CN203100680U - Circular ring part identifying device - Google Patents
Circular ring part identifying device Download PDFInfo
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- CN203100680U CN203100680U CN 201320102214 CN201320102214U CN203100680U CN 203100680 U CN203100680 U CN 203100680U CN 201320102214 CN201320102214 CN 201320102214 CN 201320102214 U CN201320102214 U CN 201320102214U CN 203100680 U CN203100680 U CN 203100680U
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Abstract
The utility model discloses a circular ring part identifying device, comprising a camera located right above a part positioning device; a processor module connected to the camera to drive the camera to pick up images in predetermined time, and used for reading an image picked up and processing the image, thus identifying a circular ring and the position of a gap on the circular ring; a trigger circuit connected with the processor module and used for generating the predetermined time under triggering; and a lighting device and a lighting control circuit which are located above the part positioning device, wherein the lighting control circuit is directly connected with the processor module so as to be directly driven or driven via the camera. According to the utility model, the efficiency and the accuracy of production and assembly can be effectively improved.
Description
Technical field
The utility model relates to a kind of annulus Parts Recognition device, belongs to workpiece automatic vision recognition technology field.
Background technology
In automated production links such as machining, assembling, letter sorting and storages, the Automatic positioning of Workpiece recognition technology all has important effect.The utility model lays particular emphasis on identification, and robotization recognition technology once is described earlier here, and it has obtained using widely at production field.
For a person skilled in the art, the general technology knowledge that should possess automatic identification is to be understood that extracting validity feature is the key that solves automatic recognition problem, for different workpiece, should consider to extract the method for effective adjustment, to improve the effectiveness of extracting validity feature.
Annulus is a kind of common used in industry part, is widely used in fields such as vehicle, equipment, electric, instrument.Its material can be various metals, plastics, macromolecular material etc., visual identity is also little to the requirement of material itself, only the optical signature to material requires higher relatively, but in different application, spectrum that the feature selecting of matching materials self is suitable and background can effectively address this problem, in the automatic identification of workpiece, this problem can not cause remarkable influence to identification.When single-piece or negligible amounts, its identification there is no practical significance, and annulus class part all is large batch of usually, thereby identification has realistic meanings automatically.
In some applications, for the requirement of assembling, also has a slit on the annulus.In the production and assembling process of this type of traditional part, all be manually-operated.Need manually judge or measure the position of slit on round part.Just can enter next step operation then.Significantly increase, produce in cost of labor under the situation that assembly precision requirement raising and production efficiency need improve, automated production, assembling just progressively replace manually-operated.Therefore, need a kind of automation equipment, can discern the annulus part automatically and accurately locate gap position.
Yet in the production assembling process, process conditions differ greatly, as the difference of dimensions.Here said dimensions comprises the part of multiple diameter and multiple height.This situation also need be resolved in production and the assembling process automatically.
In some applications, adopt the method in the described slit of localization by ultrasonic, utilize ultrasonic interfere at slit place or the feature of changes of echo obtains location to wind system, this then locator meams needs at first setting circle ring body structurc portion to the part of different dimensions, and whole efficiency is relatively poor.
In some implementations, adopt the method for optics orthogonal projection workpiece, configuration is than large tracts of land photoinduction device on worktable, and light is blocked in the workpiece entity part, and normally passes through at slotted section luminous energy, thereby accurately locatees the workpiece slit.Though this method algorithm is fairly simple, calculated amount is also smaller, yet, under most operating modes, lack the realization feasibility at the large-area optical inducer of configuration on the worktable.
Summary of the invention
Thereby the utility model proposes a kind of recognition device that can effectively improve the crack with seam annulus part of producing efficiency of assembling and precision based on visual identity.
According to an aspect of the present utility model, a kind of annulus Parts Recognition device comprises:
Camera is positioned at directly over the part positioning device;
Processor module connects described camera, takes on predetermined opportunity to drive camera, and reads the image of shooting, and handle this image, identifies the position in slit on annulus and the annulus;
Trigger circuit connect described processor module, trigger and produce described predetermined opportunity;
And the lighting device and the illumination control circuit that are positioned at the part positioning device top, wherein said illumination control circuit directly connects described processor module and is driven directly or drives via described camera.
Should know that the basic parameter of part all is known, as can be seen from the above technical solutions, mate different parts when conveying is come, the technical matters of uncertain first level in the position in slit, employing is taken pictures and is discerned based on the method for image recognition, determines the position of slit on part, replace manpower, be beneficial to the realization robotization, improve efficiency of assembling effectively, simultaneously, can determine the position in slit accurately based on the method for image recognition, guarantee assembly precision.Illumination then guarantees the consistance of shooting effect, reduces the calculated amount of subsequent treatment, and reduces disturbing factor, and then improves recognition effect.
On the other hand, based on the general consideration that realizes, camera is used for orthogonal projection takes pictures, and processor module is used for the processing of captured photo, realizes the required hardware configuration of recognition methods with a kind of relative simple configuration.
Above-mentioned annulus Parts Recognition device also is provided with and is used for described illumination control circuit and the synchronous circuit unit of camera.
Above-mentioned annulus Parts Recognition device, described processor module is furnished with the interface of communicating by letter with host computer.
Above-mentioned annulus Parts Recognition device, described processor module has a plurality of input terminals, is used to mate the connection of the external drive signal circuit of operating mode.
Above-mentioned annulus Parts Recognition device also comprises the trigger circuit that are connected in described processor module, is used to trigger and produces described predetermined opportunity.
Description of drawings
Fig. 1 is the process flow diagram of a kind of annulus Parts Recognition method under the normal bright state.
Fig. 2 is the process flow diagram of a kind of annulus Parts Recognition method under the synchronous lighting state.
Fig. 3 is the location diagram of camera and annulus part.
Fig. 4 is a gap position coordinate synoptic diagram.
Fig. 5 is a kind of annulus Parts Recognition unit construction principle block diagram.
Fig. 6 is a kind of annulus Parts Recognition unit construction principle block diagram.
Constitutional diagram when Fig. 7 is identified for signal annulus part, the annulus part has gray scale in the way, is used for recognition effect and expresses, and can not influence the clear of figure.
Fig. 8 is the visual identity design sketch.
Embodiment
Annulus is a kind of common used in industry part, can be used for fields such as vehicle, equipment, electric, instrument.Its material can be various metals, plastics, macromolecular material etc.In some applications, the requirement for assembling has a slit on the annulus.In automatic production line, need accurately locate part and slit, enter next step operation (as welding, assembling etc.) then.For these parts, the position coordinates in the annulus center of circle is a given data.The diameter of annulus part and highly all are given datas.But the diameter of annulus and highly be not fixed value, but in certain scope, as several millimeters to tens centimetres.That is to say that each part all has its oneself height and diameter.But the position in slit is unknown.
Be to be understood that, in as shown in Figure 3 the camera 1 and the structure shown in the annulus part 2, worktable/tool platform should optically have than higher discrimination with part, those skilled in the art understands in view of the above easily, in optical identification, said discrimination should be the basic configuration that reduces to discern difficulty.
And then, for the difficulty that reduces to discern, answer orthogonal projection to take to annulus, avoid captured annulus ovalization of coming out.So under this requires, image capture device, just the camera shown in Fig. 31 be configured in part positioning device directly over, camera lens should be coaxial with the annulus part in other words.Based on coaxial assurance, be the setting of the annulus anchor clamps that dispose on the worktable, at machinery the used positioning fixture of the coaxial positioning of axle/annular workpieces is belonged to parts relatively more commonly used, and this paper lays particular emphasis on identification, do not repeat them here for the location.
Location workpiece and image capture device are the protection conditions of recognition methods, and eccentric shooting will certainly produce oval image because of transparent effect, is unfavorable for follow-up processing.
About described camera 1, herein as previously mentioned, be used to take the end face photo of annulus, vertical view in order to reduce the difficulty of subsequent treatment, preferably adopts the black and white camera in other words, also can adopt color camera naturally.
Camera is controlled by external command and takes, and obtains the overhead view image of initial ring-shaped work pieces, should be appreciated that here the anchor ring of annulus part is horizontal, in other words the vertical state of axis.
In some applications, natural light can satisfy the needs of shooting, and natural light influences when little taking counter productive, can directly use camera to take.
Natural light has instability and time difference property, and is disturbed by extraneous factor easily, and for this reason, preferably configuration is used for the equipment of light filling, and the effect of light filling should be eliminated the influence of external light source to shooting effect.
Mate corresponding image-recognizing method, should reduce disturbing factor as much as possible, reduce to discern difficulty and calculated amount, improve counting yield.
Thereby as shown in Figure 7, configuration lighting device 4, this lighting device can adopt the power less industrial light filling lamp that compares, and in order to reduce cost, can also adopt the LED light fixture, coupling camera, the exposure light fixture that can also adopt camera to use.Light source should be monochromatic light or white light, thereby fluorescent light also can use in some applications.
Dual mode is adopted in illumination, and a kind of is normal bright state, and the control circuit to light fixture coupling camera needn't be set, and only needs power circuit to get final product, and structure is relatively simple, and cost is lower, but energy consumption is higher relatively under the same radiation parameter.Under this condition, it is relatively suitable as fluorescent lighting fixture to adopt, and its switch number of times tends to be restricted, and is applicable to this application conditions.
And in other are used, when especially needing the batch identification workpiece, need to adopt switch life than higher lighting, to cut down the consumption of energy, simultaneously, with the mode of the exposure synchronously of taking a picture in response to the long light source of switch life.
Provide control and treatment facility, core parts as shown in Figure 5 and Figure 6 just, processor module is planned as a whole the control and the Flame Image Process of institute's connection device.
This processor module should comprise the processor of logical process s operation control, the random access memory of temporal data, the ROM (read-only memory) of storing boot and handling procedure, and some necessary firmwares, and the configuration interface circuit is to connect corresponding apparatus, as camera.
In structure shown in Figure 5, light fixture is directly controlled by processor module, also can be not via processor module, an independent on-off circuit, in structure shown in Figure 6, it is integrated to be similar to a camera and light fixture, cut down the number of intermediate links, more help synchro control.
In some applications, for processor module configuration communication interface, be used for and external unit, especially host computer communication is communicated by letter with host computer and to be convenient to partly be connected with the centralized control of automatic assembly line, is convenient to centralized control.Communication module is selected the industrial series interface of standards such as RS232, RS485.Can receive outside processing command, as begin to take pictures, discern and location etc., also can give external unit the information conveyance that identifies, on the equipment as next operation.
In some applications, processor module is reserved some I/O terminals, and convenient expansion is such as the access of some switch.
Configuration is connected in the trigger circuit of described processor module, shows that workpiece puts in place, can take a picture, and provides the opportunity that illumination is taken.
Trigger circuit can be connected to the sensor on the positioning tool as the I/O terminal of above-mentioned reservation, as position transducer, show that workpiece puts in place, also can receive the control of host computer.Be mainly used in triggering processor and camera and begin to take pictures, identification and location.
As depicted in figs. 1 and 2, opening initialization, loading procedure, initialization port, ring-shape accessory lie on worktable or the tooling platform, and its axis normal is conveniently located in worktable or tooling platform.
As shown in Figure 3, camera 1 is D apart from the distance of worktable or tooling platform, and annulus part 2 highly is H, and then the vertical range of camera 1 distance circle circulation layer spare 2 end faces is h=D-H.In this case, as long as know the height of annulus part 2 or the diameter of part, just can calculate other parameter.
Enter waiting status after the recognition device start, wait for the trigger pip of trigger interface or the sense command of communication interface.When trigger pip or sense command, recognition device begins to take pictures, and carries out Flame Image Process then, identifies the annulus and the center of circle, and calculates the position in slit.The position in slit calculates according to the coordinate mode, can accurately position, and its form can be a rectangular coordinate, also can be polar coordinates, and polar coordinates then have better effect, and it is less relatively to show as calculated amount, and with reference to can directly demarcating parallactic angle degree parameter.
As shown in Figure 4, A1(x1 y1) and A2(x2, y2) is two end points in slit, and the inward flange point that these two end points can be annulus also can be the outward flange point of annulus, all can not exert an influence to calculating.(x y) is the A1 in slit and the intermediate point of A2 to A.A1, the polar coordinates of A2 and A are expressed as A1(r, θ 1), A2 (r, θ 2) and A(r, θ).Wherein, r is an annular radii.As required, device can be exported the coordinate of A1 and A2, also can export the coordinate of A.Coordinate format can be a rectangular coordinate, also can be polar coordinates.
Image recognition technology is relatively ripe, especially for annulus class part this-relatively simple object, common recognition methods generally can both meet the demands.
Basic is relatively simple based on the edge-detected image recognition methods, and processing speed should preferably be used than very fast.
Image processing section mainly was divided into for four steps, and promptly search in image smoothing, binaryzation, rim detection and slit.
It is filtering that Processing Algorithm is preferably at first carried out image smooth, to reduce in the image noise to the influence of subsequent treatment., especially in the content of signature, painstakingly strengthened under the condition of contrast.Zhi Hou binaryzation is relatively just than being easier to so.Filtering generally adopts the window data of NxN to utilize gaussian filtering, medium filtering, intermediate value filtering, the method that also can adopt isolated point to eliminate.
Binaryzation is that the image slices vegetarian refreshments is divided into black and white two kinds of colors.Its method mainly is that passing threshold is judged.Can adopt global threshold or local threshold in the practical application.
The method that image after the binaryzation can directly adopt connected domain to judge is found out the position in slit, also can carry out rim detection, detects the position in slit then.Rim detection can adopt methods such as single order differential, Kirsch operator edge detection.
Search in the image after rim detection then and the position in definite slit.Can concern the position of judging the slit according to the coordinate of marginal point.
Above method belongs to conventional image processing method, no longer does detailed description here.
In order to improve recognition effect, image is carried out binaryzation, its effect can clearly define the profile of annulus part as shown in Figure 8.
Lighting system can be divided into normal bright formula and synchronous mode.So-called normal bright formula is exactly before start back, preparation detect, illumination to be opened, and finishes even take pictures or detect, and illumination is not closed yet, and illumination remains opens.So-called synchronous mode, be exactly only when taking pictures or the imageing sensor of camera when integration (perhaps sensitization), illumination is just opened, and throws light on At All Other Times and all closes.This mode can be saved electric energy, and can prolong the life-span of lighting module.
Embodiment more specifically: enter waiting status after the pick-up unit start, wait for the trigger pip of trigger interface or the sense command of communication interface.When trigger pip or sense command, pick-up unit begins to take pictures, and carries out Flame Image Process then, identifies the annulus and the center of circle, and calculates the position in slit 5.The position in slit 5 calculates according to the coordinate mode, and its form can be a rectangular coordinate, also can be polar coordinates.As shown in the figure, A1(x1 y1) and A2(x2, y2) is two end points in slit, and (x y) is the A1 in slit and the intermediate point of A2 to A.A1, the polar coordinates of A2 and A are expressed as A1(r, θ 1), A2 (r, θ 2) and A(r, θ).Wherein, r is an annular radii.As required, device can be exported the coordinate of A1 and A2, also can export the coordinate of A.Coordinate format can be a rectangular coordinate, also can be polar coordinates.
Above-mentioned image processing algorithm comprises that mainly filtering, binaryzation, rim detection, slit conventional algorithm such as search.
Claims (5)
1. an annulus Parts Recognition device is characterized in that, comprising:
Camera is positioned at directly over the part positioning device;
Processor module connects described camera, takes on predetermined opportunity to drive camera, and reads the image of shooting, and handle this image, identifies the position in slit on annulus and the annulus;
And the lighting device and the illumination control circuit that are positioned at the part positioning device top, wherein said illumination control circuit directly connects described processor module and is driven directly or drives via described camera.
2. annulus Parts Recognition device according to claim 1 is characterized in that, also is provided with to be used for described illumination control circuit and the synchronous circuit unit of camera.
3. annulus Parts Recognition device according to claim 1 and 2 is characterized in that described processor module is furnished with the interface of communicating by letter with host computer.
4. annulus Parts Recognition device according to claim 3 is characterized in that described processor module has a plurality of input terminals, is used to mate the connection of the external drive signal circuit of operating mode.
5. annulus Parts Recognition device according to claim 1 is characterized in that, also comprises the trigger circuit that are connected in described processor module, is used to trigger and produces described predetermined opportunity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320102214 CN203100680U (en) | 2013-03-07 | 2013-03-07 | Circular ring part identifying device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320102214 CN203100680U (en) | 2013-03-07 | 2013-03-07 | Circular ring part identifying device |
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| CN203100680U true CN203100680U (en) | 2013-07-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103134427A (en) * | 2013-03-07 | 2013-06-05 | 苏州吉视电子科技有限公司 | Recognizing device and method for ring parts |
| CN114459370A (en) * | 2022-01-28 | 2022-05-10 | 安徽环新集团股份有限公司 | Visual measurement method for closed gap of piston ring |
-
2013
- 2013-03-07 CN CN 201320102214 patent/CN203100680U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103134427A (en) * | 2013-03-07 | 2013-06-05 | 苏州吉视电子科技有限公司 | Recognizing device and method for ring parts |
| CN114459370A (en) * | 2022-01-28 | 2022-05-10 | 安徽环新集团股份有限公司 | Visual measurement method for closed gap of piston ring |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130731 Termination date: 20160307 |
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| CF01 | Termination of patent right due to non-payment of annual fee |