WO2020147713A1

WO2020147713A1 - Detection device, system and method

Info

Publication number: WO2020147713A1
Application number: PCT/CN2020/071982
Authority: WO
Inventors: 秦军
Original assignee: 南京中禧智能科技有限公司
Priority date: 2019-01-15
Filing date: 2020-01-14
Publication date: 2020-07-23
Also published as: CN109459441B; CN109459441A

Abstract

Disclosed are a detection device, system and method, relating to the technical field of detection devices. The detection device comprises an imager (201) and a rotating mechanism, wherein the imager (201) is configured to image the surface of a moving object (100). The imager (201) is attached to the rotating mechanism, and the rotating mechanism is configured to drive the imager (201) to move synchronously with the moving object (100) and keep the imager (201) stationary relative to a to-be-imaged area of the moving object (100), so that the imager (201) obtains an image without motion blur of the to-be-imaged area of the moving object (100). The imager (201) and the moving object (100) to be detected move in a relatively stationary manner, such that the imager (201) can obtain a clear image of the detection target so as to identify defects in the image.

Description

Detection device, system and method

Technical field

This application relates to the field of detection equipment, and in particular to a detection device, system and method.

Background technique

For the detection of sheet surface defects, the operator usually holds the detection object, and is supplemented by naked eyes or a microscope or magnifying glass to detect various types of defects (such as pollution, scratches, copper leakage, residual glue, etc.) of the sheet. However, for sheets under high-speed motion, manual inspection is difficult to achieve.

Therefore, the surface quality inspection of high-speed moving sheets has become a problem in the industry.

At present, the surface detection of high-speed moving sheets (such as various film materials) mostly adopts machine vision. Specifically, a fixed-position line scan camera is set above the sheet. During the movement of the sheet, the line scan camera completes imaging, and then the resulting image is subjected to defect analysis. However, when the relative movement speed of the sheet material and the image is high, the motion blur of the image is also increased, and it is difficult to clearly image the tiny flaws and it is difficult to find or distinguish.

The information disclosed in the background technology section is only intended to deepen the understanding of the overall background technology of the application, and should not be regarded as an acknowledgement or any form of suggestion that the information constitutes the prior art known to those skilled in the art.

Summary of the invention

In order to improve or even solve at least one problem in the prior art, this application proposes a detection device, system and method.

This application is implemented like this:

In the first aspect, the example of the present application provides a detection device.

The detection device in the example is used for surface detection of a moving object that moves in a given pattern.

The detection device includes:

An imager and an irradiating light source, the irradiating light source illuminates the imaging target and the imaging area, and the imager is configured to image the energy reflected on the surface of the moving object or the energy transmitted from the back.

Rotation mechanism, the imager is attached to the rotation mechanism, the rotation mechanism is configured to drive the imager to move synchronously with the moving object, and to keep the imager and the moving object's area to be imaged relatively still, so that the imager obtains the waiting for the moving object An image of the imaging area without motion blur.

As the object is in motion, in order to obtain a clear image of its surface. The imager is moved by the rotating mechanism at the same speed (including speed and direction) as the moving object, so that the imaging area of the imager on the surface of the moving object is relatively static, so that a clear image can be obtained by taking pictures so as to be able to Obtain the surface state of the object from the image, and then can distinguish whether there is a flaw, or the distribution state, type, nature, and geometric parameters of the flaw.

With reference to the first aspect, in some optional examples of the first possible implementation of the first aspect of the present application, the rotating mechanism includes a rotating body, and the imager is directly or indirectly connected to the rotating body. The imager can be driven by the rotating mechanism to move along a first trajectory or a second trajectory, wherein the first trajectory is a circular first closed loop, and the second trajectory is a second closed loop formed by a combination of a circular arc and a straight line.

According to different needs, the imager can have different driving modes. That is, in different motion modes of the moving object, the imager needs to be able to be driven in a corresponding manner, so that the imager can remain relatively stationary with the moving object in a desired manner.

In order to facilitate the imager to adapt to the movement of the moving object, the imager can be directly connected to the rotating body of the rotating mechanism, or indirectly connected to the rotating body of the rotating mechanism through an intermediate piece. When the imager is directly connected to the rotating body, it has the same way of rotating as the rotating body. When the imager is indirectly connected to the rotating body, the movement mode of the imager can be selectively arranged as required, so as to obtain more flexible movement options to adapt to the moving object.

The rotating body can provide a focal point for the connection of the imager, so an appropriate number of rotating bodies should be arranged according to the number of imagers. In addition, by selecting the number of rotating bodies, a more complex arrangement and layout of the imager can be realized, so as to realize more comprehensive image acquisition of moving objects.

With reference to the first aspect, in some optional examples of the second possible implementation of the first aspect of the present application, the irradiation light source has a desired spatial distribution relationship with the imager and the imaging area, and the optical path of the imager is provided with A single filter or a combination of multiple filters is provided with a single filter or a combination of multiple filters on the exit light path of the irradiating light source.

By setting a filter on the light path of the imager and/or setting a filter on the exit light path of the irradiating light source or the combination of the imager and the irradiating light source filter, multi-spectral imaging is realized and product quality is obtained Characteristic spectral image of the flaw.

In the second aspect, an embodiment of the present application provides a detection system.

The detection system includes multiple detection devices, and all the detection devices cooperate with each other in a multi-level arrangement;

Among them, the defect detected by the previous-level detection device can be selected by the next-level detection device through corresponding geometric resolution and/or multi-spectral imaging to measure all product defect parameters.

The cooperation of multiple detection devices can realize full detection of product defects and realize the measurement of all product defects.

In the third aspect, the example of the present application provides a detection device for surface detection of a moving object moving in a given pattern.

The detection device includes:

An imager, which is configured to image the surface of a moving object;

A rotating mechanism. The rotating mechanism includes a moving ring, a first rotating piece, and a second rotating piece. The first rotating piece and the second rotating piece are sleeved and tensioned with the moving ring. The imager is connected to the moving ring, the first rotating piece and the second rotating piece. The rotating member can rotate together to drive the moving ring and drive the imager to move synchronously with the moving object, so that the imager can obtain an image of the area to be imaged of the moving object without motion blur.

By connecting the imager to the moving ring, the moving ring is driven to rotate by the first rotating part and the second rotating part. In this way, the imager can perform circular movement. In the area between the first rotating part and the second rotating part, the imager can move along a linear trajectory, so that it can be relatively stationary with an object that also moves linearly, so as to obtain a corresponding detection image. Since the imager can move along a linear trajectory, relatively static imaging can be performed on targets that cannot be bent.

According to needs, the imager can be configured as an imaging unit with required (specified) geometric resolution or/and spectral parameters. In this way, during measurement, when a specific area of the target to be measured needs to be acquired, an imaging unit with adapted geometric resolution or/and spectral parameters is installed. Further, the imager can be actuated by the driving device (such as rapid lateral movement) to a specified position to stop, so that the imager and the imaged target can be relatively statically imaged by a movement method such as moving with the circular moving part.

Compared with the aforementioned imager, the imager of the imaging unit with the required (specified) geometric resolution or/and spectral parameters has a different scale. For example, a larger scale is usually selected, or imaging for obtaining different spectral information Device. The geometric resolution indicates the fineness of the image, such as high geometric resolution and low geometric resolution. The imager of the required spectral parameters also has the same limitation.

With reference to the third aspect, in some optional examples of the first possible implementation of the third aspect of the present application, the first rotating member and the second rotating member are independently selected from active members or passive members.

The first rotating member and the second rotating member can be used as active members together and can drive the imager together. Both the first rotating part and the second rotating part select active members to provide a more stable and sufficient driving force, so that the imager can obtain sufficient power and a stable operating state. When one of the first rotating member and the second rotating member is the active member and the other is the driven member, the structure and complexity of the driving mechanism can be simplified to a certain extent, and the driving energy consumption can be reduced at the same time .

In the fourth aspect, the example of the present application provides a detection device for surface detection of a moving object moving in a given pattern.

The detection device includes:

An imager, which is configured to image the surface of a moving object;

A rotating mechanism, the rotating mechanism includes a first rotating member, the first rotating member includes a first inner ring body and a first outer ring body that are matched and connected to each other as a whole, and the imager is connected to the first inner ring body and faces the first outer ring body , The moving object can move close to or attached to the first outer ring body, and the first rotating member can move synchronously with the moving object, so that the imager can obtain an image of the area to be imaged of the moving object without motion blur.

With the first rotating part, the imager can be directly connected to the rotating part and rotate with the first rotating part. In this way, there is no need to additionally provide other connecting components to drive or fix the imager, and it is also different from improving the integration of the device and reducing the volume.

With reference to the fourth aspect, in some optional examples of the first possible implementation of the fourth aspect of the present application, the rotating mechanism includes a second rotating member, and the second rotating member includes a second inner ring that is matched and connected as a whole. The second outer ring body and the second inner ring body are connected with an imager arranged in a manner facing the second outer ring body.

The first outer ring body and the second outer ring body are arranged at a preset interval, so that the imager can image two opposite sides of the moving object.

The first rotating member and the second rotating member can rotate together and drive the imager to move synchronously with the moving object, so that the imager can obtain an image of the region to be imaged of the moving object without motion blur.

For objects that need to be detected on both sides, the imagers provided on the first rotating member and the second rotating member can achieve and realize the purpose of simultaneous detection on both sides. In addition, the arrangement of the two rotating parts can also realize the adaptation to the movement mode of the object under the complex movement state to a certain extent.

In combination with the first implementation manner of the fourth aspect, in some optional examples of the second possible implementation manner of the fourth aspect of the present application, the first inner ring body and the second inner ring body are of equal diameter or If the diameter is not equal, the first outer ring body and the second outer ring body are of equal diameter or unequal diameter.

In the fifth aspect, the example of the present application provides a method for detecting a moving object.

This detection method is used to detect the surface of a moving object.

Detection methods include:

Obtain the motion mode of the moving object, the motion mode includes motion speed and direction;

Set up the imager so that the imager can move synchronously in a stationary manner relative to the moving object according to the motion mode;

The surface of the moving object is imaged by the imager.

Different from the detection by hand-held detection objects through visual inspection, the imager and the detection object (moving object) are synchronized and moved in the same way, so that the two reach a relatively static state, so that the moving object can be obtained. Surface image in order to obtain whether or not there are any flaws or defects.

Further, the detection method and device provided in the examples of this application use an imaging device (such as an area scan camera) that moves in synchronization with the flexible sheet, and images the imaging area when the two are relatively stationary, so as to obtain A higher-precision image with no motion blur, so as to understand the surface flaws of the inspection object.

Further, the detection method and device provided in the examples of the application are used to image a three-dimensional target that moves synchronously in the imaging area, and can obtain a three-dimensional image with higher accuracy and no motion blur when the two are relatively static. In order to learn about the defects of the three-dimensional surface of the inspection object.

Further, the detection method and device provided in the examples of the present application can be used to image the imaging area on the surface of the inflexible material in a relatively static state, so as to obtain images with higher accuracy and without motion blur, so as to facilitate learning Detect the surface flaws of the object.

Beneficial effect:

The detection device and method provided by the embodiments of the present application can be used to perform surface detection of an object in motion, which mainly involves detection of the surface topography of the object. By keeping the imager in the detection device synchronized with the object to be detected, the imager and the object to be detected are relatively static. Under such conditions, the imager can obtain a clear (no motion blur) image of the surface of a moving object, especially a microscopic fine image of a moving target on a high-speed production line. Therefore, information related to the target quality can be obtained from the target image by image processing means.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, so they are not It should be regarded as a limitation on the scope. For those of ordinary skill in the art, without paying any creative labor, other related drawings can also be obtained based on these drawings.

FIG. 1 shows a schematic diagram of the relative positional relationship between a detection device and an object to be measured according to an embodiment of the present application;

FIG. 2 shows a schematic diagram of a process for detecting an object to be measured according to an embodiment of the present application;

FIG. 3 shows a schematic diagram of the relative positional relationship between another detection device and the object to be measured according to an embodiment of the present application;

FIG. 4 shows a schematic diagram of the relative positional relationship between still another detection device and the object to be measured according to an embodiment of the present application.

Reference mark

Icon: 100-moving object; 200-field of view; 201-imager; 203-second rotating part; 202-first rotating part; 204-moving ring; 300-first rotating part; 301-first outer ring body 302-first inner ring body; 602-first power signal connection slip ring; 400-second rotating member; 401-second outer ring body; 402-second inner ring body; 601-second power signal connection slip ring.

detailed description

To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, but not all the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings. , Or the orientation or positional relationship that the application product is usually placed in use, is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation and be constructed in a specific orientation And operation, therefore cannot be understood as a limitation of this application. In addition, the terms "first", "second", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

In the description of this application, it should also be noted that, unless otherwise clearly stipulated and limited, the terms “setup”, “installation”, and “connection” should be understood in a broad sense, for example, it may be a fixed connection or an optional connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

In this application, all the embodiments, implementations and features of this application can be combined with each other without contradiction or conflict. In this application, conventional equipment, devices, components, etc., can either be purchased commercially, or can be self-made according to the content disclosed in this application. In this application, in order to highlight the focus of this application, some conventional operations and equipment, devices, and components are omitted or only briefly described.

Flexible sheet products are common product forms of industrial enterprises, such as protective film, coating film, optical film, lithium battery diaphragm, food packaging film, paper, laser film, leather and other thin film product quality testing, as well as thin sheet products , Such as the surface quality inspection of thin metal and non-metal plates and coils.

In order to know the surface topography of an object, it can be implemented by manual visual inspection. In practice, the applicant has tried the following equipment and methods for testing the surface quality of flexible sheet products as described above:

A line scan camera is set above the lead-out position of the strip product, and the line array spreading direction of the line scan camera is perpendicular to the movement direction of the strip product, and the imaging field of view of the line scan camera matches the movement of the strip product.

Complete the imaging of the moving belt product.

Based on the acquired image, it detects, records, alarms and processes the product.

Based on the above detection method, the detection precision is inversely proportional to the detection speed, that is, under the condition that the camera imaging index remains unchanged, the smaller the geometric scale of the product defect detection, the slower the product line movement speed is required. However, if the product movement speed remains the same on the product assembly line and very fine structures need to be detected, the image requires a shorter exposure time, but the exposure time cannot be shortened indefinitely.

However, with the improvement of the performance of production equipment, the output speed of the product is continuously improving. If you want to obtain the original high resolution or even higher precision of the product image under the premise of the continuous improvement of the product line conveying speed Images need new technical support.

The detection of defects on the surface of plates that are not suitable for bending is the same as the above method.

For situations that require a large number of inspections, it is obvious that manual visual inspection or the aforementioned inspection methods are difficult to accomplish the desired task.

People hope to complete the detection of a large number of objects to be measured with higher efficiency. In particular, when the object to be measured is in motion, it is necessary to use equipment instead of manual detection.

In practice, the applicant found that when performing surface inspection for a large number of sheet or plate products that are not suitable for bending, even if the inspection is performed by the equipment in a static state, a relatively large workload will be required.

In view of this, the applicant proposes a solution to obtain a clear image of the target through the synchronous movement of the imaging device and the detected target during the movement of the sheet and the board. Through proper design, the imaging device can maintain a relatively static state with the object to be measured when imaging is required, and obtain a fine image of a high-speed moving target.

In order to make the imaging device move at a small scale, it can move in a circular manner so that the object to be measured can be imaged cyclically. In the axial direction of the circular movement, multiple imaging devices can be arranged according to the requirement of full coverage of the imaging range. In addition, the imaging device may have multiple viewfinder windows, so that when it moves in a circular motion, there is always a viewfinder window corresponding to the surface of the object to be measured, and each viewfinder window has an intersection on the imaging area of the surface of the object to be measured, so as to realize the object to be measured No omissions and complete inspection during the movement. For example, it will be mentioned in the following description: eight cameras are distributed along a circle. The circular 360° arc is divided into 8 regions with the same central angle (45°). Eight cameras are located in the eight areas, and the center of each camera (or the main optical axis) is located at the center line of its corresponding area (that is, the bisector of the central angle of each area), that is, the main optical axis and The angle bisectors coincide. When only partial imaging is required and there are special requirements for defect feature detection, the lateral movement of the imager with specific parameters and the same direction movement of the original rotating part along the product line can be used to reach the area to be imaged.

In order to make it easier for those skilled in the art to implement the above solutions, further elaboration is given below. In the following example, the object to be measured (moving object or moving object) is illustrated as a sheet. However, it should be understood that other types of objects to be tested can also be detected by the following detection device and the detection method mentioned later. The aforementioned other types of objects to be measured may be wires, blocks, etc., for example. In addition, the bending characteristics of the sheet (board) do not prevent it from being surface tested by the testing device and method described in this application.

Since it is necessary to detect the moving object, the movement mode and mode of the moving object should be determined in advance in order to confirm the detection device in which it can be applied. That is, by using the corresponding detection device, the imaging device can move in a manner matching with the detection object to achieve a relatively static state. In other words, the detection device in this example is used for surface detection of a moving object that moves in a given pattern. For an object to be measured in a movement mode, it can be detected by using a corresponding detection device.

In order to make it easier for those skilled in the art to understand and implement the detection device in the example of this application, a general description is given below.

1. The detection device proposed in the example is a device suitable for high-resolution imaging of flexible sheet products in high-speed motion products. It adopts the method of synchronizing the movement of the area scan camera and the flexible sheet product to ensure that the imaging area of the camera and the flexible product are imaged in a relatively static state.

A cylindrical roller is arranged in the section of the flexible product to be inspected, so that the flexible product maintains a circular arc motion track during the conveying stage. The area scan camera is installed inside the cylindrical drum. When the drum rolls, the camera moves with the drum at the same angular velocity, while the flexible product maintains the same angular velocity movement on the surface of the drum. And the camera and the product surface have the same angular velocity to achieve the conditions of still imaging. The advantage of still imaging is that there is no motion blur, and the fine structure and information of the product surface can be obtained with higher resolution.

2. Based on the cylindrical roller device of the above example, the cylindrical surface of the roller supporting the flexible product can be configured with a transparent material, such as organic glass, which adapts to the flexible product with low lateral rigidity and keeps it horizontally straight.

3. Based on the cylindrical roller device of the above example, the cylindrical surface of the roller supporting the flexible product may not be equipped with any material, which is suitable for flexible products with good lateral rigidity, such as thicker coils. When there is no flexible product, the top and bottom surfaces of the cylindrical drum are like two circular discs.

4. One or more imaging cameras are connected to the roller inside the roller, and the main optical axis of each camera coincides with the radius of the cylinder at its location.

5. The imaging camera can choose different electromagnetic waveband imaging cameras according to the defects of the tested product. A single filter or a combination of multiple filters is set on the light path of the imager, and a single filter is set on the exit light path of the irradiating light source. Light sheet or multi-filter combination, through the modulation of the electromagnetic spectrum by the imager filter and the irradiating light source filter, multi-spectral imaging is realized, and characteristic spectral images of product quality defects are obtained. The imager can image the transmission energy transmitted by the irradiation light source arranged on the back of the target.

6. Another solution is that a camera reciprocates in the drum.

7. The area scan camera on the high-resolution imaging detection device for plate-shaped products under high-speed motion proposed by the example moves in the same direction and parallel with the surface of the plate to be detected, and images in a relatively static environment.

In a specific alternative, the device may have the following limitations:

1. The camera can be rigidly connected to the roller. The field of view combined by multiple cameras along the center of the circle completes the 360-degree coverage of the roller. In the direction of the cylindrical generatrix, multiple cameras can be arranged to achieve full coverage in the width direction.

2. The camera can form a separate camera frame, the axis of the camera frame is concentric with the roller axis, and the camera can reciprocate around the roller axis. During the reciprocating motion, the product is inspected in the same direction and the same angular velocity during the rotation period. The imaging is reversed after the imaging is completed. After the next adjacent area, the product detection area is rotated in the same direction and at the same angular velocity, and imaging is performed again.

3. Each image is geometrically corrected based on the distortion parameters of the camera lens and the arc-formed image plane, and then the product defects are identified, measured, classified, and located, and the defect image coordinates are converted into the reference position coordinates of the product, and the defects are The coordinates are sent to the control system along with the product defect information, and the control system controls the subsequent higher-resolution cameras to obtain finer defect information as needed, and perform corresponding processing.

4. The cylindrical roller can also be deformed into a polygonal prism, and each prism surface corresponds to the imaging field of view of a camera in the direction of movement. This device is suitable for flexible surface products with good deformation and recovery.

5. For the polygonal prism roller, two or more rollers can be set. For the area that cannot be imaged by the first roller, the phase of the second roller can be changed to complete the imaging when the second roller is rolled.

6. When it is necessary to perform imaging inspection on both sides of the product, another set of rollers is needed to form the above-mentioned relatively static imaging at the same angular velocity on the other side.

7. For non-flexible belt products, the bulk products can be connected to the product conveyor belt by physical means, such as semiconductor wafers, etc., through the contact between the flexible conveyor belt and the roller, forming the detection camera and the product being tested in the same direction and angular velocity In the rotating state, relatively static imaging.

In addition, after obtaining a clear image, graphics analysis software or combined with appropriate hardware can be used to process the image in order to obtain more specific and clear object surface flaws, defects, etc.

Please refer to Figure 1 to Figure 4 together.

In general, the detection device in the embodiment includes an imager 201 and a rotating mechanism. As the name implies, the imager 201 is a device used to image an object. The rotating mechanism is a device used to drive the imager 201 to move in a predetermined manner. When the imager 201 is driven by the rotating mechanism, it can detect synchronously moving objects in a certain time and space interval (detection window).

Among them, the imager 201 is configured to image the surface of the moving object 100. The imager 201 may be various video cameras, video cameras, cameras, and other imaging devices, or other devices known or commercially available to be able to photograph objects. The imager 201 may be a single structure with multiple viewfinder units/devices; or, the imager 201 may be a combination of multiple existing devices. Through the aforementioned design, the imager 201 can image multiple regions on the surface of the object to be measured, and accordingly has multiple image (may be video) acquisition structures.

It should be noted that the imager has a matching radiation source. The irradiation light source can irradiate a moving object (imaging target) and a specific area (imaging area) of the moving object. Therefore, as described above, the imager 201 can image the moving object 100, for example, image the energy reflected from the surface of the moving object or the energy transmitted from the back.

The irradiation light source has a desired spatial distribution relationship with the imager and the imaging area. A single filter or a combination of multiple filters is arranged on the light path of the imager, and a single filter or multiple filters are arranged on the exit light path of the irradiation light source. Light film combination. By setting a filter on the light path of the imager and/or setting a filter on the exit light path of the irradiating light source or the combination of the imager and the irradiating light source filter, multi-spectral imaging is realized and product quality is obtained Characteristic spectral image of the flaw. The imager and the irradiation light source are arranged in different spatial attitudes. When imaging the target surface vertically, the irradiation light source uses a larger incident angle to avoid the interference of specular reflection of bright surface materials and enhance the information of surface defects.

Further, the detection device may include an image processor, a controller, and photographing equipment.

Among them, the image processor is configured to process the image produced by the imager. The photographing device may be a photographing device with a higher resolution than the imager, or called another type of imager. In other words, for the entire detection device, the imager may have one or more groups, so as to be configured as needed to obtain images of different observation angles, multi-geometric resolutions and multi-spectrum of the detected object.

Among them, the controller can obtain the information of the processed image fed back by the image processor, and control the shooting device to perform defect analysis on the processed image. For example, each image obtained by the imager is geometrically corrected based on the distortion parameters of the camera lens and the arc-formed image surface, and then the product defects are identified, measured, classified, and located, and the image coordinates of the defects are converted into product references Position coordinates, send the defect coordinates together with the product defect information to the control system, and the control system controls the higher resolution camera (shooting device) set behind to perform higher resolution local high-resolution imaging of some defects to obtain higher resolution. For fine defect information.

The controller can be various electronic components or a collection of them that can perform certain data storage and processing. For example, central processing unit (CPU), micro control unit (MCU), programmable logic controller (PLC), programmable automation controller (PAC), industrial control computer (IPC), field programmable gate array (Field-Programmable Gate Array, FPGA) or computer equipment, etc.

The rotating mechanism can provide a focus point and a fixing and placement space/area for the imager 201 connection. In other words, the imager 201 is attached to the rotating mechanism. As mentioned above, the rotating mechanism can rotate and accordingly provide driving force to drive the imager 201 to move in a desired pattern. The rotating mechanism can be an independent single moving member capable of rotating (360°). That is, it has a definite and fixed center of rotation (rotation). Alternatively, the rotating mechanism may also be a combination of a plurality of moving members that can be mutually independent or coordinated. For example, the rotating mechanism includes two rotating parts. The two rotating parts can be moved together (or can be rotated independently, and coordinated movement can be carried out as required).

In terms of function, the rotating mechanism can drive the imager 201 to move synchronously with the moving object 100. The movement of the rotating mechanism is not based on the moving object 100, that is, it can independently rotate freely. When the moving object 100 moves, the rotating mechanism can be selected to rotate or not rotate. Generally, the rotating mechanism may start moving together with the moving object 100, or the rotating mechanism may start moving ahead of the moving object 100. Similarly, the rotating mechanism may stop moving together with the moving object 100, or the rotating mechanism may stop moving behind the moving object 100.

In order for the imager 201 to obtain a clear (without motion blur) image of the moving object 100, the rotating mechanism can keep the imager 201 and the moving object 100 to be imaged relatively still, so that the imager 201 can obtain the right movement. An image of the area to be imaged of the object 100 without motion blur. The area to be imaged of the moving object 100 may be the entire surface or a partial surface thereof. Corresponding to the selection of the imaging area, the number and layout of the imagers 201 can be considered accordingly, and corresponding arrangements can be made. For example, at any time, the imaging area of the imager 201 includes the entire area of the cross section of the moving object 100.

According to the structure of the moving object 100, the rotating mechanism is configured in a corresponding structure and the imager 201 is also arranged correspondingly, so that the imager 201 can obtain a proper imaging area, and the imaging area can cover the surface of the moving object 100. According to the distinction of the movement trajectory, the imager 201 can be driven by the rotating mechanism to move along the first trajectory or the second trajectory. Wherein, the first track is the first closed ring of the circumference. The diameter of the circle of the first closed ring can be designed as required, and this application does not make specific limitations. The second trajectory is a second closed loop formed by a combination of a circular arc and a straight line. In one example, the second closed ring has a keyway (a slot matching the key is machined on the shaft or in the hole to install the key to transmit torque. This kind of groove is called the keyway) structure. The timing belt is A common structure. Or, as a vivid description, the second closed ring is a shape formed by tangent arcs on two opposite wide sides of the rectangle, and the long sides of the rectangle are a rigid structure.

As an example, the rotating mechanism includes rotating bodies, and the number of rotating bodies may be one or more (such as two, three, four, five, etc.). The rotating mechanism may only have a rotating body; or, the rotating mechanism may include other components/parts other than the rotating body. Such other components may be connectors (if bolts, nuts, clamps, etc.). Based on the layout requirements of the imager 201, the imager 201(s) may be directly or indirectly connected to the rotating body.

As an optional (alternative) specific implementation, as shown in FIG. 1, the rotating mechanism includes a moving ring 204, a first rotating member 202, and a second rotating member 203. In addition, the first rotating member 202 and the second rotating member 203 are sleeved and tensioned with the moving ring 204. Among them, the moving ring 204 can be selected as an endless belt or a crawler, and the crawler is rigid in the vertical circular motion direction, which is convenient to keep the installation attitude of the imager stable. Correspondingly, the first rotating member 202 and the second rotating member 203 can be selected as pulleys (synchronous belts). In such an example, the diameters of the first rotating member 202 and the second rotating member 203 as pulleys may be the same or different. For example, the diameter of the first rotating member 202 is larger than that of the second rotating member 203; or, the diameter of the first rotating member 202 is smaller than the second rotating member 203. Wherein, the first rotating member 202 and the second rotating member 203 are independently selected from active members or passive members. For example, the rotating part is connected to the output shaft of the motor and is driven to rotate by the output shaft. Alternatively, the rotating part is equipped with a supporting shaft through a bearing, and the rotating part as the active part drives the rotating part as the passive part installed through the bearing. When the first rotating part 202 and the second rotating part 203 are both passive components, obviously, additional driving devices, such as various motors, need to be equipped for transmission through couplings.

For the rotating mechanism of the example of the above pulley combination structure, the imager 201 is connected to the moving ring 204. There may be multiple imagers 201 and they are evenly distributed over the entire length of the moving ring 204. Therefore, when the two rotating parts are tensioned, in the area between the first rotating part 202 and the second rotating part 203, the moving ring 204 forms a linear shape under rigid support. Thus, the area connected to the moving ring 204 The imager 201 can also move in a straight line trend within an allowable error. Within a certain distance below the moving ring 204 (which can be set freely, preferably not in contact with the imager 201), the object to be measured (the moving object 100) can also move according to a linear trend. When the imager 201 in the area between the first rotating part 202 and the second rotating part 203 and the object to be measured have the same moving speed (velocity, direction), the imager 201 and the object to be measured are relatively stationary. Based on this, the first rotating member 202 and the second rotating member 203 can rotate together to drive the moving ring 204 and drive the imager 201 to move in synchronization with the moving object 100, so that the imager 201 can obtain the image of the moving object 100 to be imaged. Motion blurred image.

In the above example, the rotating body may be provided and implemented in the form of the first rotating part 202 and the second rotating part 203. Correspondingly, the imager 201 is connected to the rotating body indirectly (via an intermediate piece). That is, the imager 201 is connected to the first rotating member 202 and the second rotating member 203 through a moving ring 204 (ie, the aforementioned intermediate member).

As shown in Figure 2, the detection device shown in Figure 1 can be used to implement the following detection method: For detection of the surface of a plate-shaped product that is not suitable for bending, a synchronous belt that moves in the same direction and parallel to the plate is set above the plate, The area scan camera is installed on the timing belt, and the motion speed of the control plate and the timing belt is the same. The camera and the plate are relatively static for imaging, and high-resolution images without motion blur can be obtained. Other imaging methods that keep the area scan camera and the inspected plane moving in synchronization to make the camera and the inspected plane relatively still are under protection. It should be noted that in FIG. 1, the dashed arrows indicate the direction of rotation of the first rotating member 202 and the second rotating member 203; the solid arrows indicate the direction of rotation of the moving belt; the hollow arrows indicate the direction of movement of the moving object.

Another combination of imaging devices is based on multiple cameras forming a horizontal stereo imaging combination of the detected object, which can analyze and calculate the three-dimensional information of the detected object. The camera lens can be a normal lens or a special lens, such as a telecentric lens, according to the imaging requirements.

As another optional (alternative) specific implementation, as shown in FIG. 3, the rotating mechanism includes a first rotating member 300. The first rotating member 300 has a double-layer structure of an inner layer and an outer layer. That is, the first rotating member 300 includes a first inner ring body 302 and a first outer ring body 301 that are matched and connected to each other as a whole, and both are cylindrical and cylindrical structures. The first inner ring body 302 and the first outer ring body 301 are coaxial and can rotate synchronously. The imager 201 is connected to the first inner ring body 302 and faces the first outer ring body 301 (obviously, the diameter of the first inner ring body 302 and the diameter of the first inner ring body 302 are appropriately selected so as to allow sufficient imaging The space where the device 201 is installed) In addition, it can be understood that the imager 201 is connected to the first inner ring body 302 and is located between the first inner ring body 302 and the first outer ring body 301. At the same time, the imager 201 must be able to image the moving object 100. Therefore, the first outer ring body 301 may be provided with a gap so that the field of view 200 of the imager 201 can pass through the gap without hindrance and directly image the moving object 100; or The first outer ring body 301 may be made of a transparent material, so that the field of view 200 of the imager 201 can directly image the moving object 100. Alternatively, the first outer ring body 301 has a light-transmitting part made of a transparent material. The light-transmitting part is a part of the first outer ring body and is located in the light path of the field of view of the imager. The transparent material can be transparent resin, organic glass, etc. Similarly, the second outer ring body can also have the same or similar structure.

For the rotating mechanism with such a structure, the moving object 100 can move close to or attached to the first outer ring body 301. In a solution where the moving object 100 can be attached to the first outer ring body 301 to move, the first outer ring body 301 may also have an appropriate width so as to be able to accommodate the moving object 100 (such as a belt or sheet). Further, the first outer ring body 301 may be provided with a groove or a card slot, so as to allow the moving object 100 to move stably and smoothly.

Combining the imager 201 and the above-mentioned rotating mechanism, the first rotating member 300 can move synchronously with the moving object 100, so that the imager 201 can obtain an image of the area to be imaged of the moving object 100 without motion blur.

Based on the above solution, in a further adjustment technique, as shown in FIG. 3, the rotating mechanism includes a second rotating member 400. That is, the rotating mechanism has a first rotating member 300 and a second rotating member 400. The second rotating member 400 includes a second inner ring body 402 and a second outer ring body 401 that are matched and connected to each other as a whole, and the second inner ring body 402 is connected with an imager arranged in a manner facing the second outer ring body 401 201. In other words, the first rotating member 300 and the second rotating member 400 can have the same or similar structural combination and structural feature matching, etc., but the sizes of the two can be freely combined and adjusted (for example, the first inner ring body 302 and the second inner ring body 302 The two inner ring bodies 402 are of equal diameter/may be non-equal diameters, and the first outer ring body 301 and the second outer ring body 401 are of equal diameters/may be non-equal diameters.).

For the solution with the first rotating member 300 and the second rotating member 400, the first outer ring body 301 and the second outer ring body 401 are arranged at a preset interval, so that the imager 201 can align opposite sides of the moving object 100 Perform imaging. That is, the first outer ring body 301 and the second outer ring body 401 may be distributed on both sides of the moving object 100. In this way, the first rotating member 300 and the second rotating member 400 can rotate together and drive the imager 201 to move synchronously with the moving object 100, so that the imager 201 can obtain an image of the area to be imaged of the moving object 100 without motion blur. In addition, in such an example, the moving object 100 (sheet) can be arranged between the first outer ring body 301 and the second outer ring body 401 in a zigzag shape.

In the above solution, the first rotating member 300 and the second rotating member 400 are provided as examples of rotating bodies. Correspondingly, the imager 201 is directly connected to the rotating body. That is, a plurality of different imagers 201 are connected to the first inner ring body 302 of the first rotating member 300 and the second inner ring body 402 of the second rotating member 400 respectively.

In the structure shown in the foregoing text and shown in FIG. 3, the detection device has a total of 16 imagers (area scan cameras), and the first rotating member 300 and the second rotating member 400 each have eight imagers. In another embodiment, as shown in FIG. 4, the detection device has a total of two imagers (area scan cameras), and the first rotating member 300 and the second rotating member 400 each have one imager.

In conjunction with the above detection device, the example also proposes a detection method of a moving object 100 (or: a method for high-resolution imaging of the surface of a flexible sheet product under high-speed motion), which is used to image the surface of the moving object 100 Perform testing.

Detection methods include:

The movement pattern of the moving object 100 is obtained, and the movement pattern includes the movement rate and the movement direction.

The imager 201 is set so that the imager 201 can move synchronously in a stationary manner relative to the moving object 100 according to the movement mode.

The surface of the moving object 100 is imaged by the imager 201.

Combined with the detection structure shown in FIG. 3, for a detection device solution having a first rotating member 300 and a second rotating member 400, and having multiple imagers 201 (each rotating member includes multiple cameras, each of a rotating member The camera can be connected to the slip ring 602 (or the first signal connection slip ring) through the first power signal for data communication and/or power connection; accordingly, each camera in the other rotating part can be connected to the slip ring 601 through the second power signal For data communication and/or power connection), the detection method can be implemented as follows. The rollers (the first rotating part 300 and the second rotating part 400) under the control of the control system have the same linear speed as the flexible strip to be inspected. The camera (imager 201) is rigidly connected to the roller, and the camera rotates with the roller to be inspected The flexible strip is covered on the circumference of the drum under tension, and the cameras successively enter the imaging area to maintain the imaging in a relatively static relationship with the flexible strip to be tested. The frame image covered by multiple cameras completes all imaging of the moving strip. Continuous imaging images have overlapping areas. After each image is corrected by projection distortion, automatic detection of strip surface defects is carried out to complete the classification, measurement and positioning of surface defects. The above geometrically corrected images can be re-mosaic and segmented, which is convenient for filing and establishing a defect information database, providing operating parameters for product quality inspection processing. For certain types of defects, the subsequent higher-resolution cameras can also be controlled based on coordinate information Use a relatively static method for higher resolution imaging.

In combination with the detection device shown in FIG. 4, for a detection device solution with a first rotating member 300 and a second rotating member 400, and multiple imagers 201 (each rotating member includes a single camera), the detection method can be implemented as follows. Under the control of the control system, the roller has the same linear speed as the flexible strip to be inspected. The camera and roller shaft system is slidingly connected, and the camera moves around the roller axis in a pendulum motion. When the camera and roller rotate in a forward direction, the rotation of the camera and the roller is synchronized to keep the same The imaging area of the flexible strip is relatively static. When the imaging is completed, the camera swings in the reverse direction and returns to the predetermined starting point, the camera enters the forward swing stage. This cycle of work completes the frame imaging of the moving strip. Continuous imaging images have overlapping areas. After each image is corrected by projection distortion, automatic detection of strip surface defects is carried out to complete the classification, measurement and positioning of surface defects. The above information provides operating parameters for product processing.

Corresponding to the above detection method and device, the example also provides a detection system, which includes an image processing device, such as the aforementioned detection device. The detection device is constructed according to the above-mentioned structure, and is used according to the aforementioned method to obtain an image of the detection object. Further, the image obtained by the inspection device is processed by the image processing device, so as to obtain the surface flaws of the inspection object through analysis (whether there are flaws; if there are flaws, the distribution of the flaws can be given, such as density, position, shape, etc. information). The image processing device may be a computer device having a corresponding image processing program. The image processing device can be manually assisted or controlled by a program to automatically process images.

Based on the above detection device, a detection system can be provided in the example. The detection system includes a plurality of the above detection devices, and all the detection devices cooperate with each other in a multi-level arrangement. Among them, the defect detected by the previous-level detection device can be selected by the next-level detection device through corresponding geometric resolution and/or multi-spectral imaging to measure all product defect parameters.

The above are only the preferred embodiments of the present application, and are not used to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of this application shall be included in the scope of protection of this application.

Claims

A detection device for surface detection of a moving object that moves according to a given pattern, characterized in that the detection device includes:

An imager and an irradiation light source, the irradiation light source illuminates an imaging target and area, and the imager is configured to image the energy reflected on the surface of the moving object or the energy transmitted from the back;

A rotating mechanism, the imager is attached to the rotating mechanism, and the rotating mechanism is configured to drive the imager to move synchronously with the moving object, and to keep the imager and the moving object to be imaged The area is relatively stationary, so that the imager obtains an image of the area to be imaged of the moving object without motion blur.
The detection device according to claim 1, wherein the rotating mechanism comprises a rotating body, the imager is directly or indirectly connected to the rotating body, and the imager can be driven by the rotating mechanism along the first A trajectory movement or a second trajectory movement, wherein the first trajectory is a circular first closed loop, and the second trajectory is a second closed loop formed by a combination of a circular arc and a straight line.
The detection device according to claim 1, wherein the radiation source has a desired spatial distribution relationship with the imager and the imaging area, and a single filter or a combination of multiple filters is arranged on the optical path of the imager to irradiate A single filter or a combination of multiple filters is arranged on the exit light path of the light source.
A detection system, wherein the detection system comprises a plurality of detection devices according to any one of claims 1 to 3, and all the detection devices cooperate with each other in a multi-level arrangement;

Among them, the defect detected by the previous-level detection device can be selected by the next-level detection device through corresponding geometric resolution and/or multi-spectral imaging to measure all product defect parameters.
A detection device for surface detection of a moving object that moves according to a given pattern, characterized in that the detection device includes:

An imager configured to image the surface of the moving object;

A rotating mechanism, the rotating mechanism includes a moving ring, a first rotating piece, and a second rotating piece. The first rotating piece and the second rotating piece are sleeved and tensioned on the moving ring, and the imager is connected to the A moving ring, the first rotating part and the second rotating part can rotate together to drive the moving ring and drive the imager to move synchronously with the moving object, so that the imager can gain control of the movement An image of the object's area to be imaged without motion blur.
The detection device according to claim 5, wherein the first rotating member and the second rotating member are independently selected from active members or passive members.
A detection device for surface detection of a moving object that moves according to a given pattern, characterized in that the detection device includes:

An imager configured to image the surface of the moving object;

A rotating mechanism, the rotating mechanism includes a first rotating member, the first rotating member includes a first inner ring body and a first outer ring body that are matched and connected to each other as a whole, and the imager is connected to the first inner ring Body and face the first outer ring body, the moving object can move close to or attached to the first outer ring body, and the first rotating member can move synchronously with the moving object to make the imager It is possible to obtain an image of the region to be imaged of the moving object without motion blur.
The detection device according to claim 7, wherein the rotating mechanism comprises a second rotating member, and the second rotating member includes a second inner ring body and a second outer ring body that are matched and connected to each other as a whole, so The second inner ring body is connected with an imager arranged in a manner facing the second outer ring body;

The first outer ring body and the second outer ring body are arranged at a preset interval, so that the imager can image opposite sides of the moving object;

The first rotating member and the second rotating member can rotate together and drive the imager to move synchronously with the moving object, so that the imager can obtain no motion blur on the area to be imaged of the moving object Image.
The detection device according to claim 8, wherein the first inner ring body and the second inner ring body are of equal or non-equal diameter, and the first outer ring body and the first The two outer ring bodies are of equal diameter or non-equal diameter.
A method for detecting a moving object is used to detect the surface of the moving object, wherein the detecting method includes:

Obtaining a movement pattern of the moving object, the movement pattern including a movement rate and a movement direction;

Setting the imager so that the imager can move synchronously in a stationary manner relative to the moving object according to the movement mode;

The surface of the moving object is imaged by the imager.