Water cooling plate full-size detection equipment, method and system and combined measurement method

Abstract

The invention belongs to the technical field of water-cooling plate detection, and particularly relates to a water-cooling plate full-size detection device, method and system and a combined measurement method. The to-be-detected water cooling plate is fixed in a bottom vacuum adsorption manner, so that a relatively high adsorption and fixation effect can be guaranteed, influence on a detection area caused by top and side fixation can be avoided, full-area detection of the to-be-detected water cooling plate can be realized, and the detection effect is effectively improved; besides, compatible calling of multiple cameras can be realized in a free combination form according to the required cameras, and a planeness and location degree compatible algorithm for the multiple cameras is independently designed; according to the invention, a traditional measurement mode in the current industry is changed, full-size, full-area and full-automatic intelligent measurement of the water cooling plate can be realized, the detection efficiency and the detection precision are greatly improved, the delivery cycle is shortened, the delivery success rate is improved, and the personnel cost is greatly reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of water-cooling plate detection, and in particular, relates to a full-size detection device, method, system and combined measurement method for a water-cooling plate. Background Art

[0002] With the continuous development of China's automobile industry, the market's requirements for various aspects of automobiles are constantly increasing. Only strict product technology control can ensure the final product quality. Correspondingly, at this stage, each OEM is increasingly strict in controlling the key dimensions of automobile parts, gradually transforming from partial sampling to online full inspection, and the inspection size is gradually increased from one or two key dimensions to multiple dimensions, which puts higher requirements on the speed and accuracy of the inspection.

[0003] For the water-cooling plate components of new energy vehicles, in the traditional inspection method, the loading and unloading processes are all completed manually, and the inspection tooling is changed to a quick-change mode. Obviously, the problem is that it greatly increases the physical exertion intensity of employees, and each tooling can only be used for one model of product. Although it is a quick-change mode, it still takes a lot of working time to change the tooling. The overall compatibility of the tooling products is also poor, and the large number of tooling requires a separate space to store.

[0004] In addition to manual loading and unloading, the water-cooled plate also needs to be fixed during inspection. The current fixing method is usually manual fixing through external mechanisms, such as clamps, clamps, etc., and then taking counterweights of different weights and placing them in the specified area on the water-cooled plate, and finally manually inspecting the various technical parameters of the water-cooled plate. For example, the utility model patent "An automatic positioning and flipping mechanism and detection device for a water-cooled plate" with publication number CN221475082U uses pneumatic clamps to clamp the water-cooled plate, thereby completing the movement, lifting and flipping operations. Similarly, the problem with this method is that the operating process is cumbersome and requires a lot of manpower costs.

[0005] In response to this, the industry has also developed a multi-machine joint measurement model, that is, using multiple measuring devices to measure water-cooled plates of different models and sizes. However, it is obvious that the problem is that it requires a large amount of site area and the investment cost is very high, and the measurement results of the product are unstable and have low accuracy.

[0006] In the patent application for invention "Automated Detection Device and Detection Method for the Size of Water-cooled Plates of New Energy Vehicles" with the publication number CN115718299A, an automated detection device for water-cooled plates that can improve the detection efficiency is disclosed. The main design point is to use structural elements such as "first positioning pins", "second positioning pins", and "horizontal positioning reference plates" to completely constrain the six degrees of freedom of the water-cooled plate, achieve the alignment and positioning of the water-cooled plate, so that when replacing water-cooled plates of different model sizes, there is no need to realign, thereby improving the detection efficiency.

[0007] In fact, although this method can improve the efficiency to a certain extent, it is found in actual operations that since there is usually a flow channel surface structure on the back of the water-cooled plate, the back of the water-cooled plate is not completely flat. Therefore, even if the six-degree-of-freedom constraint method is used to fix the water-cooled plate, it is very difficult to keep the front surface of the water-cooled plate flat, and there will be a certain degree of inclination, which in turn affects the detection accuracy and detection efficiency. In addition, precisely because positioning pins and reference plates are set on the front, from a certain angle, it is not very different from the method of using counterweights in the prior art. It just moves the limiting objects that were originally placed on the front of the water-cooled plate to the side. When using counterweights, the counterweights on the front will affect the scanning of the camera or laser, and some areas cannot be detected. Similarly, the positioning pins and reference plates on the side will also affect the scanning of the camera and laser. When detecting some large-sized water-cooled plates, the operation is very troublesome and full-area detection cannot be achieved.

[0008] In addition, in the detection operation of water-cooled plates, the commonly used measurement software on the market specifically refers to the supporting software of image measuring instruments, coordinate measuring machines, etc. This type of software is mainly for off-line measurement and uses 2D area array cameras as the main acquisition devices. However, the problem with this type of camera is that it can only collect single photos, and the field of view of the camera is small. When we need to detect the flatness and contour of the water-cooled plate, it is not possible to adapt to 3D cameras and 2D line scan cameras at the same time. Therefore, we also need to make some improvements to the measurement method to meet the higher requirements and higher standards of precision measurement.

[0009] In the patent application for invention "A High-precision Detection System for Flatness and Film Thickness and Its Process" with the publication number CN117288124A, a detection device that can issue prompt alarms in a timely manner is designed. Its main purpose is to enable manual intervention in a timely manner when abnormal situations occur, thereby improving the detection quality. It can be seen that no improvement has been made to the measurement method.

[0010] The invention patent application "A Local Feature Location Method, System and Computer Device Based on 3D Vision" with the publication number CN118628703A sets the target area and combines the Random Sample Consensus (RANSAC) algorithm for plane fitting. Although this method provides a solution for local feature location through 3D image acquisition and certain image processing methods, it cannot be applied to the detection of water-cooled plates in this field. Because we have realized that using only a single 2D camera or 3D camera cannot solve the problem of detection accuracy, and the calculation methods cannot be directly replaced.

[0011] In the invention patent application "A Full-Size Detection Method and Equipment for Power Battery Modules" with the publication number CN115375636A, it mainly determines the comprehensive influence of factors such as the overall light intensity change, local light intensity distribution uniformity, light source irradiation angle, and the distance between the light source and the battery module (i.e., the product) on full-size measurement. At the same time, by processing the point cloud information and fitting the point cloud plane, the actual height and the flatness of the installation surface of the battery module are obtained. So it is obvious that the consideration of parameters such as brightness in this method cannot be applied to this field, and in this solution, the effects achieved by the 2D camera and the 3D camera are equivalent, and there is no problem with combined use.

[0012] In the invention patent "A Method for Detecting the Height Step Difference of Battery Cells Based on a Laser Line Scan 3D Camera" with the publication number CN117053687B, a detection method combining a 3D depth map, a 2D grayscale map, a normalized cross-correlation algorithm, the least squares method, etc. is used to detect the step difference. Although it gives some inspiration on calculation tools, it cannot be fully applied to solve the above technical problems. There are quite large cross-field problems both in the structural design and the selection of calculation parameters. Summary of the Invention

[0013] Aiming at the above problems existing in the prior art, the purpose of the present invention is to provide a full-size detection device, method, system and combined measurement method for water-cooled plates.

[0014] To solve the above problems, the technical solutions adopted by the present invention are as follows: A full-size detection device for water-cooled plates, which vacuum-sucks and fixes the water-cooled plate to be detected from the back of the water-cooled plate to be detected, so that the front of the water-cooled plate to be detected is always in a flat state for detection.

[0015] Further, the device includes a detection platform, and the back of the water-cooled plate to be detected is flatly placed on the detection platform for detection after adsorption.

[0016] Further, the detection platform is made of marble material.

[0017] Further, at least one row of empty slots is provided on the detection platform, and at least one adsorption component capable of lifting and adsorbing the back surface of the water-cooled plate to be detected is provided in each empty slot.

[0018] Further, the adsorption component includes a soft air-permeable pad that fits against the back surface of the water-cooled plate to be detected.

[0019] Further, the soft air-permeable pad is a sponge.

[0020] Further, air-permeable holes arranged in a matrix are provided on the soft air-permeable pad, and the air-permeable holes are connected to an external air source.

[0021] Further, when there are multiple adsorption components, the multiple adsorption components maintain synchronous lifting motion.

[0022] Further, a calibration component corresponding to each adsorption component is further provided in the empty slot, and the calibration component performs inductive calibration on the lifting position of the corresponding adsorption component.

[0023] Further, the multiple adsorption components are arranged in a matrix.

[0024] Further, when there are multiple adsorption components, the multiple adsorption components maintain synchronous lifting motion.

[0025] Further, a calibration component corresponding to each adsorption component is further provided in the empty slot, and the calibration component performs inductive calibration on the lifting position of the corresponding adsorption component.

[0026] Further, the device includes a soft air-permeable pad that fits against the back surface of the water-cooled plate to be detected.

[0027] Further, the soft air-permeable pad is a sponge.

[0028] Further, air-permeable holes arranged in a matrix are provided on the soft air-permeable pad, and the air-permeable holes are connected to an external air source.

[0029] Further, the device includes a visual detection component that can move in three axial directions.

[0030] Further, the device includes a visual detection component that can move in three axial directions, and the visual detection component is installed on the detection platform.

[0031] Further, the visual detection component includes a combination of one or more of a 3D line scan camera, a 2D line scan camera, and a 2D area array camera.

[0032] Further, the flatness of the water-cooling plate to be detected is detected by the 3D line-scanning camera; The 3D line-scanning camera acquires multiple pieces of image data of the water-cooling plate to be detected, and each piece of the image data includes corresponding local brightness information and local height information; The integrated controller calculates the flatness according to the local brightness information and the local height information. The integrated controller posts mark points in each piece of the image data, and at the same time ensures that at least one same mark point is included in every two consecutive pieces of the image data. The complete brightness image is obtained by the method of point splicing; the integrated controller also completes the splicing of the local height information by the method of point after array slicing to obtain the complete height image; The integrated controller acquires the height image, converts the corresponding pixel information in the height image into point cloud data, and performs plane fitting through the point cloud data: ; wherein, is the point cloud data of each point, is the th error between the observed value of the point and the fitting plane; By ; For , , Derivatives are taken respectively; For Take the partial derivative: ; ; ; For Take the partial derivative: ; ; For Take the partial derivative: ; ; Solve the above three equations simultaneously to obtain , , , , are respectively , matrix of: ; ; ; ; ; ; ; ; ; Thus, the plane parameters of the reference plane are obtained , , , and then a fitted plane is obtained. The integrated controller substitutes the point cloud data of the points participating in the calculation into the reference plane formula, and obtains the flatness of the water-cooled plate to be detected by calculating the maximum height difference and the minimum height difference.

[0033] Furthermore, the integrated controller calculates the position degree of the water-cooled plate to be detected according to the deviation amounts of the measured element on the X-axis and the Y-axis; .

[0034] Furthermore, the process by which the integrated controller obtains several points in the height picture is as follows: The height plane is evenly divided into blocks, and a rectangle with a fixed length and width is selected as the screening area in each block; points are evenly selected at a fixed distance from the length and width of the screening area respectively, including the sides of the screening area , and points of the point cloud height are screened out to obtain a set, and the median of the heights in data in each height set is selected as the point cloud data to participate in the final flatness calculation.

[0035] Furthermore, the process by which the integrated controller obtains several points in the height picture is as follows: A detection area is selected in the height plane, and the coordinates of a point in the selected area are determined. A uniform circular matrix is diffused with this point as the center point and the controllable parameter R as the radius, ensuring that the number of points taken each time is the square of an odd number starting from 1, and the points taken do not exceed the circular matrix.

[0036] A method for full-size detection of a water-cooled plate, the method comprising the following steps: Fix the water-cooled plate to be detected by vacuum adsorption from the back of the water-cooled plate to be detected, so that the front of the water-cooled plate to be detected is always in a flat state to complete the detection.

[0037] Further, the back surface of the water-cooling plate to be detected is laid flat on the detection platform after adsorption for detection.

[0038] Further, the detection platform is made of marble material.

[0039] Further, at least one row of empty slots is opened on the detection platform, and the back surface of the water-cooling plate to be detected is adsorbed by at least one liftable adsorption component arranged in the empty slots.

[0040] Further, when there are multiple adsorption components, the surface of the water-cooling plate to be detected is always kept flat by keeping the multiple adsorption components moving synchronously up and down.

[0041] Further, a calibration component corresponding to each adsorption component is used to sense and calibrate the lifting position of the adsorption component.

[0042] Further, the multiple adsorption components are arranged in a matrix distribution.

[0043] Further, a soft air-permeable pad that can be flexibly attached to the back surface of the water-cooling plate to be detected is used.

[0044] Further, the soft air-permeable pad is sponge.

[0045] Further, air-permeable holes arranged in a matrix distribution are opened on the soft air-permeable pad, and the air-permeable holes are communicated with an external air source.

[0046] Further, a visual detection component that can move in three-axis directions is used to detect the water-cooling plate to be detected.

[0047] Further, a visual detection component that can move in three-axis directions is used to detect the water-cooling plate to be detected, and the visual detection component is installed on the detection platform.

[0048] Further, the visual detection component includes a combination of one or several of a 3D line-scan camera, a 2D line-scan camera, and a 2D area-array camera, and the corresponding camera is selected and loaded according to different detection requirements.

[0049] Further, the flatness of the water-cooling plate to be detected is detected by the 3D line-scan camera, and its detection steps include, S1: Obtain multiple picture data of the water-cooling plate to be detected, and each picture data includes corresponding local brightness information and local height information; S2: Calculate the flatness based on the local brightness information and the local height information, post mark points in each piece of the picture data, and ensure that at least one same mark point is included in every two consecutive pieces of the picture data. Obtain the complete brightness picture by stitching the points. S3: Complete the stitching of the local height information by slicing the array and then stitching the points to obtain the complete height picture. S4: In the obtained height picture, convert the corresponding pixel information into point cloud data, and perform plane fitting through the point cloud data. According to the formula ; where is the point cloud data of each point, is the error between the observed value of the -th point and the fitting plane; Through ; Derive , , respectively; Derive the partial derivative of : ; ; ; Derive the partial derivative of : ; ; Derive the partial derivative of : ; ; Simultaneously solve the above three equations to obtain , , , , which are respectively , matrices of ; ; ; ; ; ; ; ; ; Thus, the plane parameters of the reference plane are obtained. , , , and then the fitting plane is obtained. S5: Substitute the point cloud data of the points participating in the calculation into the reference plane formula, and obtain the flatness of the water-cooled plate to be detected by calculating the maximum height difference and the minimum height difference.

[0050] Furthermore, calculate the position degree of the water-cooled plate to be detected according to the deviation amounts of the measured element on the X-axis and the Y-axis. .

[0051] Furthermore, the process of obtaining several points in the height picture is as follows: Evenly divide the height plane into blocks, and select a rectangle with a fixed length and width in each block as the screening area; respectively select points at a fixed distance on the length and width of the screening area including the sides of the screening area, , and screen to obtain a set of point cloud heights, and select the median of the heights in data in each height set as the point cloud data to participate in the final flatness calculation.

[0052] Furthermore, the process by which the integrated controller obtains several points in the height picture is as follows: Select a detection area in the height plane, determine the coordinates of a point in the selected area, and obtain a uniform circular matrix by spreading with this point as the center point and the controllable parameter R as the radius, ensuring that the number of points taken each time is the square of an odd number starting from 1, and the points taken do not exceed the circular matrix.

[0053] A full-size detection system for a water-cooled plate, the system includes a fixing module and a detection module; The fixing module fixes the water-cooled plate to be detected by vacuum adsorption from the back of the water-cooled plate to be detected; The detection module detects the water-cooled plate to be detected whose front side is always in a flat state after being fixed.

[0054] Furthermore, the fixing module includes a flexible contact unit, and the flexible contact unit contacts the back of the water-cooled plate to be detected in a flexible fitting manner during vacuum adsorption.

[0055] Furthermore, there are multiple fixing modules, which are distributed and arranged in a matrix form, and the multiple fixing modules can be lifted and lowered synchronously.

[0056] Furthermore, the detection module includes a camera unit that can move in three axial directions.

[0057] Furthermore, the camera unit includes at least one 3D line scan camera, one 2D line scan camera, and one 2D area array camera that are freely combined according to detection requirements.

[0058] A combined measurement method applied to full-size detection of a water cooling plate, the method using at least one 3D line scan camera to detect the flatness and contour of the water cooling plate to be detected; using at least one 2D line scan camera to detect the position, defects, and edge misalignment of the water cooling plate to be detected; using at least one 2D area array camera to detect the size of the water pipe orifice of the water cooling plate to be detected.

[0059] Furthermore, the detection of flatness includes the following steps: S1: The 3D line scan camera obtains multiple picture data of the water cooling plate to be detected, and each piece of the picture data includes corresponding local brightness information and local height information; S2: Calculate the flatness according to the local brightness information and the local height information, paste mark points in each piece of the picture data, and ensure that at least one same mark point is included in every two consecutive pieces of the picture data, and obtain a complete brightness picture by point splicing; S3: Complete the splicing of the local height information by the method of point slicing and then point connection to obtain a complete height picture; S4: In the obtained height picture, convert the corresponding pixel information in the height picture into point cloud data, and perform plane fitting through the point cloud data; According to the formula ; where is the point cloud data of each point, is the error between the observed value of the th point and the fitting plane; Through ; Derive , , respectively; Take the partial derivative of : ; ; ; Take the partial derivative with respect to : ; ; Take the partial derivative with respect to : ; ; Simultaneously solve the above three equations to obtain , , , , which are respectively , matrices of ; ; ; ; ; ; ; ; ; Thus, the plane parameters , , of the reference plane are obtained, and then the fitting plane is obtained; S5: Substitute the point cloud data of the points participating in the calculation into the reference plane formula, and obtain the flatness of the water-cooled plate to be detected by calculating the maximum height difference and the minimum height difference.

[0060] Furthermore, the process of obtaining several points in the height picture is as follows: Evenly divide the height plane into blocks, and select a rectangle with a fixed length and width in each block as the screening area; Select points at a fixed distance on average from the length and width of the screening area respectively, including the sides of the screening area , and screen to obtain a set of point cloud heights of , and select the median of the heights in data in each height set as the point cloud data to participate in the final flatness calculation.

[0061] Further, the process of obtaining several points in the height picture is as follows: Select a detection area in the height plane, determine the coordinates of a point in the selected area, and use this point as the center point and a controllable parameter R to spread and obtain a uniform circular matrix with a radius. Ensure that the number of points taken each time is the square of an odd number starting from 1, and the points taken do not exceed the circular matrix.

[0062] Further, the detection of the position degree includes the following steps: Calculate the position degree of the water-cooled plate to be detected according to the deviation amounts of the measured element on the X-axis and Y-axis; .

[0063] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention uses the method of bottom vacuum adsorption to fix the water-cooled plate to be detected. It can not only ensure a high adsorption and fixation effect, but also avoid affecting the detection area when fixing from the top or side, and can achieve full-area detection of the water-cooled plate to be detected, effectively improving the detection effect; (2) The present invention uses a detection platform made of marble as the installation base for each component, which can effectively ensure the stability of the whole equipment during operation, and thus ensure the detection accuracy; (3) The present invention uses multiple adsorption components distributed in a matrix to perform adsorption, which can meet the detection operations of water-cooled plates of different model sizes, and can also meet the detection of the water-cooled plate to be detected entering the detection platform at any attitude angle, effectively improving the detection efficiency; (4) The present invention uses a soft air-permeable pad (such as sponge) to contact the back surface of the water-cooled plate to be detected. On the one hand, it can protect the back surface of the water-cooled plate to be detected from being easily damaged. On the other hand, it can fit the flow channels on the back surface of the water-cooled plate to be detected in a wrapped form, thereby improving the adsorption and fixation effect and ensuring the stability of the detection process; (5) The present invention is provided with air-permeable holes distributed in a matrix on the soft air-permeable pad to ensure the adsorption force and wrapping property of the soft air-permeable pad on the back surface of the water-cooled plate to be detected, and thus ensure the flatness of the front surface of the water-cooled plate to be detected during the detection process; (6) The present invention controls the synchronous lifting of multiple adsorption components, which can prevent damage to the upper and lower surfaces of the water-cooled plate to be detected and ensure the integrity of the product; (7) The present invention uses a vision detection component that can move in three axes to complete the detection operation, and thus realizes full-area detection of the water-cooled plate to be detected. Combined with a detection platform made of marble, it can effectively ensure the detection accuracy; (8) The present invention can freely combine and select a 3D line scan camera, a 2D line scan camera, and a 2D area array camera according to requirements, achieve compatible calling of multiple cameras, and perform separate or simultaneous acquisition of one or more cameras; (9) The present invention independently designs a flatness and position compatibility algorithm for multiple cameras, which can effectively improve the detection accuracy and detection efficiency, and realizes high-precision detection of the combined camera; (10) The present invention changes the traditional measurement method in the current industry, can realize full-size, full-area, and fully automatic intelligent measurement of the water cooling plate, not only greatly improves the detection efficiency and detection accuracy, shortens the delivery cycle, improves the delivery success rate, but also greatly reduces the personnel cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a schematic diagram of the overall structure of the detection device described in the present invention; Figure 2 is a schematic diagram of the structure of the detection platform in the detection device described in the present invention; Figure 3 is a top view of the detection device described in the present invention; Figure 4 is a schematic diagram of the structure of the adsorption component in the detection device described in the present invention; Figure 5 is an exploded view of the adsorption component in the detection device described in the present invention; Figure 6 is a schematic diagram of the structure of the vision detection component in the detection device described in the present invention; Figure 7 are the left and right two local brightness pictures obtained in Example 1 and the spliced overall brightness picture; Figure 8 is the height picture obtained by gradually magnifying and splicing in Example 1; Figure 9 is a style picture of taking points in a rectangular area in Example 1; Figure 10 is a style picture of taking points in a circular area in Example 1; Figure 11 is a schematic diagram of the mark point in Example 1; Figure 12 is a schematic diagram of binarization analysis of the mark point position; Figure 13 is a schematic diagram of binarization analysis of the image; Figure 14 is a schematic diagram of the structure of the calibration component in Example 2; Figure 15 is a schematic diagram of the module structure of the detection system described in the present invention; Figure 16 Schematic diagram of the detection step process for flatness in the measurement method described in the present invention; In the figure: 1 - Detection platform; 2 - Empty slot; 3 - Table board; 4 - Adsorption assembly; 5 - Soft air-permeable pad; 6 - Air-permeable hole; 7 - Connection plate; 8 - Connection pipeline; 9 - External air source; 10 - Visual detection assembly; 11 - Gantry truss; 12 - 3D line scan camera; 13 - 2D line scan camera; 14 - 2D area array camera; 15 - Calibration assembly; 101 - Fixing module; 102 - Detection module; 103 - Flexible contact unit; 104 - Camera unit. Specific implementation manner

[0065] This solution provides a full-size detection device for a water-cooled plate. Its main purpose is to change the traditional detection method of water-cooled plates in the current industry, achieve fully automatic intelligent detection, and at the same time can meet the detection of water-cooled plates of different model sizes, so as to achieve the purpose of improving detection efficiency, shortening the delivery cycle, and reducing labor costs.

[0066] Figure 1 Shows an overall structural schematic diagram of the full-size detection device for the water-cooled plate described in the present invention. Hereinafter, we will clarify the specific structure of this device in the form of embodiments.

[0067] Embodiment 1: Referring to Figure 2 , this device first includes a detection platform 1, which needs to have high stability to ensure that during the detection process, the stability of the water-cooled plate to be detected and the detection tools will not be affected by the platform. In this embodiment, the detection platform 1 is made of marble material.

[0068] From Figure 2 it can also be seen that four rows of empty slots 2 are opened on the front of the middle part of the detection platform 1, and the specific number of rows of the empty slots 2 can be adjusted according to the actual situation. There is also a raised table board 3 made of marble material at the rear of the detection platform 1, and this table board 3 straddles both sides of the short side of the detection platform 1. Thus, as the basic operation platform of this device, the whole is made of marble material, which can effectively ensure the stability of the structure.

[0069] Three workstations are opened in each row of empty slots 2. In other embodiments, other numbers of workstations can also be opened according to the actual situation to be detected. A total of twelve workstations are arranged in a matrix on the detection platform 1.

[0070] Referring to Figure 3 , Figure 3 For Figure 1Top view of the overall device. It can be seen that in each working station, an adsorption component 4 is installed. The adsorption component 4 can be lifted and lowered in the vertical plane. At the top of the front of each adsorption component 4, there is a soft air-permeable pad 5. The shape of the soft air-permeable pad 5 can be adjusted according to the actual situation. That is, the soft air-permeable pad 5 has two functions. The first is to be liftable, and the second is to be air-permeable. The effect that can be achieved is that if we first lift the adsorption component 4 so that the soft air-permeable pad 5 on the top surface is higher than the top surface of the detection platform 1, and then place the water-cooled plate to be detected on the adsorption component 4. Through the action of vacuum pumping, the soft air-permeable pad 5 can be completely attached to the back of the water-cooled plate to be detected. At the same time, since the back of the water-cooled plate to be detected has a flow channel structure, the soft air-permeable pad 5 can well fit each surface of the flow channel, wrap the flow channel, and then achieve the effect of keeping it straight. After adsorption and fitting, then control the adsorption component 4 to descend, and the back of the water-cooled plate to be detected can be flatly placed on the top surface of the detection platform 1, so that the front of the water-cooled plate to be detected can always be in a straight state and complete the vision detection in a straight state.

[0071] Refer to Figure 4 and Figure 5 , Figure 4 shows the overall structural schematic diagram of the adsorption component 4 in this embodiment, Figure 5 shows the exploded structural schematic diagram of the adsorption component 4. The topmost part of the adsorption component 4 is the soft air-permeable pad 5. A number of air-permeable holes 6 arranged in a matrix are opened on the soft air-permeable pad 5. The bottom surface of the soft air-permeable pad 5 is fixedly connected with a connecting plate 7. Corresponding holes for air permeability are also opened on the connecting plate 7. These holes are connected to an external air source 9 arranged below the detection platform 1 through an external connecting pipeline 8, so as to achieve the effect of vacuum adsorption. The air-permeable holes 6 arranged in a matrix can effectively ensure the adsorption force, and the setting of multiple adsorption components 4 can also effectively cover almost all models and sizes of water-cooled plates, so that no matter what attitude and angle the water-cooled plate to be detected enters the detection platform 1, the adsorption component 4 can adsorb it and keep the flatness of its front surface.

[0072] It should be noted that these adsorption components 4 need to maintain synchronous lifting and lowering movements to ensure that the water-cooled plate to be detected always maintains the same reference surface during the process of descending and ascending, prevent damage to the upper and lower surfaces of the water-cooled plate product, and ensure the integrity of the product. Specifically, a control method based on EPOS or process object axis can be used to control the synchronous movement of the servo electric cylinder.

[0073] It can be seen that the obvious difference from the prior art is that this solution uses a bottom vacuum adsorption method to fix the water-cooled plate to be detected. The biggest advantage over the "locating pins" and "reference plates" methods mentioned in the background art is that this solution can accommodate water-cooled plates of various models and sizes entering the detection platform 1 at different attitude angles, and the adsorption component 4 at the bottom can completely avoid the obstruction of the visual detection tool by the top and sides, thereby realizing the full-area and all-round detection of the water-cooled plate to be detected, greatly improving the detection accuracy and detection efficiency.

[0074] Returning Figure 1 and Figure 3 In, it can be seen that at a corner of the detection platform 1, there is a visual detection component 10 for carrying out detection work.

[0075] This visual detection component 10 is first installed on a gantry truss 11. The gantry truss 11 takes the detection platform 1 as the reference plane. Its X-axis is located on the two long sides of the detection platform 1, the Y-axis is composed of the table board 3, and the Z-axis is included inside the visual detection component 10. There are X-axis guide rails on the two long sides of the detection platform 1, Y-axis guide rails on the table board 3, and Z-axis guide rails included inside the visual detection component 10, thereby realizing the movement of the visual detection component 10 in the three-axis directions. At the same time, combined with the detection platform 1 made of marble material, it can effectively ensure that the visual detection component 10 can always maintain a very stable state during the movement, thereby guaranteeing the detection accuracy.

[0076] Specifically, referring to Figure 6 , which shows the structural schematic diagram of the visual detection component 10 in this embodiment. In this embodiment, the visual detection component 10 includes a 3D line scan camera 12, a 2D line scan camera 13, and a 2D area array camera 14.

[0077] Among them, the 3D line scan camera 12 is used to detect flatness and contour; the 2D line scan camera 13 is used to detect position, defects, and edge misalignment of the plate; the 2D area array camera 14 is used to detect the size of the water pipe opening.

[0078] The biggest advantage of this solution is that it can realize the compatible call of multiple cameras, and can call one or more of the 3D line scan camera 12, 2D line scan camera 13, and 2D area array camera 14 for individual acquisition or simultaneous acquisition.

[0079] For the detection of target defects, this solution uses a one-stage object detection algorithm. By processing the captured images, the class category and bounding box of the objects in the images are identified as the dataset. Subsequently, the feature network is extracted, and the region extraction network / ROIs / classification and location regression network are obtained based on the original features. Finally, the detection and localization results are obtained, and the accuracy of defect detection is evaluated by the intersection over union ratio.

[0080] For the detection of flatness, we use an integrated controller to control the 3D line scan camera 12 to achieve it. The inherent characteristics of the 3D line scan camera 12 can meet the number of rows that can be covered in each scan, and based on this, the number of scans required for the water-cooled plate to be detected is calculated, solving the influence caused by the excessive size of the plate itself. The image acquisition is achieved by the method of three-axis movement, and multiple picture data of the water-cooled plate to be detected are obtained. Each picture data includes corresponding local brightness information and local height information.

[0081] In order to obtain the complete surface data of the water-cooled plate to be detected and make the spliced result images perfectly fit at the image level, we need to splice the picture data by combining algorithms. For this, first, mark points need to be posted in the obtained picture data, and at the same time, ensure that at least one same mark point is included in every two consecutive picture data. Thus, there is common feature information in different picture data, and then a complete brightness picture can be obtained by point splicing. At the same time, the splicing of local height information is completed by the method of points after array slicing to obtain a complete height picture. Refer to Figure 7 , which successively shows from left to right the two local brightness pictures obtained in this embodiment, and the overall brightness picture after splicing. Refer to Figure 8 , which successively shows the height pictures obtained by splicing after gradual magnification, and the seamless splicing eliminates the step difference.

[0082] After obtaining the spliced pictures, the flatness can be calculated. First, we need to obtain the point cloud data of several points in the height picture. However, for large workpieces, it is impossible to substitute all the point clouds for calculation, which will lead to too long operation time. Therefore, we can select the point clouds in a certain area to participate in the calculation. In order to meet the accuracy requirements and make the flatness closer to the measurement value of the coordinate measuring machine, there will be many different point-taking situations. For flatness, the calculation of the distance from a point to a plane and the distance between planes will be affected by the point-taking situation.

[0083] For this, we can adopt two methods: The first is to take points in a rectangular area: evenly divide the height picture into For each block, select a rectangle with a fixed length and width as the screening area; starting from the length and width of the screening area respectively, including the sides of the screening area, evenly select points at a fixed distance. , and obtain by screening a set of point cloud heights, and select the median of the heights among data in each height set as the point cloud data to participate in the calculation of the final flatness. This can effectively avoid the influence of outliers on the calculation results, and at the same time, the sampling area can be shifted as a whole in a certain direction according to different requirements.

[0084] Refer to Figure 9 . In this embodiment, , Figure 14 successively shows that in the selected small rectangular area on the surface of the water-cooled plate to be detected, one center point and four corner points are screened, a total of points, and each point has a structure, including the information areas of four height pictures.

[0085] Second is sampling in a circular area: Select a detection area in the height plane, determine the coordinates of a point in the selected area, and use this point as the center point and the controllable parameter R as the radius to spread and obtain a uniform circular matrix, ensuring that the number of sampled points each time is the square of an odd number starting from 1, and the sampled points do not exceed the circular matrix.

[0086] Refer to Figure 10 . When there are 0 circles, there is 1 point, and when there are three circles, there are 49 points.

[0087] With the point cloud data of the points participating in the calculation, the flatness can be calculated later. First, perform plane fitting through the point cloud data.

[0088] The principle formula of plane fitting is expressed as: ; where, is the point cloud data of each point, is the error between the observed value of the th point and the fitting plane. Our goal is to find , , values such that the sum of the squares of the errors is minimized, that is ; Therefore, take the partial derivatives of , , respectively; Take the partial derivative of : ; ; ; For Take the partial derivative: ; ; For Take the partial derivative: ; ; Simultaneously solve the above three equations to obtain respectively , , , , Which are respectively , Matrices of: ; ; ; ; ; ; ; ; ; Thus, the plane parameters of the reference plane , , are obtained, and then the fitted plane is obtained; Subsequently, the flatness is calculated. Substitute the point cloud data of the points participating in the calculation into the calculation formula of the reference plane, and obtain the flatness of the water-cooled plate to be detected by calculating the maximum height difference and the minimum height difference. In addition, this plane can also be used as an important parameter for calculating the distance from a point to a plane and the distance between planes. Just substitute the point cloud data of the points participating in the calculation into the distance formula from the point to the reference plane.

[0089] After obtaining the flatness result, a stability test needs to be carried out. Specifically, perform a coordinate measuring machine test according to the specified point-taking area, and compare the test result with the coordinate measuring machine result. The error needs to be stable within a reasonable range. Considering the influence of factors such as the hardware part, mechanical error, algorithm error, and workpiece deformation, the maximum accuracy of repeatability stability can be considered within 0.05.

[0090] For the detection of position tolerance, we calculate based on the deviation of the measured feature on the X-axis and Y-axis. The basic formula is: .

[0091] In some cases, in order to consider the offset range of position tolerance (i.e., tolerance zone), it may be necessary to multiply the calculation result by a coefficient, depending on the specific tolerance marking and calculation requirements.

[0092] In addition, the hardware debugging process of this equipment is as follows: Place the water-cooled plate to be detected on the adsorption component 4 through automatic feeding or manual handling, etc., and adsorb it in a state to avoid the product bending in the natural state so that the water-cooled plate to be detected lies flat on the detection platform 1. The integrated controller determines the starting and ending positions of the line-scan camera according to the actual size of the water-cooled plate to be detected, ensures that the line-scan camera can normally output images, and determines the number of scans according to the actual width of the product plus the field of view of the line-scan camera.

[0093] According to the scanning range of the camera, it is necessary to paste mark points at appropriate positions on the water-cooled plate to be detected to ensure that the mark points of the previous scan can be scanned every time in the future. Refer to Figure 11 , which successively shows that during the scanning process from left to right, the corresponding mark points in the previous image are scanned in each image.

[0094] After obtaining the images, first use image processing software to perform binary analysis on the positions of the mark points. Refer to Figure 12 , which mentions the row and column coordinates of the center point position, and so on to obtain the coordinates of all mark points on the images to be stitched.

[0095] Subsequently, read the images to be stitched into the software, convert the positions of the mark points on each image into matrix array formats according to the extracted row and column coordinates respectively. Finally, convert the coordinates of the mark points on all images into matrix arrays, and then use the method of array slicing to intercept from the first column coordinate of the image to the column coordinate of the first mark point position. Perform the same operation on each image, use the stitching function to integrate the segmented arrays along the Y-axis direction, and finally save the stitched image to the specified path for the next calculation of position tolerance.

[0096] Refer to Figure 13, the integrated controller continues to read the stitched image, and then uses the method of binary analysis to extract the bottom ellipse and the center coordinates of the circle (of the workpiece reference), generating a straight line as the X-axis. Subsequently, a Y-axis perpendicular to this straight line is generated based on the center of the X-axis. The actual distance from the center of the hole to the zero point (i.e., the intersection of the X and Y axes) is measured according to the drawing (digital model, etc.). The center coordinates of the circle of the measured hole and the distance from the point to the straight line are extracted through measurement. The pixel distances from this point to the X-axis and Y-axis are calculated, and the actual pixel distance is obtained based on the single-pixel accuracy. Finally, using the above formula - ; The position tolerance result is calculated.

[0097] Embodiment 2: In this embodiment, other parts are the same as the structure in Embodiment 1.

[0098] Refer to Figure 14 , in the empty slot 2, there is also a calibration component 15 corresponding to each adsorption component 4. The calibration component 15 senses and calibrates the lifting position of the corresponding adsorption component 4, thereby realizing the synchronous lifting control of all adsorption components 4.

[0099] Embodiment 3: In this embodiment, other parts are the same as the structure in Embodiment 1, and the soft air-permeable pad 5 is specifically designed as a sponge, which has good flexibility, air permeability, and wrapping property, and can protect the back of the water-cooled plate to be detected from being damaged while ensuring the adsorption and fixation effect.

[0100] For a full-size detection method of a water-cooled plate according to the present invention, the core lies in fixing the water-cooled plate to be detected by means of vacuum adsorption from the back of the water-cooled plate to be detected, so that the front of the water-cooled plate to be detected is always in a flat state for detection.

[0101] Embodiment 4: In this embodiment, we further limit that after adsorption, the back of the water-cooled plate to be detected can be flatly placed on a fixed detection platform for detection, and the detection platform is made of marble material. Specifically, a special vacuum adsorption component is used for the adsorption operation. The adsorption component is arranged in an empty slot opened inside the front of the detection platform. There is at least one such adsorption component. In this embodiment, the number of empty slots is four rows, and each row includes three adsorption components, thereby ensuring that no matter what size and model the water-cooled plate to be detected is and in what attitude angle it enters the detection platform, the adsorption operation can be completed.

[0102] It should be noted that when there are multiple adsorption components, the positive surface of the water-cooled plate to be detected should be kept flat by ensuring the synchronous lifting and lowering movement of the multiple adsorption components. In this embodiment, the control mode of EPOS or process object axis can be used to control the synchronous movement of the servo cylinders of each adsorption component.

[0103] In this embodiment, a soft air-permeable pad that can be flexibly attached to the back of the water-cooled plate to be detected is used to contact the water-cooled plate to be detected. In this way, a wrapped attachment to the water-cooled plate to be detected with a flow channel structure on the back can be achieved. On the one hand, it can prevent damage to the back of the water-cooled plate to be detected, and on the other hand, it can also improve the adsorption and fixation effect. In other embodiments, the soft air-permeable pad can be made of sponge.

[0104] In addition, a plurality of air-permeable holes arranged in a matrix are opened on the soft air-permeable pad, and an external air source is connected through the air-permeable holes, thereby realizing vacuum adsorption.

[0105] In terms of detection, a vision detection component that can move in three-axis directions is used to detect the water-cooled plate to be detected. First, the vision detection component is also installed on a detection platform made of marble, and its stability can be guaranteed. Second, the vision detection component includes a combination of one or several of a 3D line-scan camera, a 2D line-scan camera, and a 2D area-array camera, and the corresponding camera is selected and loaded according to different detection requirements.

[0106] Specifically, the measurement methods for flatness, surface defects, and position have been described in the foregoing text.

[0107] Embodiment 5: In this embodiment, for each adsorption component, a corresponding calibration component is set to sense and calibrate its lifting height, so as to realize the synchronous lifting and lowering control of all adsorption components.

[0108] Refer to Figure 15 , the full-size detection system for water-cooled plates of the present invention includes a fixing module 101 and a detection module 102, wherein the fixing module 101 includes a flexible contact unit 103, and the detection module 102 includes a camera unit 104.

[0109] Among them, the fixing module 101 is configured to fix the water-cooled plate to be detected by vacuum adsorption from the back of the water-cooled plate to be detected.

[0110] The detection module 102 is configured to detect the water-cooled plate to be detected whose positive surface is always flat after being fixed.

[0111] The flexible contact unit 103 is configured to contact the back of the water-cooled plate to be detected in a flexible attachment manner during vacuum adsorption.

[0112] The camera unit 104 can move in three-axis directions and includes at least one 3D line scan camera, one 2D line scan camera, and one 2D area array camera that can be freely combined according to detection requirements.

[0113] Embodiment 6: In this embodiment, there are multiple fixing modules 101 distributed in a matrix arrangement, and the multiple fixing modules 101 can be lifted and lowered synchronously.

[0114] In the combined measurement method applied to the full-size inspection of the water cooling plate according to the present invention, at least one 3D line scan camera is used to inspect the flatness and profile of the water cooling plate to be inspected; At least one 2D line scan camera is used to inspect the position tolerance, defects, and edge misalignment of the water cooling plate to be inspected; At least one 2D area array camera is used to inspect the size of the water pipe orifice of the water cooling plate to be inspected.

[0115] Refer to Figure 16 , in this method, the inspection of surface defects, flatness, and position tolerance can refer to the measurement process of the inspection equipment in the above text.

Claims

1. A full-size water-cooled plate inspection device, characterized in that: The device vacuum-adsorbs and fixes the water-cooling plate to be tested from the back side of the water-cooling plate to be tested, so that the front side of the water-cooling plate to be tested is always in a flat state for testing.

2. The water-cooled plate full-size detection device according to claim 1, characterized in that: The device comprises a detection platform (1), and the back side of the water-cooled plate to be detected falls flat on the detection platform (1) after being adsorbed for detection.

3. The water-cooled plate full-size detection device according to claim 2, characterized in that: The detection platform (1) is made of marble.

4. The water-cooled plate full-size detection device according to claim 2, characterized in that: At least one row of empty slots (2) is provided on the detection platform (1), and each of the empty slots (2) is provided with at least one adsorption component (4) which can be lifted and lowered to adsorb the back side of the water-cooling plate to be detected.

5. The water-cooled plate full-size detection device according to claim 4, characterized in that: The adsorption assembly (4) comprises a soft air-permeable pad (5) which is in contact with the back surface of the water-cooling plate to be tested.

6. The water-cooling plate full-size detection device according to claim 5, characterized in that: The soft air-permeable pad (5) is a sponge.

7. The water-cooled plate full-size detection device according to claim 5, characterized in that: The soft air-permeable pad (5) is provided with air holes (6) arranged in a matrix distribution, and the air holes (6) are connected to an external air source (9).

8. The water-cooled plate full-size detection device according to claim 4, characterized in that: When there are multiple adsorption components (4), the multiple adsorption components (4) maintain synchronous lifting and lowering movements.

9. The water-cooled plate full-size detection device according to claim 8, characterized in that: A calibration component (15) corresponding to each of the adsorption components (4) is also provided in the vacant slot (2), and the calibration component (15) performs sensing calibration on the lifting position of the corresponding adsorption component (4).

10. The water-cooled plate full-size detection device according to claim 8, characterized in that: The plurality of adsorption components (4) are arranged in a matrix distribution.

11. The water-cooling plate full-size detection device according to any one of claims 5 to 7, characterized in that: When there are multiple adsorption components (4), the multiple adsorption components (4) maintain synchronous lifting and lowering movements.

12. The water-cooled plate full-size detection device according to claim 11, characterized in that: A calibration component (15) corresponding to each of the adsorption components (4) is also provided in the vacant slot (2), and the calibration component (15) performs sensing calibration on the lifting position of the corresponding adsorption component.

13. The water-cooled plate full-size detection device according to claim 1, characterized in that: The device comprises a visual detection component (10) movable in three-axis directions.

14. The water-cooled plate full-size detection device according to claim 13, characterized in that: The device comprises a visual detection component (10) movable in three-axis directions, wherein the visual detection component (10) is mounted on the detection platform.

15. The water-cooled plate full-size detection device according to any one of claims 13 or 14, characterized in that: The visual inspection component (10) comprises one or a combination of a 3D line scan camera (12), a 2D line scan camera (13), and a 2D area array camera (14).

16. The water-cooled plate full-size detection device according to claim 15, characterized in that: Using the 3D line scan camera (12) to inspect the flatness of the water cooling plate to be inspected; The 3D line scan camera (13) acquires a plurality of image data of the water cooling plate to be inspected, each of the image data comprising corresponding local brightness information and local height information; The integrated controller performs flatness calculation according to the local brightness information and the local height information, and the integrated controller posts a mark point in each of the image data, and ensures that every two consecutive image data contain at least one identical mark point, and obtains a complete brightness image by point-to-point splicing; the integrated controller also completes the splicing of the local height information by point-to-point after array slicing to obtain a complete height image; The integrated controller obtains the height image, converts corresponding pixel information in the height image into point cloud data, and performs plane fitting through the point cloud data: ； in, For each point cloud data, For the The error between the observed value of a point and the fitted plane; pass ; right , , Derivatives are performed separately; right Find the partial derivative: ； ； ； right Find the partial derivative: ； ； right Find the partial derivative: ； ； Solve the above three equations separately , , , , They are , The matrix: ； ； ； ； ； ； ； ； ； The plane parameters of the reference surface are obtained , , , and then obtain the fitting plane, the integrated controller brings the point cloud data of the points involved in the calculation into the reference plane formula, and obtains the flatness of the water-cooling plate to be tested by calculating the maximum height difference and the minimum height difference.

17. The water-cooled plate full-size detection device according to claim 16, characterized in that: The integrated controller calculates the position of the water-cooling plate to be tested according to the deviation of the tested element on the X-axis and the Y-axis; 。 18. The water-cooled plate full-size detection device according to claim 16, characterized in that: The process of the integrated controller acquiring several points in the height image is as follows: Divide the height plane evenly into blocks, a rectangle with fixed length and width is selected in each block as the screening area; points are selected at a fixed distance from the length and width of the screening area, including each side of the screening area. , filtered out indivual A collection of point cloud heights, and select in each height collection The median of the height of each data point is used as point cloud data to participate in the final flatness calculation.

19. The water-cooled plate full-size detection device according to claim 16, characterized in that: The process of the integrated controller acquiring several points in the height image is as follows: Select the detection area in the height plane, determine the coordinates of a point in the selected area, and use this point as the center point and controllable parameters. R A uniform circular matrix is ​​obtained for radius diffusion, ensuring that the number of points taken each time is an odd number of squares starting from 1, and the number of points taken does not exceed the circular matrix.

20. A full-size detection method for a water-cooling plate, characterized in that: The method comprises the following steps: The water-cooling plate to be tested is fixed by vacuum adsorption from the back side of the water-cooling plate to be tested, so that the front side of the water-cooling plate to be tested is always in a flat state to complete the test.

21. The water-cooling plate full-size detection method according to claim 20, characterized in that: After adsorption, the back side of the water-cooled plate to be tested is placed flat on the testing platform for testing.

22. The water-cooling plate full-size detection method according to claim 21, characterized in that: The detection platform is made of marble.

23. The water-cooling plate full-size detection method according to claim 21, characterized in that: At least one row of empty slots is provided on the detection platform, and the back side of the water-cooling plate to be detected is adsorbed by at least one liftable adsorption component arranged in the empty slots.

24. The water-cooling plate full-size detection method according to claim 23, characterized in that: When there are multiple adsorption assemblies, the surface of the water-cooling plate to be inspected is always in a flat state by keeping the multiple adsorption assemblies in synchronous lifting and lowering motion.

25. The water-cooling plate full-size detection method according to claim 24, characterized in that: A calibration component corresponding to each of the adsorption components is used to perform inductive calibration on the lifting position of the adsorption components.

26. The full-size detection method for a water-cooled plate according to any one of claims 23 to 25, characterized in that: The plurality of adsorption components are arranged in a matrix distribution.

27. The full-size detection method for a water-cooled plate according to any one of claims 23 to 25, characterized in that: A soft breathable pad is used that can flexibly fit the back side of the water-cooled plate to be tested.

28. The water-cooling plate full-size detection method according to claim 27, characterized in that: The soft air-permeable pad is a sponge.

29. The water-cooling plate full-size detection method according to claim 28, characterized in that: The soft air-permeable pad is provided with air holes which are arranged in a matrix distribution, and the air holes are connected to an external air source.

30. The full-size detection method of a water-cooling plate according to claim 21, characterized in that: A visual inspection component that can move in three-axis directions is used to inspect the water-cooling plate to be inspected, and the visual inspection component is installed on the inspection platform.

31. The water-cooling plate full-size detection method according to claim 30, characterized in that: The visual inspection component includes one or a combination of a 3D line scan camera, a 2D line scan camera, and a 2D area array camera, and the corresponding camera is selected according to different inspection requirements.

32. The water-cooling plate full-size detection method according to claim 31, characterized in that: The flatness of the water cooling plate to be inspected is inspected by the 3D line scan camera, and the inspection steps include: S1: Acquire multiple image data of the water cooling plate to be detected, each of the image data includes corresponding local brightness information and local height information; S2: performing flatness calculation according to the local brightness information and the local height information, posting a mark point in each of the image data, and ensuring that every two consecutive image data contain at least one identical mark point, and obtaining a complete brightness image by point stitching; S3: completing the stitching of the local height information by slicing the array and then aligning the points to obtain a complete height picture; S4: acquiring the height image, converting corresponding pixel information in the height image into point cloud data, and performing plane fitting through the point cloud data; According to the formula ; in, For each point cloud data, For the The error between the observed value of a point and the fitted plane; pass ; right , , Derivatives are performed separately; right Find the partial derivative: ； ； ； right Find the partial derivative: ； ； right Find the partial derivative: ； ； Solve the above three equations separately , , , , They are , The matrix: ； ； ； ； ； ； ； ； ； The plane parameters of the reference surface are obtained , , , and then get the fitting plane; S5: Bring the point cloud data of the points involved in the calculation into the reference plane formula, and obtain the flatness of the water cooling plate to be tested by calculating the maximum height difference and the minimum height difference; Calculate the position of the water cooling plate to be tested according to the deviation of the tested element on the X-axis and Y-axis; ； The process of obtaining several points in the height image is as follows: Divide the height plane evenly into blocks, a rectangle with fixed length and width is selected in each block as the screening area; points are selected from the sides of the screening area at a fixed distance from the length and width of the screening area. , filtered out indivual A collection of point cloud heights, and select in each height collection The median value of the height in each data is used as point cloud data to participate in the final flatness calculation; The process of the integrated controller acquiring several points in the height image is as follows: Select the detection area in the height plane, determine the coordinates of a point in the selected area, and use this point as the center point and controllable parameters. R A uniform circular matrix is ​​obtained for radius diffusion, ensuring that the number of points taken each time is an odd number of squares starting from 1, and the number of points taken does not exceed the circular matrix.

33. A full-size water-cooling plate detection system, characterized in that: The system comprises a fixing module (101) and a detection module (102); The fixing module (101) fixes the water-cooling plate to be tested by vacuum adsorption from the back side of the water-cooling plate to be tested; The detection module (102) detects the water cooling plate to be detected whose front side is always in a straight state after being fixed.

34. The water-cooled plate full-scale detection system according to claim 33, characterized in that: The fixing module (101) comprises a flexible contact unit (103), and the flexible contact unit (103) contacts the back side of the water-cooling plate to be tested in a flexible and fitting manner during vacuum adsorption.

35. The water-cooled plate full-scale detection system according to claim 33, characterized in that: The detection module (102) includes a camera unit (104) movable in three-axis directions.

36. The water-cooled plate full-scale detection system according to claim 35, characterized in that: The camera unit (104) comprises at least one 3D line scan camera, one 2D line scan camera and one 2D area array camera which are freely combined according to detection requirements.

37. A combined measurement method for full-size inspection of a water-cooled plate, characterized in that: The method uses at least one 3D line scan camera to detect the flatness and contour of the water cooling plate to be inspected; Use at least one 2D line scan camera to detect the position, defects and plate edge misalignment of the water cooling plate to be inspected; At least one 2D area array camera is used to detect the size of the water pipe opening of the water cooling plate to be inspected; The flatness test includes the following steps: S1: The 3D line scan camera acquires multiple image data of the water cooling plate to be inspected, each of the image data includes corresponding local brightness information and local height information; S2: performing flatness calculation according to the local brightness information and the local height information, posting a mark point in each of the image data, and ensuring that every two consecutive image data contain at least one identical mark point, and obtaining a complete brightness image by point stitching; S3: completing the stitching of the local height information by slicing the array and then aligning the points to obtain a complete height picture; S4: acquiring the height image, converting corresponding pixel information in the height image into point cloud data, and performing plane fitting through the point cloud data; According to the formula ; in, For each point cloud data, For the The error between the observed value of a point and the fitted plane; pass ; right , , Derivatives are performed separately; right Find the partial derivative: ； ； ； right Find the partial derivative: ； ； right Find the partial derivative: ； ； Solve the above three equations separately , , , , They are , The matrix: ； ； ； ； ； ； ； ； ； The plane parameters of the reference surface are obtained , , , and then get the fitting plane; S5: The point cloud data of the points involved in the calculation are brought into the reference plane formula, and the flatness of the water cooling plate to be inspected is obtained by calculating the maximum height difference and the minimum height difference.

38. The combined measurement method according to claim 37, characterized in that: The process of obtaining several points in the height image is as follows: Divide the height plane evenly into blocks, a rectangle with fixed length and width is selected in each block as the screening area; points are selected at a fixed distance from the length and width of the screening area, including each side of the screening area. , filtered out indivual A collection of point cloud heights, and select in each height collection The median value of the height in each data is used as point cloud data to participate in the final flatness calculation; The process of obtaining several points in the height image is as follows: Select the detection area in the height plane, determine the coordinates of a point in the selected area, and use this point as the center point and controllable parameters. R A uniform circular matrix is ​​obtained for radius diffusion, ensuring that the number of points taken each time is an odd number of squares starting from 1, and the number of points taken does not exceed the circular matrix; The detection of position includes the following steps: Calculate the position of the water cooling plate to be tested according to the deviation of the tested element on the X-axis and Y-axis; 。

Images