CN111242942B - Steering engine rudder disc detection method and detection device - Google Patents
Steering engine rudder disc detection method and detection device Download PDFInfo
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- CN111242942B CN111242942B CN202010065924.5A CN202010065924A CN111242942B CN 111242942 B CN111242942 B CN 111242942B CN 202010065924 A CN202010065924 A CN 202010065924A CN 111242942 B CN111242942 B CN 111242942B
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- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 claims description 23
- 238000005260 corrosion Methods 0.000 claims description 16
- 230000007797 corrosion Effects 0.000 claims description 16
- 238000003708 edge detection Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 4
- 239000003086 colorant Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/20—Image enhancement or restoration using local operators
- G06T5/30—Erosion or dilatation, e.g. thinning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/73—Deblurring; Sharpening
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- Computer Vision & Pattern Recognition (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a detection method of a steering engine rudder disk, which comprises the steps of obtaining a rotating track of a target rudder disk and dividing the rotating track into a plurality of sections; acquiring the current difference of each section of track according to the change relation of the motor current in the steering engine along with the track; and obtaining the current difference quantity expressing the smoothness of the steering wheel rotation from all the current differences so as to judge whether the target steering wheel rotates smoothly. On the basis of the detection method, the invention also discloses a detection device of the steering engine rudder disk. The detection method and the detection device can simplify detection work and improve detection efficiency.
Description
Technical Field
The invention relates to the field of steering engine detection, in particular to a detection method and a detection device for steering engine rudder discs.
Background
The steering engine product needs to detect the working performance of the steering wheel in the quality inspection process, for example, whether the motor rotates smoothly or not, and whether zero graduation marks arranged on the steering wheel are aligned with standard graduation marks arranged on the steering engine body or not; in the traditional quality inspection process, detection is generally carried out manually, so that the working efficiency is low, and the accuracy of a detection result is low.
Disclosure of Invention
In order to solve the problems, the invention at least provides a method and a device for detecting a steering wheel and a steering wheel, which can simplify detection work and improve detection efficiency.
First aspect of the invention
The first aspect of the invention provides a method for detecting a steering wheel of a steering engine, which comprises the following steps:
acquiring a rotating track of a target steering wheel and dividing the rotating track into a plurality of sections;
acquiring the current difference of each section of track according to the change relation of the motor current in the steering engine along with the track;
and obtaining the current difference quantity expressing the smoothness of the steering wheel rotation from all the current differences so as to judge whether the target steering wheel rotates smoothly.
In some embodiments, the obtaining of the variation relation of the motor current along the track comprises:
and continuously acquiring the motor current value of the steering wheel corresponding to each track point from the start point to the end point of the track.
In some embodiments, the detection method further comprises:
acquiring a calibration video containing a zero scale line and a standard scale line of a target steering wheel;
generating an identification line aligned with the standard scale line;
and judging whether the zero scale line is aligned with the standard scale line according to the calibration video and the identification line.
In some embodiments, when the zero graduation line of the target rudder disk is not aligned, the detection method further includes calibrating the zero graduation line;
wherein the calibrating comprises:
acquiring the position difference between the zero scale line and the identification line;
and rotating the steering wheel to the zero position scale line according to the position difference to align with the mark line.
In some embodiments, in the detection method, the mark line, the zero graduation line, and the standard graduation line are different in color from each other.
In some embodiments, in the detecting method, acquiring the calibration video includes:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
and carrying out Gaussian blur processing on the image in the original video to obtain the calibration video.
In some embodiments, in the detecting method, acquiring the calibration video includes:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
and sequentially carrying out Gaussian blur processing and expansion corrosion processing on the images in the original video to obtain the calibration video.
In some embodiments, in the detecting method, acquiring the calibration video includes:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
sequentially carrying out Gaussian blur processing and expansion corrosion processing on images in the original video;
acquiring an interest area covering the position of a target rudder disc;
and fusing the interest area with the video after the expansion corrosion treatment to obtain the calibration video.
In some embodiments, in the detecting method, acquiring the calibration video includes:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
sequentially carrying out Gaussian blur processing and expansion corrosion processing on images in the original video;
acquiring an interest area covering the position of a target rudder disc;
fusing the interest area with the video after the expansion corrosion treatment;
performing edge detection and Hough transformation on the susceptibility interest area in the fused video, generating an identification line overlapped with the zero scale line, and bonding the identification line on the zero scale line to obtain the calibration video;
the identification lines, the zero graduation lines and the standard graduation lines are different in color.
Second aspect of the invention
The second aspect of the invention also provides a device for detecting the steering wheel of the steering engine, which is used for executing the detection method.
The embodiment of the invention has at least the following beneficial effects:
in some embodiments, when the steering wheel detection method is applied to detect the steering wheel, the detection work can be simplified, and the detection efficiency can be improved.
