rail and the right first linear guide rail, a left ball screw and a right ball screw are respectively correspondingly arranged at the positions, close to the first linear guide rails, of the inner sides of the left first linear guide rail and the right first linear guide rail, and two first ball screw nuts and first nut connecting seats are also included, the two first ball screw nuts are connected with the first nut connecting seat and respectively connected with the left ball screw and the right ball screw, used for correspondingly controlling the movement of the sliding blocks on the left and right first linear guide rails, one end of a first ball screw is provided with a first fixed bearing seat, the other end is provided with a first supporting bearing seat, the first motor is arranged at one end of the first fixed bearing seat through a round nut;
the lower surface of the first small bottom plate is respectively connected with upper side sliding blocks of left and right first linear guide rails, the lower surface of the right side of the first small bottom plate is also connected with a nut connecting seat of a right side ball screw, the lower surface of the second small bottom plate is respectively connected with lower side sliding blocks of the left and right first linear guide rails, the lower surface of the left side of the second small bottom plate is also connected with a nut connecting seat of a left side ball screw, second linear guide rails are respectively arranged on the first small bottom plate and the second small bottom plate, two tightening plates are arranged on the second linear guide rails, second ball screws are respectively arranged on two sides of the second linear guide rails, a second nut connecting seat is arranged on each second ball screw and is connected with a second ball screw nut, a second fixed bearing seat is arranged on one side of each second ball screw, and a second supporting bearing seat is arranged on the other side of each second ball screw, the second motor is installed at one end of a second fixed bearing seat through a round nut, each clamping plate is connected with a second nut connecting seat of the corresponding second ball screw respectively, the second ball screw clamping device further comprises a plc controller and a touch screen, the first motor and the second motor are connected with the plc controller respectively, the plc controller is connected with the touch screen, and the movement of the sliding block and the clamping plates is controlled by controlling the motor through the touch screen.
Further, the method comprises the following steps: the cleaning device comprises a third servo motor, a third ball screw, a third lifting platform, a roller bearing and a support rod, wherein the upper surface of the third lifting platform is arranged at the top of an upper dark room and a lower dark room, one side of the third lifting platform is coincided with the center of the support rod at the top of the dark room, the inner side of the upper surface of the third lifting platform is provided with the third servo motor, the third servo motor is connected with the third ball screw, the third ball screw rod is connected with a rotating shaft of the third lifting platform through a cross bracket, the lower surface of the third lifting platform is connected with the support rod, the support rod is connected with the roller bearing, the roller is fixed on the outer surface of the roller bearing, the surface of the roller is adhered with a dust glass cleaning cloth for cleaning the surface of glass, the cleaning device also comprises a plc controller and a touch screen, the third servo motor is connected with the plc controller, the plc controller is further connected with the touch screen, and controls the third servo motor through the, and the third servo motor controls the expansion and contraction of the ball screw, so that the third lifting platform is controlled to move up and down.
Further, the method comprises the following steps: the lighting device comprises an LED lamp tube, a fourth servo motor, a fourth ball screw, a fourth lifting platform and an LED lamp tube frame, the LED lamp tube frame is arranged on the lower surface of the lifting platform, the LED lamp tube is connected with the lamp tube frame, a fourth servo motor is arranged on the inner side of the upper surface of the lifting platform, the fourth servo motor is connected with a fourth ball screw, the fourth ball screw is connected with a rotating shaft of the fourth lifting platform through a cross support, a plurality of lighting devices which are independently controlled are respectively arranged on the top of the upper darkroom and the lower darkroom, the lighting devices are arranged on the two sides of a middle support rod on the top of the darkroom and are close to the center, and is linearly arranged, and further comprises a plc controller and a touch screen, wherein the fourth servo motor is connected with the plc controller, the plc controller is connected with the touch screen, and the fourth servo motor is controlled by the touch screen, and the fourth servo motor controls the fourth ball screw to stretch and further controls the fourth lifting platform to move up and down.
