CN116297501A - Moving part detection system and method adopting monocular vision and galvanometer synergistic effect - Google Patents

Moving part detection system and method adopting monocular vision and galvanometer synergistic effect Download PDF

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CN116297501A
CN116297501A CN202310284365.0A CN202310284365A CN116297501A CN 116297501 A CN116297501 A CN 116297501A CN 202310284365 A CN202310284365 A CN 202310284365A CN 116297501 A CN116297501 A CN 116297501A
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coordinate system
coordinate value
rotating motor
galvanometer
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刘丙友
朱国武
张陆贤
齐晶晶
朱标
查放
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Anhui Polytechnic University
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Abstract

The invention discloses a moving part detection system and a moving part detection method adopting the synergistic effect of monocular vision and a vibrating mirror, which belong to the technical field of part detection and comprise a vibrating mirror module, a vision sensing module, a motion control module and a processing module, wherein the vibrating mirror module comprises a rotating motor and a vibrating mirror, the vibrating mirror is connected with the rotating motor and is driven by the rotating motor to rotate, the vision sensing module comprises an industrial camera, and the industrial camera shoots through the vibrating mirror on the rotating motor to acquire images of a detected part in a moving state on a conveyor belt. The invention tracks and acquires the part image for a plurality of times by the monocular vision technology and the vibrating mirror, can acquire a more complete image of the part, firstly carries out graying and Gaussian convolution processing on the acquired part image, then carries out edge detection on the convolved part image, can better carry out edge processing on the part, has better continuity of edge processing, and can more accurately judge whether the part has defects.

Description

Moving part detection system and method adopting monocular vision and galvanometer synergistic effect
Technical Field
The invention relates to the technical field of part detection, in particular to a moving part detection system and method adopting the cooperative action of monocular vision and a galvanometer.
Background
With the development of society, visual systems and robots in manufacturing enterprises are effectively combined, the consumption of manpower and material resources is reduced, the time is shortened, the efficiency is improved, and the application of visual technology is popularized in a plurality of fields nowadays. At present, the vision technology is widely applied to the fields of workpiece positioning, logistics sorting, part assembly and the like, but the most application of the fields is the mature 2D vision technology, namely the monocular camera, which has a certain limitation, but with the development of the robot vision technology, the part recognition positioning technology is increasingly improved, and the monocular camera can achieve the expected purpose.
The conventional monocular camera is used for detecting a static plane object target and is mainly used for judging whether the target has defects (such as small round holes, rectangular holes and the like). Along with the development of manufacturing industry, if detect the part on the assembly line, shoot the part on the conveyer belt through the removal camera and can have time overlength, and the field of vision is restricted in shooting process, brings the problem of certain error for the detection work of part. For this purpose, a moving part detection system employing monocular vision in conjunction with a galvanometer is proposed.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: how to perform more effective inspection of parts on a conveyor belt provides a moving part inspection system that employs monocular vision in conjunction with a vibrating mirror.
The invention solves the technical problems through the following technical scheme that the invention comprises a galvanometer module, a visual sensing module, a motion control module and a processing module; the vibration mirror module comprises a rotating motor and a vibration mirror, the vibration mirror is connected with the rotating motor and rotates under the drive of the rotating motor, the vision sensing module comprises an industrial camera, the industrial camera shoots through the vibration mirror on the rotating motor to collect images of the tested parts in a moving state on the conveyor belt, the motion control module comprises a singlechip and a control unit, the singlechip is connected with the rotating motor through the control unit, the processing module comprises a computer, and the images of the tested parts collected by the industrial camera are processed through the computer and subjected to defect detection; the singlechip is in communication connection with the computer.
Furthermore, the industrial camera lens center and the vibrating mirror center controlled to rotate by the rotating motor are at the same horizontal height, and the industrial camera is fixedly arranged.
Further, when the industrial camera shoots the part to be measured, the conversion relation between the world coordinates and the pixel coordinates is as follows:
Figure BDA0004139259230000021
wherein t is a translation matrix,
Figure BDA0004139259230000022
r is a rotation matrix>
Figure BDA0004139259230000023
t x ,t y ,t z Representing translation along the world coordinate system X, Y, Z axis; r is (r) 1 Representing the coordinate value of the X-axis of the world coordinate system and the X-axis of the camera coordinate systemMultiplying the resulting element, r 2 Representing the element obtained by multiplying the coordinate values of the Y axis of the camera coordinate system and the X axis of the world coordinate system; r is (r) 3 Representing the element obtained by multiplying the coordinate value of the z axis of the camera coordinate system and the coordinate value of the X axis of the world coordinate system; r is (r) 4 Representing an element obtained by multiplying an X-axis coordinate value of a camera coordinate system and a Y-axis coordinate value of a world coordinate system; r is (r) 5 Representing an element obtained by multiplying a Y-axis coordinate value of a camera coordinate system and a Y-axis coordinate value of a world coordinate system; r is (r) 6 Representing an element obtained by multiplying a Z-axis coordinate value of a camera coordinate system and a Y-axis coordinate value of a world coordinate system; r is (r) 7 Representing an element obtained by multiplying an X-axis coordinate value of a camera coordinate system and a Z-axis coordinate value of a world coordinate system; r is (r) 8 Representing an element obtained by multiplying a Y-axis coordinate value of a camera coordinate system and a Z-axis coordinate value of a world coordinate system; r is (r) 9 The element obtained by multiplying the Z-axis coordinate value of the camera coordinate system and the Z-axis coordinate value of the world coordinate system is represented.
Examples: assuming that the world coordinate system is a and the camera coordinate system is B, then we get:
Figure BDA0004139259230000024
furthermore, the rotating motor drives the galvanometer to rotate, and the coordinate value calculation formula of a new point p' after the point p on the reflecting surface of the galvanometer in the industrial camera coordinate system passes through the angle θ of the galvanometer is as follows:
Figure BDA0004139259230000025
wherein X 'is' W 、Y' W 、Z' W Three-axis coordinate value of the respective point p' in world coordinate, X W 、Z W Is the two-axis coordinate value of the point p under the world coordinate before the rotation.
Further, the parts on the conveyor belt are regarded as a parallel sequential moving mode, each batch of parts is regarded as a whole, the batch of parts is detected, and the process expression of the conveyor belt is as follows:
Figure BDA0004139259230000031
wherein T is the total period of the batch of parts, n is the batch of parts, m is the number of parts to be processed, T i Is the ith part machining time.
The invention also provides a moving part detection method adopting the cooperative action of monocular vision and the vibrating mirror, which is used for detecting the defects of the moving part by adopting the moving part detection system and comprises the following steps:
s1: the vibrating mirror rotates under the drive of the rotating motor, and the industrial camera shoots through the vibrating mirror on the rotating motor, so that the image of the part to be detected in a moving state on the conveyor belt is collected;
s2: graying the acquired part image, and performing Gaussian convolution processing;
s3: and (2) carrying out edge detection on the part image processed in the step (S2) through a Canny operator, and judging whether the detected part has defects according to an edge detection result.
Further, in the step S2, the specific procedure of the convolution processing is as follows:
s21: graying treatment is carried out on the acquired part image;
s22: and carrying out convolution processing by using a Gaussian smoothing function to obtain new pixel points, so as to keep effective information of the image.
It should be noted that there are two types of defects existing in the part to be tested: one is that the part is cracked; the other is that scars are generated in the production process of parts.
Compared with the prior art, the invention has the following advantages: according to the moving part detection system adopting the coordinated action of the monocular vision and the vibrating mirror, the monocular vision technology is matched with the vibrating mirror to track and collect part images for multiple times, so that a more complete image of the part can be obtained, the collected part images are subjected to gray scale and Gaussian convolution treatment, then the convolved part images are subjected to edge detection, the part can be better subjected to edge treatment, the continuity of the edge treatment is better, and whether the part has defects can be accurately judged.
Drawings
FIG. 1 is a schematic diagram of a moving part detection system employing monocular vision and galvanometer cooperation in accordance with a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a geometric model of an industrial camera imaging in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a conversion process between a world coordinate system and a pixel coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram showing the cooperation of an industrial camera and a galvanometer according to an embodiment of the invention (top view);
FIG. 5 is a diagram showing the relationship between the new coordinate value and the original coordinate value of a midpoint P after the rotating galvanometer θ is rotated by the rotating motor according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of an implementation flow of a method for detecting moving parts by using monocular vision and galvanometer cooperation in a second embodiment of the invention;
fig. 7 (a) is an image (original) of a part in a second embodiment of the present invention;
FIG. 7 (b) is a part image after graying treatment in a second embodiment of the present invention;
FIG. 7 (c) is an image of a part processed by Gaussian convolution in a second embodiment of the invention;
fig. 7 (d) is an image of a part after Canny edge detection in the second embodiment of the present invention.
In fig. 1: 1. a single chip microcomputer; 2. a rotating electric machine; 3. vibrating mirror; 4. a part to be measured; 5. an industrial camera; 6. a computer; 7. a conveyor belt.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
Example 1
As shown in fig. 1, this embodiment provides a technical solution: the moving part detection system (hereinafter referred to as a monocular vision galvanometer system) adopting the synergistic effect of monocular vision and the galvanometer mainly comprises a vision sensing module, a motion control module and a processing module; the motion control module comprises a singlechip 1 and a control unit and is used for controlling a rotating motor 2 to drive a vibrating mirror 3 to rotate; the visual sensing module is an industrial camera 5, and shoots through the vibrating mirror 3 on the rotating motor 2, so that the image of the detected part on the conveyor belt 7 is acquired; the processing module is a computer 6, and the computer 6 is used for processing the measured part image acquired by the industrial camera 5. As can be seen from fig. 1, the lens center of the industrial camera 5 and the vibrating mirror center controlled by the rotating motor 2 to rotate are on the same level, the industrial camera 5 is fixedly arranged, and the image of the measured part collected by the industrial camera 5 is collected by controlling the vibrating mirror 3 to rotate by the rotating motor 2. The object motion can be shot through the rotation of the vibrating mirror 3, so that the problem of visual field blind areas caused by too fast or no shooting of the moving object can be avoided. And then, detecting whether the part is defective or not by carrying out canny edge detection on the part image acquired by the industrial camera 5, so as to reach the qualification standard.
Perspective imaging model for industrial cameras: according to the principle of pinhole imaging, the imaging position of any point in space in an image can be represented by a pinhole, and a linear relationship exists between space coordinates (coordinates under a world coordinate system) and image coordinates, so that the planar relationship between a real scene in a three-dimensional space and a two-dimensional image can be represented.
The geometric model of industrial camera imaging is shown in fig. 2, where P (X C ,Y C ,Z C ) For a point in the camera coordinate system, P (X, Y) is the projection of the point P on the imaging plane, and P' is the point P in the camera coordinate system X C OZ C The projection point of the plane, f camera focal length;
according to a geometric model imaged by an industrial camera, a conversion relation between a camera coordinate system and an image coordinate system shown in the formula (1) can be obtained by a triangle similarity principle:
Figure BDA0004139259230000041
wherein Z is C A value representing the Z-axis of the camera coordinate, i.e. the distance of the object from the camera,(X, Y) is an arbitrary coordinate point in the image coordinate system, (X) C ,Y C ,Z C ) Is a three-dimensional coordinate point in a world coordinate system;
in the camera plane, the image pixel coordinate system and the image physical coordinate system together form an image coordinate system, if the coordinate points (u 0 ,v 0 ) Is the position of the origin O of the physical coordinate system of the image in the coordinate system of the pixels of the image.
Let the physical dimension of each unit pixel in the x-axis and y-axis directions be d x ,d y According to the position relation between the image coordinates and the pixel coordinates, the conversion of any pixel (u, v) between the image coordinates and the pixel coordinates can be obtained, and then the conversion between the three-dimensional coordinates and the pixel coordinates is obtained; the conversion relationship can be obtained as follows:
Figure BDA0004139259230000051
wherein t is a translation matrix,
Figure BDA0004139259230000052
r is a rotation matrix>
Figure BDA0004139259230000053
Since industrial camera coordinates are not generally consistent with world coordinates, rotation transformation and translation transformation are required to obtain a transformation between two coordinate systems, and a transformation relationship flow chart is shown in fig. 3.
In the embodiment, the detection of the moving object (moving part) is that the vibrating mirror is driven to rotate by the rotating motor, so that the condition of the object in relative motion is detected, and then the detection is carried out by shooting by the industrial camera; in combination with a motor model, a camera and a vibrating mirror in the system are taken as an example, as shown in fig. 4, when a part moves, the vibrating mirror rotates, shooting of the part is carried out, a rotating motor is combined with a singlechip, the vibrating mirror rotates under the control of the rotating motor, and the rotating motor controls the vibrating mirror to rotate by an angle to track the movement of an object every time the singlechip outputs a pulse, so that the part is tracked and shot.
Assuming that the coordinate value of the world coordinate system calculated by the above-described conversion relation after the rotation of the point P is P (X W ,0,Z W ) The relationship diagram between the new coordinate value and the original coordinate value of the point P after the rotating motor rotates the vibrating mirror theta angle is shown in figure 5, wherein O W -x w y w z w World coordinate system centered on rotary electric machine platform, P (X W ,0,Z W ) For the camera to reach a point of the galvanometer, point P '(X' W ,Y' W ,Z' W ) Is a new coordinate position of the point P after being rotated by an angle theta under the drive of a motor, and theta is a rotation angle.
And each time the part is conveyed, the vibrating mirror rotates for a certain angle, the vibrating mirror is utilized to shoot an object, the image of the measured part is better obtained, and then the computer is used for carrying out image processing so as to detect the part.
The rotation angle θ of the rotating motor control galvanometer and the fixed angle α of each part of the conveyor belt in the past are as follows:
θ＝n·α
wherein n represents the number of conveyor parts.
Since point p 'is point p' in plane O w -x w y w The projected point on the plane of light O is based on the geometrical relationship in the figure w -x w The coordinate of the point p in yw and the rotation angle of the vibrating mirror controlled by the motor can be used for calculating the coordinate value of a new point p' after the point p passes through the rotation angle theta of the vibrating mirror, and the formula is as follows:
Figure BDA0004139259230000061
if the parts on the (parallel) conveyor are regarded as parallel sequential movement, if each batch of parts is regarded as a whole, and if the batch of parts is inspected, the conveyor process (in the manufacturing parts industry, the parts are conveyed by the conveyor for processing) is expressed as follows:
Figure BDA0004139259230000062
wherein T is the total period of the batch of parts, n is the batch of parts, m is the number of parts to be processed, T i Is the ith part machining time.
Example two
In this embodiment, the collected part image is processed by a computer, and whether the measured part is defective or not is determined by experimental simulation, and the specific flow is shown in fig. 6 below.
In this embodiment, the model of the industrial camera is A7a20MU201.
The image processing process and the result graph of the part shot by the monocular camera through the computer are shown in fig. 7 (a) -7 (d).
Tracking and collecting parts for multiple times through a monocular vision galvanometer system, obtaining a more complete image of the parts, carrying out graying and Gaussian convolution treatment on the collected image, and then carrying out edge detection on the convolved image of the parts. From the processing process and the result graph, the system function can better perform edge processing on the parts, the continuity of the edge processing is better, and whether the parts have defects can be better judged.
Edge detection can better detect the integrity of parts, and scars and cracks are defects which can be caused by collision or manual misoperation between parts, and can be detected as effective information in the edge detection process, so that the scars and the cracks can be detected.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (7)

1. Adopt monocular vision and mirror synergy's moving part detecting system, its characterized in that includes: the device comprises a galvanometer module, a visual sensing module, a motion control module and a processing module; the vibration mirror module comprises a rotating motor and a vibration mirror, the vibration mirror is connected with the rotating motor and rotates under the drive of the rotating motor, the vision sensing module comprises an industrial camera, the industrial camera shoots through the vibration mirror on the rotating motor to collect images of the tested parts in a moving state on the conveyor belt, the motion control module comprises a singlechip and a control unit, the singlechip is connected with the rotating motor through the control unit, the processing module comprises a computer, and the images of the tested parts collected by the industrial camera are processed through the computer and subjected to defect detection; the singlechip is in communication connection with the computer.
2. The moving part inspection system employing monocular vision in conjunction with galvanometer according to claim 1, wherein: the industrial camera lens center and the vibrating mirror center controlled to rotate by the rotating motor are at the same horizontal height, and the industrial camera is fixedly arranged.
3. The moving part inspection system employing monocular vision in conjunction with galvanometer according to claim 1, wherein: when the industrial camera shoots a part to be measured, the conversion relation between world coordinates and pixel coordinates is as follows:
Figure FDA0004139259190000011
wherein t is a translation matrix,
Figure FDA0004139259190000012
r is a rotation matrix>
Figure FDA0004139259190000013
tx, ty, tz denote translation along the world coordinate system X, Y, Z axis; r1 represents an element obtained by multiplying the coordinate value of the X-axis of the world coordinate system and the coordinate value of the X-axis of the camera coordinate system, and r2 represents the Y-axis of the camera coordinate system and the world coordinate systemAn element obtained by multiplying the X-axis coordinate values; r3 represents an element obtained by multiplying a z-axis coordinate value of a camera coordinate system and an X-axis coordinate value of a world coordinate system; r4 represents an element obtained by multiplying the coordinate value of the X-axis of the camera coordinate system and the coordinate value of the Y-axis of the world coordinate system; r5 represents an element obtained by multiplying a Y-axis coordinate value of a camera coordinate system and a Y-axis coordinate value of a world coordinate system; r6 represents an element obtained by multiplying the Z-axis coordinate value of the camera coordinate system and the Y-axis coordinate value of the world coordinate system; r is (r) 7 Representing an element obtained by multiplying an X-axis coordinate value of a camera coordinate system and a Z-axis coordinate value of a world coordinate system; r8 represents an element obtained by multiplying a coordinate value of a Y-axis of a camera coordinate system and a coordinate value of a Z-axis of a world coordinate system; r9 represents an element obtained by multiplying the Z-axis coordinate value of the camera coordinate system by the Z-axis coordinate value of the world coordinate system.
4. The moving part inspection system employing monocular vision in conjunction with galvanometer according to claim 1, wherein: the rotating motor drives the galvanometer to rotate, and a coordinate value calculation formula of a new point p after the point p on the reflecting surface of the galvanometer in the industrial camera coordinate system passes through the angle theta of the galvanometer rotation is as follows:
Figure FDA0004139259190000021
wherein X 'is' W 、Y' W 、Z' W The three-axis coordinate value of the point p and the world coordinate X respectively W 、Z W Is the two-axis coordinate value of the point p under the world coordinate before the rotation.
5. The moving part inspection system employing monocular vision in conjunction with galvanometer according to claim 1, wherein: and (3) regarding the parts on the conveyor belt as a parallel sequential moving mode, regarding each batch of parts as a whole, detecting the batch of parts, and carrying out the following process expression of the conveyor belt:
Figure FDA0004139259190000022
wherein T is the total period of the batch of parts, n is the batch of parts, m is the number of parts to be processed, and ti is the ith part processing time.
6. A method for detecting a moving part by using a cooperation of monocular vision and a galvanometer, characterized by comprising the steps of:
s1: the vibrating mirror rotates under the drive of the rotating motor, and the industrial camera shoots through the vibrating mirror on the rotating motor, so that the image of the part to be detected in a moving state on the conveyor belt is collected;
s2: graying the acquired part image, and performing Gaussian convolution processing;
s3: and (2) carrying out edge detection on the part image processed in the step (S2) through a Canny operator, and judging whether the detected part has defects according to an edge detection result.
7. The method for detecting the moving parts by adopting the cooperation of monocular vision and a galvanometer according to claim 6, wherein the method comprises the following steps: in the step S2, the specific procedure of the convolution processing is as follows:
s21: graying treatment is carried out on the acquired part image;
s22: and carrying out convolution processing by using a Gaussian smoothing function to obtain new pixel points, and retaining effective information of the image.
CN202310284365.0A 2023-03-20 2023-03-20 Moving part detection system and method adopting monocular vision and galvanometer synergistic effect Pending CN116297501A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117348237A (en) * 2023-12-04 2024-01-05 北京天翔睿翼科技有限公司 Remote high-speed vision real-time tracking system and method based on industrial galvanometer system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117348237A (en) * 2023-12-04 2024-01-05 北京天翔睿翼科技有限公司 Remote high-speed vision real-time tracking system and method based on industrial galvanometer system
CN117348237B (en) * 2023-12-04 2024-02-06 北京天翔睿翼科技有限公司 Remote high-speed vision real-time tracking system and method based on industrial galvanometer system

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