CN111539951B - Visual detection method for outline size of ceramic grinding wheel head - Google Patents
Visual detection method for outline size of ceramic grinding wheel head Download PDFInfo
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- CN111539951B CN111539951B CN202010404173.5A CN202010404173A CN111539951B CN 111539951 B CN111539951 B CN 111539951B CN 202010404173 A CN202010404173 A CN 202010404173A CN 111539951 B CN111539951 B CN 111539951B
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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
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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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
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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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
- G06T2207/10024—Color image
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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
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention discloses a visual detection method for the outline size of a ceramic grinding wheel head, which comprises the following steps: step 1, obtaining an image; step 2, processing the image; step 3, extracting a target area; step 4, calculating the outline size and evaluating the result; shooting a clear grinding wheel head image by using a backlight source, then carrying out image processing such as graying, filtering, binarization and the like to obtain a grinding wheel head outline image, obtaining an outline straight line of a grinding wheel rod according to a Hough straight line, rotating the image to a correct position according to the straight line, finally extracting a target detection window, and calculating the outline size of the grinding wheel head to carry out result evaluation; compared with the traditional detection method, the visual detection method provided by the invention has higher efficiency and accuracy, and can utilize the grinding wheel head contour pixels to fit a contour line and analyze the local size error of the grinding wheel head, thereby providing convenience for production and manufacture.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of automatic detection of quality of industrial processing parts, and relates to a visual detection method for the contour size of a ceramic grinding wheel head.
[ background of the invention ]
In the quality detection of industrial processing parts, the detection accuracy, the detection efficiency and the detection cost are basic evaluation of the quality of a detection method, due to the rapid development of the Internet of things, personalized and customized products are increased, new requirements are provided for the detection method and equipment, and how to improve the real-time performance and the applicability of the detection method and the equipment becomes a new evaluation target.
The automatic visual detection system can well solve the problem of adapting to the evaluation target in surface quality detection, accurately acquire visual information of a target area by extracting a local target detection area of an acquired image and image enhancement processing methods such as image graying, filtering, corrosion, expansion contour searching and the like, and can finish quality detection of a processed part by a camera calibration and matching calculation method.
Add to the rapid development of present robot, it is not difficult to cooperate visual detection to realize the multi-attitude detection of industry part, and the robot can set up different work beats as required moreover, has stable operating condition, can replace the manual work in this respect, improves and detects precision and work efficiency, reduces and detects the cost. The quality detection is used as the last line of defense of the production industry, and the automatic visual detection can become a future development target.
[ summary of the invention ]
The invention aims to solve the actual problem of detecting the quality of the outer surface of a processed part and provides a visual detection method for the contour size of a ceramic grinding wheel head.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a visual detection method for the outline size of a ceramic grinding wheel head comprises the following steps:
step 1, image acquisition:
placing a target grinding wheel to be detected on the detection V-shaped block and fixing the grinding wheel, enabling a grinding wheel head to be in the center of a view field, enabling a grinding wheel rod to be vertically placed in the view field, placing a surface light source under the grinding wheel head, and using an image obtained by an industrial camera;
step 2, image processing:
filtering redundant information in the image, detecting the outer contour size of the grinding wheel head, and highlighting the characteristics of the expressed target area; the image processing comprises the steps of image graying, filtering, binaryzation, contour searching, hough line detection and image rotation;
step 3, extracting a target area:
drawing a rectangular frame in the processed image, distinguishing a target area from a non-target area, and calculating the outline size of the target area;
step 4, contour dimension calculation and result evaluation:
after the camera is calibrated, the size of the outline of the target area is calculated, the calculation result is compared with the standard design size, the size error is obtained, and the grinding wheel head is evaluated.
The invention further improves the following steps:
the specific method of the step 2 is as follows:
step 2-1, graying the image:
carrying out graying processing on the image, and processing the three-channel RGB image into a single-channel grayscale image;
step 2-2, gaussian filtering:
setting the width kernel size of a filter window to perform image Gaussian filtering processing;
step 2-3, image binarization:
setting the gray values of all pixel points on the image to be 0 or 255, and setting a threshold value to carry out binarization processing on the image;
step 2-4, searching for the contour:
detecting the outline, converting all points in the outline coding into points to obtain the pixel value position of the outline, and creating a blank image to be drawn on the blank image;
step 2-5, hough line detection:
carrying out Hough line detection on the obtained outer contour image, and setting a polar diameter resolution, a polar angle resolution, a straight line intersection point threshold, a straight line forming minimum point threshold and a straight line two-point maximum distance to obtain a straight line of the grinding wheel lever contour as a basis of a rotation image;
step 2-6, rotating the image:
and selecting a vertical straight line and a straight line obtained by Hough straight line detection, calculating an included angle by utilizing vector dot product, and rotating the image until the grinding wheel rod is in a vertical position.