Further, the method comprises the following steps: the image acquisition and processing device comprises an industrial camera, an industrial personal computer, an L-shaped camera support and a universal adjusting base, wherein the industrial camera is fixed on the universal adjusting base, the surface of the universal adjusting base is arranged on one side of the L-shaped camera support, the other side of the universal adjusting base is fixed with the center of the middle support frame at the top of the upper darkroom and the lower darkroom, and the industrial camera comprises a power socket connected with an external power supply and a network cable socket connected with the industrial personal computer.
Further, the method comprises the following steps: the right side of the support frame is hollow, and the upper darkroom and the lower darkroom are both provided with the illuminating device and the image acquisition device for continuously detecting the front and the back of the glass.
The invention also discloses a machine vision-based windshield scratch connection detection method, which comprises the following steps:
firstly, controlling a plc controller through a touch screen, and further controlling sliders on first linear guide rails on the left side and the right side to drive a first small bottom plate and a second small bottom plate to move, so that the two small bottom plates simultaneously and longitudinally move relatively, and stop moving when the two small bottom plates move to be flush with the width of glass, after four clamping plates on the first small bottom plate and the second small bottom plate clamp four corners of the glass, controlling the sliders connected with the clamping plates through the plc controller, so that the sliders move at a common speed in the direction of a darkroom;
secondly, when the glass moves to a position to be about to enter a darkroom, a third servo motor of the upper and lower cleaning devices of the darkroom is controlled by the touch screen to push a third ball screw to stretch, the roller is put down to be just contacted with the surface of the glass, the roller stops, the cleaning cloth on the surface of the roller is used for removing surface dust by the rotation of the roller, so that the follow-up detection is more accurate, after the glass completely enters the darkroom, the cleaning devices are lifted back to start detecting scratches, the number of the LED lamps to be started is determined by the width of the glass, the scratch detection adopts a detection mode of irradiating the LED lamps in a backlight mode, when the scratches of the glass on the upper surface are detected, the illuminating devices on the upper side and the industrial cameras on the darkroom on the lower side are in a closed state, the industrial camera on the upper side is started, the industrial camera adjusts the direction of the industrial camera through a universal base to cover the whole detection area, at the moment, the industrial camera starts to work, the windshield image is transmitted to an industrial personal computer connected with the industrial camera, the scratch image is automatically detected by the industrial personal computer, after the detection of the upper surface of the glass is finished, the industrial camera of the upper darkroom closes the opening of the lower darkroom, meanwhile, the lighting device of the lower darkroom rises, the LED lamp of the upper darkroom is driven by the motor to be placed to the position capable of completely irradiating the surface of the glass, and the industrial camera of the lower darkroom starts to work;
and thirdly, transmitting the image to an industrial personal computer connected with the industrial camera for image processing and analysis, and after all detection is finished, returning the glass to the outside of the darkroom on the left side under the driving of a motor to finish one-time detection.
Further, the method comprises the following steps: the image analysis step is as follows:
step one, image smoothing: the method comprises the following steps that a picture is interfered by noise in the acquisition process, firstly, the acquired glass image is subjected to smoothing processing for the accuracy and the high efficiency of image post-processing, the image is smoothed mainly in a median filtering mode, a square detection window is adopted as a filtering window, and a 7 x 7 template is adopted as a size template, so that the noise in the image is effectively inhibited;
step two, image segmentation: image segmentation is a key step of scratch detection, and mainly adopts a local dynamic threshold segmentation method to completely extract defect information and convert the defect information into a binary image;
step three, morphological treatment: in order to further acquire the scratch information, the scratch is processed by a dilation morphology method so as to simplify the image data and keep the basic shape characteristics of the scratch,
step four, image extraction: in order to reduce the defect shape, a skeleton extraction method is adopted;
and step five, comparing the result with the standard characteristic to judge whether the defect is a scratch.
