CN112858175A - Visual inspection system with integrated camera lens - Google Patents
Visual inspection system with integrated camera lens Download PDFInfo
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- CN112858175A CN112858175A CN202110267135.4A CN202110267135A CN112858175A CN 112858175 A CN112858175 A CN 112858175A CN 202110267135 A CN202110267135 A CN 202110267135A CN 112858175 A CN112858175 A CN 112858175A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
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Abstract
The invention discloses a visual detection system with an integrated lens, which comprises a miniature camera, a multi-axial driving device and an objective table, wherein the objective table is arranged on the miniature camera; the miniature camera comprises a lens fixing rod, a base, a fixing seat, a top view lens and a side view lens; the overlooking lens is arranged at the end part of the bottom end of the lens fixing rod; the side-looking lens is arranged on the outer side surface of the lens fixing rod; the middle part of the lens fixing rod is inserted into the base in a clamping manner, and the base is rotatably arranged in the middle of the fixing seat; the multi-axial driving device drives the fixed seat to drive the lens fixing rod to move downwards into the concave groove and drive the lens fixing rod to move forwards, backwards, leftwards and rightwards in the concave groove; the side-looking lens shoots an image towards the side to be detected; the overlooking lens shoots an image towards the bottom surface to be detected. The side-looking lens and the overlooking lens can move in the lower concave groove, and can pick up clear images of the side surface to be detected and the bottom surface to be detected in a close distance.
Description
Technical Field
The invention relates to the technical field of engine detection, in particular to a visual detection system with an integrated lens.
Background
In order to ensure the heat dissipation performance of the engine, the defect detection of the concave groove for the circulation of the cooling liquid is an important part for ensuring the quality of the engine.
The visual inspection technology in the prior art adopts an overlooking lens to obtain images above an inspection interface, and because the concave groove is long and narrow and bent, external visible light is difficult to irradiate into the concave groove, so that the definition of visual observation or photographic imaging is poor, and the inspection efficiency and quality are seriously influenced.
The CT detection method in the prior art utilizes X-ray scanning, does not need visible light imaging, but has high cost and low efficiency, and is not suitable for online detection of large-batch engines.
Disclosure of Invention
The invention aims to provide a vision detection system with an integrated lens, which can shoot and acquire images of a side surface to be detected and a bottom surface to be detected in a short distance, and the quality of the acquired images is high.
In order to achieve the purpose, the invention adopts the following technical scheme:
a visual inspection system with an integrated lens is used for acquiring defect images of a side surface to be inspected and a bottom surface to be inspected of a concave groove in an engine, and comprises a miniature camera, a multi-axial driving device and an object stage for placing the engine to be inspected;
the miniature camera comprises a lens fixing rod, a base, a fixing seat, a top view lens and a side view lens;
the fixed seat is suspended above the objective table, the multi-axial driving device is in transmission connection with the fixed seat, and the multi-axial driving device drives the fixed seat to move up and down, back and forth or left and right;
the middle part of the base is provided with a mounting hole; the lens fixing rod penetrates through the mounting hole from top to bottom and is inserted into the base in a clamping manner; the base is rotatably arranged in the middle of the fixed seat;
the overlooking lens is downwards arranged at the bottom end of the lens fixing rod; the side-looking lens is arranged on the outer side surface of the lens fixing rod;
during the operation, the multiaxis is to drive the fixing base drives behind the camera lens dead lever downwardly moving to concave groove, drive the camera lens dead lever moves about around concave groove, look sideways at the camera lens orientation and wait to examine the side and take the image, it waits to examine the bottom surface and takes the image to overlook the camera lens orientation.
Specifically, the side-view lens comprises a lower side-view lens and an upper side-view lens; the upper side-looking lens is arranged above the lower side-looking lens;
the lower side-looking camera lens and the upper side-looking camera lens are obliquely arranged towards the direction of the bottom of the objective table, and included angles between the central lines of the lower side-looking camera lens and the upper side-looking camera lens and the central line of the overlooking camera lens are smaller than 90 degrees;
the edge of the overlooking lens, the edge of the downward side-looking lens and the edge of the upward side-looking lens are all provided with annular LED light sources.
Specifically, the bottom of the mounting hole is provided with a clamping groove, two sides of the clamping groove are provided with two segmental protrusions, and the two segmental protrusions are distributed at the bottom of the clamping groove in a central symmetry manner;
the miniature camera also comprises a fixing ring, and the fixing ring is sleeved in the middle of the lens fixing rod; the lens fixing rod is a cylinder, the upper end of the fixing ring is a ring body, and the edge of the lower end of the fixing ring extends outwards and is exposed to form a ring body correspondingly matched with the two segmental bulges; the fixing ring is clamped in the clamping groove, and the outer side face of the lower end of the fixing ring is abutted against the inner side face of the clamping groove.
Preferably, the depth of field range of the top view lens is not less than 30mm, and the depth of field ranges of the lower side view lens and the upper side view lens are both 3-30 mm; the field angles of the top view lens, the lower side view lens and the upper side view lens are all 150 degrees; the pixel values of the overlooking lens, the lower side viewing lens and the upper side viewing lens are all 100-300 ten thousand;
the lens fixing rod 2 is an alloy hard tube, and the diameter of the lens fixing rod 2 is 5-8 mm.
