CN114184621B - Method for detecting appearance defects of curved surface part and device for implementing method - Google Patents
Method for detecting appearance defects of curved surface part and device for implementing method Download PDFInfo
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- CN114184621B CN114184621B CN202010961564.7A CN202010961564A CN114184621B CN 114184621 B CN114184621 B CN 114184621B CN 202010961564 A CN202010961564 A CN 202010961564A CN 114184621 B CN114184621 B CN 114184621B
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- 230000007547 defect Effects 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005452 bending Methods 0.000 claims abstract description 3
- 238000001514 detection method Methods 0.000 claims description 30
- 239000003550 marker Substances 0.000 claims description 10
- 239000000758 substrate Substances 0.000 claims description 10
- 230000009194 climbing Effects 0.000 claims 2
- 238000011179 visual inspection Methods 0.000 abstract description 2
- 230000003287 optical effect Effects 0.000 description 38
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
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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
- G01N21/84—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
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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
- G01N21/84—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
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
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Abstract
本发明涉及零件外观视觉检测领域，特别是涉及到了一种曲面零件外观缺陷检测方法及实施该方法的装置。曲面零件外观缺陷检测方法是在曲面零件的曲面上投射光，使投射的光在曲面零件的曲面上沿曲面周向形成一字光线，在一字光线的至少一侧采集一字光线的变形状态，若所述一字光线有变形状态，则判定曲面零件的外观存在缺陷，若所述一字光线无变形状态，则判定曲面零件的外观不存在缺陷，所述变形状态是指弯折状态或间断状态。当被投射在曲面零件的表面缺陷（如凹槽、裂缝或凸起等）上时，从一字光线的一侧观察，将会看到一字光线出现折线或者间断等变形，由此便可快速、准确的判断曲面零件是否存在外观缺陷，提高对曲面零件的外观缺件检测效率。
The present invention relates to the field of visual inspection of parts appearance, and in particular to a method for detecting appearance defects of curved parts and a device for implementing the method. The method for detecting appearance defects of curved parts is to project light onto the curved surface of the curved part, so that the projected light forms a line of light on the curved surface of the curved part along the circumference of the curved surface, and collect the deformation state of the line of light on at least one side of the line of light. If the line of light is deformed, it is determined that the appearance of the curved part has defects. If the line of light is not deformed, it is determined that the appearance of the curved part has no defects. The deformation state refers to a bending state or a discontinuous state. When projected onto a surface defect (such as a groove, crack or protrusion) of a curved part, it will be seen from one side of the line of light that the line of light appears to be deformed such as a broken line or discontinuity, thereby quickly and accurately judging whether the curved part has appearance defects, thereby improving the efficiency of detecting appearance missing parts of the curved part.
Description
Technical Field
The invention relates to the field of visual inspection of appearance of parts, in particular to a method for detecting appearance defects of curved-surface parts and a device for implementing the method.
Background
In recent years, a machine vision detection technology is widely applied to detection of product surface quality, and the technology analyzes and identifies images of the surface of a detected object by acquiring the images, so that the surface quality of the product is evaluated, and the technology has the advantages of high efficiency and high accuracy.
In actual production, appearance defect detection is often required to be carried out on the outer walls of some curved surface parts (parts such as rod pieces and pipelines), if the machine vision detection technology can be applied to the appearance defect detection of the curved surface parts, the detection efficiency of the curved surface parts is likely to be greatly improved, and the machine vision detection technology has great significance in the occasions of mass production of the curved surface parts and the long-distance detection of the curved surface parts (such as pipelines).
Disclosure of Invention
The invention aims to provide a method for detecting appearance defects of curved surface parts, which aims to solve the problem of low detection efficiency of appearance defect parts of the curved surface parts. At the same time, the invention also aims to provide a device for implementing the method.
The method comprises the following steps of projecting light on a curved surface of the curved surface part, enabling the projected light to form a straight line light on the curved surface of the curved surface part along the circumferential direction of the curved surface, collecting deformation states of the straight line light on at least one side of the straight line light, judging that the appearance of the curved surface part is defective if the straight line light has the deformation states, and judging that the appearance of the curved surface part is not defective if the straight line light has no deformation states, wherein the deformation states refer to bending states or discontinuous states.
The invention has the beneficial effects that the straight line light is formed by projecting light on the curved surface of the curved surface part, when the straight line light is projected on a smooth surface, the state of the straight line light is kept in a straight line shape, when the straight line light is projected on the surface defect (such as a groove, a crack or a bulge) of the curved surface part, the straight line light is observed from one side of the straight line light, and deformation such as broken lines or discontinuities and the like can be seen, so that whether the appearance defect exists in the curved surface part can be rapidly and accurately judged, and when the appearance defect of the curved surface part can be detected, the appearance defect of the curved surface part can be found in the process only by enabling the curved surface part to move relatively with the straight line light, and the appearance defect detection efficiency of the curved surface part is improved.
Furthermore, the two adjacent straight light rays are arranged at intervals and are parallel to each other, and the size of the defect in the direction perpendicular to the straight light rays is calculated at the defect position by comparing the distance between the straight light rays and the defect. By setting at least two straight lines of light and presetting the distance between the straight lines of light, the size of the defect in the direction perpendicular to the straight lines of light can be obtained by only comparing the number of the straight lines of light spanned by the defect in the detection process, so that the defect can be found, the defect size can be measured, and a reference basis is provided for the subsequent processing (qualified processing, scrapping, trimming and the like) of curved surface parts.
Furthermore, a plurality of optical markers are projected onto the curved surface of the curved surface part, the optical markers are uniformly distributed in the axial direction of the measured object, and the size of the defect of the measured object can be calculated by combining the number of the uniformly distributed points and the circumference. The optical marker can be used as a scale to mark the size of the defect in the axial direction of the curved surface part, and can measure the size of the defect when the defect is found by combining the circumference of the curved surface part, so that a reference basis is provided for the subsequent treatment (qualified treatment, scrapping, trimming and the like) of the curved surface part.
Further, the deformed state of the line light is collected by the image acquisition device. The deformation state of the straight light is acquired by the image acquisition device, the efficiency is higher, the result is more accurate, the recording function is realized, and the on-site unmanned automatic detection is convenient to realize.
The invention discloses a curved surface part appearance defect detection device which adopts the following technical scheme:
the device for detecting the appearance defects of the curved surface part comprises:
A base;
The light projection device is arranged on the base body and is used for projecting and forming a straight line light on the curved surface of the curved surface part to be detected, and the straight line light extends along the circumferential direction of the curved surface part.
The device for detecting the appearance defects of the curved surface part has the beneficial effects that the device comprises the base body and the light projection device, and the light projection device can project and form a straight line light on the curved surface of the detected curved surface part, so that when the device is used, the relative position of the light projection device and the detected curved surface part is fixed, the detection of a specific point of the curved surface part can be realized, and the relative movement between the light projection device and the detected curved surface part along the axial direction of the detected curved surface part can be realized, so that the whole detection on the axial direction of the curved surface part can be realized.
Further, the light projection device projects more than two straight light rays, the two adjacent straight light rays are arranged at intervals and are parallel to each other, or the light projection device corresponding to the same position in the circumferential direction of the curved surface part is provided with more than two straight light rays, and the straight light rays projected by each light projection device are arranged at intervals and are parallel to each other.
And the optical marking device is used for projecting a plurality of optical markers on the curved surface of the curved surface part, the optical markers are uniformly distributed in the axial direction of the measured object, and the size of the defect of the measured object can be calculated by combining the number of the uniformly distributed points and the circumference.
Still further still include image acquisition device, image acquisition device is used for snatching the image of the projection position department of straight light and light marker, and the image acquisition device is the settlement contained angle with the axis of the curved surface part that is detected.