Drawings
FIG. 1 is a flow chart of some embodiments of the detection method of the present invention;
FIG. 2 is a flow chart of another embodiment of the detection method of the present invention;
FIG. 3 is a schematic diagram of an apparatus for performing the detection method according to some embodiments of the present invention;
FIG. 4 is a schematic view of a rudder unit according to some embodiments of the present invention;
FIG. 5 is a schematic diagram of a first display area and a second display area according to some embodiments of the invention;
FIG. 6 is a schematic diagram of a first display area and a second display area according to other embodiments of the invention;
fig. 7 is a schematic diagram of identification lines in some embodiments of the invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
First aspect of the invention
A first aspect of the present invention is described below by way of a first embodiment.
First embodiment
As shown in fig. 1, 3 and 4, a first embodiment provides a method for detecting a steering wheel of a steering engine, which includes:
s101, acquiring a rotating track of a target rudder disk 502 and dividing the rotating track into a plurality of sections; detecting position information of the rudder disk 502 by arranging a position detecting device 300 connected with a motor for driving the rudder disk, and generating a track for rotating the rudder disk 502; the position detection device 300 may be a position sensor; here the position information of the rudder disk 502 is represented by detecting the position of the rotation of the steering motor (because the steering motor rotates in synchronization with the rudder disk).
S102, acquiring the current difference of each track according to the change relation of the motor current in the steering engine 500 along with the track; the current acquisition device 200 is connected with a motor for driving the steering wheel and is used for acquiring motor current information changing along with the position; the current collection device 200 may be a current meter;
the specific method for acquiring the current difference of each track is as follows:
and (3) averagely dividing the track of the target steering wheel in S101 into a plurality of sections (which can be set as N sections), obtaining current values corresponding to all track points in each section of track, and then obtaining the difference between the maximum current and the minimum current in the current values corresponding to the section of track, wherein the difference is the current difference of the section of track. Finally N current differences are obtained.
S103, obtaining the quantity of current differences expressing the rotating smoothness of the steering wheel 502 from all the current differences so as to judge whether the target steering wheel rotates smoothly. And respectively judging whether each current difference in the N current differences in S102 is larger than a preset current threshold, if the number of the current differences larger than the preset current threshold exceeds the preset number threshold, determining that the steering wheel rotates smoothly, otherwise, rotating smoothly.
By the scheme, sporadic detection data can be avoided, and accuracy of detection results is improved.
Further, the method of the present embodiment further includes a display device 400, where the display device 400 may be a computer device with a display function. The display device 400 is coupled to the position detecting device 300 and the current collecting device 200, and the display device 400 includes a first display area 401, where the first display area 401 can display position information and current information in a graph manner. The scheme is convenient for a detector to observe the smooth condition of the steering engine rudder disc rotation. It should be emphasized that the display device 400 herein needs to have a certain data processing capability, such as a general purpose computer.
Further, in the detection method of the present embodiment, the obtaining of the change relation of the motor current along with the track includes: and continuously acquiring the motor current value of the steering wheel corresponding to each track point from the start point to the end point of the track. Each track point specifically refers to each position of the steering engine motor during rotation, and corresponds to each position of the steering wheel during rotation, and the current value is read through the current acquisition device.
With continued reference to fig. 2 and fig. 5 to 7, further, after the detection of the smoothness of the steering wheel rotation is completed, the detection method of the embodiment further detects the calibration of the zero scale line 5021 of the target steering wheel, and the detection method further includes:
s104, acquiring a calibration video containing a zero scale line 5021 and a standard scale line 5011 of a target steering wheel; the calibration video is acquired by a video acquisition device, and the video acquisition device 100 can be a video camera, a smart phone, a tablet computer, and the like.
S105, generating an identification line 4021 aligned with the standard scale line 5011; this step may be implemented by the display device 400 described above, the display device 400 further comprising a second display area 402, the second display area 402 being used not only for displaying the calibration video, but more importantly for displaying the identification line 4021 here (the identification line 4021 is preferably arranged as a cross shape) in preparation for a subsequent detection operation.
After the display device 400 obtains the calibration video from the video acquisition device 100, a cross-shaped identification line 4021 is generated in the second display area 402, then the zero-position scale line and the standard scale line of the target rudder disk 502 are identified from the calibration video, and the vertical line in the cross-shaped identification line 4021 is overlapped with the standard scale line 5011. Here, in order to facilitate the subsequent detection work, because the difference between the cross-shaped mark line 4021 and the steering engine body, the steering wheel, the standard scale line 5011 and the zero scale line 5021 is obvious, after the vertical line in the cross-shaped mark line 4021 is adhered to the standard scale line 5011, the detection comparison work can be completed only by comparing whether the vertical line in the zero scale line 5021 and the cross-shaped mark line 4021 is aligned.
The length of the vertical line in the cross-shaped mark line 4021 is greater than the sum of the lengths of the zero graduation line 5021 and the standard graduation line 5011. The detection and comparison effects are highlighted, so that the detection personnel can observe conveniently.
S106, judging whether the zero scale line 5021 is aligned with the standard scale line 5011 according to the calibration video and the identification line 4021. Specific methods are described above.
Further, in the detection method of the present embodiment, when the zero position scale line 5021 of the target rudder disk is not aligned, the detection method further includes calibrating the zero position scale line 5021;
wherein the calibrating comprises:
s107, acquiring the position difference between the zero scale line 5021 and the mark line 4021; the position difference mainly refers to the distance between the zero graduation line 5021 and the vertical line in the cross-shaped identification line 4021.
And S108, rotating the steering wheel 502 to align the zero scale line 5021 with the mark line 4021 according to the position difference. As described above, alignment herein refers to the zero tick mark 5021 being aligned with a vertical line in the cross-shaped marker 4021. The execution of this step may be more specifically: after the position difference is obtained, the rotating position of the steering engine motor is adjusted through a PID regulator, so that a zero scale line 5021 is aligned with the mark line 4021; after alignment, steering engine 500 writes the position value at that time to service future calibration jobs.
Further, in the detection method of this embodiment, the color between the mark line 4021 and the zero position graduation line 5021, the standard graduation line 5011 is different. And various line segments are convenient to identify, and the detection efficiency is improved.
Further, in the detection method of the present embodiment, acquiring the calibration video includes:
shooting an original video containing a zero scale line 5021 and a standard scale line 5011 when the target rudder disk 502 rotates;
sequentially carrying out Gaussian blur processing and expansion corrosion processing on images in the original video; the Gaussian blur processing can remove the integral noise of the image; the expansion corrosion treatment can remove noise points of the image and highlight image characteristics;
acquiring an interest area covering the position of the target rudder disk 502; the interest area is formed by cutting the video image area corresponding to the target rudder disk 502 in the second display area, and the purpose of setting the interest area is to reduce the identified image area and improve the contrast; accuracy of zero scale line 5021 identification;
fusing the interest area with the video after the expansion corrosion treatment;
performing edge detection and Hough transformation on the susceptibility interest area in the fused video, generating an identification line overlapped with the zero scale line 5021, and bonding the identification line on the zero scale line 5021 to obtain the calibration video; the edge detection is to output a binary image, change the image into a binary image, extract feature lines by a canny operator, but at this time, the image has some image noise, then search a straight line (here, the straight line is actually a zero scale line 5021) in the binary image by hough transformation, remove the image noise, and generate an identification line.
The colors of the identification line, the identification line 4021, the zero graduation line 5021 and the standard graduation line 5011 are different from each other.
For example, the identification line is set to green, the mark line 4021 is set to red, and the zero graduation line 5021 and the standard graduation line 5011 are set to gray. When the calibration detection is carried out, the identification line is adhered to the zero scale line 5021 and rotates along with the rudder disk 502, so that the detection personnel can observe conveniently. The primary function of the identification line is to mark the zero bit tick mark 5021.
In some embodiments, in the detecting method, acquiring the calibration video includes:
shooting an original video containing a zero scale line 5021 and a standard scale line 5011 when the target rudder disk 502 rotates;
and carrying out Gaussian blur processing on the image in the original video to obtain the calibration video.
In some embodiments, in the detecting method, acquiring the calibration video includes:
shooting an original video containing a zero scale line 5021 and a standard scale line 5011 when the target rudder disk 502 rotates;
and sequentially carrying out Gaussian blur processing and expansion corrosion processing on the images in the original video to obtain the calibration video.
In some embodiments, in the detecting method, acquiring the calibration video includes:
shooting an original video containing a zero scale line 5021 and a standard scale line 5011 when the target rudder disk 502 rotates;
sequentially carrying out Gaussian blur processing and expansion corrosion processing on images in the original video;
acquiring an interest area covering the position of the target rudder disk 502;
and fusing the interest area with the video after the expansion corrosion treatment to obtain the calibration video.
Second aspect of the invention
A second aspect provides a detection device for a steering wheel rudder disc, configured to perform the detection method described above.
The present invention has been described in detail in the above embodiments, but these should not be construed as limiting the invention. The scope of the present invention is not limited to the above embodiments, but all equivalent modifications and variations according to the present invention will be included in the scope of the claims by those skilled in the art.
Claims (8)
1. The detection method of the steering wheel rudder disc is characterized by comprising the following steps of:
acquiring a rotating track of a target steering wheel and dividing the rotating track into a plurality of sections;
obtaining the current difference of each section of track according to the change relation of the motor current in the steering engine along with the track, so as to obtain a plurality of current differences; obtaining the current difference quantity expressing the smoothness of the steering wheel rotation from all the current differences so as to judge whether the target steering wheel rotates smoothly; judging whether each current difference in all the current differences is larger than a preset current threshold value, if the number of the current differences larger than the preset current threshold value exceeds the preset number threshold value, determining that the steering wheel rotates smoothly, otherwise, rotating smoothly;
after the smoothness of the steering wheel rotation is detected, acquiring a calibration video containing a zero scale line and a standard scale line of a target steering wheel;
generating an identification line aligned with the standard scale line;
judging whether the zero scale line is aligned with the standard scale line according to the calibration video and the identification line;
the method for obtaining the current difference of each track according to the change relation of the motor current in the steering engine along with the track comprises the following steps:
continuously acquiring a motor current value of the rudder disk corresponding to each track point from the starting point to the ending point of the track to generate a change relation of motor current in the steering engine along with the track;
acquiring the current values of the motor corresponding to all track points in each track according to the change relation;
obtaining the difference value between the maximum current value and the minimum current value in all the motor current values of each track;
and determining the corresponding difference value of each track section as the current difference.
2. The method of claim 1, wherein when the zero graduation line of the target rudder disk is not aligned, the method further comprises calibrating the zero graduation line;
wherein the calibrating comprises:
acquiring the position difference between the zero scale line and the identification line;
and rotating the steering wheel to the zero position scale line according to the position difference to align with the mark line.
3. The method of claim 1, wherein the identification lines, zero graduation lines, and standard graduation lines are different in color from one another.
4. The method of claim 1, wherein acquiring the calibration video comprises:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
and carrying out Gaussian blur processing on the image in the original video to obtain the calibration video.
5. The method of claim 1, wherein acquiring the calibration video comprises:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
and sequentially carrying out Gaussian blur processing and expansion corrosion processing on the images in the original video to obtain the calibration video.
6. The method of detecting according to claim 1, wherein acquiring the calibration video comprises:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
sequentially carrying out Gaussian blur processing and expansion corrosion processing on images in the original video;
acquiring an interested area covering the position of a target rudder disc;
and fusing the region of interest with the video subjected to the expansion corrosion treatment to obtain the calibration video.
7. The method of claim 1, wherein acquiring the calibration video comprises:
shooting an original video containing zero graduation marks and standard graduation marks when a target steering wheel rotates;
sequentially carrying out Gaussian blur processing and expansion corrosion processing on images in the original video;
acquiring an interested area covering the position of a target rudder disc;
fusing the region of interest with the video after the expansion corrosion treatment;
performing edge detection and Hough transformation on the region of interest in the fused video to generate an identification line overlapped with the zero scale line, and bonding the identification line on the zero scale line to obtain the calibration video;
the colors of the identification line, the zero graduation line and the standard graduation line are different.
8. A steering wheel detection device, characterized by being adapted to perform the detection method according to any one of claims 1-7.
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| CN202010065924.5A CN111242942B (en) | 2020-01-20 | 2020-01-20 | Steering engine rudder disc detection method and detection device |
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| CN202010065924.5A CN111242942B (en) | 2020-01-20 | 2020-01-20 | Steering engine rudder disc detection method and detection device |
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| CN101660932A (en) * | 2009-06-15 | 2010-03-03 | 浙江大学 | Automatic calibration method of pointer type automobile meter |
| CN105574860A (en) * | 2015-12-14 | 2016-05-11 | 华中科技大学 | Method for identifying deflection polarity of rudder slice |
| CN105865778A (en) * | 2016-05-11 | 2016-08-17 | 深圳市优必选科技有限公司 | Steering engine gear performance detection method |
| CN107775639A (en) * | 2017-10-26 | 2018-03-09 | 广州市敏嘉机器人技术有限公司 | A kind of robot collision-proof method and system based on current method |
-
2020
- 2020-01-20 CN CN202010065924.5A patent/CN111242942B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101660932A (en) * | 2009-06-15 | 2010-03-03 | 浙江大学 | Automatic calibration method of pointer type automobile meter |
| CN105574860A (en) * | 2015-12-14 | 2016-05-11 | 华中科技大学 | Method for identifying deflection polarity of rudder slice |
| CN105865778A (en) * | 2016-05-11 | 2016-08-17 | 深圳市优必选科技有限公司 | Steering engine gear performance detection method |
| CN107775639A (en) * | 2017-10-26 | 2018-03-09 | 广州市敏嘉机器人技术有限公司 | A kind of robot collision-proof method and system based on current method |
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