Sealing ring visual inspection system and equipment thereof

Abstract

The invention relates to the technical field of machine vision detection, and discloses a sealing ring vision detection system and equipment thereof, and the sealing ring vision detection system comprises a non-contact suspension and rotation driving module, a full-surface synchronous imaging and reconstruction module, a self-adaptive attitude control module based on image feedback, a defect analysis and directional reinspection module and a comprehensive evaluation and sorting control module. A sound field is generated through the non-contact suspension and rotation driving module, and the sealing ring is suspended in a detection area in a non-contact manner and is driven to stably rotate; when the sealing ring rotates, the full-surface synchronous imaging and reconstruction module synchronously acquires image data of the upper, lower, inner and outer side walls of the sealing ring; and the self-adaptive attitude control module based on image feedback corrects the suspension attitude of the sealing ring in real time. The system identifies and confirms defects by combining high-speed dynamic initial inspection and static directional reinspection strategies, and solves the problems of detection blind areas, positioning errors and complex structure caused by mechanical contact and multi-station transfer in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine vision detection, in particular to a sealing ring vision detection system and equipment thereof. BACKGROUND

[0002] As a key sealing element, the sealing ring is widely used in many industrial fields such as machinery, automobiles, and hydraulic systems. In order to ensure the quality and reliability of the sealing ring, its surface usually needs to be comprehensively detected to eliminate products with defects such as burrs, material defects, scratches, bubbles, and impurities.

[0003] The traditional sealing ring vision detection scheme usually uses mechanical clamps, glass turntables, and conveyor belts to fix and transport the sealing ring. When these components grab, support, and turn the sealing ring, they will block part of the surface to be detected, forming a detection blind area. In order to achieve detection of the entire surface, the sealing ring needs to be physically transferred and turned between multiple detection stations. This process not only increases the complexity and failure points of the mechanical structure, but also introduces cumulative positioning errors that are difficult to eliminate during station transfer, affecting the accuracy of defect positioning.

[0004] When driving the sealing ring to rotate for scanning, the existing scheme cannot balance the rotation speed and the stability of the posture. The small imbalance of the sealing ring itself will cause shaking and eccentricity at high speed, and the lack of effective real-time posture correction means will cause motion blur and geometric distortion of the images collected by the imaging system, reducing the effectiveness of defect recognition.

[0005] In terms of defect detection strategy, the existing scheme faces the contradiction between detection efficiency and detection accuracy. Using the fast dynamic scanning method can improve the detection pace, but it is easy to miss small defects or blurred defects with unclear features. Conversely, if high-precision static imaging is used globally, the detection time is too long, which cannot meet the requirement of high efficiency of industrial production lines. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application provides a sealing ring vision detection system and equipment thereof, which solves the problems of complex mechanical structure, low positioning accuracy, unstable imaging at high speed, and the difficulty in balancing detection efficiency and detection reliability in the traditional contact type and multi-station detection scheme.

[0007] To achieve the above purpose, the present application realizes the following technical scheme: a sealing ring vision detection system and equipment thereof, the present application provides a sealing ring vision detection system, which is divided in logical function and can include:

[0008] A non-contact levitation and rotation driving module is used to apply non-contact acoustic radiation force and acoustic torque to a single sealing ring, levitate the sealing ring in a detection area, and drive the sealing ring to rotate around its own axis at a preset angular velocity;

[0009] A full-surface synchronous imaging and reconstruction module is used to synchronously collect image data of the upper surface, lower surface, inner sidewall, and outer sidewall of the sealing ring during rotation of the sealing ring, and reconstruct the collected one-dimensional line-scan image data stream into four two-dimensional expanded images;

[0010] An adaptive posture control module based on image feedback is used to receive real-time image data from the full-surface synchronous imaging and reconstruction module, calculate a position error of the sealing ring according to the real-time image data, and generate an acoustic field adjustment output to the non-contact levitation and rotation driving module to perform closed-loop control on the levitation posture of the sealing ring;

[0011] A defect analysis and directional re-inspection module is used to analyze the aforementioned four two-dimensional expanded images, identify and locate candidate defects, and, in the presence of defects to be re-inspected, control the non-contact levitation and rotation driving module to position the sealing ring to a target rotation angle corresponding to the defects to be re-inspected, and perform static re-inspection imaging;

[0012] A comprehensive evaluation and sorting control module is used to make a final evaluation of the sealing ring as qualified or unqualified according to a final defect set output by the defect analysis and directional re-inspection module, and generate a sorting control signal.

[0013] In one embodiment, the non-contact levitation and rotation driving module constructs an acoustic pressure standing wave field through an ultrasonic transducer array, and forms a three-dimensional acoustic pressure potential well in the center of the detection area. The acoustic radiation force on the sealing ring in the potential well is determined by the gradient of the acoustic pressure potential energy.

[0014] To achieve stable levitation of the sealing ring, the system controls the acoustic field intensity so that the acoustic radiation force in the vertical direction, i.e., the levitation force balances the gravitational force experienced by the sealing ring. This levitation force is determined by the gradient of the acoustic pressure potential energy in the vertical direction.

[0015] In one embodiment, the image collection operation of the full-surface synchronous imaging and reconstruction module is strictly synchronized with the rotation driving operation of the non-contact levitation and rotation driving module. The line frequency of the linear array camera and the rotation angular velocity of the sealing ring are locked through a fixed mathematical relationship.

[0016] During image reconstruction, each line of collected line-scan image data is accurately corresponded to a specific rotation angle . This angle is determined by the rotation angular velocity of the sealing ring and the collection time.​ determining.

[0017] In one embodiment, the image feedback based adaptive attitude control module calculates the actual center of mass position of the seal ring at the current time according to real-time image data . The real-time position error vector is calculated by subtracting the actual center of mass position from the theoretical suspension center position .

[0018] The adaptive attitude control module calculates and outputs a sound field adjustment amount based on the error vector using a proportional-integral-derivative (PID) control algorithm.

[0019] In one embodiment, the defect analysis and targeted review module, when identifying a defect to be reviewed in the preliminary detection, maps the circumferential coordinates of the two-dimensional expanded image back to the actual rotation angle of the seal ring, thereby calculating the target rotation angle .

[0020] In one embodiment, the comprehensive evaluation and sorting control module executes a final evaluation function to make a final judgment on the overall quality state of the measured seal ring. The input of this function is the complete set of confirmed defects contained in the final defect report .

[0021] The second aspect of the present application provides a seal ring visual inspection device, which comprises:

[0022] a device frame 1 and a base 3 for supporting the device frame 1, and an observation window 2 can be provided on the device frame 1;

[0023] a feeding unit fixed to the device frame 1 for separating and conveying the seal rings to be measured one by one to the detection position, which can include a collection hopper 5 and a feeding conveying assembly 4;

[0024] a detection unit fixed to the central position of the device frame 1, which is internally provided with a non-contact suspension and rotation driving device, and at least one set of synchronous imaging assembly for synchronous imaging and at least one set of review imaging assembly for targeted review distributed around the central region of the device;

[0025] a sorting unit fixed to the device frame 1 for receiving the seal rings falling from the detection unit and classifying them, which can include an outfeed conveying assembly 6, a classification air jet assembly 17 and a classification outfeed box 10;

[0026] The central processing unit controls and coordinates the operation of the feeding unit, inspection unit, and sorting unit, and performs image data processing, defect analysis, and evaluation. This central processing unit can also be connected to a display 7.

[0027] This invention provides a visual inspection system and device for sealing rings. It has the following advantages:

[0028] 1. This invention suspends and drives the sealing ring to rotate by setting a non-contact suspension and rotation drive module. Combined with the full-surface synchronous imaging and reconstruction module, it completes the synchronous image acquisition of the upper surface, lower surface, inner sidewall and outer sidewall of the sealing ring in a single station. This avoids the contact and obstruction of the sealing ring surface by mechanical fixtures, eliminates the cumulative positioning error caused by multi-station transfer and flipping, and simplifies the mechanical structure of the testing equipment.

[0029] 2. This invention introduces an image feedback-based adaptive attitude control module, which uses real-time image data obtained from the imaging module to calculate the suspension position error of the sealing ring, and then dynamically adjusts the sound field to actively suppress the attitude disturbance generated by the sealing ring during high-speed rotation, thus ensuring the stability of the suspension state and providing a prerequisite for obtaining high-quality surface image data.

[0030] 3. This invention rapidly analyzes the two-dimensional unfolded image generated by dynamic scanning through a defect analysis and directional re-inspection module. Only for identified defects requiring re-inspection, the sealing ring is precisely positioned to the target rotation angle for static high-resolution re-inspection imaging. The combination of high-speed dynamic scanning and high-precision static re-inspection improves the ability to distinguish between ambiguous and minute defects without sacrificing overall detection speed, thus balancing detection efficiency and reliability. Attached Figure Description

[0031] Figure 1 This is a perspective view of the overall front exterior of the device of the present invention;

[0032] Figure 2 This is a schematic diagram of the rear exterior of the overall device of the present invention;

[0033] Figure 3 This is a schematic diagram of the overall internal and external front views of the device according to the present invention;

[0034] Figure 4 This is a schematic diagram of the inner and outer back of the overall device of the present invention;

[0035] Figure 5 This is a front view of the overall internal structure of the device according to the present invention;

[0036] Figure 6 This is a schematic diagram of the internal rear of the overall device of the present invention;

[0037] Figure 7This is a functional block diagram of the sealing ring visual inspection system of the present invention;

[0038] Figure 8 This is a schematic diagram of the structure of the sealing ring visual inspection device of the present invention;

[0039] Figure 9 This is a schematic diagram of the synchronous imaging component of the present invention;

[0040] Figure 10 This is a schematic diagram of the re-examination imaging component of the present invention.

[0041] The components include: 1. Equipment frame; 2. Observation window; 3. Base; 4. Feeding and conveying assembly; 5. Collection hopper; 6. Discharge and conveying assembly; 7. Display; 8. Camera assembly; 9. First transport assembly; 10. Classification and discharge box; 11. Rubber rotating wheel; 12. Second transport assembly; 13. First rotating disk; 14. Second rotating disk; 15. Camera limiting frame assembly; 16. Fixed top plate; 17. Classification air jet assembly; 18. Tilting conveyor assembly; 19. Rotation limiting transport assembly; 100. Non-contact suspension and rotation drive module; 200. Full-surface synchronous imaging and reconstruction module; 300. Image feedback-based adaptive attitude control module; 310. Image reconstruction and preprocessing module; 320. Preliminary defect detection and classification module; 400. Defect analysis and directional re-inspection module; 500. Comprehensive evaluation and sorting module; 600. Equipment frame; 700. Feeding unit; 710. Vibrating plate; 720. Linear feeding track. ; 800, Detection unit; 900, Sorting unit; 100a, Non-contact suspension and rotation drive device; 110a, Upper ultrasonic transducer array; 120a, Lower ultrasonic transducer array; 210a, Upper synchronous imaging assembly; 211a, Line scan camera; 212a, Telecentric lens; 213a, Line light source; 210b, Lower synchronous imaging assembly; 210c, Inner synchronous imaging assembly; 210d, Outer synchronous imaging assembly; 22 0a, Re-inspection imaging assembly for the upper surface; 221a, Area scan camera; 222a, Macro lens; 223a, Coaxial light source; 220b, Re-inspection imaging assembly for the lower surface; 220c, Re-inspection imaging assembly for the inner wall; 220d, Re-inspection imaging assembly for the outer wall; 1000, Control unit; 1010, Central processing unit; 1020, Graphics processing unit; 1030, Memory; 1040, Data storage device; 1050, Input / output interface. Detailed Implementation

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] See attached document Figures 1-7 , Figure 7 This is a functional block diagram of a sealing ring visual inspection system according to an embodiment of the present invention. The present invention provides a sealing ring visual inspection system that employs a single-station non-contact inspection scheme. This scheme addresses the technical problems in the prior art caused by mechanical contact, multi-station transfer, and flipping operations, resulting in accumulated positional errors, complex mechanical structures, low reliability, and limited inspection efficiency.

[0044] The present invention provides a visual inspection system for sealing rings, which may include, in terms of logical functions, a non-contact suspension and rotation drive module 100, a full-surface synchronous imaging and reconstruction module 200, an image feedback-based adaptive attitude control module 300, a defect analysis and directional re-inspection module 400, and a comprehensive evaluation and sorting module 500.

[0045] The core working principle of this system is that the non-contact levitation and rotation drive module 100 first achieves stable levitation and precise rotation drive of a single sealing ring without contact. During levitation and rotation, the full-surface synchronous imaging and reconstruction module 200 synchronously acquires image data and reconstructs two-dimensional unfolded images of the upper surface, lower surface, inner sidewall, and outer sidewall of the sealing ring.

[0046] In the above process, the image feedback-based adaptive attitude control module 300 calculates the attitude deviation of the sealing ring based on the real-time image data collected by the full-surface synchronous imaging and reconstruction module 200, and adjusts the non-contact suspension and rotation drive module 100 in real time through a closed-loop feedback mechanism to dynamically compensate for disturbances and maintain the suspension attitude stability of the sealing ring.

[0047] The defect analysis and targeted re-inspection module 400 performs defect analysis on the reconstructed four-channel surface images and performs high-precision targeted re-inspection on candidate defects with low confidence. Finally, the comprehensive evaluation and sorting module 500 judges the sealing ring as qualified or unqualified based on the final defect detection results and outputs corresponding control signals.

[0048] Specifically, the non-contact levitation and rotation drive module 100 utilizes an acoustic field to generate non-contact mechanical force. In one embodiment, an acoustic pressure standing wave field is constructed using an ultrasonic transducer array, forming a three-dimensional acoustic pressure potential well at the center of the detection area. The acoustic radiation force experienced by the sealing ring within this potential well is determined by the gradient of the acoustic pressure potential energy. The mathematical expression of this acoustic radiation force is:

[0049] ;

[0050] in, Indicates acoustic radiation force; Represents sound pressure potential energy; This represents the gradient operator. By controlling the sound field intensity, we can achieve... In the vertical direction, the force of gravity acting on the sealing ring It achieves balance while providing centripetal constraints on the horizontal plane, thereby enabling stable three-dimensional spatial suspension.

[0051] Furthermore, the non-contact suspension and rotation drive module 100 generates a controllable acoustic torque in the sound field by applying a specific dynamic phase difference to the drive signals of different regions of the transducer array. The acoustic torque acts on the suspended sealing ring, driving it to rotate around its radial axis at a preset and stable angular velocity. Rotation provides the motion basis for subsequent full-surface synchronous scanning.

[0052] See attached document Figure 7 The present invention provides a visual inspection system for sealing rings, which is divided into logical functions, and the specific functions of each module are as follows:

[0053] The non-contact levitation and rotation drive module 100 functions to apply non-contact acoustic radiation force and acoustic torque to a single sealing ring. This module captures and stably levitates the sealing ring at the geometric center of the detection area by generating a preset three-dimensional acoustic pressure standing wave field, and drives it to rotate around its own radial axis at a set angular velocity. Rotate.

[0054] The full-surface synchronous imaging and reconstruction module 200 is designed to simultaneously acquire image data of the upper surface, lower surface, inner sidewall, and outer sidewall of the sealing ring during its rotation, and reconstruct the acquired one-dimensional line scan image data stream into four independent two-dimensional unfolded images based on the rotation angle information.

[0055] An image feedback-based adaptive attitude control module 300 works in conjunction with modules 100 and 200. Its function is to receive real-time image data from the full-surface synchronous imaging and reconstruction module 200, extract the contour information of the sealing ring from it, and calculate its real-time centroid position. By With respect to the pre-set theoretical center position Compare and generate a position error vector. This module is based on this error vector. Perform calculations to generate a sound field adjustment amount. It is then output to the non-contact suspension and rotation drive module 100 to dynamically adjust the sound field, thereby performing closed-loop control of the suspension attitude of the sealing ring.

[0056] The defect analysis and targeted re-inspection module 400 receives four two-dimensional unfolded images generated by the full-surface synchronous imaging and reconstruction module 200. Its function is to analyze these four images to identify and locate candidate defects. For candidate defects that meet specific conditions, the module sends a command to the non-contact levitation and rotation drive module 100 to control the sealing ring to stop rotating and precisely position it at the angle corresponding to the defect, thereby performing one or more high-precision re-inspection imaging operations. The module ultimately outputs a confirmed final defect set. .

[0057] The comprehensive evaluation and sorting module 500 receives the final defect set output from the defect analysis and targeted re-inspection module 400. The module makes a final judgment on the overall quality of the sealing ring as qualified or unqualified according to the preset quality standards, and generates a corresponding sorting control signal based on the judgment result. The sorting control signal is sent to the downstream physical sorting mechanism (e.g., the sorting jet assembly 17).

[0058] See attached document Figure 7 In one embodiment of the present invention, the acoustic field levitation principle of the non-contact levitation and rotation drive module 100 is described. The non-contact levitation and rotation drive module 100 generates a high-intensity sound pressure standing wave field within a preset detection space through one or more sets of ultrasonic transducer arrays.

[0059] A three-dimensional acoustic pressure potential well is formed at the center of the preset detection area by the acoustic pressure standing wave field. To achieve stable levitation of the sealing ring, the control system adjusts the output power of the ultrasonic transducer array. This acoustic radiation force... The vertical component is the levitation force. The sound pressure potential energy along the vertical direction The gradient determines:

[0060] ;

[0061] in: Indicates levitation force; Represents the coordinates in the vertical direction.

[0062] The goal of adjustment is to increase the levitation force. The weight of the sealing ring The forces are equal in size and opposite in direction. Simultaneously, the acoustic pressure potential well provides a radial constraint force pointing towards the center on the horizontal plane. This constraint force is used to suppress the displacement of the sealing ring in the horizontal plane, thereby stabilizing the position of the sealing ring at the center point of the acoustic pressure potential well.

[0063] See attached document Figure 7 In one embodiment of the present invention, the acoustic torque and rotation control principle of the non-contact levitation and rotation drive module 100 is described. The function of the non-contact levitation and rotation drive module 100, in addition to achieving stable levitation of the sealing ring, also includes driving the sealing ring in a levitation state to rotate precisely. This rotation drive function is achieved by dynamically adjusting the drive signals of multiple transducer units or unit groups that make up the ultrasonic transducer array. In one specific embodiment, the control system sends drive signals with a preset phase difference to different transducer units or unit groups.

[0064] By continuously and periodically changing the phase difference of the driving signals applied between different transducer units, the sound field morphology undergoes corresponding dynamic changes, thereby applying a continuous acoustic radiation pressure component to the sealing ring in the tangential direction. These tangential pressure components generate a net acoustic torque on the sealing ring, which is defined here as... Acoustic torque It acts on the suspended sealing ring, causing it to begin rotating about its own radial axis (central axis).

[0065] By analyzing acoustic torque The closed-loop or open-loop control ultimately enables the sealing ring to reach and maintain a preset, stable rotational angular velocity. This stable angular velocity It provides a motion reference for the synchronous image acquisition of the full-surface synchronous imaging and reconstruction module 200.

[0066] See attached document Figure 7 In one embodiment of the present invention, the working principle of the multi-channel image acquisition collaborative mechanism of the full-surface synchronous imaging and reconstruction module 200 is described. The function of the full-surface synchronous imaging and reconstruction module 200 is to acquire image data of all four surfaces of the rotating sealing ring. These four surfaces are defined as: the upper surface, the lower surface, the outer sidewall, and the inner sidewall.

[0067] To acquire data from all four surfaces, the full-surface synchronous imaging and reconstruction module 200 in this embodiment is equipped with four line scan cameras. These four line scan cameras work together to perform line scanning on their respective designated surfaces within the same time window.

[0068] The first line scan camera is deployed above the suspended position of the sealing ring. Its optical axis is set perpendicular to the plane of the sealing ring, and it is used to acquire line scan image data of the upper surface of the sealing ring. The second line scan camera is deployed below the suspended position of the sealing ring. Its optical axis is also set perpendicular to the plane of the sealing ring, and it is used to acquire line scan image data of the lower surface of the sealing ring. The third line scan camera is deployed to the side of the sealing ring. Its optical axis is set parallel to the plane of the sealing ring and aligned with the outer edge of the sealing ring, and it is used to acquire line scan image data of the outer wall of the sealing ring. The fourth line scan camera is deployed to the side of the sealing ring. To acquire image data of the inner wall of the sealing ring, a special optical element is fixed at the center of the detection area and located in the inner hole of the sealing ring. In one embodiment, this special optical element is a conical reflector. The optical axis of the fourth line scan camera is aligned with the reflective surface of this conical reflector. The image information of the inner wall of the sealing ring is reflected by the conical reflector and then acquired by the fourth line scan camera.

[0069] See attached document Figure 7 In one embodiment of the present invention, the rotation acquisition synchronization mechanism of the full-surface synchronous imaging and reconstruction module 200 is described. A precise synchronization locking mechanism is established between the image acquisition operation of the full-surface synchronous imaging and reconstruction module 200 and the rotational motion generated by the non-contact levitation and rotation drive module 100. This mechanism is a prerequisite for obtaining geometric accuracy in subsequent image reconstruction.

[0070] The control system simultaneously controls the rotational angular velocity of the sealing ring. and the line frequency of four line scan cameras This establishes the synchronization locking mechanism. (Line scan camera's line frequency...) and the rotational angular velocity of the sealing ring Locking is achieved through a fixed mathematical relationship. This locking ensures that the sealing ring rotates one revolution ( Within a time interval of (radians), each line scan camera acquires a preset total number of rows. .

[0071] The mathematical expression for this synchronization relationship is as follows:

[0072] ;

[0073] in: The line frequency of a line scan camera is expressed in Hertz (Hz). This represents the total number of image rows acquired after one revolution of the sealing ring, and is a dimensionless integer. This indicates the rotational angular velocity of the sealing ring, expressed in radians per second (rad / s). It is a constant representing a complete circle, and its unit is radians (rad).

[0074] See attached document Figure 7 In one embodiment of the present invention, the image reconstruction algorithm principle of the full-surface synchronous imaging and reconstruction module 200 is explained. After receiving four one-dimensional line scan image data streams from four line scan cameras, the full-surface synchronous imaging and reconstruction module 200 performs an image reconstruction operation. The purpose of this operation is to convert one-dimensional temporal data into four independent two-dimensional surface unfolded images.

[0075] For the reconstruction of the upper and lower surface images, the system performs a polar coordinate transformation. During the transformation process, at time... The first collection Line scan data is mapped to a specific rotation angle. The pixel positions within the line scan data rows are mapped to radial coordinates in the reconstructed upper and lower surface images. .

[0076] For the reconstruction of the outer and inner wall images, the system performs cylindrical coordinate unfolding. During the unfolding process, at time... The first collection The line scan data forms a column that represents the reconstructed outer and inner wall images. The position of this column corresponds to the rotation angle. The pixel positions within the line scan data rows are mapped to height coordinates in the reconstructed outer and inner wall images. .

[0077] In the two reconstruction operations described above, the rotation angle Both are determined by the rotational angular velocity of the sealing ring. With the time of collection The decision, specifically the relationship, is as follows:

[0078] ;

[0079] in: Indicates the first The rotation angle corresponding to each acquisition is expressed in radians (rad). This indicates the rotational angular velocity of the sealing ring, expressed in radians per second (rad / s). Indicates the first The time of each data collection is measured in seconds (s).

[0080] See attached document Figure 7 In one embodiment of the present invention, the real-time attitude deviation detection principle of the image feedback-based adaptive attitude control module 300 is described. During system operation, the image feedback-based adaptive attitude control module 300 continuously detects the suspension attitude deviation of the sealing ring.

[0081] The module 300 receives real-time one-dimensional line scan data streams from the upper and lower surface line scan cameras from the full-surface synchronous imaging and reconstruction module 200. This data stream reflects the instantaneous position of the sealing ring in the camera's field of view.

[0082] For each line of line scan data received, the image feedback-based adaptive attitude control module 300 executes an edge detection algorithm to mark the inner and outer contour points of the sealing ring in the image coordinate system. Based on the marked set of contour points, the image feedback-based adaptive attitude control module 300 calculates the current time... The actual centroid position of the lower sealing ring .

[0083] To calculate attitude deviation, the image-feedback-based adaptive attitude control module 300 stores a theoretical levitation center position whose coordinates are aligned with the center of the acoustic pressure potential well. The real-time position error vector is calculated by subtracting the theoretical levitation center position from the actual centroid position.

[0084] ;

[0085] in: Indicates at time The real-time position error vector; Indicates at time The calculated actual centroid position of the sealing ring; This represents the preset theoretical levitation center position. This is the real-time position error vector. It serves as the input for subsequent closed-loop feedback control algorithms, used to generate sound field adjustment commands.

[0086] See attached document Figure 7 In one embodiment of the present invention, the closed-loop feedback control model adopted by the image feedback-based adaptive attitude control module 300 is described. The image feedback-based adaptive attitude control module 300 obtains the real-time position error vector... Then, a closed-loop feedback control algorithm is executed to calculate the amount of acoustic field adjustment required to correct the suspension attitude.

[0087] In one specific embodiment, the closed-loop feedback control algorithm used is a proportional-integral-derivative (PID) control algorithm. This algorithm will input the real-time position error vector... As input, calculate and output a sound field adjustment amount. This control process is described by the following formula:

[0088] ;

[0089] in: Indicates at time Calculated sound field adjustment amount; Indicates the proportionality coefficient; Indicates the integral coefficient; Represents the differential coefficient; Indicates at time The real-time position error vector; Indicates from 0 to The historical cumulative integral of the position error vector at each time step; This represents the rate of change of the real-time position error vector with respect to time.

[0090] See attached document Figure 7 In one embodiment of the present invention, the implementation method of dynamic sound field adjustment of the image-feedback-based adaptive attitude control module 300 is described. The non-contact levitation and rotation drive module 100 receives the sound field adjustment amount output from the image-feedback-based adaptive attitude control module 300. .

[0091] The non-contact levitation and rotation drive module 100 adjusts the amount of sound field received. The electrical signals driving the internal ultrasonic transducer array are modified in real time. This modification is specifically manifested in adjusting the amplitude, phase, or both of the driving signals of specific transducer units or groups of units in the array.

[0092] By adjusting the parameters of the driving signal, the three-dimensional spatial distribution of the sound field changes accordingly, which directly affects the sound pressure potential energy. Its shape or spatial location changes.

[0093] The direct physical effect of sound field adjustment is the generation of an additional acoustic radiation force to compensate for misalignment of the sealing ring; this is defined here as the corrective force. This corrective force is determined by the sound field adjustment amount. The spatial gradient is determined by the following equation:

[0094] ;

[0095] in: Indicates corrective force; Represents the gradient operator; This represents the sound field adjustment calculated by the closed-loop feedback control model. The resulting corrective force... Acting on the seal ring that is off-center, driving the seal ring from its current actual center of mass position. Towards the theoretical center of suspension Movement. This process constitutes a continuous closed-loop feedback control loop.

[0096] See attached document Figure 7In one embodiment of the present invention, the preliminary defect detection and classification function of the defect analysis and targeted re-inspection module 400 is described. The defect analysis and targeted re-inspection module 400 receives four independent two-dimensional unfolded images generated by the full-surface synchronous imaging and reconstruction module 200.

[0097] This module 400 independently analyzes each of the four two-dimensional unfolded images using a pre-defined defect detection model. In one specific embodiment, this defect detection model is a trained convolutional neural network. The function of this model is to process the input image data and identify all candidate defect regions in the image that satisfy specific visual features.

[0098] For each identified candidate defect region, the defect detection model calculates and outputs a quantified confidence score. This confidence score is defined here as... This represents the degree of confidence the model has in determining that the region is a real defect. The value range is set between 0 and 1.

[0099] The defect analysis and targeted re-inspection module 400 calculates the confidence score for each candidate defect region. And compare it with two preset thresholds, the high confidence threshold With low confidence threshold Candidate defect regions are classified. The classification rules are as follows:

[0100] when At that time, the candidate defect area was classified as a confirmed defect.

[0101] when At that time, the candidate defect area was classified as a defect to be re-inspected.

[0102] when At that time, the candidate defect region is determined to be non-defect and is ignored in subsequent processing.

[0103] in: The confidence score represents the candidate defect region; Indicates a high confidence threshold; This indicates the low confidence threshold.

[0104] See attached document Figure 7In one embodiment of the present invention, the re-inspection triggering and precise positioning mechanism of the defect analysis and targeted re-inspection module 400 is described. When the preliminary defect detection and classification step generates a non-empty set of defect area information to be re-inspected, the defect analysis and targeted re-inspection module 400 initiates the targeted re-inspection process. For each defect to be re-inspected in the set of defects to be re-inspected, the defect analysis and targeted re-inspection module 400 extracts the position coordinates of the defect in the corresponding two-dimensional unfolded image from its area information.

[0105] It is used to calculate the rotation angle of a physical target. This mapping relationship is defined by the following formula:

[0106] ;

[0107] in: This indicates the target rotation angle corresponding to the defect to be re-inspected, in radians (rad). This indicates the pixel position of the defect to be re-inspected on the circumferential coordinate axis of the two-dimensional unfolded image; This represents the total number of pixels in the circumferential coordinate axis of the unfolded 2D image. It is a constant representing a complete circle, and its unit is radians (rad).

[0108] After calculating the target rotation angle Subsequently, the defect analysis and directional re-inspection module 400 generates a rotation positioning command. This command is sent to the non-contact levitation and rotation drive module 100.

[0109] After receiving the rotation positioning command, the non-contact levitation and rotation drive module 100 generates a constant angular velocity before stopping. Continuous phase difference change during rotation. A non-contact levitation and rotation drive module applies a controlled acoustic torque at 100 revolutions. Drive the sealing ring to rotate to the target rotation angle. The location of the object, and make it stationary at this angular position.

[0110] After the sealing ring is precisely positioned and stationary, the defect analysis and directional re-inspection module 400 sends a high-precision acquisition trigger signal to the linear array camera in the full-surface synchronous imaging and reconstruction module 200, which is responsible for imaging the defect area, to perform one or more static image acquisitions.

[0111] See attached document Figure 7 In one embodiment of the present invention, the detailed imaging and defect confirmation process of the defect analysis and directional re-inspection module 400 is described. The non-contact levitation and rotation drive module 100 positions the sealing ring and keeps it stationary at the target rotation angle. Subsequently, the defect analysis and targeted re-inspection module 400 sends a fine imaging command to the full-surface synchronous imaging and reconstruction module 200. This command contains surface information about the location of the defect to be re-inspected.

[0112] The full-surface synchronous imaging and reconstruction module 200, based on the received fine imaging command, controls the corresponding linear scan camera to perform a static high-resolution image acquisition of the defect area to be re-inspected. In this acquisition, the camera uses a set of preset re-inspection acquisition parameters, which differ from the parameter combination used in dynamic scanning, to obtain a detailed enhanced image of the defect area to be re-inspected. The result is a high-resolution re-inspection image.

[0113] The acquired high-resolution re-inspection image is transmitted to the defect analysis and targeted re-inspection module 400. The defect analysis and targeted re-inspection module 400 processes this high-resolution re-inspection image using a second defect analysis model. This second defect analysis model is specifically optimized for high-resolution static images and is used to make the final judgment on candidate defects.

[0114] The second defect analysis model analyzes the input high-resolution re-inspection image and outputs a final confidence score. The defect analysis and targeted re-inspection module 400 will use this final confidence score. With a preset final confirmation threshold Compare the results and make a final classification according to the following rules:

[0115] when At that time, the defect awaiting re-inspection was finally confirmed as a confirmed defect.

[0116] when At that time, the defect awaiting re-inspection was ultimately determined to be a non-defect.

[0117] in: This represents the final confidence score output by the second defect analysis model; This indicates the final confirmation threshold.

[0118] This final classification result is recorded and merged with the confirmed defect information identified in the previous preliminary inspection steps to form a complete defect report. The detailed imaging and defect confirmation process for each defect requiring re-inspection is now complete.

[0119] See attached document Figure 7In one embodiment of the present invention, the comprehensive evaluation logic of the comprehensive evaluation and non-contact sorting module 500 is described. The comprehensive evaluation and non-contact sorting module 500 receives a final defect report generated by the defect analysis and targeted re-inspection module 400. This report contains all confirmed defect information for a tested sealing ring. Each confirmed defect record describes the type, size, location, and severity level of the defect.

[0120] The comprehensive evaluation and sorting module 500 is designed to make a final judgment on the overall quality status of the tested sealing rings based on a preset set of comprehensive evaluation rules. This set of comprehensive evaluation rules consists of one or more sub-rules, each of which performs logical judgments on one or more defect attributes.

[0121] In one implementation, this evaluation process is conducted through a final evaluation function. To formalize this, the input to this function is the complete set of confirmed defects contained in the final defect report. .

[0122] ;

[0123] in: This indicates the final assessment result; This represents the comprehensive evaluation function, which embeds all the decision sub-rules. This represents the set of all confirmed defects in the tested seal.

[0124] Comprehensive evaluation function The output is a binary status code, which represents the final quality level of the tested seal. This quality level is defined as either qualified or unqualified.

[0125] The comprehensive evaluation and sorting module 500 converts this final quality grade determination into a specific sorting instruction. This sorting instruction is then sent to downstream mechanical sorting mechanisms (such as the sorting jet assembly 17) to perform subsequent physical sorting operations.

[0126] See attached document Figure 8 In one embodiment of the present invention, the non-contact axial conveying and sorting function of the comprehensive evaluation and non-contact sorting module 500 is described. After the detection is completed, the control unit instructs all ultrasonic transducers of the non-contact levitation and rotation drive module 100 to stop working. Sound pressure potential energy field Disappearance, levitation force Removed, the sealing ring falls vertically under gravity and enters a downstream conveying mechanism (e.g., discharge conveying assembly 6).

[0127] The discharge conveying assembly 6 drives the sealing ring outward. When the sealing ring passes the sorting jet assembly 17, the sorting jet assembly 17 blows air onto the sealing ring according to the sorting instruction previously received from the module 500, and blows it to the corresponding sorting discharge box 10.

[0128] See attached document Figure 8 , Figure 8 This is a schematic diagram of a sealing ring visual inspection device according to an embodiment of the present invention. The present invention provides a sealing ring visual inspection device, which may include: a device frame 600 (corresponding to device frame 1), a feeding unit 700, an inspection unit 800, and a sorting unit 900.

[0129] The equipment frame 600 constitutes the main support structure of the equipment, and a base 3 can be installed on it for support. Observation windows 2 can be installed on the inner sides of multiple surfaces of the equipment frame 600 (equipment frame 1) for observing the overall operation of the equipment. The feeding unit 700, the detection unit 800, and the sorting unit 900 are sequentially fixed on the equipment frame 600 along a horizontal straight line.

[0130] The feeding unit 700 is located at one end of the detection unit 800. In one embodiment, the feeding unit includes a collection hopper 5 and a feeding conveying assembly 4.

[0131] The detection unit 800 is located in the center of the equipment frame 600. Inside the detection unit 800 is a non-contact suspension and rotation drive device 100a. Four imaging components—an upper synchronous imaging component 210a, a lower synchronous imaging component 210b, an inner synchronous imaging component 210c, and an outer synchronous imaging component 210d—are distributed around the central area of ​​the non-contact suspension and rotation drive device 100a.

[0132] A dark box enclosure covers the entire detection unit 800, providing an environment free from external light interference for the internal imaging process.

[0133] The sorting unit 900 is located at the other end of the detection unit 800. It is used to receive and sort the sealing rings falling from the detection unit 800. In one embodiment, the sorting unit 900 includes a discharge conveying assembly 6, a sorting jet assembly 17, and a sorting discharge box 10.

[0134] A separate control cabinet is located next to the equipment rack 600. The control cabinet houses the central processing unit, signal drivers, and power module. The central processing unit is connected via cables to the feeding unit 700, the non-contact suspension and rotation drive device 100a, the four imaging components (upper synchronous imaging component 210a, lower synchronous imaging component 210b, inner synchronous imaging component 210c, outer synchronous imaging component 210d), and the sorting unit 900 (specifically, the sorting jet assembly 17), for sending control commands and receiving data. Additionally, the system may include a display 7 connected to the central processing unit for displaying, recording, and sorting the images of the captured sealing rings, and for controlling the overall equipment.

[0135] See attached document Figure 9 This invention provides a visual inspection device for sealing rings. The core components of this device work together as follows: At the start of operation, the feeding unit 700 (e.g., the feeding conveyor assembly 4) delivers a sealing ring to be tested to the inlet of the inspection unit 800. A non-contact levitation and rotation drive device 100a captures this sealing ring and, according to instructions from the central processing unit, activates the ultrasonic transducer array to generate acoustic radiation force that levitates the sealing ring non-contactly at the center of the inspection area.

[0136] Throughout the dynamic scanning process, the central processing unit continuously receives image data from the upper synchronous imaging component 210a and the lower synchronous imaging component 210b, and calculates the centroid position of the sealing ring in real time from it. The central processing unit compares this actual center of mass position with the theoretical levitation center position. Compare and generate a real-time position error vector. The sound field adjustment amount is calculated based on the closed-loop feedback control model. This adjustment is sent to the non-contact levitation and rotation drive device 100a to dynamically adjust the sound field and maintain the stable levitation posture of the sealing ring.

[0137] When the central processing unit identifies a defect to be re-inspected during the initial defect detection, it sends a signal containing the target rotation angle to the non-contact levitation and rotation drive device 100a. The device 100a stops the continuous rotation of the sealing ring and precisely positions it to the target angle. After positioning, the central processing unit sends a command to the corresponding imaging component to acquire a static high-resolution re-examination image.

[0138] After all testing and re-inspection processes are completed, the central processing unit makes a final assessment. Based on the assessment results, the central processing unit sends a sorting instruction to the sorting jet assembly 17 in the sorting unit 900.

[0139] Simultaneously, the central processing unit instructs the non-contact levitation and rotation drive device 100a to stop the operation of all transducers. With the levitation force gone, the sealing ring falls onto the discharge conveyor assembly 6 of the sorting unit 900. The discharge conveyor assembly 6 transports the sealing ring to the sorting jet assembly 17, which executes the previously received sorting instructions, completing the sorting cycle.

[0140] The sealing ring visual inspection device provided by the present invention includes an acoustic suspension detection unit 800a, the structure of which and its working principle are as follows.

[0141] The acoustic levitation detection unit 800a is the core device for performing non-contact levitation, rotation, positioning, and conveying of the sealing ring. This unit includes an upper ultrasonic transducer array 110a and a lower ultrasonic transducer array 120a.

[0142] The upper ultrasonic transducer array 110a and the lower ultrasonic transducer array 120a are arranged opposite each other along the same vertical axis, forming a working space between them to accommodate the sealing ring under test. Each transducer array consists of multiple independent ultrasonic transducer elements arranged according to a preset two-dimensional planar grid.

[0143] See attached document Figure 9 , Figure 10 This is a schematic diagram of the structure of a synchronous imaging assembly according to an embodiment of the present invention. The sealing ring visual inspection device provided by the present invention includes four sets of synchronous imaging assemblies with identical structures: an upper synchronous imaging assembly 210a, a lower synchronous imaging assembly 210b, an inner synchronous imaging assembly 210c, and an outer synchronous imaging assembly 210d. Here, a detailed description is given using one set of synchronous imaging assemblies as an example.

[0144] Each synchronous imaging assembly 210a includes a line scan camera 211a, a telecentric lens 212a, and a line light source 213a.

[0145] The line scan camera 211a incorporates a one-dimensional linear image sensor. A telecentric lens 212a is mounted at the front of the line scan camera 211a to image a linear region of the target surface onto the linear image sensor. A line light source 213a is fixedly mounted near the line scan camera 211a; the light emitted from it is shaped to form a high-brightness, slender light band that precisely coincides with the field of view of the line scan camera 211a on the target surface.

[0146] During dynamic detection, the central processing unit simultaneously sends a continuous image acquisition trigger signal to the four synchronous imaging components 210a, 210b, 210c, and 210d. Upon receiving the signal, each line scan camera (e.g., 211a) scans at a constant line scan frequency. Continuously acquire one-dimensional line images of the sealing ring as it rotates through its field of view.

[0147] The central processing unit receives one-dimensional line image data streams from each line scan camera and stacks these one-dimensional line images in the order of acquisition time, thereby reconstructing a complete two-dimensional unfolded image for each measured surface (upper surface, lower surface, inner sidewall, and outer sidewall).

[0148] See attached document Figure 10 , Figure 7 This is a schematic diagram of a re-inspection imaging assembly according to an embodiment of the present invention. The sealing ring visual inspection device provided by the present invention includes four sets of re-inspection imaging assemblies: an upper surface re-inspection imaging assembly 220a, a lower surface re-inspection imaging assembly 220b, an inner sidewall re-inspection imaging assembly 220c, and an outer sidewall re-inspection imaging assembly 220d. These four sets of assemblies correspond to the re-inspection imaging tasks of the upper surface, lower surface, inner sidewall, and outer sidewall of the sealing ring, respectively. A detailed description is given here using one set of re-inspection imaging assemblies as an example.

[0149] Each re-inspection imaging assembly 220a includes an area array camera 221a, a macro lens 222a, and a coaxial light source 223a. These assemblies are fixedly mounted on the equipment frame 600, with their optical axes aligned with the corresponding surface to be inspected in the inspection area.

[0150] The area scan camera 221a integrates a two-dimensional image sensor to capture a complete two-dimensional still image in a single exposure. A macro lens 222a is mounted at the front of the area scan camera 221a, providing a fixed high magnification to form a magnified image of the defect area to be inspected on the image sensor. A coaxial light source 223a is installed in the optical path of the macro lens 222a. The light emitted from it is transmitted through a semi-transparent mirror inside the lens, parallel to the lens's optical axis, to the target surface. After reflection from the target surface, it is imaged again through the lens.

[0151] When the central processing unit issues a re-inspection command, the corresponding re-inspection imaging component 220a is activated. Upon receiving a trigger signal, the coaxial light source 223a is illuminated, and the area array camera 221a performs a single-frame image acquisition to obtain a high-resolution re-inspection image of the defect area to be re-inspected.

[0152] See attached document Figure 8 With appendix Figure 1The sealing ring visual inspection device provided by the present invention includes a control unit 1000 with the following structure and function. The control unit 1000 is installed in a separate control cabinet. The control unit 1000 includes a central processing unit 1010, a graphics processing unit 1020, a memory 1030, a data storage device 1040, and multiple input / output interfaces 1050. The central processing unit 1010, graphics processing unit 1020, memory 1030, and data storage device 1040 are connected via an internal data bus.

[0153] The memory 1030 stores computer-executable instructions. The central processing unit 1010 and the graphics processing unit 1020 execute these instructions to control and process data from all hardware components in the device.

[0154] The input / output interface 1050 is connected via control cables to the feeding unit 700 (e.g., feeding conveyor assembly 4), the non-contact suspension and rotation drive device 100a, four sets of synchronous imaging assemblies 210a, 210b, 210c, 210d, four sets of re-inspection imaging assemblies 220a, 220b, 220c, 220d, and the sorting unit 900 (e.g., sorting jet assembly 17).

[0155] The central processing unit 1010 sends start / stop commands to the feeding unit 700 through the input / output interface 1050.

[0156] The central processing unit 1010 sends a signal to the non-contact levitation and rotation drive device 100a to generate levitation force. Acoustic torque Closed-loop position adjustment amount Target rotation angle Positioning and non-contact conveying force All control signals.

[0157] The central processing unit 1010 synchronously transmits line scan frequency data to the line scan cameras and line light sources in the four sets of synchronous imaging assemblies (210a-d) at a frequency of [missing information]. The acquisition trigger signal.

[0158] The central processing unit 1010 sends a single-frame acquisition trigger signal to the area array camera and coaxial light source in the four sets of re-examination imaging components (220a-d).

[0159] The control unit 1000 receives one-dimensional line image data streams from four sets of simultaneous imaging components (210a-d) and high-resolution re-examination images from four sets of re-examination imaging components (220a-d) via the input / output interface 1050.

[0160] The control unit 1000 sends sorting instructions to the sorting unit 900 (sorting jet assembly 17) via the input / output interface 1050.

[0161] The control unit 1000 (e.g., via a connected display 7) displays, records, and categorizes the appearance of the captured sealing rings, thereby controlling the overall device.

[0162] The central processing unit 1010 and the graphics processing unit 1020 work together to execute instructions stored in the memory 1030. The execution of these instructions enables the control unit 1000 to... Figure 8 The logic of all functional modules shown.

[0163] Specifically, the control unit 1000 executes the logic of the image reconstruction and preprocessing module 310 to reconstruct the received one-dimensional line image data stream into a two-dimensional unfolded image of the upper surface, a two-dimensional unfolded image of the lower surface, a two-dimensional unfolded image of the inner sidewall, and a two-dimensional unfolded image of the outer sidewall.

[0164] The control unit 1000 executes the logic of the preliminary defect detection and classification module 320, applies the first defect analysis model to process four two-dimensional unfolded images, generates preliminary detection results, and creates a set of information on defect areas to be re-inspected.

[0165] The control unit 1000 executes the logic of the defect analysis and targeted re-inspection module 400 to calculate the target rotation angle. The second defect analysis model is then applied to process the high-resolution re-inspection images to generate a final confirmed defect report.

[0166] The control unit 1000 executes the logic of the comprehensive evaluation and sorting module 500, and applies the comprehensive evaluation function. A final quality grade is determined, and a sorting instruction is generated. This sorting instruction is sent to sorting unit 900 (sorting jet assembly 17).

[0167] See attached document ​ This invention provides a visual inspection device for sealing rings. The device includes a feeding unit 700 and a sorting unit 900, with the following structure: The feeding unit 700 is fixedly installed at one end of the equipment frame 600, located on the material inlet side of the inspection unit 800. The function of the feeding unit 700 is to separate the bulk sealing rings to be tested one by one and transport them to the inlet position of the inspection unit 800.

[0168] In one embodiment, the feeding unit 700 includes a collection hopper 5 and a feeding conveying assembly 4. The collection hopper 5 is used to hold bulk sealing rings, and the feeding conveying assembly 4 conveys the sealing rings one by one to the inlet of the detection unit 800.

[0169] The sorting unit 900 is fixedly installed at the other end of the equipment frame 600, located on the material outlet side of the detection unit 800. The physical structure of the sorting unit 900 includes a discharge conveying assembly 6, a sorting jet assembly 17, and a sorting discharge box 10.

[0170] After the detection unit 800 completes the detection and releases the falling sealing ring, the sealing ring falls onto the discharge conveying assembly 6.

[0171] The sorting jet assembly 17 is positioned on the path of the discharge conveyor assembly 6 and is electrically connected to the control unit 1000, receiving sorting instructions from it. When the discharge conveyor assembly 6 transports the sealing rings below it, the sorting jet assembly 17 sprays air onto the defective products according to the instructions, blowing them into the sorting discharge box 10, while the qualified products continue to be conveyed by the discharge conveyor assembly 6 to the end collection.

[0172] The visual inspection device for sealing rings provided by this invention has the following working process in a specific embodiment.

[0173] Step S1: Loading. The control unit 1000 sends a start command to the loading unit 700 (collection hopper 5 and loading conveyor assembly 4). The vibratory feeder 710 in the loading unit 700 works in conjunction with the linear feeding track 720 to transport a sealing ring to be tested to the inlet position of the detection unit 800.

[0174] Step S2: Suspension and Rotation. The non-contact suspension and rotation drive 100a captures the sealing ring at the inlet position. The control unit 1000 instructs the drive 100a to generate a specific acoustic pressure potential energy field. This generates a levitation force sufficient to overcome the gravity of the sealing ring. The sealing ring is suspended non-contactly at the center of the detection area. Subsequently, the control unit 1000 instructs the drive device 100a to apply acoustic torque. This causes the sealing ring to move at a preset constant angular velocity. It rotates around its central axis.

[0175] Step S3: Synchronous Scanning Imaging. During the rotation of the sealing ring, the control unit 1000 synchronously sends a frequency of [frequency value missing] to the four sets of synchronous imaging components 210a, 210b, 210c, and 210d. The trigger signal. Four line scan cameras 211a, 211b, 211c, and 211d begin to continuously acquire one-dimensional line image data streams.

[0176] Step S4: Image Reconstruction and Preliminary Inspection. The control unit 1000 receives four one-dimensional line image data streams in real time, and after the sealing ring has completed at least one rotation, reconstructs the data streams into two-dimensional unfolded images of the upper surface, lower surface, inner wall, and outer wall, respectively. Subsequently, the control unit 1000 applies the first defect analysis model to analyze these four two-dimensional unfolded images, generating a preliminary inspection report containing the location and size information of all defect areas to be re-inspected.

[0177] Step S5: Targeted Re-inspection. If the preliminary inspection report contains defects requiring re-inspection, the control unit 1000 calculates the actual target rotation angle on the sealing ring based on the coordinates of the defect in the two-dimensional unfolded image. The control unit 1000 instructs the non-contact levitation and rotation drive device 100a to stop continuous rotation and precisely positions the sealing ring at the target rotation angle. After the location is completed, the control unit 1000 sends a single-frame acquisition command to the re-inspection imaging components 220a, 220b, 220c, or 220d containing the defect area to acquire a high-resolution re-inspection image. This step is repeated for each defect to be re-inspected.

[0178] Step S6: Comprehensive Evaluation. After the entire re-inspection process is completed, the control unit 1000 applies the second defect analysis model to analyze all the acquired high-resolution re-inspection images and generates a final defect report. The control unit 1000 calls the comprehensive evaluation function. This final defect report is calculated, and the final assessment result of whether the product is qualified or unqualified is output.

[0179] Step S7: Sorting instruction generation and material unloading. Control unit 1000 generates sorting instructions based on the final evaluation results. A sorting instruction is generated and sent to the sorting jet assembly 17 in the sorting unit 900. Simultaneously, the control unit 1000 instructs all transducers of the non-contact levitation and rotation drive device 100a to cease operation. (Sound pressure potential energy field) Disappearance, levitation force Removed.

[0180] Step S8: Mechanical Conveying and Sorting. The sealing ring falls vertically under gravity onto the discharge conveyor assembly 6 in the sorting unit 900. The discharge conveyor assembly 6 transports the sealing ring to the sorting jet assembly 17. The sorting jet assembly 17 executes the sorting command received in step S7, blowing the sealing ring into the corresponding sorting discharge box 10, thus achieving sorting. A complete detection and sorting cycle ends.

Claims

1. A visual inspection system for sealing rings, characterized in that, include: The non-contact suspension and rotation drive module is used to apply non-contact acoustic radiation force and acoustic torque to a single sealing ring, suspending the sealing ring in the detection area and driving the sealing ring to rotate around its own axis at a preset angular velocity. The full-surface synchronous imaging and reconstruction module is used to simultaneously acquire image data of the upper surface, lower surface, inner sidewall and outer sidewall of the sealing ring during the rotation of the sealing ring, and reconstruct the acquired one-dimensional line scan image data stream into four two-dimensional unfolded images. The image feedback-based adaptive attitude control module receives real-time image data from the full-surface synchronous imaging and reconstruction module, calculates the position error of the sealing ring based on the real-time image data, and generates a sound field adjustment amount to output to the non-contact suspension and rotation drive module to perform closed-loop control of the suspension attitude of the sealing ring. The defect analysis and directional re-inspection module is used to analyze the aforementioned four two-dimensional unfolded images, identify and locate candidate defects, and, when there are defects to be re-inspected, control the non-contact suspension and rotation drive module to position the sealing ring to the target rotation angle corresponding to the defect to be re-inspected, and perform static re-inspection imaging. The comprehensive evaluation and sorting control module is used to make a final judgment of whether the sealing ring is qualified or unqualified based on the final defect set output by the defect analysis and directional re-inspection module, and generate a sorting control signal.

2. A visual inspection system for sealing rings according to claim 1, characterized in that, The non-contact levitation and rotation drive module includes at least one ultrasonic transducer array; the ultrasonic transducer array is used to generate a three-dimensional acoustic pressure standing wave field in the detection area and form an acoustic pressure potential well at the center of the standing wave field. By controlling the intensity of the acoustic pressure standing wave field, the acoustic radiation force generated in the vertical direction is balanced with the gravity of the sealing ring, thereby achieving stable levitation of the sealing ring.

3. A visual inspection system for sealing rings according to claim 2, characterized in that, The non-contact levitation and rotation drive module applies a dynamic phase difference to the drive signals of different transducer units in the ultrasonic transducer array, generating an acoustic torque acting on the levitation sealing ring in the sound pressure standing wave field, thereby driving the sealing ring to rotate around its own axis.

4. A visual inspection system for sealing rings according to claim 1, characterized in that, The full-surface synchronous imaging and reconstruction module includes four sets of synchronous imaging components corresponding to the upper surface, lower surface, inner sidewall, and outer sidewall of the sealing ring, respectively. Each set of synchronous imaging components includes a line scan camera and a line light source that precisely coincides with the field of view of the line scan camera.

5. A visual inspection system for sealing rings according to claim 1, characterized in that, The system also establishes a rotation acquisition synchronization locking relationship. This relationship ensures that each line scan camera acquires a preset total number of image rows within one revolution of the sealing ring by locking the line frequency of the line scan camera and the rotation angular velocity of the sealing ring, thereby guaranteeing the geometric accuracy of the reconstructed two-dimensional unfolded image.

6. A visual inspection system for sealing rings according to claim 1, characterized in that, The image feedback-based adaptive attitude control module extracts the contour information of the sealing ring from the received real-time image data, calculates the real-time centroid position of the sealing ring, and generates the position error by comparing the real-time centroid position with a preset theoretical suspension center position aligned with the center of the acoustic pressure potential well.

7. A visual inspection system for sealing rings according to claim 1, characterized in that, The defect analysis and targeted re-inspection module uses the first defect detection model to analyze the four two-dimensional unfolded images and calculates a confidence score for each identified candidate defect region. Based on the confidence score and preset high and low confidence thresholds, the module classifies the candidate defect regions into confirmed defects, defects to be re-inspected, or non-defects.

8. A visual inspection system for sealing rings according to claim 7, characterized in that, When a defect to be re-inspected is identified, the defect analysis and directional re-inspection module calculates a physical target rotation angle based on the circumferential coordinates of the defect in the two-dimensional unfolded image, and sends a rotation positioning command containing the target rotation angle to the non-contact suspension and rotation drive module.

9. A visual inspection system for sealing rings according to claim 8, characterized in that, After the sealing ring is positioned and stationary according to the rotation positioning command, the defect analysis and orientation re-inspection module triggers a re-inspection imaging component including an area array camera to perform a static high-resolution image acquisition, and applies the second defect analysis model to process the acquired high-resolution re-inspection image to make a final confirmation or exclusion of the defect to be re-inspected.

10. A visual inspection device for sealing rings, characterized in that, include: The equipment frame (1) and the base (3) for supporting the equipment frame (1) are provided with an observation window (2). The feeding unit is fixed to the equipment frame (1) and is used to transport the sealing ring to be tested to the testing position. The feeding unit includes a collection hopper (5) and a feeding conveying assembly (4). The detection unit is fixed to the device frame (1), and the detection unit is provided with: A non-contact suspension and rotation drive device is used to suspend the sealing ring in the detection area and drive the sealing ring to rotate; At least one set of synchronous imaging components, the synchronous imaging components including a line scan camera, arranged around the detection area, for acquiring surface image data as the sealing ring rotates; At least one set of re-inspection imaging components, the re-inspection imaging components including an area array camera, arranged around the detection area, for performing static re-inspection imaging on the area on the sealing ring; The sorting unit, fixed to the equipment frame (1), is used to receive the sealing rings that have completed the inspection. The sorting unit includes a discharge conveying assembly (6), a sorting jet assembly (17), and multiple sorting discharge boxes (10). The central processing unit is electrically connected to the devices and components in the feeding unit, the detection unit, and the sorting unit. The central processing unit is also connected to a display (7) for controlling the equipment to perform the detection process of suspending and rotating the sealing ring, synchronous scanning, directional re-inspection, and sorting.

Images