The invention has the beneficial effects that:
1. the invention adopts a machine vision mode to detect the glass scratch, and replaces manual operation with machine detection, thereby reducing the labor intensity and improving the detection precision.
2. The invention can be suitable for glass detection of any size, and the application range of the glass detection is improved.
3. The invention adopts the upper and lower darkrooms, does not need to turn over to continuously detect the upper and lower surfaces of the glass, and improves the detection efficiency.
4. The invention is provided with the cleaning device, and can remove dust on the surface of the glass before detecting the scratch of the glass, so that the subsequent detection is more accurate.
5. The LED lamps are independently controlled, and the corresponding number of LED lamps are started according to the width and the length of the glass, so that the waste of unnecessary illuminating lamps is prevented, and the power resource is saved.
Drawings
FIG. 1 is a schematic view of the overall structure of the darkroom of the present invention;
FIG. 2 is a schematic view of the darkroom with an integral structure according to the present invention;
FIG. 3 is a schematic perspective view of the conveyor of the present invention;
FIG. 4 is a schematic perspective view of the cleaning device of the present invention;
FIG. 5 is a schematic perspective view of the lighting device of the present invention;
FIG. 6 is a schematic perspective view of an industrial camera according to the present invention;
FIG. 7 is a flowchart of the windshield scratch image detection of the present invention
Reference numerals:
1. a conveying device; 2. a cleaning device; 3. an illumination device; 4. an image acquisition processing device; 5. a support frame; 6. a touch screen; 7. a plc controller; 11. a first motor; 12. a first linear guide rail; 13 a second linear guide; 14 a second motor; 110. a large bottom plate; 111. a first small base plate; 112. clamping the plate; 113 a second small floor; 21. a rotating shaft; 22. a cross-shaped bracket; 23. a third lifting platform; 24. a support bar; 25. a roller; 26. a roller bearing; 27 a third servomotor, 28 a third ball screw; 31. an LED lamp tube; 32. an LED lamp tube rack; 41. an L-shaped camera bracket; 42. a universal adjusting base; 43. a power outlet; 44. a network cable socket; 45. an industrial camera.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
The device for detecting scratch continuation of the windshield based on machine vision as shown in fig. 1 and 2 comprises a support frame 5, a conveying device 1, a cleaning device 2, an illuminating device 3 and an image acquisition and processing device 4, wherein the upper part and the lower part of the right side of the support frame 5 are symmetrical darkrooms, the conveying device 1 is arranged at the front end of the support frame 5 and is used for fixing glass with different sizes and sending the glass into the darkrooms, the cleaning device 2 is arranged in the center of the support frame 5 at the left side of the darkroom and is used for removing dust on the surface of the glass when the glass enters the darkroom, supporting rods 24 are arranged at the tops of the vertically symmetrical darkrooms, the plurality of illuminating devices 3 used for providing illumination for the glass are respectively arranged on the supporting rods 24, the image acquisition and processing device 4 is fixed in the center of the middle support frame 5 at the tops of the upper darkroom and the lower dark, thereby judging whether the glass surface has scratches or not, the right side of the support frame 5 is hollow, and the upper darkroom and the lower darkroom are both provided with the illuminating device 3 and the image acquisition device which are used for continuously detecting the front and the back of the glass, when the device works, the conveying device 1 conveys the windshield to be detected forwards, in the conveying process, the cleaning device 2 firstly carries out cleaning operation on the windshield and then conveys the windshield into the darkroom, the illuminating device 3 of the upper darkroom is started, the image acquisition processing device 4 carries out image acquisition processing, whether the upper surface of the windshield has scratches or not is detected, after the upper surface detection is completed, the illuminating device 3 of the lower darkroom is started, the image acquisition processing device 4 carries out image acquisition processing, whether the lower surface of the windshield has scratches or not is detected, thereby realizing the detection of the two surfaces, the device adopts a machine vision mode to detect the scratches of the glass, the invention reduces the labor intensity and improves the detection precision, and simultaneously, the invention adopts the upper and lower darkrooms, does not need to turn over and continuously detect the upper and lower surfaces of the glass, improves the detection efficiency, and simultaneously, the invention can remove the dust on the surface of the glass before detecting the scratch of the glass through the arrangement of the cleaning device 2, thereby ensuring that the subsequent detection is more accurate.
