CN114324395B - Following type 3D gluing visual detection device and detection method - Google Patents
Following type 3D gluing visual detection device and detection method Download PDFInfo
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- CN114324395B CN114324395B CN202111657106.5A CN202111657106A CN114324395B CN 114324395 B CN114324395 B CN 114324395B CN 202111657106 A CN202111657106 A CN 202111657106A CN 114324395 B CN114324395 B CN 114324395B
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- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 62
- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 230000000007 visual effect Effects 0.000 title claims abstract description 11
- 239000003292 glue Substances 0.000 claims abstract description 84
- 239000011248 coating agent Substances 0.000 claims abstract description 16
- 238000000576 coating method Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000011897 real-time detection Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010073 coating (rubber) Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013598 vector Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Abstract
The invention discloses a following type 3D glue coating visual detection device and a detection method, comprising a glue gun mounting seat, a camera mounting seat which is arranged on the glue gun mounting seat and forms sliding fit with the glue gun mounting seat, an industrial camera which is arranged on the camera mounting seat, a glue gun mounting hole which is arranged on the glue gun mounting seat, and a glue gun which is arranged in the glue gun mounting hole, and the following type 3D glue coating visual detection device is characterized in that: the camera mounting seat comprises a vertical plate matched with the glue gun mounting seat and an inclined plate matched with an industrial camera, and the glue gun is positioned at the front end of the industrial camera in the moving direction; the following type 3D gluing visual detection device and the detection method can be used for detecting in real time, rapidly positioning an abnormal area and avoiding shielding of part parts from a detection head.
Description
Technical Field
The invention relates to a following type 3D gluing visual detection device and a detection method.
Background
When gluing is performed on parts of an automobile, in order to ensure the gluing quality, real-time detection is required to be performed on a gluing surface, and whether poor gluing exists or not is judged, such as excessive gluing or missing gluing.
At present, because the problem that the structure is blocked exists when the automobile parts are glued, the common gluing detection device is inconvenient to put into detection due to overlarge volume, so that the gluing detection is carried out by adopting a stagnation detection means at present, that is, the real-time detection cannot be realized, and the detection device is put into detection after the gluing is completed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a follow-up type 3D gluing visual detection device and a detection method which can detect in real time, quickly locate an abnormal area and avoid part of parts from shielding a detection head.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a follow-up 3D rubber coating visual detection device, is including gluing the rifle mount pad, and set up on gluing the rifle mount pad, form sliding fit's camera mount pad with gluing the rifle mount pad, and install the industry camera on the camera mount pad, and set up the gluey rifle mounting hole on gluing the rifle mount pad, and set up the gluey rifle in gluing the rifle mounting hole, the both sides position of gluing the rifle mount pad be equipped with the slide rail, be provided with on the camera mount pad and block the connecting piece in the slide rail, this camera mount pad is including with gluing rifle mount pad complex riser, and with industry camera complex inclined plate, glue the rifle and be located industry camera direction of movement's front end.
Further, the camera mount pad is equipped with two at least groups, and installs respectively in the left and right sides of gluey rifle mount pad.
Further, the camera mounting seats on two sides are positioned at the same longitudinal position, each camera mounting seat is matched with an industrial camera, and the lens of each industrial camera is opposite to the rear end of the glue gun in the moving direction.
Further, the vertical plate and the inclined plate are connected in an integrated manner, the vertical plate is provided with a mounting hole, the middle part of the connecting piece penetrates through the mounting hole, and the two sides of the vertical plate are abutted.
Further, the inside of the sliding rail is formed into a double-hook groove structure, the connecting piece and the double-hook groove in the sliding rail form clamping fit, and the shape of the connecting piece is consistent with the section shape of the sliding rail.
Another technical problem to be solved by the present invention is to provide a detection method as described above, for detecting whether there is a defect in a glue applied on an automobile part, using an inclined industrial camera to aim at the rear of a moving direction of a glue gun, shooting a glue path formed by the glue gun, and then transmitting an obtained glue image to an image processing unit for judgment, wherein the method specifically includes the following steps:
acquiring a 3D image of an automobile part, generating a gluing route based on the 3D image, dividing the gluing route into areas, and generating nodes at each dividing position;
switching when the industrial camera passes through the node position, and transmitting the image to an image processing unit;
the image processing unit performs perspective transformation on the acquired image to obtain an orthoscopic gluing image, and the gluing quality is judged based on the orthoscopic gluing image.
Further, the method for dividing the gluing route into areas and generating the nodes comprises the following steps:
and acquiring a gluing area and a non-gluing area in the 3D image, acquiring the high-low level differences of the two sides of the gluing area and the non-gluing area, setting a level difference value X, and when the level difference value of the gluing area and the non-gluing area exceeds X, carrying out area division and generating a left-leaning node, a right-leaning node and a middle node.
Further, the method for switching when the industrial camera passes through the node position comprises the following steps:
and switching the industrial cameras based on the left-tilting node, the right-tilting node and the middle node, when the left-tilting node passes, starting the industrial camera at the left side of the glue gun moving direction, closing the industrial camera at the other side, when the right-tilting node passes, starting the industrial camera at the right side of the glue gun moving direction, closing the industrial camera at the other side, and when the middle node passes, maintaining the industrial camera at the current side to start.
Further, the method for performing perspective transformation on the acquired image comprises the following steps:
the industrial camera acquires an inclined image, the image processing unit acquires boundary points of the inclined image, defines the boundary points of the glue in the image, acquires a conversion matrix, and then performs conversion to convert the inclined quadrilateral image into a square image with front view.
Further, the method for judging the gluing quality comprises the following steps:
and the image processing unit stores a standard glue type image, and the standard glue type image is compared with the converted forward-looking glue coating image, so that the glue coating quality is judged.
The beneficial effects of the invention are as follows:
the existing gluing installation seat is refitted, a mode that a sliding rail is matched with a camera installation seat is adopted, and design of the inclined cameras on two sides is achieved, so that gluing positions are detected in real time from two sides respectively, and image shielding caused by partial parts is avoided; in the other direction, the corresponding split type detection mode is adopted for the real-time detection mode, the industrial cameras on different sides are adopted for image acquisition for the structural characteristics of the parts, and correction is carried out for the acquired images, so that the real-time detection of gluing of the parts is realized.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a following type 3D gumming visual inspection device according to the present invention;
fig. 2 is a schematic structural diagram of a connector of a following type 3D glue vision detection device according to the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention. The invention is more particularly described by way of example in the following paragraphs with reference to the drawings. Advantages and features of the invention will become more apparent from the following description and from the claims. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Examples
Referring to fig. 1-2, a following 3D glue-coating visual detection device includes a glue gun mount 1, a camera mount 2 disposed on the glue gun mount 1 and forming a sliding fit with the glue gun mount 1, an industrial camera 3 mounted on the camera mount 2, a glue gun mounting hole 4 opened on the glue gun mount 1, and a glue gun 5 disposed in the glue gun mounting hole 4, slide rails 6 are disposed at two sides of the glue gun mount 1, a connecting piece 7 capable of being clamped in the slide rails 6 is disposed on the camera mount 2, the camera mount 2 includes a vertical plate matched with the glue gun mount 1, and an inclined plate matched with the industrial camera 3, and the glue gun 5 is located at a front end of the industrial camera 3 in a moving direction.
In this solution, the industrial camera 3 used is a CMOS camera.
The camera mount pad 2 is equipped with two at least groups, and installs respectively in the left and right sides of gluey rifle mount pad 1, and camera mount pad 2 of both sides is in same longitudinal position, and the collocation has an industry camera 3 on each camera mount pad 2, and the camera lens of each industry camera 3 is just to gluey rifle 5's direction rear end of movement, and this camera mount pad 2 is used for carrying out image acquisition to gluey rifle 5 rubberized position, and based on gluey rifle 5 set up the difference in position, visible camera mount pad 2 removes to corresponding rear position.
The riser adopts integrated into one piece to be connected with the hang plate, be equipped with the mounting hole on the riser, the middle part of connecting piece 7 runs through the mounting hole to form in the both sides of riser and support, form into double hook groove structure in the slide rail 6, the connecting piece 7 forms the card with the double hook groove in the slide rail 6 and holds the cooperation, and the shape of this connecting piece 7 is unanimous with the cross-section shape of slide rail 6.
In this scheme, the installation of the industrial camera 3 is performed by adopting a vertical plate and an inclined plate, and further, the inclined plate generally adopts a fixed angle setting, but also can adopt an adjustable movable angle setting, which has no substantial influence on the implementation of the technology, and the difference is only that the image acquisition positions are different and can be adjusted by itself according to the needs.
Further, in the present embodiment, the connecting piece 7 adopted between the riser and the sliding rail 6 is a split structure, that is, includes a clamping piece clamped in the sliding rail 6, and a bolt piece in threaded fit with the clamping piece and abutting against the riser, which belongs to a conventional means, and will not be described in detail herein.
The following 3D glue coating visual detection method is used for detecting whether glue coating coated on an automobile part is poor or not, an inclined industrial camera 3 is adopted to aim at the rear of the moving direction of a glue gun 5, a glue coating path formed by the inclined industrial camera 3 is shot, and then an obtained glue coating image is transmitted to an image processing unit for judgment, and specifically comprises the following steps:
acquiring a 3D image of an automobile part, generating a gluing route based on the 3D image, dividing the gluing route into areas, and generating nodes at each dividing position;
switching when the industrial camera 3 passes through the node position, and transmitting the image to an image processing unit;
the image processing unit performs perspective transformation on the acquired image to obtain an orthoscopic gluing image, and the gluing quality is judged based on the orthoscopic gluing image.
The method for dividing the gluing route into areas and generating the nodes comprises the following steps:
and acquiring a gluing area and a non-gluing area in the 3D image, acquiring the high-low level differences of the two sides of the gluing area and the non-gluing area, setting a level difference value X, and when the level difference value of the gluing area and the non-gluing area exceeds X, carrying out area division and generating a left-leaning node, a right-leaning node and a middle node.
The level difference X can be adjusted according to the requirement, and is mainly based on the image acquisition height of the industrial camera 3, and is generally set to be 3-10cm.
The method for switching when the industrial camera 3 passes through the node position is as follows:
the industrial camera 3 is switched based on the left-leaning node, the right-leaning node and the middle node, when the left-leaning node is passed, the industrial camera 3 at the left side of the moving direction of the glue gun 5 is started, the industrial camera 3 at the right side of the moving direction of the glue gun 5 is closed, when the right-leaning node is passed, the industrial camera 3 at the right side of the moving direction of the glue gun 5 is started, the industrial camera 3 at the other side is closed, and when the middle node is passed, the industrial camera 3 at the current side is maintained to be started.
The method for performing perspective transformation on the acquired image comprises the following steps:
the industrial camera 3 acquires an oblique image, the image processing unit acquires boundary points of the oblique image, defines boundary points of glue in the image, thereby acquiring a conversion matrix, then performs conversion to convert the oblique quadrangular image into a square image for front view, and projects the image from the oblique viewing plane to another viewing plane for front view by adopting opencv perspective conversion.
The method for judging the gluing quality comprises the following steps:
and the image processing unit stores a standard glue type image, and the standard glue type image is compared with the converted forward-looking glue coating image, so that the glue coating quality is judged.
Furthermore, the standard glue image and the glue image are preprocessed to reduce noise and remove impurities, and the method specifically comprises color extraction and template matching.
The color extraction method comprises the following steps:
adding fluorescent solution into the glue, storing pixels corresponding to the color range of fluorescent color, extracting images containing fluorescent color pixels from the standard glue image and the glue image, and performing model matching based on the extracted images.
The template matching method comprises the following steps:
the method comprises the steps of obtaining a standard glue type image, inputting the standard glue type image and the glue coating image into a convolution layer of a convolution neural network which is trained in advance, and obtaining a first feature map of the standard glue type image and a second feature map of the glue coating image;
determining an approximate position interval of the second characteristic diagram corresponding to the first characteristic diagram according to the time stamp, and matching the second characteristic diagram with the first characteristic diagram based on the approximate position interval;
and determining the matching score sum of the second feature map according to the number of the matched feature vectors, determining the corresponding accurate position interval when the matching score sum is maximum, and matching the gluing image with the accurate position interval of the standard glue type image.
The standard glue type image is a standard image obtained by image acquisition of a part with glue coated.
The above-mentioned embodiments of the present invention are not intended to limit the scope of the present invention, and the embodiments of the present invention are not limited thereto, and all kinds of modifications, substitutions or alterations made to the above-mentioned structures of the present invention according to the above-mentioned general knowledge and conventional means of the art without departing from the basic technical ideas of the present invention shall fall within the scope of the present invention.
Claims (3)
1. A visual detection method for detecting whether the glue coated on an automobile fitting is bad or not by following the 3D glue coating, which is based on a detection device, the detection device comprises a glue gun mounting seat, a camera mounting seat which is arranged on the glue gun mounting seat and forms sliding fit with the glue gun mounting seat, an industrial camera which is arranged on the camera mounting seat, a glue gun mounting hole which is arranged on the glue gun mounting seat, and glue guns which are arranged in the glue gun mounting hole, wherein slide rails are arranged at the two sides of the glue gun mounting seat, connecting pieces which can be clamped in the slide rails are arranged on the camera mounting seat, the camera mounting seat comprises a vertical plate which is matched with the glue gun mounting seat, and the inclined plate matched with the industrial camera, the glue gun is positioned at the front end of the moving direction of the industrial camera, the camera mounting seats are provided with at least two groups and are respectively arranged at the left side and the right side of the glue gun mounting seats, the camera mounting seats at the two sides are positioned at the same longitudinal position, each camera mounting seat is matched with an industrial camera, and the lens of each industrial camera is right opposite to the rear end of the moving direction of the glue gun.
Acquiring a 3D image of the automobile part, generating a gluing route based on the 3D image, carrying out regional division on the gluing route, and generating nodes at each division position: the method comprises the steps of obtaining a gluing area and a non-gluing area in a 3D image, obtaining high-low level differences of two sides of the gluing area and the non-gluing area, setting a level difference value X, dividing the areas when the level difference value of the gluing area and the non-gluing area exceeds X, and generating a left-leaning node, a right-leaning node and a middle node;
switching when the industrial camera passes through the node position, and transmitting the image to an image processing unit: switching industrial cameras based on the left-tilting node, the right-tilting node and the middle node, starting the industrial camera at the left side of the moving direction of the glue gun when the left-tilting node passes, closing the industrial camera at the right side of the moving direction of the glue gun when the right-tilting node passes, closing the industrial camera at the other side, and maintaining the industrial camera at the current side to start when the middle node passes;
the image processing unit performs perspective transformation on the acquired image to obtain an orthoscopic gluing image, and the gluing quality is judged based on the orthoscopic gluing image.
2. The method according to claim 1, wherein the method of performing perspective transformation on the acquired image is:
the industrial camera acquires an inclined image, the image processing unit acquires boundary points of the inclined image, defines the boundary points of the glue in the image, acquires a conversion matrix, and then performs conversion to convert the inclined quadrilateral image into a square image with front view.
3. The method according to claim 1, wherein the method for judging the glue quality is:
and the image processing unit stores a standard glue type image, and the standard glue type image is compared with the converted forward-looking glue coating image, so that the glue coating quality is judged.
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