CN214250866U - Visual detection platform - Google Patents
Visual detection platform Download PDFInfo
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- CN214250866U CN214250866U CN202120117522.5U CN202120117522U CN214250866U CN 214250866 U CN214250866 U CN 214250866U CN 202120117522 U CN202120117522 U CN 202120117522U CN 214250866 U CN214250866 U CN 214250866U
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- 238000001514 detection method Methods 0.000 title abstract description 56
- 230000000007 visual effect Effects 0.000 title abstract description 37
- 238000011179 visual inspection Methods 0.000 claims description 19
- 239000000523 sample Substances 0.000 claims description 8
- 239000000126 substance Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 description 12
- 238000012545 processing Methods 0.000 description 8
- 230000011218 segmentation Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000012216 screening Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003746 surface roughness Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a visual detection platform, include: the system comprises a case, a manipulator, a 2D camera, a 3D camera controller, a router and computer equipment; wherein, a workbench is arranged on the case; the manipulator is arranged on the workbench; the 2D camera and the 3D camera are both arranged on the manipulator; the 3D camera controller is arranged in the case and electrically connected with the 3D camera; the router is arranged in the case and is electrically connected with the computer equipment, the 2D camera, the 3D camera and the manipulator respectively. The utility model provides a visual detection platform combines together 2D vision and 3D vision, makes visual detection platform can acquire three-dimensional and two-dimensional data simultaneously to make visual detection platform have two-dimensional detection and three-dimensional detection function simultaneously.
Description
Technical Field
The utility model relates to a machine vision technical field especially relates to a visual detection platform.
Background
In conventional visual inspection, two-dimensional inspection takes a large proportion. However, the two-dimensional specific gravity measurement has a great disadvantage, such as being susceptible to light source, failing to measure the surface roughness, volume, etc. of the object. The 3D vision can measure depth information of an object (when laser light emitted by the 3D camera irradiates on the surface of the object to be measured, diffuse reflection occurs, and at this time, reflected light of the surface is received by the 3D camera, if there is a height difference on the surface of the object to be measured, the time for the reflected light to reach the 3D camera is different, so that the depth information of the object to be measured can be deduced), which means that the 3D vision can measure information of the volume, the surface roughness and the like of the system. However, a detection platform having both 2D vision detection and 3D vision detection functions has not yet appeared.
Accordingly, the prior art is yet to be improved and developed.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned prior art not enough, the utility model aims at providing a have 2D visual detection and 3D visual detection function's detection platform simultaneously.
The technical scheme of the utility model as follows:
a visual inspection platform, comprising: the system comprises a case, a manipulator, a 2D camera, a 3D camera controller, a router and computer equipment; wherein the content of the first and second substances,
a workbench is arranged on the case;
the manipulator is arranged on the workbench;
the 2D camera and the 3D camera are both arranged on the manipulator;
the 3D camera controller is arranged in the case and electrically connected with the 3D camera;
the router is arranged in the case and is electrically connected with the computer equipment, the 2D camera, the 3D camera and the manipulator respectively.
The utility model discloses a further setting, visual detection platform still includes: the connecting piece, the connecting piece sets up on the manipulator, the 2D camera with the 3D camera sets up respectively the connecting piece both sides.
The utility model discloses a further setting, the connecting piece includes: the connecting piece comprises a connecting piece body, a first mounting part and a second mounting part; wherein the content of the first and second substances,
the connecting piece body is connected with the manipulator;
the second mounting part is arranged on one side of the connecting piece body;
the first mounting portion is disposed on the connector body.
The utility model discloses a further setting, the connecting piece is U type structure.
The utility model discloses a further setting, visual detection platform still includes: a light source disposed on the first mounting portion and located below the 2D camera.
The utility model discloses a further setting, visual detection platform still includes: a probe disposed on the second mounting portion.
The utility model discloses a further setting, visual detection platform still includes: a clamping member disposed on the second mounting portion.
The utility model discloses a further setting, the holder is anchor clamps.
The utility model discloses a further setting, the holder is the suction nozzle.
The utility model provides a visual detection platform, include: the system comprises a case, a manipulator, a 2D camera, a 3D camera controller, a router and computer equipment; wherein, a workbench is arranged on the case; the manipulator is arranged on the workbench; the 2D camera and the 3D camera are both arranged on the manipulator; the 3D camera controller is arranged in the case and electrically connected with the 3D camera; the router is arranged in the case and is electrically connected with the computer equipment, the 2D camera, the 3D camera and the manipulator respectively. The utility model provides a visual detection platform combines together 2D vision and 3D vision, makes visual detection platform can acquire three-dimensional and two-dimensional data simultaneously to make visual detection platform have two-dimensional detection function and three-dimensional detection function simultaneously.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the middle vision inspection platform of the present invention.
Fig. 2 is a control schematic block diagram of the middle vision inspection platform of the present invention.
Fig. 3 is a front view of the connector of the present invention.
Fig. 4 is a left side view of the middle connector of the present invention.
Fig. 5 is a top view of the connector of the present invention.
The various symbols in the drawings: 1. a chassis; 2. a work table; 3. a manipulator; 4. a 2D camera; 5. a 3D camera; 6. a 3D camera controller; 7. a router; 8. a connecting member; 81. a connector body; 82. a first mounting portion; 83. a second mounting portion; 9. a light source; 10. a probe; 11. a computer device.
Detailed Description
The inventor researches and discovers that the machine vision is not always independent of the interaction between the robot and the robot, and how to make the robot reasonably utilize the point location information obtained by the vision acquisition module is one of important applications in the industry. The utility model provides a visual detection platform, this visual detection platform can accomplish various industrial application's scene, for example, can realize functions such as license plate detection, mar detection, defect detection. In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiments and claims, the terms "a" and "an" can mean "one or more" unless the article is specifically limited.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 5, the present invention provides a preferred embodiment of a visual inspection platform.
As shown in fig. 1 and fig. 2, the utility model provides a pair of visual detection platform, it includes: a cabinet 1, a manipulator 3, a 2D camera 4, a 3D camera 5, a 3D camera controller 6, a router 7, and a computer device 11. Wherein, a workbench 2 is arranged on the case 1; the manipulator 3 is arranged on the workbench 2; the 2D camera 4 and the 3D camera 5 are both arranged on the manipulator 3; the 3D camera controller 6 is arranged in the case 1 and is electrically connected with the 3D camera 5 respectively; the router 7 is disposed in the case 1 and electrically connected to the computer device 11, the 2D camera 4, the 3D camera 5, and the manipulator 3, respectively.
Specifically, 3D camera controller 6 router 7 all installs in quick-witted case 1, computer equipment 11 can install on workstation 2, also can place in 2 avris of workstation, wherein workstation 2 can be used for placing the material (detected the piece) to realize the removal function of material. The computer device 11 is provided with a vision control system, which is software programmed on the computer device 11 and can establish communication with the camera and the robot through a network cable. The 3D camera 5 is connected with the 3D camera controller 6, the 3D camera controller 6 is connected with the router 7 through a network, the computer equipment 11 is connected with the router 7 through a network cable, and the manipulator 3 is connected with the router 7 through a network cable so as to realize data transmission of the router 7 between the computer equipment 11 and the 2D camera 4, between the 3D camera 5 and between the manipulator 3 and the router 7. The manipulator 3 is connected with the computer device 11 through scoket communication, communication between the manipulator 3 and the computer device 11 can be established through EPSON RC +7.0 to realize movement of the manipulator 3, point location information can be sent to the manipulator 3 after the vision detection system obtains a desired point location, and then functions of grabbing, placing, disordered grabbing and the like in the system are realized through movement of the manipulator 3. The 2D camera 4 and the 3D camera 5 may perform image capturing operation according to a vision control system.
In some embodiments, the manipulator 3 is an all-in-one robot, that is, an industrial personal computer is placed inside the robot, so that not only can the occupied space of the robot be reduced, but also the safety can be improved.
In the visual inspection platform, the visual inspection system is used for connecting the 2D camera 4 and the 3D camera 5 to acquire images, further processing the images and the point cloud after acquiring the 2D images and the 3D point cloud data, and outputting a processing result, and the computer device 11 can control the image acquisition of the 3D camera 5 and the 2D camera 4, has an image processing function, and controls the operation of the manipulator 3 by being connected with the manipulator 3. The 3D controller is used for controlling the collection of the 3D camera 5 and the judgment of the movement speed of the robot, and outputting the collected data.
Therefore, the utility model provides a visual detection platform has carried on 2D camera 4 and 3D camera 5 simultaneously, not only can accomplish 2D's visual detection function, can also acquire the three-dimensional model who is detected the piece through 3D camera 5. Operations that cannot be performed by the 2D camera 4, for example, detection of a height difference of the object to be detected, can be performed by the 3D camera 5.
In some embodiments, the 2D camera 4 is primarily responsible for acquiring 2D images. The 2D camera 4 is connected with the computer end through the router 7, and the visual detection system can realize operations such as camera connection, real-time acquisition, single-frame acquisition, image opening and image storage. After the image is obtained, the image processing operations such as threshold segmentation, template matching, material center solving and the like can be realized on the image. After the image processing, the robot has a calibration function, the relative position between the robot and the material can be accurately determined, and the operations of clamping, placing and the like of the material are realized.
During specific implementation, a reasonable photographing position can be obtained through the mobile robot, and the visual detection system can be connected with the camera. Taking the material center calculation as an example, the 2D camera 4 is opened by using the vision control system, the robot is moved to a proper photographing position through the EPSON RC +7.0, and a 2D image of the detected piece is acquired and stored. And after a proper value is selected, a threshold value in a visual control system is clicked to carry out threshold value segmentation on the obtained 2D image, and the image after the threshold value is obtained. The purpose of this step is to reduce the interference of other areas on the image. After threshold segmentation is carried out, a lot of noise still exists in the image, and at the moment, the characteristics of the detected object can be obtained by selecting a proper value and clicking screening in a visual control system. And further clicking to create a template, creating a characteristic template by a plurality of points around the characteristic, clicking to search the template to obtain a characteristic image, and finally clicking to obtain the central position of the material to obtain the coordinate of the central point of the material. After image processing, the desired material characteristics or point cloud data can be extracted, and the relative position between the robot and the material can be accurately determined through the calibration function of the visual detection system, so that the operations of clamping, placing and the like of the material are realized.
Taking scratch detection as an example, the specific flow is as follows: and (3) opening the 2D camera 4 by using a vision control system, moving the robot to a proper photographing position through EPSON RC +7.0, and acquiring and storing a 2D image of the detected piece. And after a proper value is selected, a threshold value in a visual control system is clicked to segment the acquired 2D image threshold value, and a scratch image is acquired. The purpose of this step is to reduce the interference of other areas with the scratch. After threshold segmentation is carried out, a lot of noise still exists in the image, at the moment, a proper value is selected, then screening in a visual control system is clicked, and the scratch of the detected object can be obtained.
The 3D camera 5 is mainly responsible for acquiring a depth map of the image and forming point cloud data. The 3D camera 5 is connected with the 3D camera controller 6, the 3D camera controller 6 is connected with the computer end through the router 7, the visual detection system can control the switch of the 3D camera 5 and adjust information such as a height map brightness map of the 3D camera 5, processing of point cloud data can be achieved on the basis, and 3D calibration and disordered grabbing functions are achieved.
Taking the height difference detection as an example, firstly, the 3D camera 5 is turned on by the vision control system on the computer device 11, the robot is moved to one end a of the detected object by the EPSON RC +7.0, and then the robot is moved to the other end B of the detected object by the EPSON RC +7.0, and at this time, the 3D module in the vision detection system acquires and stores the 3D point cloud image of the detected object. And then, after selecting a proper value, clicking a threshold value in a visual control system to perform threshold segmentation on the acquired 3D point cloud to acquire a higher plane or a lower plane. The purpose of this step is to reduce the point cloud data with less computation. After threshold segmentation is carried out, the point cloud data are still huge, at the moment, a proper value is selected and then screening in a vision control system is clicked, a higher or lower plane of the detected object can be obtained, and then height measurement is clicked, so that the height difference of the detected object can be obtained.
The utility model discloses unite two into one 2D vision and 3D vision, place the camera and can also obtain reasonable position of shooing through the removal of robot on the robot, use the vision detection system to carry out image processing through the picture that obtains of shooing to send final result for the robot. The utility model discloses can realize multi-functional detection, can provide 2D data and 3D data simultaneously, including license plate detection, mar detection, defect detection, unordered snatching etc. in the aspect of the 2D visual detection, then include difference in height, solder joint, welding seam detection etc. in the aspect of the 3D visual detection.
Referring to fig. 1, in a further implementation of an embodiment, the visual inspection platform further includes: the connecting piece 8, the connecting piece 8 sets up on the manipulator 3, 2D camera 4 with 3D camera 5 sets up respectively the 8 both sides of connecting piece.
Specifically, the 2D camera 4 may be placed in front of the manipulator 3, the 3D camera 5 may be placed behind the manipulator 3, and the 3D camera 5 and the 2D camera 4 are simultaneously mounted at the lower end of the manipulator 3 through the connecting member 8, so that a three-dimensional image and a two-dimensional image are completely acquired without affecting the movement of the manipulator 3.
Referring to fig. 1 in conjunction with fig. 3 to 5, in some embodiments, the connecting member 8 includes: a connector body 81, a first mounting portion 82 and a second mounting portion 83. Specifically, the connecting member body 81 is connected to the manipulator 3, the second mounting portion 83 is provided on the connecting member body 81 side, and the first mounting portion 82 is provided on the connecting member body 81. In some embodiments, the connecting member 8 is a U-shaped structure, and the 3D camera 5 and the 2D camera 4 are oppositely mounted on the connecting member body 81 of the U-shaped structure.
Referring to fig. 1 in conjunction with fig. 3 to 5, in a further implementation of an embodiment, the visual inspection platform further includes: a light source 9, the light source 9 being disposed on the first mounting part 82 and located below the 2D camera 4. Specifically, the light source 9 is an annular light source 9, and the light source 9 mainly provides suitable brightness for the 2D camera 4 to take a picture so as to obtain a clear image.
Referring to fig. 1 in conjunction with fig. 3 to 5, in a further implementation of an embodiment, the visual inspection platform further includes: a probe 10, the probe 10 being disposed on the second mounting portion 83. Specifically, the probe 10 is installed below the connecting member 8 and located between the 2D camera 4 and the 3D camera 5, the probe 10 can be used to calibrate the relative position between the manipulator 3 and the material to ensure the calibration accuracy of the visual inspection system, and the computer device 11 can accurately acquire the relative position between the manipulator 3 and the material through the calibration function of the probe 10 to implement the operations of clamping, placing and the like of the material.
In a further implementation of an embodiment, the visual inspection platform further comprises: a clamping member (not shown) provided on the second mounting portion 83.
In some embodiments, the clamping member is a clamp or a suction nozzle to perform operations such as moving the detected member.
To sum up, the utility model provides a visual detection platform, include: the system comprises a case, a manipulator, a 2D camera, a 3D camera controller, a router and computer equipment; wherein, a workbench is arranged on the case; the manipulator is arranged on the workbench; the 2D camera and the 3D camera are both arranged on the manipulator; the 3D camera controller is arranged in the case and electrically connected with the 3D camera; the router is arranged in the case and is electrically connected with the computer equipment, the 2D camera, the 3D camera and the manipulator respectively. The utility model provides a visual detection platform combines together 2D vision and 3D vision, makes visual detection platform can acquire three-dimensional and two-dimensional data simultaneously to make visual detection platform have two-dimensional detection and three-dimensional detection function simultaneously.
It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (9)
1. A visual inspection platform, comprising: the system comprises a case, a manipulator, a 2D camera, a 3D camera controller, a router and computer equipment; wherein the content of the first and second substances,
a workbench is arranged on the case;
the manipulator is arranged on the workbench;
the 2D camera and the 3D camera are both arranged on the manipulator;
the 3D camera controller is arranged in the case and electrically connected with the 3D camera;
the router is arranged in the case and is electrically connected with the computer equipment, the 2D camera, the 3D camera and the manipulator respectively.
2. The visual inspection platform of claim 1, further comprising: the connecting piece, the connecting piece sets up on the manipulator, the 2D camera with the 3D camera sets up respectively the connecting piece both sides.
3. The visual inspection platform of claim 2, wherein the connector comprises: the connecting piece comprises a connecting piece body, a first mounting part and a second mounting part; wherein the content of the first and second substances,
the connecting piece body is connected with the manipulator;
the second mounting part is arranged on one side of the connecting piece body;
the first mounting portion is disposed on the connector body.
4. The visual inspection platform of claim 3, wherein the connector body is a U-shaped structure.
5. The visual inspection platform of claim 4, further comprising: a light source disposed on the first mounting portion and located below the 2D camera.
6. The visual inspection platform of claim 4, further comprising: a probe disposed on the second mounting portion.
7. The visual inspection platform of claim 4, further comprising: a clamping member disposed on the second mounting portion.
8. The visual inspection platform of claim 7, wherein the clamp is a clamp.
9. The visual inspection platform of claim 7, wherein the clamp is a suction nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120117522.5U CN214250866U (en) | 2021-01-15 | 2021-01-15 | Visual detection platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120117522.5U CN214250866U (en) | 2021-01-15 | 2021-01-15 | Visual detection platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214250866U true CN214250866U (en) | 2021-09-21 |
Family
ID=77750507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120117522.5U Expired - Fee Related CN214250866U (en) | 2021-01-15 | 2021-01-15 | Visual detection platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214250866U (en) |
-
2021
- 2021-01-15 CN CN202120117522.5U patent/CN214250866U/en not_active Expired - Fee Related
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Granted publication date: 20210921 |