Specifically, as shown in fig. 3, the conveying device 1 may be selected from a screw conveying module, a cylinder conveying mechanism, and the like, the conveying device 1 in this embodiment includes a large bottom plate 110, a left and a right longitudinally arranged first linear guide rails 12 are fixed above the large bottom plate 110, an upper side slide block and a lower side slide block are respectively mounted on the left and the right first linear guide rails 12, a left side ball screw and a right side ball screw are respectively and correspondingly mounted at positions inside the left and the right first linear guide rails 12 and close to the first linear guide rails 12, and the conveying device further includes two first ball screw nuts and a first nut connecting seat, the two first ball screw nuts and the first nut connecting seat are connected to the first nut connecting seat and respectively connected to the left side ball screw and the right side ball screw for correspondingly controlling the movement of the slide blocks on the left and the right first linear guide rails 12, a first fixed bearing seat is mounted at one, the other end of the first support bearing seat is provided with a first support bearing seat used for fixing the ball screw, and the first motor 11 is arranged at one end of the first fixed bearing seat through a round nut;
the lower surface of the first small bottom plate 111 is respectively connected with upper side sliding blocks of left and right first linear guide rails 12, the lower surface of the right side of the first small bottom plate 111 is also connected with a nut connecting seat of a right side ball screw, the lower surface of the second small bottom plate 113 is respectively connected with lower side sliding blocks of the left and right first linear guide rails 12, the lower surface of the left side of the second small bottom plate 113 is also connected with a nut connecting seat of a left side ball screw, second linear guide rails 13 are respectively arranged on the first small bottom plate 111 and the second small bottom plate 113, two tightening plates 112 are arranged on the second linear guide rails 13, second ball screws are respectively arranged on two sides of the second linear guide rails 13, each second ball screw is provided with a second nut connecting seat which is connected with a second ball screw nut, and a second fixed bearing seat is arranged on one side of each second ball screw, the second support bearing frame is installed to the other end for fixed second ball screw still includes second motor 14, second motor 14 passes through the round nut and installs in second fixed bearing frame one end, and every step up board 112 and be connected with the second nut connecting seat of the second ball screw that corresponds respectively, still includes plc controller 7 and touch-sensitive screen 6, first motor 11, second motor 14 link to each other with plc controller 7 respectively, and plc controller 7 is connected with touch-sensitive screen 6, and then control slider and step up the motion of board 112 through touch-sensitive screen 6 control motor.
Specifically, as shown in fig. 4, the cleaning device 2 may be a dust collector, and the like, and the cleaning device 2 of this embodiment includes a third servo motor 27, a third ball screw 28, a third elevating platform 23, a roller 25, a roller bearing 26 and a support rod 24, wherein the upper surface of the third elevating platform 23 is installed on the top of the upper and lower dark rooms, and one side of the third elevating platform 23 coincides with the center of the dark room top support rod 24, the inner side of the upper surface of the third elevating platform 23 is installed with the third servo motor 27, the third servo motor 27 is connected with the third ball screw 28, the third ball screw 28 is connected with the rotating shaft 21 of the third elevating platform 23 through a cross bracket 22, the lower surface of the third elevating platform 23 is connected with the support rod 24, the support rod 24 is connected with the roller bearing 26, the roller 25 is fixed on the outer surface of the roller bearing 26, and a dust glass cleaning cloth for cleaning the glass surface of the glass is attached to the surface of the, the device is characterized by further comprising a plc controller 7 and a touch screen 6, wherein the third servo motor 27 is connected with the plc controller 7, the plc controller 7 is connected with the touch screen 6, the third servo motor 27 is controlled through the touch screen 6, the third servo motor 27 controls the expansion and contraction of the ball screw, and the third lifting platform 23 is controlled to move up and down.
