CN210625574U - Ball stud vision detection system and ball stud detection equipment - Google Patents
Ball stud vision detection system and ball stud detection equipment Download PDFInfo
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- CN210625574U CN210625574U CN201921326316.4U CN201921326316U CN210625574U CN 210625574 U CN210625574 U CN 210625574U CN 201921326316 U CN201921326316 U CN 201921326316U CN 210625574 U CN210625574 U CN 210625574U
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Abstract
The utility model is suitable for a mechanical production technical field provides a ball stud vision detection system and ball stud check out test set, and ball stud vision detection system includes the image acquisition module for gather the ball stud image; the conveying module is used for conveying the ball pin to the shooting position of the image acquisition module; when the ball pin passes through the first induction module, the first induction module generates an induction signal; the control module comprises a time delay unit and is used for controlling the image acquisition module to acquire images; and the image processing module is used for processing the ball pin image according to a preset model so as to judge whether the ball pin is qualified. This scheme is through setting up the delay unit, makes control module control image acquisition module collection bulb round pin image again when the bulb round pin reaches the shooting position, guarantees that the bulb round pin can show in the image completely, avoids the influence of first response module to the bulb round pin image simultaneously, effectively improves the image effect that the system was gathered to the bulb round pin, and then improves the detection effect of product.
Description
Technical Field
The utility model belongs to the technical field of mechanical production, especially, relate to a bulb round pin visual detection system and bulb round pin check out test set.
Background
Ball studs are widely used in independent suspension systems, and the control arm or thrust rod is often connected to other components by ball studs located at the ends. The main function of the ball pin is to realize up-and-down jumping and steering movement of the wheel, which can be seen as a key part for ensuring the operation stability, the driving smoothness, the comfort and the safety of the automobile and ensuring the correct and accurate driving of the automobile. Therefore, the quality detection of the ball stud after the ball stud is produced and off-line is extremely important.
When the existing visual detection technology is used for detecting products, the position of the products is generally detected through a sensor, and then a signal generated by detecting the products through the sensor triggers a camera to work, so that the products are subjected to image acquisition.
However, the existing product vision detection system has poor effect on the image collected by the product, thereby affecting the detection effect of the product.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the utility model is to provide a bulb round pin visual detection system aims at solving current product visual detection system and is poor to the image effect of product acquisition, and then influences the problem of the detection effect of product.
The embodiment of the utility model provides a realize like this, a bulb round pin visual detection system, include:
the image acquisition module is used for acquiring a ball stud image;
the conveying module is used for conveying the ball pin to the shooting position of the image acquisition module;
the first induction module is arranged at a designated position before the ball pin is conveyed to the shooting position, and generates an induction signal when the ball pin passes through the first induction module;
the control module comprises a delay unit, and when the control module receives the sensing signal, the delay unit is controlled to start timing, and after a preset time is timed, the image acquisition module is controlled to acquire the ball pin image, wherein the preset time is the interval time from the ball pin passing through the first sensing module to the ball pin reaching the shooting position;
and the image processing module is used for processing the ball stud image according to a preset model so as to judge whether the ball stud is qualified.
Another object of the embodiment of the present invention is to provide a ball stud detecting apparatus, wherein the ball stud detecting apparatus is provided with a ball stud vision detecting system.
The embodiment of the utility model provides a pair of bulb round pin vision detection system, through setting up the delay unit, make control module control image acquisition module collection bulb round pin image again when the shooting position of bulb round pin through image acquisition module, guaranteed that the bulb round pin can show in the image completely, avoided the influence of first response module to bulb round pin image simultaneously, effectively improve the effect of the image of the collection of system to the bulb round pin, and then improve the detection effect of product.
Drawings
Fig. 1 is a schematic structural view of a ball stud vision inspection system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a ball stud positioning unit according to an embodiment of the present invention;
FIG. 3 is a side view of the ball stud positioning unit;
FIG. 4 is a schematic view of a fitting relationship structure of a ball stud and a ball stud locating unit;
fig. 5 is a view of a ball stud vision inspection system provided with a data acquisition module according to an embodiment of the present invention;
fig. 6 is a ball pin vision inspection system of a light supplement module according to an embodiment of the present invention;
in the drawings: 1. an image acquisition module; 2. a first sensing module; 3. a ball stud; 4. a delivery module; 5. a data acquisition module; 6. a light supplement module; 7. ball stud locating unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description is provided for the specific embodiments of the present invention.
As shown in fig. 1, for the utility model provides a ball stud vision inspection system's that embodiment provides a structure schematic diagram, include:
the image acquisition module 1 is used for acquiring a ball stud image;
the conveying module 4 is used for conveying the ball pin 3 to the shooting position of the image acquisition module 1;
the first induction module 2 is arranged at a designated position before the ball stud 3 is conveyed to the shooting position, and when the ball stud 3 passes through the first induction module 2, the first induction module 2 generates an induction signal;
the control module comprises a delay unit, and when the control module receives the sensing signal, the delay unit is controlled to start timing, and after a preset time is timed, the image acquisition module 1 is controlled to acquire the ball pin image, wherein the preset time is the interval time from the ball pin passing through the first sensing module to the ball pin reaching the shooting position;
and the image processing module is used for processing the ball pin image according to a preset model so as to judge whether the ball pin 3 is qualified.
The embodiment of the utility model provides an in, image acquisition module can be the camera or be provided with the electronic equipment of camera, and this embodiment does not do the restriction to the camera is illustrated as an example, and is preferred, adopts area array camera, and what area array camera realized is that pixel matrix shoots, and it can expose in the short time, and it can form images in the short time to take dynamic object. The ball stud image acquired by the image acquisition module 1 is sent to the image processing module.
In the embodiment of the utility model provides an in, carry module 4 to be used for carrying ball stud 3 to image acquisition module 1's shooting position. The shooting position is located within the field of view of the image acquisition module 1. Preferably, the shooting position is set at the center of the visual field of the image capturing module 1, the ball stud 3 is conveyed to the shooting position means that the center of the ball stud 3 is located at the center of the visual field of the image capturing module 1, and the center of the ball stud 3 means the axial center position of the ball stud 3 or the middle position of the ball stud 3 in the length direction, depending on the placement state of the ball stud 3 on the conveying module 4. The transport module 4 may be a conveyor belt transport, but is not limited thereto. When ball stud 3 is transported by the conveyer belt, transport module 4 includes drive unit, driving shaft, driven shaft and conveyer belt, and the interval is provided with ball stud positioning unit 7 on the conveyer belt, and ball stud positioning unit 7 is used for fixed ball stud 3 to be in position on the conveyer belt, as shown in fig. 3, for the utility model provides a ball stud positioning unit structure sketch map, including first locating piece and second locating piece, first locating piece and second locating piece are fixed to be set up on the conveyer belt, and first locating piece and second locating piece perpendicular to ball stud axial size are less than the diameter of ball stud on with locating piece contact department, as shown in fig. 4, in order to guarantee the outermost profile of the image of image acquisition module 1 collection is unanimous with ball stud 3's outermost profile, are convenient for handle to accurate detection ball stud 3's quality.
The embodiment of the present invention provides an embodiment, the first sensing module 2 can be a proximity sensor, and the ball stud 3 can generate a sensing signal when passing through the proximity sensor. The first sensing module 2 is arranged at a designated position, and the designated position refers to a preset position where the ball stud passes in the transportation process before reaching the shooting position. Preferably, the preset designated position is located outside the visual field of the image acquisition module 1, so that the influence on the shooting of the ball stud caused by the fact that the first sensing module enters the shooting visual field is effectively avoided.
The utility model discloses an embodiment, control module can be control circuit board, can set up controller and time delay relay in the control circuit board, and the controller receives control time delay relay after the sensing signal and starts the time delay, and after the time delay, the controller receives time delay relay's feedback signal and then controls image acquisition module and gather the bulb round pin image.
In another embodiment, the control module may also be a controller provided with a control program, the control program may be provided with a delay program to implement delay, after the controller receives the sensing signal, the processing unit in the controller executes the control program, the processing unit executes the delay program to implement delay, and after the delay is finished, the controller controls the image acquisition module to acquire the ball stud image.
The embodiment of the utility model provides an in, the time of predetermineeing can be calculated according to the functioning speed of conveyer belt and the distance between the shooting position of first response module 2 and image acquisition module 1 and be derived, wherein first response module 2 sets up in the assigned position, and the assigned position is preset. Taking the image acquisition module 1 as an example of a camera, the control module may send a trigger signal to the image acquisition card, and the image acquisition card controls the camera to acquire the ball stud image.
The embodiment of the utility model provides an in, the image processing module is for the computer equipment that the storage had the preset model, is provided with treater and memory in the computer equipment, contains the processing procedure storage and the memory of presetting the model, and the treater among the computer equipment makes its operation through the preset model procedure in the processing memory, it includes the Hough transform to preset the model, Hough transform model is used for confirming straight line portion in the ball round pin outline in the ball round pin image. The Hough transform is a parameter estimation technique using the voting principle. The principle is that the point-line duality of the image space and the Hough parameter space is utilized to convert the detection problem in the image space into the parameter space, namely collinear points in the image space correspond to crossed lines in the parameter space, all straight lines crossed at the same point in the parameter space have the characteristic that the collinear points correspond to the collinear points in the image space, the straight line detection problem in the image space is converted into the detection problem of the point in the parameter space, and the detection task is completed by simple accumulation statistics in the parameter space. A straight line part in the ball stud image contour can be determined through Hough transformation, then two end points of the straight line part are determined, and the distance between the two end points is measured in a coordinate system by adopting the Euclidean distance, so that the straight line size of the ball stud is obtained. The two end points of the straight line portion may be determined, for example, by a proximity search algorithm, but is not limited thereto. Before the Hough transformation is carried out on the ball pin image to determine the straight line part in the ball pin image outline, preprocessing such as filtering, drying, sharpening, enhancing and the like can be carried out on the ball pin image, so that the straight line part in the ball pin image outline can be accurately determined, the image processing precision is improved, and for example, functions of edge detection, noise filtering and the like of the ball pin image can be completed by utilizing edge detection operators such as Sobel and Canny and morphological processing schemes such as expansion and corrosion.
The embodiment of the utility model provides a pair of ball stud detecting system, through setting up the delay unit, make control module control image acquisition module 1 collection ball stud image again when the ball stud is through image acquisition module 1's shooting position, guaranteed that ball stud 3 can show in the image completely, avoided first response module 2 to the influence of ball stud image simultaneously, effectively improve the system to the effect of the collection image of ball stud 3, and then improve the detection effect of product.
The utility model provides an in another embodiment, ball round pin visual detection system still includes:
and the data acquisition module 5 is used for acquiring vibration displacement data of the ball stud.
In the embodiment of the present invention, the data acquisition module 5 includes a second sensing module, preferably, the second sensing module can be a displacement sensor, but is not limited thereto. The vibration displacement data of the ball stud is the displacement of the ball stud caused by vibration in the running process of driving the ball stud by the conveying module 4. In the high-speed online detection process, the conveying module 4 drives the ball stud to move, and the ball stud and the surface of the conveying module, such as the surface of a conveyor belt, can generate vibration, and can decompose the vibration into up-and-down vibration perpendicular to the movement direction of the ball stud and front-and-back vibration along the movement direction of the ball stud. The vertical vibration perpendicular to the moving direction of the ball stud can cause the change of the object distance in the optical imaging system, and the magnification in the imaging system is changed, so that the measurement error of the size can be brought. The forward and backward vibration along the moving direction of the ball stud means that the conveying module 4 runs at a certain speed in the online detection process, so that the workpiece and the conveying module 4 generate relative movement. The motion blur in the online detection process can cause image blur, the definition of the image is directly influenced, the resolution of the surface characteristics of the ball stud is difficult, the edge of the image is enlarged due to uniform motion blur, and the measurement accuracy of the size is influenced.
The embodiment of the utility model provides an in, image processing module still is used for according to ball stud vibration displacement data is right the ball stud image carries out vibration error compensation and handles. The compensation of the vertical vibration error perpendicular to the movement direction of the ball stud can be processed by the following processes:
the method comprises the following steps of carrying out online size detection on the ball stud, firstly establishing a corresponding relation between image pixels and actual sizes, then carrying out static calibration by using the ball stud with the known size L, and determining imaging magnification, wherein the magnification of an optical system is β, the size of a camera pixel is K, obtaining the number N of the pixels of the ball stud on an image by processing an image of the ball stud, and then the magnification is as follows:
β＝K*N/L
the online size detection of the ball stud 3 is carried out without changing the parameters of the online image acquisition module 1, the compensation of the vertical vibration error vertical to the motion direction of the ball stud is not considered, and the number N of the pixels occupied by the ball stud on the image1Setting the size detection value of the target ball stud as L1L is obtained from the above formula1Comprises the following steps:
L1＝N1*K/β
online dimension detection processIn the method, vertical vibration error compensation perpendicular to the motion direction of the ball stud is carried out on the size of the ball stud, and the magnification β is calculated by an optical Gaussian formula under the condition of not changing the focal length1Comprises the following steps:
wherein delta is vibration displacement, β is magnification of static calibration, and object distance mu of the optical imaging system in static calibration is calculated by β and focal length.
Considering the influence of vertical vibration factors vertical to the moving direction of the ball pin on the size measurement precision, compensating the error of the vibration on the detected size according to the formula, so that the compensated size detection value L2Comprises the following steps:
L2＝K*N1/β1
wherein N is1The number of pixels occupied by the ball pins on the image during online detection is shown.
The magnification of the optical system is corrected in real time through online measurement of vertical vibration displacement perpendicular to the motion direction of the ball stud, size detection errors caused by vertical vibration are compensated, and size detection precision is improved.
The compensation of the fore-and-aft vibration error in the ball stud motion direction can be handled by the following process: when the speed v of the conveying module 4 is fixed, and the exposure time of the image acquisition module 1 is t, the motion blur value of the ball stud relative to the imaging system is as follows:
x＝vtβ
in practical application, as long as on-line detection is carried out, the motion blur cannot be eliminated due to the existence of speed, so that only the motion blur can be controlled and reduced to the extent that the size measurement precision is not influenced.
The embodiment of the utility model provides an in, the second response module set up in shoot the edge of position for edge position to the bulb round pin is surveyed. Meanwhile, the second sensing module is connected with the control module, and after the time delay unit in the control module times the preset time, the control module simultaneously controls the image acquisition module 1 to acquire the ball pin image and controls the second sensing module to detect the edge position of the ball pin so as to acquire the vibration displacement data of the ball pin. For example, the second sensing module is a displacement sensor, the vibration displacement data of the ball stud collected by the displacement sensor is transmitted to the image processing module through the data collection card, and the data collection card receives the trigger signal sent by the control module and then controls the displacement sensor to work.
The embodiment of the utility model provides a pair of bulb round pin visual detection system, through setting up the vibration displacement data that data acquisition module 5 gathered the bulb round pin, then carry out vibration error compensation processing to the bulb round pin image according to the vibration displacement data of bulb round pin through the image processing module, reduced the influence of vibration to the image profile, improve bulb round pin visual detection system and to the detection precision of bulb round pin size.
The utility model provides an in another embodiment, ball round pin visual detection system still includes:
and the light supplementing module 6 is used for exposing the shadow area of the ball stud.
The embodiment of the utility model provides an in, light filling module 6 is connected with control module, after the delay unit timing preset time in control module, control module controls image acquisition module 1 simultaneously and gathers bulb round pin image and light filling module 6 exposes to the shadow region of bulb round pin to improve the quality of the bulb round pin image of gathering. The light supplement module 6 may be a flash lamp, but is not limited thereto, and the number thereof may be one or more, which is not limited in the embodiments of the present invention. And the light direction of the light supplement module 6 is projected to the shooting position in the visual field of the image acquisition module 1.
The embodiment of the utility model provides a pair of bulb round pin visual detection system, through setting up light filling module 6, can make the shadow region exposure of bulb round pin, improve the bulb round pin image effect of gathering. Meanwhile, the light supplement module 6 is connected with the control module, the control module can control the image acquisition module 1 and the light supplement module 6 to be started simultaneously, the image effect is guaranteed, and meanwhile the light supplement module 6 is prevented from being in a normally bright state when the image acquisition module 1 is not started, and the energy is wasted.
The utility model discloses above-mentioned embodiment provides a ball head round pin visual detection system's theory of operation: put the ball stud 3 that will produce on transport module 4, transport module 4 drives ball stud 3 and moves to shooting position, and when ball stud 3 through first response module 2, first response module 2 produced sensing signal. When the control module receives the sensing signal, the control delay unit starts timing, after the timing is preset, the ball stud 3 is conveyed to a shooting position, the control module simultaneously sends a trigger signal to the image acquisition module 1, the data acquisition module 5 and the light supplement module 6 so as to control the image acquisition module to acquire an image of the ball stud, and meanwhile, the light supplement module exposes a shadow area of the ball stud and vibrates and displaces a second sensing module ball stud in the data acquisition module so as to acquire vibration and displacement data of the ball stud. And then the image processing module receives the vibration displacement data of the ball pin and the ball pin image for processing so as to detect the linear dimension of the ball pin and judge whether the ball pin is qualified or not, thereby completing the detection work of the ball pin.
The scheme of the utility model is through setting up the time delay unit, make control module control image acquisition module again and gather the ball round pin image when the ball round pin passes through the shooting position of image acquisition module, guaranteed that ball round pin 3 can show in the image completely, avoided the influence of first response module 2 to ball round pin image simultaneously, effectively improve the system to the effect of the collection image of ball round pin 3, and then improve the detection effect of product; and through setting up the vibration displacement data that data acquisition module 5 gathered the bulb round pin to carry out vibration displacement error compensation to the bulb round pin image according to the vibration displacement data of bulb round pin through the image processing module, further improve this application scheme to the detection precision of bulb round pin, improve the detection effect of system to the bulb round pin.
The embodiment of the utility model provides a still provide a bulb round pin check out test set, be provided with foretell bulb round pin visual detection system in the bulb round pin check out test set.
The embodiment of the utility model provides an in, carry out each item parameter detection of bulb round pin through bulb round pin check out test set after the bulb round pin production, wherein set up bulb round pin vision detecting system can detect the linear dimension of bulb round pin. But also can set up detecting system such as the screw thread parameter to the circularity of bulb round pin bulb portion and bulb round pin screw thread portion among the bulb round pin check-out set, but not limited to this, the embodiment of the utility model provides a do not restrict the structure of detecting system to the circularity of bulb round pin bulb portion and the screw thread parameter of bulb round pin screw thread portion.
The embodiment of the utility model provides a ball pin detection device, this equipment can be used to carry out automated inspection to the ball pin in the production line of ball pin, has improved the detection precision to the ball pin, guarantees the product quality of ball pin off-line; meanwhile, the ball pin detection equipment is utilized to automatically detect the ball pin, so that the labor force can be reduced, the production efficiency of a ball pin production line is improved, and the production cost of the ball pin is reduced.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A ball stud vision inspection system, the system comprising:
the image acquisition module is used for acquiring a ball stud image;
the conveying module is used for conveying the ball pin to the shooting position of the image acquisition module;
the first induction module is arranged at a designated position before the ball pin is conveyed to the shooting position, and generates an induction signal when the ball pin passes through the first induction module;
the control module comprises a delay unit, and when the control module receives the sensing signal, the delay unit is controlled to start timing, and after a preset time is timed, the image acquisition module is controlled to acquire the ball pin image, wherein the preset time is the interval time from the ball pin passing through the first sensing module to the ball pin reaching the shooting position;
and the image processing module is used for processing the ball stud image according to a preset model so as to judge whether the ball stud is qualified.
2. A ball stud vision inspection system according to claim 1, further comprising:
and the data acquisition module is used for acquiring vibration displacement data of the ball pin.
3. A ball stud vision inspection system according to claim 2, wherein said data acquisition module comprises:
the second sensing module is used for sensing the vibration displacement of the ball pin;
the second induction module is connected with the control module, and after the preset time is timed, the control module further controls the second induction module to induce the vibration displacement of the ball stud.
4. A visual inspection system for a ball stud as claimed in claim 3, wherein said second sensing module is disposed at the edge of said capture position for detecting the edge position of the ball stud.
5. A ball stud vision inspection system as recited in claim 2, wherein said image processing module is further configured to perform a vibration error compensation process on said ball stud image according to said ball stud vibration displacement data.
6. A ball stud vision inspection system according to claim 1, further comprising:
and the light supplementing module is used for exposing the shadow area of the ball stud.
7. A visual detection system for a ball stud according to claim 6, wherein said light supplement module is connected to said control module, and after said preset time, said control module controls said light supplement module to expose a shadow area of said ball stud.
8. A visual inspection system for ball pins according to claim 1, wherein said conveying module comprises a driving unit, a driving shaft, a driven shaft and a conveyor belt, and ball pin positioning units are arranged on said conveyor belt at intervals and used for fixing the positions of ball pins on said conveyor belt.
9. A ball stud vision inspection system according to claim 1, wherein said predetermined model comprises a Hough transform model for determining straight portions of a ball stud profile in said ball stud image.
10. A ball stud detection device is characterized in that a ball stud visual detection system as claimed in any one of claims 1-9 is arranged in the ball stud detection device.
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| CN201921326316.4U CN210625574U (en) | 2019-08-15 | 2019-08-15 | Ball stud vision detection system and ball stud detection equipment |
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| CN110470218A (en) * | 2019-08-15 | 2019-11-19 | 浙江工业大学之江学院 | A kind of ball stud vision detection system and ball stud detection device |
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| CN110470218A (en) * | 2019-08-15 | 2019-11-19 | 浙江工业大学之江学院 | A kind of ball stud vision detection system and ball stud detection device |
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