CN112097683B - 3D high-precision detection system based on laser scanning imaging - Google Patents
3D high-precision detection system based on laser scanning imaging Download PDFInfo
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Abstract
The invention relates to a 3D high-precision detection system based on laser scanning imaging, which comprises a detection carrier, an information acquisition module and an information processing module, wherein a central processing unit of the information processing module accurately controls a laser scanner, a camera, a detection table and an ultrasonic detector in real time, performs information pre-acquisition on an object to be detected, acquires the size information, the quality information and the type of the object to be detected, calculates the detection grade F of the object to be detected, adjusts the comparison standard in the defect detection process according to the detection grade F, adjusts the rotating speed of the detection table, ensures the integrity of the laser scanner on the outline information acquisition of the object to be detected, reduces errors caused by the difference of the object to be detected, and simultaneously judges whether to rescan object needs to be scanned according to the acquired detection information in the detection process, the accuracy and the integrity of the acquired information are improved, and the reliability of the final detection result is ensured.
Description
Technical Field
The invention belongs to the field of detection, and particularly relates to a 3D high-precision detection system based on laser scanning imaging.
Background
With the progress of the technical level, the quality and precision of parts, workpieces and products in various industrial fields are higher and higher, so that the quality detection and the quality detection become an indispensable process, for many industrial fields, the quality detection of the generated products mostly adopts manual detection, people use the naked eyes to identify defects, and part of the products are detected by adopting an inspection device or a system, but the following problems exist:
1. the traditional manpower detection is influenced by human factors, and the detection precision is not high;
2. the traditional detection device or system does not automatically control the detection process in real time, does not adjust parameters in the detection process according to the difference of the object to be detected, and is easy to generate errors;
3. the traditional detection device has high requirements on detection environment for the detection of high-precision objects, for example, part of the detection devices adopting the structured light camera for modeling need to strictly control light rays around the detected object, and the defects can be covered by the reflected light of the object to be detected.
Disclosure of Invention
The present invention is to partially solve the above problems, and therefore the present invention provides a 3D high precision detection based on laser scanning imaging, which includes:
the detection box body is used for arranging a detection part, two detection tables are arranged at the bottom of the detection box body and comprise a first detection table and a second detection table, the two detection tables are used for bearing an object to be detected, gravity sensors are arranged on the surfaces of the two detection tables and used for measuring the weight of the object to be detected, the two detection tables are connected with a motor so that the two detection tables drive the object to be detected to rotate under the driving of the motor, a guide rail is arranged at the bottom of the detection box body, a telescopic support is arranged on the guide rail so that the telescopic support slides along the guide rail, and a display is arranged on the outer wall of the detection box body and used for displaying detection information and a defect detection result of the object to be detected in real;
the information acquisition module comprises a laser scanner, a first camera and a second camera, the laser scanner is used for acquiring the outline information of an object to be detected, the laser scanner is arranged on the telescopic support so that the height of the laser scanner can be adjusted at any time, and the first camera and the second camera are arranged on the inner wall of the detection box body;
an ultrasonic detector for detecting internal defects of the part;
the information processing module comprises a central processing unit arranged on the outer side of the detection box body, the central processing unit is connected with the laser scanner, the motor, the gravity sensor, the telescopic bracket, the first camera, the second camera and the ultrasonic detector and completes data exchange, the central processing unit controls the laser scanner, the motor, the telescopic bracket, the first camera, the second camera and the ultrasonic detector in real time, when the object to be detected is placed on any detection table, the central processing unit controls the first camera and the second camera to be started, simultaneously controls the telescopic bracket to be adjusted to a preset position, shoots the object to be detected to perform information pre-acquisition, obtains the height H, the average width B and the mass M of the object to be detected, and calculates the detection parameter F0 of the object to be detected according to the following formula,
wherein M represents the quality of the object to be detected, H represents the height of the object to be detected, B represents the average width of the object to be detected, and represents a parameter which is a preset value; meanwhile, the information processing module identifies the type of the part to be detected, judges whether an ultrasonic detector is needed to detect internal defects, controls the power of a motor to adjust the rotating speed of the detection table according to the detection parameter F0, controls a laser scanner to perform laser scanning on the object to be detected to obtain the outline information of the object to be detected, establishes an outline coordinate set F (x, y, z) of the object to be detected in real time according to the outline information of the object to be detected, and determines the defect position of the object to be detected according to the outline coordinate set F (x, y, z).
The central processing unit comprises a process feedback unit, the process feedback unit judges the defects of the outline coordinate set f (x, y, z) and determines whether the outline coordinate set f (x, y, z) has defects, if so, the positions of the turntable and the telescopic support on the guide rail are adjusted in real time, and the positions of the defects are rescanned to obtain the complete outline coordinate set f (x, y, z) of the object to be detected.
Further, the central processing unit can enter a part category pre-storage mode, and the part identification pre-storage step is as follows:
the method comprises the following steps of firstly, selecting a plurality of sheet-shaped parts of different shapes, shooting the parts and obtaining a shape contour coordinate set f (x, y, z) of the parts;
secondly, the central processing unit performs artificial intelligence algorithm training on the outline coordinate set f (x, y, z) of the parts to generate sheet shape type part judgment data, so that the central processing unit recognizes that the corresponding parts are sheet shape types according to the shot images;
and step three, repeating the method of the step one and the method of the step two, performing part identification and pre-storage on the parts of the three-dimensional hollow external shape type and the three-dimensional solid external shape type, generating part judgment data of the three-dimensional hollow external shape type and part judgment data of the three-dimensional solid external shape type, and finally determining a part identification information matrix B (B1, B2 and B3), wherein B1 represents plate-shaped external shape type part judgment data, B2 represents three-dimensional hollow external shape type judgment data, and B3 represents three-dimensional solid external shape type judgment data.
