CN116255906A - Visual inspection method and product for conductive slip ring wire-shaped brush array shape and position machine - Google Patents
Visual inspection method and product for conductive slip ring wire-shaped brush array shape and position machine Download PDFInfo
- Publication number
- CN116255906A CN116255906A CN202310252239.7A CN202310252239A CN116255906A CN 116255906 A CN116255906 A CN 116255906A CN 202310252239 A CN202310252239 A CN 202310252239A CN 116255906 A CN116255906 A CN 116255906A
- Authority
- CN
- China
- Prior art keywords
- brush
- wire
- image
- brush wire
- array
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The embodiment of the invention provides a conductive slip ring wire-shaped brush array shape and position machine vision detection method and a product, and relates to the technical field of machine vision detection. According to the embodiment of the invention, the brush image to be detected can be acquired based on a single-phase machine, so that the quick detection of the shape and position of the wire-shaped brush array of the conductive slip ring can be realized.
Description
Technical Field
The embodiment of the invention relates to the field of machine vision detection, in particular to a conductive slip ring wire-shaped brush array shape and position machine vision detection method and a product.
Background
The conductive slip ring adopting the wire-shaped electric brush is an important component widely used for precision rotating devices such as a tripod head, a gyroscope, an inertial platform and the like. The precise conductive slip ring realizes signal and current transmission between a fixed position and a continuous rotating mechanism through sliding contact of the conductive ring and a filiform elastic brush wire (hereinafter referred to as a brush wire), and the contact state of the brush wire and a loop is an important factor influencing the conductive performance and the service life of the slip ring. Because brush wire deformation or position deviation is easily caused in the processes of slip ring assembly, brush wire lead wire welding and glue sealing, on-line detection of the shape and the position of the brush wire is an important link in the slip ring manufacturing process.
Because the brush filaments are soft and elastic and are arranged in a fine array, the shape and position parameters of the brush filaments are difficult to automatically detect by a contact method. At present, the brush filaments are detected by manually using tools such as angle plates and the like in the industry. The angle plate is printed with standard scale marks corresponding to the inclination angles of the brush wires to be detected, and whether the shapes and positions of the brush wires are qualified or not is judged by manually comparing whether the inclination angles of the brush wires and the standard scale marks are close to each other in sequence. The qualitative detection mode can not detect the actual position parameters of the brush wires, and the manual detection is time-consuming and labor-consuming and easy to introduce human errors.
Therefore, a new visual inspection method for the conductive slip ring wire-shaped brush array is needed at present to improve the efficiency and accuracy of visual inspection for the conductive slip ring wire-shaped brush array.
Disclosure of Invention
The embodiment of the invention provides a conductive slip ring wire-shaped brush array shape and position machine vision detection method, device, electronic equipment and storage medium, which are used for at least partially solving the problems in the related art.
The first aspect of the embodiment of the invention provides a conductive slip ring wire-shaped brush array shape and position machine vision detection method, which comprises the following steps:
collecting an image of the electric brush to be detected;
Determining a pixel size range of the brush image to be detected according to the structure size of the brush wire array of the brush to be detected;
performing binarization processing on the brush image to be detected to obtain a brush yarn binary image;
processing the brush wire binary image, extracting a contour array of an image of the top area of each brush wire of the brush to be detected, and determining coordinates of characteristic points on the inner side of the vertex of each brush wire;
judging whether the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire or not, wherein the rectangular tolerance area of the characteristic points at the top of the brush wire is determined according to the transverse tolerance and the longitudinal tolerance of the characteristic points at the inner side of the top of the brush wire;
and under the condition that the coordinates of the characteristic points are within the rectangular tolerance area range of the characteristic points at the top of the brush wire, determining that the current brush shape and position to be detected are qualified.
Optionally, the rectangular tolerance area range of the characteristic point at the top of the brush wire is determined according to the following steps:
collecting a standard electric brush image;
extracting left lines of a brush wire base in the standard brush image based on a Canny operator;
calculating an included angle a formed by the left line and the longitudinal axis of the image, enabling the left line to be parallel to the longitudinal axis of the image through rotation correction, and determining a midpoint coordinate O (X 0 ，Y 0 )；
Taking the horizontal line passing through the point O as the X-axis center line of the standard electric brush image, wherein a pair of brush wires in the same row in the standard electric brush are symmetrically distributed at two sides of the X-axis center line, and the distances H from the inner center points of two root parts of the brush wires to the X-axis center line are obtained b Equal;
calculating the center point P of the top of the brush wire 11 Standard distance H to X-axis centerline y ：H y ＝H b -lxsin θ, where L is the brush wire arm length of the standard brush, θ is the angle between the brush arm and the brush wire fixed at the base root;
determining the center point P of the top of the brush wire 11 Symmetrical another brush wire top characteristic point P 21 The distance to the X-axis centerline is also H y Obtaining a top center point P 11 、P 21 Reference coordinate Q of projection point in image plane XOY 11 (Xq 11 ,Xq 11 )、Q 21 (Xq 11 ,Xq 11 )：
Xq 11 ＝X 0 -H 0
Yq 11 ＝Y 0 -H y
Xq 21 ＝X 0 -H 0
Yq 21 ＝Y 0 +H y
Wherein H is 0 Is Q in the image plane 11 Q 21 Intersection point with X-axis center line to originDistance of O;
determining projection Q of inner characteristic point at top of ith row and j column brush wires ij Coordinates (Xq) ij ,Yq ij )：
Xq ij ＝X 0 +H 0 +(j-1)×H x
Yq ij ＝Y 0 +C i ×H 2
Wherein i=1, 2; j=1, 2, …, n; when i=1, C i The value is-1, yq ij Refers to the ordinate of the characteristic point of the brush wire in the 1 st row, and C is when i=2 i The value is 1, yq ij The reference ordinate of the characteristic point of the brush wire in the 2 nd row; h x Representing the distance between a pair of brush filaments of different columns;
determining the characteristic point Q of the inner side of the top of the brush wire according to the tolerance requirements of the inclination and the parallelism of the brush wire ij Is dx, and dy; obtain the point Q with O as the origin ij Rectangular tolerance zone T for detecting brush wire shape and position of center ij (XT ij ,YT ij 2dx,2 dy), wherein (XT ij ,YT ij ) For the coordinates of the upper left corner of this rectangle, 2dx,2dy are its width and height, then there are:
XT ij ＝Xq ij -dx
YT ij ＝Yq ij -dy。
optionally, the method further comprises:
performing rotation correction on the brush image to be detected according to the included angle a;
the electric brush to be detected and the standard electric brush adopt the same tool and clamping mode.
Optionally, performing binarization processing on the brush image to be detected to obtain a brush filament binary image, including:
and performing threshold segmentation and corrosion expansion operation on the brush image to be detected by using an OTSU automatic threshold image segmentation algorithm based on the gray level image to obtain a brush yarn binary image.
Optionally, the brush filament binary image is processed, a profile array of an image of a top area of each brush filament of the brush to be detected is extracted, and coordinates of characteristic points inside a vertex of each brush filament are determined, including:
extracting a contour array of each brush wire top area image by calling a contour extraction function FindContours of OpenCV;
extracting characteristic points S on the inner side of each brush wire vertex from a contour array of an image of the top area of each brush wire ij (Xs ij ，Ys ij ) Where i is the number of brush filaments and j is the number of brush filaments.
Optionally, extracting the characteristic points S inside the brush filament vertexes from the contour array of the image of the top area of each brush filament ij (Xs ij ，Ys ij ) Comprising:
aiming at the brush wire of the 1 st row, taking the point with the smallest Y coordinate in the profile array as the characteristic point on the inner side of the brush wire vertex;
and aiming at the brush wire of the 2 nd row, taking the point with the largest Y coordinate in the profile array as the inner side characteristic of the vertex of the brush wire.
Optionally, the method further comprises:
recording deviation of the corresponding characteristic points of each brush wire relative to the rectangular tolerance area range of the characteristic points at the top of the brush wire;
and detecting the conductive performance parameters of the assembly finished product of each brush wire and the loop, and carrying out statistical analysis by combining the corresponding deviation of each brush wire to optimize the design parameters of the electric brush.
Optionally, the step of acquiring the image comprises:
the low-angle illumination mode at two sides is adopted, and the angle of the light source is adjusted to highlight the outline characteristics of the top area of the brush wire in the brush image, so that other parts of the brush and the base area become the background of the collected brush image.
The second aspect of the embodiment of the invention provides a conductive slip ring wire-shaped brush array shape and position machine vision detection device, which comprises:
The acquisition module is used for acquiring an image of the electric brush to be detected;
the pixel size range determining module is used for determining the pixel size range of the brush image to be detected according to the structure size of the brush wire array of the brush to be detected;
the first processing module is used for carrying out binarization processing on the brush image to be detected to obtain a brush wire binary image;
the second processing module is used for processing the brush wire binary image, extracting a profile array of the image of the top area of each brush wire of the brush to be detected, and determining coordinates of characteristic points on the inner side of the vertex of each brush wire;
the judging module is used for judging whether the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire or not, and the rectangular tolerance area of the characteristic points at the top of the brush wire is determined according to the transverse tolerance and the longitudinal tolerance of the characteristic points at the inner side of the top of the brush wire;
the determining module is used for determining that the current brush shape and position to be detected are qualified under the condition that the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire.
Optionally, the rectangular tolerance area range of the characteristic point at the top of the brush wire is determined according to the following steps:
collecting a standard electric brush image;
Extracting left lines of a brush wire base in the standard brush image based on a Canny operator;
calculating an included angle a formed by the left line and the longitudinal axis of the image, enabling the left line to be parallel to the longitudinal axis of the image through rotation correction, and determining a midpoint coordinate O (X 0 ，Y 0 )；
Taking the horizontal line passing through the point O as the X-axis center line of the standard electric brush image, wherein a pair of brush wires in the same row in the standard electric brush are symmetrically distributed at two sides of the X-axis center line, and the distances H from the inner center points of two root parts of the brush wires to the X-axis center line are obtained b Equal;
calculating the center point P of the top of the brush wire 11 Standard distance H to X-axis centerline y ：H y ＝H b -lxsin θ, where L is the brush wire arm length of the standard brush, θ is the angle between the brush arm and the brush wire fixed at the base root;
determining the center point P of the top of the brush wire 11 Symmetrical another brush wire top characteristic point P 21 The distance to the X-axis centerline is also H y Obtaining a top center point P 11 、P 21 Reference coordinate Q of projection point in image plane XOY 11 (Xq 11 ,Xq 11 )、Q 21 (Xq 11 ,Xq 11 )：
Xq 11 ＝X 0 -H 0
Yq 11 ＝Y 0 -H y
Xq 21 ＝X 0 -H 0
Yq 21 ＝Y 0 +H y
Wherein H is 0 Is Q in the image plane 11 Q 21 The distance from the intersection point of the X-axis central line to the origin O;
determining projection Q of inner characteristic point at top of ith row and j column brush wires ij Coordinates (Xq) ij ,Yq ij )：
Xq ij ＝X 0 +H 0 +(j-1)×H x
Yq ij ＝Y 0 +C i ×H 2
Wherein i=1, 2; j=1, 2, …, n; when i=1, C i The value is-1, yq ij Refers to the ordinate of the characteristic point of the brush wire in the 1 st row, and C is when i=2 i The value is 1, yq ij The reference ordinate of the characteristic point of the brush wire in the 2 nd row; h x Representing the distance between a pair of brush filaments of different columns;
determining the characteristic point Q of the inner side of the top of the brush wire according to the tolerance requirements of the inclination and the parallelism of the brush wire ij Is dx, and dy; obtain the point Q with O as the origin ij Rectangular tolerance zone T for detecting brush wire shape and position of center ij (XT ij ,YT ij 2dx,2 dy), wherein (XT ij ,YT ij ) For the coordinates of the upper left corner of this rectangle, 2dx,2dy are its width and height, then there are:
XT ij ＝Xq ij -dx
YT ij ＝Yq ij -dy。
optionally, the apparatus further comprises:
the correction module is used for carrying out rotation correction on the electric brush image to be detected according to the included angle a;
the electric brush to be detected and the standard electric brush adopt the same tool and clamping mode.