Specifically, as shown in fig. 5, the lighting device 3 includes an LED lamp tube 31, a fourth servo motor, a fourth ball screw, a fourth lifting platform, an LED lamp tube frame 32, the LED lamp tube frame 32 is installed on the lower surface of the lifting platform, the LED lamp tube 31 is connected to the lamp tube frame, the fourth servo motor is installed on the inner side of the upper surface of the lifting platform, the fourth servo motor is connected to the fourth ball screw, the fourth ball screw is connected to a rotating shaft 21 of the fourth lifting platform through a cross bracket 22, a plurality of lighting devices 3 which are independently controlled are respectively installed on the top of the upper and lower darkroom, the plurality of lighting devices 3 are installed on the two sides of a middle supporting rod 24 on the top of the darkroom near the center and are linearly arranged, the lighting devices further include a plc controller 7 and a touch screen 6, the fourth servo motor is connected to the plc controller 7, the plc controller 7 is connected to the touch screen 6, and the fourth servo motor is controlled by the touch screen 6, and the fourth servo motor controls the fourth ball screw to stretch and further controls the fourth lifting platform to move up and down.
Specifically, as shown in fig. 6, the image acquisition and processing device 4 includes an industrial camera 45, an industrial personal computer, an L-shaped camera support 41 and a universal adjusting base 42, the industrial camera 45 is fixed on the universal adjusting base 42, the surface of the universal adjusting base 42 is installed on one side of the L-shaped camera support, the other side of the universal adjusting base is fixed with the center of the middle support frame 5 at the top of the upper darkroom and the lower darkroom, and the industrial camera 45 includes a power socket 43 connected with an external power supply and a network cable socket 44 connected with the industrial personal computer.
The specific working process is as follows:
firstly, controlling a plc controller 7 through a touch screen 6, and further controlling sliders on left and right first linear guide rails 12 to drive a first small bottom plate 111 and a second small bottom plate 113 to move, so that the two small bottom plates simultaneously and longitudinally move relatively, and stop moving when the two small bottom plates move to be flush with the width of glass, after four clamping plates 112 on the first small bottom plate 111 and the second small bottom plate 113 clamp four corners of the glass, controlling the sliders connected with the clamping plates 112 through the plc controller 7, so that the sliders move at a common speed in the direction of a darkroom;
secondly, when the glass moves to a position to be entered into a darkroom, the third servo motor 27 of the upper and lower darkroom cleaning device 2 is controlled by the touch screen 6 to push the third ball screw 28 to stretch, the roller 25 is put down to be just contacted with the surface of the glass to stop, the roller 25 rotates to clean the dust on the surface by using the cleaning cloth on the surface, so that the subsequent detection is more accurate, after the glass completely enters the darkroom, the cleaning device 2 is lifted back to start to detect scratches, the number of the LED lamps to be started is determined by the width of the glass, the scratches are detected by adopting a detection mode of irradiating the LED lamps in a backlight mode, when the scratches on the upper surface of the glass are detected, the illuminating device 3 on the upper side and the industrial camera 45 on the lower darkroom are in a closed state, the industrial camera 45 on the upper side is started, the industrial camera 45 adjusts the direction of the industrial camera through a universal base to cover the whole detection area on the surface of the glass, the LED lamps, at the moment, the industrial camera 45 starts to work, the windshield image is transmitted to an industrial personal computer connected with the industrial camera 45, the scratch image is automatically detected by the industrial personal computer, after the detection of the upper surface of the glass is finished, the industrial camera 45 of the upper darkroom closes the opening of the lower darkroom, meanwhile, the lighting device 3 of the lower darkroom rises, the LED lamp of the upper darkroom is driven by the motor to be lowered to the position capable of completely irradiating the surface of the glass, and the industrial camera 45 of the lower darkroom starts to work;
and thirdly, transmitting the image to an industrial personal computer connected with the industrial camera 45 for image processing and analysis, and after all detection is finished, returning the glass to the outside of the darkroom on the left side through the driving of a motor to finish one-time detection.