Specifically, the multi-axial driving device comprises a Z-axis driving device;
the Z-axis driving device comprises a Z-axis screw rod, a Z-axis screw rod sliding frame, a Z-axis motor and a fixing frame;
the fixed frame is suspended above the objective table; the Z-axis screw rod sliding frame is arranged on the front side surface of the fixed frame facing the objective table; the Z-axis motor is arranged at the top of the Z-axis screw rod sliding frame; the Z-axis screw rod is arranged in the Z-axis screw rod sliding frame, the Z-axis motor is in transmission connection with the top end of the Z-axis screw rod, and the bottom end of the Z-axis screw rod is rotatably fixed at the bottom of the Z-axis screw rod sliding frame;
the fixed seat is slidably arranged on the front side surface of the Z-axis screw rod sliding frame facing the objective table, and the rear end of the fixed seat is abutted against the rod body of the Z-axis screw rod and is in transmission fit with the rod body of the Z-axis screw rod;
the Z-axis motor drives the Z-axis screw rod to drive the fixing seat to slide up and down along the Z-axis screw rod, so that the lens fixing rod is driven to move up and down.
Specifically, the multi-axial driving device further comprises an R-axis driving device;
the R-axis driving device comprises an R-axis motor, a rotating synchronous belt and a synchronous wheel;
the synchronizing wheel is arranged at the upper part of the base and is positioned below the fixed seat;
the R-axis motor is arranged in the middle of the fixed seat and is positioned between the base and the Z-axis screw rod sliding frame;
the output end of the R-axis motor penetrates through the fixed seat downwards to be in transmission fit with the rear end of the rotary synchronous belt; the front end of the rotating synchronous belt is sleeved on the synchronous wheel, and the rotating synchronous belt is in transmission fit with the synchronous wheel;
the R-axis motor drives the synchronous pulley to drive the rotary synchronous belt to move, so that the fixed seat and the lens fixed rod are driven to rotate along the radial direction.
Specifically, the multi-axial driving device further comprises a Y-axis driving device and an X-axis driving device;
the X-axis driving device comprises an X-axis screw rod, an X-axis screw rod sliding frame, an X-axis motor and an X-axis transmission belt;
the X-axis motor is arranged at the end part of the right end of the X-axis screw rod sliding frame, the X-axis screw rod is arranged in the X-axis screw rod sliding frame, the X-axis motor is in transmission connection with the right end of the X-axis screw rod, and the left end of the X-axis screw rod is fixed at the left end of the X-axis screw rod sliding frame;
the Y-axis driving device comprises a Y-axis screw rod, a Y-axis motor, a Y-axis transmission belt and two Y-axis screw rod sliding frames;
the two Y-axis screw rod sliding frames are respectively erected at the left side and the right side of the objective table, the length of the Y-axis screw rod sliding frames in the front-back direction is larger than that of the objective table, and the distance between the two Y-axis screw rod sliding frames is larger than that of the objective table in the left-right direction;
the left end and the right end of the X-axis screw rod sliding frame are respectively arranged above the two Y-axis screw rod sliding frames in a sliding manner; the fixing frame is slidably erected on the front side surface of the X-axis screw rod sliding frame facing the objective table; one end of the X-axis transmission belt is in transmission fit with the rod body of the X-axis lead screw, and the other end of the X-axis transmission belt is fixedly connected with the fixed frame;
the X-axis motor drives the X-axis lead screw to drive the X-axis transmission belt and the fixing frame to slide left and right along the front side surface of the X-axis lead screw sliding frame, so that the lens fixing rod is driven to move left and right between the two Y-axis lead screw sliding frames;
the Y-axis motor is arranged at the rear end of the Y-axis screw rod sliding frame close to the left side of the objective table; the Y-axis screw rod is arranged in the Y-axis screw rod sliding frame on the left side, the Y-axis motor is in transmission connection with the rear end of the Y-axis screw rod, and the front end of the Y-axis screw rod is rotatably arranged at the front end of the Y-axis screw rod sliding frame on the left side; one end of the Y-axis transmission belt is in transmission fit with a rod body of the Y-axis lead screw, and the other end of the Y-axis transmission belt is fixedly connected with the left end of the X-axis lead screw sliding frame;
the Y-axis motor drives the Y-axis screw rod to drive the X-axis screw rod sliding frame to slide back and forth above the two Y-axis screw rod sliding frames through the Y-axis transmission belt, so that the lens fixing rod is driven to move back and forth between the two Y-axis screw rod sliding frames.
Preferably, the device further comprises a movement track acquisition module, wherein the movement track acquisition module comprises a plane camera;
the plane camera is arranged above the objective table and is used for acquiring the image of the plane where the upper surface of the concave groove is located;
the movement track acquisition module is electrically connected with the plane camera;
the pixel value of the plane camera is 2100- & 3000 ten thousand.
Preferably, the moving track acquiring module further includes a planar light source;
the plane light source is arranged above the objective table and surrounds the periphery of the plane camera.
Preferably, the movement track acquiring module further comprises a height sensor;
the moving track acquisition module is electrically connected with the height sensor;
the height sensor is arranged above the objective table and close to the outer side surface of the plane camera.
The invention has the beneficial effects that: the visual detection system with the integrated lens comprises the integrated lens consisting of a side-looking lens and a top-looking lens, and further comprises a multi-axial driving device, wherein the multi-axial driving device can drive the lens fixing rod provided with the integrated lens to move downwards into a concave groove to be detected and can drive the lens fixing rod to move left and right in the concave groove, and clear images of the side surface to be detected and the bottom surface to be detected are obtained at a short distance.
Furthermore, the invention also comprises a moving track acquisition module, wherein the moving track acquisition module comprises a plane camera, a plane light source and a height sensor, and can effectively acquire the shape profile image and the relative height information of the upper surface of the concave groove, so that the accuracy of the moving path of the downward-looking lens and the side-looking lens driven by the multi-axial driving device can be improved, the detection quality and the working efficiency of the visual detection system with the integrated lens can be further improved, and the online detection of the defect of the concave groove in the engine can be realized.
The invention solves the technical problem that the imaging effect of the vision detection system in the prior art is poor and the detection efficiency and quality are seriously influenced.
Drawings
FIG. 1 is a schematic diagram of a visual inspection system with an integrated lens according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of the visual inspection system with an integrated lens of FIG. 1 without a moving trace obtaining module;
FIG. 3 is a schematic structural diagram of a Z-axis driving device and an R-axis driving device of the vision inspection system with an integrated lens of FIG. 1;
FIG. 4 is a schematic view of a lens holding rod portion of the vision inspection system with integrated lens of FIG. 1;
FIG. 5 is a schematic diagram of a multi-axial drive arrangement portion of the lens-integrated vision inspection system of FIG. 1;
FIG. 6 is a schematic view of another view direction of the R-axis driving device portion of the vision inspection system with integrated lens of FIG. 3;
FIG. 7 is a cross-sectional view of FIG. 6;
wherein: an object stage 1; a lens fixing rod 2; a multi-axial drive device 3; a base 4; a height sensor 5; a flat camera 6; a planar light source 7; a downward-looking lens 21; a side view lens 22; a fixing ring 23; an X-axis screw skid 31; a Y-axis screw skid 32; a Z-axis screw skid 33; an R-axis motor 34; a fixed seat 35; a fixed frame 36; a card slot 41; a lower side view lens 221; an upper side view lens 222; an X-axis motor 311; an X-axis drive belt 312; a Y-axis motor 321; a Y-axis drive belt 322; a Z-axis motor 331, a rotating timing belt 341, and a timing wheel 342.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 in specific cases to those skilled in the art.
The technical scheme of the invention is further explained by combining the drawings of 1-7 and the detailed implementation mode.
A visual inspection system with an integrated lens is used for acquiring defect images of a side surface to be inspected and a bottom surface to be inspected of a concave groove in an engine, and comprises a miniature camera, a multi-axial driving device 3 and an objective table 1 for placing the engine to be inspected;
the miniature camera comprises a lens fixing rod 2, a base 4, a fixing seat 35, a top view lens 21 and a side view lens 22;
the fixed seat 35 is suspended above the objective table 1, the multi-axial driving device 3 is in transmission connection with the fixed seat 35, and the multi-axial driving device 3 drives the fixed seat 35 to move up and down, back and forth or left and right;
the middle part of the base 4 is provided with a mounting hole; the lens fixing rod 2 penetrates through the mounting hole from top to bottom and is inserted into the base 4 in a clamping manner; the base 4 is rotatably arranged in the middle of the fixed seat 35;
the downward overlook lens 21 is arranged at the bottom end of the lens fixing rod 2; the side-view lens 22 is mounted on the outer side surface of the lens fixing rod 2;
during the operation, the drive of multiaxis drive arrangement 3 fixing base 35 drives 2 downstream of camera lens dead lever is to concave groove back, drives the removal is controlled around concave groove to camera lens dead lever 2, look sideways at camera lens 22 orientation and wait to examine the side and pick up the image, it looks down camera lens 21 orientation and wait to examine the bottom surface and pick up the image to look over.
As shown in fig. 1-6, the vision inspection system with an integrated lens of the present invention includes an integrated lens including a side-view lens 22 and a top-view lens 21, and further includes a multi-axial driving device 3, wherein the multi-axial driving device 3 can drive the lens fixing rod 2 mounted with the integrated lens to move downward into a concave groove to be inspected, and drive the lens fixing rod 2 to move forward, backward, leftward and rightward in the concave groove, so as to capture a clear image of a side surface to be inspected and a bottom surface to be inspected at a short distance.
Specifically, the side-view lens 22 includes a lower side-view lens 221 and an upper side-view lens 222; the upper side view lens 222 is mounted above the lower side view lens 221;
the lower side-view lens 221 and the upper side-view lens 222 are both obliquely installed towards the direction of the bottom of the object stage 1, and the included angles between the central lines of the lower side-view lens 221 and the upper side-view lens 222 and the central line of the top-view lens 21 are both smaller than 90 degrees;
the edges of the downward-looking lens 21, the lower-side view mirror 221 and the upper-side view mirror 222 are all provided with annular LED light sources.
As shown in fig. 2 to 6, the side view lens 22 includes a lower side view lens 221 and an upper side view lens 222, and they are installed to be inclined toward the bottom of the stage 1, so that the range of the image area obtained on the side to be inspected can be enlarged. The annular LED light source provides illumination for the downward-looking lens 21, the lower-side lens 221 and the upper-side lens 222, which can improve the imaging quality of the downward-looking lens 21, the lower-side lens 221 and the upper-side lens 222, thereby improving the detection quality of the vision detection system with integrated lens of the present invention.
Specifically, the bottom of the mounting hole is provided with a clamping groove 41, two sides of the clamping groove 41 are provided with two segmental protrusions, and the two segmental protrusions are centrally and symmetrically distributed at the bottom of the clamping groove 41;
the miniature camera further comprises a fixing ring 23, and the fixing ring 23 is sleeved in the middle of the lens fixing rod 2; the lens fixing rod 2 is a cylinder, the upper end of the fixing ring 23 is a ring body, and the edge of the lower end of the fixing ring 23 extends outwards and is exposed to form a ring body correspondingly matched with the two segmental bulges; the fixing ring 23 is inserted into the slot 41, and the outer side surface of the lower end of the fixing ring 23 abuts against the inner side surface of the slot 41.
As shown in fig. 6 and 7, the fixing ring 23 is inserted into the slot 41, and the outer side surface of the lower end of the fixing ring 23 abuts against the inner side surface of the slot 41, so that the installation stability of the lens fixing rod 2 can be improved, the imaging stability of the downward looking lens 21, the downward looking lens 221 and the upward looking lens 222 can be improved, and the detection quality of the visual detection system with integrated lens of the present invention can be improved.
Preferably, the depth of field range of the top view lens 21 is not less than 30mm, and the depth of field ranges of the bottom view lens 221 and the top view lens 222 are both 3-30 mm; the angles of view of the downward viewing lens 21, the downward viewing lens 221 and the upward viewing lens 222 are all 120-150 °; the pixel values of the downward viewing lens 21, the downward viewing lens 221 and the upward viewing lens 222 are all 100-;
the lens fixing rod 2 is an alloy hard tube, and the diameter of the lens fixing rod 2 is 5-8 mm.
The top view lens 21, the lower view lens 221 and the upper view lens 222 with the viewing angles of 120-; the pixel values of 100-300 ten thousand can effectively ensure that the images obtained by the downward viewing lens 21, the downward viewing lens 221 and the upward viewing lens 222 have higher definition.
Specifically, the multi-axial drive device 3 includes a Z-axis drive device;
the Z-axis driving device comprises a Z-axis screw rod, a Z-axis screw rod sliding frame 33, a Z-axis motor 331 and a fixed frame 36;
the fixed frame 36 is suspended above the object stage 1; the Z-axis screw sliding frame 33 is arranged on the front side surface of the fixed frame 36 facing the object stage 1; the Z-axis motor 331 is mounted on top of the Z-axis screw skid 33; the Z-axis screw rod is arranged in the Z-axis screw rod sliding frame 33, the Z-axis motor 331 is in transmission connection with the top end of the Z-axis screw rod, and the bottom end of the Z-axis screw rod is rotatably fixed at the bottom of the Z-axis screw rod sliding frame 33;
the fixed seat 35 is slidably mounted on the front side surface of the Z-axis screw rod skid 33 facing the object stage 1, and the rear end of the fixed seat 35 abuts against the rod body of the Z-axis screw rod and is in transmission fit with the rod body;
the Z-axis motor 331 drives the Z-axis screw to drive the fixing base 35 to slide up and down along the Z-axis screw, thereby driving the lens fixing rod 2 to move up and down.
As shown in fig. 2, 3, 5 and 6, the fixing base 35 is driven by the Z-axis screw to slide up and down along the Z-axis screw, so as to drive the lens fixing rod 2 to move up and down, and images are obtained by overlooking the lens 21, the lower side view mirror 221 and the upper side view mirror 222 close to the side surface to be detected and the bottom surface to be detected, so that the lens fixing rod 2 can move up and down more stably by adopting the screw, the moving image quality of the visual detection system with the integrated lens can be effectively ensured, and the detection quality of the visual detection system with the integrated lens is improved.
More specifically, the multi-axial drive device 3 further includes an R-axis drive device;
the R-axis driving device includes an R-axis motor 34, a rotary timing belt 341, and a timing wheel 342;
the synchronizing wheel 342 is mounted on the upper part of the base 4, and the synchronizing wheel 342 is located below the fixed seat 35;
the R-axis motor 34 is installed in the middle of the fixed seat 35, and the R-axis motor 34 is located between the base 4 and the Z-axis screw rod skid 33;
the output end of the R-axis motor 34 passes through the fixing seat 35 downward to be in transmission fit with the rear end of the rotating synchronous belt 341; the front end of the rotating synchronous belt 341 is sleeved on the synchronous wheel 342, and the rotating synchronous belt 341 is in transmission fit with the synchronous wheel 342;
the R-axis motor 34 drives the synchronizing wheel 342 to drive the rotating synchronizing belt 341 to move, so as to drive the fixing base 35 and the lens fixing rod 2 to rotate along the radial direction.
As shown in fig. 3 and 6, the fixed base 35 is driven to rotate synchronously by the synchronizing wheel 342 and the rotating synchronous belt 341, so as to drive the lens fixing rod 2 to rotate along the radial direction, so that the angles between the lower side viewing lens 221 and the upper side viewing lens 222 and the plane where the side surface to be inspected is located can be controlled, and the image of the side surface to be inspected in the curved surface shape of various radians can be obtained with higher quality; the adoption of the synchronous wheel 342 and the rotating synchronous belt 341 can improve the stability of the rotation of the lens fixing rod 2, thereby improving the detection quality of the visual detection system with the integrated lens.
Specifically, the multi-axial driving device 3 further comprises a Y-axis driving device and an X-axis driving device;
the X-axis driving device comprises an X-axis screw rod, an X-axis screw rod sliding frame 31, an X-axis motor 311 and an X-axis transmission belt 312;
the X-axis motor 311 is installed at the right end of the X-axis screw rod sliding frame 31, the X-axis screw rod is installed in the X-axis screw rod sliding frame 31, the X-axis motor 311 is in transmission connection with the right end of the X-axis screw rod, and the left end of the X-axis screw rod is fixed at the left end of the X-axis screw rod sliding frame 31;
the Y-axis driving device comprises a Y-axis screw rod, a Y-axis motor 321, a Y-axis transmission belt 322 and two Y-axis screw rod sliding frames 32;
the two Y-axis screw sliding frames 32 are respectively erected at the left side and the right side of the objective table 1, the length of the Y-axis screw sliding frames 32 in the front-back direction is greater than that of the objective table 1, and the distance between the two Y-axis screw sliding frames 32 is greater than that of the objective table 1 in the left-right direction;
the left end and the right end of the X-axis screw rod sliding frame 31 are respectively arranged above the two Y-axis screw rod sliding frames 32 in a sliding manner; the fixing frame 36 is slidably arranged on the front side surface of the X-axis screw rod sliding frame 31 facing the object stage 1; one end of the X-axis transmission belt 312 is in transmission fit with the rod body of the X-axis screw rod, and the other end of the X-axis transmission belt 312 is fixedly connected with the fixed frame 36;
the X-axis motor 311 drives the X-axis screw to drive the X-axis transmission belt 312 and the fixing frame 36 to slide left and right along the front side surface of the X-axis screw sliding frame 31, so as to drive the lens fixing rod 2 to move left and right between the two Y-axis screw sliding frames 32;
the Y-axis motor 321 is mounted at the rear end of the Y-axis screw skid 32 near the left side of the object table 1; the Y-axis screw rod is arranged in the Y-axis screw rod sliding frame 32 on the left side, the Y-axis motor 321 is in transmission connection with the rear end of the Y-axis screw rod, and the front end of the Y-axis screw rod is rotatably arranged at the front end of the Y-axis screw rod sliding frame 32 on the left side; one end of the Y-axis transmission belt 322 is in transmission fit with the rod body of the Y-axis screw rod, and the other end of the Y-axis transmission belt 322 is fixedly connected with the left end of the X-axis screw rod sliding frame 31;
the Y-axis motor 321 drives the Y-axis screw to drive the X-axis screw skid 31 to slide back and forth above the two Y-axis screw skids 32 through the Y-axis transmission belt 322, so as to drive the lens fixing rod 2 to move back and forth between the two Y-axis screw skids 32.
The lens fixing rod 2 can move left and right or back and forth between the two Y-axis screw rod sliding frames 32, so that the lens fixing rod 2 can reach any one concave groove in the engine to be detected above the objective table 1, and the detection range and the detection quality of the visual detection system with the integrated lens can be effectively guaranteed.
Preferably, the device further comprises a movement track acquisition module, wherein the movement track acquisition module comprises a plane camera 6;
the plane camera 6 is arranged above the objective table 1, and the plane camera 6 is used for acquiring an image of a plane where the upper surface of the concave groove is located;
the movement track acquisition module is electrically connected with the plane camera 6;
the pixel value of the flat camera 6 is 2100-3000 ten thousand.
And obtaining the image of the plane where the upper surface of the concave groove to be detected is located through the plane camera 6, and then calculating and setting the path of the lens fixing rod 2 for moving back and forth, left and right through the obtained image. The pixel value of the plane camera 6 is 2100 + 3000 ten thousand, which can ensure the imaging definition of the plane camera 6.
Preferably, the moving track acquiring module further includes a planar light source 7;
the plane light source 7 is arranged above the objective table 1, and the plane light source 7 surrounds the plane camera 6.
The planar light source 7 provides suitable illumination for the planar camera 6 to improve the imaging quality of the planar camera 6.
Preferably, the movement track acquiring module further comprises a height sensor 5;
the moving track acquisition module is electrically connected with the height sensor 5;
the height sensor 5 is mounted above the stage 1 and close to the outer side surface of the plane camera 6.
The height sensor 5 is used for acquiring height information of a plane where the upper surface of the concave groove to be detected is located, so as to calculate and set the up-and-down movement distance of the lens fixing rod 2.
The working principle of the visual detection system with the integrated lens is as follows:
the visual detection system with the integrated lens further comprises an image acquisition card and an industrial personal computer, and the movement track acquisition module comprises a plane camera 6, a plane light source 7 and a height sensor 5.
Before the formal work is started, the plane camera 6 needs to be calibrated in order to set the conversion relationship between the imaging image coordinate system and the world coordinate system.
When an engine to be detected is placed on the objective table 1 to enter, the height sensor 5 is triggered, the moving track acquisition module is started, the height sensor 5 projects a laser beam on the plane of the upper surface of the concave groove to be detected of the engine, the height coordinate of the plane of the upper surface of the concave groove to be detected is acquired, and the height coordinate is fed back to the industrial personal computer. And after the height sensor 5 finishes working, closing, shooting the plane of the upper surface of the concave groove by the plane camera 6, storing the obtained image in the image acquisition card and transmitting the image to the industrial personal computer. The industrial personal computer carries out Canny algorithm processing on the obtained image to extract the shape profile of the upper surface of the concave groove, extracting the central line of the extracted contour image, converting the obtained image from the image of the image coordinate system into the image of the world coordinate system, simultaneously obtaining the central line coordinate of the concave groove in the image of the world coordinate system, then the height coordinate obtained by combining the height sensor 5 can obtain the central line track of the concave groove, the central line track is used for setting the motion track of the lens fixing rod 2 moving back and forth and left and right, the track data is sent to a motion control card, then the multi-axial driving device is controlled to drive the lens fixing rod 2 to move along the central line track, the rotation of the lens fixing rod is controlled by an R-axis motor, that is, the center lines of the upper view mirror 221 and the lower view mirror 222 are always controlled to be perpendicular to the center line trajectory. When the lens fixing rod 2 moves for a certain step length, a group of images of the side surface to be detected and the bottom surface to be detected are shot, the specific step length can be adjusted and set according to the actual length of the concave groove, and the shot images of the side surface to be detected and the bottom surface to be detected are stored in an image acquisition card and sent to an industrial personal computer. And displaying the images of the side surface to be detected and the bottom surface to be detected in an array mode on an industrial personal computer, determining the position, shape, size and other information of the defects of the side surface and the bottom surface of the concave groove according to the output images of the side surface to be detected and the bottom surface to be detected, and completing the on-line detection of the defects of the internal concave groove of the engine.
In summary, as shown in fig. 1 to 7, the vision inspection system with an integrated lens of the present invention includes an integrated lens including a side-view lens 21 and a top-view lens 22, and further includes a multi-axial driving device 3, wherein the multi-axial driving device 3 can drive the lens fixing rod 2 mounted with the integrated lens to move downward into a concave groove to be inspected, and drive the lens fixing rod 2 to move forward, backward, leftward and rightward in the concave groove, so as to capture a clear image of a side surface to be inspected and a bottom surface to be inspected in a short distance.
Further, the invention also comprises a moving track acquisition module, wherein the moving track acquisition module comprises a plane camera 6, a plane light source 7 and a height sensor 5, and can effectively acquire the shape profile image of the upper surface of the concave groove and the relative height information, so that the accuracy of driving the downward-looking lens 21 and the side-looking lens 22 to move by the multi-axial driving device 3 can be improved, and the detection quality and the working efficiency of the visual detection system with the integrated lens are improved.
According to the visual detection system with the integrated lens, the multi-axial driving device 3 is utilized to drive the integrated light source, the overlooking lens 21 and the side-looking lens 22 to form an integrated small camera, the moving path of the small camera in the concave groove is controlled by the moving track acquisition module according to the shape and the height of the concave groove, images of the side surface to be detected and the bottom surface to be detected are shot and acquired at a short distance according to a certain beat, and then the defect of the concave groove in the engine is detected on line through a defect identification algorithm.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A visual inspection system with an integrated lens is used for acquiring defect images of a side surface to be inspected and a bottom surface to be inspected of a concave groove in an engine, and is characterized by comprising a miniature camera, a multi-axial driving device and an object stage for placing the engine to be inspected;
the miniature camera comprises a lens fixing rod, a base, a fixing seat, a top view lens and a side view lens;
the fixed seat is suspended above the objective table, the multi-axial driving device is in transmission connection with the fixed seat, and the multi-axial driving device drives the fixed seat to move up and down, back and forth or left and right;
the middle part of the base is provided with a mounting hole; the lens fixing rod penetrates through the mounting hole from top to bottom and is inserted into the base in a clamping manner; the base is rotatably arranged in the middle of the fixed seat;
the overlooking lens is downwards arranged at the bottom end of the lens fixing rod; the side-looking lens is arranged on the outer side surface of the lens fixing rod;
during the operation, the multiaxis is to drive the fixing base drives behind the camera lens dead lever downwardly moving to concave groove, drive the camera lens dead lever moves about around concave groove, look sideways at the camera lens orientation and wait to examine the side and take the image, it waits to examine the bottom surface and takes the image to overlook the camera lens orientation.
2. The visual inspection system with integrated lens of claim 1, wherein the side looking lens comprises a lower side looking lens and an upper side looking lens; the upper side-looking lens is arranged above the lower side-looking lens;
the lower side-looking camera lens and the upper side-looking camera lens are obliquely arranged towards the direction of the bottom of the objective table, and included angles between the central lines of the lower side-looking camera lens and the upper side-looking camera lens and the central line of the overlooking camera lens are smaller than 90 degrees;
the edge of the overlooking lens, the edge of the downward side-looking lens and the edge of the upward side-looking lens are all provided with annular LED light sources.
3. The visual inspection system with integrated lens of claim 2, wherein the bottom of the mounting hole is provided with a slot, two sides of the slot are provided with two segmental protrusions, and the two segmental protrusions are distributed at the bottom of the slot with center symmetry;
the miniature camera also comprises a fixing ring, and the fixing ring is sleeved in the middle of the lens fixing rod; the lens fixing rod is a cylinder, the upper end of the fixing ring is a ring body, and the edge of the lower end of the fixing ring extends outwards and is exposed to form a ring body correspondingly matched with the two segmental bulges; the fixing ring is clamped in the clamping groove, and the outer side face of the lower end of the fixing ring is abutted against the inner side face of the clamping groove.
4. The visual inspection system with integrated lens of claim 2, wherein the depth of field of the top view lens is not less than 30mm, and the depth of field of the bottom and top view lenses are both 3-30 mm; the field angles of the top view lens, the lower side view lens and the upper side view lens are all 150 degrees; the pixel values of the overlooking lens, the lower side viewing lens and the upper side viewing lens are all 100-300 ten thousand;
the lens fixing rod 2 is an alloy hard tube, and the diameter of the lens fixing rod 2 is 5-8 mm.
5. The visual inspection system with integrated lens of claim 1, wherein said multi-axial drive means comprises a Z-axis drive means;
the Z-axis driving device comprises a Z-axis screw rod, a Z-axis screw rod sliding frame, a Z-axis motor and a fixing frame;
the fixed frame is suspended above the objective table; the Z-axis screw rod sliding frame is arranged on the front side surface of the fixed frame facing the objective table; the Z-axis motor is arranged at the top of the Z-axis screw rod sliding frame; the Z-axis screw rod is arranged in the Z-axis screw rod sliding frame, the Z-axis motor is in transmission connection with the top end of the Z-axis screw rod, and the bottom end of the Z-axis screw rod is rotatably fixed at the bottom of the Z-axis screw rod sliding frame;
the fixed seat is slidably arranged on the front side surface of the Z-axis screw rod sliding frame facing the objective table, and the rear end of the fixed seat is abutted against the rod body of the Z-axis screw rod and is in transmission fit with the rod body of the Z-axis screw rod;
the Z-axis motor drives the Z-axis screw rod to drive the fixing seat to slide up and down along the Z-axis screw rod, so that the lens fixing rod is driven to move up and down.
6. The visual inspection system with integrated lens of claim 5, wherein said multi-axial drive means further comprises an R-axis drive means;
the R-axis driving device comprises an R-axis motor, a rotating synchronous belt and a synchronous wheel;
the synchronizing wheel is arranged at the upper part of the base and is positioned below the fixed seat;
the R-axis motor is arranged in the middle of the fixed seat and is positioned between the base and the Z-axis screw rod sliding frame;
the output end of the R-axis motor penetrates through the fixed seat downwards to be in transmission fit with the rear end of the rotary synchronous belt; the front end of the rotating synchronous belt is sleeved on the synchronous wheel, and the rotating synchronous belt is in transmission fit with the synchronous wheel;
the R-axis motor drives the synchronous pulley to drive the rotary synchronous belt to move, so that the fixed seat and the lens fixed rod are driven to rotate along the radial direction.
7. The vision inspection system with integrated lens of claim 6, wherein said multi-axial driving device further comprises a Y-axis driving device and an X-axis driving device;
the X-axis driving device comprises an X-axis screw rod, an X-axis screw rod sliding frame, an X-axis motor and an X-axis transmission belt;
the X-axis motor is arranged at the end part of the right end of the X-axis screw rod sliding frame, the X-axis screw rod is arranged in the X-axis screw rod sliding frame, the X-axis motor is in transmission connection with the right end of the X-axis screw rod, and the left end of the X-axis screw rod is fixed at the left end of the X-axis screw rod sliding frame;
the Y-axis driving device comprises a Y-axis screw rod, a Y-axis motor, a Y-axis transmission belt and two Y-axis screw rod sliding frames;
the two Y-axis screw rod sliding frames are respectively erected at the left side and the right side of the objective table, the length of the Y-axis screw rod sliding frames in the front-back direction is larger than that of the objective table, and the distance between the two Y-axis screw rod sliding frames is larger than that of the objective table in the left-right direction;
the left end and the right end of the X-axis screw rod sliding frame are respectively arranged above the two Y-axis screw rod sliding frames in a sliding manner; the fixing frame is slidably erected on the front side surface of the X-axis screw rod sliding frame facing the objective table; one end of the X-axis transmission belt is in transmission fit with the rod body of the X-axis lead screw, and the other end of the X-axis transmission belt is fixedly connected with the fixed frame;
the X-axis motor drives the X-axis lead screw to drive the X-axis transmission belt and the fixing frame to slide left and right along the front side surface of the X-axis lead screw sliding frame, so that the lens fixing rod is driven to move left and right between the two Y-axis lead screw sliding frames;
the Y-axis motor is arranged at the rear end of the Y-axis screw rod sliding frame close to the left side of the objective table; the Y-axis screw rod is arranged in the Y-axis screw rod sliding frame on the left side, the Y-axis motor is in transmission connection with the rear end of the Y-axis screw rod, and the front end of the Y-axis screw rod is rotatably arranged at the front end of the Y-axis screw rod sliding frame on the left side; one end of the Y-axis transmission belt is in transmission fit with a rod body of the Y-axis lead screw, and the other end of the Y-axis transmission belt is fixedly connected with the left end of the X-axis lead screw sliding frame;
the Y-axis motor drives the Y-axis screw rod to drive the X-axis screw rod sliding frame to slide back and forth above the two Y-axis screw rod sliding frames through the Y-axis transmission belt, so that the lens fixing rod is driven to move back and forth between the two Y-axis screw rod sliding frames.
8. The visual inspection system with integrated lens of claim 1, further comprising a movement trace obtaining module, said movement trace obtaining module comprising a plane camera;
the plane camera is arranged above the objective table and is used for acquiring the image of the plane where the upper surface of the concave groove is located;
the movement track acquisition module is electrically connected with the plane camera;
the pixel value of the plane camera is 2100- & 3000 ten thousand.
9. The visual inspection system with integrated lens of claim 8, wherein said movement trace obtaining module further comprises a planar light source;
the plane light source is arranged above the objective table and surrounds the periphery of the plane camera.
10. The vision inspection system with integrated lens of claim 8, characterized in that the movement trace obtaining module further comprises a height sensor;
the moving track acquisition module is electrically connected with the height sensor;
the height sensor is arranged above the objective table and close to the outer side surface of the plane camera.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110267135.4A CN112858175A (en) | 2021-03-11 | 2021-03-11 | Visual inspection system with integrated camera lens |
| PCT/CN2021/101342 WO2022188293A1 (en) | 2021-03-11 | 2021-06-21 | Visual inspection system with integrated lens |
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| CN202110267135.4A CN112858175A (en) | 2021-03-11 | 2021-03-11 | Visual inspection system with integrated camera lens |
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| WO (1) | WO2022188293A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113588690A (en) * | 2021-07-20 | 2021-11-02 | 中国电子科技集团公司第三十八研究所 | X-ray nondestructive testing device for large-scale component |
| CN113852805A (en) * | 2021-09-10 | 2021-12-28 | 南京嘉龙盛电子科技有限公司 | Imaging device of frame sealing glue dry width automatic detection machine and imaging method thereof |
| WO2022188293A1 (en) * | 2021-03-11 | 2022-09-15 | 广东工业大学 | Visual inspection system with integrated lens |
| CN115561251A (en) * | 2022-12-08 | 2023-01-03 | 山东鲁珠精密轴承有限责任公司 | Method, system and medium for detecting conical retainer based on image recognition |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3870864B2 (en) * | 2002-07-16 | 2007-01-24 | 村田機械株式会社 | In-pipe exploration device |
| JP3914530B2 (en) * | 2003-10-16 | 2007-05-16 | 株式会社日立製作所 | Defect inspection equipment |
| CN108663375A (en) * | 2018-08-29 | 2018-10-16 | 浙江霖研精密科技有限公司 | A kind of 360 ° of open defect detection devices of inner ring |
| CN110596144A (en) * | 2019-10-23 | 2019-12-20 | 浙江华炜新材料有限公司 | Deep hole internal defect detection equipment |
| CN110749604A (en) * | 2019-11-29 | 2020-02-04 | 中国计量大学 | High-reflection surface defect detection device in metal bucket based on machine vision |
| CN211505179U (en) * | 2019-12-31 | 2020-09-15 | 焦作大学 | Honing reticulation detection device for inner hole of cylinder sleeve product |
| CN112858175A (en) * | 2021-03-11 | 2021-05-28 | 广东工业大学 | Visual inspection system with integrated camera lens |
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2021
- 2021-03-11 CN CN202110267135.4A patent/CN112858175A/en active Pending
- 2021-06-21 WO PCT/CN2021/101342 patent/WO2022188293A1/en active Application Filing
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022188293A1 (en) * | 2021-03-11 | 2022-09-15 | 广东工业大学 | Visual inspection system with integrated lens |
| CN113588690A (en) * | 2021-07-20 | 2021-11-02 | 中国电子科技集团公司第三十八研究所 | X-ray nondestructive testing device for large-scale component |
| CN113588690B (en) * | 2021-07-20 | 2023-10-03 | 中国电子科技集团公司第三十八研究所 | X-ray nondestructive testing device for large-sized component |
| CN113852805A (en) * | 2021-09-10 | 2021-12-28 | 南京嘉龙盛电子科技有限公司 | Imaging device of frame sealing glue dry width automatic detection machine and imaging method thereof |
| CN113852805B (en) * | 2021-09-10 | 2024-05-14 | 南京嘉龙盛电子科技有限公司 | Imaging equipment of automatic frame sealing adhesive width detector and imaging method thereof |
| CN115561251A (en) * | 2022-12-08 | 2023-01-03 | 山东鲁珠精密轴承有限责任公司 | Method, system and medium for detecting conical retainer based on image recognition |
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| WO2022188293A1 (en) | 2022-09-15 |
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