Furthermore, a first control matrix U (U1, U2, U3) is preset in the central processing unit, wherein Ui represents the ith detection power, i =1,2,3, and when the number of the objects to be detected is one, the power method for controlling the motor by the central processing unit includes;
when the F0 is not more than F1, the central processing unit judges that the detection grade F of the object to be detected is a first detection grade;
when F1 is more than F0 and less than or equal to F2, the central processing unit judges that the detection grade F of the object to be detected is a second detection grade;
when the detection level F is F0, the central processing unit judges that the detection level F of the object to be detected is a third detection level;
if the detection grade F of the object to be detected is a first detection grade, the central processing unit controls a corresponding motor to operate at the 1 st detection power U1 and drives a detection table on which the object to be detected is placed to rotate;
if the detection grade F of the object to be detected is a second detection grade, the central processing unit controls the motor to operate at the 2 nd detection power U2 and drives the detection table on which the object to be detected is placed to rotate;
if the detection grade F of the object to be detected is a third detection grade, the central processing unit controls the motor to operate at a3 rd detection power U3 and drives the detection table on which the object to be detected is placed to rotate.
Further, when the central processing unit controls the power of the motor, and the number of the objects to be detected is two, the central processing unit calculates a detection parameter difference value C of the objects to be detected according to the following formula,
wherein: f01Indicating a first detected object detection parameter, F02Representing a second detected object detection parameter;
meanwhile, the central processing unit calculates the sum D of the detection grades of the objects to be detected.
Furthermore, the central processing unit is internally preset with a second control matrix Y (Y1, Y2, Y3, Y4, Y5), wherein Yi represents the ith control parameter of the second control matrix, Yi decreases with the increase of i, i =1,2,3, 4, 5; the central processing unit determines the motor running speed corresponding to the first detection platform and the second detection platform according to the detection grade sum D and the parameter difference value C, wherein:
when the sum of the detection grades of the objects to be detected is =2, the central processing unit controls the motors corresponding to the first detection platform and the second detection platform to operate at Y1 power;
when the sum of the detection levels of the to-be-detected objects is D =3, the central processing unit controls a motor connected with a detection table on which the to-be-detected objects with the detection level F being a first detection level to operate at Y2 power, and correspondingly, another motor operates at Y2-Y0 × C × 1.1 power, wherein Y0 is a conversion coefficient and is a preset value;
when the sum of the detection levels of the objects to be detected is D =4, if the detection levels F of the objects to be detected are the second detection level, the central processing unit controls all the motors to operate at Y3 power to drive the two detection tables to rotate; if the detection level F of the object to be detected is not completely the second detection level, the central processing unit controls the motor connected with the detection platform on which the object to be detected with the first detection level F is placed to operate at Y3 power, and correspondingly, the other motor operates at Y3-Y0 × C × 1.15 power;
when the sum of the detection grades of the objects to be detected is D =5, the central processing unit controls a motor connected with a detection table on which the objects to be detected with the detection grade F as the second detection grade are placed to operate at Y4 power, and correspondingly, the other motor operates at Y3-Y0 × C × 1.2 power;
and when the sum of the detection grades of the objects to be detected is D =6, the central processing unit controls the motors corresponding to the first detection platform and the second detection platform to operate at Y5 power.
Further, the central processing unit shoots a left view a1, a right view a2 and a front view a2 of the object to be detected through the first camera and the second camera when the information is pre-collected, for any view Ai, i =1,2,3, the central processing unit extracts two-dimensional contour information of the object to be detected, judges the maximum height H of the object to be detected, calculates the average width Bi of the contour of the object to be detected in the view Ai, and further calculates the average width B of the object to be detected through the following formula,
wherein, B1 represents the average width of the left view outline of the object to be detected, B2 represents the average width of the right view outline of the object to be detected, and B3 represents the average width of the front view outline of the object to be detected.
Further, after the central processor acquires the outline coordinate set and f (x, y, z) of the object to be detected, it determines whether the outline coordinate set and f (x, y, z) have missing regions, and if the missing regions exceed a preset value KO, it determines that the outline coordinate set and f (x, y, z) are incomplete, and meanwhile, the central processor records the coordinates of the defective regions to form a defective coordinate set Q (Q1, Q2.. Qn), wherein: q1 denotes a first set of defect area coordinates and Q2 denotes a second set of defect area coordinates.
Further, the central processor is internally provided with a defective adjusting matrix J (J1, J2... Jn), wherein J1 represents a1 st adjusting matrix, and J2 represents a2 nd adjusting matrix.. Jn represents an nth adjusting matrix; for the ith adjustment matrix Ji (Ji 1, Ji 2), i =1,2.. n, where Ji1 represents the ith coordinate range set Ji1 (x, y, z), and Ji2 represents the ith control information; when central processing unit produced defect coordinate set Q, the position of adjustment carousel gyration angle and telescopic bracket at the guide rail place, its process includes: a central processor compares data within the set of defect coordinates Q (Q1, Q2.. Qn) with data within the defect adjustment matrix J (J1, J2... Jn),
when any defect region coordinate set Qi in the defect coordinate set Q (Q1, Q2.. Qn) belongs to the ith coordinate range set Ji1 (x, y, z), the central processor calls the ith control information Ji2 to control the telescopic bracket to move to a specified position on the guide rail and adjust the disc rotation angle, i =1,2.. n.