The specific image processing and analyzing steps are as follows:
step one, image smoothing: the method comprises the following steps that a picture is interfered by noise in the acquisition process, firstly, the acquired glass image is subjected to smoothing processing for the accuracy and the high efficiency of image post-processing, the image is smoothed mainly in a median filtering mode, a square detection window is adopted as a filtering window, and a 7 x 7 template is adopted as a size template, so that the noise in the image is effectively inhibited;
step two, image segmentation: image segmentation is a key step of scratch detection, and mainly adopts a local dynamic threshold segmentation method to completely extract defect information and convert the defect information into a binary image;
step three, morphological treatment: in order to further acquire the scratch information, the scratch is processed by a dilation morphology method so as to simplify the image data and keep the basic shape characteristics of the scratch,
step four, image extraction: in order to reduce the defect shape, a skeleton extraction method is adopted;
and step five, comparing the result with the standard characteristic to judge whether the defect is a scratch.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. Windshield mar detection device that continues based on machine vision, including support frame (5), conveyer (1), cleaning device (2), lighting device (3) and image acquisition processing apparatus (4), its characterized in that: the darkroom of support frame (5) right side upper and lower part for the symmetry, conveyer (1) sets up the front end at support frame (5) for fixed and send into the darkroom with the glass of unidimensional, cleaning device (2) are installed in the central authorities of darkroom left side support frame (5), are used for cleaing away the dust on glass surface when glass gets into the darkroom, the top of the darkroom of longitudinal symmetry all is provided with bracing piece (24), respectively install a plurality ofly on bracing piece (24) and be used for providing the illumination for glass lighting device (3), the central authorities of support frame (5) are fixed in the middle of the upper and lower darkroom top in image acquisition and processing device (4) for shoot the image on glass surface and handle the analysis, thereby judge whether there is the mar on glass surface.
2. The machine vision-based windshield scribe-and-continue inspection apparatus according to claim 1, characterized in that: the conveying device (1) comprises a large bottom plate (110), a left first linear guide rail (12) and a right first linear guide rail (12) which are longitudinally arranged are fixed above the large bottom plate (110), an upper side sliding block and a lower side sliding block are respectively installed on the left first linear guide rail (12) and the right first linear guide rail (12), a left ball screw and a right ball screw are respectively and correspondingly installed at the inner sides of the left first linear guide rail (12) and the inner sides of the right first linear guide rail (12) and the positions close to the first linear guide rails (12), the conveying device further comprises two first ball screw nuts and a first nut connecting seat, the two first ball screw nuts are connected with the first nut connecting seat and respectively connected with the left ball screw and the right ball screw and used for correspondingly controlling the movement of the upper sliding blocks of the left first linear guide rail (12), a first fixing bearing seat is installed at one end of the first ball, the device is characterized by further comprising a first motor (11), wherein the first motor (11) is installed at one end of the first fixed bearing seat through a round nut;
the lower surface of the first small bottom plate (111) is respectively connected with upper side sliding blocks of a left first linear guide rail (12) and a right first linear guide rail (12), the lower surface of the right side of the first small bottom plate (111) is also connected with a nut connecting seat of a right ball screw, the lower surface of the second small bottom plate (113) is respectively connected with lower side sliding blocks of the left first linear guide rail (12) and the right first linear guide rail (12), the lower surface of the left side of the second small bottom plate (113) is also connected with a nut connecting seat of a left ball screw, second linear guide rails (13) are respectively arranged on the first small bottom plate (111) and the second small bottom plate (113), two tightening plates (112) are arranged on the second linear guide rails (13), second ball screws are respectively arranged on two sides of the second linear guide rails (13), and a second nut connecting seat is arranged on each second ball screw, link to each other with second ball screw nut, the second fixed bearing frame of one side-mounting of second ball screw, other end installation second support bearing frame for fixed second ball screw still includes second motor (14), second motor (14) are installed in second fixed bearing frame one end through round nut, and every step up board (112) is connected with the second nut connecting seat of the second ball screw that corresponds respectively, still includes plc controller (7) and touch-sensitive screen (6), first motor (11), second motor (14) link to each other with plc controller (7) respectively, and plc controller (7) are connected with touch-sensitive screen (6), through touch-sensitive screen (6) control motor and then control slider and step up the motion of board (112).
