CN215031306U - Defect workpiece detecting and sorting device based on machine vision - Google Patents
Defect workpiece detecting and sorting device based on machine vision Download PDFInfo
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- CN215031306U CN215031306U CN202120472714.8U CN202120472714U CN215031306U CN 215031306 U CN215031306 U CN 215031306U CN 202120472714 U CN202120472714 U CN 202120472714U CN 215031306 U CN215031306 U CN 215031306U
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Abstract
The utility model provides a defective workpiece detecting and sorting device based on machine vision, belonging to the technical field of workpiece sorting equipment and comprising a workpiece conveying device; the workpiece conveying device is driven to operate by the driving mechanism; a workpiece sorting device is installed on one side of the workpiece conveying device, and an image acquisition device is arranged above one end of the workpiece conveying device; the image acquisition device is connected with a defect detection device, the defect detection device is connected with a controller, and the controller is connected with the workpiece sorting device and the driving mechanism. The utility model discloses can discern fast and judge work piece surface defect to sort the work piece according to surface defect, and can not cause the damage to metal surface, have that the discernment precision is high, degree of automation is high and characteristics that work efficiency is high, improved work piece letter sorting efficiency, improved work piece production quality.
Description
Technical Field
The utility model relates to a work piece letter sorting equipment technical field, concretely relates to defect work piece detects sorting device based on machine vision.
Background
The traditional metal piece product surface quality detection mainly adopts a manual detection method, the manual detection is large in workload, is easily influenced by subjective factors of detection personnel, easily causes omission detection on product surface defects, particularly has small deformation and small distortion, and greatly reduces the surface quality of products, so that the detection efficiency and precision cannot be ensured.
At present, machine vision is applied to various manufacturing industries, and the technology is relatively stable to a certain extent. Such as: the method comprises the following steps of bearing roller surface defect detection, micro bearing outer surface defect detection, rail vehicle part form and position size detection, micro part detection and classification, steel plate apparent defect detection and the like. Furthermore, in many other applications where the method is difficult to detect, it can be effectively implemented using a machine vision system.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a realize metalwork automated inspection, quick discernment and carry out work piece sorting device based on machine vision of defect work piece letter sorting to solve at least one item technical problem that exists among the above-mentioned background art.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model provides a defect work piece detects sorting device based on machine vision, include:
a workpiece conveying device; the workpiece conveying device is driven to operate by the driving mechanism;
a workpiece sorting device is installed on one side of the workpiece conveying device, and an image acquisition device is arranged above one end of the workpiece conveying device;
the image acquisition device is connected with a defect detection device, the defect detection device is connected with a controller, and the controller is connected with the workpiece sorting device and the driving mechanism.
Preferably, the work conveying apparatus includes: the device comprises a support frame, a conveying groove is arranged at the top end of the support frame, a conveying belt is arranged in the conveying groove, a photoelectric sensor is arranged on the side wall of the conveying groove, and the photoelectric sensor is positioned below an image acquisition device; the photoelectric sensor is connected with the controller.
Preferably, the image acquisition device comprises an industrial camera and a light supplement light source; the industrial camera and the light supplementing light source are installed on the installation frame, the industrial camera is connected with the image acquisition card, and the image acquisition card is connected with the defect detection device.
Preferably, the mounting bracket includes: install the supporting leg on the transfer tank, the top of supporting leg is connected with the dead lever, install the below of dead lever the light filling light source with the industry camera.
Preferably, a connecting rod is connected to the lower portion of the fixing rod, and the light supplementing light source is mounted on the connecting rod.
Preferably, the light supplementing light source is an annular light source, one end of the industrial camera is fixed on the fixing rod, and the industrial camera extends out of a circular ring of the annular light source.
Preferably, the work sorting apparatus includes: the mounting table is mounted on one side of the workpiece conveying device, the pneumatic manipulator is mounted at the top of the mounting table, and the controller is connected with the pneumatic manipulator.
Preferably, the pneumatic manipulator comprises a manipulator driving mechanism, the manipulator driving mechanism is connected with a manipulator, and the manipulator is connected with a pneumatic manipulator sucker.
Preferably, the bottom end of the support frame is provided with a support pad.
Preferably, the controller is a PLC controller.
The utility model discloses beneficial effect: the workpiece surface defect can be rapidly identified and judged, the workpiece is sorted according to the surface defect, the metal surface cannot be damaged, the workpiece sorting device has the advantages of being high in identification precision, high in automation degree and high in working efficiency, workpiece sorting efficiency is improved, and workpiece production quality is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is the embodiment of the utility model provides a defective work piece detects sorting device spatial structure chart based on machine vision.
Fig. 2 is a functional block diagram of a functional module of a defect detecting apparatus according to an embodiment of the present invention.
Wherein: 1-a support frame; 2-a transfer slot; 3-a conveyor belt; 4-a photosensor; 5-a controller; 6-defect detection means; 7-an industrial camera; 8-a light supplement light source; 9-a mounting frame; 10-image acquisition card; 11-support legs; 12-a fixation rod; 13-a connecting rod; 14-a mounting table; 15-a manipulator drive mechanism; 16-a robotic arm; 17-pneumatic manipulator suction cup; 18-support pad.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by way of the drawings are exemplary only for the purpose of explaining the present invention and should not be construed as limiting the present invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the description of the present specification, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present specification, the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present technology.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," "coupled," and "disposed" are intended to be inclusive and mean, for example, that they may be fixedly coupled or disposed, or that they may be removably coupled or disposed, or that they may be integrally coupled or disposed. The specific meaning of the above terms in the present technology can be understood by those of ordinary skill in the art as appropriate.
To facilitate understanding of the present invention, the present invention will be further explained with reference to specific embodiments in conjunction with the accompanying drawings, and the specific embodiments do not constitute limitations of the embodiments of the present invention.
It will be appreciated by those skilled in the art that the drawings are merely schematic representations of embodiments and that elements shown in the drawings are not necessarily required to practice the invention.
Examples
As shown in fig. 1, the embodiment of the utility model provides a defective work piece detects sorting device based on machine vision, include:
a workpiece conveying device; the workpiece conveying device is driven to operate by the driving mechanism;
a workpiece sorting device is installed on one side of the workpiece conveying device, and an image acquisition device is arranged above one end of the workpiece conveying device;
the image acquisition device is connected with a defect detection device 6, the defect detection device is connected with a controller 5, and the controller is connected with the workpiece sorting device and the driving mechanism.
As shown in fig. 2, in this embodiment, the defect detection apparatus 6 is a hardware carrier, and is a computer, where the computer includes various functional modules of the defect detection apparatus 6, including: the image processing device comprises an image filtering module, a binarization module, a morphological operation module, a defect detection module and a defect identification module. Image filtering, binarization processing, morphological operations, defect detection and defect identification are all common knowledge in the field.
The work conveying apparatus includes: the device comprises a support frame 1, wherein a conveying groove 2 is arranged at the top end of the support frame 1, a conveying belt 3 is arranged in the conveying groove 2, a photoelectric sensor 4 is arranged on the side wall of the conveying groove 2, and the photoelectric sensor 4 is positioned below an image acquisition device; the photoelectric sensor 4 is connected with the controller 5.
In this embodiment, the installation manner of the conveyor belt 3 in the conveying groove 2 may be: rotatable live rollers is installed at the both ends of mounting groove, and the drive belt is connected between the live rollers at both ends, and actuating mechanism is connected in the live roller transmission, and this actuating mechanism can be servo motor, and servo motor starts the back, and the drive live roller rotates, and the rotation of live roller drives the drive belt operation, carries the work piece.
The image acquisition device comprises an industrial camera 7 and a light supplementing light source 8; the industrial camera 7 and the light supplementing light source 8 are installed on an installation frame 9, the industrial camera 7 is connected with an image acquisition card 10, and the image acquisition card 10 is connected with the defect detection device 6.
The mounting frame 9 includes: install supporting leg 11 on transfer chute 2, the top of supporting leg 11 is connected with dead lever 12, install the below of dead lever 12 the light filling light source 8 with industry camera 7.
The connecting rod 13 is connected to the lower portion of the fixing rod 12, and the bottom end of the connecting rod 13 is connected with the light supplementing light source 8.
The light supplementing light source 8 is an annular light source, one end of the industrial camera 7 is fixed on the fixing rod 12, and the industrial camera 7 extends out of a circular ring of the annular light source.
The work sorting apparatus includes: and the mounting table 14 is mounted on one side of the conveying groove 2, and a pneumatic manipulator is mounted at the top of the mounting table 14.
In the embodiment, the pneumatic manipulator comprises a manipulator driving mechanism 15, the manipulator driving mechanism 15 is installed on the installation platform 14, the manipulator driving mechanism 15 is connected with a mechanical arm 16, and the mechanical arm 16 is connected with a pneumatic manipulator sucker 17; the controller 5 is connected to the manipulator driving mechanism 15. The pneumatic manipulator is an existing device, such as a CR series cooperative robotic arm.
The bottom end of the support frame 1 is provided with a support pad 18.
The controller 5 is a PLC controller.
In this embodiment, when the above-mentioned defective workpiece detecting and sorting apparatus based on machine vision is used specifically, the following operation steps are included:
when a workpiece is transported to the position of the photoelectric sensor on the conveyor belt, namely an image acquisition area, the photoelectric sensor detects that the workpiece sends a signal to the controller, the controller controls the driving structure to stop running, the conveyor belt stops working, the PLC sends an image acquisition signal to the computer, the computer controls the industrial camera to acquire an image of the workpiece, and the acquired image is acquired into the computer by the image acquisition card.
After the industrial camera transmits the collected image to a computer, the computer extracts characteristic quantity from the collected original image by using methods such as filtering, binaryzation, morphological operation and the like of an image processing technology;
the computer sends out a signal of finished acquisition to the PLC after receiving the signal of the image acquisition card, and the conveyor belt continues to move. And after the workpieces reach the classification position, the pneumatic manipulator sorts the workpieces according to the result detected by the computer.
In this embodiment, the defect detecting apparatus includes: the computer is connected with the image acquisition card through the data transmission line, and the image acquisition card converts the obtained image analog voltage signal into a digital signal convenient for computer processing by acquiring an image acquired by the CCD camera;
and the computer processes and detects the surface defect image acquired by the CCD camera according to the digital signal input by the image acquisition card 10.
In this embodiment, the image filtering module filters the image by using a median filtering method, where the median filtering method can better remove impurities and black spots, and has a smaller influence on image definition, and retains defect characteristics. The median filtering is to sort the gray values of pixels in a sliding window, and replaces the original gray value of the central pixel of the window with a median, which is a nonlinear image smoothing method.
And the binarization module is used for carrying out threshold segmentation on the image by adopting an OTSU algorithm.
And the morphological operation module is used for performing a process of expansion and corrosion on the image, namely closed operation. The closed operation is used for filling tiny holes in an object, connecting adjacent objects and smoothing the boundary of the adjacent objects without obviously changing the area of the adjacent objects. After closed operation processing, a few small interference points are removed, the region of interest is smooth and complete, then the connected region is disconnected to divide the region of interest into corresponding independent regions, and subsequent processing is respectively carried out on the independent regions, so that the purpose of separating defects is achieved.
And the defect detection module is used for detecting the defects, detecting a plurality of defects in the image and identifying the sizes, the areas and the circumferences of all the defects.
And the defect identification module can extract the characteristics of the identified defects after processing and segmenting the image. In this embodiment, a plurality of features are used to describe the defects, so as to facilitate classification and identification. Geometric feature extraction is an important way for defect extraction, and although the geometric features of images are visual and simple, the geometric features still have an extremely important role for image analysis. And accurately describing the image defect characteristics by using three geometric characteristics of area, perimeter and centroid coordinates.
(1) Defect area: and adding the number of the pixel points of all the defect areas, wherein the added result is the defect area.
(2) Perimeter: the sum of the number of boundary pixel points of the defect area is the perimeter of the defect, perimeter characteristics are selected when the defect with large shape difference is divided, the good distinguishing effect is achieved, such as scratches and oil stains, and the type of the defect can be determined by adopting the ratio of the perimeter to the area.
(3) Centroid coordinates: by utilizing the invariant moment, the centroid coordinate of the defect area can be calculated, and the position of the defect area can be judged through the centroid coordinate.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive changes in the technical solutions disclosed in the present disclosure.
Claims (10)
1. A defective workpiece detecting and sorting device based on machine vision is characterized by comprising:
a workpiece conveying device; the workpiece conveying device is driven to operate by the driving mechanism;
a workpiece sorting device is installed on one side of the workpiece conveying device, and an image acquisition device is arranged above one end of the workpiece conveying device;
the image acquisition device is connected with a defect detection device (6), the defect detection device is connected with a controller (5), and the controller is connected with the workpiece sorting device and the driving mechanism.
2. The defective workpiece detecting and sorting apparatus based on machine vision according to claim 1, wherein the workpiece conveying apparatus includes: the device comprises a support frame (1), wherein a conveying groove (2) is arranged at the top end of the support frame (1), a conveying belt (3) is arranged in the conveying groove (2), a photoelectric sensor (4) is arranged on the side wall of the conveying groove (2), and the photoelectric sensor (4) is positioned below an image acquisition device; the photoelectric sensor (4) is connected with the controller (5).
3. The defective workpiece detecting and sorting device based on machine vision according to claim 2, characterized in that the image acquisition device comprises an industrial camera (7), a supplementary lighting source (8); the industrial camera (7) and the light supplementing light source (8) are installed on the installation frame (9), the industrial camera (7) is connected with the image acquisition card (10), and the image acquisition card (10) is connected with the defect detection device (6).
4. The defective workpiece detecting and sorting apparatus based on machine vision according to claim 3, characterized in that the mounting frame (9) comprises: install supporting leg (11) on transfer tank (2), the top of supporting leg (11) is connected with dead lever (12), install the below of dead lever (12) light filling light source (8) with industry camera (7).
5. The defective workpiece detecting and sorting device based on machine vision as claimed in claim 4, wherein a connecting rod (13) is connected below the fixing rod (12), and the bottom end of the connecting rod (13) is connected with the supplementary lighting source (8).
6. The defective workpiece detecting and sorting device based on machine vision as claimed in claim 5, wherein the supplementary lighting source (8) is a ring-shaped light source, one end of the industrial camera (7) is fixed on the fixing rod (12), and the industrial camera (7) extends out of a ring of the ring-shaped light source.
7. The machine vision based defective work detecting and sorting apparatus of claim 2 wherein the work sorting apparatus comprises: and the mounting table (14) is mounted on one side of the conveying groove (2), and a pneumatic manipulator is mounted at the top of the mounting table (14).
8. The defective workpiece detecting and sorting device based on machine vision as claimed in claim 7, characterized in that the pneumatic manipulator comprises a manipulator driving mechanism (15), the manipulator driving mechanism (15) is installed on the installation platform (14), the manipulator driving mechanism (15) is connected with a mechanical arm (16), and the mechanical arm (16) is connected with a pneumatic manipulator suction cup (17); the controller (5) is connected with the manipulator driving mechanism (15).
9. The defective workpiece detecting and sorting device based on machine vision as claimed in claim 2, characterized in that the bottom end of the supporting frame (1) is mounted with a supporting pad (18).
10. The defective workpiece detecting and sorting apparatus based on machine vision according to claim 1, characterized in that the controller (5) is a PLC controller.
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| CN202120472714.8U CN215031306U (en) | 2021-03-04 | 2021-03-04 | Defect workpiece detecting and sorting device based on machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114472209A (en) * | 2022-01-14 | 2022-05-13 | 重庆海云捷迅科技有限公司 | Industrial defect intelligent detection teaching training device |
| CN114535114A (en) * | 2022-01-19 | 2022-05-27 | 湖南视比特机器人有限公司 | Workpiece follow-up sorting system on conveying line |
| CN115301573A (en) * | 2022-07-12 | 2022-11-08 | 成都合创视达科技有限公司 | Automatic detection device system for surface quality of automobile stamping parts |
-
2021
- 2021-03-04 CN CN202120472714.8U patent/CN215031306U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114472209A (en) * | 2022-01-14 | 2022-05-13 | 重庆海云捷迅科技有限公司 | Industrial defect intelligent detection teaching training device |
| CN114535114A (en) * | 2022-01-19 | 2022-05-27 | 湖南视比特机器人有限公司 | Workpiece follow-up sorting system on conveying line |
| CN114535114B (en) * | 2022-01-19 | 2023-11-21 | 湖南视比特机器人有限公司 | Workpiece follow-up sorting system on conveying line |
| CN115301573A (en) * | 2022-07-12 | 2022-11-08 | 成都合创视达科技有限公司 | Automatic detection device system for surface quality of automobile stamping parts |
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