Further, the central processing unit is internally provided with a standard storage matrix P (P1, P2.. Pn), wherein P1 represents a first pre-detection standard outline coordinate set f01 (x, y, z), P2 represents a second pre-detection standard outline coordinate set f02 (x, y, z.. Pn represents an nth standard outline coordinate set f0n (x, y, z); when the central processor judges the part defect according to the outline coordinate set f (x, y, z) of the object to be detected, the outline coordinate set f (x, y, z) of the object to be detected is compared with the corresponding ith standard part coordinate set f0i (x, y, z) in the standard part storage matrix P (P1, P2
And if Y0 is a preset value and F0 is the detection parameter F0 of the object to be detected, judging that the object to be detected is defective.
Furthermore, an ith formal scanning adjustment matrix Zi (Zi 1, Zi2) is preset in the central processing unit, and i =1,2, 3; when only the first detection table is used for placing an object to be detected, the central processing unit controls the telescopic bracket to move to a preset position in front of the first detection table along the guide rail, when only the second detection table is used for placing the object to be detected, the central processing unit controls the telescopic bracket to move to a preset position in front of the second detection table along the guide rail, when the first detection table and the second detection table are used for placing the object to be detected, the central processing unit controls the telescopic bracket to move to a middle preset position, and simultaneously, the height of the telescopic bracket and the shooting angle of the laser scanner are adjusted according to the maximum height H of the object to be detected, and contrast parameters H1 and H2 are preset in the central processing unit,
when H is not more than H1, the central processor calls data of a1 st formal scanning adjusting matrix Z1 (Z11, Z12) to adjust the height of the telescopic bracket to be Z11, and the shooting angle of the laser scanner is Z12;
when H1 is less than or equal to H2, the central processing unit calls data of a2 nd formal scanning adjusting matrix Z2 (Z21, Z22) to adjust the height of the telescopic bracket to be Z21, and the shooting angle of the laser scanner is Z22;
when H > H2, the central processor calls data of a3 rd formal scanning adjusting matrix Z3 (Z31, Z32) to adjust the height of the telescopic bracket to be Z31, and the shooting angle of the laser scanner is Z32.
Further, when the central processing unit controls the ultrasonic detector, the process includes:
when the central processor judges that the pre-detected part is of the flaky shape type, the central processor does not start the ultrasonic detector;
when the central processing unit judges that the pre-detection part is of a three-dimensional solid shape type, the central processing unit does not start the ultrasonic detector;
and when the central processing unit judges that the pre-detected part is in the three-dimensional hollow shape type, the central processing unit starts an ultrasonic detector to detect the defect of the hollow part of the third type of part.
Compared with the prior art, the invention has the technical effects that the invention comprises a detection carrier, an information acquisition module and an information processing module, a central processor of the information processing module of the invention controls a laser scanner, a camera and a detection table in real time, pre-acquires information of an object to be detected, acquires dimension information and quality information of the object to be detected, calculates the detection grade F of the object to be detected, adjusts a defect comparison threshold value in the defect detection process according to the detection grade F, adjusts the rotating speed of the detection table according to the number of the objects to be detected, ensures the integrity of the laser scanner for acquiring the outline information of the object to be detected, reduces errors caused by the difference of the objects to be detected on the detection result, and adjusts the scanning position and the scanning angle of the laser scanner according to the dimension quality of the object to be detected, the method has the advantages that the best scanning effect is ensured to be obtained, meanwhile, the integrity detection is carried out on the obtained outline coordinate set f (x, y, z) of the object to be detected, if the defect exceeding the preset range occurs, the scanning is carried out again, the accuracy and precision of the acquisition of the outline coordinate set f (x, y, z) are ensured, and the precision of the defect detection is indirectly improved.
In particular, the invention calculates the detection parameters F0 of the object to be detected,
under the condition that the size and the material of the object to be detected are the same, if the quality reduction detection parameter F0 is increased, the object to be detected has a hollow or more complex structure, the detection grade F of the object to be detected is determined on the basis of the detection parameter FO, the object to be detected has discrimination, and the quality, height and width information of the object to be detected can be acquired in the mean square manner and can be continuously acquired.
Particularly, the detection grade F is divided for the object to be detected, the rotating speed of the detection table is adjusted based on the detection grade F, the detection parameter F0 of the object with higher detection grade F is correspondingly higher, and the object with higher detection grade F has more complex structures and hollow structures, so that the rotating speed of the detection table placed on the object to be detected with higher detection grade F is slowed down, all characteristics of the object to be detected are accurately obtained by the laser scanner, the integrity and the accuracy of finally obtained outline information of the object to be detected are improved, the accuracy and the reliability of a detection result are indirectly improved, and meanwhile, different detection parameters are adopted by the detection tables for a plurality of objects and a single object to be detected, so that the 3D scanner has higher integrity and accuracy in obtaining the information of the plurality of objects to be detected.
In particular, when the defect detection is carried out on the object to be detected, the central processing unit is adopted for processing, the defect determination is completed in a coordinate comparison calculation mode, the detection result is reliable and accurate, and the high-precision detection of the object to be detected is realized.