3. The machine vision-based windshield scribe-and-continue inspection apparatus according to claim 1, characterized in that: the cleaning device (2) comprises a third servo motor (27), a third ball screw (28), a third lifting platform (23), rollers (25), roller bearings (26) and a support rod (24), wherein the upper surface of the third lifting platform (23) is arranged at the tops of an upper dark room and a lower dark room, one side of the third lifting platform (23) coincides with the center of the support rod (24) at the top of the dark room, the third servo motor (27) is arranged on the inner side of the upper surface of the third lifting platform (23), the third servo motor (27) is connected with the third ball screw (28), the rod of the third ball screw (28) is connected with a rotating shaft (21) of the third lifting platform (23) through a cross support (22), the lower surface of the third lifting platform (23) is connected with the support rod (24), the support rod (24) is connected with the roller bearings (26), and the rollers (25) are fixed on the outer surface of the roller bearings (26), and the surface of the roller (25) is adhered with dust glass cleaning cloth for erasing the surface of the glass, the glass cleaning device further comprises a plc controller (7) and a touch screen (6), the third servo motor (27) is connected with the plc controller (7), the plc controller (7) is connected with the touch screen (6), the third servo motor (27) is controlled through the touch screen (6), the third servo motor (27) controls the stretching of the ball screw rod, and then the third lifting platform (23) is controlled to move up and down.
4. The machine vision-based windshield scribe-and-continue inspection apparatus according to claim 1, characterized in that: the lighting device (3) comprises an LED lamp tube (31), a fourth servo motor, a fourth ball screw, a fourth lifting platform, an LED lamp tube frame (32), the LED lamp tube frame (32) is installed on the lower surface of the lifting platform, the LED lamp tube (31) is connected with the lamp tube frame, the fourth servo motor is installed on the inner side of the upper surface of the lifting platform, the fourth servo motor is connected with the fourth ball screw, the fourth ball screw is connected with a rotating shaft (21) of the fourth lifting platform through a cross-shaped support (22), a plurality of lighting devices (3) which are independently controlled are respectively installed at the top of a darkroom, the lighting devices (3) are installed on two sides of a middle supporting rod (24) at the top of the darkroom and are close to the position of the center, the lighting devices are linearly arranged, the lighting devices further comprise a plc controller (7) and a touch screen (6), the fourth servo motor is connected with the plc controller (7), and the touch screen (6) is connected with the touch screen (6), and a fourth servo motor is controlled through the touch screen (6), and the fourth servo motor controls the fourth ball screw to stretch and further controls the fourth lifting platform to move up and down.
5. The machine vision-based windshield scribe-and-continue inspection apparatus according to claim 1, characterized in that: image acquisition processing apparatus (4) include industrial camera (45), industrial computer, L type camera support (41) and universal regulation base (42), industrial camera (45) are fixed on universal regulation base (42), universal regulation base (42) surface mounting is in one side of L type camera frame, the central authorities of support frame (5) are fixed in the middle of opposite side and upper and lower darkroom top, industrial camera (45) include power socket (43) be connected with external power source and net twine socket (44) that link to each other with the industrial computer.
