CN112945967A - Three-dimensional imaging detection system and detection method for aircraft engine blade - Google Patents
Three-dimensional imaging detection system and detection method for aircraft engine blade Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 51
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- 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
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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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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- G01N21/84—Systems specially adapted for particular applications
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Abstract
The invention discloses a three-dimensional imaging detection system and a method for an aircraft engine blade, wherein the system comprises: the device comprises a transmission module for transmitting the blade, an acquisition module for acquiring an image of the blade, and an imaging module for imaging the image acquired by the acquisition module; the acquisition module comprises a displacement unit for controlling the displacement mechanism, a displacement overturning unit for controlling the displacement overturning mechanism and a slide clamp unit for controlling the slide clamp. According to the invention, the imaging module is designed to complete the three-dimensional imaging work of the image, and the imaged image is modified, so that the imaged three-dimensional image is clearer, and the condition that the judgment of workers is wrong due to unclear imaging is reduced.
Description
Technical Field
The invention relates to a three-dimensional imaging detection system for an aircraft engine blade, in particular to a three-dimensional imaging detection system and a detection imaging method for the aircraft engine blade.
Background
Generally, an aircraft engine is a highly complex and precise thermal machine, and as the heart of an aircraft, the aircraft engine is not only the power for flying the aircraft, but also an important driving force for promoting the development of aviation industry, and each important change in human aviation history is inseparable from the technical progress of the aircraft engine.
The aero-engine has been developed into a mature product with extremely high reliability, and the aero-engine in use includes various types such as a turbojet/turbofan engine, a turboshaft/turboprop engine, a ramjet engine and a piston engine, and not only is used as power for military and civil aircrafts, unmanned planes and cruise missiles for various purposes, but also a gas turbine developed by using the aero-engine is widely used in the fields of ground power generation, marine power, mobile power stations, natural gas and petroleum pipeline pump stations and the like.
The existing aircraft engine blade three-dimensional imaging detection system generally uploads an image directly detected by a detector to a terminal when the blade is subjected to three-dimensional imaging, so that workers are given to judge whether the blade is damaged, and the directly detected image is not clear due to various reasons such as visual angles and light, so that the judgment of the workers is influenced.
Disclosure of Invention
The purpose of the invention is as follows: the three-dimensional imaging detection system for the blades of the aircraft engine is provided to solve the problems in the prior art.
The technical scheme is as follows: an aircraft engine blade stereo imaging detection system comprising:
the device comprises a transmission module for transmitting the blade, an acquisition module for acquiring an image of the blade, and an imaging module for imaging the image acquired by the acquisition module;
the acquisition module comprises a displacement unit for controlling the displacement mechanism, a displacement overturning unit for controlling the displacement overturning mechanism and a slide clamp unit for controlling the slide clamp;
the imaging module comprises a preprocessing module for preprocessing the acquired image;
the projection module is used for projecting the preprocessed image;
the splicing module is used for splicing the projected images;
the modification module is used for finishing the smooth processing of the splicing module;
and an uploading module for uploading the decorated image to a control terminal so that workers can distinguish blade conditions.
In a further embodiment, the conveying module is mainly used for controlling the feeding assembly and the discharging assembly to finish the transportation work of the blades;
the feeding assembly and the discharging assembly are symmetrically arranged in two groups of transportation units on two sides of the detection imaging shell, each group of transportation units comprises a transportation bottom plate fixedly connected with the detection imaging shell, a transportation frame fixedly connected with the transportation bottom plate, a transportation motor fixedly arranged on the transportation bottom plate, a transportation shaft inserted in the transportation motor, two groups of transportation cylinders connected with the transportation shaft in a transmission manner and inserted in two ends of the transportation frame, and a conveyor belt sleeved in the two groups of transportation cylinders.
In a further embodiment, the acquisition module is mainly used for completing the image acquisition of the blade;
the displacement unit is used for controlling the displacement mechanism to drive the side imager and the top imager to complete the acquisition of the blade image;
the displacement mechanism comprises two groups of displacement columns, displacement slide rails arranged on one group of displacement columns, a vertical motor arranged on the other group of displacement columns, a vertical frame fixedly connected with the vertical motor, a vertical screw rod coaxially rotating with the vertical motor and inserted in the vertical frame, a cross frame sleeved on the vertical screw rod and slidably connected with the vertical frame, a transverse moving frame arranged on the side part of the cross frame, a transverse motor fixedly connected with the transverse moving frame, a transverse screw rod inserted in the transverse moving frame and coaxially rotating with the transverse motor, a transverse sliding plate sleeved on the transverse screw rod, a displacement lifting mechanism fixedly connected with the transverse sliding plate, and a side part imager and a top imager fixedly connected with the displacement lifting mechanism;
the bottom of the transverse frame is also fixedly provided with a deflection sliding block matched with the deflection sliding rail.
The displacement lifting mechanism comprises a displacement lifting frame fixedly connected with the transverse sliding plate, a displacement motor fixedly connected with the displacement lifting frame, a displacement screw rod inserted in the displacement lifting frame and coaxially rotating with the displacement motor, displacement guide rods arranged on two sides of the displacement screw rod and fixedly connected with the displacement lifting frame, and a displacement sliding block sleeved on the displacement guide rods and the displacement screw rod;
the side imaging instrument and the top imaging instrument are fixedly connected with the deflection sliding block.
In a further embodiment, the displacement turnover unit is used for controlling the displacement turnover mechanism to complete the loading and fixing work of the blades;
the displacement turnover mechanism comprises a displacement mechanism and a turnover mechanism fixedly connected with the displacement mechanism;
the shifting mechanism comprises a shifting bottom plate fixedly arranged in the detection imaging shell, a shifting motor fixedly connected with the shifting bottom plate, a shifting screw rod inserted in the shifting bottom plate and coaxially rotating with the shifting motor, shifting guide rods arranged on two sides of the shifting screw rod and fixedly connected with the shifting bottom plate, and a shifting sliding plate sleeved on the shifting screw rod and the shifting guide rods;
the turnover mechanism comprises a turnover fixed block fixedly arranged on a displacement sliding plate, a turnover motor fixedly connected with the displacement sliding plate, a turnover shaft inserted in the turnover fixed block and coaxially rotating with the turnover motor, a turnover frame fixedly connected with the turnover shaft, a sucker frame fixedly connected with the turnover frame, and a plurality of groups of adsorption mechanisms inserted in the sucker frame;
the adsorption mechanism comprises a sucker telescopic rod inserted into the sucker frame and a vacuum sucker fixedly installed at the end part of the sucker telescopic rod.
In a further embodiment, the slide clamp unit is mainly used for controlling the slide clamp to complete the turning over work of the blade, so that the side imager and the top imager can complete the acquisition work of the image on the other side of the blade;
the slide fixture is composed of two sets of fixture units symmetrically arranged at two sides of the shift turnover mechanism, each set of fixture unit comprises a vertical mechanism arranged at the side part of the shift turnover mechanism, a slide mechanism fixedly arranged above the vertical mechanism and a position-adjusting turnover fixture sleeved with the slide mechanism;
the vertical mechanism comprises a vertical frame arranged at the side part of the shifting turnover mechanism, a vertical motor fixedly connected with the vertical frame, a vertical screw rod inserted in the vertical frame and coaxially rotating with the vertical motor, and a vertical sliding block sleeved on the vertical screw rod and slidably connected with the vertical frame;
the slide mechanism comprises a slide frame fixedly arranged on the vertical sliding block, a slide motor fixedly connected with the slide frame, and a slide screw rod inserted in the slide frame and coaxially rotating with the slide motor;
the positioning overturning clamp comprises a positioning bottom plate, a positioning underframe, a positioning motor, a positioning lead screw, a positioning guide rod, a rotating motor, a rotating shaft, a clamping cylinder, clamping telescopic rods, connecting block clamps and clamping cushion blocks, wherein the positioning bottom plate is sleeved on a sliding lead screw and is in sliding connection with a sliding frame;
and a sponge cushion block is arranged on the clamping cushion block.
In a further embodiment, the preprocessing module is configured to finish sharpening the acquired color image, so that the processed image has a better effect;
the preprocessing module finishes sharpening by using USM sharpening application, and quantizes the sharpening degree through the quantity, the radius and the threshold, and comprises the following steps:
step 1, controlling the sharpening strength through the number, wherein the number is 150, the radius is 1, and the color level is 2;
step 2, determining the width of the pixel points with the emphasized edges through the radius, setting the radius value to be 1, setting the whole angle of the image from light to dark to be two pixels, setting the radius value to be 2, setting two pixel points on two sides of the edge of the image respectively, setting the whole width from light to dark to be four pixels, and when the radius is larger, the difference of the details is clearer;
and 3, determining the size of the contrast value through a threshold value, wherein the edges of the adjacent pixels lower than the contrast value cannot be sharpened, and the edges of the adjacent pixels higher than the contrast value can be sharpened.
In a further embodiment, the projection module is mainly used for projecting the sharpened image, storing the live-action image in a data format, and further realizing spherical equidistant projection, so that the effect image presents a three-dimensional sense;
for convenient storage, two-dimensional coordinates are converted into three-dimensional picture coordinates
Is a point
Projecting points on the cylindrical surface
Parametric coordinates, however, if the parametric coordinates are three-dimensional, the three-dimensional parametric coordinates need to be transformed into a two-dimensional mapThe film coordinates are convenient to store, all projection points are combined together to obtain a panoramic picture, and pixel points are obtained
：
Wherein the content of the first and second substances,
、
representing the width and height of the live-action figure,
is the focal length of the camera;
from the above results, two pixels on the same vertical line
Having the same abscissa on the cylindrical panorama
The abscissa of these different pixel points orthographically projected onto the cylindrical panorama
It must also be the same, i.e. in a cylindrical panorama, the scene present above will change in the vertical direction.
In a further embodiment, the splicing module synthesizes the projected live-action image into a panoramic image with a wide viewing angle, and the product details are more highlighted through the projected live-action image;
by means of feature matching, boundary and energy features of the images are extracted by adopting fractal and wavelet tools, and then feature matching between the images is carried out, so that image splicing work is completed.
In a further embodiment, the modification module eliminates the splicing line by adopting a pixel weighted average method through an obvious boundary near the splicing line when the two images have a certain gray difference, so that the characteristics of the modified images are more prominent;
the uploading module is mainly used for uploading the modified image to the control terminal so that a worker can judge whether the blade has defects.
A detection method of a three-dimensional imaging detection system for an aircraft engine blade comprises the following steps:
step 1, when the blade needs to be subjected to three-dimensional imaging, firstly, the blade is conveyed through a feeding mechanism;
the conveying motor works to drive the conveying shaft to rotate, and further drive the conveying cylinder to rotate, so that the conveying belt is driven to move, and further the conveying work on the blades is completed;
step 2, after the blades are transported, the blades are sucked by the turnover mechanism, the suction of the blades is carried out by the suction cup telescopic rod, and the vacuum suction cup is driven to move so as to suck the blades;
after the blade is turned over, the displacement mechanism works to move the blade to the adaptive position;
after the blades are completely sucked, the overturning motor works to drive the overturning shaft to rotate, so that the overturning frame is driven to rotate, the suction disc frame is driven to rotate, and the driving of overturning of the blades is completed;
the shifting motor works to drive the shifting screw rod to rotate, so that the shifting sliding plate is driven to slide along the shifting guide rod, the overturning mechanism is driven to slide, and the blade is driven to move to the adaptive position;
step 3, after the blade moves to the adaptive position, the displacement mechanism drives the side imager and the top imager to complete detection imaging of the top and the periphery of the blade;
the detection imaging device works through a vertical motor, further drives a vertical screw rod to rotate, further drives a cross frame to slide along the vertical frame, then works through a transverse motor, further drives a transverse screw rod to rotate, further drives a transverse sliding plate to slide along a transverse moving frame, further drives a deflection screw rod to rotate through a deflection motor, further drives a deflection sliding block to slide along a deflection guide rod, further completes the driving of a side imager and a top imager to move to a detection imaging position, and further completes the detection imaging work of the top and the side of the blade;
step 4, the slide clamp works at the moment, and then the blade is clamped and turned over;
firstly, the vertical mechanism and the slide mechanism drive the positioning and overturning clamp to move to a proper clamping position;
the vertical motor works to drive the vertical screw rod to rotate, further drive the vertical sliding block to slide, further drive the slide motor to work, further drive the slide screw rod to rotate, and further drive the positioning overturning clamp to move to a proper clamping position;
step 5, after the positioning overturning fixture moves to a proper clamping position, the positioning overturning fixture works to clamp the blade for overturning;
the clamping cylinder works to drive the clamping telescopic rods to contract, and further drives the two groups of clamping connecting blocks to move close to each other, and further drives the two groups of clamp cushion blocks to move close to each other, so that the blades are clamped;
the positioning motor works to drive the positioning screw rod to rotate, the rotating motor is driven to move, the clamping cylinder is driven to adjust the height, the blades are driven to be separated from the vacuum chuck, the rotating motor works to drive the rotating shaft to rotate, and the turning work of the blades is finished;
step 6, after the turning over of the blade is finished, the positioning mechanism works to drive the top imager to finish the detection imaging work of the other side of the blade;
further completing the three-dimensional imaging work of the detected image;
the acquired color image is sharpened through the preprocessing module, so that the processed image has a better effect;
the preprocessing module finishes sharpening by using USM sharpening application, and quantizes the sharpening degree through the quantity, the radius and the threshold, and comprises the following steps:
step 1, controlling the sharpening strength through the number, wherein the number is 150, the radius is 1, and the color level is 2;
step 2, determining the width of the pixel points with the emphasized edges through the radius, setting the radius value to be 1, setting the whole angle of the image from light to dark to be two pixels, setting the radius value to be 2, setting two pixel points on two sides of the edge of the image respectively, setting the whole width from light to dark to be four pixels, and when the radius is larger, the difference of the details is clearer;
step 3, determining the size of the contrast value through a threshold value, wherein the edges of the adjacent pixels lower than the contrast value cannot be sharpened, and the edges of the adjacent pixels higher than the contrast value can be sharpened;
the projection module is used for projecting the sharpened image, and storing the live-action image in a data format, so that the spherical equidistant projection is realized, and the effect image is three-dimensional;
for convenient storage, two-dimensional coordinates are converted into three-dimensional picture coordinates
Is a point
Projecting points on the cylindrical surface
The parameter coordinates, however, if the parameter coordinates are three-dimensional, the three-dimensional parameter coordinates need to be converted into two-dimensional picture coordinates for storage, and all the projection points are combined together to obtain a panoramic picture and obtain pixel points
：
Wherein the content of the first and second substances,
、
representing the width and height of the live-action figure,
is the focal length of the camera;
from the above results, two pixels on the same vertical line
Having the same abscissa on the cylindrical panorama
The abscissa of these different pixel points orthographically projected onto the cylindrical panorama
The same must also be said, i.e. in a cylindrical panorama, the scene present above will change in the vertical direction;
the projected live-action image is synthesized into a panoramic image with a wide viewing angle through a splicing module, and the product details are more highlighted through the projected live-action image;
extracting the boundary and energy characteristics of the images by adopting fractal and wavelet tools through characteristic matching, and then performing characteristic matching between the images so as to finish the image splicing work;
the two images have certain gray difference degree through the modification module, the splicing line is eliminated by adopting a pixel weighted average method from an obvious boundary near the splicing line, and the characteristics of the modified images are more prominent;
the modified image is mainly uploaded to a control terminal through an uploading module, so that a worker can judge whether the blade has a defect;
step 7, after the two sides of blade and week portion detection formation of image are accomplished, accomplish the detection formation of image when the blade after, drive the blade again by the slide anchor clamps and remove to ejection of compact subassembly top, and then loosen the clamp of getting the blade, and then accomplish the ejection of compact work to the blade by ejection of compact subassembly again.
Has the advantages that: the invention discloses a three-dimensional imaging detection system for an aircraft engine blade, which completes three-dimensional imaging work on an image by designing an imaging module, and modifies the imaged image, so that the imaged three-dimensional image is clearer, and the condition that judgment errors of workers are caused by unclear imaging is reduced.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention.
FIG. 2 is a schematic view of the feed assembly of the present invention.
Fig. 3 is a schematic view of the displacement and turnover mechanism of the present invention.
Fig. 4 is a schematic view of the canting mechanism of the present invention.
Fig. 5 is a schematic view of the displacement mechanism of the present invention.
FIG. 6 is a schematic view of the slide clamp of the present invention.
Fig. 7 is a schematic view of the positioning and inverting fixture of the present invention.
FIG. 8 is a schematic view of the indexing mechanism of the present invention.
Fig. 9 is a schematic view of the indexing lift mechanism of the present invention.
Reference numerals: the feeding assembly 1, the conveyor belt 11, the conveying bottom plate 12, the turnover mechanism 21, the turnover motor 211, the turnover shaft 212, the turnover frame 213, the suction cup frame 214, the suction cup expansion link 215, the vacuum suction cup 216, the shifting mechanism 22, the shifting slide plate 221, the shifting motor 222, the shifting guide rod 223, the shifting guide rod 224, the shifting bottom plate 225, the sliding motor 231, the sliding frame 232, the positioning turnover fixture 24, the positioning bottom plate 241, the positioning bottom frame 242, the positioning guide rod 243, the positioning motor 244, the positioning guide rod 245, the rotating motor 246, the rotating shaft 247, the clamping cylinder 248, the clamping expansion link 249, the clamping connection block 250, the fixture cushion block, the positioning column, the positioning slide rail 262, the positioning slide block 263, the cross frame 264, the transverse moving frame 265, the transverse motor 266, the vertical motor 267, the transverse slide plate 268, the positioning motor 2681, the positioning guide rod 2682, the positioning slide block 2683, the positioning guide rod 2684, top imager 270, outfeed assembly 3.
Detailed Description
Through research and analysis of the applicant, the reason for the problem (the imaging effect of the aircraft engine blade stereo imaging detection system is not ideal) is that when the existing aircraft engine blade stereo imaging detection system carries out stereo imaging on the blade, an image directly detected by a detector is generally uploaded to a terminal, and then workers are given to judge whether the blade is damaged, and due to the fact that the directly detected image is not clear due to multiple reasons such as visual angles and light rays, the judgment of the workers is affected.
An aircraft engine blade stereo imaging detection system comprises: the feeding assembly 1, the conveyor belt 11, the conveying bottom plate 12, the turnover mechanism 21, the turnover motor 211, the turnover shaft 212, the turnover frame 213, the suction cup frame 214, the suction cup expansion link 215, the vacuum suction cup 216, the shifting mechanism 22, the shifting slide plate 221, the shifting motor 222, the shifting guide rod 223, the shifting guide rod 224, the shifting bottom plate 225, the sliding motor 231, the sliding frame 232, the positioning turnover fixture 24, the positioning bottom plate 241, the positioning bottom frame 242, the positioning guide rod 243, the positioning motor 244, the positioning guide rod 245, the rotating motor 246, the rotating shaft 247, the clamping cylinder 248, the clamping expansion link 249, the clamping connection block 250, the fixture cushion block, the positioning column, the positioning slide rail 262, the positioning slide block 263, the cross frame 264, the transverse moving frame 265, the transverse motor 266, the vertical motor 267, the transverse slide plate 268, the positioning motor 2681, the positioning guide rod 2682, the positioning slide block 2683, the positioning guide rod 2684, top imager 270, outfeed assembly 3.
An aircraft engine blade stereo imaging detection system comprises: the device comprises a transmission module for transmitting the blade, an acquisition module for acquiring an image of the blade, and an imaging module for imaging the image acquired by the acquisition module;
the acquisition module comprises a displacement unit for controlling the displacement mechanism, a displacement overturning unit for controlling the displacement overturning mechanism 21 and a slide clamp unit for controlling the slide clamp;
the imaging module comprises a preprocessing module for preprocessing the acquired image;
the projection module is used for projecting the preprocessed image;
the splicing module is used for splicing the projected images;
the modification module is used for finishing the smooth processing of the splicing module;
and an uploading module for uploading the decorated image to a control terminal so that workers can distinguish blade conditions.
The conveying module is mainly used for controlling the feeding assembly 1 and the discharging assembly 3 to finish the transportation work of the blades;
the feeding assembly 1 and the discharging assembly 3 are symmetrically arranged in two sets of transportation units on two sides of the detection imaging shell, each transportation unit comprises a transportation bottom plate 12 fixedly connected with the detection imaging shell, a transportation frame fixedly connected with the transportation bottom plate, a transportation motor fixedly arranged on the transportation bottom plate 12, a transportation shaft inserted into the transportation motor, two sets of transportation cylinders connected with the transportation shaft in a transmission manner and inserted into two ends of the transportation frame, and a conveyor belt 11 sleeved on the two sets of transportation cylinders.