Still further still include image acquisition device, image acquisition device is used for snatching the image of straight light projection position department, and the image acquisition device is the settlement contained angle with the axis of the curved surface part that detects.
Furthermore, the substrate is a split ring-shaped substrate which can be opened and closed, and the light projection devices are distributed along the substrate.
Drawings
FIG. 1 is a schematic view showing the structure of an embodiment 1 of a curved part appearance defect detecting apparatus according to the present invention;
FIG. 2 is a view showing the use of the curved part appearance defect detection device of FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic diagram of a device for detecting appearance defects of a curved surface part according to an embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of an embodiment 2 of a curved part appearance defect detection apparatus according to the present invention;
FIG. 6 is a schematic diagram showing the structure of an apparatus for detecting defects in appearance of a curved part according to embodiment 3 of the present invention.
In the figure, the device comprises a 11-substrate, a 111-semicircle ring, a 12-light projection device, a 13-light marking device, a 14-image acquisition device, a 15-curved surface part, a 16-straight line light, a 17-projection bracket, a 18-light marker, a 19-mark bracket and a 20-camera bracket.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the particular embodiments described herein are illustrative only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, of the embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The features and capabilities of the present invention are described in further detail below in connection with the examples.
Example 1 of curved part appearance defect detection method:
The method is designed according to the principle that a straight line of light (i.e. a straight line formed by striking an object with light) is displayed as a smooth and complete line on a smooth surface, and deformation (such as forming a broken line, a discontinuity, etc.) occurs when passing through a defect such as a groove, a crack or a protrusion on the smooth surface (as shown in fig. 4). The specific method is that a light projection device is adopted to project a line-shaped light ray, the line-shaped light ray is vertically projected on the curved surface of the detected curved surface part to form a line-shaped light ray 16, the line-shaped light ray 16 can be a solid line or a broken line, and whether the appearance defect exists in the curved surface part is judged according to the state of the line-shaped light ray.
When detecting curved surface parts, the projected light can be visible light, in this case, the image can be grasped through human eyes to determine whether the curved surface parts have appearance defects, of course, besides visible light, the projected light can also be invisible light, in this case, the image can be grasped through corresponding equipment such as an infrared camera and the like to determine whether the curved surface parts have appearance defects. In this embodiment, the light projection device specifically adopts a laser emitter, the projected light is visible light, and the camera is used to capture an image of a line of light, so as to provide a basis for judging whether the curved surface part is in an appearance defect. In other embodiments, the inline light may also be formed by a grating projector.
In order to realize the omnibearing detection of the curved surface part, the linear light rays are required to be projected to the curved surface part at a plurality of positions in the circumferential direction of the curved surface part when the detection process is implemented.
In order to find out the appearance defect of the curved surface part and know the appearance defect, in the embodiment, at least two straight light rays are arranged at intervals and parallel to each other. The plurality of line-of-rays is provided here by providing a diffraction plate at the laser emitters, although in other embodiments the plurality of line-of-rays may be provided by providing a plurality of laser emitters. And (3) at the defect, comparing the linear light distance with the defect, and calculating the size of the defect in the direction vertical to the linear light. For example, the distance between two adjacent straight lines of light is 1mm, if the defect is located on two adjacent straight lines of light along the two edges in the direction perpendicular to the straight lines of light, the size of the defect in the direction can be calculated to be 1mm, and if the defect spans three straight lines of light, the corresponding size of the defect can be calculated to be 2mm. When the defect is concave/convex, the depth/height of the defect can be obtained through a solid geometry conversion mode.