Optionally, the first processing module is specifically configured to:
and performing threshold segmentation and corrosion expansion operation on the brush image to be detected by using an OTSU automatic threshold image segmentation algorithm based on the gray level image to obtain a brush yarn binary image.
Optionally, the second processing module includes:
the first extraction submodule is used for extracting the contour array of the area image at the top of each brush wire by calling the contour extraction function FindContours of OpenCV;
A second extraction submodule for extracting the characteristic points S inside the top points of the brush filaments from the contour array of the top area image of the brush filaments ij (Xs ij ，Ys ij ) Where i is the number of brush filaments and j is the number of brush filaments.
Optionally, the second extraction submodule is specifically configured to:
aiming at the brush wire of the 1 st row, taking the point with the smallest Y coordinate in the profile array as the characteristic point on the inner side of the brush wire vertex;
and aiming at the brush wire of the 2 nd row, taking the point with the largest Y coordinate in the profile array as the inner side characteristic of the vertex of the brush wire.
Optionally, the apparatus further comprises:
the distance module is used for recording deviation of the characteristic points corresponding to the brush wires relative to the rectangular tolerance area range of the characteristic points at the tops of the brush wires;
the statistics module is used for detecting the conductive performance parameters of the assembly finished products of the brush wires and the loop, carrying out statistics analysis by combining the deviation corresponding to each brush wire, and optimizing the design parameters of the electric brush.
Optionally, the step of acquiring an image includes:
the low-angle illumination mode at two sides is adopted, and the angle of the light source is adjusted to highlight the outline characteristics of the top area of the brush wire in the brush image, so that other parts of the brush and the base area become the background of the collected brush image.
A third aspect of the embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method according to the first aspect of the present invention.
A fourth aspect of the embodiments of the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed implements the steps of the method according to the first aspect of the invention.
In the embodiment of the invention, the brush image to be detected can be acquired based on a single-phase machine, so that the quick detection of the shape and position of the conductive slip ring wire-shaped brush array is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments of the present invention will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a machine vision inspection method for the shape and position of a conductive slip ring filiform brush array according to an embodiment of the invention;
fig. 2 is a schematic diagram of a visual inspection system corresponding to a visual inspection method of a conductive slip ring wire brush array shape and position machine according to an embodiment of the present invention;
FIG. 3 is a flow chart of another visual inspection method for the shape and position of the conductive slip ring wire brush array according to the embodiment of the invention;
FIG. 4 is a schematic diagram of a standard brush wire array with a base in a conductive slip ring wire brush array form and position machine vision inspection method employing an embodiment of the present invention;
FIG. 5 is a schematic illustration of projected points in a standard brush image plane XOY determined by a conductive slip ring filiform brush array form-to-position machine vision inspection method in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of an example brush image to be detected obtained by a conductive slip ring filiform brush array shape and position machine vision detection method according to an embodiment of the invention;
FIG. 7 is a schematic diagram of an example brush filament binary image obtained by a conductive slip ring filiform brush array shape and position machine vision detection method according to an embodiment of the invention;
FIG. 8 is a diagram showing the effect of an example detection result obtained by the conductive slip ring filiform brush array shape and position machine vision detection method according to the embodiment of the invention;
Fig. 9 is a block diagram of a conductive slip ring wire brush array shape and position machine vision detection device according to an embodiment of the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1, a flowchart of a machine vision detection method for a conductive slip ring wire-shaped brush array shape and position according to an embodiment of the present invention is shown, where the machine vision detection method for a conductive slip ring wire-shaped brush array shape and position according to an embodiment of the present invention may include the following steps:
s101, collecting an image of the electric brush to be detected.
According to the embodiment of the invention, the electric brush to be detected can be fixed, and the electric brush to be detected meeting the detection requirement is collected by using the camera.
In the embodiment of the invention, the brush image to be detected can be an image corresponding to the standard brush image, so that the brush image to be detected is detected based on the standard brush image.
S102, determining the pixel size range of the brush image to be detected according to the structure size of the brush wire array of the brush to be detected.
In the embodiment of the invention, the pixel size range of the brush image to be detected can be determined according to the structure size of the brush wire array of the brush to be detected, and the range is determined as the region of interest, so that the characteristic point extraction can be carried out later.
S103, binarizing the brush image to be detected to obtain a brush wire binary image.
In the embodiment of the invention, any mature technology in the field of image processing can be adopted to carry out binarization processing on the brush image to be detected, so as to obtain a brush wire binary image, and the projection of brush wires in the brush image to be detected is highlighted.
S104, processing the brush wire binary image, extracting a contour array of the image of the top area of each brush wire of the brush to be detected, and determining coordinates of characteristic points on the inner side of each brush wire vertex.
In the embodiment of the invention, a plurality of pixel points contained in the binary image can be searched to obtain the outline array of the image of the top area of each brush wire, and the coordinates of the characteristic points on the inner side of the vertex of each brush wire are determined from the outline array.
S105, judging whether the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire, wherein the rectangular tolerance area of the characteristic points at the top of the brush wire is determined according to the transverse tolerance and the longitudinal tolerance of the characteristic points at the inner side of the top of the brush wire.
In the embodiment of the invention, the standard position of each brush wire on the brush image can be determined based on the standard brush image, and the rectangular tolerance area range of the characteristic point of the top of each brush wire corresponding to each brush wire is determined based on the transverse tolerance and the longitudinal tolerance.
In the embodiment of the invention, the rectangular tolerance area range of the characteristic points at the top of the brush wires can also be obtained by statistics based on the positions of the brush wires corresponding to a large number of qualified brush wires on the brush images.
And S106, determining that the current brush shape and position to be detected are qualified under the condition that the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire.
In the embodiment of the invention, the brush image to be detected can be acquired based on a single-phase machine, so that the quick detection of the shape and position of the conductive slip ring wire-shaped brush array is realized.
In order to facilitate understanding, a specific visual detection system is taken as an example to explain the machine visual detection method for the conductive slip ring wire-shaped brush array shape and position provided by the embodiment of the invention. Referring to fig. 2, a schematic diagram of a visual inspection system corresponding to a conductive slip ring wire brush array shape and position machine visual inspection method according to an embodiment of the invention is shown. The method comprises the following steps: the device comprises an industrial camera 1 for collecting brush wire images, an optical lens 2, a slip ring tool 3 for installing a slip ring wire brush 4 to be tested, two side light sources 6 and 8, a backlight light source 7, a bottom plate 5 for fixing the slip ring tool 3 and the light sources 6, 7 and 8, and a computer processing system 9, wherein the computer processing system 9 runs conductive slip ring wire brush array shape and position machine vision detection software corresponding to the conductive slip ring wire brush array shape and position machine vision detection method provided by the embodiment of the invention. The backlight light source 6 is arranged in a reserved space between the slip ring tool 3 and the bottom plate 5 and is used for detecting illumination when the slip ring wire-shaped brush 4 is limited by the slip ring tool 3 and a left datum line 7.
Wherein the camera 1 adopts 600 ten thousand pixels, a cache, a gigabit Ethernet interface and a 1/1.8 inch CMOS black and white digital industrial camera, and the maximum resolution is 3072 multiplied by 2048 pixels. The optical lens 2 adopts an FA lens with a focal length of 12mm and a standard C interface and an adjustable working distance, and the field size is 70.8mm multiplied by 47.2mm. The LED white strip light sources with the angles of 100mm multiplied by 20mm are adopted as the light sources 6 and 8 on the two sides, and the angles are adjustable. The backlight source 7 is a 60×20mm white bar-shaped light source. The computer processing system 9 is a WIN 10 operating system and the image processing algorithm programming environment is Microsoft Visual Studio 2017.
Referring to fig. 3, a flowchart of a machine vision detection method for a conductive slip ring wire-shaped brush array shape and position according to an embodiment of the present invention is shown, where the machine vision detection method for a conductive slip ring wire-shaped brush array shape and position according to an embodiment of the present invention may include the following steps:
s301, determining a rectangular tolerance area range of the characteristic points at the top of the brush wire.
In the embodiment of the present invention, a detection reference model corresponding to a standard brush may be established by determining a rectangular tolerance area range of a characteristic point at the top of a brush wire, so that the brush to be detected is detected by using the detection reference model, and specifically, the step S301 may include the following substeps:
S3011, collect standard brush images.
In the embodiment of the invention, a low-angle illumination mode at two sides can be adopted, and the angle of the light source is adjusted to highlight the outline characteristics of the top area of the brush wire in the standard brush image, so that other parts of the brush and the base area become the background of the acquired standard brush image. In the embodiment of the invention, backlight illumination is adopted to highlight the edge line characteristics of the brush wire base when the image of the left datum line area of the brush wire base is acquired. The contour features of the brush wire top area are also highlighted by adopting a low-angle rectangular light or ring light illumination mode.
The standard brush image acquired in the embodiment of the invention is an image of a part of one end of the brush wire base connected with the tool datum plane.
For example, as shown in fig. 4, fig. 4 is a schematic diagram of a standard brush wire array with a base in the machine vision detection method for a conductive slip ring wire-shaped brush array according to the embodiment of the present invention, the left side of the slip ring base 42 is limited by a tool reference plane, the midpoint O of the left line 41 is taken as the brush wire positioning origin, and the imaging plane 43 illuminated by the light sources on both sides is used to enable the camera to completely collect the image of the brush wire top 44, and the other positions become the dark field background of the image. The slip ring model corresponding to the tested brush filaments shown in fig. 4 is SRC012-18.
S3012, extracting the left edge line of the brush wire base in the standard brush image based on the Canny operator.
S3013, calculate the left sideThe included angle a formed by the line and the longitudinal axis of the image is formed, the left line is parallel to the longitudinal axis of the image through rotation correction, and the midpoint coordinate O (X) of the left line of the base in the image after rotation correction is determined 0 ，Y 0 )。
In the embodiment of the invention, the left line of the base is parallel to the longitudinal axis of the camera by calculating the included angle a formed by the left line and the longitudinal axis of the image and correcting the rotation of the corresponding angle.
S3014, taking the horizontal line of the O point as the X-axis center line of the standard brush image, wherein a pair of brush wires in the same row in the standard brush are symmetrically distributed on two sides of the X-axis center line, and the distances H from the inner center points of two root parts of the brush wires to the X-axis center line b Equal.
S3015, calculating the center point P of the top of the brush wire 11 Standard distance H to X-axis centerline y ：H y ＝H b -lxsin θ, where L is the brush wire arm length of the standard brush, and θ is the angle between the brush arm and the brush wire fixed at the base root.
S3016, determining a center point P at the top of the brush wire 11 Symmetrical another brush wire top characteristic point P 21 The distance to the X-axis centerline is also H y Obtaining a top center point P 11 、P 21 Reference coordinate Q of projection point in image plane XOY 11 (Xq 11 ,Xq 11 )、Q 21 (Xq 11 ,Xq 11 )：
Xq 11 ＝X 0 -H 0
Yq 11 ＝Y 0 -H y
Xq 21 ＝X 0 -H 0
Yq 21 ＝Y 0 +H y
Wherein H is 0 Is Q in the image plane 11 Q 21 The distance from the intersection point of the X axis center line to the origin O.
In the embodiment of the invention, the essence of qualified brush wire shape is to ensure the effective contact between the brush wire and the conductive ring, and the actual contact point P 0 At the tangent point of the inner side of the conducting ring and the brush wire, P 0 Is limited by the structure and can not be detected by the projection image, while the inner end point P of the brush wire top is connected with the actual contact point P 0 In the same reference direction if P 0 The deviation of the dot inclination angle is proportional to the projected dot Q of the P dot.
Specifically, as shown in fig. 5, fig. 5 is a schematic diagram of a projection point in the standard brush image plane XOY determined in the embodiment of the present invention. In the figure, Q 11 、Q 21 The corresponding proxels of a pair of brush filaments of the same column in a standard brush are shown.
S3017, determining projection Q of inner side characteristic points of top of ith row and j column of brush filaments ij Coordinates (Xq) ij ,Yq ij )：
Xq ij ＝X 0 +H 0 +(j-1)×H x
Yq ij ＝Y 0 +C i ×H 2
Wherein i=1, 2; j=1, 2, …, n; when i=1, C i The value is-1, yq ij Refers to the ordinate of the characteristic point of the brush wire in the 1 st row, and C is when i=2 i The value is 1, yq ij The reference ordinate of the characteristic point of the brush wire in the 2 nd row; h x Representing the distance between a pair of filaments in different columns.
In the embodiment of the invention, Q ij Is the projection of the characteristic points on the inner side of the top of the brush wire. And in the subsequent application, the inner side end point of the top of the brush wire is also taken as a characteristic point.
S3018, determining the characteristic point Q of the inner side of the top of the brush wire according to the tolerance requirements of the inclination and the parallelism of the brush wire ij Is dx, and dy; obtain the point Q with O as the origin ij Rectangular tolerance zone T for detecting brush wire shape and position of center ij (XT ij ,YT ij 2dx,2 dy), wherein (XT ij ,YT ij ) For the coordinates of the upper left corner of this rectangle, 2dx,2dy are its width and height, then there are:
XT ij ＝Xq ij -dx
YT ij ＝Yq ij -dy。
in the embodiment of the invention, the left line is extracted from the standard brush image; calculating the offset angle of the slip ring electric brush base tool according to the slope of the left line; carrying out image correction through rotation transformation, and taking a plane formed by a left line and an X-axis central line passing through the midpoint of the left line as a base reference plane in the corrected image; and calculating standard position coordinates of the characteristic points of the brush wire array in the base reference surface and a rectangular tolerance zone thereof according to the size of the brush and the fixed position relation between the brush and the base to form a detection reference model.
S302, adopting a low-angle illumination mode at two sides, adjusting the angle of a light source to highlight the outline characteristics of the top area of the brush wire in the standard brush image, and enabling other parts of the brush and the base area to become the background of the collected brush image to be detected.
In the embodiment of the invention, the method for collecting the brush image to be detected is the same as the method for collecting the standard brush image when the brush image is applied specifically.
For example, as shown in fig. 6, fig. 6 is a schematic diagram of an example brush image to be detected obtained by using the conductive slip ring filiform brush array shape and position machine vision detection method according to the embodiment of the invention.
And S303, carrying out rotation correction on the electric brush image to be detected according to the included angle a.
The electric brush to be detected and the standard electric brush adopt the same tool and clamping mode.
In the embodiment of the invention, because the electric brush to be detected and the standard electric brush adopt the same tool and clamping mode, when the image rotation correction is carried out on the image to be detected, the inherent rotation offset angle a of the tool, which is determined in the process of detecting the reference model, can be directly established, and the detection efficiency is improved.
S304, determining the pixel size range of the brush image to be detected according to the structure size of the brush wire array of the brush to be detected.
In the embodiment of the invention, the pixel size range of the brush image to be detected can be determined according to the structure size of the brush wire array of the brush to be detected, and the range is determined as the region of interest, so that the characteristic point extraction can be carried out later.
Specifically, in the embodiment of the invention, the rule can be based on the brush wire array structureInch, determining the pixel size range of the brush image to be detected as rectangle T ss (XT ss ,YT ss ，Hsx，Hsy)，(XT ss ,YT ss ) For the upper left corner of the rectangular area, hsx is the width of the rectangle, and Hsy is the height of the rectangle, then:
XT ss <XT 11
YT ss <YT 11
Hsx>XT nn -XT 11 +2dx
Hsy>2H 1 +2dy。
wherein (XT 11 ，YT 11 ) The upper left corner coordinates of the rectangular tolerance for row 1 and column 1 brush filaments.
S305, carrying out threshold segmentation and corrosion expansion operation on the brush image to be detected by using an OTSU automatic threshold image segmentation algorithm based on the gray level image to obtain a brush yarn binary image.
For example, as shown in fig. 7, fig. 7 is a schematic diagram of an exemplary brush filament binary image obtained by using the conductive slip ring wire brush array shape and position machine vision detection method according to an embodiment of the present invention.
S306, extracting the contour array of each brush wire top area image by calling the contour extraction function FindContours of OpenCV.
S307, extracting the characteristic points S at the inner sides of the brush filament vertexes from the outline array of the image of the top area of each brush filament ij (Xs ij ，Ys ij ) Where i is the number of brush filaments and j is the number of brush filaments.
In the embodiment of the invention, a special brush wire inner point searching program can be applied to extract the inner end point of each brush wire.
Specifically, the step S307 includes:
And aiming at the brush wire of the 1 st row, taking the point with the smallest Y coordinate in the profile array as the characteristic point on the inner side of the brush wire vertex.
And aiming at the brush wire of the 2 nd row, taking the point with the largest Y coordinate in the profile array as the inner side characteristic of the vertex of the brush wire.
S308, judging whether the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire, wherein the rectangular tolerance area of the characteristic points at the top of the brush wire is determined according to the transverse tolerance and the longitudinal tolerance of the characteristic points at the inner side of the top of the brush wire.
And S309, determining that the current brush shape and position to be detected are qualified under the condition that the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire.
In the embodiment of the invention, under the condition that the coordinates of the characteristic points are not within the rectangular tolerance area of the characteristic points at the top of the brush wire, the current to-be-detected brush shape and position are determined to be unqualified.
Specifically, fig. 8 is a diagram of an example detection result obtained by using the conductive slip ring wire brush array shape and position machine vision detection method according to the embodiment of the present invention, as shown in fig. 8, each white point is a projection of a brush wire on a base, and a small rectangular box is a rectangular tolerance area range of a wire top characteristic point corresponding to each brush wire.
S310, recording deviation of the corresponding characteristic points of each brush wire relative to the rectangular tolerance area range of the characteristic points at the top of the brush wire.
S311, detecting the conductive performance parameters of the assembly finished product of each brush wire and the loop, and carrying out statistical analysis by combining the corresponding deviation of each brush wire to optimize the design parameters of the electric brush.
Specifically, in the embodiment of the invention, the deviation of the corresponding characteristic points of each brush wire relative to the reference position (the rectangular tolerance area range of the characteristic points at the top of the brush wire) can be recorded, the conductive performance parameters of the corresponding brush wire and the ring assembly finished product, such as the dynamic resistance variation, can be detected, and the statistical analysis condition can be carried out by combining the brush position deviation, so that the design parameters of the brush, such as the inclination angle theta of the brush arm, can be optimized.
In the embodiment of the invention, after a detection reference model is determined, the shape and position of the electric brush can be detected, firstly, the pixel size range of the projection image of the electric brush group is determined according to the relative position relation between the base reference surface and the electric brush array, the independent connected domain of the pixel size range is searched, and the actual coordinates of the characteristic point at the top of the electric brush to be detected are searched from the obtained profile array; and judging whether the brush shape and position are qualified according to whether the characteristic point coordinates are within the rectangular tolerance area of the characteristic point at the top of the brush wire. The shape and position detection method for the conductive slip ring wire-shaped brush array shape and position machine provided by the embodiment of the invention can realize shape and position detection of key characteristic points of the conductive slip ring brush array based on a single-phase machine, thereby judging the assembly quality of wire-shaped brush arms in batches and improving the detection efficiency and detection precision of the conductive slip ring.
In the embodiment of the invention, the specifications of the tool fixtures used for the same series of slip rings with the same outer diameter are the same, and after the detection reference model corresponding to the shape and position detection of the brush wire array is determined, the batch detection can be performed based on the detection reference model.
By adopting the conductive slip ring wire brush array shape and position machine vision detection method provided by the embodiment of the invention to carry out shape and position deviation detection on the slip ring brush wire images of 11 series of specifications such as SRC012, SRC015 and SRC022 to be detected, the screened qualified brush wires are subjected to assembly test, the conductivity qualification rate of the screened qualified brush wires reaches 100%, the average detection rate is 0.782 s/amplitude, and the detection of the shape and position deviation of the precise conductive slip ring brush wires can be efficiently and accurately realized.
Based on the same inventive concept, the embodiment of the invention provides a conductive slip ring wire-shaped brush array shape and position machine vision detection device, and referring to fig. 9, fig. 9 is a schematic diagram of the conductive slip ring wire-shaped brush array shape and position machine vision detection device provided by the embodiment of the invention. In the embodiment of the invention, the conductive slip ring wire-shaped brush array shape and position machine vision detection device is a virtual device and comprises a plurality of functional modules, wherein the functional modules are used for realizing the conductive slip ring wire-shaped brush array shape and position machine vision detection method. As shown in fig. 9, the apparatus includes:
The acquisition module 901 is used for acquiring an image of the electric brush to be detected;
a pixel size range determining module 902, configured to determine a pixel size range of the brush image to be detected according to a structure size of the brush wire array to be detected;
the first processing module 903 is configured to perform binarization processing on the brush image to be detected to obtain a brush filament binary image;
the second processing module 904 is configured to process the brush filament binary image, extract a profile array of an image of a top area of each brush filament of the brush to be detected, and determine coordinates of feature points inside a vertex of each brush filament;
the judging module 905 is configured to judge whether the coordinates of the feature points are within a rectangular tolerance area of the feature points at the top of the brush filament, where the rectangular tolerance area of the feature points at the top of the brush filament is determined according to a horizontal tolerance and a longitudinal tolerance of the feature points at the inner side of the top of the brush filament;
and the determining module 906 is used for determining that the current brush shape and position to be detected are qualified under the condition that the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire.
Optionally, the rectangular tolerance area range of the characteristic point at the top of the brush wire is determined according to the following steps:
collecting a standard electric brush image;
Extracting left lines of a brush wire base in the standard brush image based on a Canny operator;
calculating an included angle a formed by the left line and the longitudinal axis of the image, enabling the left line to be parallel to the longitudinal axis of the image through rotation correction, and determining a midpoint coordinate O (X 0 ，Y 0 )；
Taking the horizontal line passing through the point O as the X-axis center line of the standard electric brush image, wherein a pair of brush wires in the same row in the standard electric brush are symmetrically distributed at two sides of the X-axis center line, and the distances H from the inner center points of two root parts of the brush wires to the X-axis center line are obtained b Equal;
calculating the center point P of the top of the brush wire 11 Standard distance H to X-axis centerline y ：H y ＝H b -lxsin θ, where L is the brush wire arm length of the standard brush, θ is the angle between the brush arm and the brush wire fixed at the base root;
determining the center point P of the top of the brush wire 11 Symmetrical another brush wire top characteristic point P 21 The distance to the X-axis centerline is also H y Obtaining a top center point P 11 、P 21 Reference coordinate Q of projection point in image plane XOY 11 (Xq 11 ,Xq 11 )、Q 21 (Xq 11 ,Xq 11 )：
Xq 11 ＝X 0 -H 0
Yq 11 ＝Y 0 -H y
Xq 21 ＝X 0 -H 0
Yq 21 ＝Y 0 +H y
Wherein H is 0 Is Q in the image plane 11 Q 21 The distance from the intersection point of the X-axis central line to the origin O;
determining projection Q of inner characteristic point at top of ith row and j column brush wires ij Coordinates (Xq) ij ,Yq ij )：
Xq ij ＝X 0 +H 0 +(j-1)×H x
Yq ij ＝Y 0 +C i ×H 2
Wherein i=1, 2; j=1, 2, …, n; when i=1, C i The value is-1, yq ij Refers to the ordinate of the characteristic point of the brush wire in the 1 st row, and C is when i=2 i The value is 1, yq ij The reference ordinate of the characteristic point of the brush wire in the 2 nd row; h x Representing the distance between a pair of brush filaments of different columns;
determining the characteristic point Q of the inner side of the top of the brush wire according to the tolerance requirements of the inclination and the parallelism of the brush wire ij Is dx, and dy; obtain the point Q with O as the origin ij Rectangular tolerance zone T for detecting brush wire shape and position of center ij (XT ij ,YT ij 2dx,2 dy), wherein (XT ij ,YT ij ) For the coordinates of the upper left corner of this rectangle, 2dx,2dy are its width and height, then there are:
XT ij ＝Xq ij -dx
YT ij ＝Yq ij -dy。
optionally, the apparatus further comprises:
the correction module is used for carrying out rotation correction on the electric brush image to be detected according to the included angle a;
the electric brush to be detected and the standard electric brush adopt the same tool and clamping mode.
Optionally, the first processing module is specifically configured to:
and performing threshold segmentation and corrosion expansion operation on the brush image to be detected by using an OTSU automatic threshold image segmentation algorithm based on the gray level image to obtain a brush yarn binary image.
Optionally, the second processing module includes:
the first extraction submodule is used for extracting the contour array of the area image at the top of each brush wire by calling the contour extraction function FindContours of OpenCV;
A second extraction submodule for extracting the characteristic points S inside the top points of the brush filaments from the contour array of the top area image of the brush filaments ij (Xs ij ，Ys ij ) Where i is the number of brush filaments and j is the number of brush filaments.
Optionally, the second extraction submodule is specifically configured to:
aiming at the brush wire of the 1 st row, taking the point with the smallest Y coordinate in the profile array as the characteristic point on the inner side of the brush wire vertex;
and aiming at the brush wire of the 2 nd row, taking the point with the largest Y coordinate in the profile array as the inner side characteristic of the vertex of the brush wire.
Optionally, the apparatus further comprises:
the distance module is used for recording deviation of the characteristic points corresponding to the brush wires relative to the rectangular tolerance area range of the characteristic points at the tops of the brush wires;
the statistics module is used for detecting the conductive performance parameters of the assembly finished products of the brush wires and the loop, carrying out statistics analysis by combining the deviation corresponding to each brush wire, and optimizing the design parameters of the electric brush.
Optionally, the step of acquiring the image comprises:
the low-angle illumination mode at two sides is adopted, and the angle of the light source is adjusted to highlight the outline characteristics of the top area of the brush wire in the brush image, so that other parts of the brush and the base area become the background of the collected brush image.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
Based on the same inventive concept, an embodiment of the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps in the conductive slip ring wire brush array shape and position machine vision detection method described in any one of the above embodiments.
Based on the same inventive concept, an embodiment of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the steps in the machine vision detection method for the shape and position of the conductive slip ring filiform brush array described in any one of the embodiments.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further 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 terminal 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 terminal. 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 terminal device comprising the element.
The invention provides a visual inspection method and a product of a conductive slip ring wire-shaped brush array type position machine, which are described in detail, wherein specific examples are applied to illustrate the principle and the implementation mode of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. The machine vision detection method for the shape and position of the conductive slip ring wire-shaped brush array is characterized by comprising the following steps of:
collecting an image of the electric brush to be detected;
determining a pixel size range of the brush image to be detected according to the structure size of the brush wire array of the brush to be detected;
performing binarization processing on the brush image to be detected to obtain a brush yarn binary image;
processing the brush wire binary image, extracting a contour array of an image of the top area of each brush wire of the brush to be detected, and determining coordinates of characteristic points on the inner side of the vertex of each brush wire;
judging whether the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire or not, wherein the rectangular tolerance area of the characteristic points at the top of the brush wire is determined according to the transverse tolerance and the longitudinal tolerance of the characteristic points at the inner side of the top of the brush wire;
And under the condition that the coordinates of the characteristic points are within the rectangular tolerance area range of the characteristic points at the top of the brush wire, determining that the current brush shape and position to be detected are qualified.
2. The method for visually inspecting a conductive slip ring filiform brush array form and position machine according to claim 1, wherein the rectangular tolerance area range of the characteristic points at the top of the brush wire is determined according to the following steps:
collecting a standard electric brush image;
extracting left lines of a brush wire base in the standard brush image based on a Canny operator;
calculating an included angle a formed by the left line and the longitudinal axis of the image, enabling the left line to be parallel to the longitudinal axis of the image through rotation correction, and determining a midpoint coordinate O (X 0 ，Y 0 )；
Taking the horizontal line passing through the point O as the X-axis center line of the standard electric brush image, wherein a pair of brush wires in the same row in the standard electric brush are symmetrically distributed at two sides of the X-axis center line, and the distances H from the inner center points of two root parts of the brush wires to the X-axis center line are obtained b Equal;
calculating the center point P of the top of the brush wire 11 Standard distance H to X-axis centerline y ：H y ＝H b -lxsin θ, where L is the brush wire arm length of the standard brush, θ is the angle between the brush arm and the brush wire fixed at the base root;
Determining the center point P of the top of the brush wire 11 Symmetrical another brush wire top characteristic point P 21 The distance to the X-axis centerline is also H y Obtaining a top center point P 11 、P 21 Reference coordinate Q of projection point in image plane XOY 11 (Xq 11 ,Xq 11 )、Q 21 (Xq 11 ,Xq 11 )：
Xq 11 ＝X 0 -H 0
Yq 11 ＝Y 0 -H y
Xq 21 ＝X 0 -H 0
Yq 21 ＝Y 0 +H y ；
Wherein H is 0 Is Q in the image plane 11 Q 21 The distance from the intersection point of the X-axis central line to the origin O;
determining the top of the ith row and j columns of brush filamentsSide feature point projection Q ij Coordinates (Xq) ij ,Yq ij )：
Xq ij ＝X 0 +H 0 +(j-1)×H x
Yq ij ＝Y 0 +C i ×H 2 ；
Wherein i=1, 2; j=1, 2, …, n; when i=1, C i The value is-1, yq ij Refers to the ordinate of the characteristic point of the brush wire in the 1 st row, and C is when i=2 i The value is 1, yq ij The reference ordinate of the characteristic point of the brush wire in the 2 nd row; h x Representing the distance between a pair of brush filaments of different columns;
determining the characteristic point Q of the inner side of the top of the brush wire according to the tolerance requirements of the inclination and the parallelism of the brush wire ij Is dx, and dy; obtain the point Q with O as the origin ij Rectangular tolerance zone T for detecting brush wire shape and position of center ij (XT ij ,YT ij 2dx,2 dy), wherein (XT ij ,YT ij ) For the coordinates of the upper left corner of this rectangle, 2dx,2dy are its width and height, then there are:
XT ij ＝Xq ij -dx
YT ij ＝Yq ij -dy。
3. the method of machine vision inspection of conductive slip ring filiform brush arrays of claim 2, further comprising:
performing rotation correction on the brush image to be detected according to the included angle a;
The electric brush to be detected and the standard electric brush adopt the same tool and clamping mode.
4. The visual inspection method for the conductive slip ring filiform brush array shape and position machine according to claim 1, wherein the binarizing processing is performed on the brush image to be inspected to obtain a brush filament binary image, and the method comprises the following steps:
and performing threshold segmentation and corrosion expansion operation on the brush image to be detected by using an OTSU automatic threshold image segmentation algorithm based on the gray level image to obtain a brush yarn binary image.
5. The method for visually inspecting a shape and position of a wire brush array of a conductive slip ring according to claim 2, wherein the processing the brush wire binary image, extracting a profile array of an image of a top area of each brush wire of the brush to be inspected, and determining coordinates of feature points inside a vertex of each brush wire comprises:
extracting a contour array of each brush wire top area image by calling a contour extraction function FindContours of OpenCV;
extracting characteristic points S on the inner side of each brush wire vertex from a contour array of an image of the top area of each brush wire ij (Xs ij ，Ys ij ) Where i is the number of brush filaments and j is the number of brush filaments.
6. The method for visually inspecting a conductive slip ring wire brush array according to claim 5, wherein the characteristic points S inside the vertices of each brush wire are extracted from the profile array of the top area image of each brush wire ij (Xs ij ，Ys ij ) Comprising:
aiming at the brush wire of the 1 st row, taking the point with the smallest Y coordinate in the profile array as the characteristic point on the inner side of the brush wire vertex;
and aiming at the brush wire of the 2 nd row, taking the point with the largest Y coordinate in the profile array as the inner side characteristic of the vertex of the brush wire.
7. The method of machine vision inspection of conductive slip ring filiform brush arrays of claim 1, further comprising:
recording deviation of the corresponding characteristic points of each brush wire relative to the rectangular tolerance area range of the characteristic points at the top of the brush wire;
and detecting the conductive performance parameters of the assembly finished product of each brush wire and the loop, and carrying out statistical analysis by combining the corresponding deviation of each brush wire to optimize the design parameters of the electric brush.
8. The method for visual inspection of a conductive slip ring filiform brush array form and position machine according to claim 1 or 2, wherein the step of acquiring an image comprises:
the low-angle illumination mode at two sides is adopted, and the angle of the light source is adjusted to highlight the outline characteristics of the top area of the brush wire in the brush image, so that other parts of the brush and the base area become the background of the collected brush image.
9. A conductive slip ring filiform brush array shape and position machine vision detection device, characterized in that the device comprises:
The acquisition module is used for acquiring an image of the electric brush to be detected;
the pixel size range determining module is used for determining the pixel size range of the brush image to be detected according to the structure size of the brush wire array of the brush to be detected;
the first processing module is used for carrying out binarization processing on the brush image to be detected to obtain a brush wire binary image;
the second processing module is used for processing the brush wire binary image, extracting a profile array of the image of the top area of each brush wire of the brush to be detected, and determining coordinates of characteristic points on the inner side of the vertex of each brush wire;
the judging module is used for judging whether the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire or not, and the rectangular tolerance area of the characteristic points at the top of the brush wire is determined according to the transverse tolerance and the longitudinal tolerance of the characteristic points at the inner side of the top of the brush wire;
the determining module is used for determining that the current brush shape and position to be detected are qualified under the condition that the coordinates of the characteristic points are within the rectangular tolerance area of the characteristic points at the top of the brush wire.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the conductive slip ring filiform brush array form and position machine vision detection method of any one of claims 1-8 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310252239.7A CN116255906A (en) | 2023-03-10 | 2023-03-10 | Visual inspection method and product for conductive slip ring wire-shaped brush array shape and position machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310252239.7A CN116255906A (en) | 2023-03-10 | 2023-03-10 | Visual inspection method and product for conductive slip ring wire-shaped brush array shape and position machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116255906A true CN116255906A (en) | 2023-06-13 |
Family
ID=86684180
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310252239.7A Pending CN116255906A (en) | 2023-03-10 | 2023-03-10 | Visual inspection method and product for conductive slip ring wire-shaped brush array shape and position machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116255906A (en) |
-
2023
- 2023-03-10 CN CN202310252239.7A patent/CN116255906A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111307818B (en) | Visual online detection method for laser welding spot of lithium battery tab | |
| CN105021628B (en) | Method for detecting surface defects of optical fiber image inverter | |
| CN102175700B (en) | Method for detecting welding seam segmentation and defects of digital X-ray images | |
| KR100233218B1 (en) | Opthalmic lens inspection method and apparatus | |
| CN113362326A (en) | Method and device for detecting welding spot defects of battery | |
| JP4150390B2 (en) | Appearance inspection method and appearance inspection apparatus | |
| WO2014107225A1 (en) | Apparatus and method for tire sidewall crack analysis | |
| WO2020243992A1 (en) | Groove defect detection method and device | |
| JP2010164487A (en) | Defect inspecting apparatus and defect inspecting method | |
| WO2017071406A1 (en) | Method and system for detecting pin of gold needle element | |
| CN111474179A (en) | Lens surface cleanliness detection device and method | |
| KR100960543B1 (en) | A method and a system for creating a reference image using unknown quality patterns | |
| CN110426395B (en) | Method and device for detecting surface of solar EL battery silicon wafer | |
| CN114280075A (en) | Online visual inspection system and method for surface defects of pipe parts | |
| WO2013173464A1 (en) | Apparatus and method for tire sidewall crack analysis | |
| Han et al. | SSGD: A smartphone screen glass dataset for defect detection | |
| JP2012237585A (en) | Defect inspection method | |
| CN116255906A (en) | Visual inspection method and product for conductive slip ring wire-shaped brush array shape and position machine | |
| WO2019176614A1 (en) | Image processing device, image processing method, and computer program | |
| CN116465908A (en) | Optical detection method for printed circuit board production | |
| TWI573098B (en) | Wafer defect detection method | |
| JP2003329428A (en) | Device and method for surface inspection | |
| CN112782176A (en) | Product appearance detection method and device | |
| JP2004286708A (en) | Defect detection apparatus, method, and program | |
| JP5391172B2 (en) | Foreign object inspection apparatus and alignment adjustment method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |