CN115165874A - Online deblurring tracking monitoring device and method based on assembly line product - Google Patents
Online deblurring tracking monitoring device and method based on assembly line product Download PDFInfo
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- CN115165874A CN115165874A CN202210692567.4A CN202210692567A CN115165874A CN 115165874 A CN115165874 A CN 115165874A CN 202210692567 A CN202210692567 A CN 202210692567A CN 115165874 A CN115165874 A CN 115165874A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
Abstract
The invention relates to an online deblurring tracking monitoring device and method based on a production line product, which comprises an industrial camera and a rotating prism, and further comprises the following steps: the calibration component is arranged in a view field of the monitoring system and is used for calibrating parameters of the camera and the prism; the assembly line track is arranged right below the position of the industrial camera, and the speed of the conveyor belt is adjustable; products to be detected are placed on the conveyor belt track of the assembly line at equal intervals and move along the conveyor belt at a certain speed; the upper computer is connected with the industrial camera and the rotating prism component; the tracking monitoring deblurring principle is that the camera visual axis is accurately controlled through a rotating prism, so that a target to be detected is always positioned at the imaging center of a camera. Compared with the prior art, the method has the advantages that the corresponding relation between the moving process of the target on the production line and the imaging visual axis of the camera is established, the rotating speed of the rotating prism is controlled by the computer to adjust the position of the target object in the visual field in real time, the relative movement is reduced, the online deblurring, tracking and monitoring of production line products are realized, and the like.
Description
Technical Field
The invention relates to the field of optical imaging and visual tracking, in particular to an online deblurring tracking monitoring device and method based on a production line product.
Background
With the development of a new round of scientific and technological revolution, higher requirements are put forward for intelligent factories, intelligent workshops and intelligent production lines, and machine vision is widely applied to various fields such as industrial detection and the like due to the rapid progress of computer image processing and pattern recognition technology. The products on the intelligent production line are inevitably damaged in the processing and transportation processes to generate defective products, and the key for improving the industrial production quality and the production efficiency is to timely and accurately identify the defective products. Therefore, the online deblurring tracking monitoring technology of the pipeline product has important application value and practical significance. The automatic assembly line at the present stage mainly adopts a manual visual inspection method or utilizes a fixed camera to shoot product images in sequence for detection, the efficiency is low, and the requirement of industrial detection precision on high-precision products is difficult to meet. In comparison, the single-camera tracking scanning monitoring method can effectively adjust the imaging visual axis of the camera only by driving part of the optical elements, ensures that the camera visual field can track and image along with moving products on the production line in the normal transmission process of the production line, and has better flexibility and environmental adaptability.
The following prior art proposes several typical in-line product monitoring visual imaging methods:
the prior art (application number: CN201710821742.4, application date: 2017, 9 and 13) provides a product quality monitoring visual sensor, which comprises two probes, an AD converter, a computer and a display. The focusing distance of a commonly used single probe is fixed, and certain errors can occur when products pass through the assembly line, so that the monitoring data is inaccurate; the two probes are used for simultaneously detecting, and because a certain distance exists between the two probes and the analog quantity measured by the two probes on a measured object is converted into a digital signal through the AD converter and then sent to the computer to calculate the three quantities, an accurate focusing distance can be finally obtained, and therefore the focusing of an image is more accurate. However, in industrial production occasions, the device still has the problems of image blurring and the like for measuring dynamic motion products on a production line.
The prior art (application number: CN201721540753.7, application date: 2017, 11/15/2017, "production line monitoring system and production line production system") provides a production line monitoring system and a production line production system, which relate to the technical field of production line monitoring and comprise: the device comprises a monitoring device, a conveying device, a driving device and a processor; any two monitoring devices can scan the identification area in sequence, real-time information recorded by the monitoring devices during scanning is transmitted to the processor, and the processor is used for processing the real-time information to obtain the displacement time of the product between any two monitoring devices, but the monitoring of the state and the quality of the single product is not enough.
