CN215413629U - Intelligent detection device suitable for curved surface - Google Patents
Intelligent detection device suitable for curved surface Download PDFInfo
- Publication number
- CN215413629U CN215413629U CN202120726001.XU CN202120726001U CN215413629U CN 215413629 U CN215413629 U CN 215413629U CN 202120726001 U CN202120726001 U CN 202120726001U CN 215413629 U CN215413629 U CN 215413629U
- Authority
- CN
- China
- Prior art keywords
- curved surface
- detection device
- device suitable
- intelligent detection
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application discloses intellectual detection system device suitable for curved surface includes: the device comprises a machine table, a base, a guide rail, a sliding table and a three-dimensional detection camera; the base is arranged on the table top of the machine table and used for fixing the part to be detected and enabling a bus of the curved surface to be detected to be perpendicular to a first direction; the guide rail is arranged above the machine table; the sliding table and the guide rail form sliding connection along a second direction; the three-dimensional detection camera is mounted to the sliding table and can move synchronously with the sliding table; the three-dimensional inspection camera includes: a housing for connecting to the sliding table; the laser emitter is used for emitting a laser plane; the three-dimensional detection camera is used for acquiring image information; the laser surface of the laser emitter is parallel to the first direction and is vertical to the second direction; the laser plane of the laser emitter is obliquely intersected with the imaging plane of the three-dimensional detection camera. The intelligent detection device has the beneficial effects that the intelligent detection device suitable for the curved surface can realize automatic detection by combining laser and vision.
Description
Technical Field
The application relates to a detection device, concretely relates to intelligent detection device suitable for curved surface.
Background
During the production process of the pot product, the degree of fitting between the pot body and the formed pot handle needs to be detected. The current factory practice is to make corresponding checking tools for the curved surfaces of each type of pan handle, place the pan handle on the checking tools in a manual mode, and then check whether the curved surfaces are attached or not so as to prove that the design requirements are met.
The existing method has the disadvantages that the pan handle of each model needs to be made into a corresponding checking fixture, which is a great burden for manufacturers of a large number of different product models, the management cost and the manufacturing cost are very high, and the manual detection effect has a large error.
Similar problems exist in the detection of other curved surface parts.
Disclosure of Invention
An intelligent detection device suitable for curved surfaces, comprising: the device comprises a machine table, a base, a guide rail, a sliding table and a three-dimensional detection camera; the base is arranged on the table top of the machine table and used for fixing a part to be detected and enabling a bus of the curved surface to be detected to be perpendicular to a first direction; the guide rail is arranged above the machine table; the sliding table and the guide rail form sliding connection along a second direction; the three-dimensional detection camera is mounted to the sliding table and can move synchronously with the sliding table; the three-dimensional inspection camera includes: a housing for connecting to the sliding table; the laser emitter is used for emitting a laser plane; the three-dimensional detection camera is used for acquiring image information; the laser surface of the laser emitter is parallel to the first direction and perpendicular to the second direction; and the laser surface of the laser emitter is obliquely intersected with the imaging plane of the three-dimensional detection camera.
Further, the intelligent detection device suitable for the curved surface further comprises: and the rack is connected to the machine table and supports the machine table.
Further, the intelligent detection device suitable for the curved surface further comprises: a baffle plate connected to the frame to partially surround the machine table.
Further, the intelligent detection device suitable for the curved surface further comprises: and the display is connected to the rack and arranged above the machine table.
Further, the intelligent detection device suitable for the curved surface further comprises: the two-dimensional detection camera is arranged above the machine table for shooting the part to be detected.
Further, the intelligent detection device suitable for the curved surface further comprises: the illuminating lamp is arranged above the machine table.
Further, the intelligent detection device suitable for the curved surface further comprises: and the clamping device is movably arranged above the base to fix the part to be detected.
Further, the guide rail is parallel to the table top of the machine table.
Further, the intelligent detection device suitable for the curved surface further comprises:
the driving device is used for driving the three-dimensional detection camera to move along a second direction;
and the position detection device is used for detecting the position of the three-dimensional detection camera.
Further, the driving device is at least one of a linear motor or a piston cylinder device.
The application has the advantages that: the intelligent detection device suitable for the curved surface can realize automatic detection by combining laser and vision.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic perspective view of an intelligent detection device according to an embodiment of the present application;
FIG. 2 is a partial schematic view of the embodiment of FIG. 1;
FIG. 3 is a schematic view of the embodiment of FIG. 1 with portions of the structure partially removed;
FIG. 4 is a block diagram illustrating steps of a standard surface setup according to one embodiment of the present application;
FIG. 5 is a block diagram illustrating the steps of a detection method according to an embodiment of the present application;
FIG. 6 is a schematic diagram of the effect displayed by the display when a standard curve is selected;
FIG. 7 is a schematic view of the effect displayed by the display when the feature position is selected;
FIG. 8 is a schematic diagram of a three-dimensional point cloud formed using the system and method of the present application;
FIG. 9 is a schematic illustration of a standard surface and three-dimensional point cloud fit process when the detection method of the present application is employed;
FIG. 10 is a schematic illustration of a standard surface and a three-dimensional point cloud comparing gap when the inspection method of the present application is employed;
fig. 11 is a schematic structural diagram of another embodiment of a three-dimensional inspection camera.
The meaning of the reference symbols in the figures:
Sliding table 104
Three-dimensional inspection camera 105
Two-dimensional inspection camera 109
Clamping device 110
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 3, an intelligent detection device 100 suitable for curved surfaces includes: the system comprises a machine table 101, a base 102, a guide rail 103, a sliding table 104 and a three-dimensional detection camera 105; the base 102 is arranged on the table top of the machine table 101 and used for fixing a part to be detected and enabling a generatrix of a curved surface to be detected to be perpendicular to a first direction; the guide rail 103 is arranged above the machine platform 101; the sliding table 104 and the guide rail 103 form sliding connection along a second direction; the three-dimensional detection camera 105 is mounted on the sliding table 104 and can move synchronously with the sliding table 104; the three-dimensional inspection camera 105 includes: a housing for connecting to the slide table 104; the laser emitter is used for emitting a laser plane; the three-dimensional detection camera is used for acquiring image information; the laser surface of the laser emitter is parallel to the first direction and is vertical to the second direction; the laser plane of the laser emitter is obliquely intersected with the imaging plane of the three-dimensional detection camera.
Specifically, the intelligent detection device 100 for curved surfaces further includes: the frame 106 is connected to the machine 101 and supports the machine 101.
Specifically, the intelligent detection device 100 for curved surfaces further includes: and a baffle 107 connected to the frame 106 to partially surround the machine 101.
Specifically, the intelligent detection device 100 for curved surfaces further includes: the display 108 is connected to the frame 106 and disposed above the machine 101.
Specifically, the intelligent detection device 100 for curved surfaces further includes: the two-dimensional inspection camera 109 is disposed above the stage 101 to photograph the part to be inspected.
Specifically, the intelligent detection device 100 for curved surfaces further includes: and an illumination lamp (not shown) disposed above the machine base 101.
Specifically, the intelligent detection device 100 for curved surfaces further includes: and the clamping device 110 is movably arranged above the base 102 to fix the part to be detected.
Specifically, the guide rail 103 is parallel to the top of the machine 101.
Specifically, the intelligent detection device 100 for curved surfaces further includes:
a driving device 111 for driving the three-dimensional detection camera 105 to move in the second direction;
position detection means for detecting the position of the three-dimensional detection camera 105.
Specifically, the driving device 111 is at least one of a linear motor or a piston cylinder device.
Another aspect of the present application provides a detection system, comprising: a three-dimensional inspection camera 105, a processor and a driving device 111.
The three-dimensional detection camera 105 is used for acquiring images with laser lines; the processor is used for receiving and processing the images acquired by the two-dimensional detection camera 109 and the three-dimensional detection camera 105; the driving device 111 is at least used for driving the two-dimensional detection camera 109 or the three-dimensional detection camera 105 to move; the processor is provided with or connected with a human-computer interaction device so that a user can select a standard curved surface from a three-dimensional drawing through the processor; the processor is provided with or connected with an image processing unit to restore a three-dimensional point cloud according to the shape or/and size of a laser line formed when the laser surface irradiates on the curved surface to be detected in the image data acquired by the three-dimensional detection camera 105; the processor is provided with or connected with a comparison unit for comparing the standard curved surface with the detection outline represented by the three-dimensional point cloud.
Specifically, the processor calculates the size of the detection contour represented by the three-dimensional point cloud and the standard curved surface during comparison, and judges whether the size exceeds a threshold value.
Specifically, the processor fits the standard curved surface and the three-dimensional point cloud through the characteristic positions of the standard curved surface and the three-dimensional point cloud before comparison.
In particular, the characteristic location is a protrusion, a through hole or a groove.
More specifically, the processor analyzes the feature locations from the three-dimensional point cloud, then aligns the standard surface with the three-dimensional point cloud according to the feature locations, and then shortens their distance until the feature locations coincide. The intelligent detection system for curved surfaces comprises two three-dimensional detection cameras 105, the moving directions of which and the laser planes are perpendicular to each other.
As a specific solution, the human-computer interaction device comprises a display 108 to display the three-dimensional point cloud. The man-machine interaction device comprises an input device for a user to operate and set parameters and threshold values.
As another aspect of the present application, the present application provides an intelligent detection method suitable for curved surfaces.
The intelligent detection method comprises the following steps:
causing a three-dimensional inspection camera 105 to emit a laser plane;
moving a three-dimensional inspection camera 105 to make the laser surface of the three-dimensional inspection camera align with the inspection site and form a laser line at the inspection site;
collecting an image with a laser line;
restoring the three-dimensional point cloud of the curved surface to be detected according to the shape and the position of the laser line in the image;
selecting a standard curved surface from a three-dimensional drawing;
and comparing the standard curved surface with the detection contour represented by the three-dimensional point cloud.
And calculating the size of the detection contour represented by the three-dimensional point cloud and the standard curved surface during comparison, and judging whether the size exceeds a threshold value. And before comparison, the standard curved surface is attached to the three-dimensional point cloud through the characteristic positions of the standard curved surface and the three-dimensional point cloud.
Analyzing the characteristic position according to the three-dimensional point cloud, aligning the standard curved surface with the three-dimensional point cloud according to the characteristic position, and then shortening the distance between the standard curved surface and the three-dimensional point cloud until the characteristic position is overlapped.
As shown in fig. 6 and 7, the user can select a standard surface and a feature position in the three-dimensional drawing. After selection, the processor will store the selection data and the set parameters.
Then the system can restore the coordinate value of each tangent line of the curved surface by analyzing the shape and position of the laser line through the scanning of the laser line by the three-dimensional detection camera 105, and then the three-dimensional point cloud as shown in fig. 8 is formed by splicing, wherein the image is a point cloud, and the image is the coordinate of the point of the pixel because the pixel point is used as the minimum unit of resolution.
As shown in fig. 9 and 10, the standard curved surface and the three-dimensional point cloud are aligned by the correspondence of the feature positions so that their spatial postures are the same, then they are brought close to make the feature positions coincide, and then the fit between the contour represented by the three-dimensional point cloud and the standard curved surface, that is, whether the points in the three-dimensional point cloud exceed a preset range with respect to the standard curved surface, is analyzed.
If the product is not qualified, the product is qualified, and if the product is not qualified, an alarm is given to prompt a user.
In addition, the three-dimensional camera of the present application may adopt a scheme as shown in fig. 11, and specifically, the three-dimensional detection camera 105 includes: the device comprises a shell, a first detection group and a second detection group.
The first detection group comprises a first laser emitting device and a first camera; the second detection group comprises a second laser emitting device and a second camera; the first laser emitting device and the second laser emitting device are arranged between the first camera and the second camera; the laser surface emitted by the first laser emitting device is obliquely intersected with the laser surface emitted by the second laser emitting device; the first laser emitting device is arranged between the second laser emitting device and the second camera; the second laser emitting device is arranged between the first laser emitting device and the first camera; the visual angle direction of the first camera is obliquely intersected with the visual angle direction of the second camera.
The visual angle direction of the camera in the present application may be the optical axis direction of the lens or the direction perpendicular to the imaging plane of the imaging unit in the camera. The optical axis of the lens of the camera and the imaging plane of the imaging unit can be vertically arranged and can be obliquely intersected to enlarge the imaging range.
Specifically, the first camera comprises a lens, and an optical axis of the lens of the first camera sequentially passes through the laser planes of the second laser emitting device and the first laser emitting device from the lens.
Specifically, the second camera comprises a lens, and the optical axis of the lens of the second camera sequentially penetrates through the laser planes of the first laser emitting device and the second laser emitting device from the lens.
Specifically, the first laser emitting device and the first camera are respectively located on two sides of a laser plane of the second laser emitting device.
Specifically, the second laser emitting device and the second camera are respectively located on two sides of the laser surface of the first laser emitting device.
Specifically, an acute angle formed by oblique intersection of a laser plane emitted by the first laser emitting device and a laser plane emitted by the second laser emitting device is smaller than or equal to an acute angle formed by oblique intersection of a viewing angle direction of the first camera and a viewing angle direction of the second camera.
Specifically, an acute angle formed by oblique intersection of a laser surface emitted by the first laser emitting device and the view angle direction of the second camera is greater than or equal to an acute angle formed by oblique intersection of a laser surface emitted by the first laser emitting device and a laser surface emitted by the second laser emitting device.
Specifically, an acute angle formed by oblique intersection of the laser surface emitted by the second laser emitting device and the view angle direction of the first camera is greater than or equal to an acute angle formed by oblique intersection of the laser surface emitted by the first laser emitting device and the laser surface emitted by the second laser emitting device.
Specifically, the first camera and the second camera are symmetrically arranged relative to a middle plane.
Specifically, the first laser emitting device and the second laser emitting device are symmetrically arranged relative to a middle plane.
This design helps to avoid obstacles.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
Specifically, the specific process of implementing the functions of each module in the apparatus according to the embodiment of the present invention may refer to the related description in the method embodiment, and is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An intelligent detection device suitable for curved surfaces, comprising: the board, its characterized in that:
the intelligent detection device suitable for curved surface still includes:
the base is arranged on the table top of the machine table and used for fixing the part to be detected and enabling a bus of the curved surface to be detected to be perpendicular to a first direction;
the guide rail is arranged above the machine table;
the sliding table and the guide rail form sliding connection along a second direction;
the three-dimensional detection camera is mounted to the sliding table and can move synchronously with the sliding table;
wherein the content of the first and second substances,
the three-dimensional inspection camera includes:
a housing for connecting to the sliding table;
the laser emitter is used for emitting a laser plane;
the three-dimensional detection camera is used for acquiring image information;
the laser surface of the laser emitter is parallel to the first direction and perpendicular to the second direction; and the laser surface of the laser emitter is obliquely intersected with the imaging plane of the three-dimensional detection camera.
2. The intelligent detection device suitable for the curved surface according to claim 1, characterized in that:
the intelligent detection device suitable for curved surface still includes:
and the rack is connected to the machine table and supports the machine table.
3. The intelligent detection device suitable for the curved surface according to claim 2, characterized in that:
the intelligent detection device suitable for curved surface still includes:
a baffle plate connected to the frame to partially surround the machine table.
4. The intelligent detection device suitable for the curved surface of claim 3, wherein:
the intelligent detection device suitable for curved surface still includes:
and the display is connected to the rack and arranged above the machine table.
5. The intelligent detection device suitable for the curved surface according to claim 1, characterized in that:
the intelligent detection device suitable for curved surface still includes:
the two-dimensional detection camera is arranged above the machine table for shooting the part to be detected.
6. The intelligent detection device suitable for the curved surface according to claim 1, characterized in that:
the intelligent detection device suitable for curved surface still includes:
the illuminating lamp is arranged above the machine table.
7. The intelligent detection device suitable for the curved surface according to claim 1, characterized in that:
the intelligent detection device suitable for curved surface still includes:
and the clamping device is movably arranged above the base to fix the part to be detected.
8. The intelligent detection device suitable for the curved surface according to claim 1, characterized in that:
the guide rail is parallel to the table top of the machine table.
9. The intelligent detection device suitable for the curved surface according to claim 1, characterized in that:
the intelligent detection device suitable for curved surface still includes:
the driving device is used for driving the three-dimensional detection camera to move along a second direction;
and the position detection device is used for detecting the position of the three-dimensional detection camera.
10. The intelligent detection device suitable for the curved surface of claim 9, wherein:
the driving device is at least one of a linear motor or a piston cylinder device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020506136 | 2020-04-09 | ||
| CN2020205061360 | 2020-04-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215413629U true CN215413629U (en) | 2022-01-04 |
Family
ID=79670893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120726001.XU Active CN215413629U (en) | 2020-04-09 | 2021-04-09 | Intelligent detection device suitable for curved surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215413629U (en) |
-
2021
- 2021-04-09 CN CN202120726001.XU patent/CN215413629U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2017255410B2 (en) | Pallet detection using units of physical length | |
| CN110084849B (en) | Logistics system with automatic volume and weight measuring function | |
| CN108596173B (en) | Single-camera full-view line number real-time recognition device and detection method thereof | |
| WO2005024720A2 (en) | Color edge based system and method for determination of 3d surface topology | |
| CN208207914U (en) | PCB surface defect detecting device based on fast geometric alignment | |
| US10579890B2 (en) | Automatic alignment of a 3D model to a test object | |
| CN113259579A (en) | Image acquisition device, method and equipment | |
| CN111242902A (en) | Method, system and equipment for identifying and detecting parts based on convolutional neural network | |
| CN114577135A (en) | 3D detection method and system for warpage of chip pin based on single lens | |
| CN108093618A (en) | Inspecting mounting contents by comparing 3D height profile with reference height profile | |
| CN215413629U (en) | Intelligent detection device suitable for curved surface | |
| CN104655041B (en) | A kind of industrial part contour line multi-feature extraction method of additional constraint condition | |
| KR20200046789A (en) | Method and apparatus for generating 3-dimensional data of moving object | |
| CN113324493A (en) | Intelligent detection device suitable for curved surface | |
| CN113324494A (en) | Intelligent detection system suitable for curved surface | |
| CN113175891A (en) | Intelligent detection method suitable for curved surface | |
| CN117054334A (en) | Top cover welding defect quality detection method and system based on multiple cameras | |
| JP2007315777A (en) | Three-dimensional shape measurement system | |
| CN102842165A (en) | Device and method for detecting side surfaces of coins | |
| FR2672119A1 (en) | THREE-DIMENSIONAL SURFACE MEASURING SYSTEM TO BE REPRESENTED MATHEMATICALLY, AND A MEASURING METHOD AND CALIBRATION TEMPLATE OF THE MEASURING SYSTEM. | |
| CN114219758A (en) | Defect detection method, system, electronic device and computer readable storage medium | |
| CN208783850U (en) | Three-dimensional scanner | |
| CN110132182A (en) | Handheld device camera bias automatic detection device | |
| CN207341292U (en) | Three-dimensional foot laser scanner | |
| CN114160448B (en) | Visual detection equipment and detection method for precise electronic stamping part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 1502, No.1, ningchuang technology center, Panhuo street, Yinzhou District, Ningbo City, Zhejiang Province, 315100 Patentee after: Yishi Technology (Ningbo) Co.,Ltd. Address before: Room 1502, No.1, ningchuang technology center, Panhuo street, Yinzhou District, Ningbo City, Zhejiang Province, 315100 Patentee before: Ningbo Yishi Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |