CN113670923A - Omnidirectional high-precision detection device and method for notebook computer shell defects - Google Patents
Omnidirectional high-precision detection device and method for notebook computer shell defects Download PDFInfo
- Publication number
- CN113670923A CN113670923A CN202110968422.8A CN202110968422A CN113670923A CN 113670923 A CN113670923 A CN 113670923A CN 202110968422 A CN202110968422 A CN 202110968422A CN 113670923 A CN113670923 A CN 113670923A
- Authority
- CN
- China
- Prior art keywords
- notebook computer
- image
- conveying belt
- cmos camera
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
- G01N21/84—Systems specially adapted for particular applications
-
- 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
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20081—Training; Learning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20084—Artificial neural networks [ANN]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20092—Interactive image processing based on input by user
- G06T2207/20104—Interactive definition of region of interest [ROI]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
The invention discloses an omnibearing high-precision detection device and a method for defects of a notebook computer shell, wherein the detection device consists of an industrial personal computer, an image acquisition module, a lower computer control module, a conveyer belt, a flip mechanism and a jacking rotating mechanism; the industrial personal computer and the lower computer control module control the notebook computer to arrive at an appointed detection station and stop, and the servo motor controls the flip mechanism and the jacking rotating mechanism to cooperatively act to adjust the angle of each surface of the notebook computer, so that the image acquisition module acquires the image of each surface of the notebook computer and provides the image to the industrial personal computer, and the image acquisition module is used for classifying and fusing a plurality of acquired images of each surface and then classifying and identifying the image characteristics-defect form. The invention can realize the omnibearing high-precision detection of the defects of the notebook computer shell.
Description
Technical Field
The invention relates to an omnibearing high-precision detection device and method for defects of a notebook computer shell.
Background
Defects such as scratches, bumps and pits exist on the surface of a notebook computer shell, the detection of the defects on the surface of the notebook computer shell usually adopts a manual detection mode, the problems of long detection time, different standards, high cost and the like exist in manual detection, in addition, in a visual detection system, a shooting camera always only carries out shooting at one angle, the accuracy of defect detection is reduced due to the fact that the shooting angle is not in place, and the detection efficiency is seriously reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an omnibearing high-precision detection device and method for the defects of the shell of the notebook computer, so that the multi-surface omnibearing automatic detection of the defects of the shell of the notebook computer can be realized, and the detection precision and the detection efficiency of the defects of the shell of the notebook computer are improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to an omnibearing high-precision detection device for defects of a notebook computer shell, which is characterized in that a conveyer belt is arranged, and a first conveyer belt and a second conveyer belt are sequentially arranged on the conveyer belt along the conveying direction;
a push rod assembly is arranged on one side of the first conveying belt, and a rubber block is arranged at the movable end of a push rod cylinder of the push rod assembly and used for adjusting the initial position of the notebook computer on the first conveying belt, so that the notebook computer is located in the middle of the first conveying belt;
a flip mechanism is arranged on the same side of the first conveying belt and the second conveying belt, and a supporting plate is arranged between the first conveying belt and the second conveying belt of the flip mechanism; a linkage assembly is fixed on the supporting plate through a supporting seat, the supporting end of the linkage assembly is movably hinged with the supporting seat through a hinge bolt, one end of the linkage assembly is connected with the movable end of the rodless cylinder on the supporting plate, and a first vacuum sucker group is installed at the other end of the linkage assembly and used for adsorbing the surface A of the notebook computer; the rodless cylinder drives the linkage assembly to act and drives the surface A of the notebook computer on the first vacuum sucker group to turn over the cover;
a jacking rotating mechanism is arranged at the bottom between the first conveying belt and the second conveying belt, a first servo motor is fixed on an installation plate at the bottom of the jacking rotating mechanism, the first servo motor is connected with a ball screw through a first coupler, the ball screw penetrates through an intermediate plate, and a top plate is arranged at the top of the ball screw; the middle plate is provided with a rotating mechanism, the middle plate on one side of the rotating mechanism is provided with a guide rod, the bottom of the guide rod is arranged on the mounting plate, and the top of the guide rod is arranged on the top plate; the first servo motor drives the ball screw to rotate and drives the rotating mechanism on the middle plate to move up and down between the mounting plate and the top plate along the ball screw;
the rotating mechanism is provided with a second servo motor at the middle position of the middle plate, and is connected with one end of a rotating shaft through a second coupler and a speed reducer, the other end of the rotating shaft is connected with one end of a connecting shaft, the other end of the connecting shaft is provided with a sucker mounting rack, and a second vacuum sucker group is mounted on the sucker mounting rack, is uniformly distributed in a rectangular shape and is used for adsorbing the D surface of the notebook computer; the second servo motor drives the connecting shaft to rotate and drives the surface D of the notebook computer on the second vacuum sucker group to rotate at the bottom between the first conveying belt and the second conveying belt; the rotating speed of the rotating mechanism is adjusted by the second servo motor;
a detection station is arranged between the first conveying belt and the second conveying belt, and a first image acquisition module and a second image acquisition module are arranged on the detection station;
the first image acquisition module is characterized in that a first moving frame group is arranged at the bottom of one side of the first conveying belt, a first CMOS camera and a first linear light source are arranged on the first moving frame group, the first linear light source is arranged below the first CMOS camera, the first CMOS camera is positioned above the detection station, and the first CMOS camera is connected with an industrial personal computer through a first image acquisition card; adjusting the brightness of the first linear light source to adjust the image definition of the first CMOS camera;
the second image acquisition module is characterized in that a second moving frame group is arranged at the bottom of the other side of the first conveying belt, a second CMOS camera and a second linear light source are arranged on the second moving frame group, the second linear light source is arranged below the second CMOS camera, and the second CMOS camera is positioned on the side edge of the detection station; the second CMOS camera is connected with the industrial personal computer through a second image acquisition card; adjusting the imaging definition of a second CMOS camera by adjusting the brightness of the second linear light source;
the industrial personal computer is also in signal transmission with a lower computer control module through serial port communication, and the lower computer control module is respectively connected with the first conveying belt, the second conveying belt, the flip mechanism and the jacking rotating mechanism and used for controlling the operation of the device; the industrial personal computer classifies and fuses the images acquired by the first image acquisition module and the second image acquisition module through an image processing algorithm to obtain all-dimensional image information of the notebook shell, and then a deep learning model is utilized to classify and identify the image characteristics-defect form of the image information of the notebook shell.
The omnibearing high-precision detection device for the defects of the notebook computer shell is also characterized in that:
taking the central position of a horizontal plane of an area between the first conveying belt and the second conveying belt as an origin O, taking the conveying direction along the first conveying belt as an X-axis direction, taking the conveying direction parallel to the horizontal plane and vertical to the first conveying belt as a Y-axis direction, and taking the vertical direction vertical to the horizontal plane as a Z-axis direction, thereby establishing a world coordinate system;
the size of the notebook computer on the detection station is a multiplied by b, and the first CMOS camera shootsPicture size of field of view is L1×W1；
When the notebook computer is positioned at the position of the origin O of the world coordinate system, the installation position of the first CMOS camera in the Z-axis direction is adjusted, so that the shooting view field of the first CMOS camera is perpendicular to and is in front view of the XOY surface of the world coordinate system, and the pixel distances from the left edge and the right edge of the A surface of the notebook computer in the picture of the shooting view field of the first CMOS camera to the left edge and the right edge of the shooting view field of the first CMOS camera are all c1The distances from the upper edge and the lower edge of the A surface of the notebook computer to the upper edge and the lower edge of the shooting view field of the first CMOS camera are d1And satisfies the following conditions:
the size of the picture of the second CMOS camera shooting field of view is L2×W2；
When the notebook computer is positioned at the position of an origin O of the world coordinate system, adjusting the second CMOS camera to be positioned in the positive direction of the Y axis and the Z axis of the world coordinate system, so that the shooting field of view of the second CMOS camera is vertically and positively seen on the XOZ surface of the world coordinate system; and the pixel distances from the left edge and the right edge of the B surface of the notebook computer in the picture of the second CMOS camera shooting view field to the left edge and the right edge of the second CMOS camera shooting view field are all c2The pixel distances from the upper edge and the lower edge of the B surface of the notebook computer to the upper edge and the lower edge of the shooting view field of the second CMOS camera are d2And satisfies the following conditions:
the detection method of the omnibearing high-precision detection device for the defects of the notebook computer shell is characterized by comprising the following steps of:
step 1: horizontally placing a notebook computer to be detected on a running first conveying belt after closing, wherein the opening and closing end is along the conveying direction of the conveying belt and is at the same side as the push rod assembly; the push rod assembly is used for adjusting the position of the notebook computer on the first conveying belt under the action of the push rod cylinder, so that the push rod assembly is reset after the notebook computer is positioned at the middle position on the first conveying belt;
step 2: the first image acquisition module acquires digital images on the detection station in real time and sends the digital images to the industrial personal computer; the industrial personal computer identifies the feature points of the received digital image according to the position information and the number of the pre-stored edge feature points on the surface of the notebook computer, calculates the position deviation value of the feature points in the digital image according to the pre-stored feature point position information if the number of the identified feature points is matched with the number of the pre-stored feature points, judges that the notebook computer to be detected reaches the designated position if the position deviation value is smaller than the set threshold value, and sends a shutdown signal to the lower computer control module so as to control the first conveying belt and the second conveying belt to stop running;
and step 3: after the industrial personal computer receives a shutdown completion signal fed back by the lower computer control module, the first image acquisition module is used for acquiring an A-plane image of the notebook computer to be detected;
and 4, step 4: after the acquisition of the image of the A surface is finished, the industrial personal computer sends an acquisition signal to a lower computer control module, and the acquisition signal is used for controlling the actions of the flip mechanism and the bottom jacking rotating mechanism, so that the bottom jacking rotating mechanism performs jacking actions to drive the second vacuum sucker group to suck the D surface of the notebook computer, and meanwhile, the flip mechanism drives the first vacuum sucker group to suck the A surface of the notebook computer, and then performs 90-degree flip actions to open the notebook computer;
and 5: after the turning-over action is finished, the first vacuum sucker group loosens the surface A of the notebook computer, the lower computer control module controls the jacking rotating mechanism to rotate, the rotating mechanism is set to drive the notebook computer to stop after the notebook computer rotates by an angle delta through the second servo motor, so that the industrial personal computer controls the first image acquisition module to acquire images of the surface C of the notebook computer in a stopping interval, controls the second image acquisition module to acquire images of the surface A, B of the notebook computer, and sends the acquired images of the surface A, B, C to the industrial personal computer for classification and fusion processing after the notebook computer rotates for one circle;
step 6: the lower computer control module controls the flip mechanism to drive the first vacuum sucker group to suck the surface A of the notebook computer, and then performs 90-degree closing action to close the notebook computer;
and 7: the lower computer control module controls the jacking rotating mechanism to drive the notebook computer to rotate for 180 degrees, and then controls the flip mechanism to drive the first vacuum sucker group to suck the A surface of the notebook computer and then flip for 90 degrees, so that the bottom of the notebook computer faces to the second image acquisition module; the second image acquisition module acquires a D-surface image of the notebook computer;
and 8: after the acquisition of the D-surface image is finished, the industrial personal computer sends a reset signal to the lower computer control module to control the flip mechanism to drive the first vacuum sucker group to reversely turn over for 90 degrees, so that after the notebook computer is reset, an operation signal is sent to the lower computer control module to control the first conveying belt and the second conveying belt to recover to operate;
and step 9: the industrial personal computer performs histogram equalization processing and median filtering processing on the acquired image, and then cuts the processed image in proportion, thereby establishing a gray level template based on an image pyramid;
the industrial personal computer corrects the positions and the directions of the A-side image, the B-side image and the C-side image of the notebook computer according to the gray template; and then combining the corrected images into one image and dividing the region of interest to obtain a region of interest sample set for training an optimized deep learning model to realize classification and identification of an image feature-defect form.
Compared with the prior art, the invention has the beneficial effects that:
1. compared with the traditional detection mode, the invention uses the machine vision mode to detect, and realizes the omnibearing detection of the defects of the notebook computer shell by the cooperative action of the flip cover mechanism and the jacking rotating mechanism and the cooperation of the image acquisition module.
2. The invention determines the proportional relation range of the camera view field size and the notebook computer size, fixes the installation position of the camera, determines the imaging condition of the detected notebook computer shell defect in the camera view field, meets the unified detection aiming at different notebook computer shell sizes, and expands the size diversity of the detected objects.
3. The industrial personal computer receives the visual signals, calculates the position deviation value according to the pre-stored ideal position information of the detection object to adjust the position relation of the detection object, judges that the detection object reaches the designated position, and controls the conveyor belt to stop to collect images, so that the detection precision and efficiency are improved.
4. According to the invention, the rotation speed and the angle of the jacking rotary mechanism are accurately controlled by the servo motor, the image information of A, B, C surfaces of the notebook computer is continuously acquired for multiple times, the industrial personal computer classifies and fuses multiple acquired images of each surface, and the defect information is judged by the deep learning model, so that the high-precision detection of the shell defect of the notebook computer is realized.
Drawings
FIG. 1 is a schematic view of a world coordinate system of the present invention;
FIG. 2 is a flow chart of the detection according to the present invention;
FIG. 3 is an axial view of the inspection platform of the present invention;
FIG. 4 is a structural view of a flip mechanism of the present invention;
FIG. 5 is a view of the jacking rotary mechanism of the present invention;
FIG. 6 is a view of the rotating portion of the mechanism of FIG. 5;
FIG. 7 is a schematic view of a face B, C of a notebook computer according to the present invention;
FIG. 8 shows the face of a 30 degree rotated notebook computer B, C;
FIG. 9 is a schematic view of a notebook computer according to the present invention rotated 180 degrees;
reference numbers in the figures: 1 a first conveyor belt; 2 a second conveyor belt; 3, a cover turning mechanism; 4, a rodless cylinder; 5, a first vacuum chuck group; 6 linking the supporting seat of the component; 7, jacking and rotating the mechanism; 8 a first servo motor; 9 a rotating mechanism; 10, a coupler; 11 ball screw; 12 a guide bar; 13 mounting the plate; 14 a middle plate; 15 a second servo motor; 16 speed reducers; 17 a rotating shaft; 18 connecting the shafts; 19 a suction cup mounting bracket; 20 a second vacuum chuck group; 21 a first image acquisition module; 22 a second image acquisition module; 23 a first CMOS camera; 24 a first linear light source; 25 a first set of mobile carriages; 26 a second CMOS camera; 27 a second linear light source; 28 a second set of mobile carriages; 29 a push rod assembly; 30 push rod cylinders; 31 a support plate; 32 a linkage assembly; 33 rubber blocks.