The prior art (application number: CN202023095375.0, application date: 2020, 12 and 21 days "a flow line vision scanning device") proposes a flow line vision scanning device, which comprises a device body, wherein the device body comprises a machine frame, and a first conveying belt, a second conveying belt and a third conveying belt are arranged on the machine frame and used for fixing products so that the products are not deviated in the conveying process; the scanning cameras on the gantry crane are arranged in a delta shape, and the packaging box can be scanned at three angles from left, right and upper parts, so that the working efficiency of the scanning cameras is improved. However, the device has a complex structure and is difficult to be applied to the production line of the rapid transmission.
The prior art (application number: CN202121180873.7, application date: 28.5.5.1.2021) proposes an assembly line vision inspection apparatus, which is provided with a frame, wherein the frame is provided with an assembly line conveying device, the frame is sequentially provided with a first inspection station, a turnover station and a second inspection station according to the running direction of the assembly line conveying device, the assembly line vision inspection apparatus is further provided with an image processing system and an integrated control system, and transmits an acquired image to the image processing system for comparison with a target image, and the acquired image is placed into a qualified box after being detected for two times to be qualified. The device can effectively detect the whole quality of a product, but the detection device is complex and the detection process is complex, and the efficiency is general.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an online deblurring tracking monitoring device and method based on a production line product.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a remove fuzzy tracking monitoring devices on line based on assembly line product, includes industry camera, rotating prism subassembly, support frame, demarcation subassembly, the product that awaits measuring, assembly line track and host computer, the support frame is vertical to be fixed in directly over the assembly line track, rotating prism subassembly is located industry camera under and is fixed in on the support frame, the subassembly of maring is located between support frame and the assembly line track, the product equidistance that awaits measuring distributes on the assembly line track and at the uniform velocity moves forward, industry camera and rotating prism subassembly all with the host computer connection.
The industrial camera is used for tracking and monitoring product image information, and the rotating prism assembly controls an imaging visual axis of the industrial camera by changing the rotation angle of the prism.
The rotating prism assembly comprises a prism group, and the prism group is connected through a rotating driving mechanism.
Furthermore, the types of the prisms in the prism group comprise a rotating single prism, a rotating double prism, a deflection double prism and a rotating multi-prism, and the optical parameters and the combination form of the prisms can be matched and adjusted according to the requirement of the field range.
Furthermore, the rotary driving mechanism adopts torque motor direct drive, gear transmission, synchronous belt transmission or worm and gear transmission.
The calibration assembly is used for axial registration of the rotating prism assembly and the industrial camera, and the structure of the calibration assembly can be matched and adjusted according to the calibration requirement of the prism group.
The structure of the assembly line track comprises a linear track, a curve track and an annular track, and the assembly line track is matched and adjusted according to the requirements of a product production process assembly line.
The position of the calibration component is higher than the product to be measured on the assembly line track.
A method for using the on-line deblurring tracking monitoring device based on the flow line product specifically comprises the following steps:
s1, performing system calibration on an industrial camera and a rotating prism assembly through a calibration assembly, determining the main section positions of two prisms in the rotating prism assembly and completing axial registration;
s2, acquiring the distance between the prisms and the product to be detected according to the movement track and the movement speed of the product to be detected on the assembly line track, and inputting the distances into an upper computer to calculate to obtain the movement track of the imaging visual axis terminal;
s3, calculating the prism rotating speed required by each prism in the tracking process of the rotating prism assembly, synchronizing the field of view movement of the industrial camera with the product movement, and immediately resetting the rotating prism assembly after the rotating prism assembly rotates to the extreme position at the prism rotating speed;
and S4, sequentially increasing the movement speed of the product to be detected in the step S1 from a low speed, acquiring images of the product to be detected at different prism rotating speeds, comparing tracking deblurring effects of all groups of images to obtain the optimal product movement speed and the optimal prism rotating speed, and outputting corresponding product images.
The optical coefficients of the prisms in the rotating prism assembly are the same, and the optical coefficients comprise a wedge angle, a refractive index and a thin end thickness.
In the step S3, the iterative algorithm calculates the prism rotation speed required by each prism in the tracking process of the rotating prism assembly.
