CN103808732A - Capacitance detection system and capacitance detection method based on machine vision - Google Patents
Capacitance detection system and capacitance detection method based on machine vision Download PDFInfo
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- CN103808732A CN103808732A CN201410064017.3A CN201410064017A CN103808732A CN 103808732 A CN103808732 A CN 103808732A CN 201410064017 A CN201410064017 A CN 201410064017A CN 103808732 A CN103808732 A CN 103808732A
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Abstract
The invention relates to a capacitance detection system which comprises a feeding inlet subsystem, a conveyer belt system, an optical chamber system and an electronic installation box system, wherein the optical chamber comprises an optical image acquisition system, an optical chamber cleaning cooling ventilation system and an air purification FFU (Fan Filter Unit) system; the conveyer belt system comprises a device conveyer belt system and a device rotation table; the electronic installation box system comprises a power supply tank, an algorithm main control subsystem and a motion control PLC (Programmable Logic Controller) subsystem; the feeding inlet subsystem comprises a feeding grasping device, a material cabin, a vibration disc and a capacitance angle adjusting device. The capacitance detection system integrates the packaging function and a detection system into one equipment system, an automatic conveying and pin correcting system at the front end of the equipment is canceled, secondary damage caused by material movement after capacitance detection is avoided, the single capacitance detection efficiency is 40-50/minute, and the capacitance detection efficiency is as high as 1.2s for each capacitor, so that manual detection can be completely replaced.
Description
Technical field
The invention belongs to field of machine vision, particularly a kind of capacitive detection system and method.
Background technology
In manufacture process, the various defects of electric capacity comprise: the excellent scuffing that goes between, casing collapse, foaming, cut, beat that trace, aluminum hull expose, pipe range is exposed, overlaps in expansion, anti-plug, plug projection, inclination, ball rod, sleeve pipe dig, seal bad, sleeve pipe cutting is bad, plug wound, pack the problems such as dirty.Machine vision technique only has indivedual application capacitance detecting field, such as the disclosed a kind of high voltage ceramic capacitor welding quality online detection instrument based on machine vision of Chinese patent CN102401800A, but this equipment can not be incorporated into the defects detection of above-mentioned electric capacity on a device systems and realize, particularly realizing on packing function and detection system integration to device systems.In prior art, also there is the secondary injury bringing due to carrying blowing after capacitance detecting, and the lower technical matters of single capacitor detection efficiency.
Summary of the invention
The invention provides and a kind ofly can expand to the outward appearance flaw of other various capacitance resistance inductance and so on electron device and the detection system of size detection according to user's request, this system can be realizing on multinomial detection packing function and detection system integration to device systems.
A kind of capacitive detection system based on machine vision provided by the invention, comprises pan feeding openning system, conveyer belt system, optical chamber system, electric mounting box system.
Feeding mouth subsystem comprises pan feeding grabbing device, feed bin, shake charging tray and electric capacity angular adjustment apparatus.The Main Function of shake charging tray is by the adjustment of shake charging tray, allows all entering shake all discharges of implementation rule of electric capacity that level transmits backward of charging tray travelling belt.Shake charging tray comprises: hopper, chassis, controller, straight line feeder.The principle of work of shake charging tray: have individual impulse mgnet below hopper, can make hopper vertical vibration, due to the inclination of spring leaf, make hopper rock vibration around its Z-axis.Electric capacity in hopper, owing to being subject to this vibration, and rises along helical orbit, until deliver to discharging opening.The regular first horizontal direction that makes electric capacity then vertical direction is put, and the system of being convenient to is carried out follow-up detection.Pan feeding grabbing device of the present invention is to grab to realize capturing by gas to transmit testing capacitance to follow-up link.This system grabs to realize by vertical cylinder of a horizontal cylinder and a gas, and the flow process of realization is as follows: the horizontal cylinder of a. system indication runs to initial point, and vertically cylinder drops to minimum point, and gas is grabbed the closed electric capacity that captures; B. vertically cylinder rises to peak, and then horizontal cylinder runs to distal-most end; C. gas is grabbed to unclamp and is put down electric capacity, and vertically cylinder rises to peak, and horizontal cylinder returns initial point; D. capture circulation next time.
Conveyer belt system comprises device conveyer belt system, device universal stage.Device conveyer belt system is measured for the flowing water of realizing electric capacity, is mainly divided into five major parts: feeding mouth part travelling belt according to detecting station: complete from shake material platform and be remedied to the transmission that pan feeding captures to feeding mouth to dimensional measurement to cubic content measurement to pin; Side Defect Detection travelling belt: complete the transmission from Defect Detection to side after universal stage; Bottom Defect Detection travelling belt: complete bottom Defect Detection transmission; Pin Defect Detection travelling belt: complete pin senses transmission; Top Defect Detection travelling belt: complete top Defect Detection transmission.The control of travelling belt mainly adopts step-by-step system to carry out: that is to say station of each movement, treat that the operation of current station completes, then move successively next time.Realize water operation, improve the efficiency of system.Universal stage adopts automatically controlled universal stage system to realize, and for realizing 360 degree rotation tomographies of testing capacitance, this universal stage adopts the product of smc can simply accurately realize the rotation of any controlled number of degrees.
Optical chamber comprises optical imagery acquisition system, the clean cooling, air discharging system of optical chamber, air purification FFU system.Consider the requirement of machine vision equipment for environment cleanliness, optical chamber internal inspection system of the present invention preferably adopts sealing optical chamber.In both having guaranteed the requirement of imaging system for cleanliness factor, shield again the impact of extraneous light environment like this.
Electric mounting case comprises system power supply pond, algorithm master control subsystem, motion control PLC subsystem.
Motion control PLC subsystem of the present invention is realized the control for the kinematic system of whole system, and in system, the exposure control of the operation of all motions and image capturing system is all realized by this part.PLC realizes communication by special purpose interface and upper strata industrial computer.
Algorithm master control subsystem of the present invention comprises that center-control cpu system, keyboard and LCD show, cabinet.
Master control subsystem of the present invention comprises that embedded platform plate, keyboard and LCD show, cabinet; Wherein embedded platform plate comprises DSP subsystem, FPGA subsystem, ARM subsystem, and described FPGA subsystem is by EMIF interface and the interconnection of ARM subsystem, and described DSP subsystem is by HPI interface and the interconnection of ARM subsystem; Described platform also comprises a DDRII storer, the 2nd DDRII storer, SRAM storer, described FPGA subsystem and a DDRII storer and SRAM memory interconnect; Described DSP subsystem comprise more than 2 or 2 dsp processor, and the SRIO interface of FPGA interconnection, two DSP between the SRIO interface, DDR2 cache controller, EMAC control module, the DMA direct memory access module that interconnect, described DDR2 cache controller connects the 2nd DDRII storer, described EMAC control module is connected with kilomega network PHY, completes the communication with industrial camera.
Term implication of the present invention is as follows:
DSP (Digital Signal Processing), digital signal processing;
FPGA(Field-Programmable Gate Array), field programmable gate array.
GigE Vision is a kind of camera interface standard based on the exploitation of gigabit Ethernet communication protocol.
Hub hub;
HPI(Host-Port Interface) be one with the parallel interface of main-machine communication;
EMIF external memory interface;
GPIO(General Purpose Input Output) universal input/output interface;
SRAM is the abbreviation of English Static RAM, i.e. static RAM.
DDR2(Double Data Rate2) SDRAM is by JEDEC(EEE electronic equipment engineering joint committee) the memory techniques standard of new generation of developing.
Kilomega network PHY, refers to the Ethernet interface of 1000M.
The present invention includes device size and differentiate one or more among subsystem, cubic content measurement subsystem, electric capacity capacitive test macro, electric capacity outward appearance Defect Detection system, qualified electric capacity automatic packaging system, defective electric capacity classification eliminating system, pin apparatus for correcting subsystem, side Defect Detection subsystem, bottom Defect Detection subsystem, pin Defect Detection subsystem, top Defect Detection subsystem.
Device size is differentiated subsystem, is the electric capacity specification that whether conforms with setting through the size of the electric capacity after angular setting for differentiating, to avoid mixed specification electric capacity to sneak into.System comprises following formation: industrial camera, light source, photoelectric sensor, rejecting mechanism.Realization mechanism is mainly that the size that adopts an industrial camera to gather testing capacitance comprises whether height and diameter coincide with predetermined value, the automatic rejection of misfitting.The electric capacity that sorts out from prime shake charging tray enters system at the corresponding levels having become the electric capacity of vertical direction.Specific implementation process is as follows:
A. be placed in the photoelectric sensor on electric capacity travelling belt, electric capacity detected, photoelectric sensor returns this useful signal to control system;
B. control system is sent corresponding control signal and is carried out controlling dimension and differentiate light source and the camera of subsystem and carry out data acquisition;
C. view data passes back to image processing platform;
D. image processing platform judges that whether current capacitor size is qualified;
E. defective electric capacity is disallowable in the fixed position of travelling belt.
Rejecting mechanism of the present invention, comprises that automatic rejection system comprises that cylinder, gas grabs, and in the fixed position, imaging station rear of capacitor size measurement subsystem, a gas is set and grabs, and this gas is grabbed according to prime testing result and carried out electric capacity Weeding, and implementation procedure is as follows:
A. horizontal cylinder drives whole system to judge that to capacitor size the end of subsystem carries out electric capacity crawl;
B. defective electric capacity is gone to stroke one half at horizontal cylinder, unclamps gas and grabs and abandon defective electric capacity to electric capacity collecting box;
C. qualified electric capacity is delivered on follow-up travelling belt by this subsystem.
Whether cubic content measurement subsystem, coincide mainly for detection of capacity and the preset value of testing capacitance, and the mechanism of realization is to adopt general measuring capacitance capacity module integration to enter native system.And the underproof electric capacity of automatic rejection.The function that this part realizes need to adopt gas grapple structure to coordinate travelling belt to carry out intermittent movement to carry out capacitance test.The main thought of test is as follows: a. electric capacity travelling belt moves a station (the corresponding electric capacity of each station); B. two probes corresponding to capacitance test are installed gas and are grabbed two pins that clamp current testing capacitance; C. gas is grabbed after wait volume test completes and is automatically unclamped; D. the defective electric capacity automatic rejection of capacity.
Pin apparatus for correcting subsystem is that the clamping of twice different directions to electric capacity pin by cylinder realizes the rectification to bending pin.This part mainly grabs to realize by two pneumatic gas, and the placing direction that two gas is grabbed becomes 90 degree angles, realizes respectively the clamping movement of horizontal x axle and horizontal y axle, realizes the clamping of capacitor pin is corrected.
Side Defect Detection subsystem, for detection of the flaw of electric capacity side, comprises the correctness of electric capacity label and the Defect Detection on the whole body, electric capacity side; This subsystem is made up of four major parts: industrial camera, light source, laser measurement system, universal stage.The Main Function of the industrial camera of this part is to measure electric capacity label whether to represent correctness, and casing damage is packed dirtyly, and whether the polarity of electric capacity is correct.This part implementation procedure is as follows:
A. by the rotation of universal stage band dynamic condenser, camera arrives border, electric capacity side Image Acquisition;
B. according to the character of the Image Acquisition label inside on electric capacity label;
C. carry out character recognition and obtain the concrete model of electric capacity;
Whether the model that d. judges current electric capacity and label indicate the image obtaining consistent;
E. the electric capacity polarity pin obtaining according to label indicates with actual pin and compares;
F. the defective electric capacity of label record and rejecting respectively according to error category.
By the electric capacity side image obtaining, adopt various open defects that algorithm process judge sleeve pipe for example: sleeve pipe is broken, foaming, cut, aluminum hull expose, overlap pipe range, sleeve pipe is dug, sleeve pipe cuts the lacunas such as bad, external packing is dirty, electrolytic solution leaks outside.
Laser measurement system adopts the line laser of customization and the system of ccd camera mix proportion to carry out the defects detection of electric capacity side, this detection system is mainly to utilize the scanning of laser to electric capacity side, then utilizes ccd camera to obtain this laser scanning line and obtains the planarization of the side of current electric capacity.The Defect Capacitance that this detection method can be obtained is as follows: beating trace, sleeve pipe has hole, sleeve pipe to shrink bad.
Bottom Defect Detection subsystem, for detection of the flaw of electric capacity bottom, detecting mechanism is to adopt industrial camera imaging to gather capacitive head image, with two industrial cameras detections, one deploys the image acquisition for base plane in the positive top of described electric capacity, one deploys in the position parallel with described electric capacity bottom, for detection of the defect of bottom protrusion and so on; Comprise that gas is grabbed, vertically cylinder, oscillating cylinder.The defect of the electric capacity that this subsystem can detect is as follows: plug sink, plug tilts, by plug hole,, aluminum casing bottom expansion protruding without plug, anti-plug, plug wound, plug projection, ball rod, and this part realization flow is as follows:
A. start finger and capture testing capacitance;
B. start finger 90-degree rotation upset electric capacity bottom level;
C. start top bowl light source;
D. start top camera imaging;
E. start side camera imaging;
F. carry out respectively post processing of image according to the two width images that obtain;
G. defective electric capacity is rejected according to classification of defects.
Top Defect Detection subsystem, with two industrial cameras detections, one deploys the image acquisition for top planes in the positive top of described electric capacity, and one deploys in the position parallel with capacitive head, for detection of the defect of top bump and so on.The Defect Capacitance that this subsystem can detect is as follows: seal bad defect (above seal gapped, sealing part have must shape aluminium bits, across seal portion splits, inner burr, cutting, breach, without sealing, distortion, cover pipe range, aluminum hull variable color, aluminum casing bottom expand, without aluminum hull, aluminum casing bottom have wound, explosion-proof valve is porose, component is bad (without explosion-proof valve), bottom aluminum hull polishing scratch.The realization of this subsystem wants simple compared with bottom and sidepiece, realizes without specific grasping system, and the imaging system on-line equipment of this subsystem, on travelling belt, coordinates imaging system to carry out by the motion of travelling belt.The operation of travelling belt adopts step-by-step system (station moves at every turn) to coordinate the exposure image of light source and camera.After algorithm process completes, control automatic rejection system is rejected according to defect classification.
The present invention also comprises man-machine interface subsystem, automatic boxing subsystem.
Automatic boxing subsystem of the present invention is realized for the automatic packing and binding function that detects qualified electric capacity, and the needed carton of casing needs specification consistent, and has and put into manually assigned address, after system vanning by taking manually joint sealing away.Adopt two-dimensional motion mechanism platform to realize.Pack needed carton enter and export adopt travelling belt realize.Automatic boxing subsystem, is to carry out the automatic operation scale parameter that calculates controlled motion system according to following parameter, the number of plies of the electric capacity that (1) single case is supported; (2) line number of every layer capacitance; (3) columns of every layer capacitance; (4) diameter of electric capacity and height.The motion flowing water of automatic boxing subsystem is as follows:
A. travelling belt single step advance transmit qualified electric capacity grab crawl position to the gas of packaging system;
B. gas is grabbed according to the travelling belt single step of control system feedback and is advanced, and obtains electric capacity and reaches information;
C. level electricity cylinder returns initial point;
D. gas is grabbed and is opened;
E. vertically cylinder drops to minimum point;
F. operator prevent electric capacity containing box to vertical electric cylinder for fixing screens;
G. operator provides the dimension information of current electric capacity, and receives the number of plies of the electric capacity of packing list case support, the line number of every layer capacitance, the columns of every layer capacitance;
H. system calculates the operational factor of level electricity cylinder x and level electricity cylinder Y and vertical electric cylinder Z automatically;
I. vertical electric cylinder Z runs to the coordinate that system provides;
J. gas crawl electric capacity;
K. vertically cylinder rises to extreme higher position;
L. level electricity cylinder X and level electricity cylinder Y run to the correct position of containing box automatically: the respective coordinates that runs to containing box according to the order of Row Column;
M. vertically cylinder drops to extreme lower position, unclamps gas and grabs;
N. vertically cylinder rises to extreme higher position;
Level electricity cylinder X and level electricity cylinder Y run to initial point automatically, and gas is grabbed and opened;
O. vertically cylinder drops to extreme lower position;
P. complete successively the putting of electric capacity of current one deck;
Q. vertical electric cylinder is reduced to suitable position downwards according to electric capacity altitudinal belt dynamic condenser containing box;
R. complete the putting of electric capacity of another layer according to said sequence;
S. system Auto-counting, has judged the collection of the containing box of current electric capacity, and system is that prompting operation person moves away from containing box;
T. system wait operates this and puts new containing box, then carries out a new automatic boxing of taking turns.
Beneficial effect of the present invention is, provide a kind of realizing on packing function and detection system integration to device systems, self-feeding and the pin correction system of front equipment end are saved, and avoid the secondary injury that may bring due to carrying blowing after capacitance detecting, single capacitor detection efficiency is at 40-50/minute, electric capacity inspection efficiency only needs 1.2s up to each electric capacity, can substitute manual detection completely.
Below in conjunction with accompanying drawing, the present invention will be described, wherein " schematic diagram ", " schematic block diagram ", just as a signal of entire system, the true form not realizing as equipment, the meaning of this figure is mainly general frame to system and a understanding of functional structure.When specific implementation, the exhaust position of subsystems and form likely can be variant, but from the functional form of equipment, the implementation framework of entirety should be observed the guidance with reference to present patent application.
Accompanying drawing explanation
Fig. 1. the overall schematic block diagram of capacitive detection system; Fig. 2. embedded platform plate structure schematic diagram of the present invention; Fig. 3. be of the present inventionly with chlamydate embedded platform plate structure schematic diagram; Fig. 4. size discrimination subsystem schematic block diagram; Fig. 5. bottom flaw is differentiated subsystem schematic block diagram; Fig. 6. pin flaw is differentiated subsystem schematic block diagram; Fig. 7. top flaw is differentiated subsystem schematic block diagram; Fig. 8. shake material platform schematic block diagram; Fig. 9. electric capacity transmits adjusts station meaning block diagram; Figure 10. defective electric capacity is rejected schematic block diagram; Figure 11. size discrimination process flow diagram; Figure 12. capacity is differentiated process flow diagram; Figure 13. pin is corrected schematic diagram; Figure 14. pan feeding grabbing device schematic diagram; Figure 15. pan feeding captures control flow chart; Figure 16 .FFU control flow chart; Figure 17. side flaw is differentiated subsystem schematic block diagram; Figure 18. side flaw is differentiated subsystem control flow graph; Figure 19. bottom flaw is differentiated subsystem motion schematic block diagram; Figure 20. bottom flaw is differentiated subsystem motion control flow graph; Figure 21. top flaw is differentiated subsystem process flow diagram; Figure 22. automatic packaging system schematic block diagram; Figure 23, board system structured flowchart.
Accompanying drawing number: 1, industrial camera; 2, electric capacity; 3, light source; 4, horizontal cylinder; 5, vertical cylinder; 6, gas is grabbed; 7, side camera; 8, electric capacity; 9, top camera; 10, bowl light source; 11-14 industrial camera; 15, side camera; 16, top camera; 17, electric capacity; 18, embedded platform plate; 19, RS232 serial ports; 20, Ethernet interface; 21, USB interface; 22, UART serial ports; 23, cabinet; 24, travelling belt; 25, electric capacity containing box; 26, hopper; 27, straight line feeder; 28, chassis; 29, pin; 30, probe; 31, universal stage; ; 32, switch 34; 33, vision signal VGA interface, power interface POWER.
Embodiment
As shown in Figure 1, the capacitive detection system of embodiment 1, comprises optical chamber system, electric mounting box system, man-machine interface subsystem, the automatic boxing subsystem of pan feeding openning system, conveyer belt system, sealing.Wherein feeding mouth subsystem comprises feed bin, shake charging tray and electric capacity angular adjustment apparatus; Conveyer belt system comprises device conveyer belt system, device universal stage (smc production), pan feeding grabbing device; Optical chamber comprises optical imagery acquisition system, the clean cooling, air discharging system of optical chamber, air purification FFU system; Electric mounting case comprises system power supply pond, algorithm master control subsystem, motion control subsystem.Device conveyer belt system comprises five major parts: feeding mouth part travelling belt, side Defect Detection travelling belt, bottom Defect Detection travelling belt, pin Defect Detection travelling belt, top Defect Detection travelling belt.
As shown in Figure 8, shake charging tray comprises hopper 26, chassis 28, controller (not shown), straight line feeder 27.
As shown in Figure 4, device size differentiation subsystem comprises: industrial camera 1, light source 3, photoelectric sensor (not shown), rejecting mechanism (not shown).
Be placed in the photoelectric sensor (not shown) on electric capacity travelling belt 24, electric capacity 2 detected, photoelectric sensor returns this useful signal to control system;
Control system is sent corresponding control signal and is carried out controlling dimension and differentiate light source and the camera of subsystem and carry out data acquisition;
The view data of book system camera passes back to image processing platform;
Image processing platform judges that whether current capacitor size is qualified;
Defective electric capacity is disallowable in the fixed position of travelling belt 24.
As shown in Figure 10,11, rejecting mechanism is in the fixed position, imaging station rear of capacitor size measurement subsystem, a gas to be set to grab 6, and this gas grabs that to carry out the concrete implementation procedure of electric capacity Weeding according to prime testing result as follows:
A. horizontal cylinder 4 drives whole system to judge that to capacitor size the end of subsystem carries out electric capacity 2 and capture;
B. defective electric capacity is gone to stroke one half at horizontal cylinder 4, unclamps gas and grabs 6 and abandon defective electric capacity to electric capacity collecting box 25;
C. qualified electric capacity 2 is delivered on follow-up travelling belt 24 by this subsystem.
As shown in figure 12, cubic content measurement subsystem implementation procedure is that a. electric capacity travelling belt 24 moves a station (the corresponding electric capacity of each station); B. two probes 30 corresponding to capacitance test are installed gas and are grabbed 6 two pin twos 9 that clamp current testing capacitance; C. gas is grabbed after 6 wait volume tests complete and is automatically unclamped; D. the defective electric capacity automatic rejection of capacity 2.As seen from the figure, when gas is grabbed 6 closure, drive the probe of capacity tester to contact with electric capacity pin, gas is grabbed electric capacity when opening can grab 6 by gas corresponding to volume test smoothly.
As shown in figure 13, pin apparatus for correcting subsystem, is that the clamping of twice different directions to electric capacity pin by cylinder realizes the rectification to bending pin.This part is mainly grabbed 6 by two pneumatic gas and is realized, and the placing direction that two gas is grabbed becomes 90 degree angles, realizes respectively the clamping movement of horizontal x axle and horizontal y axle, realizes the clamping of capacitor pin is corrected.Two fingers that wherein in Figure 13, the gas on the left side is grabbed can guarantee the rectification of a direction of two pins of electric capacity in closed.The gas on Figure 13 the right is grabbed and need between two capacitor pins, be fixed a fixed clamp head, when can coordinating gas to grab two pins in closed, corrects for grabbing at gas.This part is because Machine Design can guarantee the correct rectification of capacitor pin.The open and close controlling that two gas is grabbed need to be realized by upper control system, the step motion of control system control capacitance travelling belt and cylinder, after that is to say station of travelling belt each run, automatically stop, waiting for that then gripper cylinder closure open the rear travelling belt station that reruns.
As shown in figure 17, Defect Detection subsystem in side comprises industrial camera 1, light source 3, laser measurement system (not shown), universal stage 31.This part implementation procedure is as shown in figure 18:
A. be with dynamic condenser 2 to rotate by universal stage 31, camera 1 arrives electric capacity 2 border, side Image Acquisition;
B. according to the character of the Image Acquisition label inside on electric capacity label;
C. carry out character recognition and obtain the concrete model of electric capacity;
Whether the model that d. judges current electric capacity and label indicate the image obtaining consistent;
E. the electric capacity polarity pin obtaining according to label indicates with actual pin and compares;
F. the defective electric capacity of label record and rejecting respectively according to error category.
As shown in Figure 5, bottom Defect Detection subsystem comprises two industrial cameras and a bowl light source 10, comprises that gas grabs 6, vertically cylinder 5, oscillating cylinder.One deploys in the positive top of described electric capacity and deploys in the side camera 7 of the position parallel with described electric capacity bottom, for detection of the defect of bottom protrusion and so on for the top camera 9, of the image acquisition of base plane; The defect of the electric capacity that this subsystem can detect is as follows: plug sink, plug tilts, by plug hole,, aluminum casing bottom expansion protruding without plug, anti-plug, plug wound, plug projection, ball rod, shown in Figure 19,20, this part realization flow is as follows:
A. start finger 31 and capture testing capacitance;
B. start finger 31 90-degree rotation upset electric capacity bottom levels;
C. start top bowl light source 10;
D. start top camera 9 imagings;
E. start 7 imagings of side camera;
F. carry out respectively post processing of image according to the two width images that obtain;
G. defective electric capacity 2 is rejected according to classification of defects.
As shown in Figure 7, top Defect Detection subsystem, comprise two industrial cameras and bowl light source 10, with two industrial cameras detections, one deploys the top camera 16 for the image acquisition of top planes in the positive top of described electric capacity, one deploys in the side of the position parallel with capacitive head camera 15, for detection of the defect of top bump and so on.The Defect Capacitance that this subsystem can detect is as follows: seal bad defect (above seal gapped, sealing part have must shape aluminium bits, across seal portion splits, inner burr, cutting, breach, without sealing, distortion, cover pipe range, aluminum hull variable color, aluminum casing bottom expand, without aluminum hull, aluminum casing bottom have wound, explosion-proof valve is porose, component is bad (without explosion-proof valve), bottom aluminum hull polishing scratch.As shown in figure 21, the realization of this subsystem wants simple compared with bottom and sidepiece, realizes without specific grasping system, and the imaging system on-line equipment of this subsystem, on travelling belt, coordinates imaging system to carry out by the motion of travelling belt.The operation of travelling belt adopts step-by-step system (station moves at every turn) to coordinate the exposure image of light source and camera.After algorithm process completes, control automatic rejection system is rejected according to defect classification.
As shown in Figure 2, master control subsystem comprises that embedded platform plate 18, keyboard and LCD show, cabinet 23; Shown in Figure 23, wherein embedded platform plate 18 comprises DSP subsystem, FPGA subsystem, ARM subsystem, and described FPGA subsystem is by EMIF interface and the interconnection of ARM subsystem, and described DSP subsystem is by HPI interface and the interconnection of ARM subsystem; Described platform also comprises a DDRII storer, the 2nd DDRII storer, SRAM storer, described FPGA subsystem and a DDRII storer and SRAM memory interconnect; Described DSP subsystem comprise more than 2 or 2 dsp processor, and the SRIO interface of FPGA interconnection, two DSP between the SRIO interface, DDR2 cache controller, EMAC control module, the DMA direct memory access module that interconnect, described DDR2 cache controller connects the 2nd DDRII storer, described EMAC control module is connected with kilomega network PHY, completes the communication with industrial camera.
Shown in Fig. 3, embedded platform plate 18 comprises RS232 serial ports 19, Ethernet interface 20, USB interface 21, UART serial ports 22, power interface POWER34, vision signal VGA interface 33, switch 32.
As shown in Figure 6, pin apparatus for correcting subsystem, is that the clamping of twice different directions to electric capacity pin by cylinder realizes the rectification to bending pin.This subsystem mainly relies on four cameras 11,12,13,14 then to carry out subsequent treatment around the picture of all angles that gather lead-in wire, the processing mechanism of this part mainly depends on the motion of bottom flaw measuring system, capture the then anglec of rotation of electric capacity, make this subsystem can effectively obtain the image of capacitance leading wire part.
As different from Example 1, as shown in figure 22, also comprise automatic boxing subsystem, the number of plies of the electric capacity that this system is supported according to (1) single case; (2) line number of every layer capacitance; (3) columns of every layer capacitance; (4) diameter of electric capacity and height.Carry out the automatic operation scale parameter that calculates controlled motion system etc. parameter.
For a kind of capacitance determining method based on machine vision, comprising:
Electric capacity ordered steps, enters level system from shake charging tray vertical direction;
Device size discriminating step, this step is that the size that adopts an industrial camera to gather testing capacitance comprises whether height and diameter coincide with predetermined value, the automatic rejection of misfitting; Specific implementation process is as follows: a. is placed in the photoelectric sensor on electric capacity travelling belt, electric capacity detected, and photoelectric sensor returns this useful signal to control system; B. control system is sent corresponding control signal and is carried out controlling dimension and differentiate light source and the camera of subsystem and carry out data acquisition; C. view data passes back to image processing platform; D. image processing platform judges that whether current capacitor size is qualified; E. defective electric capacity is disallowable in the fixed position of travelling belt;
Enter rejecting step, comprise that the horizontal cylinder of a. drives whole system to judge that to capacitor size the end of subsystem carries out electric capacity crawl; B. defective electric capacity is gone to stroke one half at horizontal cylinder, unclamps gas and grabs and abandon defective electric capacity to electric capacity collecting box; C. qualified electric capacity is delivered on follow-up travelling belt by this subsystem;
Cubic content measurement sub-step, this step need to adopt gas grapple structure to coordinate travelling belt to carry out intermittent movement and carry out capacitance test, comprising: a. electric capacity travelling belt moves a station; B. two probes corresponding to capacitance test are installed gas and are grabbed two pins that clamp current testing capacitance; C. gas is grabbed after wait volume test completes and is automatically unclamped; D. the defective electric capacity automatic rejection of capacity;
Pin is corrected step, the clamping that is twice different directions to electric capacity pin by cylinder realizes the rectification to bending pin, this step mainly grabs to realize by two pneumatic gas, the placing direction that two gas is grabbed becomes 90 degree angles, realize respectively the clamping movement of horizontal x axle and horizontal y axle, realize the clamping of capacitor pin is corrected;
Side Defect Detection step, comprises that a. is by the rotation of universal stage band dynamic condenser, and camera arrives border, electric capacity side Image Acquisition; B. according to the character of the Image Acquisition label inside on electric capacity label; C. carry out character recognition and obtain the concrete model of electric capacity; Whether the model that d. judges current electric capacity and label indicate the image obtaining consistent; E. the electric capacity polarity pin obtaining according to label indicates with actual pin and compares; F. the defective electric capacity of label record and rejecting respectively according to error category;
Bottom Defect Detection step, this part comprises: a. starts finger and captures testing capacitance; B. start finger 90-degree rotation upset electric capacity bottom level; C. start top bowl light source; D. start top camera imaging; E. start side camera imaging; F. carry out respectively post processing of image according to the two width images that obtain; G. defective electric capacity is rejected according to classification of defects;
Top Defect Detection step, this step realizes without specific grasping system, the imaging system on-line equipment of this subsystem is on travelling belt, coordinate imaging system to carry out by the motion of travelling belt, the operation of travelling belt adopts step-by-step system (station moves at every turn) to coordinate the exposure image of light source and camera, and after algorithm process completes, control automatic rejection system is rejected according to defect classification.
Automatic boxing step, comprises
A. travelling belt single step advance transmit qualified electric capacity grab crawl position to the gas of packaging system;
B. gas is grabbed according to the travelling belt single step of control system feedback and is advanced, and obtains electric capacity and reaches information;
C. level electricity cylinder returns initial point;
D. gas is grabbed and is opened;
E. vertically cylinder drops to minimum point;
F. operator prevent electric capacity containing box to vertical electric cylinder for fixing screens;
G. operator provides the dimension information of current electric capacity, and receives the number of plies of the electric capacity of packing list case support, the line number of every layer capacitance, the columns of every layer capacitance;
H. system calculates the operational factor of level electricity cylinder x and level electricity cylinder Y and vertical electric cylinder Z automatically;
I. vertical electric cylinder Z runs to the coordinate that system provides;
J. gas crawl electric capacity;
K. vertically cylinder rises to extreme higher position;
L. level electricity cylinder X and level electricity cylinder Y run to the correct position of containing box automatically: the respective coordinates that runs to containing box according to the order of Row Column;
M. vertically cylinder drops to extreme lower position, unclamps gas and grabs;
N. vertically cylinder rises to extreme higher position;
Level electricity cylinder X and level electricity cylinder Y run to initial point automatically, and gas is grabbed and opened;
O. vertically cylinder drops to extreme lower position;
P. complete successively the putting of electric capacity of current one deck;
Q. vertical electric cylinder is reduced to suitable position downwards according to electric capacity altitudinal belt dynamic condenser containing box;
R. complete the putting of electric capacity of another layer according to said sequence;
S. system Auto-counting, has judged the collection of the containing box of current electric capacity, and system is that prompting operation person moves away from containing box;
T. system wait operates this and puts new containing box, then carries out a new automatic boxing of taking turns.
The above embodiment is only that the preferred embodiment of the present invention is described; not scope of the present invention is limited; design under the prerequisite of spirit not departing from the present invention; various distortion and improvement that those of ordinary skills make technical scheme of the present invention, all should fall in the definite protection domain of claims of the present invention.
Claims (10)
1. the capacitive detection system based on machine vision, is characterized in that, comprises pan feeding openning system, conveyer belt system, optical chamber system, electric mounting box system,
Described optical chamber comprises optical imagery acquisition system, the clean cooling, air discharging system of optical chamber, air purification FFU system;
Described conveyer belt system comprises device conveyer belt system, device universal stage;
Described electric mounting case comprises system power supply pond, algorithm master control subsystem, motion control PLC subsystem;
Described feeding mouth subsystem comprises pan feeding grabbing device, feed bin, shake charging tray and electric capacity angular adjustment apparatus;
Described capacitive detection system comprises that device size differentiates one or more among subsystem, cubic content measurement subsystem, electric capacity capacitive test macro, electric capacity outward appearance Defect Detection system, qualified electric capacity automatic packaging system, defective electric capacity classification eliminating system, pin apparatus for correcting subsystem, side Defect Detection subsystem, bottom Defect Detection subsystem, pin Defect Detection subsystem, top Defect Detection subsystem.
2. capacitive detection system as claimed in claim 1, it is characterized in that, described shake charging tray comprises hopper (26), chassis (28), controller, straight line feeder (27), below described hopper, be provided with impulse mgnet, can make hopper vertical vibration, due to the inclination of spring leaf, make hopper rock vibration around its Z-axis;
Described pan feeding grabbing device, grabs to realize by vertical cylinder of a horizontal cylinder and a gas, and the flow process of realization is as follows: the horizontal cylinder of a. system indication runs to initial point, and vertically cylinder drops to minimum point, and gas is grabbed the closed electric capacity that captures; B. vertically cylinder rises to peak, and then horizontal cylinder runs to distal-most end; C. gas is grabbed to unclamp and is put down electric capacity, and vertically cylinder rises to peak, and horizontal cylinder returns initial point; D. capture circulation next time.
3. capacitive detection system as claimed in claim 1, is characterized in that,
Described device conveyer belt system comprises pan feeding notch portion travelling belt: complete from shake material platform and be remedied to the transmission that pan feeding captures to feeding mouth to dimensional measurement to cubic content measurement to pin; Side Defect Detection travelling belt: complete the transmission from Defect Detection to side after universal stage; Bottom Defect Detection travelling belt: complete bottom Defect Detection transmission; Pin Defect Detection travelling belt: complete pin senses transmission; Top Defect Detection travelling belt: complete top Defect Detection transmission.
4. capacitive detection system as claimed in claim 2, is characterized in that, described optical chamber internal inspection system adopts sealing optical chamber.
5. capacitive detection system as claimed in claim 1, is characterized in that, described master control subsystem comprises that center-control cpu system, keyboard and LCD show, cabinet.
6. glass cylinder detection system as claimed in claim 2, is characterized in that, described master control subsystem comprises that embedded platform plate, keyboard and LCD show, cabinet;
Described embedded platform plate comprises DSP subsystem, FPGA subsystem, ARM subsystem, and described FPGA subsystem is by EMIF interface and the interconnection of ARM subsystem, and described DSP subsystem is by HPI interface and the interconnection of ARM subsystem; Described platform also comprises a DDRII storer, the 2nd DDRII storer, SRAM storer, described FPGA subsystem and a DDRII storer and SRAM memory interconnect; Described DSP subsystem comprise more than 2 or 2 dsp processor, and the SRIO interface of FPGA interconnection, two DSP between the SRIO interface, DDR2 cache controller, EMAC control module, the DMA direct memory access module that interconnect, described DDR2 cache controller connects the 2nd DDRII storer, described EMAC control module is connected with kilomega network PHY, completes the communication with industrial camera.
7. capacitive detection system as claimed in claim 1, it is characterized in that, described device size is differentiated subsystem, it is the electric capacity specification that whether conforms with setting through the size of the electric capacity after angular setting for differentiating, to avoid mixed specification electric capacity to sneak into, system comprises industrial camera, light source, photoelectric sensor, rejecting mechanism; Described rejecting mechanism comprises that automatic rejection system comprises that cylinder, gas grabs, and in the fixed position, imaging station rear of capacitor size measurement subsystem, a gas is set and grabs, and this gas is grabbed according to prime testing result and carried out electric capacity Weeding.
8. capacitive detection system as claimed in claim 1, it is characterized in that, described the present invention also comprises man-machine interface subsystem, automatic boxing subsystem, described automatic boxing subsystem, be that the operation scale parameter that carries out automatically calculating controlled motion system according to following parameter is realized, 1) number of plies of the electric capacity that single case is supported; 2) line number of every layer capacitance; 3) columns of every layer capacitance; 4) diameter of electric capacity and height.
9. the capacitance determining method based on machine vision, is characterized in that, comprise device size discriminating step,
Electric capacity ordered steps, enters level system from shake charging tray vertical direction;
Device size discriminating step, this step is that the size that adopts an industrial camera to gather testing capacitance comprises whether height and diameter coincide with predetermined value, the automatic rejection of misfitting; Specific implementation process is as follows: a. is placed in the photoelectric sensor on electric capacity travelling belt, electric capacity detected, and photoelectric sensor returns this useful signal to control system; B. control system is sent corresponding control signal and is carried out controlling dimension and differentiate light source and the camera of subsystem and carry out data acquisition; C. view data passes back to image processing platform; D. image processing platform judges that whether current capacitor size is qualified; E. defective electric capacity is disallowable in the fixed position of travelling belt;
Enter rejecting step, comprise that the horizontal cylinder of a. drives whole system to judge that to capacitor size the end of subsystem carries out electric capacity crawl; B. defective electric capacity is gone to stroke one half at horizontal cylinder, unclamps gas and grabs and abandon defective electric capacity to electric capacity collecting box; C. qualified electric capacity is delivered on follow-up travelling belt by this subsystem;
Cubic content measurement sub-step, this step need to adopt gas grapple structure to coordinate travelling belt to carry out intermittent movement and carry out capacitance test, comprising: a. electric capacity travelling belt moves a station; B. two probes corresponding to capacitance test are installed gas and are grabbed two pins that clamp current testing capacitance; C. gas is grabbed after wait volume test completes and is automatically unclamped; D. the defective electric capacity automatic rejection of capacity;
Pin is corrected step, the clamping that is twice different directions to electric capacity pin by cylinder realizes the rectification to bending pin, this step mainly grabs to realize by two pneumatic gas, the placing direction that two gas is grabbed becomes 90 degree angles, realize respectively the clamping movement of horizontal x axle and horizontal y axle, realize the clamping of capacitor pin is corrected;
Side Defect Detection step, comprises that a. is by the rotation of universal stage band dynamic condenser, and camera arrives border, electric capacity side Image Acquisition; B. according to the character of the Image Acquisition label inside on electric capacity label; C. carry out character recognition and obtain the concrete model of electric capacity; Whether the model that d. judges current electric capacity and label indicate the image obtaining consistent; E. the electric capacity polarity pin obtaining according to label indicates with actual pin and compares; F. the defective electric capacity of label record and rejecting respectively according to error category;
Bottom Defect Detection step, this part comprises: a. starts finger and captures testing capacitance; B. start finger 90-degree rotation upset electric capacity bottom level; C. start top bowl light source; D. start top camera imaging; E. start side camera imaging; F. carry out respectively post processing of image according to the two width images that obtain; G. defective electric capacity is rejected according to classification of defects;
Top Defect Detection step, this step realizes without specific grasping system, the imaging system on-line equipment of this subsystem is on travelling belt, coordinate imaging system to carry out by the motion of travelling belt, the operation of travelling belt adopts step-by-step system to coordinate the exposure image of light source and camera, and after algorithm process completes, control automatic rejection system is rejected according to defect classification.
10. capacitance determining method as claimed in claim 9, is characterized in that, also comprises automatic boxing subsystem implementation method:
A. travelling belt single step advance transmit qualified electric capacity grab crawl position to the gas of packaging system;
B. gas is grabbed according to the travelling belt single step of control system feedback and is advanced, and obtains electric capacity and reaches information;
C. level electricity cylinder returns initial point;
D. gas is grabbed and is opened;
E. vertically cylinder drops to minimum point;
F. operator prevent electric capacity containing box to vertical electric cylinder for fixing screens;
G. operator provides the dimension information of current electric capacity, and receives the number of plies of the electric capacity of packing list case support, the line number of every layer capacitance, the columns of every layer capacitance;
H. system calculates the operational factor of level electricity cylinder x and level electricity cylinder Y and vertical electric cylinder Z automatically;
I. vertical electric cylinder Z runs to the coordinate that system provides;
J. gas crawl electric capacity;
K. vertically cylinder rises to extreme higher position;
L. level electricity cylinder X and level electricity cylinder Y run to the correct position of containing box automatically: the respective coordinates that runs to containing box according to the order of Row Column;
M. vertically cylinder drops to extreme lower position, unclamps gas and grabs;
N. vertically cylinder rises to extreme higher position;
Level electricity cylinder X and level electricity cylinder Y run to initial point automatically, and gas is grabbed and opened;
O. vertically cylinder drops to extreme lower position;
P. complete successively the putting of electric capacity of current one deck;
Q. vertical electric cylinder is reduced to suitable position downwards according to electric capacity altitudinal belt dynamic condenser containing box;
R. complete the putting of electric capacity of another layer according to said sequence;
S. system Auto-counting, has judged the collection of the containing box of current electric capacity, and system is that prompting operation person moves away from containing box;
T. system wait operates this and puts new containing box, then carries out a new automatic boxing of taking turns.
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