If the camera is set to acquire a grayscale image, step 2 is performed starting from step 2-2.
In the step 3, an effective detection field of view is set or selected in the acquired image, so that detection of an invalid region is avoided.
In the step 4, firstly, camera calibration is carried out, the contour of one side of the image obtained in the step 2-6 is taken as the start, the contour diameter line is obtained by taking the contour of the other side as the end, the contour diameter size of the detection target is obtained through layer-by-layer calculation, then the comparison is carried out with a standard design drawing, the size error of the key position is obtained, and whether the detection workpiece is qualified or not is judged.
Compared with the prior art, the invention has the following beneficial effects:
the detection method provided by the invention is visual detection, namely non-contact measurement, so that the damage to the surface of the workpiece to be detected can be avoided, and the upgrading and updating cost of detection equipment is reduced; the visual detection algorithm can be modified according to the workpiece to be detected, so that the applicability and the real-time performance are improved; the quality detection under multiple postures can be carried out on the workpiece to be detected by matching with the robot; the vision that automatic robot cooperation camera was compared in the manual work, has stable operating condition, can effectual improvement detect the precision, improves detection efficiency, reduces the detection cost.
[ description of the drawings ]
FIG. 1 is a flow chart of the detection method of the present invention;
FIG. 2 is a schematic view of a partial structure of a target part of the grinding wheel head to be detected according to the invention;
FIG. 3 is a schematic view of a region to be detected of the target part according to the present invention;
FIG. 4 is a graph showing the results of the present invention.
[ detailed description ] embodiments
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments, and are not intended to limit the scope of the present disclosure. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
In the context of the present disclosure, when a layer/element is referred to as being "on" another layer/element, it can be directly on the other layer/element or intervening layers/elements may be present. In addition, if a layer/element is "on" another layer/element in one orientation, then that layer/element may be "under" the other layer/element when the orientation is reversed.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the visual inspection method for the contour size of the ceramic grinding wheel head of the invention comprises the following steps:
step 1, acquiring an image, namely placing a target grinding wheel to be detected on a detection V-shaped block and fixing the grinding wheel, enabling a grinding wheel head to be in the center of a view field as much as possible, enabling a grinding wheel rod to be vertically placed in the view field, placing a surface light source under the grinding wheel head, and acquiring a clear image by using an industrial camera, wherein the clear image is shown in fig. 2;
step 2, image processing: the method comprises the following steps of preliminarily obtaining an image, then not directly detecting the outline size of the grinding wheel head, carrying out image processing, filtering redundant information in the image, detecting the outline size of the grinding wheel head only by using the outline, not by using color information, and highlighting the characteristics of a target area, wherein the image processing comprises the steps of image graying, filtering, binaryzation, contour searching, hough line detection, image rotation and the like, and the specific steps are as follows:
step 2-1, graying the image: aiming at the contour size detection of the grinding wheel head, if color information of a part is not required, carrying out graying processing on an image, processing an RGB (red, green and blue) image with three channels into a grayscale image with a single channel, and if a camera is arranged to acquire the grayscale image, not carrying out graying;
step 2-2, gaussian filtering: the step aims at image smoothing processing, and in order to reduce the influence of noise and artifacts on an image, the width kernel size of a filter window is set to perform image Gaussian filtering processing;
step 2-3, image binarization: setting the gray values of all pixel points on the image to be 0 or 255, wherein the step is to set a threshold value to carry out binarization processing on the image in order to highlight the image into two display states of black and white and clear and lay a foundation for searching the contour;
step 2-4, searching for the contour: the step is to find the outer contour of the grinding wheel in the image, set the outer contour to be only detected, convert all points in the contour coding into points, obtain the pixel value position of the outer contour, and create a blank image to be drawn on the point;
step 2-5, hough line detection: carrying out Hough line detection on the obtained outer contour image, setting parameters such as polar diameter resolution, polar angle resolution and linear intersection point threshold, forming linear minimum point threshold, linear two-point maximum distance and the like, and obtaining a linear of the grinding wheel spindle profile as the basis of the rotation image;
step 2-6, rotating the image: and selecting a vertical straight line and a straight line obtained by Hough straight line detection, calculating by using vector dot product to obtain an included angle, and rotating the image to a correct position, namely the grinding wheel lever is in a vertical position.