The process of axial registration in step S1 specifically includes:
s11, fixing the position of the industrial camera, and determining the position of the calibration component by aligning the industrial camera to the calibration component;
s12, the industrial camera shoots the image of the calibration component through a single prism in the rotating prism component respectively, so that the main section of the single prism is calibrated, and the axial registration of the camera and the rotating prism component is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can realize real-time on-line tracking of the central position of the tracked target and effectively reduce image blur generated by relative motion of the camera and the target by controlling the rotating prism component through the computer and adjusting the imaging visual axis of the industrial camera matched with the rotating prism component.
2. The invention adopts a vision measurement principle, is a non-contact measurement method, and can avoid the influence on the product quality of the production line due to external detection.
3. The invention can realize product monitoring on production lines with different transmission speeds by adjusting the rotating speed of the prism, and has better device flexibility and environmental adaptability.
4. The invention has simple structure, convenient use and lower system cost.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a graph showing the time-dependent changes of the rotation angles of two prisms during the linear tracking monitoring process according to an embodiment of the present invention;
FIG. 4 is a graph showing the time-dependent changes in the rotation angles of two prisms during the circular tracking monitoring process according to the second embodiment of the present invention.
Reference numerals:
1-an industrial camera; 2-rotating the prism assembly; 3-a support frame; 4-calibrating the component; 5-a product to be detected; 6-assembly line track; 7-an upper computer.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example one
As shown in fig. 1, an online deblurring tracking monitoring device based on assembly line product, including industrial camera 1, rotating prism subassembly 2, support frame 3, calibration subassembly 4, the product 5 that awaits measuring, assembly line track 6 and host computer 7, support frame 3 is vertical to be fixed in directly over assembly line track 6, rotating prism subassembly 2 is located industrial camera 1 under and is fixed in on support frame 3, calibration subassembly 4 is located between support frame 3 and the assembly line track 6, the product 5 equidistance that awaits measuring distributes on assembly line track 5 and at the uniform velocity is moved forward, industrial camera 1 and rotating prism subassembly 2 all are connected with host computer 7.
The industrial camera 1 is used for tracking and monitoring product image information, and the rotating prism assembly 2 controls an imaging visual axis of the industrial camera 1 by changing the prism rotation angle.
The rotating prism assembly 2 comprises a prism group which is connected through a rotating driving mechanism.
The types of the prisms in the prism group comprise a rotating single prism, a rotating double prism, a deflection double prism and a rotating multi-prism, and the optical parameters and the combination form of the prisms can be matched and adjusted according to the requirement of the field range.
The rotary driving mechanism adopts torque motor direct drive, gear drive, synchronous belt drive or worm and gear drive.
The calibration assembly 4 is used for axial registration of the rotating prism assembly 2 and the industrial camera 1, and the structure of the calibration assembly can be matched and adjusted according to the calibration requirements of the prism group.
The structure of the assembly line track 6 comprises a linear track, a curved track and an annular track, and the assembly line track is matched and adjusted according to the requirements of the product production process assembly line.
The calibration assembly 4 is located at a position higher than the product 5 to be measured on the track 6 of the production line.
In this embodiment, the industrial camera 1 and the biprism calibration component 2 are installed as shown in fig. 2, and parameters of each component are described as follows:
industrial camera 1: adopting an MV-EM200M black-and-white camera, adopting AFT-2514MP as a lens, and adopting a resolution of 1200V multiplied by 1600) and a lens focal length of 25;
rotating the biprism assembly 2: the two prisms are identical, the prism wedge angle α =10 °, the refractive index n =1.517, and the diameter D p =80mm, thin end thickness d 0 =5mm, distance D between two prisms 1 ＝100mm；
A support frame 3: the camera is vertically arranged on the side surface of the assembly line track, and the relative positions of the camera and the rotating biprism can be adjusted and fixed;
the calibration component 4: adopting a cross target with adjustable position and a related fixing tool;
and 5, a product to be detected: completely same chessboard grid calibration plates are adopted as production line products, and the distance d =400mm between the products;
the assembly line track 6: the roller is adopted for transportation, the rotating speed of the roller is adjustable, and the product is conveyed in a v-shape 0 Is moving on the track;
an upper computer 7: the system is provided with image acquisition software and rotating prism position control software, adopts an imaging visual axis adjustment reverse algorithm to calculate the prism rotating angle, sends rotating speed and rotating angle information to a rotating prism controller through RS485 communication, and stores a target image acquired by a camera.
In specific implementation, the camera and the rotating biprism are calibrated, and the specific calibration steps are as follows:
s1, installing a cross target, and enabling a cross target image to coincide with a cross center line of the industrial camera 1 by adjusting the position of the target;
s2, placing an upper prism with a calibrated main section on the guide rail, adjusting the position of the upper prism to enable a vertical line in the cross target image to be overlapped with a vertical line of a cross center line of the image of the industrial camera 1, then rotating the prism by 90 degrees, adjusting the position of the prism to enable a transverse line in the cross target image to be overlapped with a transverse line of a cross center line of the image of the industrial camera 1, and then aligning the industrial camera 1 with the upper prism;
and S3, removing the upper prism, placing the lower prism, and calibrating the position of the lower prism relative to the optical axis of the industrial camera 1 by adopting the method of the step S2 in the same way.
The method comprises the following steps of (1) carrying out monitoring test on the product in linear motion of the assembly line, wherein the specific test steps are as follows:
s1, determining a motion form
The roller of the production line rotates to drive the product to move 0 The linear motion is carried out at a constant speed of 50mm/s, and the distance d =400mm between products;
s2, calculating the rotating speed relation of the rotating double prisms
Inputting the upper computer 7 to obtain the camera imaging visual axis and the terminal motion track by a computer, and calculating the rotation angle and the rotation speed omega of the two prisms required by the tracking of the rotating double prism component 2 by an iterative algorithm 1 、ω 2 (ii) a The relationship between the rotation angle and the time is shown in FIG. 3;
s3, increasing the movement speed of the product
Sequentially increasing the roller conveying rotating speed to enable the product speed on the production line to be 100mm/s, 200mm/s, 300mm/s and 400mm/s, adjusting the rotating speed of the double prisms according to the speed, and observing the tracking deblurring effect of the industrial camera 1 on the product image under the action of different rotating speeds of the rotating double prisms;
s4, summary of analysis
And performing comparative analysis on the product images obtained at different product speeds and at the double-prism rotating speed to obtain the tracking and deblurring effects of the tracking and monitoring device on the products of the assembly line at different transport speeds.
Example two
In this embodiment, the assembly line track 6 is transported by using a circular track, and the rest is the same as that in the first embodiment.
When the method is specifically implemented, the method comprises the following steps:
s1, determining a motion form
The products are conveyed and driven by an annular assembly line 0 The speed of =50mm/s does uniform circular motion along the track, and the difference between products is a semicircular distance d =200 pi mm;
s2, calculating the rotating speed relation of the rotating double prisms
Inputting the data into an upper computer, obtaining the camera imaging visual axis and the terminal motion trail by a computer, and calculating the rotation angle and the rotation speed omega of the two prisms required by the tracking of the rotating double prism component 2 by an iterative algorithm 1 、ω 2 (ii) a The relationship between the rotation angle and the time is shown in FIG. 4;
s3, increasing the movement speed of the product
Sequentially increasing the conveying rotating speed of the rollers to enable the product speed on the production line to be 100mm/s, 200mm/s, 300mm/s and 400mm/s, adjusting the rotating speed of the double prisms according to the speed, and observing the tracking and deblurring effects of the camera on the product images under the action of different rotating speeds of the rotating double prisms;
s4, analysis summary
And performing comparative analysis on the product images obtained at different product speeds and at the double-prism rotating speed to obtain the tracking and deblurring effects of the tracking and monitoring device on the products of the assembly line at different transport speeds.
In addition, it should be noted that the specific embodiments described in the present specification may have different names, and the above descriptions in the present specification are only illustrations of the structures of the present invention. All equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the invention. Various modifications or additions may be made to the described embodiments or methods may be similarly employed by those skilled in the art without departing from the scope of the invention as defined in the appending claims.
Claims (10)
1. The utility model provides a go fuzzy tracking monitoring devices on line based on assembly line product, its characterized in that, including industry camera (1), rotary prism subassembly (2), support frame (3), mark subassembly (4), product (5) that awaits measuring, assembly line track (6) and host computer (7), support frame (3) are vertical to be fixed in directly over assembly line track (6), rotary prism subassembly (2) are located industry camera (1) under and are fixed in on support frame (3), mark subassembly (4) and locate between support frame (3) and assembly line track (6), product (5) equidistance that awaits measuring distributes on assembly line track (6) and at the uniform velocity moves forward, industry camera (1) and rotary prism subassembly (2) all are connected with host computer (7).
2. The on-line deblurring tracking monitoring device based on flow line product of claim 1, characterized in that, the rotating prism assembly (2) comprises a prism group, and the prism group is connected through a rotating driving mechanism.
3. The on-line deblurring, tracking and monitoring device based on the flow line product of claim 2, wherein the types of the prisms in the prism group comprise a rotating single prism, a rotating double prism, a deflecting double prism and a rotating multi-prism.
4. The on-line deblurring, tracking and monitoring device based on the assembly line product as claimed in claim 2, wherein the rotation driving mechanism adopts torque motor direct drive, gear drive, synchronous belt drive or worm and gear drive.
5. The on-line deblurring tracking monitoring device based on the pipeline product is characterized in that the structure of the pipeline track (6) comprises a straight track, a curved track and a circular track.
6. The on-line deblurring tracking monitoring device based on the flow line product is characterized in that the calibration component (4) is located at a position higher than the product (5) to be detected on the flow line track (6).
7. A method for using the on-line deblurring tracking monitoring device based on the flow line product of any one of claims 1 to 6 is characterized by comprising the following steps:
s1, carrying out system calibration on an industrial camera (1) and a rotating prism assembly (2) through a calibration assembly (4), determining main section positions of two prisms in the rotating prism assembly (2) and completing axial registration;
s2, acquiring the distance between the prisms and the product (5) to be detected according to the motion track and the motion speed of the product (5) to be detected on the assembly line track (6), and inputting the distances into an upper computer (7) to calculate to obtain the motion track of the imaging visual axis terminal;
s3, calculating the prism rotating speed required by each prism in the tracking process of the rotating prism assembly (2), synchronizing the field of view movement of the industrial camera (1) with the product movement, and resetting immediately after the rotating prism assembly (2) rotates to a limit position at the prism rotating speed;
and S4, sequentially increasing the movement speed of the product (5) to be detected in the step S1 from a low speed, acquiring images of the product (5) to be detected at different prism rotation speeds, comparing tracking deblurring effects of all groups of images to obtain the optimal product movement speed and the optimal prism rotation speed, and outputting corresponding product images.
8. A method according to claim 7, characterized in that the optical coefficients of the prisms in the rotating prism assembly (2) are the same, including wedge angle, refractive index and thin end thickness.
9. A method according to claim 7, characterized in that in step S3 the required prism rotational speed for each prism during tracking of the rotating prism assembly (2) is calculated by an iterative algorithm.
10. The method according to claim 7, wherein the axial registration in step S1 specifically comprises:
s11, fixing the position of the industrial camera (1), and determining the position of the calibration component (4) by aligning the industrial camera (1) to the calibration component (4);
s12, the industrial camera (1) shoots an image of the calibration component (4) through a single prism in the rotating prism component (2) respectively, so that the main section of the single prism is calibrated, and axial registration of the camera and the rotating prism component is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210692567.4A CN115165874A (en) | 2022-06-17 | 2022-06-17 | Online deblurring tracking monitoring device and method based on assembly line product |
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| CN202210692567.4A CN115165874A (en) | 2022-06-17 | 2022-06-17 | Online deblurring tracking monitoring device and method based on assembly line product |
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