A detection system and an inclination sensor

Abstract

The application provides a detection system, comprising: a machine table, including a bearing plate, a lens support, a tray support, a tray, the lens support and the tray support are oppositely arranged, and the tray is used for bearing a workpiece to be detected; two optical lenses are installed on the lens support and are used for collecting images of the workpiece to obtain a detection result based on the image analysis; four inclination sensors are respectively installed at a first measuring point on the bearing plate, a second measuring point and a third measuring point on the two optical lenses, and a fourth measuring point on the bottom surface of the tray, and are respectively used for acquiring absolute angle values of the first measuring point, the second measuring point, the third measuring point and the fourth measuring point; a controller is used for acquiring relative angle values of the second measuring point, the third measuring point and the fourth measuring point relative to the first measuring point, and controlling a display component to display, so as to adjust the inclination degree of the two optical lenses. The application also provides an inclination sensor.

Description

Technical Field

[0001] This invention relates to the field of measurement technology, specifically to a detection system and a tilt sensor. Background Technology

[0002] Because the platform of the inspection system used for inspecting the quality of film application on workpieces is in a high-speed operation state for a long time, the vibration during the platform movement can easily cause the optical lens to shift at an angle, resulting in an incomplete clear image range, causing abnormal imaging, affecting the accuracy of subsequent defect detection and identification, and requiring debugging personnel to periodically find the cause and adjust the optical lens, which not only wastes time but also causes great trouble to the stability of the machine's inspection quality. Summary of the Invention

[0003] In view of the above, it is necessary to provide a detection system and tilt sensor to solve the technical problem of how to adjust the tilt of the optical lens to improve the detection accuracy of workpiece film quality.

[0004] This invention provides a detection system, including a machine base, two optical lenses, four tilt sensors, a display component, and a controller;

[0005] The machine tool includes a support plate, a lens bracket, a tray bracket, and a tray. The lens bracket and the tray bracket are arranged opposite to each other. The tray is fixed to the tray bracket and arranged parallel to the support plate, and is used to carry the workpiece to be inspected.

[0006] Two optical lenses are mounted on the lens bracket for acquiring images of the workpiece, which are then analyzed to obtain detection results. The two optical lenses are configured such that their two optical axes intersect and converge on the tray, and the backward extension of the bisector of the angle formed by the two optical axes is parallel to the support plate.

[0007] The four tilt sensors are respectively installed at the first measuring point on the support plate, the second and third measuring points on the two optical lenses, and the fourth measuring point on the bottom surface of the tray, and are used to obtain the absolute angle values ​​of the first measuring point, the second measuring point, the third measuring point, and the fourth measuring point, respectively.

[0008] The controller is electrically connected to the tilt sensor and the display component. It sets the absolute angle value of the first measurement point as the reference angle value, and is used to obtain the relative angle values ​​of the second measurement point, the third measurement point, and the fourth measurement point relative to the first measurement point. The controller sends the absolute angle value and the relative angle value to the display component and controls the display component to display the absolute angle value and the relative angle value, so as to adjust the tilt of the two optical lenses based on the absolute angle value and the relative angle value displayed by the display component.

[0009] In the above embodiments, two optical lenses are installed on the machine to photograph the edge of the workpiece placed on the tray, so as to analyze the film quality through image processing technology. Sensor modules are installed at four positions on the machine: the first measurement point, the second measurement point, the third measurement point, and the fourth measurement point, to obtain the absolute angle values ​​of the first measurement point, the second measurement point, the third measurement point, and the fourth measurement point. Using the absolute angle value at the first measurement point as the reference angle value, the relative angle values ​​of the second measurement point, the third measurement point, and the fourth measurement point relative to the first measurement point are obtained. The display component is controlled to display the absolute angle values ​​and the relative angle values. The operator observes the relative angle values ​​of the second measurement point, the third measurement point, and the fourth measurement point relative to the first measurement point in real time according to the angle values ​​displayed by the display component. When the three angle values ​​exceed the standard, the tilt calibration of the optical lens can be quickly and accurately completed, thereby satisfying the requirement of the optical lens to accurately photograph the edge of the workpiece, so as to perform quality analysis on the accurate workpiece image.

[0010] In some embodiments, the detection system described above further includes:

[0011] An input device, electrically connected to the controller, is used to input a predefined deviation angle;

[0012] Wherein, the angle between the optical axis of the optical lens and the horizontal direction is the standard tilt angle value, and the acceptable tilt range is obtained based on the standard tilt angle value and the predefined deviation angle;

[0013] The controller is also used to determine whether the relative angle value exceeds the acceptable tilt range, and to control the display component to output the determination result, and to control the display component to issue an error prompt when and / or at least one of the relative angle values ​​exceeds the acceptable tilt range.

[0014] This application embodiment also provides a tilt sensor, applied to the detection system described in the above embodiment, for obtaining absolute angle values. The tilt sensor includes a triaxial acceleration sensor module and a main control module that are connected in communication.

[0015] The triaxial accelerometer module is used to measure gravitational acceleration in the X, Y, and Z axes, respectively.

[0016] The main control module is used to obtain the absolute angle values ​​of the tilt sensor relative to the X-axis, Y-axis, and Z-axis based on the gravitational acceleration and a preset algorithm.

[0017] In the above embodiments, a triaxial accelerometer module is used to measure the gravitational acceleration in the X, Y, and Z axes respectively. The main control module converts the spatial vector angle into a tilt angle value according to the cosine theorem, which can quickly and accurately measure the tilt of the horizontal plane and can be used for industrial automatic leveling.

[0018] In some embodiments, the preset algorithm satisfies relations 1 through 3:

[0019]

[0020]

[0021]

[0022] Wherein, Ax, Ay, and Az represent the gravitational acceleration in the X-axis, Y-axis, and Z-axis directions, respectively, and θx, θy, and θz represent the absolute angle values ​​of the triaxial acceleration sensor module in the tilt sensor relative to the X-axis, Y-axis, and Z-axis, respectively.

[0023] In some embodiments, the method for obtaining relation 1 to relation 3 includes:

[0024] Define the gravitational acceleration of the tilt sensor as g, and let Ax, Ay, Az satisfy relational equation 4 with g:

[0025] Ax*Ax+Ay*Ay+Az*Az=g*g, Relation 4;

[0026] Define the angles between Ax, Ay, Az and the gravitational component g as α, β, and γ, respectively. According to the law of cosines and the Pythagorean theorem, we can obtain relations 5-7:

[0027] Ax*Ax+gcosα1*gcosα1=g*g, relation 5.

[0028] Ay*Ay+gcosβ1*gcosβ1=g*g, relation 6.

[0029] Az*Az+gcosγ1*gcosγ1=g*g, relation 7;

[0030] Where α1, β1, and γ1 are the complementary angles of α, β, and γ, respectively, and g is the gravitational acceleration;

[0031] Based on relation 4 to relation 7, we obtain relation 1 to relation 3.

[0032] In some embodiments, the step of obtaining relations 1 to 3 based on relations 4 to 7 includes,

[0033] Based on relations 4-7, obtain the sine and cosine values ​​of α1, β1, and γ1:

[0034]

[0035]

[0036]

[0037] Based on the sine and cosine values ​​of α1, β1, and γ1, obtain the tangent values ​​of α1, β1, and γ1:

[0038]

[0039]

[0040]

[0041] Based on the tangent values ​​of α1, β1, and γ1, obtain the radian values ​​of α1, β1, and γ1:

[0042]

[0043]

[0044]

[0045] Obtain relation 1 through relation 3:

[0046]

[0047]

[0048]

[0049] In some embodiments, the tilt sensor further includes a data processing module:

[0050] The data processing module is communicatively connected to the main control module and is used to process multiple absolute angle values ​​θx, θy, and θz based on the median mean filtering algorithm to obtain the processed absolute angle values ​​θx, θy, and θz.

[0051] In some embodiments, the tilt sensor further includes a determination module:

[0052] The judgment module is used to determine whether the number of times the triaxial accelerometer module measures the absolute angle values ​​θx, θy, and θz is greater than or equal to a preset value;

[0053] When the number of measurements is greater than or equal to a preset value, multiple absolute angle values ​​θx, θy, and θz are transmitted to the data processing module.

[0054] When the number of measurements is less than a preset value, the triaxial accelerometer module continues to measure the gravitational acceleration in the X, Y, and Z axes until the number of measurements is greater than or equal to the preset value.

[0055] In some embodiments, the tilt sensor further includes a serial communication module and a display module.

[0056] The display module is electrically connected to the serial communication module, and the serial communication module is communicatively connected to the main control module, used to transmit the absolute angle values ​​θx, θy, and θz processed by the data processing module to the display module for display.

[0057] In some embodiments, the tilt sensor further includes a pin control module:

[0058] The pin control module is electrically connected to the triaxial accelerometer module and is used to short-circuit different pins to the grounding terminal of the wire through a jumper wire, so that the control module can switch the measurement range of the triaxial accelerometer module.

[0059] In some embodiments, the measurement range of the triaxial accelerometer module includes at least one of -90° to 90°, -180° to 180°, and 0 to 360°. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the detection system according to an embodiment of the present invention.

[0061] Figure 2 This is a schematic diagram of the housing of the tilt sensor according to an embodiment of the present invention.

[0062] Figure 3 This is a schematic diagram of the composition of the detection system according to an embodiment of the present invention.

[0063] Figure 4 This is a flowchart of the detection system according to an embodiment of the present invention.

[0064] Figure 5 This is a schematic diagram of the composition of the tilt sensor according to an embodiment of the present invention.

[0065] Figure 6 This is a schematic diagram of the gravity components in each direction of the tilt sensor according to an embodiment of the present invention.

[0066] Explanation of main component symbols

[0067] Machine 10

[0068] Bearing plate 11

[0069] Lens bracket 12

[0070] Tray support 13

[0071] Tray 14

[0072] Optical lenses 20mm and 30mm

[0073] Optical axes L1, L2

[0074] Angle bisector L3

[0075] First measurement point A

[0076] Second measurement point B

[0077] Third measurement point C

[0078] Fourth measurement point D

[0079] Tilt sensor 40

[0080] Display component 50

[0081] Controller 60

[0082] Input device 70

[0083] Adapter Module 80

[0084] Casing 41

[0085] Base 42

[0086] Cover plate 43

[0087] Outlet E

[0088] edge of the casing F

[0089] Triaxial accelerometer module 410

[0090] Main control module 420

[0091] Data processing module 430

[0092] Judgment Module 440

[0093] Serial communication module 450

[0094] Display module 460

[0095] Pin control module 470

[0096] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0097] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be 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 and not intended to limit the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0098] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "multiple" means two or more, unless otherwise explicitly specified.

[0099] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0100] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0101] The embodiments of the present invention described above will be described in detail below with reference to the accompanying drawings.

[0102] Please see Figures 1-3 This application provides a detection system, including a machine base 10, two optical lenses 20 and 30, four tilt sensors 40, a display component 50, and a controller 60. In this embodiment, the detection system can be used for workpiece film adhesion quality detection.

[0103] Specifically, the machine base 10 includes a support plate 11, a lens bracket 12, a tray bracket 13, and a tray 14. The lens bracket 12 and the tray bracket 13 are arranged opposite to each other and perpendicular to the support plate 11. The tray 14 is fixed to the tray bracket 12 and arranged parallel to the support plate 11, and is used to support the workpiece to be inspected.

[0104] Optical lenses 20 and 30 are mounted on lens holder 12 for acquiring images of the workpiece, providing a basis for obtaining inspection results. Specifically, optical lenses 20 and 30 are configured such that the optical axes L1 of optical lens 20 and L2 of optical lens 30 intersect and converge on tray 14, with the backward extension of the bisector L3 of the angle formed by optical axes L1 and L2 parallel to the support plate 11. It is understood that optical lenses 20 and 30 are respectively mounted on lens holder 12 via fixing devices. This positional relationship can be achieved by adjusting the angle between the fixing devices and lens holder 12, and / or by adjusting the angle between optical lenses 20 and 30 and lens holder 12.

[0105] Tilt sensors 40 are respectively mounted at a first measuring point A on the support plate 11, a second measuring point B on the optical lens 20, a third measuring point C on the optical lens 30, and a fourth measuring point D on the bottom surface of the tray 14, to acquire the absolute angle values ​​of the first measuring point A, the second measuring point B, the third measuring point C, and the fourth measuring point D. The absolute angle values ​​of the second measuring point B and the third measuring point C can be considered as the absolute angle values ​​of the tilt of the optical axes L1 and L2 of the optical lenses 20 and 30 relative to the horizontal direction.

[0106] The absolute angle value mentioned in this application refers to the tilt angle value directly measured by the tilt sensor 40, which is generally the tilt angle value relative to a certain reference direction (e.g., horizontal or vertical direction) set by default for the tilt sensor 40. In specific embodiments, the tilt sensor 40 measures the absolute angle value with the horizontal direction as a reference. It should be noted that in modified embodiments, it is also feasible to obtain the absolute angle value with the vertical direction as a reference.

[0107] The controller 60 is electrically connected to four tilt sensors 40 and a display component 50. It sets the absolute angle value of the first measurement point A as the reference angle value, and uses it to obtain the relative angle values ​​of the second measurement point B, the third measurement point C, and the fourth measurement point D relative to the first measurement point A. It sends the absolute angle value and the relative angle value to the display component 50 and controls the display component 50 to display the absolute angle value and the relative angle value, so that the tilt of the optical lenses 20 and 30 can be adjusted based on the absolute angle value and the relative angle value displayed by the display component 50.

[0108] It should be noted that the controller 60 used to control the output absolute and relative angle values ​​and the controller used to analyze the film application quality can be the same controller 60, or they can be separate controllers. Specifically, the relative angle values ​​of the second measurement point B, the third measurement point C, and the fourth measurement point D relative to the first measurement point A are equal to the difference between the absolute angles of the second measurement point B, the third measurement point C, and the fourth measurement point D and the absolute angle of the first measurement point A.

[0109] In the above embodiment, optical lenses 20 and 30 are mounted on the lens bracket 12 to photograph the edges of both sides of the workpiece in the tray 14. The workpiece images captured by the optical lenses 20 and 30 are analyzed using image processing technology to obtain the film-applied quality inspection results. Therefore, any tilt of the optical lenses 20 and 30 or the tray 14 will affect the quality of the workpiece image used for image analysis. Based on this, tilt sensors 40 are respectively installed on the support plate 11, the optical lenses 20 and 30, and the tray 14. The absolute angle value of the first measurement point A measured by the tilt sensor 40 on the horizontal support plate 11 is used as the reference angle value to monitor the angle changes of the optical lenses 20 and 30 and the tray 14 relative to the support plate 11 as measured by the tilt sensor 40.

[0110] In some embodiments, the detection system further includes an input device 70 electrically connected to the controller 60 for inputting a predefined deviation angle. For example, the input device 70 may be a keyboard.

[0111] The angle ω between the optical axis L1 of optical lens 20 and the optical axis L2 of optical lens 30 and the horizontal direction is a standard absolute angle value. Based on the standard absolute angle value and a predefined deviation angle, the operator obtains the acceptable tilt range. The controller 60 can also be used to determine whether the relative angle value exceeds the acceptable tilt range, control the display component 50 to output the determination result, and / or control the display component 50 to issue an error prompt when at least one relative angle value exceeds the acceptable tilt range.

[0112] In a possible implementation, the predefined deviation angle can also function as a coefficient. For example, the predefined deviation angle can be determined by input device 70, and the acceptable tilt range can be obtained by multiplying or dividing the standard absolute angle value by the predefined deviation angle. This approach is also feasible.

[0113] For example, the angle ω between the optical axis L1 of optical lens 20, the optical axis L2 of optical lens 30, and the horizontal direction is 27.5 degrees, and the predefined deviation angle is 0.1 degrees. Therefore, the acceptable tilt range of optical lenses 20 and 30 is 27.4 degrees to 27.6 degrees. That is, when the relative angle values ​​of the second measurement point B, the third measurement point C, and the fourth measurement point D relative to the first measurement point A are not within the range of 27.4 degrees to 27.6 degrees, the controller 60 controls the display component 50 to issue an error prompt. After seeing the error prompt, the operator adjusts the tilt of optical lenses 20 and 30 according to the relative angle values ​​of the second measurement point B, the third measurement point C, and the fourth measurement point D relative to the first measurement point A displayed by the display component 50.

[0114] In the above embodiment, optical lenses 20 and 30 are installed on the machine tool 10 to photograph the edge of the workpiece placed on the tray 14, so as to analyze the film application quality through image processing technology. Tilt sensors 40 are installed at four positions on the machine tool 10: a first measuring point A, a second measuring point B, a third measuring point C, and a fourth measuring point D, to obtain the absolute angle values ​​of these points. The controller 60 uses the absolute angle value at the first measuring point A as a reference angle value to obtain the relative angle values ​​of the second measuring point B, the third measuring point C, and the fourth measuring point D relative to the first measuring point A, and controls the display component 50 to display the absolute and relative angle values. The operator can observe the relative angle values ​​of the second measuring point B, the third measuring point C, and the fourth measuring point D relative to the first measuring point A in real time based on the angle values ​​displayed on the display component 50, which allows for quick and accurate tilt calibration of the optical lenses, thereby ensuring that the optical lenses 20 and 30 accurately photograph the edge of the workpiece within the tray 14, and enabling quality analysis of the accurate workpiece film application image.

[0115] Further integration Figure 2 As shown, the tilt sensor 40 includes a housing 41, which includes a matching base 42 and a cover plate 43. The base 42 of the tilt sensor 40 at the first measurement point A is in close contact with the horizontal surface of the support plate 11 to ensure the accuracy of the absolute angle value of the support plate 11 measured by the tilt sensor 40 at the first measurement point A.

[0116] Furthermore, after the base 42 and the cover plate 43 are closed, a cable outlet E is formed. The positions of the cable outlet E of the tilt sensor 40 at the second measurement point B and the third measurement point C are consistent with the positions of the second measurement point B and the third measurement point C, respectively. The housing edges F of the sensors at the second measurement point B and the third measurement point C are completely parallel to the lens edges of the optical lenses 20 and 30, respectively. The base 42 of the tilt sensor 40 at the second measurement point B and the third measurement point C of the optical lens 20 are completely in close contact with the positions of the second measurement point B of the optical lens 20 and the third measurement point C of the optical lens 30, respectively, to ensure the accuracy of the absolute angle values ​​of the optical lenses 20 and 30 measured by the tilt sensor 40 at the second measurement point B and the third measurement point C.

[0117] Furthermore, the base 42 of the tilt sensor 40 at the fourth measuring point D is in close contact with the horizontal surface of the support plate 11 to ensure the accuracy of the absolute angle value of the tray 14 measured by the tilt sensor 40 at the fourth measuring point D.

[0118] Further integration Figure 3 As shown, in some embodiments, the output line of the tilt sensor 40 is connected to the interface of the adapter module 80 via a serial cable, the USB interface of the adapter module 80 is connected to the USB interface of the controller 60 via a USB cable, and the VGA cable of the controller 60 is connected to the display component 50. For example, the adapter module 80 may be a USB to 4-channel RS232 module, the serial cable may be an RS232 serial cable, the controller 60 may be a computer, CPU, MCU, etc., and the display component 50 may be a monitor, voice broadcaster, etc.

[0119] In some embodiments, the tilt sensor 40 at the first measurement point A is used to measure the absolute angle value of the first measurement point A, and the controller 60 controls the display component 50 to display the absolute angle value of the first measurement point A. The default reference angle values ​​for the X-axis, Y-axis, and Z-axis of the tilt sensors 40 at the second measurement point B, the third measurement point C, and the fourth measurement point D are 0 degrees, 90 degrees, and 180 degrees, respectively. The operator can set the reference angle value based on the measurement value of the first measurement point A measured by the tilt sensor 40 at the first measurement point A displayed on the display component 50, and set the absolute angle value of the first measurement point A as the reference angle value. Inclination sensors 40 at the second measurement point B, the third measurement point C, and the fourth measurement point D are electrically connected to the display component 50. When the operator clicks the send button on the display component 50, the reference angle value is sent to the inclination sensors 40 at the second measurement point B, the third measurement point C, and the fourth measurement point D via serial communication. This allows the inclination sensors 40 at the second measurement point B, the third measurement point C, and the fourth measurement point D to measure the relative angle values ​​of the second measurement point B, the third measurement point C, and the fourth measurement point D relative to the first measurement point A based on the reference angle values.

[0120] Furthermore, based on the standard absolute angle value and the predefined deviation angle, the operator obtains the acceptable tilt range and clicks the send button on the display component 50 to send the acceptable tilt range to the tilt sensors 40 at the second measurement point B, the third measurement point C, and the fourth measurement point D via serial communication. The tilt sensors 40 at the second measurement point B, the third measurement point C, and the fourth measurement point D determine whether the relative angle value exceeds the acceptable tilt range and control the display component 50 to output the determination result. If at least one relative angle value exceeds the acceptable tilt range, the display component 50 issues an error message.

[0121] Further reading Figure 4 The detection process of the detection system for workpiece film quality inspection in the above embodiments is as follows:

[0122] (1) The tilt sensor 40 measures the absolute angle values ​​θ1, θ2, θ3, and θ4 of the first measurement point A, the second measurement point B, the third measurement point C, and the fourth measurement point D respectively.

[0123] (2) The operator sets the absolute angle value θ1 of the first measurement point A as the reference angle value, and the controller 60 controls the display component 50 to display the reference angle value θ1.

[0124] (3) The controller 60 obtains the relative angle values ​​θ of the second measurement point B, the third measurement point C, and the fourth measurement point D relative to the first measurement point A based on the reference angle value θ1, and controls the display component 50 to display the relative angle values ​​θ and the absolute angle values ​​θ2, θ3, and θ4 at the second measurement point B, the third measurement point C, and the fourth measurement point D.

[0125] (4) The user inputs the predefined deviation angle ω0 through the input device 70. The operator obtains the acceptable tilt range ω1~ω2 based on the standard absolute angle value ω and the predefined deviation angle ω0, where ω1=ω-ω0 and ω2=ω+ω0.

[0126] (5) The controller 60 determines whether the relative angle value θ at the second measurement point B, the third measurement point C, and the fourth measurement point D exceeds the acceptable tilt range ω1~ω2.

[0127] (6) When the relative angle value θ of the second measurement point B, the third measurement point C, the fourth measurement point D and / or at least one measurement point exceeds the acceptable tilt range ω1 to ω2, the controller 60 controls the display component 50 to issue an error message; when the relative angle value θ of the second measurement point B, the third measurement point C, the fourth measurement point D is within the acceptable tilt range ω1 to ω2, the display component 50 remains in normal state.

[0128] In this embodiment, the detection system detects the film application quality using image analysis technology. Specifically, a program can be run on the controller 60 to identify the positional relationship between the film and the workpiece, thereby further determining whether the film application meets the requirements. For example, the film application quality is determined to be satisfactory if the distance between the edge of the film and the edge of the workpiece is less than a set threshold. The specific image analysis algorithm is not the focus of this invention and will not be elaborated here; it can be implemented using known technologies.

[0129] Further integration Figure 5 As shown, this application embodiment also provides a tilt sensor 40, which is applied to the tilt measurement system of the optical device in the above embodiment, and is used to obtain an absolute angle value.

[0130] Specifically, the tilt sensor 40 includes a triaxial accelerometer module 410 and a main control module 420, which are connected in communication. The triaxial accelerometer module 410 is used to measure the gravitational acceleration in the X, Y, and Z axes, respectively. The main control module 420 is used to obtain the absolute angle values ​​of the tilt sensor 40 relative to the X, Y, and Z axes based on the gravitational acceleration and a preset algorithm.

[0131] Further integration Figure 6 As shown, Figure 6 The diagram illustrates the gravity components in each direction of the triaxial accelerometer module 410. In some embodiments, the preset algorithm satisfies equations 1-3:

[0132]

[0133]

[0134]

[0135] Where Ax, Ay, and Az represent the gravitational accelerations in the X, Y, and Z axes, respectively, and θx, θy, and θz represent the absolute angle values ​​of the triaxial acceleration sensor module 410 in the tilt sensor 40 relative to the X, Y, and Z axes, respectively.

[0136] In some embodiments, the method for obtaining relations 1-3 includes: defining the gravitational acceleration of the tilt sensor 40 as g, and Ax, Ay, Az and g satisfying relation 4:

[0137] Ax*Ax+Ay*Ay+Az*Az=g*g, Relation 4;

[0138] Define the angles between Ax, Ay, Az and the gravitational component g as α, β, and γ, respectively. According to the law of cosines and the Pythagorean theorem, we can obtain relations 5-7:

[0139] Ax*Ax+gcosα1*gcosα1=g*g, relation 5.

[0140] Ay*Ay+gcosβ1*gcosβ1=g*g, relation 6.

[0141] Az*Az+gcosγ1*gcosγ1=g*g, relation 7;

[0142] Where α1, β1, and γ1 are the complementary angles of α, β, and γ, respectively, and g is the gravitational acceleration;

[0143] Based on relation 4 to relation 7, we obtain relation 1 to relation 3.

[0144] In some embodiments, the steps of obtaining relations 1 to 3 based on relations 4 to 7 include:

[0145] Based on relations 4-7, obtain the sine and cosine values ​​of α1, β1, and γ1:

[0146]

[0147]

[0148]

[0149] Based on the sine and cosine values ​​of α1, β1, and γ1, obtain the tangent values ​​of α1, β1, and γ1:

[0150]

[0151]

[0152]

[0153] Based on the tangent values ​​of α1, β1, and γ1, obtain the radian values ​​of α1, β1, and γ1:

[0154]

[0155]

[0156]

[0157] Obtain relation 1 through relation 3:

[0158]

[0159]

[0160]

[0161] In the above embodiments, the steps for obtaining relations 1 to 3 are as follows:

[0162] (1) Combination Figure 6 As shown, we can obtain α = 90 degrees - α1; β = 90 degrees - β1; γ = 90 degrees - γ1.

[0163] (2) Combination Figure 6 As shown, Ax=gcosα; Ay=gcosβ; Az=gcosγ.

[0164] (3) Substituting step (1) into step 2, we get Ax = gcosα = gcos(90 degrees - α1) = gsinα1; Ay = gsinβ1; Az = gsinγ1, which can then be transformed into

[0165] (4) By the Pythagorean theorem for right triangles, we can get Ax*Ax+Ay*Ay+Az*Az=g*g, relation 4.

[0166] (5) According to the Law of Cosines and the Pythagorean theorem, we can obtain relation 5-relation 7:

[0167] Ax*Ax+gcosα1*gcosα1=g*g, relation 5.

[0168] Ay*Ay+gcosβ1*gcosβ1=g*g, relation 6.

[0169] Az*Az+gcosγ1*gcosγ1=g*g, relation 7;

[0170] Further transformation of relation 5 to relation 7 yields:

[0171]

[0172] (6) From steps (4) and (5), we get:

[0173]

[0174] (7) From step 6, we can obtain:

[0175]

[0176] (8) From radians = θπR / 180, we can get θ = radians * 180 / πR, where R is taken as 1, thus obtaining relation 1 - relation 3:

[0177]

[0178]

[0179]

[0180] In the above embodiments, a triaxial acceleration sensor module 410 is used to measure the gravitational acceleration in the X-axis, Y-axis and Z-axis directions respectively. The main control module 420 converts the spatial vector angle into a tilt angle value according to the cosine theorem, which can quickly and accurately measure the tilt of the horizontal plane and can be used in industrial automatic leveling, horizontal zero-position adjustment, tower tilt monitoring and other scenarios.

[0181] In some embodiments, the tilt sensor 40 further includes a data processing module 430. The data processing module 430 is communicatively connected to the main control module 420 and is used to process multiple absolute angle values ​​θx, θy, and θz based on a median mean filtering algorithm to obtain the processed absolute angle values ​​θx, θy, and θz.

[0182] In the above embodiments, the median mean filtering algorithm is used to process multiple absolute angle values ​​θx, θy, and θz, which can remove jitter angle values ​​and make the final measurement results more accurate.

[0183] In some embodiments, the tilt sensor 40 further includes a determination module 440. The determination module 440 is used to determine whether the number of times the triaxial acceleration sensor module 410 measures the absolute angle values ​​θx, θy, and θz is greater than or equal to a preset value.

[0184] When the number of measurements is greater than or equal to the preset value, multiple absolute angle values ​​θx, θy, and θz are sent to the data processing module 430.

[0185] When the number of measurements is less than the preset value, the triaxial accelerometer module 410 continues to measure the gravitational acceleration in the X, Y, and Z axes until the number of measurements is greater than or equal to the preset value.

[0186] For example, the preset value can be 500, which means that at least 500 sets of absolute angle values ​​θx, θy, and θz should be obtained to improve measurement accuracy.

[0187] In some embodiments, the tilt sensor 40 further includes a serial communication module 450 and a display module 460. The display module 460 is electrically connected to the serial communication module 450, and the serial communication module 450 is communicatively connected to the main control module 420, for transmitting the absolute angle values ​​θx, θy, and θz processed by the data processing module 430 to the display module 460 for display.

[0188] In some embodiments, the tilt sensor 40 further includes a pin control module 470. The pin control module 470 is electrically connected to the triaxial acceleration sensor module 410 and is used to short-circuit different pins to the ground terminal of the wire via jumper wires, so that the main control module 420 switches the measurement range of the triaxial acceleration sensor module 410.

[0189] In some embodiments, the measurement range of the triaxial acceleration sensor module 410 includes at least one of: 90° to 90°, -180° to 180°, and 0 to 360°.

[0190] In this application, the tilt sensor 40 of the above embodiment is applied to the detection system for workpiece film quality detection of the above embodiment. The tilt sensor 40 uses the gravitational acceleration obtained by the triaxial acceleration sensor module 410 to convert into an absolute angle value, so that the detection system for workpiece film quality detection can quickly and accurately measure the tilt of the horizontal plane.

[0191] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be incorporated into the present invention.

[0192] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A detection system, characterized in that, It includes a machine base, two optical lenses, four tilt sensors, a display assembly, and a controller; The machine tool includes a support plate, a lens bracket, a tray bracket, and a tray. The lens bracket and the tray bracket are arranged opposite to each other. The tray is fixed to the tray bracket and arranged parallel to the support plate, and is used to carry the workpiece to be inspected. Two optical lenses are mounted on the lens bracket for acquiring images of the workpiece, which are then analyzed to obtain detection results. The two optical lenses are configured such that their two optical axes intersect and converge on the tray, and the backward extension of the bisector of the angle formed by the two optical axes is parallel to the support plate. The four tilt sensors are respectively installed at the first measuring point on the support plate, the second and third measuring points on the two optical lenses, and the fourth measuring point on the bottom surface of the tray, and are used to obtain the absolute angle values ​​of the first measuring point, the second measuring point, the third measuring point, and the fourth measuring point, respectively. The controller is electrically connected to the four tilt sensors and the display component. It sets the absolute angle value of the first measurement point as the reference angle value, and is used to obtain the relative angle values ​​of the second measurement point, the third measurement point, and the fourth measurement point relative to the first measurement point. The controller sends the absolute angle value and the relative angle value to the display component and controls the display component to display the absolute angle value and the relative angle value, so as to adjust the tilt of the two optical lenses based on the absolute angle value and the relative angle value displayed by the display component.

2. The detection system as described in claim 1, characterized in that, Also includes: An input device, electrically connected to the controller, is used to input a predefined deviation angle; The angle between the optical axis of the optical lens and the horizontal direction is a standard tilt angle value. Based on the standard tilt angle value and the predefined deviation angle, the acceptable tilt range is obtained. The controller is also used to determine whether the relative angle value exceeds the acceptable tilt range, and to control the display component to output the determination result, and / or to control the display component to issue an error message when at least one of the relative angle values ​​exceeds the acceptable tilt range.

3. A tilt sensor, applied to the detection system according to any one of claims 1-2, for acquiring absolute angle values, characterized in that, The tilt sensor includes a triaxial acceleration sensor module and a main control module that are connected in communication. The triaxial accelerometer module is used to measure gravitational acceleration in the X, Y, and Z axes, respectively. The main control module is used to obtain the absolute angle values ​​of the tilt sensor relative to the X-axis, Y-axis, and Z-axis based on the gravitational acceleration and a preset algorithm.

4. The tilt sensor as described in claim 3, characterized in that, The preset algorithm satisfies relations 1 through 3: Wherein, Ax, Ay, and Az represent the gravitational acceleration in the X-axis, Y-axis, and Z-axis directions, respectively, and θx, θy, and θz represent the absolute angle values ​​of the triaxial acceleration sensor module in the tilt sensor relative to the X-axis, Y-axis, and Z-axis, respectively.

5. The tilt sensor as described in claim 4, characterized in that, The methods for obtaining relation 1 to relation 3 include: Define the gravitational acceleration of the tilt sensor as g, and let Ax, Ay, Az satisfy relational equation 4 with g: Ax*Ax+Ay*Ay+Az*Az=g*g, Relation 4; Define the angles between Ax, Ay, Az and the gravitational component g as α, β, and γ, respectively. According to the law of cosines and the Pythagorean theorem, we can obtain relations 5-7: Ax*Ax+gcosα1*gcosα1=g*g, relation 5. Ay*Ay+gcosβ1*gcosβ1=g*g, relation 6. Az*Az+gcosγ1*gcosγ1=g*g, relation 7; Where α1, β1, and γ1 are the complementary angles of α, β, and γ, respectively, and g is the gravitational acceleration; Based on relation 4 to relation 7, we obtain relation 1 to relation 3.

6. The tilt sensor as described in claim 5, characterized in that, The steps for obtaining relations 1 to 3 based on relations 4 to 7 include: Based on relations 4-7, obtain the sine and cosine values ​​of α1, β1, and γ1: Based on the sine and cosine values ​​of α1, β1, and γ1, obtain the tangent values ​​of α1, β1, and γ1: Based on the tangent values ​​of α1, β1, and γ1, obtain the radian values ​​of α1, β1, and γ1: Obtain relation 1 through relation 3:

7. The tilt sensor as described in claim 4, characterized in that, The tilt sensor also includes a data processing module: The data processing module is communicatively connected to the main control module and is used to process multiple absolute angle values ​​θx, θy, and θz based on the median mean filtering algorithm to obtain the processed absolute angle values ​​θx, θy, and θz.

8. The tilt sensor as described in claim 7, characterized in that, The tilt sensor also includes a judgment module: The judgment module is used to determine whether the number of times the triaxial accelerometer module measures the absolute angle values ​​θx, θy, and θz is greater than or equal to a preset value; When the number of measurements is greater than or equal to a preset value, multiple absolute angle values ​​θx, θy, and θz are transmitted to the data processing module. When the number of measurements is less than a preset value, the triaxial accelerometer module continues to measure the gravitational acceleration in the X, Y, and Z axes until the number of measurements is greater than or equal to the preset value.

9. The tilt sensor as described in claim 7, characterized in that, The tilt sensor also includes a serial communication module and a display module. The display module is electrically connected to the serial communication module, and the serial communication module is communicatively connected to the main control module, used to transmit the absolute angle values ​​θx, θy, and θz processed by the data processing module to the display module for display.

10. The tilt sensor as described in claim 3, characterized in that, The tilt sensor also includes a pin control module: The pin control module is electrically connected to the triaxial accelerometer module and is used to short-circuit different pins to the grounding terminal of the wire through a jumper wire, so that the control module can switch the measurement range of the triaxial accelerometer module.

11. The tilt sensor as described in claim 10, characterized in that, The measurement range of the triaxial accelerometer module includes at least one of -90° to 90°, -180° to 180°, and 0 to 360°.

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