Step 3, extracting a target area, as shown in fig. 3: after the image is processed, objects in the view field are all target detection areas, a rectangular frame is drawn in the processed image, the target area and the non-target area are distinguished, only the contour size of the target area is calculated, waste of computer resources caused by redundant calculation is avoided, the detection efficiency is improved, and the detection accuracy is improved;
step 4, contour dimension calculation and result evaluation, as shown in fig. 4: and after the camera is calibrated, the size of the outline of the target area can be calculated, the calculation result is compared with the standard design size, the size error is obtained, and whether the grinding wheel head is qualified or not is evaluated. Specifically, the image obtained in the step 2-6 is obtained by taking the left side contour as the start and the right side contour as the end, contour diameter lines are obtained, the contour diameter size of the detection target is obtained through layer-by-layer calculation, then the size error of the key position is obtained through comparison with a standard design drawing, and whether the detection workpiece is qualified or not is judged.
The above contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention should not be limited thereby, and any modification made on the basis of the technical idea proposed by the present invention falls within the protection scope of the claims of the present invention.
Claims (4)
1. The visual detection method for the outline size of the ceramic grinding wheel head is characterized by comprising the following steps of:
step 1, image acquisition:
placing a target grinding wheel to be detected on the detection V-shaped block and fixing the grinding wheel, enabling a grinding wheel head to be in the center of a view field, enabling a grinding wheel rod to be vertically placed in the view field, placing a surface light source under the grinding wheel head, and using an image obtained by an industrial camera;
step 2, image processing:
filtering redundant information in the image, detecting the outer contour size of the grinding wheel head, and highlighting the characteristics of the target area; the image processing comprises the steps of image graying, filtering, binaryzation, contour searching, hough line detection and image rotation, and the specific method comprises the following steps:
step 2-1, graying the image:
carrying out graying processing on the image, and processing the three-channel RGB image into a single-channel grayscale image;
step 2-2, gaussian filtering:
setting the width kernel size of a filter window to perform image Gaussian filtering processing;
step 2-3, image binarization:
setting the gray values of all pixel points on the image as 0 or 255, and setting a threshold value to carry out binarization processing on the image;
step 2-4, searching for the contour:
detecting the outline, converting all points in the outline coding into points to obtain the pixel value position of the outline, and creating a blank image to be drawn on the blank image;
step 2-5, hough line detection:
carrying out Hough line detection on the obtained outer contour image, and setting a polar diameter resolution, a polar angle resolution, a straight line intersection point threshold, a straight line forming minimum point threshold and a straight line two-point maximum distance to obtain a straight line of the grinding wheel lever contour as a basis of a rotation image;
step 2-6, rotating the image:
selecting a vertical straight line and a straight line obtained by Hough straight line detection, calculating an included angle by using vector dot product, and rotating the image until the grinding wheel rod is in a vertical position;
step 3, extracting a target area:
drawing a rectangular frame in the processed image, distinguishing a target area from a non-target area, and calculating the outline size of the target area;
and 4, contour dimension calculation and result evaluation:
after the camera is calibrated, the size of the outline of the target area is calculated, the calculation result is compared with the standard design size, the size error is obtained, and the grinding wheel head is evaluated.
2. The visual inspection method of the contour dimension of the ceramic grinding wheel head as claimed in claim 1, wherein step 2 is performed starting from step 2-2 if the camera setting is to acquire a gray scale image.
3. The visual inspection method for the profile size of a ceramic grinding wheel head as claimed in claim 1, wherein in step 3, an effective inspection visual field is set or selected in the acquired image to avoid detecting an ineffective area.
4. The visual inspection method for the contour dimension of the ceramic grinding wheel head as claimed in claim 3, wherein in the step 4, the camera calibration is firstly performed, the contour on one side of the image obtained in the steps 2-6 is used as the start, the contour diameter line is obtained by using the contour on the other side as the end, the contour diameter dimension of the inspection target is obtained by calculating layer by layer, and then the dimension error of the key position is obtained by comparing with the standard design drawing, and whether the inspection workpiece is qualified is judged.
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