6. The machine vision-based windshield scribe-and-continue inspection apparatus according to claim 1, characterized in that: the right side of the support frame (5) is hollow, and the upper darkroom and the lower darkroom are both provided with the illuminating device (3) and the image acquisition device for continuously detecting the front and the back of the glass.
7. Machine vision-based windshield scratch connection detection method is characterized by comprising the following steps: the method comprises the following steps:
firstly, a plc controller (7) is controlled through a touch screen (6), and then sliders on first linear guide rails (12) on the left side and the right side are controlled to drive a first small bottom plate (111) and a second small bottom plate (113) to move, so that the two small bottom plates simultaneously and longitudinally move relatively, and stop moving when moving to be flush with the width of glass, after four clamping plates (112) on the first small bottom plate (111) and the second small bottom plate (113) clamp four corners of the glass, the sliders connected with the clamping plates (112) are controlled through the plc controller (7), so that the sliders move towards a darkroom at a common speed;
secondly, when the glass moves to the position to be entered into the darkroom, a third servo motor (27) of the upper and lower darkroom cleaning device (2) is controlled by the touch screen (6) to push the third ball screw (28) to stretch, the roller (25) is put down to be just contacted with the surface of the glass and then stopped, the roller (25) rotates to remove surface dust by using cleaning cloth on the surface of the roller, the cleaning device (2) rises back after the glass completely enters the darkroom to start detecting scratches, the number of the LED lamps to be started is determined by the width of the glass, the scratch detection adopts a detection mode of irradiating the LED lamps by backlight, when the scratch of the glass on the upper surface is detected, the illuminating device (3) on the upper side and the industrial camera (45) on the darkroom on the lower side are in a closed state, the industrial camera (45) on the upper side is started, the direction of the industrial camera (45) is adjusted by the universal base to cover the whole detection area of the, the lower LED lamp is driven by a motor to be lowered to a position where the surface of the glass can be completely irradiated, at the moment, the industrial camera (45) starts to work, the image of the windshield is transmitted to an industrial personal computer connected with the industrial camera (45), the scratch image is automatically detected by the industrial personal computer, after the detection of the upper surface of the glass is completed, the industrial camera (45) of the upper darkroom closes the opening of the lower darkroom, meanwhile, the lighting device (3) of the lower darkroom rises, the LED lamp of the upper darkroom is driven by the motor to be lowered to the position where the surface of the glass can be completely irradiated, and the industrial camera (45) of the lower darkroom starts to work;
and thirdly, transmitting the image to an industrial personal computer connected with an industrial camera (45) for image processing and analysis, and after all detection is finished, returning the glass to the outside of the darkroom on the left side through the driving of a motor to finish one-time detection.
8. The machine-vision-based windshield scratch connection inspection method according to claim 7, wherein the image analysis step is:
step one, image smoothing: the method comprises the following steps that (1) a picture is interfered by noise in the acquisition process, and in order to achieve accuracy and high efficiency of image post-processing, firstly, the acquired glass image is subjected to smoothing processing;
step two, image segmentation: image segmentation is a key step of scratch detection, and mainly adopts a local dynamic threshold segmentation method to completely extract defect information and convert the defect information into a binary image;
step three, morphological treatment: in order to further acquire the scratch information, the scratch is processed by a dilation morphology method so as to simplify the image data and keep the basic shape characteristics of the scratch,
step four, image extraction: in order to reduce the defect shape, a skeleton extraction method is adopted;
and step five, comparing the result with the standard characteristic to judge whether the defect is a scratch.
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| CN202010173120.7A CN111239163A (en) | 2020-03-13 | 2020-03-13 | Windshield scratch connection detection device and detection method based on machine vision |
| PCT/CN2020/131203 WO2021179680A1 (en) | 2020-03-13 | 2020-11-24 | Machine vision-based windshield scratch continuous-detection apparatus and detection method |
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