The acquisition module is mainly used for completing the image acquisition of the blade;
the displacement unit is used for controlling the displacement mechanism to drive the side imager 269 and the top imager 270 to complete the acquisition of the blade image;
the shifting mechanism comprises two groups of shifting columns 261, shifting slide rails 262 arranged on one group of shifting columns 261, a vertical motor 267 arranged on the other group of shifting columns 261, a vertical frame fixedly connected with the vertical motor 267, a vertical screw rod coaxially rotating with the vertical motor 267 and inserted in the vertical frame, a cross frame 264 sleeved on the vertical screw rod and slidably connected with the vertical frame, a transverse moving frame 265 arranged on the side part of the cross frame 264, a transverse motor 266 fixedly connected with the transverse moving frame 265, a transverse screw rod inserted in the transverse moving frame 265 and coaxially rotating with the transverse motor 266, a transverse sliding plate 268 sleeved on the transverse screw rod, a shifting lifting mechanism fixedly connected with the transverse sliding plate 268, and a side imager 269 and a top imager 270 fixedly connected with the shifting lifting mechanism;
the bottom of the transverse frame 264 is also fixedly provided with a position-shifting slide block 263 matched with the position-shifting slide rail 262.
The deflection lifting mechanism comprises a deflection lifting frame fixedly connected with the transverse sliding plate 268, a deflection motor 2681 fixedly connected with the deflection lifting frame, a deflection lead screw 2682 inserted in the deflection lifting frame and coaxially rotating with the deflection motor 2681, deflection guide rods 2684 arranged at two sides of the deflection lead screw 2682 and fixedly connected with the deflection lifting frame, and a deflection sliding block 2683 sleeved on the deflection guide rods 2684 and 2682;
the side imager 269 and the top imager 270 are fixedly connected to the shift slider 2683.
The displacement turnover unit is used for controlling the displacement turnover mechanism 21 to complete the loading and fixing work of the blades;
the displacement turnover mechanism 21 comprises a displacement mechanism 22 and a turnover mechanism 21 fixedly connected with the displacement mechanism 22;
the shifting mechanism 22 comprises a shifting bottom plate 225 fixedly mounted in the detection imaging shell, a shifting motor 222 fixedly connected with the shifting bottom plate 225, a shifting screw rod 224 inserted in the shifting bottom plate 225 and coaxially rotating with the shifting motor 222, shifting guide rods 223 arranged at two sides of the shifting screw rod 224 and fixedly connected with the shifting bottom plate 225, and shifting sliding plates 221 sleeved on the shifting screw rod 224 and the shifting guide rods 223;
the turnover mechanism 21 comprises a turnover fixing block fixedly mounted on a displacement sliding plate 221, a turnover motor 211 fixedly connected with the displacement sliding plate 221, a turnover shaft 212 inserted in the turnover fixing block and coaxially rotating with the turnover motor 211, a turnover frame 213 fixedly connected with the turnover shaft 212, a suction cup frame 214 fixedly connected with the turnover frame 213, and a plurality of groups of adsorption mechanisms inserted in the suction cup frame 214;
the suction mechanism comprises a suction cup expansion rod 215 inserted into the suction cup frame 214, and a vacuum suction cup 216 fixedly mounted at the end of the suction cup expansion rod 215.
The slide clamp unit is mainly used for controlling the slide clamp to complete the turning over work of the blade, so that the side imager 269 and the top imager 270 can complete the acquisition work of the image on the other side of the blade;
the slide fixture is composed of two sets of fixture units symmetrically arranged at two sides of the shift turnover mechanism 21, each set of fixture unit comprises a vertical mechanism arranged at the side part of the shift turnover mechanism 21, a slide mechanism fixedly arranged above the vertical mechanism, and a position-adjusting turnover fixture 24 sleeved with the slide mechanism;
the vertical mechanism comprises a vertical frame arranged at the side part of the displacement turnover mechanism 21, a vertical motor fixedly connected with the vertical frame, a vertical screw rod inserted in the vertical frame and coaxially rotating with the vertical motor, and a vertical sliding block sleeved on the vertical screw rod and slidably connected with the vertical frame;
the slide mechanism comprises a slide frame 232 fixedly arranged on the vertical sliding block, a slide motor 231 fixedly connected with the slide frame 232, and a slide lead screw which is inserted in the slide frame 232 and coaxially rotates with the slide motor 231;
the positioning overturning clamp 24 comprises a positioning bottom plate 241 sleeved on a sliding position screw rod and slidably connected with a sliding position frame 232, a positioning bottom frame 242 fixedly connected with the positioning bottom plate 241, a positioning motor 244 fixedly connected with the positioning bottom frame 242, a positioning screw rod 245 inserted in the positioning bottom frame 242 and coaxially rotating with the positioning motor 244, positioning guide rods 243 arranged at two sides of the positioning screw rod 245 and inserted in the positioning bottom frame 242, a rotating motor 246 sleeved on the positioning screw rod 245 and the positioning guide rods 243, a rotating shaft 247 inserted in the rotating motor 246, a clamping cylinder 248 fixedly connected with the rotating shaft 247, clamping telescopic rods 249 arranged at two ends of the clamping cylinder 248, a clamping connecting block 250 fixedly connected with the clamping telescopic rods 249, and a clamping cushion block fixedly connected with the clamping connecting block 250;
and a sponge cushion block is arranged on the clamping cushion block.
The preprocessing module is used for finishing sharpening the collected color image, so that the processed image has a better effect;
the preprocessing module finishes sharpening by using USM sharpening application, and quantizes the sharpening degree through the quantity, the radius and the threshold, and comprises the following steps:
step 1, controlling the sharpening strength through the number, wherein the number is 150, the radius is 1, and the color level is 2;
step 2, determining the width of the pixel points with the emphasized edges through the radius, setting the radius value to be 1, setting the whole angle of the image from light to dark to be two pixels, setting the radius value to be 2, setting two pixel points on two sides of the edge of the image respectively, setting the whole width from light to dark to be four pixels, and when the radius is larger, the difference of the details is clearer;
and 3, determining the size of the contrast value through a threshold value, wherein the edges of the adjacent pixels lower than the contrast value cannot be sharpened, and the edges of the adjacent pixels higher than the contrast value can be sharpened.
In a further embodiment, the projection module is mainly used for projecting the sharpened image, storing the live-action image in a data format, and further realizing spherical equidistant projection, so that the effect image presents a three-dimensional sense;
for convenient storage, two-dimensional coordinates are converted into three-dimensional picture coordinates
Is a point
Projecting points on the cylindrical surface
The parameter coordinates, however, if the parameter coordinates are three-dimensional, the three-dimensional parameter coordinates need to be converted into two-dimensional picture coordinates for storage, and all the projection points are combined together to obtain a panoramic picture and obtain pixel points
：
Wherein the content of the first and second substances,
、
representing the width and height of the live-action figure,
is the focal length of the camera;
from the above results, two pixels on the same vertical line
Having the same abscissa on the cylindrical panorama
The abscissa of these different pixel points orthographically projected onto the cylindrical panorama
It must also be the same, i.e. in a cylindrical panorama, the scene present above will change in the vertical direction.
The splicing module synthesizes the projected live-action image into a panoramic image with a wide view angle, and the product details are more highlighted through the projected live-action image;
by means of feature matching, boundary and energy features of the images are extracted by adopting fractal and wavelet tools, and then feature matching between the images is carried out, so that image splicing work is completed.
The modification module eliminates the splicing line by adopting a pixel weighted average method through an obvious boundary near the splicing line when the two images have certain gray difference, so that the characteristics of the modified images are more prominent;
the uploading module is mainly used for uploading the modified image to the control terminal so that a worker can judge whether the blade has defects.
Description of the working principle: when the blades need to be subjected to three-dimensional imaging, the blades are conveyed through a feeding mechanism; the conveying motor works to drive the conveying shaft to rotate so as to drive the conveying cylinder to rotate, and further drive the conveying belt 11 to move so as to finish the conveying work of the blades; after the blades are transported, the turnover mechanism 21 finishes the suction of the blades, the suction cup telescopic rod 215 works, and the vacuum suction cup 216 is driven to move, so that the suction of the blades is finished; after the blade is turned over, the displacement mechanism 22 works to move the blade to the adaptive position; after the blade is sucked, the blade is operated by the turning motor 211, so that the turning shaft 212 is driven to rotate, the turning frame 213 is driven to rotate, the suction cup frame 214 is driven to rotate, and the blade is driven to turn; then, the shift motor 222 works to drive the shift screw rod 224 to rotate, so as to drive the shift sliding plate 221 to slide along the shift guide rod 223, thereby driving the turnover mechanism 21 to slide, and further driving the blade to move to the adaptive position; after the blade moves to the adaptive position, the displacement mechanism drives the side imager 269 and the top imager 270 to complete the detection and imaging of the top and the periphery of the blade; work is carried out through a vertical motor 267, and then a vertical screw rod is driven to rotate, and then a cross frame 264 is driven to slide along the vertical frame, and then a transverse motor 266 works to drive a transverse screw rod to rotate, and then a transverse sliding plate 268 is driven to slide along a transverse moving frame 265, and then a displacement motor 2681 is used for driving a displacement screw rod 2682 to rotate, and then a displacement sliding block 2683 is driven to slide along a displacement guide rod 2684, so that a side imager 269 and a top imager 270 are driven to move to a detection imaging position, and then the detection imaging work of the top and the side of the blade is completed; at the moment, the slide clamp works, and then the blades are clamped to turn over; firstly, the vertical mechanism and the slide mechanism drive the positioning and overturning clamp 24 to move to a proper clamping position; the vertical motor works to drive the vertical screw rod to rotate, further drive the vertical slide block to slide, further drive the slide motor 231 to work, further drive the slide screw rod to rotate, further drive the positioning overturning clamp 24 to move to a proper clamping position; when the positioning and overturning clamp 24 moves to a proper clamping position, the positioning and overturning clamp 24 works to clamp and overturn the blade; the clamping cylinder 248 works to drive the clamping telescopic rods 249 to contract, so that the two groups of clamping connecting blocks 250 are driven to move close to each other, and the two groups of clamp cushion blocks 251 are driven to move close to each other, so that the blades are clamped; the positioning motor 244 works to drive the positioning screw 245 to rotate, the rotating motor 246 is driven to move, the clamping cylinder 248 is driven to adjust the height, the blade is driven to be separated from the vacuum chuck 216, the rotating motor 246 works to drive the rotating shaft 247 to rotate, and the turning work of the blade is finished; after the turning over of the blade is finished, the positioning mechanism works to drive the top imager 270 to finish the detection imaging work of the other side of the blade; further completing the three-dimensional imaging work of the detected image; the acquired color image is sharpened through the preprocessing module, so that the processed image has a better effect;
the preprocessing module finishes sharpening by using USM sharpening application, and quantizes the sharpening degree through the quantity, the radius and the threshold, and comprises the following steps:
step 1, controlling the sharpening strength through the number, wherein the number is 150, the radius is 1, and the color level is 2;
step 2, determining the width of the pixel points with the emphasized edges through the radius, setting the radius value to be 1, setting the whole angle of the image from light to dark to be two pixels, setting the radius value to be 2, setting two pixel points on two sides of the edge of the image respectively, setting the whole width from light to dark to be four pixels, and when the radius is larger, the difference of the details is clearer;
step 3, determining the size of the contrast value through a threshold value, wherein the edges of the adjacent pixels lower than the contrast value cannot be sharpened, and the edges of the adjacent pixels higher than the contrast value can be sharpened;
the projection module is used for projecting the sharpened image, and storing the live-action image in a data format, so that the spherical equidistant projection is realized, and the effect image is three-dimensional;
for convenient storage, two-dimensional coordinates are converted into three-dimensional picture coordinates
Is a point
Projecting points on the cylindrical surface
The parameter coordinates, however, if the parameter coordinates are three-dimensional, the three-dimensional parameter coordinates need to be converted into two-dimensional picture coordinates for storage, and all the projection points are combined together to obtain a panoramic picture and obtain pixel points
：
Wherein the content of the first and second substances,
、
representing the width and height of the live-action figure,
is the focal length of the camera;
from the above results, two pixels on the same vertical line
Having the same abscissa on the cylindrical panorama
The abscissa of these different pixel points orthographically projected onto the cylindrical panorama
The same must also be said, i.e. in a cylindrical panorama, the scene present above will change in the vertical direction;
the projected live-action image is synthesized into a panoramic image with a wide viewing angle through a splicing module, and the product details are more highlighted through the projected live-action image;
extracting the boundary and energy characteristics of the images by adopting fractal and wavelet tools through characteristic matching, and then performing characteristic matching between the images so as to finish the image splicing work;
the two images have certain gray difference degree through the modification module, the splicing line is eliminated by adopting a pixel weighted average method from an obvious boundary near the splicing line, and the characteristics of the modified images are more prominent;
the modified image is mainly uploaded to a control terminal through an uploading module, so that a worker can judge whether the blade has a defect;
after the two sides and week portion of blade detected the formation of image and accomplished, accomplished to detect the formation of image when the blade, driven the blade again by slide anchor clamps and moved to ejection of compact subassembly top, and then loosen the clamp of getting the blade, and then accomplished the ejection of compact work to the blade by ejection of compact subassembly again.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (10)
1. The utility model provides an aircraft engine blade stereoscopic imaging detecting system which characterized by includes:
the device comprises a transmission module for transmitting the blade, an acquisition module for acquiring an image of the blade, and an imaging module for imaging the image acquired by the acquisition module;
the acquisition module comprises a displacement unit for controlling the displacement mechanism, a displacement overturning unit for controlling the displacement overturning mechanism and a slide clamp unit for controlling the slide clamp;
the imaging module comprises a preprocessing module for preprocessing the acquired image;
the projection module is used for projecting the preprocessed image;
the splicing module is used for splicing the projected images;
the modification module is used for finishing the smooth processing of the splicing module;
and an uploading module for uploading the decorated image to a control terminal so that workers can distinguish blade conditions.
2. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the preprocessing module is used for finishing sharpening the collected color image, so that the processed image has a better effect;
the preprocessing module finishes sharpening by using USM sharpening application, and quantizes the sharpening degree through the quantity, the radius and the threshold, and comprises the following steps:
step 1, controlling the sharpening strength through the number, wherein the number is 150, the radius is 1, and the color level is 2;
step 2, determining the width of the pixel points with the emphasized edges through the radius, setting the radius value to be 1, setting the whole angle of the image from light to dark to be two pixels, setting the radius value to be 2, setting two pixel points on two sides of the edge of the image respectively, setting the whole width from light to dark to be four pixels, and when the radius is larger, the difference of the details is clearer;
and 3, determining the size of the contrast value through a threshold value, wherein the edges of the adjacent pixels lower than the contrast value cannot be sharpened, and the edges of the adjacent pixels higher than the contrast value can be sharpened.
3. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the projection module is mainly used for projecting the sharpened image, storing the live-action image in a data format, and further realizing spherical equidistant projection so that the effect image presents three-dimensional sense;
for convenient storage, two-dimensional coordinates are converted into three-dimensional picture coordinates
Is a point
Projecting points on the cylindrical surface
Parameter coordinates, however, if the parameter coordinates are three-dimensional, the three-dimensional parameter coordinates need to be converted into two-dimensional picture coordinates for storageStoring, combining all projection points to obtain panoramic picture, and obtaining pixel points
：
Wherein the content of the first and second substances,
、
representing the width and height of the live-action figure,
is the focal length of the camera;
from the above results, two pixels on the same vertical line
Having the same abscissa on the cylindrical panorama
The abscissa of these different pixel points orthographically projected onto the cylindrical panorama
It must also be the same, i.e. in a cylindrical panorama, the scene present above will change in the vertical direction.
4. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the splicing module synthesizes the projected live-action image into a panoramic image with a wide view angle, and the product details are more highlighted through the projected live-action image;
by means of feature matching, boundary and energy features of the images are extracted by adopting fractal and wavelet tools, and then feature matching between the images is carried out, so that image splicing work is completed.
5. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the modification module eliminates the splicing line by adopting a pixel weighted average method through an obvious boundary near the splicing line when the two images have certain gray difference, so that the characteristics of the modified images are more prominent;
the uploading module is mainly used for uploading the modified image to the control terminal so that a worker can judge whether the blade has defects.
6. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the conveying module is mainly used for controlling the feeding assembly and the discharging assembly to finish the transportation work of the blades;
the feeding assembly and the discharging assembly are symmetrically arranged in two groups of transportation units on two sides of the detection imaging shell, each group of transportation units comprises a transportation bottom plate fixedly connected with the detection imaging shell, a transportation frame fixedly connected with the transportation bottom plate, a transportation motor fixedly arranged on the transportation bottom plate, a transportation shaft inserted in the transportation motor, two groups of transportation cylinders connected with the transportation shaft in a transmission manner and inserted in two ends of the transportation frame, and a conveyor belt sleeved in the two groups of transportation cylinders.
7. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the acquisition module is mainly used for completing the image acquisition of the blade;
the displacement mechanism is controlled through the displacement unit to drive the side imager and the top imager to complete the acquisition of the blade image.
8. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the displacement turnover unit is used for controlling the displacement turnover mechanism to complete the feeding and fixing work of the blades;
the shifting turnover mechanism comprises a shifting mechanism and a turnover mechanism fixedly connected with the shifting mechanism.
9. The aircraft engine blade stereo imaging detection system of claim 1, wherein: the slide clamp unit is mainly used for controlling the slide clamp to complete the turning over work of the blade, so that the side imager and the top imager can complete the acquisition work of the image on the other side of the blade;
the slide fixture is composed of two sets of fixture units symmetrically arranged on two sides of the shift turnover mechanism, each set of fixture unit comprises a vertical mechanism arranged on the side part of the shift turnover mechanism, a slide mechanism fixedly arranged above the vertical mechanism, and a position-adjusting turnover fixture sleeved with the slide mechanism.
10. A detection method of a three-dimensional imaging detection system for an aircraft engine blade is characterized by comprising the following steps:
step 1, when the blade needs to be subjected to three-dimensional imaging, firstly, the blade is conveyed through a feeding mechanism;
step 2, after the blades are transported, the blades are sucked by the turnover mechanism, the suction of the blades is carried out by the suction cup telescopic rod, and the vacuum suction cup is driven to move so as to suck the blades;
step 3, after the blade moves to the adaptive position, the displacement mechanism drives the side imager and the top imager to complete detection imaging of the top and the periphery of the blade;
step 4, the slide clamp works at the moment, and then the blade is clamped and turned over;
step 5, after the positioning overturning fixture moves to a proper clamping position, the positioning overturning fixture works to clamp the blade for overturning;
step 6, after the turning over of the blade is finished, the positioning mechanism works to drive the top imager to finish the detection imaging work of the other side of the blade;
further completing the three-dimensional imaging work of the detected image;
the acquired color image is sharpened through the preprocessing module, so that the processed image has a better effect;
the preprocessing module finishes sharpening by using USM sharpening application, and quantizes the sharpening degree through the quantity, the radius and the threshold, and comprises the following steps:
step 1, controlling the sharpening strength through the number, wherein the number is 150, the radius is 1, and the color level is 2;
step 2, determining the width of the pixel points with the emphasized edges through the radius, setting the radius value to be 1, setting the whole angle of the image from light to dark to be two pixels, setting the radius value to be 2, setting two pixel points on two sides of the edge of the image respectively, setting the whole width from light to dark to be four pixels, and when the radius is larger, the difference of the details is clearer;
step 3, determining the size of the contrast value through a threshold value, wherein the edges of the adjacent pixels lower than the contrast value cannot be sharpened, and the edges of the adjacent pixels higher than the contrast value can be sharpened;
the projection module is used for projecting the sharpened image, and storing the live-action image in a data format, so that the spherical equidistant projection is realized, and the effect image is three-dimensional;
for convenient storage, two-dimensional coordinates are converted into three-dimensional picture coordinates
Is a point
Projecting points on the cylindrical surface
The parameter coordinates, however, if the parameter coordinates are three-dimensional, the three-dimensional parameter coordinates need to be converted into two-dimensional picture coordinates for storage, and all the projection points are combined together to obtain a panoramic picture and obtain pixel points
：
Wherein the content of the first and second substances,
、
representing the width and height of the live-action figure,
is the focal length of the camera;
from the above results, two pixels on the same vertical line
Having the same abscissa on the cylindrical panorama
The abscissa of these different pixel points orthographically projected onto the cylindrical panorama
The same must also be said, i.e. in a cylindrical panorama, the scene present above will change in the vertical direction;
the projected live-action image is synthesized into a panoramic image with a wide viewing angle through a splicing module, and the product details are more highlighted through the projected live-action image;
extracting the boundary and energy characteristics of the images by adopting fractal and wavelet tools through characteristic matching, and then performing characteristic matching between the images so as to finish the image splicing work;
the two images have certain gray difference degree through the modification module, the splicing line is eliminated by adopting a pixel weighted average method from an obvious boundary near the splicing line, and the characteristics of the modified images are more prominent;
the modified image is mainly uploaded to a control terminal through an uploading module, so that a worker can judge whether the blade has a defect;
step 7, after the two sides of blade and week portion detection formation of image are accomplished, accomplish the detection formation of image when the blade after, drive the blade again by the slide anchor clamps and remove to ejection of compact subassembly top, and then loosen the clamp of getting the blade, and then accomplish the ejection of compact work to the blade by ejection of compact subassembly again.
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| CN102013110A (en) * | 2010-11-23 | 2011-04-13 | 李建成 | Three-dimensional panoramic image generation method and system |
| CN208840816U (en) * | 2018-08-17 | 2019-05-10 | 深圳市泰品科技有限公司 | A kind of feeding and rackwork |
| CN111126174A (en) * | 2019-12-04 | 2020-05-08 | 东莞理工学院 | Visual detection method for robot to grab parts |
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