CN208140026U - Welding stud detection system based on stereoscopic vision principle - Google Patents
Welding stud detection system based on stereoscopic vision principle Download PDFInfo
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- CN208140026U CN208140026U CN201820683462.1U CN201820683462U CN208140026U CN 208140026 U CN208140026 U CN 208140026U CN 201820683462 U CN201820683462 U CN 201820683462U CN 208140026 U CN208140026 U CN 208140026U
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- industrial robot
- flange
- detection device
- stereoscopic vision
- welding
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Abstract
The utility model provides a welding stud detecting system based on stereoscopic vision principle, including industrial robot, detection device, industrial computer and industrial robot controller; the detection device is arranged at the front end of the industrial robot and comprises an image acquisition device and a working distance detection device; the working distance detection device is used for collecting distance data from a welding plane to the detection device, the industrial personal computer firstly judges the received distance data and adjusts the posture of the industrial robot according to a calculation result, and further, whether the position and the angle of the detected stud meet industrial requirements or not is analyzed according to image information of the detected stud shot by the image collection device. The welding stud detection system based on the stereoscopic vision principle accurately measures the information of the welding stud by using the binocular stereoscopic vision principle, and achieves the intellectualization of stud detection.
Description
Technical field
The utility model relates to vision measurement fields, in particular to a kind of welding spiral shell based on principle of stereoscopic vision
Post detection system.
Background technique
Arc stud welding is a kind of widely applied connection type, in workpiece manufacturing field by it is well known that such as：One Automobile
Stud with it up to up to a hundred, be highly important processing technology in automobile manufacture for connecting each building block, because
This, whether welding screw position will precisely directly affect subsequent assembly；Traditional welding screw position measurement is using artificial
Tape measure, such as：Dial gauge, iron plate ruler, wedge-shaped feeler gauge etc., time-consuming and measurement accuracy are poor.
Summary of the invention
The purpose of the utility model is to provide a kind of flexible measuring feature of combination industrial robot and vision detection technology,
Accurate measurement welding screw position, while manpower can be saved, distort in order to obtain in visual detection algorithm treatment process it is small,
The complete stud image information of image, camera need parallel face to be tested the shooting of stud surface location.
For this purpose, the technical solution of the utility model is as follows：
A kind of welding screw detection system based on principle of stereoscopic vision, including industrial robot, detection device, industrial personal computer
And industrial robot controller, above-mentioned component are electrically connected each other；
The detection device is mounted on the front end of the industrial robot, including image collecting device and working distance detection dress
It sets；Welding screw to be measured is in the detection range of described image acquisition device；The working distance detection device is for acquiring welding
Plane to the range data of the detection device, at least choose three measuring points and carry out range data measurements by the welding plane, will
Collected data are transmitted to industrial personal computer；Further, the working distance detection device selects three laser range finders, described to swash
Optar is located at camera front end, distribution triangular in shape, the corresponding three measuring point range data measured on welding surface；
The industrial personal computer is connect with detection device and industrial robot controller respectively, for the range data received
Judged, if the range data of each point differs by more than preset value, sends data to the industrial robot controller, institute
Posture of the industrial robot controller according to industrial robot described in the data point reuse received is stated, to meet the distance number of each point
It is less than preset value according to difference.Guarantee that the work device for detecting distance is parallel with plane where welding screw to be measured with this.It is described pre-
If value is set according to user demand.
Further, described image acquisition device is used to acquire the image information of welding screw to be measured, and by collected figure
As information data transmission to industrial personal computer；The industrial personal computer handles acquired image data, obtains welding screw to be measured
With the position offset and tilt angle data of base position, determine whether position offset and tilt angle are qualified, and display is sentenced
Disconnected foundation or/and result.
Further, the detection device includes shell, is set to the intracorporal camera of the shell and working distance detection device, with
And it is set to the light source of the shell single side surface；The surface of shell that light source is arranged is the opposite face of the camera lens.It is preferred that
The light source is LED area array light source.Area array light source uniform illumination, so that the image of camera shooting stud understands and light and shade is uniform,
Convenient for subsequent image procossing.
Further, described image acquisition device is two cameras, two lens axis in the same plane, and two camera optical axis
Between angle be 40~120 °, angle value is preferably 45 °.Two cameras constitute binocular stereo vision measuring system.
Further, the detection device is mounted on the front end of the industrial robot, the fixation by fixed device
Device includes first flange, second flange, elastic girth sheets, the first magnetosphere and the second magnetosphere；The first flange is fixedly mounted on
The front end of the industrial robot, inside fluting, insertion are equipped with the first magnetosphere；The elasticity girth sheets is vertically installed in described
In second flange, for entangling the fixed detection device；The opposite side of the second flange and first flange is provided with second
Magnetosphere；First magnetosphere and the actuation of the second magnetosphere link together first flange and second flange.
Further, the main body of the elastic girth sheets in a ring, be inserted into the slot in the second flange, bending by free end
It is fixed in second flange with screw afterwards.
Beneficial effect：
1) in conjunction with the flexible measuring feature of industrial robot and binocular stereo vision detection technique, welding can accurately be measured
Stud position, while can also save manpower.
2) detection device can be firmly fixed in connecting flange, it is ensured that using safe.
Detailed description of the invention
Fig. 1 is the welding screw detection system structure provided by the utility model based on principle of stereoscopic vision；
Fig. 2 is detection device schematic diagram of internal structure；
Fig. 3 is fixture structure schematic diagram；
Fig. 4 is binocular stereo vision measurement model figure；
Fig. 5 is the schematic diagram that tested stud is imaged respectively in two cameras.
Specific embodiment
The technical solution of the utility model is described in detail below in conjunction with the drawings and specific embodiments.
A kind of welding screw detection system based on principle of stereoscopic vision, including industrial robot 1, detection device 3, industry control
Machine 5 and industrial robot controller 6, detection device 3 pass through the front end that fixed device 2 is mounted on industrial robot 1, fixed device
2 include first flange 14, second flange 15, elastic girth sheets 24, the first magnetosphere 23 and the second magnetosphere 20；The fixed peace of first flange 14
Mounted in the front end of industrial robot 1, inside fluting, insertion is equipped with the first magnetosphere 23；Elastic girth sheets 24 is vertically installed in
On two flanges 15, for entangling fixed test device 3；The opposite side of second flange 15 and first flange 14 is provided with the second magnetosphere
20；First magnetosphere 23 and the actuation of the second magnetosphere 20 link together first flange 14 and second flange 15.
The main body of elastic girth sheets 24 in a ring, be inserted into the slot in second flange by free end, solid with screw 25 after bending
It is scheduled in second flange 15.It will test device 3 and be fixed on 1 front end of robot.
Detection device 3 includes image collecting device 10, working distance detection device 13, shell, is set in the single side surface of shell
There is light source, the surface of shell that light source is arranged is the opposite face of camera lens, and in the present embodiment, light source is LED area array light source, measurement
Light source is opened in the process, on uniform irradiation to stud welding plane.
Image collecting device 10 is two cameras, constitutes binocular stereo vision measuring system, two lens axis are same flat
Angle on face, and between the two is 40~120 °, and angle value is selected as 45 ° in the present embodiment；
Working distance detection device 13 selects laser range finder, and laser range finder setting quantity is three；
Laser range finder 13 is mounted on to the front end of camera 10, distribution triangular in shape, for acquiring welding plane 8 to detection
The range data of device 3, when robot reaches scheduled detection station, the welding in three measurement of laser range finder 13 fronts is flat
Corresponding three measuring points on face 8 carry out range data feedback, i.e., collected data are transmitted to industrial personal computer 5；
Industrial personal computer 5 compares judgement to the range data received, and it is poor that the range data of each point is made, if result is greater than
Preset value then sends data to industrial robot controller 6, and industrial robot controller 6 is according to the data point reuse received
The posture of industrial robot 1 is less than preset value to meet the range data difference of each point, at this time detection device 2 and tested stud
Welding plane is parallel.
In the specific implementation, the image information of welding screw to be measured can be acquired with camera 10, and acquired image is believed
Breath data are transmitted to industrial personal computer 5；Industrial personal computer 5 handles acquired image data, obtains welding screw to be measured and prestores
Base position position offset and tilt angle data, determine position offset and tilt angle it is whether qualified, display is sentenced
Disconnected foundation or/and result.
In use, industrial personal computer 5 carries out image procossing according to collected welding screw image, according to stereo-visiuon measurement original
Reason, image processing process are as follows：
1. carrying out camera calibration, including single camera calibration and binocular calibration.
2. binocular stereo vision is similar with the visual stereoscopic perception of people, two video cameras and testee are in space shape
At a triangle, using spatial point, imaging point coordinate by principle of triangulation calculates spatial point on two camera image planes
Three-dimensional coordinate.(such as 5 binocular stereo vision measurement model of attached drawing).
3. obtaining the image of welding screw by two CCD cameras, (following figure is：Welding screw is in the two video camera figures in left and right
As the position view under coordinate system), welding screw key feature is then obtained by image preprocessing and Feature Extraction Technology
The coordinate information of point, can calculate welding screw pose parameter finally by mathematical model.The small image that distorts in order to obtain is complete
Whole stud tip circle and bottom circle information, camera need parallel face to be tested the shooting of stud surface location.
4. obtaining the camera shooting of left and right two under image coordinate system by carrying out the identification of class oval feature to welding screw image
Welding screw bottom end ellipsoid central point pixel coordinate in machine image is O1 (u1, v1), O2 (u2, v2) is former according to triangulation
Reason, finds out the position three-dimensional coordinate O (x, y, z) of welding screw, realizes the space orientation at bottom end disc center, seek in benchmark
The space length of heart O0 (x0, y0, z0), can be realized the measurement of welding screw position offset.
5. the tilt angle for being tested welding screw calculates for base position, the attitude parameter of welding screw is solved first
The center line of welding screw shaft in single image is obtained by image characteristics extraction, then matches the center line in two images
It realizes three-dimensional reconstruction, then by seeking angle with reference center space different surface beeline, determines the tilt angle of stud.
Position offset and tilt angle of the tested welding screw relative to base position are obtained.Host computer judgement weldering
It whether qualified connects stud position, provides measurement result prompt, measurement terminates.
Claims (7)
1. the welding screw detection system based on principle of stereoscopic vision, including industrial robot（1）, detection device（3）, industrial personal computer
（5）And industrial robot controller（6）, it is electrical connection when above-mentioned component connects, it is characterised in that：
The detection device（3）It is mounted on the industrial robot（1）Front end, including image collecting device（10）And working distance
Detection device（13）；The working distance detection device（13）For acquiring welding plane（8）To the detection device（3）Distance
Data, the welding plane（8）It at least chooses three measuring points and carries out range data measurement, collected data are transmitted to industry control
Machine（5）；
The industrial personal computer（5）For judging the range data received, if the range data of each point differ by more than it is default
Value, then send data to the industrial robot controller（6）, the industrial robot controller（6）According to what is received
Industrial robot described in data point reuse（1）Posture, with meet each point range data difference be less than preset value.
2. the welding screw detection system based on principle of stereoscopic vision as described in claim 1, it is characterised in that：Described image is adopted
Acquisition means（10）For acquiring the image information of welding screw to be measured, and by acquired image information data transmission to industrial personal computer
（5）；The industrial personal computer（5）Acquired image data are handled, the position of welding screw to be measured and base position is obtained
Offset and tilt angle data determine whether position offset and tilt angle are qualified, show judgment basis or/and result.
3. the welding screw detection system based on principle of stereoscopic vision as described in claim 1, it is characterised in that：Described image is adopted
Acquisition means（10）For two cameras, in the same plane, and the angle between two camera optical axis is 40 ~ 120 ° to two lens axis.
4. the welding screw detection system based on principle of stereoscopic vision as described in claim 1, it is characterised in that：The detection dress
It sets（3）Including shell, it is set to the intracorporal camera of the shell and working distance detection device（13）, and it is set to the shell list
The light source of side surface；The surface of shell that light source is arranged is the opposite face of the camera lens.
5. the welding screw detection system based on principle of stereoscopic vision as claimed in claim 4, it is characterised in that：The light source is
LED area array light source.
6. the welding screw detection system based on principle of stereoscopic vision as described in claim 1, it is characterised in that：The detection dress
It sets（3）Pass through fixed device（2）It is mounted on the industrial robot（1）Front end, the fixed device（2）Including first flange
（14）, second flange（15）, elastic girth sheets（24）, the first magnetosphere（23）With the second magnetosphere（20）；The first flange（14）Gu
Dingan County is mounted in the industrial robot（1）Front end, inside fluting, insertion the first magnetosphere is installed（23）；The elastic ring
Plate（24）It is vertically installed in the second flange（15）On, for entangling the fixed detection device（3）；The second flange
（15）With first flange（14）Opposite side be provided with the second magnetosphere（20）；First magnetosphere（23）With the second magnetosphere（20）It inhales
It closes first flange（14）And second flange（15）It links together.
7. the welding screw detection system based on principle of stereoscopic vision as claimed in claim 6, it is characterised in that：The elastic ring
Plate（24）Main body in a ring, free end is inserted into the slot in the second flange, with screw after bending（25）It is fixed on
Two flanges（15）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820683462.1U CN208140026U (en) | 2018-05-09 | 2018-05-09 | Welding stud detection system based on stereoscopic vision principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820683462.1U CN208140026U (en) | 2018-05-09 | 2018-05-09 | Welding stud detection system based on stereoscopic vision principle |
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| CN208140026U true CN208140026U (en) | 2018-11-23 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111069748A (en) * | 2019-12-20 | 2020-04-28 | 南京理工大学 | Method and device for detecting and controlling arc rotation of hollow stud welding in real time |
| CN115582648A (en) * | 2022-12-09 | 2023-01-10 | 天津博世丰通科技有限公司 | Panoramic sunroof bolt welding detection method and device and bolt welding workstation |
-
2018
- 2018-05-09 CN CN201820683462.1U patent/CN208140026U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111069748A (en) * | 2019-12-20 | 2020-04-28 | 南京理工大学 | Method and device for detecting and controlling arc rotation of hollow stud welding in real time |
| CN115582648A (en) * | 2022-12-09 | 2023-01-10 | 天津博世丰通科技有限公司 | Panoramic sunroof bolt welding detection method and device and bolt welding workstation |
| CN115582648B (en) * | 2022-12-09 | 2023-03-10 | 天津博世丰通科技有限公司 | Panoramic sunroof bolt welding detection method and device and bolt welding workstation |
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