CN112730456A - Intelligent detection method for hemispherical harmonic oscillator - Google Patents
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Abstract
The invention discloses an intelligent detection method of a hemispherical harmonic oscillator, which utilizes an LED light source to emit grid stripe light beams to the surface of the hemispherical harmonic oscillator, an industrial camera shoots the hemispherical harmonic oscillator and sends the shot image to a digital image acquisition card connected with the industrial camera, and the digital image acquisition card converts the image into a digital signal and transmits the digital signal to a computer; after receiving the image, the computer firstly uses a Sobel algorithm to carry out edge extraction to obtain a gray value gradient change graph of the image in the x direction and the y direction; and then extracting characteristic points of the image by using a classical Harris algorithm, calculating to obtain a corner response value, wherein when the corner response value is smaller than a corner response threshold value, the point is qualified, otherwise, the point is a defect point. The intelligent detection method for the hemispherical harmonic oscillator detects whether the surface of the hemispherical harmonic oscillator has discontinuous areas such as defects or not, is simple to operate and high in detection precision, and is suitable for large-batch industrial detection.
Description
Technical Field
The invention relates to a detection technology of a hemispherical harmonic oscillator, in particular to an intelligent detection method of the hemispherical harmonic oscillator.
Background
The hemispherical resonator gyroscope is a novel solid-state gyroscope with high precision, high reliability and long service life, is a key component for inertial measurement unit and attitude stability control of a satellite or a space vehicle, and has unique advantages and wide prospects in the field of space application. The hemispherical harmonic oscillator is a core component of the hemispherical resonator gyro, and the performance of the hemispherical harmonic oscillator determines the performance of the hemispherical resonator gyro. The gyroscope precision mainly depends on the processing precision of the hemispherical harmonic oscillator and the uniformity of the material thereof, so that the processing precision of the harmonic oscillator is very high in practice. Besides the requirement of meeting the production index of the dimensional accuracy and the shape accuracy, the surface quality is strictly required, the hemispherical harmonic oscillator is connected with the excitation cover and the base through the supporting rod, the reliability of the hemispherical harmonic oscillator is reduced due to the existence of surface defects, the service life of the gyroscope is influenced, and the hemispherical harmonic oscillator fails when the hemispherical harmonic oscillator works under extreme conditions. Therefore, the surface quality of the hemispherical harmonic oscillator has an important influence on the practical production.
At present, the main domestic hemispherical workpiece manufacturers are limited by technical and equipment factors, and still adopt a detection method mainly based on manual visual inspection. The detection method has the following defects: the detection speed is low, and the detection capability of workers is required; the method has the advantages that a uniform detection standard is lacked, the detection result has a great relationship with subjective factors of people, and the reliability of the detection result is influenced by physical fatigue, lack of responsibility, insufficient experience and the like; the glare on the surface of the hemispherical workpiece can cause great harm to the eyesight of an inspector.
In the prior art, a set of three-dimensional high-resolution industrial X-CT system is developed by Wangxianggang, Qinghua university and the like, X rays emitted by a micro-focusing X-ray source penetrate through a workpiece to be detected, the X rays are converted into visible light through a CsI (CsI) scintillation screen, an image is acquired by a high-resolution area array CCD (charge coupled device) camera, and the surface and internal defects of the workpiece to be detected can be detected after the image is processed by a background computer. However, the detection method is long in time consumption and high in detection cost, and is not suitable for industrial production.
The Luoyang LYC bearing company Limited adopts TP series test blocks to carry out sensitivity test on the penetrant for the fluorescence penetration detection of the ceramic balls, and optimizes the fluorescence penetration detection process. When the surface of the workpiece to be detected is coated with a penetrant which is provided with a coloring dye or a fluorescent dye and has high permeability, the penetrant permeates into the opening defects on the surface of the workpiece due to the capillary action and the wetting action; then, cleaning and removing the redundant penetrating agent on the surface of the workpiece, and retaining the penetrating agent in the defects; spraying a developer on the surface of the detected workpiece, and adsorbing the penetrant in the defect to the surface of the workpiece again under the capillary action to form a defect trace; under the irradiation of white light lamp (coloring dye) or ultraviolet lamp (fluorescent dye), the coloring image trace (under white light lamp) or the fluorescent image trace (under ultraviolet lamp) of the defect can be observed, and the defect property can be evaluated. However, the penetrant testing method requires six steps of pretreatment, permeation, removal, drying, development and inspection, and the steps are complicated, so that the penetrant testing method is not suitable for large-scale industrial testing.
An ultrasonic detection device and a detection method are researched by Xushiqiong et al of Shandong university. The ultrasonic waves are emitted into the bearing ball through the probe, if the bearing ball has no defects, the emitted ultrasonic waves can be reflected only to the bottom layer, if the bearing ball has defects, the emitted ultrasonic waves are reflected when encountering the defects, so that the waves reflected by the bottom surface and the defects can be displayed on a fluorescent screen through a receiver and an oscilloscope after being received by the probe, and whether the bearing ball is a perfect ball or a defective ball can be judged according to the waveform of the waves. However, ultrasonic detection is not intuitive in displaying defects, and people with high experience are required to distinguish the types of the defects.
In view of the above, it is desirable to develop a new method for detecting hemispherical harmonic oscillators.
Disclosure of Invention
The invention aims to provide an intelligent detection method for a hemispherical resonator, which utilizes an LED light source to project grid stripes to the surface of the hemispherical resonator, an industrial camera shoots the hemispherical resonator, and the shot image is transmitted to a computer for processing through a digital image acquisition card, so as to detect the defects on the surface of the hemispherical resonator.
The technical scheme of the invention is as follows: the intelligent detection method of the hemispherical harmonic oscillator comprises the following steps that during detection, the hemispherical harmonic oscillator to be detected is placed on a workpiece base; the workpiece baseFixed on the workbench; an LED light source is arranged above the workpiece base, a hemispherical light-transmitting cover which is arranged towards the workpiece base is arranged on the LED light source, grid stripes which can transmit light are arranged on the hemispherical light-transmitting cover, and the rest part of the hemispherical light-transmitting cover is not capable of transmitting light; the middle part of the LED light source is hollow, and an industrial camera which can shoot the hemispherical harmonic oscillator through the hollow area in the middle part of the LED light source is arranged above the LED light source; the LED light source emits grid stripe light beams to the surface of the hemispherical harmonic oscillator, the camera shoots the hemispherical harmonic oscillator and sends a shot image to a digital image acquisition card connected with the industrial camera, and the digital image acquisition card converts the image into a digital signal and transmits the digital signal to the computer; after receiving the image, the computer firstly uses a Sobel algorithm to carry out edge extraction to obtain a gray value gradient change graph I of the image in the x and y directionsx、Iy(ii) a Then, a classical Harris algorithm is used for extracting the characteristic points of the image, specifically, a rectangular window function is used for carrying out two-dimensional movement on the image and obtaining a matrix M through the change trend of the gray value of the image,
calculating to obtain the eigenvalue lambda of matrix M1、λ2Obtaining a corner response value R, R (x, y) ═ detM-k (traceM) through the characteristic value2，detM＝λ1λ2，traceM＝λ1+λ2(ii) a Wherein k is a constant and takes a value of 0.04-0.06; when the angular point response value is smaller than the angular point response threshold value, the point is qualified; otherwise, the spot is a defect spot.
Compared with the prior art, the intelligent detection method for the hemispherical harmonic oscillator utilizes the LED light source to project the grid stripes to the surface of the hemispherical harmonic oscillator, the industrial camera shoots the hemispherical harmonic oscillator and transmits the shot image to the computer through the digital image acquisition card, and the computer processes the image information according to a specific algorithm (the existence of the defects on the hemispherical harmonic oscillator can cause the received image to generate irregular grid stripes), so that whether the surface of the hemispherical harmonic oscillator has discontinuous areas such as defects or not is detected, the operation is simple, the detection precision is high, and the intelligent detection method is suitable for large-batch industrial detection.
As optimization, the grid stripes on the hemispherical light-transmitting cover are determined by a ray tracing method; specifically, grid stripes shot by an industrial camera are predicted according to the required detection precision, and then the grid stripes on the hemispherical light-transmitting cover are determined according to the light reflection principle.
As an optimization, the corner response threshold is determined by:
i. selecting a batch of hemispherical harmonic oscillators of defect samples with the number of the defects determined;
placing the hemispherical harmonic oscillator on an on-machine detection device for image acquisition to obtain a gray value image of the hemispherical harmonic oscillator with grid-shaped stripes;
calculating by matlab to obtain a corner response value of each point and establishing a three-dimensional coordinate system by using (x, y, corner response value);
the defect point is positioned at the three-dimensional coordinate bulge, the highest point a1 and the second highest point b1 (interference points) of the response value of the corner point are recorded, and the point sets a and b are obtained by repeated tests;
and v, taking the intersection of the a and the b, and determining the corner response value in the intersection point as a corner response threshold value.
Preferably, a circular groove for positioning the hemispherical harmonic oscillator is formed in the workpiece base. During detection, the positioning can be realized only by placing the hemispherical harmonic oscillator in the circular groove, so that the operation is simple and convenient.
As optimization, the LED light source is fixed above the workpiece base through the connecting rod base; the industrial camera is fixed above the LED light source through the camera fixing frame. Furthermore, a connecting rod is arranged on the connecting rod base, and the camera fixing frame is fixed on the connecting rod through the camera connecting frame and is clamped through the clamping mechanism. The fixing mode is convenient to assemble and small in occupied space, and the position of the industrial camera can be adjusted up and down through the clamping mechanism so as to adapt to different detection requirements.
As optimization, the workpiece base, the connecting rod base, the camera fixing frame, the connecting rod and the camera connecting frame are all made of aluminum alloy materials, and the contact surfaces are subjected to polishing treatment.
Preferably, the workbench is an optical platform made of aluminum alloy, and the surface of the optical platform is subjected to black oxide treatment. The optical platform with the surface treated by the oxidized black is adopted by the workbench, so that light reflection can be effectively prevented, and meanwhile, the optical platform can be directly purchased and obtained and is easy to implement.
Preferably, the industrial camera is a CMOS high-speed industrial camera, and the aperture of the lens is not less than F2.0. When the aperture of the lens is too small, more light rays enter during shooting, the definition of a shot image is easily low, the volume and the weight of the camera lens are relatively large, and the camera lens is not easy to mount and fix, and the inventor finds that the aperture of the lens is more suitable when the aperture is not less than F2.0.
Preferably, the color temperature of the LED light source is above 5500K. The higher the color temperature is, the more the blue light is, and the brightness degree is reduced; and too low a color temperature may affect the image capturing effect. The inventors found out that the color temperature is preferably 5500K or more.
Drawings
Fig. 1 is a schematic structural diagram of a detection device constructed for implementing the intelligent detection method for hemispherical harmonic oscillators of the present invention;
FIG. 2 is a schematic view of the detection device of FIG. 1 with the LED light source removed;
FIG. 3 is a schematic view of the construction of the workpiece mount of FIG. 1;
FIG. 4 is a schematic diagram of ray tracing in the present invention;
FIG. 5 is a graph of the effect of grid stripes expected from an industrial camera in ray tracing;
fig. 6 is an effect diagram of a hemispherical harmonic oscillator with grid stripes distributed on the hemispherical harmonic oscillator received by an industrial camera.
The labels in the figures are: 1-a workbench; 2-hemisphere harmonic oscillator; 3-LED light source, 301-hemispherical light-transmitting cover; 4-industrial camera, 401-receiving screen, 402-lens; 5-workpiece base, 51-circular groove; 6-connecting rod base; 7-camera mounting bracket; 8-a connecting rod; 9-camera attachment frame; 10-a clamping mechanism.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Example (b):
in this embodiment, the intelligent detection method for the hemispherical harmonic oscillator is implemented by using the detection device shown in fig. 1. Referring to fig. 1 and 2, the detection apparatus in the present embodiment includes a table 1, an LED light source 3, an industrial camera 4, and a workpiece mount 5; the workpiece base 5 is fixed on the workbench 1 and used for placing the hemispherical harmonic oscillator 2 to be detected; an LED light source 3 is arranged above the workpiece base 5, a hemispherical light-transmitting cover 301 which faces the workpiece base 5 is arranged on the LED light source 3, grid stripes which can transmit light are arranged on the hemispherical light-transmitting cover 301, and the rest part of the hemispherical light-transmitting cover is not capable of transmitting light; the middle part of the LED light source 3 is hollow, an industrial camera 4 is arranged above the LED light source 3, and the industrial camera 4 can shoot the hemispherical harmonic oscillator 2 through the hollow area in the middle part of the LED light source 3.
Referring to fig. 3, in the present embodiment, a circular groove 51 is formed on the workpiece base 5. During detection, the hemispherical harmonic oscillator 2 is placed in the circular groove 51 to be positioned.
In this embodiment, the LED light source 3 is fixed above the workpiece base 5 through the connecting rod base 6; the industrial camera 4 is fixed above the LED light source 3 through a camera fixing frame 7. The connecting rod base 6 is provided with a connecting rod 8, and the camera fixing frame 7 is fixed on the connecting rod 8 through a camera connecting frame 9 and is clamped through a clamping mechanism 10. (this kind of fixed mode convenient assembling, occupation space is little, and can also adjust the position of industry camera 4 from top to bottom through clamping mechanism 10 to adapt to different detection demands.) work piece base 5, connecting rod base 6, camera mount 7, connecting rod 8 and camera link 9 are the aluminum alloy material, and the contact surface polishing is handled. The workbench 1 is an optical platform made of aluminum alloy, and the surface of the optical platform is subjected to black oxide treatment.
In this embodiment, the grid stripes on the hemispherical light-transmitting cover 301 are determined by a ray tracing method; specifically, a grid streak effect map (as shown in fig. 5) captured by the industrial camera 4 is predicted according to the required detection accuracy; then according to the lightAnd determining a grid stripe pattern on the hemispherical light-transmitting cover 301 according to the principle of radiation. The design principle of the grid stripe spacing is as follows: the distance between the grid stripes of the hemispherical harmonic oscillator 2 irradiated by the LED light source 3 is smaller than the minimum detection defect size, so that the minimum detection defect can fall on the grid stripes, and the detection of the surface defect of the hemispherical harmonic oscillator 2 is realized. See FIG. 4, P1、P2、P3Respectively has coordinates of P1(x1，y1，z1)，P2(x2，y2，z2)，P3(x3，y3，z3). The ray tracing process is as follows: p1In order to receive a point on the screen 401, the industrial camera 4 emits light to the surface of the hemispherical resonator 2 through the center of the lens 402, and the light is reflected to the hemispherical transparent cover 301 of the LED light source 3 after being emitted to the hemispherical resonator 2, so as to track the grid stripe pattern of the LED light source 3. From P1，P2The mathematical relationship is established in line with the center of lens 402 as follows:
P2the point is located on the surface of the hemispherical harmonic oscillator 2, and the relation is obtained:
wherein r is the radius of the sphere of the hemispherical harmonic oscillator 2; p2P3The light ray is composed of P1P2The light is reflected, and according to the light reflection law, the following results are obtained:
wherein the content of the first and second substances,
P3the points are located on the surface of the hemispherical light-transmitting cover 301, and the relation is obtained:
wherein R is the radius of the hemispherical light transmissive cover 301.
In this embodiment, the working platform 1 is an OTSB33-1 type aluminum alloy optical platform, which has a size of 300mm by 300mm, a thickness of 13mm, a flatness of 0.3mm, a pore size of M6, and a weight of 3 kg; the industrial camera 4 is an MV-HS300GM/C CMOS high-speed industrial camera (with the highest resolution of 2048X1536 and the maximum frame rate of 38fps), and the lens is a BT-MP5 series 500-ten-thousand-pixel industrial lens; the connecting rod 8 is PG02- (25-300) M6 connecting rod and is made of stainless steel; the material of the screw thread of the clamping mechanism 10 is stainless steel, and the material of the handle part is nylon; the workpiece base 5 and the connecting rod 6 are fixed on the workbench 1 through threaded connection, the LED light source 3 is hinged to the connecting rod base 6, the LED light source 3 is conveniently lifted in the using process, and the hemispherical harmonic oscillator 2 is conveniently replaced (namely, the feeding and discharging are convenient).
In this embodiment, the industrial camera 4 is a CMOS high-speed industrial camera; the color temperature of the LED light source 3 is 5800K, and the power is 10W. The radius of the hemispherical harmonic oscillator 2 to be detected is 15mm, the radius of the hemispherical light-transmitting cover 301 of the LED light source 3 is 90mm, the height distance between the industrial camera 4 and the top of the hemispherical harmonic oscillator 2 is 240mm, at the moment, the distance between grid stripe light beams irradiated to the surface of the hemispherical harmonic oscillator 2 by the LED light source 3 is 0.3mm, and the defect that the surface of the hemispherical harmonic oscillator 2 is larger than 0.3mm can be detected.
When in detection: the focal length of the lens of the industrial camera 4 is set to be 8mm, and the aperture size is set to be F2.0; the hemispherical harmonic oscillator 2 to be detected is placed on the workpiece base 5; the LED light source 3 emits grid stripe light beams to the surface of the hemispherical harmonic oscillator 2, the industrial camera 4 shoots the hemispherical harmonic oscillator 2 and sends a shot image (see figure 6) to a digital image acquisition card connected with the industrial camera 4, and the digital image acquisition card converts the image into a digital signal and transmits the digital signal to a computer (a kilomega high-speed digital image acquisition card capable of selecting a dimensional image to ensure the image transmission speed); after the computer receives the image (the edge in the image refers to a pixel point set with step change of gray value, whether the hemispherical harmonic oscillator has defects can be clearly observed from the edge information), edge extraction is carried out by using a Sobel algorithm (a Roberts algorithm, a Prewitt algorithm, a Kirsch algorithm, a Roberts algorithm,Robinson's algorithm, etc. edge extraction algorithm, the basic idea is to perform convolution using local first or second order directional derivative operators), which contains two sets of 3x3 matrices Gx、GyWherein, in the step (A),
performing plane convolution on the two groups of matrixes and the image respectively to obtain an image x and y direction (transverse and longitudinal) gray value gradient change graph Ix、Iy，Ix＝Gx·A；Iy＝GyA, wherein A is the gray value of the pixel point on the original image; then, a classical Harris algorithm is used for extracting the characteristic points of the image, specifically, a rectangular window function is used for carrying out two-dimensional movement on the image and obtaining a matrix M through the change trend of the gray value of the image,
calculating to obtain the eigenvalue lambda of matrix M1、λ2Obtaining a corner response value R, R (x, y) ═ detM-k (traceM) through the characteristic value2，detM＝λ1λ2，traceM＝λ1+λ2(ii) a (detM is the value of the matrix M, traceM is the trace of the matrix M), wherein k is a constant and the value is 0.05; when the angular point response value is smaller than the angular point response threshold value, the point is qualified; otherwise, the spot is a defect spot.
The corner response threshold is determined by:
i. selecting a batch of hemispherical harmonic oscillators of defect samples with the number of the defects determined;
placing the hemispherical harmonic oscillator on an on-machine detection device for image acquisition to obtain a gray value image of the hemispherical harmonic oscillator with grid-shaped stripes;
calculating by matlab to obtain a corner response value of each point and establishing a three-dimensional coordinate system by using (x, y, corner response value);
the defect point is positioned at the three-dimensional coordinate bulge, the highest point a1 and the second highest point b1 (interference points) of the response value of the corner point are recorded, and the point sets a and b are obtained by repeated tests;
and v, taking the intersection of the a and the b, and determining the corner response value in the intersection point as a corner response threshold value.
The classical Harris algorithm is based on a window function pixel point feature extraction principle, two-dimensional movement is carried out on an image by adopting a rectangular window function, and whether defects exist is judged by detecting the gray level change condition of image pixels. When a rectangular window in an image is moved a slight distance (u, v) in an arbitrary direction, the amount of change in its corresponding grayscale value can be represented as E (u, v): e (u, v) ═ Σ w (x, y) [ I (x + u, y + v) -I (x, y)]2(ii) a Wherein w (x, y) represents a Gaussian window,
delta is the standard deviation of the window (Gaussian window is selected to carry out smooth filtering on the image so as to improve the anti-interference capability of the detection method); depending on the gray value of the background, the higher the standard deviation, the smoother the image gray value; i (x, y) is the gray value of a point on the image. Through the first-order Taylor expansion calculation, after the image moves to the designated direction, the pixel variation in the window can be deduced to obtain:
setting matrix M as
The intelligent detection method of the hemispherical harmonic oscillator adopts Gaussian rectangular window filtering in the computer image processing link, and has strong vibration resistance and noise resistance.
The intelligent detection method of the hemispherical harmonic oscillator can be directly applied to the detection of the surfaces of other spherical parts, namely, the detection of surface defects of other parts with spherical surfaces can be directly carried out according to the detection method of the invention.
The above general description of the invention and the description of the specific embodiments thereof, as referred to in this application, should not be construed as limiting the technical solutions of the invention. Those skilled in the art can add, reduce or combine the technical features disclosed in the general description and/or the specific embodiments (including the examples) to form other technical solutions within the protection scope of the present application according to the disclosure of the present application without departing from the structural elements of the present invention.
Claims (10)
1. The intelligent detection method of the hemispherical harmonic oscillator is characterized in that,
when in detection: the hemispherical harmonic oscillator (2) to be detected is placed on the workpiece base (5); the workpiece base (5) is fixed on the workbench (1); an LED light source (3) is arranged above the workpiece base (5), a hemispherical light-transmitting cover (301) which faces the workpiece base (5) is arranged on the LED light source (3), grid stripes which can transmit light are arranged on the hemispherical light-transmitting cover (301), and the rest part of the hemispherical light-transmitting cover cannot transmit light; the middle part of the LED light source (3) is hollow, and an industrial camera (4) capable of shooting the hemispherical harmonic oscillator (2) through the hollow area in the middle part of the LED light source (3) is arranged above the LED light source (3);
the LED light source (3) emits grid stripe light beams to the surface of the hemispherical harmonic oscillator (2), the industrial camera (4) shoots the hemispherical harmonic oscillator (2) and sends the shot images to a digital image acquisition card connected with the industrial camera (4), and the digital image acquisition card converts the images into digital signals and transmits the digital signals to a computer;
after receiving the image, the computer firstly uses a Sobel algorithm to carry out edge extraction to obtain gray value gradient change graphs Ix and Iy of the image in the x direction and the y direction; then, a classical Harris algorithm is used for extracting the characteristic points of the image, specifically, a rectangular window function is used for carrying out two-dimensional movement on the image and obtaining a matrix M through the change trend of the gray value of the image,
calculating to obtain the eigenvalue lambda of matrix M1、λ2Obtaining a corner response value R through the characteristic value,
R(x,y)＝detM-k*(traceM)2，
detM＝λ1λ2，traceM＝λ1+λ2；
wherein k is a constant and takes a value of 0.04-0.06; when the angular point response value is smaller than the angular point response threshold value, the point is qualified; otherwise, the spot is a defect spot.
2. The intelligent detection method for the hemispherical harmonic oscillator according to claim 1, characterized in that: the grid stripes on the hemispherical light-transmitting cover (301) are determined by a ray tracing method; specifically, grid stripes shot by the industrial camera (4) are predicted according to the required detection precision, and then the grid stripes on the hemispherical light-transmitting cover (301) are determined according to the light reflection principle.
3. The intelligent detection method for hemispherical harmonic oscillators according to claim 1, wherein the corner response threshold is determined by the following steps:
i. selecting a batch of hemispherical harmonic oscillators of defect samples with the number of the defects determined;
placing the hemispherical harmonic oscillator on an on-machine detection device for image acquisition to obtain a gray value image of the hemispherical harmonic oscillator with grid-shaped stripes;
calculating by matlab to obtain a corner response value of each point and establishing a three-dimensional coordinate system by using (x, y, corner response value);
the defect point is positioned at the three-dimensional coordinate bulge, the highest point a1 and the second highest point b1 (interference points) of the response value of the corner point are recorded, and the point sets a and b are obtained by repeated tests;
and v, taking the intersection of the a and the b, and determining the corner response value in the intersection point as a corner response threshold value.
4. The intelligent detection method for the hemispherical harmonic oscillator according to claim 1, characterized in that: and a circular groove (51) for positioning the hemispherical harmonic oscillator (2) is arranged on the workpiece base (5).
5. The intelligent detection method for the hemispherical harmonic oscillator according to claim 1, characterized in that: the LED light source (3) is fixed above the workpiece base (5) through the connecting rod base (6); the industrial camera (4) is fixed above the LED light source (3) through a camera fixing frame (7).
6. The intelligent detection method for the hemispherical harmonic oscillator according to claim 5, characterized in that: the camera fixing frame is characterized in that a connecting rod (8) is arranged on the connecting rod base (6), and the camera fixing frame (7) is fixed on the connecting rod (8) through a camera connecting frame (9) and is clamped through a clamping mechanism (10).
7. The intelligent detection method for the hemispherical harmonic oscillator according to claim 6, characterized in that: the workpiece base (5), the connecting rod base (6), the camera fixing frame (7), the connecting rod (8) and the camera connecting frame (9) are all made of aluminum alloy materials, and the contact surfaces are polished.
8. The intelligent detection method for the hemispherical harmonic oscillator according to claim 1, characterized in that: the workbench (1) is an optical platform made of aluminum alloy, and the surface of the optical platform is subjected to black oxide treatment.
9. The intelligent detection method for the hemispherical harmonic oscillator according to claim 1, characterized in that: the industrial camera (4) is a CMOS high-speed industrial camera, and the aperture of a lens is not less than F2.0.
10. The intelligent detection method for the hemispherical harmonic oscillator according to any one of claims 1 to 9, characterized in that: the color temperature of the LED light source (3) is above 5500K.
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| CN113432590A (en) * | 2021-06-25 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Precision assembly device of hemispherical resonant gyroscope based on spectrum confocal and adjustment method thereof |
| CN113686360A (en) * | 2021-08-27 | 2021-11-23 | 中国科学院西安光学精密机械研究所 | Global measurement method and system for hemispherical harmonic oscillator standing wave drift |
| CN114952599A (en) * | 2022-03-31 | 2022-08-30 | 西安航天精密机电研究所 | Chemical mechanical polishing device and polishing method for hemispherical harmonic oscillator |
| CN115791804A (en) * | 2022-12-20 | 2023-03-14 | 中国航发贵州黎阳航空动力有限公司 | Stripe defect detection method for compressor blade |
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| CN113432590A (en) * | 2021-06-25 | 2021-09-24 | 中国船舶重工集团公司第七0七研究所 | Precision assembly device of hemispherical resonant gyroscope based on spectrum confocal and adjustment method thereof |
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