CN115876122A - Part size measuring device and method based on machine vision - Google Patents
Part size measuring device and method based on machine vision Download PDFInfo
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- CN115876122A CN115876122A CN202211652920.2A CN202211652920A CN115876122A CN 115876122 A CN115876122 A CN 115876122A CN 202211652920 A CN202211652920 A CN 202211652920A CN 115876122 A CN115876122 A CN 115876122A
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Abstract
The invention relates to a device and a method for measuring the size of a part, in particular to a device and a method for measuring the size of the part based on machine vision, which solve the technical problems of large influence of human factors, long time consumption, low precision and easy scratch on the surface of a measured part in the conventional device for measuring the size of the part. The adjusting mechanism is installed above the object placing module, electrically connected with the data processing and control module and used for adjusting the position of the data acquisition module in the vertical direction, the data acquisition module is installed on the adjusting mechanism and used for acquiring the size image of the surface to be measured of the measured part, and the data processing and control module processes the acquired image to obtain the size of the measured part and outputs a measurement result through the data output module.
Description
Technical Field
The invention relates to a device and a method for measuring the size of a part, in particular to a device and a method for measuring the size of the part based on machine vision.
Background
With the rapid development of the field of machine manufacturing, the measurement technology of the mechanical parts is more and more dominant, and the requirement on the precision of the mechanical parts is higher and higher.
The traditional mechanical part measuring mode is to adopt a special measuring tool to measure and calculate the mechanical part, and the method has low efficiency, low precision and large influence of human factors. At present, the mode of measuring the size of mechanical parts at home and abroad can be divided into contact measurement and non-contact measurement:
the contact measurement mainly uses the contact between the measuring head and the measured surface to record the size information of the part, and the measurement is usually carried out by adopting a three-coordinate or vernier caliper. The mode can scratch the measured surface, the measuring speed is slow, and generally the measurement can only be carried out on rigid objects.
The non-contact measurement, i.e. the measuring head does not contact with the measured surface, mainly comprises an image method, a laser triangulation method, a ray method and the like. The non-contact measuring equipment introduced at home at present can realize high-precision measurement of the size of mechanical parts, but has the defects of long measuring time consumption, high cost and the like.
Disclosure of Invention
The invention aims to solve the technical problems of large influence of human factors, long time consumption, low precision and easy scratch on the surface of a measured part in the conventional part size measuring device, and provides a part size measuring device and method based on machine vision.
The design idea of the invention is as follows:
in the application of machine vision technology, the geometric position of a measured part in the X direction and the Y direction and the position relation of corresponding points on an image are mainly obtained. The schematic diagram of the machine vision measurement principle is shown in fig. 1, a coordinate system XOY represents a world coordinate system of a measured surface in space, and a coordinate system uov represents a pixel coordinate system; the point A and the point B represent two points in a world coordinate system, the point a and the point B represent the point A and the point B and are mapped to corresponding positions in a pixel coordinate system, the data acquisition module finishes the acquisition of image information of a surface to be measured of a measured part, the data processing module processes dimensional characteristics in the image, and the dimensional information of the surface to be measured can be obtained by calculating geometric distances between characteristic points, lines and the like.
In order to realize the purpose, the invention adopts the technical scheme that:
a part dimension measuring device based on machine vision is characterized in that: the device comprises a data acquisition module 1, a data processing and control module 2 electrically connected with the data acquisition module 1, a data output module 3 electrically connected with the data processing and control module 2, an adjusting mechanism and a storage module 5 for placing a tested part 4;
the data acquisition module 1 is arranged on the adjusting mechanism, is positioned right above the part 4 to be detected, and is used for acquiring a size image of a surface to be detected of the part 4 to be detected and sending the acquired image to the data processing and control module 2;
the data processing and control module 2 is used for controlling the adjusting mechanism to adjust the position of the data acquisition module 1 in the vertical direction, so that the surface to be measured of the part 4 to be measured is within the measurement range of the data acquisition module 1, processing, calculating and storing the acquired image, thereby obtaining the size of the surface to be measured of the part 4 to be measured, and comparing the obtained size of the surface to be measured of the part 4 to be measured with the standard model to obtain a comparison result;
and the data output module 3 is used for outputting the size and the comparison result of the surface to be measured of the measured part 4.
Further, the adjustment mechanism comprises a telescopic structure 16;
the object placing module 5 comprises an operation table 15, a working platform 14 positioned on the operation table 15, a posture adjusting tool positioned on the working platform 14 and a leveling structure 19;
the operating platform 15 is provided with an operating platform surface which is respectively and electrically connected with the telescopic structure 16 and the working platform 14 and is used for controlling the coarse displacement of the telescopic structure 16 in the vertical direction and the coarse displacement of the working platform 14 in the horizontal direction;
the telescopic structure 16 is also electrically connected with the data processing and control module 2, the telescopic structure 16 is arranged above the operation table 15, and the telescopic end of the telescopic structure is provided with the data acquisition module 1 and is used for adjusting the position of the data acquisition module 1 in the vertical direction according to the instruction of the operation table 15 or the instruction sent by the data processing and control module 2;
the leveling structure 19 is installed at the bottom of the operating platform 15 and is used for adjusting the horizontal posture of the operating platform 15;
the posture adjusting tool is used for placing the measured part 4 and precisely adjusting the posture of the measured part 4 in the space, so that the surface to be measured of the measured part 4 is perpendicular to the collecting direction of the data collecting module 1.
Further, the posture adjusting tool comprises a rotation and translation tool 17 or a leveling tool 18.
Further, the placement module 5 comprises a transport structure 12;
the adjusting mechanism comprises a telescopic structure 16 and a gantry framework 11 arranged in the width direction of the conveying structure;
the telescopic structure 16 is arranged in the middle of a cross beam of the gantry framework 11 and is electrically connected with the data processing and control module 2, and the telescopic end of the telescopic structure is provided with the data acquisition module 1 and is used for adjusting the position of the data acquisition module 1 in the vertical direction according to an instruction sent by the data processing and control module 2;
the part 4 to be measured is arranged on the transmission structure 12 and is positioned below the data acquisition module 1;
the transmission structure 12 is used for driving the tested part 4 to pass through the lower part of the data acquisition module 1 according to the programmed stepping.
Further, the data acquisition module 1 comprises a measuring head 13 electrically connected with the data processing and control module 2;
the probe 13 includes a probe cavity, an imaging system 20 disposed in the probe cavity, and a light source 21 disposed at an end of the probe cavity.
Further, the imaging system 20 includes a camera and a lens;
the camera is a CCD or CMOS industrial camera, and the lens is a double telecentric lens.
The part dimension measuring method based on the machine vision is characterized by comprising the following steps of:
step 1, inputting a standard model of a tested part 4 into a data processing and control module 2, and storing the standard model;
step 3, the data processing and control module 2 controls the adjusting mechanism to adjust the position of the data acquisition module 1 in the vertical direction according to the standard model of the detected part 4, so that the surface to be detected of the detected part 4 is in the measuring range of the data acquisition module 1;
step 5, the data processing and control module 2 processes, calculates and stores the size image of the surface to be measured of the measured part 4 to obtain the size of the surface to be measured of the measured part 4, compares the obtained size of the surface to be measured of the measured part 4 with the standard model of the measured part 4, and stores the comparison result;
and 6, outputting the obtained size of the surface to be measured of the measured part 4 and the comparison result by the data output module 3, and finishing the size measurement of the measured part 4.
Further, step 5 specifically includes the following steps:
step 5.1, sequentially carrying out gray processing, smoothing processing and enhancement processing on the size image of the to-be-measured surface of the to-be-measured part 4 to remove image noise;
step 5.2, carrying out image segmentation on the image obtained in the step 5.1 to obtain a target area of the to-be-detected surface of the to-be-detected part 4;
step 5.3, extracting the characteristic contour of the target area of the surface to be measured of the measured part 4, and carrying out contour processing on the characteristic contour;
step 5.4, performing edge detection on the image obtained in the step 5.3, fitting the image edge by a least square method, calculating the size of the surface to be measured of the measured part 4 by combining system calibration parameters of the data acquisition module 1, and storing the size;
and 5.5, comparing the obtained size of the to-be-detected surface of the to-be-detected part 4 with the standard model of the to-be-detected part 4, and storing a comparison result.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the part size measuring device based on machine vision mainly adopts the data acquisition module and the data processing and control module to realize the measurement of the size of the measured part, has simple structure, lower cost and easy maintenance, realizes the non-contact, high-precision and automatic rapid measurement of the size of the part, has high working efficiency, greatly saves manpower and material resources, and avoids the damage to the measured surface of the measured part because the part to be measured is directly placed on the object placing module without clamping;
2. in the part size measuring device based on machine vision, the object placing module comprises a posture adjusting component, and the posture of the part to be measured can be adjusted, so that the surface to be measured of the part to be measured is perpendicular to the collecting direction of the data collecting module, and the later data processing process is reduced;
3. the part size measuring device based on machine vision provided by the invention adopts the double telecentric lens, so that the influence of distortion on an imaging result can be reduced;
4. the part size measuring method based on machine vision can realize the discrimination, storage, printing and the like of the measuring result and avoid the influence of human factors in the whole measuring process.
Drawings
FIG. 1 is a schematic diagram of a machine vision-based part dimension measuring device provided by the invention;
FIG. 2 is a schematic structural diagram of a part dimension measuring device based on machine vision according to the present invention;
FIG. 3 is a schematic structural diagram of a first embodiment of a device for measuring dimensions of a part based on machine vision according to the present invention;
fig. 4 is a schematic structural diagram of a probe in a first embodiment of the device for measuring dimensions of a part based on machine vision according to the present invention;
FIG. 5 is a schematic diagram of a chessboard pattern calibration board used in the first embodiment of the invention;
FIG. 6 is a flow chart of a method for measuring dimensions of a part based on machine vision according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a second embodiment of a device for measuring dimensions of a part according to the present invention;
the reference numerals are explained below:
1-a data acquisition module, 2-a data processing and control module, 3-a data output module, 4-a part to be tested and 5-a storage module;
11-gantry framework, 12-transmission structure, 13-measuring head, 14-working platform, 15-operating platform, 16-telescopic structure, 17-rotation translation tool, 18-leveling tool, 19-leveling structure, 20-imaging system and 21-light source.
Detailed Description
To make the objects, advantages and features of the present invention more apparent, a part dimension measuring apparatus and method based on machine vision according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example one
The utility model provides a part size measurement device based on machine vision, includes data acquisition module 1, with data processing and control module 2 of data acquisition module 1 electricity connection, with data processing and data output module 3 of control module 2 electricity connection, adjustment mechanism for lay 4 putting of measured part thing modules 5.
As shown in fig. 2, the data acquisition module 1 is located right above the measured part 4, and is configured to acquire a size image of a surface to be measured of the measured part 4, and send the acquired size image to the data processing and control module 2. The data processing and control module 2 is electrically connected with the adjusting mechanism and used for controlling the adjusting mechanism to adjust the position of the data acquisition module 1 in the vertical direction, displaying the working process and the working state, processing, calculating and storing the acquired image so as to obtain the size of the surface to be measured of the measured part 4, and comparing the obtained size of the surface to be measured of the measured part 4 with the standard model of the measured part 4. The data output module 3 is used for outputting the measured size and the comparison result of the measured part 4.
The specific structure of the part dimension measuring device based on machine vision provided by this embodiment is shown in fig. 3, the adjusting mechanism includes a telescopic structure 16, the storage module 5 includes an operation table 15, a work platform 14 located on the operation table 15, a posture adjusting tool located on the work platform 14, and a leveling structure 19. The posture adjusting tool comprises a rotation and translation tool 17 or a leveling tool 18, the rotation and translation tool 17 is used for driving the measured part 4 to perform precise displacement and rotation in the horizontal direction, the leveling tool 18 is used for adjusting the horizontal posture of the measured part 4 in the space, and when the posture adjusting tool is actually used, a proper tool is selected according to the measurement requirement. The embodiment is suitable for measuring the size of a single workpiece part.
The operation table 15 is provided with an operation table top, and the operation table top is electrically connected with the telescopic structure 16 and the working platform 14 respectively and is used for controlling the coarse displacement of the telescopic structure 16 in the vertical direction and the coarse displacement of the working platform 14 in the horizontal direction. The telescopic structure 16 is installed above the operation table 15 and electrically connected with the data processing and control module 2, and the data acquisition module 1 is installed at the telescopic end of the telescopic structure 16 and used for adjusting the position of the data acquisition module 1 in the vertical direction according to the instruction of the operation table 15 or the instruction sent by the data processing and control module 2, so that the surface to be measured of the part 4 to be measured is within the measurement range of the data acquisition module 1. A leveling structure 19 is installed at the bottom of the operation table 15 for adjusting the horizontal posture of the operation table 15, thereby adjusting the horizontal posture of the entire apparatus. The posture adjusting tool is used for placing the measured part 4, and precisely adjusting the posture of the measured part 4 in the space, so that the surface to be measured of the measured part 4 is perpendicular to the collecting direction of the data collecting module 1.
The data acquisition module 1 includes a measuring head 13 electrically connected to the data processing and control module 2, and as shown in fig. 4, the measuring head 13 includes a measuring head cavity, an imaging system 20 disposed in the measuring head cavity, and a light source 21 disposed at an end of the measuring head cavity. The imaging system 20 includes a camera and a lens that are engaged, wherein the camera is a CCD or CMOS industrial camera and the lens is a double telecentric lens. The imaging size of the double telecentric lens is kept unchanged in the field depth range, the influence of distortion on an imaging result can be reduced, and the later data processing process is reduced.
Because the acquired images are in pixels, rather than in the usual units of length, the imaging system 20 needs to be calibrated. The commonly used calibration objects include a checkerboard calibration plate, a standard gauge block, etc., in this embodiment, the checkerboard calibration is adopted, and the calibration plate is shown in fig. 5.
Setting the actual side length of each small square grid as D, the size of each small square grid collected by the camera as D', and the calibration coefficient as k, thereby obtaining the following calibration coefficient formula of the imaging system 20:
the embodiment also provides a part dimension measuring method based on machine vision, and the part dimension measuring device based on machine vision, as shown in fig. 6, includes the following steps:
step 1, inputting the standard model of the tested part 4 into the data processing and control module 2, and storing the standard model.
And 2, placing the tested part 4 on the object placing module 5, and enabling the surface to be tested of the tested part 4 to face the data acquisition module 1 and be vertical to the acquisition direction of the data acquisition module 1.
And 3, controlling the adjusting mechanism to adjust the position of the data acquisition module 1 in the vertical direction by the data processing and control module 2 according to the standard model of the detected part 4, so that the surface to be detected of the detected part 4 is in the measuring range of the data acquisition module 1.
And 4, the data acquisition module 1 acquires a dimension image of the to-be-measured surface of the to-be-measured part 4 and sends the acquired image to the data processing and control module 2.
Step 5, the data processing and control module 2 processes, calculates and stores the size image of the surface to be measured of the measured part 4 to obtain the size of the surface to be measured of the measured part 4, compares the obtained size of the surface to be measured of the measured part 4 with the standard model of the measured part 4, and stores the comparison result, and the specific steps are as follows:
step 5.1, sequentially carrying out gray processing, smoothing processing and enhancement processing on the size image of the to-be-measured surface of the to-be-measured part 4 to remove image noise;
step 5.2, performing image segmentation on the image obtained in the step 5.1 to obtain a target area of a to-be-detected surface of the to-be-detected part 4;
step 5.3, extracting the characteristic contour of the target area of the surface to be measured of the measured part 4, and carrying out contour processing on the characteristic contour;
step 5.4, performing edge detection on the image obtained in the step 5.3, fitting the image edge by a least square method, combining the image edge with calibration parameters of the imaging system 20, obtaining the size of the surface to be measured of the part 4 to be measured, and storing the size;
and 5.5, comparing the obtained size of the to-be-detected surface of the to-be-detected part 4 with the standard model of the to-be-detected part 4, and storing a comparison result.
And 6, outputting the size of the to-be-measured surface of the to-be-measured part 4 and the comparison result by the data output module 3 to finish the size measurement of the to-be-measured part 4.
If the sizes of a plurality of surfaces to be measured of the part 4 to be measured need to be measured, the part 4 to be measured is turned over, and the steps are repeated.
Example two
The working principle and the measuring method of the part size measuring device based on the machine vision are the same as those of the first embodiment, and only the adjusting mechanism and the object placing module 5 are selected differently, so that the device is suitable for measuring the sizes of batch parts.
As shown in FIG. 7, the part dimension measuring device based on machine vision comprises a data acquisition module 1, a data processing and control module 2, a transmission structure 12, a telescopic structure 16 and a gantry framework 11 which is arranged in the width direction of the transmission structure through electric connection.
The surface to be tested of the part 4 to be tested faces upwards, is placed on the transmission structure 12 and is positioned below the data acquisition module 1. The fixed end of the telescopic structure 16 is installed in the middle of the beam of the gantry framework 11 and is electrically connected with the data processing and control module 2, and the telescopic end of the telescopic structure is provided with the data acquisition module 1 and is used for adjusting the position of the data acquisition module 1 in the vertical direction according to the instruction sent by the data processing and control module 2. The transport structure 12 is programmed to step through the part 4 under test from below the data acquisition module 1. In the present embodiment, since the conveyance structure 12 itself has been leveled, the attitude adjusting means may not be provided. If the attitude adjusting part is to be set, the part 4 to be measured may be placed on the attitude adjusting part, which is then placed on the conveying structure 12.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the present invention.
Claims (8)
1. A part size measurement device based on machine vision, its characterized in that: the device comprises a data acquisition module (1), a data processing and control module (2) electrically connected with the data acquisition module (1), a data output module (3) electrically connected with the data processing and control module (2), an adjusting mechanism and a placement module (5) for placing a part to be tested (4);
the data acquisition module (1) is arranged on the adjusting mechanism, is positioned above the part to be detected (4), and is used for acquiring a size image of a surface to be detected of the part to be detected (4) and sending the acquired image to the data processing and control module (2);
the data processing and control module (2) is electrically connected with the data processing and control module (2) and is used for controlling the adjusting mechanism to adjust the position of the data acquisition module (1) in the vertical direction, so that the surface to be measured of the part to be measured (4) is within the measuring range of the data acquisition module (1), the acquired image is processed, calculated and stored, the size of the surface to be measured of the part to be measured (4) is obtained, and the obtained size of the surface to be measured of the part to be measured (4) is compared with the standard model to obtain a comparison result;
and the data output module (3) is used for outputting the size and the comparison result of the surface to be measured of the measured part (4).
2. The machine-vision based part dimension measuring device of claim 1, wherein:
the adjustment mechanism comprises a telescopic structure (16);
the article placing module (5) comprises an operation table (15), a working platform (14) positioned on the operation table (15), a posture adjusting tool positioned on the working platform (14) and a leveling structure (19);
the operating table (15) is provided with an operating table top which is respectively and electrically connected with the telescopic structure (16) and the working platform (14) and is used for controlling the coarse displacement of the telescopic structure (16) in the vertical direction and the coarse displacement of the working platform (14) in the horizontal direction;
the telescopic structure (16) is arranged above the operating platform (15) and is electrically connected with the data processing and control module (2), and the telescopic end of the telescopic structure (16) is provided with the data acquisition module (1) and is used for adjusting the position of the data acquisition module (1) in the vertical direction according to the instruction of the operating platform (15) or the instruction sent by the data processing and control module (2);
the leveling structure (19) is arranged at the bottom of the operating platform (15) and is used for adjusting the horizontal posture of the operating platform (15);
the posture adjusting tool is used for placing the measured part (4), and precisely adjusting the posture of the measured part (4) in the space, so that the surface to be measured of the measured part (4) is perpendicular to the collecting direction of the data collecting module (1).
3. The machine-vision based part dimension measuring device of claim 2, wherein:
the posture adjusting tool comprises a rotating and translating tool (17) or a leveling tool (18).
4. The machine-vision based part dimension measuring device of claim 1, wherein:
the storage module (5) comprises a conveying structure (12);
the adjusting mechanism comprises a telescopic structure (16) and a gantry framework (11) arranged in the width direction of the conveying structure;
the telescopic structure (16) is arranged in the middle of a cross beam of the gantry framework (11) and is electrically connected with the data processing and control module (2), and the telescopic end of the telescopic structure is provided with the data acquisition module (1) and is used for adjusting the position of the data acquisition module (1) in the vertical direction according to an instruction sent by the data processing and control module (2);
the tested part (4) is arranged on the transmission structure (12) and is positioned below the data acquisition module (1);
the transmission structure (12) is used for driving the part (4) to be detected to pass through the lower part of the data acquisition module (1) according to the stepping set by the program.
5. The machine-vision based part dimension measuring device of claim 3 or 4, wherein:
the data acquisition module (1) comprises a measuring head (13) electrically connected with the data processing and control module (2);
the measuring head (13) comprises a measuring head cavity, an imaging system (20) arranged in the measuring head cavity, and a light source (21) arranged at the end part of the measuring head cavity.
6. The machine-vision based part dimension measuring device of claim 5, wherein:
the imaging system (20) comprises a camera and a lens;
the camera is a CCD or CMOS industrial camera, and the lens is a double telecentric lens.
7. A machine vision-based part dimension measuring method based on the machine vision-based part dimension measuring apparatus of any one of claims 1 to 6, comprising the steps of:
step 1, inputting a standard model of a tested part (4) into a data processing and control module (2) and storing the standard model;
step 2, placing the tested part (4) on the object placing module (5) to enable the surface to be tested of the tested part (4) to face the data acquisition module (1);
step 3, the data processing and control module (2) controls the adjusting mechanism to adjust the position of the data acquisition module (1) in the vertical direction according to the standard model of the part to be measured (4), so that the surface to be measured of the part to be measured (4) is in the measuring range of the data acquisition module (1);
step 4, the data acquisition module (1) acquires a size image of a to-be-detected surface of the to-be-detected part (4), and sends the acquired image to the data processing and control module (2);
step 5, the data processing and control module (2) processes, calculates and stores the size image of the to-be-detected surface of the detected part (4) to obtain the size of the to-be-detected surface of the detected part (4), compares the obtained size of the to-be-detected surface of the detected part (4) with the standard model of the detected part (4), and stores the comparison result;
and 6, outputting the obtained size of the to-be-measured surface of the to-be-measured part (4) and the comparison result by the data output module (3) to finish the size measurement of the to-be-measured part (4).
8. The machine-vision-based part dimension measuring method of claim 7, wherein step 5 specifically comprises the steps of:
step 5.1, sequentially carrying out gray processing, smoothing processing and enhancement processing on the size image of the to-be-measured surface of the to-be-measured part (4) to remove image noise;
step 5.2, carrying out image segmentation on the image obtained in the step 5.1 to obtain a target area of the to-be-detected surface of the to-be-detected part (4);
step 5.3, extracting the characteristic contour of the target area of the surface to be measured of the measured part (4), and carrying out contour processing on the characteristic contour;
step 5.4, performing edge detection on the image obtained in the step 5.3, fitting the image edge by a least square method, calculating the size of the surface to be detected of the detected part (4) by combining system calibration parameters of the data acquisition module (1), and storing the size;
and 5.5, comparing the obtained size of the surface to be measured of the part to be measured (4) with the standard model of the part to be measured (4), and storing a comparison result.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117722954A (en) * | 2024-02-07 | 2024-03-19 | 上海强华实业股份有限公司 | System and method for detecting morphology and analyzing size of fine-burned product |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117722954A (en) * | 2024-02-07 | 2024-03-19 | 上海强华实业股份有限公司 | System and method for detecting morphology and analyzing size of fine-burned product |
| CN117722954B (en) * | 2024-02-07 | 2024-04-19 | 上海强华实业股份有限公司 | System and method for detecting morphology and analyzing size of fine-burned product |
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