Particularly, the integrity of the acquired outline coordinate set f (x, y, z) of the object to be detected is judged, if the outline coordinate set f (x, y, z) corresponding to the object to be detected is missing and the missing exceeds a preset range, the turntable is controlled to rotate, the position of the laser scanner is adjusted to perform rescanning, and the position and the shooting angle of the laser scanner are adjusted according to the position of the defect before rescanning, so that the integrity and the accuracy of the acquired outline information of the object to be detected are ensured, and the reliability and the accuracy of defect detection are further improved.
Particularly, the ith formal scanning adjusting matrix Zi (Zi 1, Zi2) is preset in the central processing unit, the position of the laser scanner on the guide rail and the scanning angle of the laser scanner are adjusted according to the placing position of the object to be detected, the adjustment information is preset information, the adjustment is convenient and fast, the effect of acquiring the outline information of the object to be detected is improved, and the reliability and the accuracy in defect detection are further improved.
Drawings
Fig. 1 is a structural diagram of a 3D high-precision detection system based on laser scanning imaging according to an embodiment of the present invention;
fig. 2 is a schematic layout of a guide rail of a 3D high-precision detection system based on laser scanning imaging according to an embodiment of the present invention.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 and fig. 2, which are a structural diagram of a laser scanning imaging-based 3D high-precision detection system and a schematic layout diagram of a guide rail of a laser scanning imaging-based 3D high-precision detection system according to an embodiment of the present invention, a laser scanning imaging-based 3D high-precision detection system according to the present embodiment includes:
the detection box body 1 is used for loading detection parts, the bottom of the detection box body is provided with a detection table 5, the top surface of the detection table 5 is provided with a light supplement lamp 2, the detection table 5 comprises a first detection table 51 and a first detection table 52, the two detection tables 5 are used for bearing an object to be detected, gravity sensors are arranged on the surfaces of the two detection tables 5 and used for measuring the weight of the object to be detected, the two detection tables are connected with a motor 8 so that the two detection tables can drive the object to be detected to rotate under the driving of the motor 8, the bottom of the detection box body is provided with a guide rail 9, a telescopic support 7 is arranged on the guide rail 9 so that the telescopic support 7 can slide along the guide rail 9, and the outer wall of the detection box body is provided with a display 10 for displaying the detection information;
the information acquisition module comprises a laser scanner 3, a first camera 41 and a second camera 42, wherein the laser scanner 3 is used for acquiring the outline information of an object to be detected, the laser scanner 3 is arranged on the telescopic bracket 7 so that the height of the laser scanner 3 can be adjusted at any time, and the cameras are arranged on the inner wall of the detection box body;
an ultrasonic detector 11 for detecting an internal defect of a part;
an information processing module, which comprises a central processing unit 10 arranged outside the detection box body, wherein the central processing unit 10 is connected with the laser scanner 3, the motor 8, the gravity sensor, the telescopic bracket 7, the first camera 41, the second camera 42 and the ultrasonic detector 11 and completes data exchange, the central processing unit 10 controls the laser scanner 3, the motor 8, the telescopic bracket 7, the first camera 41 and the second camera 42 in real time, when the object to be detected is placed on any detection table, the central processing unit 10 controls the first camera 41 and the second camera 42 to start, and simultaneously controls the telescopic bracket 7 to adjust to a preset position, performs information pre-collection on the shot object to be detected, obtains the height H, the average width B and the mass M of the object to be detected, and calculates a detection parameter F0 of the object to be detected according to the following formula,
wherein M represents the quality of the object to be detected, H represents the height of the object to be detected, B represents the average width of the object to be detected, and represents a parameter which is a preset value; meanwhile, the information processing module identifies the type of the part to be detected, determines whether an ultrasonic detector 11 is needed to detect internal defects, controls the power of the motor 8 to adjust the rotation speed of the detection table according to the detection parameter F0, controls the laser scanner 3 to perform laser scanning on the object to be detected to obtain the outline information of the object to be detected, establishes an outline coordinate set F (x, y, z) of the object to be detected in real time according to the outline information of the object to be detected, and determines the defect position of the object to be detected according to the outline coordinate set F (x, y, z).
The central processing unit 10 includes a process feedback unit, where the process feedback unit performs defect judgment on the outline coordinate set f (x, y, z), determines whether the outline coordinate set f (x, y, z) has a defect, and if the outline coordinate set f (x, y, z) has a defect, adjusts the positions of the turntable and the telescopic bracket 7 on the guide rail 9 in real time and rescans the defect position to obtain the complete outline coordinate set f (x, y, z) of the object to be detected.
Specifically, when the information is pre-collected, the central processor shoots a left view a1, a right view a2 and a front view a2 of the object to be detected through the first camera 41 and the second camera 42, for any view Ai, i =1,2,3, the central processor extracts two-dimensional contour information of the object to be detected, determines the maximum height H of the object to be detected, calculates the average width Bi of the contour of the object to be detected in the view Ai, and further calculates the average width B of the object to be detected through the following formula,
wherein, B1 represents the average width of the left view outline of the object to be detected, B2 represents the average width of the right view outline of the object to be detected, and B3 represents the average width of the front view outline of the object to be detected.
Further, the central processing unit 10 can enter a part classification pre-storage mode, and the part identification pre-storage step is as follows:
the method comprises the following steps of firstly, selecting a plurality of sheet-shaped parts of different shapes, shooting the parts and obtaining a shape contour coordinate set f (x, y, z) of the parts;
secondly, the central processing unit performs artificial intelligence algorithm training on the outline coordinate set f (x, y, z) of the parts to generate sheet shape type part judgment data, so that the central processing unit recognizes that the corresponding parts are sheet shape types according to the shot images;
and step three, repeating the method of the step one and the method of the step two, performing part identification and pre-storage on the parts of the three-dimensional hollow external shape type and the three-dimensional solid external shape type, generating part judgment data of the three-dimensional hollow external shape type and part judgment data of the three-dimensional solid external shape type, and finally determining a part identification information matrix B (B1, B2 and B3), wherein B1 represents plate-shaped external shape type part judgment data, B2 represents three-dimensional hollow external shape type judgment data, and B3 represents three-dimensional solid external shape type judgment data.
Specifically, the central processing unit 10 has a first control matrix U (U1, U2, U3) preset therein, where Ui represents the ith detection power, i =1,2,3, and when the number of the objects to be detected is one, the method for controlling the power of the motor 8 by the central processing unit 10 includes;
when the F0 is not less than F1, the central processing unit 10 judges that the detection grade F of the object to be detected is a first detection grade;
when the F1 is more than or equal to F0 and less than or equal to F2, the central processing unit 10 judges that the detection grade F of the object to be detected is a second detection grade;
when F0, the central processing unit 10 determines that the detection grade F of the object to be detected is a third detection grade;
if the detection level F of the object to be detected is a first detection level, the central processing unit 10 controls the corresponding motor 8 to operate at the 1 st detection power U1 and drives the detection table on which the object to be detected is placed to rotate;
if the detection grade F of the object to be detected is a second detection grade, the central processing unit 10 controls the motor 8 to operate at the 2 nd detection power U2 and drives the detection table on which the object to be detected is placed to rotate;
if the detection grade F of the object to be detected is the third detection grade, the central processing unit 10 controls the motor 8 to operate at the 3 rd detection power U3 and drives the detection table on which the object to be detected is placed to rotate.
Specifically, when the central processing unit 10 controls the power of the motor 8, and the number of the objects to be detected is two, the central processing unit 10 calculates the detection parameter difference C of the objects to be detected according to the following formula,
wherein: f01Indicating a first detected object detection parameter, F02Representing a second detected object detection parameter;
meanwhile, the central processing unit 10 calculates the sum D of the detection grades of the to-be-detected objects.
Specifically, the central processing unit 10 is preset with a second control matrix Y (Y1, Y2, Y3, Y4, Y5) inside, where Yi represents the ith control parameter of the second control matrix, Yi decreases as i increases, i =1,2,3, 4, 5; the central processing unit 10 determines the operation speed of the motor 8 corresponding to the first detection table 51 and the first detection table 52 according to the detection grade sum D and the parameter difference value C, wherein:
when the sum of the detection levels of the objects to be detected is =2, the central processing unit 10 controls the motors 8 corresponding to the first detection table 51 and the first detection table 52 to operate at the power of Y1;
when the sum of the detection levels of the to-be-detected objects is D =3, the central processor 10 controls the motor 8 connected to the detection table on which the to-be-detected object with the detection level F as the first detection level is placed to operate at Y2 power, and correspondingly, the other motor 8 operates at Y2-Y0 × C × 1.1 power, wherein Y0 is a conversion coefficient which is a preset value;
when the sum of the detection levels of the to-be-detected objects is D =4, if the detection levels F of the to-be-detected objects are the second detection level, the central processing unit 10 controls all the motors 8 to operate at the power of Y3 to drive the two detection tables to rotate; if the detection level F of the object to be detected is not completely the second detection level, the central processing unit 10 controls the motor 8 connected to the detection platform on which the object to be detected with the first detection level F is placed to operate at the power of Y3, and correspondingly, the other motor 8 operates at the power of Y3-Y0 × C × 1.15;
when the sum of the detection levels of the to-be-detected objects is D =5, the central processing unit 10 controls the motor 8 connected to the detection table on which the to-be-detected objects with the detection level F being the second detection level are placed to operate at power of Y4, and correspondingly, the other motor 8 operates at power of Y3-Y0 × C × 1.2;
when the sum of the detection levels of the objects to be detected is D =6, the central processing unit 10 controls the motors 8 corresponding to the first detection table 51 and the first detection table 52 to operate at the power of Y5.
Specifically, after the central processor 10 acquires the outline coordinate set and f (x, y, z) of the object to be detected, it determines whether the outline coordinate set and f (x, y, z) have missing regions, and if the missing regions exceed a preset value KO, it determines that the outline coordinate set and f (x, y, z) are incomplete, and meanwhile, the central processor 10 records the coordinates of the defective regions to form a defective coordinate set Q (Q1, Q2.. Qn), where: q1 denotes a first set of defect area coordinates and Q2 denotes a second set of defect area coordinates.
Specifically, the central processing unit 10 is internally provided with a defect adjustment matrix J (J1, J2... Jn), wherein J1 represents a1 st adjustment matrix, and J2 represents a2 nd adjustment matrix.. Jn represents an nth adjustment matrix; for the ith adjustment matrix Ji (Ji 1, Ji 2), i =1,2.. n, where Ji1 represents the ith coordinate range set Ji1 (x, y, z), and Ji2 represents the ith control information; when the central processing unit 10 generates the defect coordinate set Q, the rotation angle of the turntable and the position of the telescopic bracket 7 on the guide rail 9 are adjusted, and the process comprises the following steps: the central processor 10 compares the data within the set of defect coordinates Q (Q1, Q2.. Qn) with the data within the defect adjustment matrix J (J1, J2... Jn),
when any defect region coordinate set Qi in the defect coordinate set Q (Q1, Q2.. Qn) belongs to the i-th coordinate range set Ji1 (x, y, z), the cpu 10 calls the i-th control information Ji2 to control the telescopic bracket 7 to move to a specified position on the guide rail 9 and adjust the disc rotation angle, i =1,2.. n.
Specifically, the central processing unit 10 is configured to preset a standard storage matrix P (P1, P2.. Pn) therein, where P1 represents a first pre-inspection standard outline coordinate set f01 (x, y, z), and P2 represents a second pre-inspection standard outline coordinate set f02 (x, y, z.. Pn represents an nth standard outline coordinate set f0n (x, y, z); when the central processor 10 determines a part defect according to the outline coordinate set f (x, y, z) of the object to be detected, the outline coordinate set f (x, y, z) of the object to be detected is compared with the corresponding ith standard part coordinate set f0i (x, y, z) in the standard part storage matrix P (P1, P2.. Pn) to determine the ith area difference coordinate set Ci (x, y, z) i =1,2.. n, and if the spatial range represented by the ith area difference coordinate set Ci (x, y, z) exceeds a preset defect comparison value
And if Y0 is a preset value and F0 is the detection parameter F0 of the object to be detected, judging that the object to be detected is defective.
Specifically, the central processor 10 has an i-th formal scanning adjustment matrix Zi (Zi 1, Zi2) preset therein, i =1,2, 3; when only the first detection table 51 is used for placing an object to be detected, the central processor 10 controls the telescopic bracket 7 to move to a preset position in front of the first detection table 51 along the guide rail 9, when only the first detection table 52 is used for placing the object to be detected, the central processor 10 controls the telescopic bracket 7 to move to a preset position in front of the first detection table 52 along the guide rail 9, when both the first detection table 51 and the first detection table 52 are used for placing the object to be detected, the central processor 10 controls the telescopic bracket 7 to move to a middle preset position, and simultaneously, the height of the telescopic bracket 7 and the shooting angle of the laser scanner 3 are adjusted according to the maximum height H of the object to be detected, and comparison parameters H1, H2 are preset in the central processor,
when H is not greater than H1, the central processor 10 calls data of a1 st formal scanning adjustment matrix Z1 (Z11, Z12) to adjust the height of the telescopic bracket 7 to be Z11, and the shooting angle of the laser scanner 3 is Z12;
when H1 is less than or equal to H2, the central processing unit 10 calls data of a2 nd formal scanning adjusting matrix Z2 (Z21, Z22) to adjust the height of the telescopic bracket 7 to be Z21, and the shooting angle of the laser scanner 3 is Z22;
when H > H2, the central processor 10 calls data of the 3 rd formal scanning adjustment matrix Z3 (Z31, Z32) to adjust the height of the telescopic bracket 7 to be Z31, and the shooting angle of the laser scanner 3 to be Z32.
Specifically, when the central processing unit controls the ultrasonic detector, the process includes:
when the central processor judges that the pre-detected part is of the flaky shape type, the central processor does not start the ultrasonic detector;
when the central processing unit judges that the pre-detection part is of a three-dimensional solid shape type, the central processing unit does not start the ultrasonic detector;
and when the central processing unit judges that the pre-detected part is in a three-dimensional hollow shape type, the central processing unit starts the ultrasonic detector to detect the defect of the hollow part of the pre-detected part.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. A high-precision 3D detection system based on laser scanning imaging is characterized by comprising:
the detection box body is used for arranging a detection part, two detection tables are arranged at the bottom of the detection box body and comprise a first detection table and a second detection table, the two detection tables are used for bearing an object to be detected, gravity sensors are arranged on the surfaces of the two detection tables and used for measuring the weight of the object to be detected, the two detection tables are connected with a motor so that the two detection tables drive the object to be detected to rotate under the driving of the motor, a guide rail is arranged at the bottom of the detection box body, a telescopic support is arranged on the guide rail so that the telescopic support slides along the guide rail, and a display is arranged on the outer wall of the detection box body and used for displaying detection information and a defect detection result of the object to be detected in real;
the information acquisition module comprises a laser scanner, a first camera and a second camera, the laser scanner is used for acquiring the outline information of an object to be detected, the laser scanner is arranged on the telescopic support so that the height of the laser scanner can be adjusted at any time, and the first camera and the second camera are arranged on the inner wall of the detection box body;
an ultrasonic detector for detecting internal defects of the part;
the information processing module comprises a central processing unit arranged on the outer side of the detection box body, the central processing unit is connected with the laser scanner, the motor, the gravity sensor, the telescopic bracket, the first camera, the second camera and the ultrasonic detector and completes data exchange, the central processing unit controls the laser scanner, the motor, the telescopic bracket, the first camera, the second camera and the ultrasonic detector in real time, when the object to be detected is placed on any detection table, the central processing unit controls the first camera and the second camera to be started, simultaneously controls the telescopic bracket to be adjusted to a preset position, shoots the object to be detected to perform information pre-acquisition, obtains the height H, the average width B and the mass M of the object to be detected, and calculates the detection parameter F0 of the object to be detected according to the following formula,
wherein M represents the quality of the object to be detected, H represents the height of the object to be detected, B represents the average width of the object to be detected, and alpha represents a parameter which is a preset value; meanwhile, the information processing module identifies the type of the part to be detected, judges whether an ultrasonic detector is needed to detect internal defects, controls the power of a motor to adjust the rotating speed of the detection table according to the detection parameter F0, controls a laser scanner to perform laser scanning on the object to be detected to obtain the outline information of the object to be detected, establishes an outline coordinate set F (x, y, z) of the object to be detected in real time according to the outline information of the object to be detected, and determines the defect position of the object to be detected according to the outline coordinate set F (x, y, z);
the central processing unit comprises a process feedback unit, the process feedback unit judges the defects of the outline coordinate set f (x, y, z) and determines whether the outline coordinate set f (x, y, z) has defects, if so, the positions of the turntable and the telescopic support on the guide rail are adjusted in real time, and the positions of the defects are rescanned to obtain the complete outline coordinate set f (x, y, z) of the object to be detected.
2. The laser scanning imaging-based 3D high-precision detection system as claimed in claim 1, wherein the central processing unit can enter a part category pre-storage mode, and the part identification pre-storage step is as follows:
the method comprises the following steps of firstly, selecting a plurality of sheet-shaped parts of different shapes, shooting the parts and obtaining a shape contour coordinate set f (x, y, z) of the parts;
secondly, the central processing unit performs artificial intelligence algorithm training on the outline coordinate set f (x, y, z) of the parts to generate sheet shape type part judgment data, so that the central processing unit recognizes that the corresponding parts are sheet shape types according to the shot images;
and step three, repeating the method of the step one and the method of the step two, performing part identification and pre-storage on the parts of the three-dimensional hollow external shape type and the three-dimensional solid external shape type, generating part judgment data of the three-dimensional hollow external shape type and part judgment data of the three-dimensional solid external shape type, and finally determining a part identification information matrix B (B1, B2 and B3), wherein B1 represents plate-shaped external shape type part judgment data, B2 represents three-dimensional hollow external shape type judgment data, and B3 represents three-dimensional solid external shape type judgment data.
3. The laser scanning imaging-based 3D high-precision detection system according to claim 1, wherein the central processor is internally preset with a first control matrix U (U1, U2, U3), where Ui represents the ith detection power, i =1,2,3, and when the number of the objects to be detected is one, the power of the motor is controlled by the central processor by a method comprising the following steps;
when the F0 is not more than F1, the central processing unit judges that the detection grade F of the object to be detected is a first detection grade;
when F1 is more than F0 and less than or equal to F2, the central processing unit judges that the detection grade F of the object to be detected is a second detection grade;
when F0> F2, the central processing unit judges that the detection grade F of the object to be detected is a third detection grade;
if the detection grade F of the object to be detected is a first detection grade, the central processing unit controls a corresponding motor to operate at the 1 st detection power U1 and drives a detection table on which the object to be detected is placed to rotate;
if the detection grade F of the object to be detected is a second detection grade, the central processing unit controls the motor to operate at the 2 nd detection power U2 and drives the detection table on which the object to be detected is placed to rotate;
if the detection grade F of the object to be detected is a third detection grade, the central processing unit controls the motor to operate at a3 rd detection power U3 and drives the detection table on which the object to be detected is placed to rotate.
4. The laser scanning imaging-based 3D high-precision detection system according to claim 3, wherein when the CPU controls the power of the motor, and when the first detection plate and the second detection plate are both provided with an object to be detected, the CPU calculates a detection parameter difference C of the object to be detected according to the following formula,
wherein: f01Indicating a first detected object detection parameter, F02Representing a second detected object detection parameter;
meanwhile, the central processing unit calculates the detection grade sum D of the objects to be detected, and a second control matrix Y (Y1, Y2, Y3, Y4 and Y5) is preset in the central processing unit, wherein Yi represents the ith control parameter of the second control matrix, Yi is reduced along with the increase of i, and i =1,2,3, 4 and 5; the central processing unit determines the motor running speed corresponding to the first detection platform and the second detection platform according to the detection grade sum D and the parameter difference value C, wherein:
when the sum of the detection grades of the objects to be detected is =2, the central processing unit controls the motors corresponding to the first detection platform and the second detection platform to operate at Y1 power;
when the sum of the detection levels of the to-be-detected objects is D =3, the central processing unit controls a motor connected with a detection table on which the to-be-detected objects with the detection level F being a first detection level to operate at Y2 power, and correspondingly, another motor operates at Y2-Y0 × C × 1.1 power, wherein Y0 is a conversion coefficient and is a preset value;
when the sum of the detection levels of the objects to be detected is D =4, if the detection levels F of the objects to be detected are the second detection level, the central processing unit controls all the motors to operate at Y3 power to drive the two detection tables to rotate; if the detection level F of the object to be detected is not completely the second detection level, the central processing unit controls the motor connected with the detection platform on which the object to be detected with the first detection level F is placed to operate at Y3 power, and correspondingly, the other motor operates at Y3-Y0 × C × 1.15 power;
when the sum of the detection grades of the objects to be detected is D =5, the central processing unit controls a motor connected with a detection table on which the objects to be detected with the detection grade F as the second detection grade are placed to operate at Y4 power, and correspondingly, the other motor operates at Y3-Y0 × C × 1.2 power;
and when the sum of the detection grades of the objects to be detected is D =6, the central processing unit controls the motors corresponding to the first detection platform and the second detection platform to operate at Y5 power.
5. The laser scanning imaging-based 3D high-precision detection system according to claim 1, wherein the CPU, when performing the information pre-collection, shoots a left view A1, a right view A2 and a front view A3 of the object to be detected through a first camera and a second camera, for any view Ai, i =1,2,3, extracts two-dimensional contour information of the object to be detected, determines the maximum height H of the object to be detected, calculates the average width Bi of the contour of the object to be detected in the view Ai, and further calculates the average width B of the object to be detected through the following formula,
wherein, B1 represents the average width of the left view outline of the object to be detected, B2 represents the average width of the right view outline of the object to be detected, and B3 represents the average width of the front view outline of the object to be detected.
6. The laser scanning imaging-based 3D high-precision detection system according to claim 1, wherein the central processor determines whether the outline coordinate set f (x, y, z) has a missing area after acquiring the outline coordinate set f (x, y, z) of the object to be detected, determines that the outline coordinate set f (x, y, z) is incomplete if the missing area exceeds a preset value KO, and records the coordinates of the defective area to form a defective coordinate set Q (Q1, Q2. Q1 denotes a first set of defect area coordinates and Q2 denotes a second set of defect area coordinates.
7. The laser scanning imaging based 3D high-precision detection system according to claim 6, wherein the central processor is internally provided with a defective adjustment matrix J (J1, J2... Jn), wherein J1 represents a1 st adjustment matrix, J2 represents a2 nd adjustment matrix.. Jn represents an nth adjustment matrix; for the ith adjustment matrix Ji (Ji 1, Ji 2), i =1,2.. n, where Ji1 represents the ith coordinate range set Ji1 (x, y, z), and Ji2 represents the ith control information; when central processing unit produced defect coordinate set Q, the position of adjustment carousel gyration angle and telescopic bracket at the guide rail place, its process includes: a central processor compares data within the set of defect coordinates Q (Q1, Q2.. Qn) with data within the defect adjustment matrix J (J1, J2... Jn),
when any defect region coordinate set Qi in the defect coordinate set Q (Q1, Q2.. Qn) belongs to the ith coordinate range set Ji1 (x, y, z), the central processor calls the ith control information Ji2 to control the telescopic bracket to move to a specified position on the guide rail and adjust the disc rotation angle, i =1,2.. n.
8. The laser scanning imaging based 3D high-precision detection system according to claim 7, wherein the central processor is internally provided with a standard storage matrix P (P1, P2.. Pn), wherein P1 represents a first pre-detection standard outline coordinate set f01 (x, y, z), P2 represents a second pre-detection standard outline coordinate set f02 (x, y, z).. Pn represents an nth standard outline coordinate set f0n (x, y, z); when the central processor judges part defects according to the outline coordinate set f (x, y, z) of the object to be detected, the outline coordinate set f (x, y, z) of the object to be detected is compared with the corresponding ith standard component coordinate set f0i (x, y, z) in the standard component storage matrix P (P1, P2N, if the spatial range represented by the i-th region difference coordinate set Ci (x, y, z) exceeds a preset defect contrast threshold, the i =1,2
And if Y0 is a preset value and F0 is the detection parameter F0 of the object to be detected, judging that the object to be detected is defective.
9. The laser scanning imaging-based 3D high-precision detection system according to claim 1, wherein the central processor is internally preset with an ith formal scanning adjustment matrix Zi (Zi 1, Zi2), i =1,2, 3; when only the first detection table is used for placing an object to be detected, the central processing unit controls the telescopic bracket to move to a preset position in front of the first detection table along the guide rail, when only the second detection table is used for placing the object to be detected, the central processing unit controls the telescopic bracket to move to a preset position in front of the second detection table along the guide rail, when the first detection table and the second detection table are used for placing the object to be detected, the central processing unit controls the telescopic bracket to move to a middle preset position, and simultaneously, the height of the telescopic bracket and the shooting angle of the laser scanner are adjusted according to the maximum height H of the object to be detected, and contrast parameters H1 and H2 are preset in the central processing unit,
when H is not more than H1, the central processor calls data of a1 st formal scanning adjusting matrix Z1 (Z11, Z12) to adjust the height of the telescopic bracket to be Z11, and the shooting angle of the laser scanner is Z12;
when H1 is less than or equal to H2, the central processing unit calls data of a2 nd formal scanning adjusting matrix Z2 (Z21, Z22) to adjust the height of the telescopic bracket to be Z21, and the shooting angle of the laser scanner is Z22;
when H > H2, the central processor calls data of a3 rd formal scanning adjusting matrix Z3 (Z31, Z32) to adjust the height of the telescopic bracket to be Z31, and the shooting angle of the laser scanner is Z32.
10. The laser scanning imaging-based 3D high-precision detection system according to claim 1, wherein when the central processor controls the ultrasonic detector, the process comprises:
when the central processor judges that the pre-detected part is of the flaky shape type, the central processor does not start the ultrasonic detector;
when the central processing unit judges that the pre-detection part is of a three-dimensional solid shape type, the central processing unit does not start the ultrasonic detector;
and when the central processing unit judges that the pre-detected part is in a three-dimensional hollow shape type, the central processing unit starts the ultrasonic detector to detect the defect of the hollow part of the pre-detected part.
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