Detailed Description
In this embodiment, an omnidirectional high-precision detection device for detecting defects of a notebook computer casing is provided with a conveyor belt, as shown in fig. 3, the conveyor belt is provided with a first conveyor belt 1 and a second conveyor belt 2 in sequence along a conveying direction;
a push rod assembly 29 is arranged on one side of the first conveying belt 1, a rubber block 33 is arranged at the movable end of a push rod cylinder 30 of the push rod assembly 29 and used for adjusting the initial position of the notebook computer on the first conveying belt 1, so that the notebook computer is positioned in the middle position of the first conveying belt 1, and the notebook computer can be conveniently and accurately moved to a detection station;
as shown in fig. 4, the flip mechanism 3 is disposed on the same side of the first conveyor belt 1 and the second conveyor belt 2, and the flip mechanism 3 is disposed with a supporting plate 31 between the first conveyor belt 1 and the second conveyor belt 2; a linkage assembly 32 is fixed on the supporting plate 31 through a supporting seat 6, the supporting end of the linkage assembly 32 is movably hinged with the supporting seat 6 through a hinge bolt, one end of the linkage assembly 32 is connected with the movable end of a rodless cylinder 4 on the supporting plate 31, and the other end of the linkage assembly 32 is provided with a first vacuum sucker group 5 for adsorbing the surface A of the notebook computer; the rodless cylinder 4 drives the linkage assembly 32 to act and drives the surface A of the notebook computer on the first vacuum sucker group 5 to act as a turnover cover;
as shown in fig. 3, a jacking and rotating mechanism 7 is installed at the bottom between the first conveyor belt 1 and the second conveyor belt 2, as shown in fig. 5, a first servo motor 8 is fixed on an installation plate 13 at the bottom of the jacking and rotating mechanism 7, the first servo motor 8 is connected with a ball screw 11 through a first coupling 10, the ball screw 11 penetrates through an intermediate plate 14, and a top plate is installed at the top of the ball screw 11; the middle plate 14 is provided with a rotating mechanism 9, the middle plate 14 at one side of the rotating mechanism 9 is provided with a guide rod 12, the bottom of the guide rod 12 is arranged on the mounting plate 13, and the top of the guide rod 12 is arranged on the top plate; the first servo motor 8 drives the ball screw 11 to rotate and drives the rotating mechanism 9 on the middle plate 14 to move up and down between the mounting plate 13 and the top plate along the ball screw 11; the jacking rotating mechanism 7 drives the notebook computer to move up and down at the detection station, so that the detection of the defects of the notebook computer shell is facilitated;
as shown in fig. 6, the rotating mechanism 9 is provided with a second servo motor 15 at the middle position of the middle plate 14, and is connected with one end of a rotating shaft 17 through a second coupling and a speed reducer 16, the other end of the rotating shaft 17 is connected with one end of a connecting shaft 18, the other end of the connecting shaft 18 is provided with a suction cup mounting rack 19, and a second vacuum suction cup group 20 is mounted on the suction cup mounting rack 19, is uniformly distributed in a rectangular shape, and is used for adsorbing the D surface of the notebook computer; the second servo motor 15 drives the connecting shaft 17 to rotate and drives the surface D of the notebook computer on the second vacuum sucker group 20 to rotate at the bottom between the first conveying belt 1 and the second conveying belt 2; the second servo motor 15 adjusts the rotation speed of the rotation mechanism 9 to control the rotation of the notebook computer;
a detection station is arranged between the first conveyor belt 1 and the second conveyor belt 2, and a first image acquisition module 21 and a second image acquisition module 22 are arranged on the detection station;
the first image acquisition module 21 is characterized in that a first moving frame group 25 is arranged at the bottom of one side of the first conveyor belt 1, a first CMOS camera 23 and a first linear light source 24 are arranged on the first moving frame group 25, the first linear light source 24 is arranged below the first CMOS camera 23, the first CMOS camera 23 is positioned above a detection station, and the first CMOS camera 23 is connected with an industrial personal computer through a first image acquisition card; and adjusts the imaging sharpness of the first CMOS camera 23 by adjusting the brightness of the first linear light source 14;
the second image acquisition module 22 is formed by installing a second moving frame group 28 at the bottom of the other side of the first conveyor belt 1, installing a second CMOS camera 26 and a second linear light source 27 on the second moving frame group 28, wherein the second linear light source 27 is below the second CMOS camera 26, and the second CMOS camera 26 is located at the side of the detection station; the second CMOS camera 26 is connected with the industrial personal computer through a second image acquisition card; and adjusts the imaging sharpness of the second CMOS camera 26 by adjusting the brightness of the second linear light source 27;
taking the central position of the horizontal plane of the area between the first conveyor belt 1 and the second conveyor belt 2 as an origin O, taking the conveying direction along the first conveyor belt 1 as an X-axis direction, taking the direction parallel to the horizontal plane and perpendicular to the first conveyor belt 1 as a Y-axis direction, and taking the direction perpendicular to the horizontal plane vertically upward as a Z-axis direction, thereby establishing a world coordinate system, as shown in fig. 1;
let the size of the notebook computer on the detection station be a × b, and the size of the picture of the first CMOS camera 23 in the field of view be L1×W1；
When the notebook computer is at the position of the origin O of the world coordinate system, the mounting position of the first CMOS camera 23 in the Z-axis direction is adjusted so that the shooting field of view thereof is perpendicular to and is viewed from the XOY plane of the world coordinate system, and the pixel distances from the left and right edges of the a plane of the notebook computer in the picture of the shooting field of view of the first CMOS camera 23 to the left and right edges of the shooting field of view of the first CMOS camera 23 are all c1The distances from the upper and lower edges of the notebook computer A to the upper and lower edges of the first CMOS camera 23 are d1And satisfies the following conditions:
the second CMOS camera 26 has a field-of-view picture size L2×W2；
When the notebook computer is positioned at the position of the origin O of the world coordinate system, the second CMOS camera 26 is adjusted to be positioned in the positive direction of the Y axis and the Z axis of the world coordinate system, so that the shooting view field of the second CMOS camera is perpendicular to the XOZ plane of the world coordinate system; and the pixel distances from the left and right edges of the notebook computer B surface in the picture of the second CMOS camera 26 shooting view field to the left and right edges of the second CMOS camera 26 shooting view field are all c2The upper and lower edges of the B-side of the notebook computer go to the second CMOS camera 26 for shootingThe pixel distances of the upper and lower edges of the field are all d2And satisfies the following conditions:
the industrial personal computer performs signal transmission with a lower computer control module through serial port communication, and the lower computer control module is respectively connected with the first conveyer belt 1, the second conveyer belt 2, the flip mechanism 3 and the jacking rotating mechanism 7 and used for controlling the operation of the device; the industrial personal computer classifies and fuses the images acquired by the first image acquisition module 21 and the second image acquisition module 22 through an image processing algorithm to obtain all-dimensional notebook shell image information, so that a deep learning model is adopted to classify and identify all-dimensional notebook shell image information in an image feature-defect form, and a convolutional neural network, an improved VGG19 deep learning model and the like can be adopted according to the features and the types of defects of the images;
in this embodiment, as shown in fig. 2, an omnidirectional high-precision detection method for detecting a defect of a notebook computer casing is performed according to the following steps:
step 1: after being closed, the notebook computer to be detected is horizontally placed on the running first conveying belt 1, and the opening and closing end is along the conveying direction of the conveying belt and is positioned at the same side as the push rod assembly 29; the push rod assembly 29 adjusts the position of the notebook computer on the first conveyor belt 1 under the action of the push rod cylinder 30, so that the push rod assembly 29 resets after the notebook computer is positioned at the middle position on the first conveyor belt 1; the notebook computer is moved to the middle position of the conveying belt, so that the notebook computer can be accurately moved to the detection station;
step 2: the first image acquisition module 21 acquires digital images on a detection station in real time and sends the digital images to the industrial personal computer; the industrial personal computer identifies the feature points of the received digital image according to the position information and the number of the pre-stored feature points on the edge of the surface of the notebook computer, if the number of the identified feature points is matched with the number of the pre-stored feature points, the industrial personal computer calculates the position deviation value of the feature points in the digital image according to the pre-stored feature point position information, if the position deviation value is smaller than a set threshold value, the notebook computer to be detected reaches a specified position, and sends a shutdown signal to the lower computer control module so as to control the first conveying belt 1 and the second conveying belt 2 to stop running;
and step 3: after receiving a shutdown completion signal fed back by the lower computer control module, the industrial personal computer acquires an A-plane image of the notebook computer to be detected by using the first image acquisition module 21;
and 4, step 4: after the acquisition of the A-side image is finished, the industrial personal computer sends an acquisition signal to a lower computer control module, and the acquisition signal is used for controlling the actions of the flip mechanism 3 and the bottom jacking rotating mechanism 7, so that the bottom jacking rotating mechanism 7 performs jacking actions to drive the second vacuum sucker group 20 to suck the D side of the notebook computer, and meanwhile, after the flip mechanism 3 drives the first vacuum sucker group 5 to suck the A side of the notebook computer, 90-degree flip actions are performed to open the notebook computer;
and 5: after the cover turning action is finished, the first vacuum sucker group 5 loosens the surface A of the notebook computer, the lower computer control module controls the jacking rotating mechanism 7 to rotate, and the rotating mechanism 9 is set to drive the notebook computer to stop after rotating by an angle of delta through the second servo motor 15, as shown in fig. 7 and 8, so that the industrial personal computer can control the first image acquisition module 21 to acquire images of the surface C of the notebook computer in a stopping interval and control the second image acquisition module 22 to acquire images of the surface A, B of the notebook computer until the notebook computer completes acquisition of images of the surface A, B, C after rotating for one circle and then sends the acquired images to the industrial personal computer for classification and fusion processing, and the rotating angle delta can be adjusted by multiple angles of 30 degrees, 60 degrees, 90 degrees and the like preliminarily according to the size and the number of the defects of the shell of the notebook computer;
step 6: the lower computer control module controls the flip mechanism 3 to drive the first vacuum sucker group 5 to suck the surface A of the notebook computer, and then performs 90-degree closing action to close the notebook computer;
and 7: after the lower computer control module controls the jacking rotating mechanism 7 to drive the notebook computer to rotate for 180 degrees, as shown in fig. 9, the cover turning mechanism 3 is controlled to drive the first vacuum suction cup group 5 to suck the A surface of the notebook computer and turn for 90 degrees, so that the bottom of the notebook computer faces the second image acquisition module 22; so that the second image acquisition module acquires a D-surface image of the notebook computer;
and 8: after the acquisition of the D-surface image is finished, the industrial personal computer sends a reset signal to the lower computer control module to control the flip mechanism 3 to drive the first vacuum sucker group 5 to reversely turn over for 90 degrees, so that after the notebook computer is reset, an operation signal is sent to the lower computer control module to control the first conveying belt 1 and the second conveying belt 2 to recover to operate;
and step 9: the industrial personal computer performs histogram equalization processing on the acquired image; carrying out median filtering processing on the processed image; the processed image is cut in proportion, so that a gray level template based on an image pyramid is established for detecting a defect characteristic region, reducing the defect matching search area, quickly positioning the position of a target defect, and facilitating the next step of manufacturing a defect data region sample set after acquiring defect information;
the industrial personal computer corrects the positions and the directions of the A-side image, the B-side image and the C-side image of the notebook computer according to the gray template; merging the corrected images into one image and dividing an interested area; thereby obtaining a sample set of the region of interest; and finally, establishing and optimizing a deep learning model based on the sample set of the region of interest, and finally classifying and identifying the image feature-defect form by using the deep learning model, wherein a convolutional neural network, an improved VGG19 deep learning model and the like can be adopted according to the features of the image and the types of the defects.
Claims (3)
1. An omnibearing high-precision detection device for defects of a notebook computer shell is characterized in that a conveyer belt is arranged, and a first conveyer belt (1) and a second conveyer belt (2) are sequentially arranged on the conveyer belt along the conveying direction;
a push rod assembly (29) is arranged on one side of the first conveying belt (1), and a rubber block (33) is arranged at the movable end of a push rod cylinder (30) of the push rod assembly (29) and used for adjusting the initial position of a notebook computer on the first conveying belt (1) so that the notebook computer is positioned in the middle position on the first conveying belt (1);
a flip mechanism (3) is arranged on the same side of the first conveying belt (1) and the second conveying belt (2), and a supporting plate (31) is arranged between the first conveying belt (1) and the second conveying belt (2) of the flip mechanism (3); a linkage component (32) is fixed on the supporting plate (31) through a supporting seat (6), the supporting end of the linkage component (32) is movably hinged with the supporting seat (6) through a hinge bolt, one end of the linkage component (32) is connected with the movable end of a rodless cylinder (4) on the supporting plate (31), and a first vacuum sucker group (5) is installed at the other end of the linkage component (32) and used for adsorbing the surface A of the notebook computer; the rodless cylinder (4) drives the linkage component (32) to act and drives the surface A of the notebook computer on the first vacuum sucker group (5) to perform a flip action;
a jacking rotating mechanism (7) is arranged at the bottom between the first conveying belt (1) and the second conveying belt (2), a first servo motor (8) is fixed on a mounting plate (13) at the bottom of the jacking rotating mechanism (7), the first servo motor (8) is connected with a ball screw (11) through a first coupler (10), the ball screw (11) penetrates through an intermediate plate (14), and a top plate is arranged at the top of the ball screw (11); a rotating mechanism (9) is arranged on the middle plate (14), a guide rod (12) is arranged on the middle plate (14) on one side of the rotating mechanism (9), the bottom of the guide rod (12) is arranged on the mounting plate (13), and the top of the guide rod is arranged on the top plate; the first servo motor (8) drives the ball screw (11) to rotate and drives the rotating mechanism (9) on the middle plate (14) to move up and down between the mounting plate (13) and the top plate along the ball screw (11);
the rotating mechanism (9) is characterized in that a second servo motor (15) is arranged in the middle of the middle plate (14), the middle position of the middle plate is connected with one end of a rotating shaft (17) through a second coupler and a speed reducer (16), the other end of the rotating shaft (17) is connected with one end of a connecting shaft (18), the other end of the connecting shaft (18) is provided with a sucker mounting rack (19), and second vacuum sucker groups (20) are mounted on the sucker mounting rack (19) and are uniformly distributed in a rectangular shape and used for adsorbing the D surface of the notebook computer; the second servo motor (15) drives the connecting shaft (17) to rotate and drives the surface D of the notebook computer on the second vacuum sucker group (20) to rotate at the bottom between the first conveying belt (1) and the second conveying belt (2); and the rotation speed of the rotating mechanism (9) is adjusted by the second servo motor (15);
a detection station is arranged between the first conveying belt (1) and the second conveying belt (2), and a first image acquisition module (21) and a second image acquisition module (22) are arranged on the detection station;
the first image acquisition module (21) is characterized in that a first movable frame group (25) is arranged at the bottom of one side of the first conveyor belt (1), a first CMOS camera (23) and a first linear light source (24) are arranged on the first movable frame group (25), the first linear light source (24) is arranged below the first CMOS camera (23), the first CMOS camera (23) is positioned above the detection station, and the first CMOS camera (23) is connected with an industrial personal computer through a first image acquisition card; and adjusting the first CMOS camera (23) to image sharpness by adjusting the brightness of the first linear light source (24);
the second image acquisition module (22) is characterized in that a second moving frame group (28) is installed at the bottom of the other side of the first conveyor belt (1), a second CMOS camera (26) and a second linear light source (27) are installed on the second moving frame group (28), the second linear light source (27) is arranged below the second CMOS camera (26), and the second CMOS camera (26) is located on the side edge of the detection station; the second CMOS camera (26) is connected with the industrial personal computer through a second image acquisition card; and adjusting the imaging sharpness of a second CMOS camera (26) by adjusting the brightness of the second linear light source (27);
the industrial personal computer is also in signal transmission with a lower computer control module through serial port communication, and the lower computer control module is respectively connected with the first conveying belt (1), the second conveying belt (2), the flip mechanism (3) and the jacking rotating mechanism (7) and used for controlling the operation of the device; the industrial personal computer classifies and fuses the images acquired by the first image acquisition module (21) and the second image acquisition module (22) through an image processing algorithm to obtain omnibearing notebook shell image information, and then a deep learning model is utilized to classify and identify the image characteristics-defect form of the notebook shell image information.
2. The device for detecting defects of notebook computer housings of claim 1, wherein the device comprises:
setting the central position of a horizontal plane of an area between the first conveying belt (1) and the second conveying belt (2) as an origin O, setting the conveying direction along the first conveying belt (1) as an X-axis direction, setting the conveying direction parallel to the horizontal plane and vertical to the first conveying belt (1) as a Y-axis direction, and setting the conveying direction vertical to the horizontal plane upwards as a Z-axis direction, thereby establishing a world coordinate system;
the size of a notebook computer on the detection station is a multiplied by b, and the picture size of the shooting view field of the first CMOS camera (23) is L1×W1；
When the notebook computer is positioned at the position of the origin O of the world coordinate system, the installation position of the first CMOS camera (23) in the Z-axis direction is adjusted, so that the shooting view field of the first CMOS camera (23) is perpendicular to and is in front view of the XOY surface of the world coordinate system, and the pixel distances from the left edge and the right edge of the A surface of the notebook computer in the picture of the shooting view field of the first CMOS camera (23) to the left edge and the right edge of the shooting view field of the first CMOS camera (23) are all c1The distances from the upper edge and the lower edge of the A surface of the notebook computer to the upper edge and the lower edge of the shooting view field of the first CMOS camera (23) are d1And satisfies the following conditions:
the second CMOS camera (26) has a shooting field picture size of L2×W2；
When the notebook computer is positioned at the position of an origin O of the world coordinate system, adjusting the second CMOS camera (26) to be positioned in the positive direction of the Y axis and the Z axis of the world coordinate system, so that the shooting field of view of the second CMOS camera is perpendicular to the XOZ plane of the world coordinate system; and the pixel distances from the left and right edges of the B surface of the notebook computer in the picture of the shooting view field of the second CMOS camera (26) to the left and right edges of the shooting view field of the second CMOS camera (26) are all c2The upper and lower edges of the B surface of the notebook computer are arranged on theThe distances of the pixels at the upper and lower edges of the shooting view field of the second CMOS camera (26) are d2And satisfies the following conditions:
3. the method for detecting the defects of the notebook computer casing according to claim 1, comprising the steps of:
step 1: after being closed, the notebook computer to be detected is horizontally placed on the running first conveying belt (1), and the opening and closing end is along the conveying direction of the conveying belt and is at the same side as the push rod assembly (29); the push rod assembly (29) adjusts the position of the notebook computer on the first conveying belt (1) under the action of the push rod cylinder (30), so that the push rod assembly (29) resets after the notebook computer is positioned at the middle position on the first conveying belt (1);
step 2: the first image acquisition module (21) acquires digital images on the detection stations in real time and sends the digital images to the industrial personal computer; the industrial personal computer identifies the feature points of the received digital image according to the position information and the number of the pre-stored edge feature points on the surface of the notebook computer, calculates the position deviation value of the feature points in the digital image according to the pre-stored feature point position information if the number of the identified feature points is matched with the number of the pre-stored feature points, judges that the notebook computer to be detected reaches the designated position if the position deviation value is smaller than the set threshold value, and sends a shutdown signal to the lower computer control module so as to control the first conveying belt (1) and the second conveying belt (2) to stop running;
and step 3: after the industrial personal computer receives a shutdown completion signal fed back by the lower computer control module, the first image acquisition module (21) is used for acquiring an A-plane image of the notebook computer to be detected;
and 4, step 4: after the acquisition of the image of the A surface is finished, the industrial personal computer sends an acquisition signal to a lower computer control module, and the acquisition signal is used for controlling the actions of the flip mechanism (3) and the bottom jacking rotating mechanism (7), so that the bottom jacking rotating mechanism (7) performs jacking actions to drive the second vacuum sucker group (20) to suck the D surface of the notebook computer, and meanwhile, the flip mechanism (3) drives the first vacuum sucker group (5) to suck the A surface of the notebook computer, and then performs 90-degree flip actions to open the notebook computer;
and 5: after the cover turning action is finished, the first vacuum sucker group (5) loosens the surface A of the notebook computer, the lower computer control module controls the jacking rotating mechanism (7) to rotate, the rotating mechanism (9) is set to drive the notebook computer to stop after rotating for each delta angle through the second servo motor (15), so that the industrial personal computer controls the first image acquisition module (21) to acquire images of the surface C of the notebook computer in a stopping interval, controls the second image acquisition module (22) to acquire images of the surface A, B of the notebook computer, and sends the acquired images of the surface A, B, C to the industrial personal computer for classification and fusion processing after the notebook computer rotates for one circle;
step 6: the lower computer control module controls the flip mechanism (3) to drive the first vacuum sucker group (5) to suck the surface A of the notebook computer, and then performs 90-degree closing action to close the notebook computer;
and 7: the lower computer control module controls the jacking rotating mechanism (7) to drive the notebook computer to rotate for 180 degrees, and then controls the flip mechanism (3) to drive the first vacuum sucker group (5) to suck the A surface of the notebook computer and then flip for 90 degrees, so that the bottom of the notebook computer faces the second image acquisition module (22); the second image acquisition module acquires a D-surface image of the notebook computer;
and 8: after the acquisition of the D-surface image is finished, the industrial personal computer sends a reset signal to the lower computer control module to control the flip mechanism (3) to drive the first vacuum sucker group (5) to reversely flip for 90 degrees, so that after the notebook computer is reset, an operation signal is sent to the lower computer control module to control the first conveyor belt (1) and the second conveyor belt (2) to recover to operate;
and step 9: the industrial personal computer performs histogram equalization processing and median filtering processing on the acquired image, and then cuts the processed image in proportion, thereby establishing a gray level template based on an image pyramid;
the industrial personal computer corrects the positions and the directions of the A-side image, the B-side image and the C-side image of the notebook computer according to the gray template; and then combining the corrected images into one image and dividing the region of interest to obtain a region of interest sample set for training an optimized deep learning model to realize classification and identification of an image feature-defect form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110968422.8A CN113670923B (en) | 2021-08-23 | 2021-08-23 | Omnibearing high-precision detection device and method for defects of notebook computer shell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110968422.8A CN113670923B (en) | 2021-08-23 | 2021-08-23 | Omnibearing high-precision detection device and method for defects of notebook computer shell |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113670923A true CN113670923A (en) | 2021-11-19 |
| CN113670923B CN113670923B (en) | 2023-06-27 |
Family
ID=78545122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110968422.8A Active CN113670923B (en) | 2021-08-23 | 2021-08-23 | Omnibearing high-precision detection device and method for defects of notebook computer shell |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113670923B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115684208A (en) * | 2023-01-04 | 2023-02-03 | 广州弘高科技股份有限公司 | Automatic feeding and discharging control system of AVI (automatic voltage indicator) detector |
| CN115993363A (en) * | 2023-02-20 | 2023-04-21 | 苏州天准科技股份有限公司 | Detection device and detection method for side edge of notebook computer |
| CN116223500A (en) * | 2023-02-21 | 2023-06-06 | 苏州天准科技股份有限公司 | Notebook computer appearance detection equipment and detection method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0868763A (en) * | 1994-08-31 | 1996-03-12 | Sanyo Electric Co Ltd | Apparatus and method for confirming image |
| WO2017088469A1 (en) * | 2015-11-27 | 2017-06-01 | 武汉精测电子技术股份有限公司 | High-precision automatic optical detection system and method based on mechanical arm |
| CN109580641A (en) * | 2018-12-12 | 2019-04-05 | 江苏大学 | A kind of notebook computer panel automatic detection device |
-
2021
- 2021-08-23 CN CN202110968422.8A patent/CN113670923B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0868763A (en) * | 1994-08-31 | 1996-03-12 | Sanyo Electric Co Ltd | Apparatus and method for confirming image |
| WO2017088469A1 (en) * | 2015-11-27 | 2017-06-01 | 武汉精测电子技术股份有限公司 | High-precision automatic optical detection system and method based on mechanical arm |
| CN109580641A (en) * | 2018-12-12 | 2019-04-05 | 江苏大学 | A kind of notebook computer panel automatic detection device |
Non-Patent Citations (2)
| Title |
|---|
| 张曙光;郑鹏尚;赵灿松;王春苗;: "安全壳缺陷检测系统", 仪器仪表用户, no. 07 * |
| 路新科;: "基于AOI的电阻应变计检测系统", 电子设计工程, no. 08 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115684208A (en) * | 2023-01-04 | 2023-02-03 | 广州弘高科技股份有限公司 | Automatic feeding and discharging control system of AVI (automatic voltage indicator) detector |
| CN115993363A (en) * | 2023-02-20 | 2023-04-21 | 苏州天准科技股份有限公司 | Detection device and detection method for side edge of notebook computer |
| CN115993363B (en) * | 2023-02-20 | 2023-11-17 | 苏州天准科技股份有限公司 | Detection device for side edge of notebook computer |
| CN116223500A (en) * | 2023-02-21 | 2023-06-06 | 苏州天准科技股份有限公司 | Notebook computer appearance detection equipment and detection method |
| CN116223500B (en) * | 2023-02-21 | 2023-10-27 | 苏州天准科技股份有限公司 | Notebook computer appearance detection equipment and detection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113670923B (en) | 2023-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113670923B (en) | Omnibearing high-precision detection device and method for defects of notebook computer shell | |
| CN105548212A (en) | System and method for online automatically detecting defects on glass surface of touch screen | |
| CN109821763B (en) | Fruit sorting system based on machine vision and image identification method thereof | |
| CN112845194B (en) | Defect detecting apparatus and detecting method thereof | |
| CN113418933B (en) | Flying shooting visual imaging detection system and method for detecting large-size object | |
| CN110567965A (en) | Smartphone glass cover plate edge visual defect detection method | |
| CN114252452A (en) | Online detection device and method for appearance defects and contour dimension of small-sized revolving body | |
| CN111551559A (en) | LCD (liquid Crystal display) liquid crystal screen defect detection method based on multi-view vision system | |
| CN113670934B (en) | Omnibearing rapid detection device and method for defects of notebook computer shell | |
| CN111323429A (en) | White spirit body foreign matter detection equipment and detection method | |
| CN114359155A (en) | Film laminating method and system | |
| US11327028B2 (en) | Ceramic ball automatic sorting system and method | |
| CN116797569A (en) | Wafer defect detection method and system | |
| CN114612474B (en) | Method and device for detecting state of wafer cleaning and drying module and flattening equipment | |
| CN109013388B (en) | Automatic sorting system and method for ceramic balls | |
| CN215416732U (en) | Visual inspection system of ceramic substrate | |
| CN220690817U (en) | Appearance process measuring device for liquid crystal display screen | |
| CN113640318B (en) | Four mirror surface intellectual detection system equipment of monocular | |
| CN220438964U (en) | Wafer defect detection device | |
| CN117078674B (en) | Intelligent PCBA appearance defect detection method and detection system | |
| CN212275624U (en) | Floor type detection equipment | |
| CN114136987B (en) | Device and method for detecting deformation defect of lens | |
| CN212284937U (en) | Machine vision detection system for product surface defects | |
| CN212330791U (en) | Mobile carrier | |
| CN214187197U (en) | Intelligent part assembly robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |