Overall visual detection method for front end face, rear end face and shaft body of camshaft

Abstract

The invention provides an overall visual detection method for a front end face, a rear end face and a shaft body of a camshaft. The method comprises the following steps that a front end face camera shoots image data of the front end face of the camshaft; s2, a rear end face camera shoots image data of the rear end face of the camshaft; the mobile camera shoots camshaft body image data; and S4, if the image data of the front end face of the camshaft, the image data of the rear end face of the camshaft and the image data of the shaft body of the camshaft are qualified, determining that the camshaft is qualified. Visual inspection is completed by automatically photographing and recording the whole camshaft, manpower consumption is saved, and the detection efficiency and accuracy are improved.

Description

Technical Field

[0001] The invention relates to the technical field of camshaft measurement, and in particular to a method for visually detecting a front end face, a rear end face and an entire shaft body of a camshaft. Background Art

[0002] The camshaft is a component in a piston engine. Its function is to control the opening and closing of the valve. As a key component of the engine, the accuracy and durability of the camshaft are directly related to the engine performance, fuel efficiency and even the operating safety of the entire vehicle. The processing of the camshaft generally includes machining, testing, cleaning, and finally oiling, packaging and storage. The importance of camshaft testing lies in ensuring engine performance, improving fuel efficiency, reducing emission pollution, and ensuring driving safety. At present, some camshaft inspections often use manual inspections in visual inspections, which have a large number of misdetections, consume manpower, and are extremely inefficient. Summary of the invention

[0003] The present invention aims to at least solve the technical problems existing in the prior art, and in particular innovatively proposes a method for visually inspecting the front end face, the rear end face and the entire shaft body of a camshaft, comprising the following steps:

[0004] S1, the controller sends a control signal to the front face camera, and after the front face camera receives the control signal sent by the controller, the front face camera captures the image data of the front face of the camshaft;

[0005] S2, the controller sends a control signal to the rear end face camera, and after the rear end face camera receives the control signal sent by the controller, the rear end face camera captures image data of the rear end face of the camshaft;

[0006] S3, the controller sends a control signal to the mobile camera, and after the mobile camera receives the control signal sent by the controller, the mobile camera captures the image data of the camshaft body;

[0007] S4, the controller determines whether the camshaft is qualified according to the image data of the front end face of the camshaft taken by the front end face camera, the image data of the rear end face of the camshaft taken by the rear end face camera, and the image data of the camshaft body taken by the mobile camera:

[0008] If front *λ back *λ shaft =0, the camshaft is unqualified;

[0009] If front *λ front *λ front =1, the camshaft is qualified.

[0010] In a preferred embodiment of the present invention, step S0 is included before step S1, wherein the controller sends a control signal to the code reader, and after the code reader receives the control signal sent by the controller, the code reader reads AAA printed on the camshaft, wherein AAA includes the camshaft serial number.

[0011] In a preferred embodiment of the present invention, step S5 is further included after step S4:

[0012] If the front end face of the camshaft is unqualified, the camshaft front end face unqualified code will be added after the camshaft serial number;

[0013] If the rear end face of the camshaft is unqualified, the camshaft rear end face unqualified code will be added after the camshaft serial number;

[0014] If the camshaft body is unqualified, the camshaft body unqualified code will be added after the camshaft serial number;

[0015] Put the unqualified camshaft serial numbers into the unqualified camshaft set;

[0016] Place the qualified camshaft serial numbers into the camshaft qualified set.

[0017] In a preferred embodiment of the present invention, step S4 includes the following steps:

[0018] S41, performing front face image processing on the image data of the front face of the cam shaft taken by the front face camera, and obtaining a front face processed image after performing front face image processing on the image data of the front face of the cam shaft taken by the front face camera;

[0019] S42, determining the contrast between the front face processed image and the front face reference image:

[0020] If the contrast between the front face processed image and the front face reference image is greater than or equal to the preset front face contrast threshold, it means that the front face of the camshaft is qualified. front =1;

[0021] If the contrast between the front face processed image and the front face reference image is less than the preset front face contrast threshold, it means that the front face of the camshaft is unqualified. front =0;λ front Indicates whether the front end surface of the camshaft is qualified; the front end surface of the camshaft is qualified as λ front =1; the camshaft front end surface is unqualified front =0.

[0022] In a preferred embodiment of the present invention, step S4 includes the following steps:

[0023] S4-1, performing rear end face image processing on the image data of the rear end face of the cam shaft taken by the rear end face camera, and obtaining a rear end face processed image after performing rear end face image processing on the image data of the rear end face of the cam shaft taken by the rear end face camera;

[0024] S4-2, determining the contrast between the rear end surface processed image and the rear end surface reference image:

[0025] If the contrast between the rear end surface processed image and the rear end surface reference image is greater than or equal to the preset rear end surface contrast threshold, it means that the rear end surface of the camshaft is qualified. back =1;

[0026] If the contrast between the rear end surface processed image and the rear end surface reference image is less than the preset rear end surface contrast threshold, it means that the rear end surface of the camshaft is unqualified. back =0;λ back Indicates whether the rear end face of the camshaft is qualified, and the rear end face of the axle is qualified as λ back =1; the rear end face of the axle is unqualified back =0.

[0027] In a preferred embodiment of the present invention, step S4 includes the following steps:

[0028] S41, performing shaft body image processing on the camshaft shaft image data photographed by the mobile camera, and obtaining a shaft body processed image after performing shaft body image processing on the camshaft shaft image data photographed by the mobile camera;

[0029] S42, determining the contrast between the axis body processed image and the axis body reference image:

[0030] If the contrast between the shaft body processed image and the shaft body reference image is greater than or equal to the preset shaft body contrast threshold, it means that the camshaft shaft body is qualified. shaft =1;

[0031] If the contrast between the shaft body processed image and the shaft body reference image is less than the preset shaft body contrast threshold, it means that the camshaft shaft body is unqualified. shaft =0;λ shaft Indicates whether the camshaft shaft body is qualified, and the camshaft shaft body is qualified as λ shaft =1, the camshaft shaft is unqualified as λ shaft =0.

[0032] The present invention also discloses a camshaft visual inspection device, which can automatically adjust a camera to perform visual inspection on the camshaft and control the rotation of the camshaft to improve the inspection accuracy.

[0033] In order to achieve the above-mentioned objectives of the present invention, the present invention provides a camshaft visual inspection device, comprising a movable bracket, a feeding channel, a loading channel, a detection cylinder group and a camera group, the detection cylinder group comprising a rear tightening cylinder and a front tightening cylinder, the camera group comprising a rear end face camera, a front end face camera and a mobile camera; the movable bracket is mounted on the left and right sides of the feeding channel, the movable bracket is provided with tracks in the X direction, the Y direction and the Z direction, and the mobile camera is arranged on the movable bracket and can move arbitrarily in three directions; the rear end face camera and the front end face camera are arranged on the left and right sides of the intersection detection point of the feeding channel and the loading channel corresponding to the two ends of the camshaft, and the rear center point and the front center point are correspondingly arranged at the front and rear ends of the camshaft at the detection point, and cooperate with the detection cylinder group so that the camshaft at the detection point can rotate under the action of the rotating motor.

[0034] In a preferred embodiment of the present invention, the rear-end camera, the front-end camera and the mobile camera are all equipped with light sources for supplementary lighting during shooting.

[0035] In a preferred embodiment of the present invention, the rotary motor is arranged on the front tightening cylinder, and a claw-shaped auxiliary cylinder is provided on the side of the rear tightening cylinder facing the camshaft for clamping the camshaft before the rotary motor and the camshaft are positioned.

[0036] In a preferred embodiment of the present invention, the rotating motor is provided with an elastic pin. When a limiting connection is performed, the camshaft is clamped and fixed by an auxiliary cylinder. The rotating motor rotates until the elastic pin pops out and is inserted into a pin hole provided on the camshaft. The auxiliary cylinder is released and the camshaft is driven to rotate by the rotating motor.

[0037] In a preferred embodiment of the present invention, a code reader is provided at the mobile camera to read and detect the camshaft serial number.

[0038] In a preferred embodiment of the present invention, the main frame of the mobile bracket is an X-axis track, the Z-axis track is movably installed on the X-axis track, and the Y-axis track is installed at the bottom of the Z-axis track.

[0039] In a preferred embodiment of the present invention, the unloading step feed channel and the loading step feed channel are both provided with a propulsion cylinder and a lifting cylinder, and the lifting cylinder is used to lift the camshaft up and down and in combination with the propulsion cylinder to complete the forward movement of the camshaft.

[0040] To sum up, due to the adoption of the above-mentioned technical scheme, the present invention can complete automatic visual inspection by setting up a mobile bracket, a detection cylinder group and a camera group, taking pictures and recording the camshaft as a whole, and the unloading stepping material channel and the loading stepping material channel are automatically stepped, without the need for manual individual measurement and movement, thus saving manpower consumption and improving inspection efficiency and accuracy.

[0041] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0043] Figure 1 It is a schematic block diagram of the process of the present invention.

[0044] Figure 2 It is a structural schematic diagram of the present invention.

[0045] In the figure: 1-mobile bracket, 2-unloading stepping feed channel, 3-loading stepping feed channel, 4-code reader, 5-rear tightening cylinder, 6-front tightening cylinder, 7-auxiliary cylinder, 8-rear end face camera, 9-front end face camera, 10-mobile camera, 11-elastic pin, 12-rear center, 13-front center, 14-rotating motor. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0047] The present invention discloses a camshaft visual inspection device, such as Figure 2 As shown, it is mainly composed of a movable bracket 1, a unloading step feed channel 2, a loading step feed channel 3, a detection cylinder group and a camera group, wherein the detection cylinder group is mainly composed of a rear tightening cylinder 5 and a front tightening cylinder 6, the camera group is composed of a rear end face camera 8, a front end face camera 9 and a movable camera 10, and the unloading step feed channel 2 and the loading step feed channel 3 are both provided with a thrust cylinder and a lifting cylinder, the lifting cylinder is used to lift the camshaft up and down and combined with the thrust cylinder to complete the forward movement of the camshaft.

[0048] It also includes a controller, wherein the rear tightening cylinder control end of the controller is connected to the control end of the rear tightening cylinder 5, the front tightening cylinder control end of the controller is connected to the control end of the front tightening cylinder 6, the rear end face camera control end of the controller is connected to the control end of the rear end face camera 8, the front end face camera control end of the controller is connected to the control end of the front end face camera 9, the mobile camera control end of the controller is connected to the control end of the mobile camera 10, and the code reader control end of the controller is connected to the control end of the code reader 4;

[0049] The mobile bracket 1 is set up on the left and right sides of the unloading step feed channel 2 and the loading step feed channel 3. The mobile bracket 1 is provided with tracks in the X direction, Y direction and Z direction. The main frame of the mobile bracket 1 is the X direction track, the Z direction track is movably installed on the X direction track, and the Y direction track is installed at the bottom of the Z direction track. The mobile camera 10 is set at the end of the Y direction track and can move arbitrarily in three directions according to the detection requirements. A code reader 4 is provided at the mobile camera 10 to read the detection camshaft serial number.

[0050] The rear face camera 8 and the front face camera 9 are arranged at the left and right sides of the intersection detection point of the unloading step feed channel 2 and the loading step feed channel 3 corresponding to the two ends of the camshaft. The rear face camera 8, the front face camera 9 and the mobile camera 10 are all equipped with light sources to provide fill light during shooting. The front and rear ends of the camshaft at the detection point are correspondingly provided with the rear top 12 and the front top 13, and the detection cylinder group is cooperated so that the camshaft at the detection point can be rotated under the action of the rotating motor 14. The rotating motor 14 is arranged on the front tightening cylinder 6, and the rear tightening cylinder 5 is provided with a claw-shaped auxiliary cylinder 7 on the side facing the camshaft, which is used to clamp the camshaft before the rotating motor 14 and the camshaft are positioned. The rotating motor 14 is provided with an elastic pin 11 connected to the camshaft, and the elastic pin 11 is arranged on the spring. When the limit connection is performed, the camshaft is clamped and fixed by the auxiliary cylinder 7. The rotating motor 14 rotates until the elastic pin 11 is stuck in the pin hole set on the camshaft, and the auxiliary cylinder 7 is loosened and driven to rotate by the rotating motor 14.

[0051] The camshaft to be inspected is placed at the feeding step feed channel 3, the lifting cylinder rises, the propulsion cylinder moves forward, the lifting cylinder falls, and the propulsion cylinder moves backward to complete the forward movement of the camshaft. When the camshaft moves to the detection point, the rear end face camera 8 and the front end face camera 9 take pictures and record. When it moves to the bottom of the mobile camera 10, the rear top 12 and the front top 13 move forward and tighten the two ends of the camshaft under the action of the rear tightening cylinder 5 and the front tightening cylinder 6 respectively, the auxiliary cylinder 7 holds the camshaft through the clamp, and the rotating motor 14 rotates to find the pin hole. When the elastic pin 11 is placed at the pin hole, the elastic pin 11 pops out and inserts into the pin hole through the spring set at its bottom to complete the connection between the rotating motor 14 and the camshaft. At this time, the auxiliary cylinder 7 is released, and the camshaft is driven to rotate by the rotating motor 14. The rotating motor 14 rotates to the code scanning angle, and the mobile camera 10 moves through the XYZ axis to make the code reader 4 perform AAA code scanning to read and record, and then the mobile camera 10 is started to take pictures. The mobile bracket 1 and the rotating motor 14 are linked to complete the photo. The detection system uses front-end and back-end images, mobile camera images, and AAA to comprehensively determine whether it is OK (qualified) or NG (unqualified).

[0052] The present invention discloses a method for visually inspecting the front end face, rear end face and shaft body of a camshaft. Figures 1-2 As shown, the following steps are included:

[0053] S1, the controller sends a control signal to the front face camera 9, and after the front face camera 9 receives the control signal sent by the controller, the front face camera 9 captures the image data of the front face of the camshaft;

[0054] S2, the controller sends a control signal to the rear end face camera 8, and after the rear end face camera 8 receives the control signal sent by the controller, the rear end face camera 8 captures the image data of the rear end face of the camshaft;

[0055] S3, the controller sends a control signal to the mobile camera 10, and after the mobile camera 10 receives the control signal sent by the controller, the mobile camera 10 captures the image data of the camshaft body;

[0056] S4, the controller determines whether the camshaft is qualified based on the image data of the front end face of the camshaft taken by the front end face camera 9, the image data of the rear end face of the camshaft taken by the rear end face camera 8, and the image data of the camshaft body taken by the mobile camera 10:

[0057] If front *λ back *λ shaft =0, the camshaft is unqualified;

[0058] If front *λ front *λ front =1, the camshaft is qualified.

[0059] In a preferred embodiment of the present invention, step S0 is further included before step S1, wherein the controller sends a control signal to the code reader 4. After the code reader 4 receives the control signal sent by the controller, the code reader 4 reads AAA printed on the camshaft, wherein the AAA includes the camshaft serial number. In this way, an unqualified camshaft can be marked by the camshaft serial number, and when a handheld AAA scanner is required to be used for scanning, it can be determined whether the camshaft is qualified and the reason.

[0060] In a preferred embodiment of the present invention, step S5 is further included after step S4:

[0061] If the front end face of the camshaft is unqualified, the camshaft front end face unqualified code will be added after the camshaft serial number;

[0062] If the rear end face of the camshaft is unqualified, the camshaft rear end face unqualified code will be added after the camshaft serial number;

[0063] If the camshaft body is unqualified, the camshaft body unqualified code will be added after the camshaft serial number;

[0064] Put the unqualified camshaft serial numbers into the unqualified camshaft set;

[0065] Put the qualified camshaft serial number into the qualified camshaft set. The code format is F for unqualified camshaft front end face, B for unqualified camshaft rear end face, and Z for unqualified camshaft shaft body. For example, XY2024000886759FBZ, the 1st to 2nd digits represent the company code Xiyuan, the 3rd to 6th digits represent the production year of 2024, the 7th to 15th digits represent the camshaft serial number, and the 16th to 18th digits represent unqualified camshaft front end face or rear end face or shaft body. This serial number represents the camshaft front end face and rear end face of the camshaft with the serial number 000886759 generated by Xiyuan in 2024. And the shaft body is unqualified; for example, XY2024000881759ZB means that the camshaft shaft body and rear end face of the camshaft with serial number 000881759 generated by Xiyuan in 2024 are unqualified; XY2024000886719BF means that the rear end face and front end face of the camshaft with serial number 000886719 generated by Xiyuan in 2024 are unqualified; XY2024000826759Z means that the camshaft shaft body with serial number 2024000826759 generated by Xiyuan in 2024 is unqualified.

[0066] When the AAA on the camshaft is scanned with a handheld AAA scanner, the camshaft serial number will be obtained. The camshaft serial number will be compared with the camshaft serial number in the unqualified set:

[0067] If the camshaft serial number is consistent with the 7th to 15th digits of the camshaft serial numbers in the unqualified set, it means that the camshaft is an unqualified camshaft. Similarly, if there are letters F and / or B and / or Z after the camshaft serial number, it means that the front end surface of the camshaft is unqualified F, the rear end surface of the camshaft is unqualified B, and the camshaft body is unqualified Z, and it will be displayed on the AAA scanner; otherwise, the camshaft is a qualified camshaft.

[0068] In a preferred embodiment of the present invention, step S4 includes the following steps:

[0069] S41, performing front end surface image processing on the image data of the front end surface of the cam shaft taken by the front end surface camera 9, and obtaining a front end surface processed image after performing front end surface image processing on the image data of the front end surface of the cam shaft taken by the front end surface camera 9;

[0070] S42, determining the contrast between the front face processed image and the front face reference image:

[0071] If the contrast between the front face processed image and the front face reference image is greater than or equal to the preset front face contrast threshold, it means that the front face of the camshaft is qualified. front =1;

[0072] If the contrast between the front face processed image and the front face reference image is less than the preset front face contrast threshold, it means that the front face of the camshaft is unqualified. front =0;λfront Indicates whether the front end surface of the camshaft is qualified; the front end surface of the camshaft is qualified as λ front =1; the camshaft front end surface is unqualified front =0.

[0073] In a preferred embodiment of the present invention, the calculation method of the contrast between the front face processed image and the front face reference image in step S42 is:

[0074]

[0075] Among them, comp front Indicates the contrast between the front face processed image and the front face reference image;

[0076] C represents the number of horizontal pixels in the image of the front face of the camshaft;

[0077] K represents the number of longitudinal pixels in the image of the front face of the camshaft;

[0078] θ ij Represents the front face pixel comparison value; if |Gray(i,j)-Re(i,j)|≤τ front , then the front face pixel comparison value θ ij =1; otherwise the front face pixel comparison value θ ij =0;

[0079] Gray(i,j) represents the pixel value of the camshaft front end image at pixel point (i,j);

[0080] Re(i,j) represents the pixel value of the front face reference image at pixel point (i,j);

[0081] τ front Indicates the preset front face pixel value difference threshold.

[0082] In a preferred embodiment of the present invention, the method for obtaining a front end surface processed image after performing front end surface image processing on the camshaft front end surface image data photographed by the front end surface camera 9 in step S41 is:

[0083] Gray(X,Y)=η Red *Red(X,Y)+η Green *Green(X,Y)+η Blue *Blue(X,Y),

[0084] Among them, Gray(X,Y) represents the pixel value of the camshaft front end surface image at the pixel point (X,Y);

[0085] Red(X,Y) represents the red pixel value of the camshaft front end image at the pixel point (X,Y);

[0086] Green(X,Y) represents the green pixel value of the camshaft front end image at the pixel point (X,Y);

[0087] Blue(X,Y) represents the blue pixel value of the camshaft front end image at the pixel point (X,Y);

[0088] η Red Represents the proportional adjustment coefficient of Red(X,Y); its value range is (0,1];

[0089] η Green Represents the proportional adjustment coefficient of Green(X,Y); its value range is (0,1];

[0090] η Blue Indicates the proportional adjustment coefficient of Blue (X, Y); its value range is (0,1];

[0091] η Red +η Green +η Blue =1;

[0092] X=1, 2, 3, ..., C, where C represents the number of horizontal pixels in the image of the front end surface of the camshaft;

[0093] Y=1, 2, 3, ..., K, where K represents the number of longitudinal pixels in the image of the front end surface of the camshaft.

[0094] In a preferred embodiment of the present invention, step S4 includes the following steps:

[0095] S4-1, performing rear end face image processing on the image data of the rear end face of the cam shaft taken by the rear end face camera 9, and obtaining a rear end face processed image after performing rear end face image processing on the image data of the rear end face of the cam shaft taken by the rear end face camera 9;

[0096] S4-2, determining the contrast between the rear end surface processed image and the rear end surface reference image:

[0097] If the contrast between the rear end surface processed image and the rear end surface reference image is greater than or equal to the preset rear end surface contrast threshold, it means that the rear end surface of the camshaft is qualified. back =1;

[0098] If the contrast between the rear end surface processed image and the rear end surface reference image is less than the preset rear end surface contrast threshold, it means that the rear end surface of the camshaft is unqualified. back =0;λ back Indicates whether the rear end face of the camshaft is qualified, and the rear end face of the axle is qualified as λ back =1; the rear end face of the axle is unqualified back =0.

[0099] In a preferred embodiment of the present invention, the calculation method of the contrast between the rear end face processed image and the rear end face reference image in step S4-2 is:

[0100]

[0101] Among them, comp back Indicates the contrast between the back-end processed image and the back-end reference image;

[0102] C′ represents the number of horizontal pixels in the image of the rear end face of the camshaft;

[0103] K′ represents the number of longitudinal pixels in the image of the rear end face of the camshaft;

[0104] Represents the rear face pixel comparison value; if |Gray′(i′,j′)-Re′(i′,j′)|≤τ back , then the rear face pixel comparison value Otherwise, the back end pixel comparison value

[0105] Gray′(i′,j′) represents the pixel value of the camshaft rear end surface image at pixel point (i′,j′);

[0106] Re′(i′,j′) represents the pixel value of the back face reference image at the pixel point (i′,j′);

[0107] τ back Indicates the preset backend pixel value difference threshold.

[0108] In a preferred embodiment of the present invention, the method for obtaining a rear end face processed image after performing rear end face image processing on the image data of the rear end face of the camshaft photographed by the rear end face camera 8 in step S4-1 is:

[0109] Gray′(X′,Y″)=η′ Red *Red′(X′,Y′)+η′ Green *Green′(X′,Y′)+η′ Blue *Blue′(X′,Y′),

[0110] Among them, Gray′(X′,Y′) represents the pixel value of the camshaft rear end surface image at the pixel point (X′,Y′);

[0111] Red′(X′,Y′) represents the red pixel value of the camshaft rear end surface image at the pixel point (X′,Y′);

[0112] Green′(X′,Y′) represents the green pixel value of the camshaft rear end surface image at the pixel point (X′,Y′);

[0113] Blue′(X′,Y′) represents the blue pixel value of the camshaft rear end surface image at the pixel point (X′,Y′);

[0114] η′ Red Represents the proportional adjustment coefficient of Red′(X′,Y′); its value range is (0,1];

[0115] η′ Green Represents the proportional adjustment coefficient of Green′(X′,Y′); its value range is (0,1];

[0116] η′ Blue Represents the proportional adjustment coefficient of Blue′(X′,Y′); its value range is (0,1];

[0117] η′ Red +η′ Green +η′ Blue =1;

[0118] X′=1, 2, 3, ..., C′, where C′ represents the number of horizontal pixels in the image of the rear end face of the camshaft;

[0119] Y′=1, 2, 3, ..., K′, where K′ represents the number of longitudinal pixels in the image of the rear end surface of the cam shaft.

[0120] In a preferred embodiment of the present invention, step S4 includes the following steps:

[0121] S41, performing shaft body image processing on the camshaft shaft image data photographed by the mobile camera 9, and obtaining a shaft body processed image after performing shaft body image processing on the camshaft shaft image data photographed by the mobile camera 9;

[0122] S42, determining the contrast between the axis body processed image and the axis body reference image:

[0123] If the contrast between the shaft body processed image and the shaft body reference image is greater than or equal to the preset shaft body contrast threshold, it means that the camshaft shaft body is qualified. shaft =1;

[0124] If the contrast between the shaft body processed image and the shaft body reference image is less than the preset shaft body contrast threshold, it means that the camshaft shaft body is unqualified. shaft =0;λ shaft Indicates whether the camshaft shaft body is qualified, and the camshaft shaft body is qualified as λ shaft =1, the camshaft shaft is unqualified as λ shaft =0.

[0125] In a preferred embodiment of the present invention, the calculation method of the contrast between the shaft body processed image and the shaft body reference image in step S42 is:

[0126]

[0127] Among them, comp shaft Indicates the contrast between the axis-body processed image and the axis-body reference image;

[0128] C″ represents the number of horizontal pixels in the camshaft body image;

[0129] K″ represents the number of longitudinal pixels in the camshaft body image;

[0130] Represents the axis pixel comparison value; if |Gray″(i″,j″)-Re″(i″,j″)|≤τ shaft , then the axis-body pixel comparison value Otherwise, the axis-body pixel comparison value

[0131] Gray″(i″,j″) represents the pixel value of the camshaft body image at pixel point (i″,j″);

[0132] Re″(i″,j″) represents the pixel value of the shaft body reference image at the pixel point (i″,j″);

[0133] τ shaft Indicates the preset axis-body pixel value difference threshold.

[0134] In a preferred embodiment of the present invention, in step S41, the method for obtaining the processed image of the camshaft after performing the image processing on the camshaft image data taken by the mobile camera 10 is as follows:

[0135] Gray″(X″,Y″)=η′ R ' ed *Red″(X″,Y″)+η′ G ' reen *Green″(X″,Y″)+η′ B ' lue *Blue″(X″,Y″),

[0136] Among them, Gray″(X″,Y″) represents the pixel value of the camshaft body image at the pixel point (X″,Y″);

[0137] Red″(X″,Y″) represents the red pixel value of the camshaft body image at the pixel point (X″,Y″);

[0138] Green″(X″,Y″) represents the green pixel value of the camshaft body image at the pixel point (X″,Y″);

[0139] Blue″(X″,Y″) represents the blue pixel value of the camshaft body image at the pixel point (X″,Y″);

[0140] η′ R ' ed Indicates the proportional adjustment coefficient of Red″(X″,Y″); its value range is (0,1];

[0141] η′ G ' reen Indicates the proportional adjustment coefficient of Green″(X″,Y″); its value range is (0,1];

[0142] η′ B ' lue Indicates the proportional adjustment coefficient of Blue″(X″,Y″); its value range is (0,1];

[0143] η′ R ' ed +η′ G ' reen +η′ B ' lue =1;

[0144] X″=1, 2, 3, ..., C″, C″ represents the number of horizontal pixels in the camshaft body image;

[0145] Y″=1, 2, 3, ..., K″, K″ represents the number of longitudinal pixels in the camshaft body image.

[0146] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for visually inspecting the front end face, rear end face and shaft body of a camshaft, characterized in that: The following steps are involved: S1, the controller sends a control signal to the front face camera (9), and after the front face camera (9) receives the control signal sent by the controller, the front face camera (9) captures image data of the front face of the camshaft; S2, the controller sends a control signal to the rear end face camera (8), and after the rear end face camera (8) receives the control signal sent by the controller, the rear end face camera (8) captures image data of the rear end face of the camshaft; S3, the controller sends a control signal to the mobile camera (10), and after the mobile camera (10) receives the control signal sent by the controller, the mobile camera (10) captures image data of the camshaft body; S4, the controller determines whether the camshaft is qualified based on the image data of the front end face of the camshaft taken by the front end face camera (9), the image data of the rear end face of the camshaft taken by the rear end face camera (8), and the image data of the camshaft body taken by the mobile camera (10): If front *λ back *λ shaft =0, the camshaft is unqualified; If front *λ front *λ front =1, the camshaft is qualified.

2. The method for visually inspecting the front end face, rear end face and shaft body of a camshaft according to claim 1, characterized in that: Before step S1, step S0 is also included, wherein the controller sends a control signal to the code reader (4), and after the code reader (4) receives the control signal sent by the controller, the code reader (4) reads AAA printed on the camshaft, wherein AAA includes the camshaft serial number.

3. The method for visually inspecting the front end face, rear end face and shaft body of a camshaft according to claim 1, characterized in that: After step S4, the method further comprises step S5, If the front end face of the camshaft is unqualified, the camshaft front end face unqualified code will be added after the camshaft serial number; If the rear end face of the camshaft is unqualified, the camshaft rear end face unqualified code will be added after the camshaft serial number; If the camshaft body is unqualified, the camshaft body unqualified code will be added after the camshaft serial number; Put the unqualified camshaft serial numbers into the unqualified camshaft set; Place the qualified camshaft serial numbers into the camshaft qualified set.

4. The method for visually inspecting the front end face, rear end face and shaft body of a camshaft according to claim 1, characterized in that: Step S4 includes the following steps: S41, performing front-end surface image processing on the image data of the front-end surface of the cam shaft photographed by the front-end surface camera (9), and obtaining a front-end surface processed image after performing front-end surface image processing on the image data of the front-end surface of the cam shaft photographed by the front-end surface camera (9); S42, determining the contrast between the front face processed image and the front face reference image: If the contrast between the front face processed image and the front face reference image is greater than or equal to the preset front face contrast threshold, it means that the front face of the camshaft is qualified. front =1; If the contrast between the front face processed image and the front face reference image is less than the preset front face contrast threshold, it means that the front face of the camshaft is unqualified. front =0;λ front Indicates whether the front end surface of the camshaft is qualified; the front end surface of the camshaft is qualified as λ front =1; the camshaft front end surface is unqualified front =0.

5. The method for visually inspecting the front end face, rear end face and shaft body of a camshaft according to claim 1, characterized in that: Step S4 includes the following steps: S4-1, performing rear end face image processing on the image data of the rear end face of the cam shaft photographed by the rear end face camera (9), and obtaining a rear end face processed image after performing rear end face image processing on the image data of the rear end face of the cam shaft photographed by the rear end face camera (9); S4-2, determining the contrast between the rear end surface processed image and the rear end surface reference image: If the contrast between the rear end surface processed image and the rear end surface reference image is greater than or equal to the preset rear end surface contrast threshold, it means that the rear end surface of the camshaft is qualified. back =1; If the contrast between the rear end surface processed image and the rear end surface reference image is less than the preset rear end surface contrast threshold, it means that the rear end surface of the camshaft is unqualified. back =0;λ back Indicates whether the rear end face of the camshaft is qualified, and the rear end face of the axle is qualified as λ back =1; the rear end face of the axle is unqualified back =0.

6. The method for visually inspecting the front end face, rear end face and shaft body of a camshaft according to claim 1, characterized in that: Step S4 includes the following steps: S41, performing shaft body image processing on the camshaft shaft image data photographed by the mobile camera (9), and obtaining a shaft body processed image after performing shaft body image processing on the camshaft shaft image data photographed by the mobile camera (9); S42, determining the contrast between the axis body processed image and the axis body reference image: If the contrast between the shaft body processed image and the shaft body reference image is greater than or equal to the preset shaft body contrast threshold, it means that the camshaft shaft body is qualified. shaft =1; If the contrast between the shaft body processed image and the shaft body reference image is less than the preset shaft body contrast threshold, it means that the camshaft shaft body is unqualified. shaft =0;λ shaft Indicates whether the camshaft shaft body is qualified, and the camshaft shaft body is qualified as λ shaft =1, the camshaft shaft is unqualified as λ shaft =0.

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