Workpiece visual information acquisition device and method

Abstract

The invention discloses a workpiece visual information acquisition device which comprises a transmission platform, a conveying belt is horizontally arranged on the upper end face of the transmission platform, and a feeding area and a sorting area are arranged at the two ends of the transmission platform respectively; the front scanning unit is arranged on the conveying platform and close to the feeding area, and the front scanning unit obtains images of the workpieces conveyed on the conveying belt one by one; a central control system is arranged on one side of the transmission platform, and remote wireless information transmission is carried out between the central control system and the front scanning unit; the central control system preprocesses the acquired workpiece image and analyzes the shape feature of the workpiece image; the rear scanning unit is arranged on the transmission platform and is close to the sorting area; according to the invention, surface defect scanning can be carried out on the workpiece from the optimal scanning angle, the coverage rate is high, and visual dead angles are avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of workpiece defect detection, and in particular relates to a workpiece visual information acquisition device and method. Background Art

[0002] With the promotion of industrial and intelligent manufacturing concepts, enterprises have increasingly higher requirements for the automation and intelligence level of production lines. Efficient and accurate workpiece identification and detection have become key factors in improving production efficiency, reducing costs, and ensuring product quality. In the prior art, such as the invention patent with publication number CN115184361B, the detection and processing platform it adopts realizes the visualization of workpiece surface defect classification, positioning, scale quantification and quality assessment, ensuring the versatility of defect detection work, and has autonomous learning function, ensuring the intelligence of detection work; but the simple industrial camera it adopts cannot scan the workpiece from multiple angles, especially for workpieces with curved surfaces, the fixed visual angle is prone to scanning blind spots; resulting in incomplete detection and failure to fully cover the entire workpiece.

[0003] Therefore, it is necessary to provide a workpiece visual information acquisition device and method to solve the problems raised in the above background technology. Summary of the invention

[0004] To achieve the above object, the present invention provides the following technical solution: a workpiece visual information acquisition device, comprising: A transmission platform, the upper end surface of which is horizontally provided with a conveyor belt, and the two ends of the transmission platform are respectively provided with a feeding area and a sorting area; A front scanning unit is arranged on the transmission platform and close to the feeding area, and the front scanning unit acquires images of the workpieces transported on the conveyor belt one by one; a central control system is arranged on one side of the transmission platform, and the central control system and the front scanning unit are connected through remote wireless information transmission; the central control system pre-processes the acquired workpiece image and analyzes its shape characteristics, thereby comparing the database based on the identified key feature points, and outputting the type and specification of the workpiece; A rear scanning unit is arranged on the conveying platform and close to the sorting area. The rear scanning unit performs a second visual scan on the workpiece from different directions based on the workpiece image obtained by the front scanning unit and the spatial placement posture of the workpiece on the conveying belt, so as to visually detect and obtain surface defects of the workpiece; An annular guide rail is fixed on the transmission platform, and two power slides are distributed on the annular guide rail. The power slides slide along the annular guide rail. A frame is provided on one side of the rear scanning unit, and the lower end of the frame is installed on the power slide. The rear scanning unit performs multi-angle visual scanning on the workpiece with the center of the annular guide rail as the center.

[0005] Further, preferably, the front scanning unit comprises: The platform has two brackets vertically and symmetrically fixed on top of it; A crossbeam connected between the two brackets; There are two industrial cameras distributed on the left and right, and the two industrial cameras are slidably mounted on the crossbeam, and both of the industrial cameras are vertically facing the conveyor belt; The adjustable light sources are vertically distributed on each of the brackets.

[0006] Further, preferably, the post-scanning unit comprises: A slide rail is horizontally fixed on the frame, and a positioning plate is slidably mounted on the slide rail; A two-axis driving mechanism is mounted on the positioning plate, wherein the direction of the slide rail is the X-axis and the direction perpendicular to the slide rail is the Y-axis; The transfer component is installed on the two-axis driving mechanism. The rotating end of the transfer component is provided with a track change regulator, and the track change regulator is provided with a high-definition scanner.

[0007] Further, preferably, the transfer component comprises: A fixed plate, the center of which is rotatably connected to a main shaft, and a connecting frame is fixed on the main shaft; A rack is horizontally slidably mounted on the fixed plate, and the main shaft is sleeved with internal teeth, which mesh with the rack for transmission; an electric telescopic rod is mounted on the fixed plate, and one end of the electric telescopic rod is connected to the rack; A main driving wheel is rotatably connected to one end of the connecting frame, and the other end of the connecting frame is rotatably connected to a steering wheel. The main driving wheel is connected to the steering wheel through a toothed chain for transmission; a motor driving unit is provided outside the connecting frame, and an output end of the motor driving unit is fixed to the main driving wheel.

[0008] Further, preferably, the deflection angle of the connecting frame ranges from 25° to 155°.

[0009] Further, as a preference, the track change regulator comprises: A track frame, wherein a track bridge is arranged inside the track frame, and the track bridge is made of elastically deformable plastic material; A slide rail seat is slidably connected to the track bridge, and two rollers are symmetrically rotatably connected to the slide rail seat, and the two rollers are in rolling contact with both sides of the track bridge, and the high-definition scanner is installed on the slide rail seat; The fine-tuning rods are arranged and distributed on the track frame, and one end of the fine-tuning rods is connected to the track bridge.

[0010] Further, as a preference, an axle connection seat is fixed to one end of the track frame, one end of the track bridge extends into and is connected to the axle connection seat and is slidably connected to the axle connection seat, and a limit spring is connected between the track bridge and the axle connection seat.

[0011] Further, preferably, each of the fine-tuning rods enables the track bridge to be erected in a straight line, arc or irregular curve under different telescopic adjustments, and the track change regulator makes corresponding adjustments to the erection structure of the track bridge based on the surface shape of the workpiece, so that the cross-section of the track bridge is parallel to the surface of the workpiece.

[0012] Further, as a preferred embodiment, a method for collecting visual information of a workpiece comprises the following steps: S1. Workpiece transmission: the workpieces are transported one by one to the conveyor belt in the transmission platform through the operating robot arm in the feeding area. As the conveyor belt runs, the workpieces are gradually sent to the front scanning unit; S2. Workpiece image acquisition: the industrial camera of the front scanning unit is used to collect images of the workpiece, thereby preliminarily obtaining the appearance information of the workpiece; S3. Image preprocessing: The captured workpiece image is wirelessly transmitted to the central control system, which preprocesses the received image, including denoising, grayscale, and binarization, in order to better analyze the image. After that, the central control system extracts the key shape features of the workpiece through an algorithm, compares it with the workpiece model in the database, and identifies the type and specification of the workpiece. At the same time, it can obtain the spatial placement posture of the workpiece on the conveyor belt. S4. Secondary visual scanning: Based on the information collected by the front scanning unit on the workpiece image, the rear scanning unit performs a second scan on the workpiece, wherein the track change regulator in the rear scanning unit can adjust the track bridge erection structure so that the track bridge cross section is parallel to the workpiece surface, so that the high-definition scanner completely scans parallel to the workpiece surface, so as to fully detect potential defects on the workpiece surface; S5. Workpiece sorting: sort workpieces with different quality defects accordingly through the sorting arms set up in the sorting area.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The front scanning unit provided in the present invention can give priority to collecting visual information of the workpiece, so as to obtain the type, size, specification and placement posture of the workpiece through the image; and the rear scanning unit can scan the surface defects of the workpiece from the best scanning angle based on the acquired workpiece information data, with high coverage and avoiding visual blind spots; the track change regulator provided therein can effectively change the moving trajectory of the high-definition scanner, so that it can actually scan along the surface of the workpiece, and can perform accurate measurements closer to the surface of the workpiece, reduce the measurement error caused by the fixed viewing angle, and improve the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 A top view of the present invention; Figure 3 It is a structural schematic diagram of the front scanning unit in the present invention; Figure 4 It is a structural schematic diagram of the post-scanning unit in the present invention; Figure 5 It is a structural schematic diagram of the transfer component in the present invention; Figure 6 It is a structural schematic diagram of the track change regulator in the present invention; Figure 7 It is a structural schematic diagram of the fine-tuning rod and the shaft connection seat in the present invention; In the figure: 1. Transmission platform; 11. Conveyor belt; 12. Annular guide rail; 13. Power slide; 14. Rack; 2. Front scanning unit; 21. Carrier; 22. Crossbeam; 23. Industrial camera; 24. Adjustable light source; 3. Rear scanning unit; 31. Slide rail; 32. Positioning plate; 33. Two-axis drive mechanism; 34. High-definition scanner; 4. Transfer assembly; 41. Fixed plate; 42. Connecting frame; 43. Rack; 44. Internal gear; 45. Electric telescopic rod; 46. Main driving wheel; 47. Steering wheel; 5. Track change regulator; 51. Track frame; 52. Track bridge; 53. Slide rail seat; 54. Roller; 55. Fine-tuning rod; 56. Axle connector. DETAILED DESCRIPTION

[0016] See also Figure 1-Figure 7 In an embodiment of the present invention, a workpiece visual information acquisition device includes: The transmission platform 1 has a conveyor belt 11 horizontally arranged on its upper end surface. The two ends of the transmission platform 1 are respectively arranged as a feeding area and a sorting area; the feeding area is used to transport the workpieces one by one to the transmission platform; the sorting area is used to sort the workpieces after visual collection; A front scanning unit 2 is arranged on the transmission platform 1 and close to the feeding area. The front scanning unit 2 acquires images of the workpieces transported on the conveyor belt 11 one by one. A central control system is arranged on one side of the transmission platform 1. The central control system and the front scanning unit 2 are connected by remote wireless information transmission. The central control system pre-processes the acquired workpiece image and analyzes its shape characteristics. The pre-processing stage involves image enhancement, such as brightness and contrast adjustment, and noise removal to ensure the accuracy of subsequent analysis, thereby comparing the database based on the identified key feature points. These feature points can usually reflect the unique structure of the workpiece, such as corners, hole positions, etc., and output the workpiece type and specifications. The database stores feature templates of various types of workpieces, and determines the type of workpiece through algorithms (such as template matching, feature vector comparison, etc.); The rear scanning unit 3 is arranged on the conveying platform 1 and close to the sorting area. The rear scanning unit 3 performs a secondary visual scan on the workpiece from different directions based on the workpiece image obtained by the front scanning unit 2 and the spatial placement posture of the workpiece on the conveyor belt (that is, the orientation and inclination of the workpiece) so as to visually detect and obtain the surface defects of the workpiece; thereby, visual scanning can be performed from the optimal scanning angle to ensure that the workpiece surface is covered from different directions, which helps to reveal subtle defects on the workpiece surface, such as scratches, cracks, stains, etc.

[0017] A circular guide rail 12 is fixed on the transmission platform 1, and two power slides 13 are distributed on the circular guide rail 12. The power slides 13 slide along the circular guide rail 12. A frame 14 is provided on one side of the post-scanning unit 3, and the lower end of the frame 14 is installed on the power slide 13. The post-scanning unit 3 performs multi-angle visual scanning on the workpiece with the center of the circular guide rail 12 as the center.

[0018] In this embodiment, the pre-scanning unit 2 includes: The platform 21 has two brackets vertically and symmetrically fixed on top of it; A crossbeam 22 connected between the two brackets; There are two industrial cameras 23 distributed on the left and right, and the two industrial cameras 23 are slidably mounted on the crossbeam 22, and the industrial cameras 23 are both vertically facing the conveyor belt 11; The adjustable light source 24 is vertically distributed on each of the brackets. The adjustable light source is crucial for eliminating shadows, enhancing surface features, and optimizing imaging quality on surfaces of different materials, and is a key factor in improving detection accuracy.

[0019] As a preferred embodiment, the post-scanning unit 3 includes: A slide rail 31 is horizontally fixed on the frame 14, and a positioning plate 32 is slidably mounted on the slide rail 31; A two-axis driving mechanism 33 is installed on the positioning plate 32, wherein the two-axis driving mechanism 33 takes the direction of the slide rail 31 as the X-axis and takes the direction perpendicular to the direction of the slide rail 31 as the Y-axis; The transfer component 4 is mounted on a two-axis driving mechanism 33. A track change regulator 5 is provided at the rotating end of the transfer component 4. A high-definition scanner 34 is provided on the track change regulator 5. The two-axis driving mechanism can effectively adjust the scanning height of the high-definition scanner.

[0020] In this embodiment, the transfer component 4 includes: A fixed plate 41, the center of which is rotatably connected to a main shaft, and a connecting frame 42 is fixed to the main shaft; The rack 43 is horizontally slidably mounted on the fixed plate 41, and the main shaft is sleeved with an internal tooth 44, which meshes with the rack 43 for transmission; an electric telescopic rod 45 is mounted on the fixed plate 41, and one end of the electric telescopic rod 45 is connected to the rack 43; A main driving wheel 46 is rotatably connected to one end of the connecting frame 42, and a steering wheel 47 is rotatably connected to the other end of the connecting frame 42. The main driving wheel 46 is connected to the steering wheel 47 through a toothed chain for transmission; a motor driving unit is provided outside the connecting frame 42, and an output end of the motor driving unit is fixed to the main driving wheel 46.

[0021] In this embodiment, the deflection angle range of the connecting frame 42 is between 25° and 155°, wherein the angle of the high-definition scanner on the steering wheel is adjusted in coordination with the rotation of the main driving wheel so that the high-definition scanner can scan the workpiece horizontally or at different depression and elevation angles.

[0022] In this embodiment, the track change regulator 5 includes: A track frame 51, inside of which a track bridge 52 is arranged, wherein the track bridge 52 is made of elastically deformable plastic material; A slide rail seat 53 is slidably connected to the track bridge 52. Two rollers 54 are symmetrically rotatably connected to the slide rail seat 53. The two rollers 54 roll in contact with the two sides of the track bridge 52. The high-definition scanner 34 is installed on the slide rail seat 53. The fine-tuning rods 55 are arranged and distributed on the track frame 51 , and one end of the fine-tuning rods 55 is connected to the track bridge 52 .

[0023] As a preferred embodiment, an axle connection seat 56 is fixed to one end of the track frame 51, one end of the track bridge 52 extends into and is connected to the axle connection seat 56, and is slidably connected to the axle connection seat 56, and a limit spring is connected between the track bridge 52 and the axle connection seat 56 so that the track bridge can bend and deform accordingly when the fine-tuning rod is adjusted in its respective telescopic manner.

[0024] In this embodiment, each of the fine-tuning rods 55 allows the track bridge 52 to be erected in a straight line, arc or irregular curve under different telescopic adjustments, and the track change regulator 5 makes corresponding adjustments to the erection structure of the track bridge 52 based on the surface shape of the workpiece, so that the cross-section of the track bridge is parallel to the surface of the workpiece; in this way, the distance between the scanning head and the workpiece surface can be kept constant, reducing the measurement error caused by the distance change, and improving the accuracy of the detection result; secondly, it is widely applicable to objects of different shapes and sizes, enhancing the versatility of the system.

[0025] A method for collecting visual information of a workpiece, comprising the following steps: S1. Workpiece transmission, the workpieces are transported one by one to the conveyor belt 11 in the transmission platform 1 through the operating robot arm of the feeding area, and the workpieces are gradually sent to the front scanning unit 2 as the conveyor belt 11 runs; S2. Workpiece image acquisition, through the front scanning unit 2 of the industrial camera 23 to collect images of the workpiece, so as to obtain preliminary appearance information of the workpiece; S3. Image preprocessing: the captured workpiece image is wirelessly transmitted to the central control system, which preprocesses the received image, including denoising, grayscale, binarization, etc., to better analyze the image; then, the central control system extracts the key shape features of the workpiece through an algorithm, compares it with the workpiece model in the database, and identifies the type and specification of the workpiece; at the same time, it can obtain the spatial placement posture of the workpiece on the conveyor belt 11; S4. Secondary visual scanning: Based on the information collected by the front scanning unit 2 on the workpiece image, the rear scanning unit 3 performs a second scan on the workpiece, wherein the track change regulator 5 in the rear scanning unit 3 can adjust and set up the erection structure of the track bridge 52, so that the cross section of the track bridge 52 is parallel to the workpiece surface, so that the high-definition scanner 34 completely scans along the workpiece surface in parallel, so as to fully detect potential defects on the workpiece surface; that is, the high-definition scanner 34 can move along a completely parallel scanning trajectory on the workpiece surface. Such a design greatly improves the fit and accuracy of the scan, and even small flaws or potential defects on the workpiece surface can be accurately scanned, ensuring the comprehensiveness and efficiency of the detection process; S5. Workpiece sorting: sort workpieces with different quality defects accordingly through the sorting arms set up in the sorting area.

[0026] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A workpiece visual information acquisition device, characterized in that: It includes: A transmission platform (1), the upper end surface of which is horizontally provided with a conveyor belt (11), and the two ends of the transmission platform (1) are respectively provided as a feeding area and a sorting area; A front scanning unit (2) is arranged on the transmission platform (1) and close to the feeding area, and the front scanning unit (2) acquires images of the workpieces transported on the conveyor belt (11) one by one; a central control system is arranged on one side of the transmission platform (1), and remote wireless information transmission is used between the central control system and the front scanning unit (2); the central control system pre-processes the acquired workpiece image and analyzes its shape features, thereby comparing the database based on the identified key feature points, and outputting the type and specification of the workpiece; A rear scanning unit (3) is arranged on the transmission platform (1) and close to the sorting area, and the rear scanning unit (3) performs a secondary visual scan of the workpiece from different directions based on the workpiece image obtained by the front scanning unit (2) and the spatial placement posture of the workpiece on the transmission belt, so as to visually detect and obtain surface defects of the workpiece; A circular guide rail (12) is fixed on the transmission platform (1), two power slides (13) are distributed on the circular guide rail (12), and the power slides (13) slide along the circular guide rail (12). A frame (14) is provided on one side of the rear scanning unit (3), and the lower end of the frame (14) is mounted on the power slide (13). The rear scanning unit (3) performs multi-angle visual scanning on the workpiece with the center of the circular guide rail (12) as the center.

2. A workpiece visual information acquisition device according to claim 1, characterized in that: The front scanning unit (2) comprises: The carrier (21) has two brackets vertically and symmetrically fixed on top of it; A crossbeam (22) connected between the two brackets; There are two industrial cameras (23) distributed on the left and right, and the two industrial cameras (23) are slidably mounted on the crossbeam (22), and the industrial cameras (23) are both vertically facing the conveyor belt (11); The adjustable light sources (24) are vertically distributed on each of the brackets.

3. A workpiece visual information acquisition device according to claim 1, characterized in that: The post-scanning unit (3) comprises: A slide rail (31) is horizontally fixed on the frame (14), and a positioning plate (32) is slidably mounted on the slide rail (31); A two-axis driving mechanism (33) is mounted on the positioning plate (32), wherein the two-axis driving mechanism (33) has the direction of the slide rail (31) as an X-axis and a direction perpendicular to the direction of the slide rail (31) as a Y-axis; The transfer component (4) is mounted on the two-axis driving mechanism (33), and a track change regulator (5) is provided at the rotating end of the transfer component (4), and a high-definition scanner (34) is provided on the track change regulator (5).

4. A workpiece visual information acquisition device according to claim 3, characterized in that: The modulation component (4) comprises: A fixed plate (41), the center of which is rotatably connected to a main shaft, and a connecting frame (42) is fixed to the main shaft; The rack (43) is horizontally slidably mounted on the fixed plate (41); the main shaft is sleeved with internal teeth (44), and the internal teeth (44) are meshed with the rack (43) for transmission; an electric telescopic rod (45) is mounted on the fixed plate (41), and one end of the electric telescopic rod (45) is connected to the rack (43); A main drive wheel (46) is rotatably connected to one end of the connecting frame (42), and the other end of the connecting frame (42) is rotatably connected to a steering wheel (47), and the main drive wheel (46) is connected to the steering wheel (47) for transmission via a toothed chain; a motor drive unit is provided outside the connecting frame (42), and an output end of the motor drive unit is fixed to the main drive wheel (46).

5. A workpiece visual information acquisition device according to claim 4, characterized in that: The deflection angle of the connecting frame (42) ranges from 25° to 155°.

6. A workpiece visual information acquisition device according to claim 3, characterized in that: The track change regulator (5) comprises: A track frame (51) is provided with a track bridge (52) inside, wherein the track bridge (52) is made of an elastically deformable plastic material; A slide rail seat (53) is slidably connected to the track bridge (52); two rollers (54) are symmetrically rotatably connected to the slide rail seat (53); the two rollers (54) are in rolling contact on both sides of the track bridge (52); and the high-definition scanner (34) is mounted on the slide rail seat (53); Fine-tuning rods (55) are arranged and distributed on the track frame (51), and one end of the fine-tuning rods (55) is connected to the track bridge (52).

7. A workpiece visual information acquisition device according to claim 6, characterized in that: A shaft connection seat (56) is fixed to one end of the track frame (51), one end of the track bridge (52) extends into and is connected to the shaft connection seat (56) and is slidably connected to the shaft connection seat (56), and a limit spring is connected between the track bridge (52) and the shaft connection seat (56).

8. The workpiece visual information acquisition device according to claim 6, characterized in that: Each of the fine-tuning rods (55) enables the track bridge (52) to be erected in a straight line, an arc or an irregular curve under different telescopic adjustments, and the track change regulator (5) adjusts the erection structure of the track bridge (52) accordingly based on the surface shape of the workpiece, so that the cross section of the track bridge is parallel to the surface of the workpiece.

9. A method for collecting workpiece visual information, using a workpiece visual information collection device as claimed in any one of claims 1 to 8, characterized in that: It includes the following steps: S1. Workpiece transmission, the workpieces are transported one by one to the conveyor belt (11) in the transmission platform (1) through the operating robot arm in the feeding area, and as the conveyor belt (11) runs, the workpieces are gradually sent to the front scanning unit (2); S2. Acquiring an image of the workpiece, by collecting an image of the workpiece through the industrial camera (23) of the front scanning unit (2), thereby preliminarily acquiring appearance information of the workpiece; S3. Image preprocessing: the captured workpiece image is wirelessly transmitted to the central control system, which preprocesses the received image, including denoising, grayscale, and binarization, so as to better analyze the image; then, the central control system extracts the key shape features of the workpiece through an algorithm, compares them with the workpiece model in the database, and identifies the type and specification of the workpiece; at the same time, it can obtain the spatial placement posture of the workpiece on the conveyor belt (11); S4. A secondary visual scan, based on the information collected by the front scanning unit (2) on the image of the workpiece, the rear scanning unit (3) performs a secondary scan on the workpiece, wherein the track change regulator (5) in the rear scanning unit (3) adjusts and sets the erection structure of the track bridge (52) so that the cross section of the track bridge (52) is parallel to the surface of the workpiece, so that the high-definition scanner (34) completely scans parallel to the surface of the workpiece, so as to fully detect potential defects on the surface of the workpiece; S5. Workpiece sorting: sort workpieces with different quality defects accordingly through the sorting arms set up in the sorting area.

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