According to the method, when only a certain position in the axial direction of the curved surface part is required to be detected, the laser emitter and the camera are fixed at the positions relative to the curved surface part, so that the linear light rays projected by the laser emitter are projected to the position to be detected, and then the position is judged according to the shape of the linear light rays. When a certain section or all sections of the curved surface part in the axial direction are required to be detected, the laser emitter and the camera are enabled to move relatively to the curved surface part along the axial direction of the curved surface part (for example, the laser emitter and the camera are installed on the pole-climbing robot, the camera is driven to move by the walking of the pole-climbing robot to capture and record images relatively to the curved surface part), finally, whether the curved surface part has appearance defects or not is judged according to the images, and if the appearance defects exist, the specific positions of the defects can be judged according to the time for recording the images by the camera and the front-back relative positions.
Example 2 of curved part appearance defect detection method:
In this embodiment, in order to find the appearance defect of the curved surface part and also to obtain the size of the appearance defect, an optical marker (which may coexist with a plurality of straight lines of light or may be only provided with a single straight line of light, and the action of setting the straight line of light as a plurality of straight lines of light by the optical marker) is provided, the optical marker is sent out by an optical marker device (specifically, a laser emitter or a projector may also be adopted), a plurality of optical markers are provided and distributed in a straight line along the direction perpendicular to the straight line of light, and the size of the defect in the axial direction of the curved surface part can be obtained by comparing the optical marker with the edge of the defect by presetting the distance between the optical markers, and the size of the defect in the circumferential direction of the curved surface part can be calculated by combining the circumferences of the curved surface part.
Example 1 of curved part appearance defect detection device:
as shown in fig. 1, the curved part appearance defect detecting device includes a base 11, a light projecting device 12, a light marking device 13, and an image acquiring device 14.
The base body 11 is a circular base body, and when the detection device works, the detection device can be sleeved on the curved surface part 15, and the axial line of the curved surface part 15 is taken as an axial line, and if necessary, the base body 11 can be driven to move along the axial direction of the curved surface part by a pole-climbing robot and other devices. For convenience of installation in use, the base 11 is configured as a split structure, and in this embodiment, specifically, is configured by two semicircular rings 111, and the cross section of each semicircular ring 111 is rectangular. Of course, in other embodiments, the base 11 may be an integral structure, and in this case, the base 11 may be suitable for curved parts with shorter lengths, and when the base 11 adopts a split structure, the base may be formed of more arc rings besides the two semicircular rings 111, so as to facilitate assembling around the curved part 15.
The light projection device 12 is mounted on the base 11, and is configured to project a line of light 16 onto the curved surface of the curved surface part 15 to be inspected, where the line of light 16 extends along the circumferential direction of the curved surface part 15. In this embodiment, the light projection device 12 is embodied as a laser emitter, and the in-line light 16 is obtained by providing a filter lens on the laser emitter. The two light projection devices 12 corresponding to the same position (in other embodiments, only one light projection device 12 or more than two light projection devices can be adopted according to actual conditions), the two laser transmitters are fixedly mounted on the base body 11 through the projection support 17, the projection support 17 is fixed on one axial side of the base body 11, the whole outline is cuboid, a gap is formed at the upper end by splitting, meanwhile, mounting holes are formed in the position where the gap passes one by one, the mounting holes are used for mounting the light projection devices 12, the light projection devices 12 are forcedly mounted in the corresponding mounting holes during specific mounting, then the two laser transmitters can be automatically positioned under the clamping action of the projection support 17, and the projection directions of the two positioned light projection devices 12 are both oriented to and perpendicular to the axis of the base body 11. The two light projection devices 12 are arranged at intervals and parallel to each other, wherein the distance between the two light beams 16 is preset, and when in use, the size of the defect in the corresponding direction can be calculated by comparing the defect range with the distance between the two light beams 16. As shown in fig. 2 and 3, two straight lines of light with a certain distance (such as 10 mm) are formed on the surface of the object, and the size of the defect can be calculated through the comparison of the distance between the straight lines of light and the defect.
The optical marking device 13 projects a plurality of optical markers 18 onto the curved surface of the curved surface part 15, the optical markers 18 are distributed along the direction perpendicular to the straight line of light 16, the size of the defect in the direction perpendicular to the straight line of light 16 can be estimated by comparing the distance between the optical markers 18 and the defect, and the size of the defect in the circumferential direction of the curved surface part can be estimated by combining the perimeter of the curved surface part (as shown in fig. 4). In the present embodiment, the optical marking device 13 also employs a laser emitter, and the optical marking device 18 is specifically a light spot, and is formed by configuring a filter to the laser emitter. The optical marking device 13 is mounted on the base 11 by a marking bracket 19, which is located on the same side of the base 11 as the optical projection device 12, and the marking bracket 19 is similar in structure to the projection bracket 17, except that only one mounting hole is provided on the marking bracket 19 for mounting the optical marking device 13. The projection direction of the optical marking device 13 is directed to the axis of the substrate 11, and in this embodiment, there are a plurality of optical marking devices 13, which are arranged to match the optical marking devices 12, specifically, two sides of each optical marking device 12 are provided with corresponding optical marking devices 13. Assuming that the optical marking device projects 11 optical markers (light spots) on the curved surface part as shown in fig. 2-3, the distance between the 11 optical markers projected on the curved surface part is 1mm by distance control, and the up-down size of the defect can be obtained by reading the optical markers projected outside the defect area, as shown in fig. 2-3, and the up-down distance of the defect is 8mm.
The image capturing device 14 is configured to capture an image of the projection position of the line of light 16 and the optical marker 18, in this embodiment, the image capturing device 14 specifically uses a camera, and the camera is mounted on the base 11 through a camera bracket 20, and is in one-to-one correspondence with the optical projection device 12, and is located directly under the optical projection device 12, and on a side opposite to the optical projection device, a set angle is formed between a capturing angle of the camera and an axis of the curved surface part to be detected, in this embodiment, the camera is structurally represented as an upward oblique direction, and in other embodiments, the camera may also be disposed above a projection point of the optical projection device, downward oblique direction, or both above and below the projection point of the optical projection device, so as to capture an image better. Of course, when the light projected by the light projection device is visible light, the image acquisition device may be omitted, and the defect may be observed by the human eye.
The device for detecting the appearance defects of the curved surface part comprises a base body, a light projection device, a light marking device and an image acquisition device, wherein the light projection device can project and form a straight line light on the curved surface of the detected curved surface part, the light marking device can measure the size of a defect area by utilizing the principle of a graduated scale, and the image acquisition device can grasp and store a detection image. When the device is used, the relative position of the device and the curved surface part to be detected is fixed, so that the detection of a specific point of the curved surface part can be realized, and the device and the method can realize the overall detection of the curved surface part in the axial direction along the axial direction of the curved surface part to be detected and the relative movement of the curved surface part to be detected.
Example 2 of curved surface part appearance defect detection device:
as shown in fig. 5, the present embodiment differs from embodiment 1 only in that in the present embodiment, the optical marking device is omitted, and in this case, the size of the defect can be estimated by only the line light 16.
Example 3 of curved part appearance defect detection device:
As shown in fig. 6, this embodiment differs from embodiment 1 only in that in this embodiment, the image acquisition device 14 is provided above the line of light on one side of the corresponding light projection device.
In example 1 of the device for detecting the appearance defects of the curved surface parts, only one light projection device can be arranged at each position, and the size of the defects can be estimated by only the light marking device, or in the case of omitting the light marking device, only one light projection device is arranged, and in the case, the device is only used for detecting the defects of the curved surface parts and does not measure the sizes of the defects. The formation of a plurality of in-line light rays may also be achieved by means of a grating projector or by means of light diffraction by configuring a light projection device with filters.
The above description is only a preferred embodiment of the present invention, and the patent protection scope of the present invention is defined by the claims, and all equivalent structural changes made by the specification and the drawings of the present invention should be included in the protection scope of the present invention.
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