A water-cooled plate full-size detection device, method, system and combined measurement method

Abstract

This invention belongs to the field of water-cooled plate inspection technology, specifically relating to a full-size inspection device, method, system, and combined measurement method for water-cooled plates. This invention uses bottom vacuum adsorption to fix the water-cooled plate to be inspected, ensuring a high adsorption and fixation effect while avoiding the impact on the inspection area caused by fixing from the top or side. It enables full-area inspection of the water-cooled plate, effectively improving the inspection results. Furthermore, this invention allows for flexible combination of cameras according to requirements, achieving compatible use of multiple cameras, and independently designing flatness and position compatibility algorithms for multiple cameras. This invention changes the traditional measurement methods in the industry, enabling full-size, full-area, fully automated intelligent measurement of water-cooled plates. This not only greatly improves inspection efficiency and accuracy, shortens delivery cycles, and increases delivery success rates, but also significantly reduces personnel costs.

Description

Technical Field

[0001] This invention belongs to the field of water-cooled plate testing technology, specifically, it relates to a full-size testing device, method, system, and combined measurement method for water-cooled plates. Background Technology

[0002] With the continuous development of China's automotive industry, the market's requirements for automobiles in all aspects are constantly increasing. Only by strictly controlling product technology can the final product quality be ensured. Correspondingly, at this stage, OEMs are also becoming more and more stringent in controlling the key dimensions of automotive parts. They are gradually transforming from partial sampling inspections to online full inspections. The dimensions to be inspected are also gradually increasing from the inspection of one or two key dimensions to the control of multiple dimensions, which puts forward higher requirements for the speed and accuracy of inspection.

[0003] For water-cooled plate components of new energy vehicles, the loading and unloading process in traditional testing methods is done manually, and the tooling change is a quick-change mode. Obviously, this has the problem of greatly increasing the physical exertion of employees. Moreover, each tool can only be used for one type of product. Although it is a quick-change mode, it still takes a lot of working time to change the tool. The overall compatibility of the tooling products is also poor, and the large number of toolings requires separate space for storage.

[0004] In addition to manual loading and unloading, the water-cooled plate also needs to be fixed during inspection. Currently, the fixing method typically involves manual fixing using external mechanisms, such as clamps or grippers. Different weights of counterweights are then placed on designated areas of the water-cooled plate, and finally, the various technical parameters of the water-cooled plate are manually checked. For example, the utility model patent with publication number CN221475082U, "An Automatic Positioning and Flipping Mechanism and Detection Device for a Water-Cooled Plate," uses pneumatic grippers to hold the water-cooled plate, thereby completing the movement, lifting, and flipping operations. Similarly, this method also suffers from a cumbersome operation process and requires significant manpower.

[0005] In response, the industry has developed a multi-machine joint measurement mode, which uses multiple measuring devices to measure water-cooled plates of different models and sizes. However, it is clear that this mode requires a large amount of space and has a very high cost, while the measurement results are unstable and have low accuracy.

[0006] In the patent application for invention "Automated Detection Device and Detection Method for the Size of a Water Cooling Plate of a New Energy Vehicle" with the publication number CN115718299A, an automated detection device for a water cooling plate that can improve the detection efficiency is disclosed. Its main design point is to use structural elements such as "first positioning pin", "second positioning pin", and "horizontal positioning reference plate" to completely constrain the six degrees of freedom of the water cooling plate, achieve the alignment and positioning of the water cooling plate, so that there is no need to re-align when replacing water cooling plates of different model sizes, 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 cooling plate, the back of the water cooling plate is not completely flat. Therefore, even if the six-degree-of-freedom constraint method is used to fix the water cooling plate, it is difficult to keep the front surface of the water cooling 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, only moving the limiting objects that were originally placed on the front of the water cooling 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 cooling plates, the operation is very troublesome and full-area detection cannot be achieved.

[0008] In addition, in the detection operation of the water cooling plate, the commonly used measurement software in the market specifically refers to the supporting software of image measuring instruments, coordinate measuring machines, etc. Such software is mainly for off-line measurement and uses a 2D area array camera as the main acquisition device. However, the problem with such cameras is that they can only collect single photos and the camera's field of view is small. When we need to detect the flatness and contour of the water cooling plate, we cannot simultaneously adapt to a 3D camera and a 2D line scan camera. 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 give 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 CN118628703A, entitled "A Local Feature Localization Method, System and Computer Device Based on 3D Vision", uses a method of setting a target region and combining it with a random sampling consistency algorithm to perform plane fitting. Although this method provides a solution for local feature localization through the acquisition of 3D images and certain image processing methods, it cannot be applied to the detection of water-cooled plates in this field. This is because we have realized that using only a 2D camera or a 3D camera cannot solve the problem of detection accuracy, and the calculation method cannot be directly replaced.

[0011] The invention patent application CN115375636A, entitled "A Method and Device for Full-Dimensional Inspection of a Power Battery Module," primarily determines the comprehensive influence of factors such as overall light intensity variation, local light intensity distribution uniformity, light source illumination angle, and the distance between the light source and the battery module (i.e., the product) on full-dimensional measurement. Simultaneously, it combines point cloud information processing to fit a point cloud plane to obtain the actual height of the battery module and the flatness of the mounting surface. Therefore, it is clear that this method's consideration of parameters such as brightness is not applicable to this field. Furthermore, in this solution, the effects achieved by 2D and 3D cameras are equivalent, and there is no challenge in combining them.

[0012] The invention patent CN117053687B, entitled "A Method for Detecting Cell Height Difference Based on Laser Line Scan 3D Camera", uses a detection method that combines 3D depth map, 2D grayscale image, normalized cross correlation algorithm, and least squares method to detect the difference. Although it provides some inspiration for calculation tools, it cannot be fully applied to solve the above-mentioned technical problems. There are considerable cross-domain issues in both structural design and selection of calculation parameters. Summary of the Invention

[0013] To address the aforementioned problems in the existing technology, the present invention aims to provide a full-size inspection device, method, system, and combined measurement method for water-cooled plates.

[0014] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0015] A full-size inspection device for water-cooled plates, wherein the device vacuum adsorbs and fixes the water-cooled plate to be inspected from the back, so that the front of the water-cooled plate to be inspected is always in a flat state for inspection.

[0016] Furthermore, the device includes a testing platform, on which the back of the water-cooled plate to be tested is placed flat after adsorption onto the testing platform for testing.

[0017] Furthermore, the testing platform is made of marble.

[0018] Furthermore, the testing platform has at least one row of empty slots, and each empty slot is equipped with at least one liftable adsorption component for adsorbing the back of the water-cooled plate to be tested.

[0019] Furthermore, the adsorption component includes a soft, breathable pad that adheres to the back of the water-cooled plate to be tested.

[0020] Furthermore, the soft, breathable pad is made of sponge.

[0021] Furthermore, the soft, breathable pad has ventilation holes arranged in a matrix, and these ventilation holes are connected to an external air source.

[0022] Furthermore, when there are multiple adsorption components, the multiple adsorption components maintain synchronous lifting and lowering motion.

[0023] Furthermore, the empty slot is also provided with a calibration component corresponding to each of the adsorption components, and the calibration component senses and calibrates the lifting position of the corresponding adsorption component.

[0024] Furthermore, the multiple adsorption components are arranged in a matrix distribution.

[0025] Furthermore, when there are multiple adsorption components, the multiple adsorption components maintain synchronous lifting and lowering motion.

[0026] Furthermore, the empty slot is also provided with a calibration component corresponding to each of the adsorption components, and the calibration component senses and calibrates the lifting position of the corresponding adsorption component.

[0027] Furthermore, the device includes a soft, breathable pad that adheres to the back of the water-cooled plate to be tested.

[0028] Furthermore, the soft, breathable pad is made of sponge.

[0029] Furthermore, the soft, breathable pad has ventilation holes arranged in a matrix, and these ventilation holes are connected to an external air source.

[0030] Furthermore, the device includes a vision inspection component that can move in three axes.

[0031] Furthermore, the device includes a vision inspection component movable in three axes, the vision inspection component being mounted on the inspection platform.

[0032] Furthermore, the visual inspection component includes one or a combination of several of the following: a 3D line scan camera, a 2D line scan camera, and a 2D area scan camera.

[0033] Furthermore, the flatness of the water-cooled plate to be tested is detected using the 3D line scan camera;

[0034] The 3D line scan camera acquires multiple image data of the water-cooled plate to be detected, and each image data includes corresponding local brightness information and local height information;

[0035] The integrated controller performs flatness calculation based on the local brightness information and the local height information. The integrated controller affixes mark points to each of the image data, while ensuring that every two consecutive image data contain at least one identical mark point. A complete brightness image is obtained by stitching the marks point by point. The integrated controller also stitches the local height information by slicing the array and then stitching the marks point by point to obtain a complete height image.

[0036] The integrated controller acquires the height image, converts the corresponding pixel information in the height image into point cloud data, and performs plane fitting using the point cloud data.

[0037] ;

[0038] in, Point cloud data for each point, For the first The error between the observed values ​​at each point and the fitted plane;

[0039] pass ;

[0040] right , , Differentiate them separately;

[0041] right Find the partial derivative :

[0042] ;

[0043] ;

[0044] right Find the partial derivative :

[0045] ;

[0046] right Find the partial derivative :

[0047] ;

[0048] Solve the above three equations simultaneously to obtain the results. , , , , They are respectively , The matrix:

[0049] ;

[0050] ;

[0051] ;

[0052] ;

[0053] ;

[0054] ;

[0055] This yields the plane parameters of the reference plane. , , The fitting plane is then obtained. The integrated controller inputs the point cloud data of the points involved in the calculation into the reference plane formula, and obtains the flatness of the water-cooled plate to be tested by calculating the maximum height difference and the minimum height difference.

[0056] Furthermore, the integrated controller calculates the positional accuracy of the water-cooled plate to be tested based on the deviation of the measured element on the X and Y axes;

[0057] .

[0058] Furthermore, the process by which the integrated controller acquires several points from the height image is as follows:

[0059] The height plane is evenly divided into In each block, a rectangle of fixed length and width is selected as the filtering area; points are then selected at fixed intervals along both the length and width of the filtering area, including its sides. Filtering indivual The set of point cloud heights, and select from each height set. The median height of each data point is used as part of the final flatness calculation.

[0060] Furthermore, the process by which the integrated controller acquires several points from the height image is as follows:

[0061] Select a detection area within the height plane, determine the coordinates of a point within the selected area, and use this point as the center point and controllable parameters.R A uniform circular matrix is ​​obtained by radial diffusion, ensuring that the number of points selected each time is the square of an odd number starting from 1, and the number of selected points does not exceed the circular matrix.

[0062] A method for full-size inspection of a water-cooled plate, the method comprising the following steps:

[0063] The water-cooled plate to be tested is fixed by vacuum adsorption from the back, so that the front of the water-cooled plate to be tested is always in a flat state to complete the test.

[0064] Furthermore, the back of the water-cooled plate to be tested is placed flat on the testing platform after adsorption for testing.

[0065] Furthermore, the testing platform is made of marble.

[0066] Furthermore, at least one row of empty slots is provided on the detection platform, and at least one liftable adsorption component is provided in the empty slot to adsorb the back of the water-cooled plate to be tested.

[0067] Furthermore, when there are multiple adsorption components, the surface of the water-cooled plate to be tested is kept flat by keeping the multiple adsorption components moving up and down synchronously.

[0068] Furthermore, a calibration component corresponding to each of the adsorption components is used to sense and calibrate the rising and falling positions of the adsorption components.

[0069] Furthermore, the adsorption components are arranged in a matrix distribution.

[0070] Furthermore, a soft, breathable pad that can flexibly adhere to the back of the water-cooled plate to be tested is used.

[0071] Furthermore, the soft, breathable pad is made of sponge.

[0072] Furthermore, ventilation holes are arranged in a matrix on the soft, breathable pad, and external air sources are connected through the ventilation holes.

[0073] Furthermore, a vision inspection component that can move in three axes is used to inspect the water-cooled plate under test.

[0074] Furthermore, a vision inspection component that can move in three axes is used to inspect the water-cooled plate to be inspected, and the vision inspection component is installed on the inspection platform.

[0075] Furthermore, the visual inspection component includes one or more of the following: a 3D line scan camera, a 2D line scan camera, and a 2D area scan camera. The appropriate camera is selected and installed according to different inspection requirements.

[0076] Furthermore, the flatness of the water-cooled plate to be inspected is detected using the 3D line scanning camera. The detection steps include:

[0077] S1: Acquire multiple image data of the water-cooled plate to be tested, and each image data includes corresponding local brightness information and local height information;

[0078] S2: Calculate the flatness based on the local brightness information and the local height information, paste mark points in each image data, and ensure that each two consecutive image data contain at least one identical mark point. Obtain a complete brightness image by stitching the marks together.

[0079] S3: The local height information is stitched together by slicing the array and then piecing it together to obtain a complete height image;

[0080] S4: In the height image, the corresponding pixel information in the height image is converted into point cloud data, and plane fitting is performed using the point cloud data;

[0081] According to the formula ;

[0082] in, Point cloud data for each point, For the first The error between the observed values ​​at each point and the fitted plane;

[0083] pass ;

[0084] right , , Differentiate them separately;

[0085] right Find the partial derivative :

[0086] ;

[0087] ;

[0088] right Find the partial derivative :

[0089] ;

[0090] right Find the partial derivative :

[0091] ;

[0092] Solve the above three equations simultaneously to obtain the results. , , , , They are respectively , The matrix:

[0093] ;

[0094] ;

[0095] ;

[0096] ;

[0097] ;

[0098] ;

[0099] This yields the plane parameters of the reference plane. , , This leads to the obtained fitting plane;

[0100] S5: Input the point cloud data of the points involved in the calculation into the reference surface formula, and obtain the flatness of the water-cooled plate to be tested by calculating the maximum height difference and the minimum height difference.

[0101] Furthermore, the positional accuracy of the water-cooled plate under test is calculated based on the deviation of the measured element on the X and Y axes;

[0102] .

[0103] Furthermore, the process of obtaining several points from the height image is as follows:

[0104] The height plane is evenly divided into In each block, a rectangle of fixed length and width is selected as the filtering area; points are then selected at fixed intervals along both the length and width of the filtering area, including its sides. Filtering indivual The set of point cloud heights, and select from each height set. The median height of each data point is used as part of the final flatness calculation.

[0105] Furthermore, the process by which the integrated controller acquires several points from the height image is as follows:

[0106] Select a detection area within the height plane, determine the coordinates of a point within the selected area, and use this point as the center point and controllable parameters. R A uniform circular matrix is ​​obtained by radial diffusion, ensuring that the number of points selected each time is the square of an odd number starting from 1, and the number of selected points does not exceed the circular matrix.

[0107] A full-size inspection system for water-cooled plates, the system comprising a fixing module and a detection module;

[0108] The fixing module fixes the water-cooled plate to be tested by vacuum adsorption from the back of the water-cooled plate to be tested;

[0109] The detection module performs detection on the water-cooled plate to be tested, whose front side remains flat after being fixed.

[0110] Furthermore, the fixing module includes a flexible contact unit, which contacts the back of the water-cooled plate to be tested in a flexible fit during vacuum adsorption.

[0111] Furthermore, there are multiple fixed modules, which are distributed in a matrix, and the multiple fixed modules can be raised and lowered synchronously.

[0112] Furthermore, the detection module includes a camera unit that can move in three axes.

[0113] Furthermore, the camera unit includes at least one 3D line scan camera, one 2D line scan camera, and one 2D area scan camera, which can be freely combined according to detection requirements.

[0114] A combined measurement method for full-size inspection of water-cooled plates, wherein the method uses at least one 3D line scan camera to inspect the flatness and contour of the water-cooled plate to be inspected;

[0115] At least one 2D line scan camera is used to detect the position, defects, and misalignment of the water-cooled plate under inspection;

[0116] At least one 2D area scan camera is used to detect the size of the water pipe openings on the water-cooled plate under test.

[0117] Furthermore, the flatness detection includes the following steps:

[0118] S1: The 3D line scan camera acquires multiple image data of the water-cooled plate to be detected, and each image data includes corresponding local brightness information and local height information;

[0119] S2: Calculate the flatness based on the local brightness information and the local height information, paste mark points in each image data, and ensure that each two consecutive image data contain at least one identical mark point. Obtain a complete brightness image by stitching the marks together.

[0120] S3: The local height information is stitched together by slicing the array and then piecing it together to obtain a complete height image;

[0121] S4: In the height image, the corresponding pixel information in the height image is converted into point cloud data, and plane fitting is performed using the point cloud data;

[0122] According to the formula ;

[0123] in, Point cloud data for each point, For the first The error between the observed values ​​at each point and the fitted plane;

[0124] pass ;

[0125] right , , Differentiate them separately;

[0126] right Find the partial derivative :

[0127] ;

[0128] ;

[0129] right Find the partial derivative :

[0130] ;

[0131] right Find the partial derivative :

[0132] ;

[0133] Solve the above three equations simultaneously to obtain the results. , , , , They are respectively , The matrix:

[0134] ;

[0135] ;

[0136] ;

[0137] ;

[0138] ;

[0139] ;

[0140] This yields the plane parameters of the reference plane. , , This leads to the obtained fitting plane;

[0141] S5: Input the point cloud data of the points involved in the calculation into the reference surface formula, and obtain the flatness of the water-cooled plate to be tested by calculating the maximum height difference and the minimum height difference.

[0142] Furthermore, the process of obtaining several points from the height image is as follows:

[0143] The height plane is evenly divided into In each block, a rectangle of fixed length and width is selected as the filtering area; points are then selected at fixed intervals along both the length and width of the filtering area, including its sides. Filtering indivual The set of point cloud heights, and select from each height set. The median height of each data point is used as part of the final flatness calculation.

[0144] Furthermore, the process of obtaining several points from the height image is as follows:

[0145] Select a detection area within the height plane, determine the coordinates of a point within the selected area, and use this point as the center point and controllable parameters. R A uniform circular matrix is ​​obtained by radial diffusion, ensuring that the number of points selected each time is the square of an odd number starting from 1, and the number of selected points does not exceed the circular matrix.

[0146] Furthermore, the detection of positional accuracy includes the following steps:

[0147] The positional accuracy of the water-cooled plate to be tested is calculated based on the deviation of the measured element on the X and Y axes.

[0148] .

[0149] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0150] (1) The present invention uses bottom vacuum adsorption to fix the water cooling plate to be tested, which can not only ensure a high adsorption and fixation effect, but also avoid the impact on the detection area caused by fixing from the top or side. It can realize the full area detection of the water cooling plate to be tested, and effectively improve the detection effect.

[0151] (2) The present invention uses a marble testing platform as the mounting base for each component, which can effectively ensure the stability of the whole equipment during operation, thereby ensuring the testing accuracy;

[0152] (3) The present invention uses multiple adsorption components distributed in a matrix to perform adsorption, which can meet the testing of water-cooled plates of different models and sizes. At the same time, it can also meet the requirement that the water-cooled plates to be tested enter the testing platform at any posture and angle, which effectively improves the testing efficiency.

[0153] (4) The present invention uses a soft and breathable pad (e.g., sponge) to contact the back of the water-cooled plate to be tested. On the one hand, it can protect the back of the water-cooled plate to be tested from damage. On the other hand, it can fit into the flow channel on the back of the water-cooled plate to be tested in a wrapping form, thereby improving the adsorption and fixation effect and ensuring the stability of the testing process.

[0154] (5) The present invention has a matrix of ventilation holes on the soft breathable pad to ensure the adsorption force and wrapping of the soft breathable pad on the back of the water-cooled plate to be tested, thereby ensuring the flatness of the front surface of the water-cooled plate to be tested during the testing process.

[0155] (6) The present invention controls multiple adsorption components to rise and fall synchronously, which can prevent damage to the upper and lower surfaces of the water-cooled plate to be tested and ensure product integrity.

[0156] (7) The present invention uses a vision inspection component that can move in three axes to complete the inspection operation, thereby realizing the full-area inspection of the water-cooled plate to be inspected. In addition, combined with the inspection platform made of marble, the inspection accuracy can be effectively guaranteed.

[0157] (8) The present invention can freely combine 3D line scan camera, 2D line scan camera and 2D area scan camera according to the needs, realize the compatible use of multiple cameras, and perform individual or simultaneous acquisition of one or more cameras.

[0158] (9) The present invention independently designs a planarity and positional compatibility algorithm for multiple cameras, which can effectively improve detection accuracy and detection efficiency, and realize high-precision detection of combined cameras;

[0159] (10) This invention changes the traditional measurement method in the industry and can realize full-size, full-area, fully automatic intelligent measurement of water-cooled plates. It not only greatly improves the detection efficiency and accuracy, shortens the delivery cycle, and increases the delivery success rate, but also greatly reduces personnel costs. Attached Figure Description

[0160] Figure 1 This is a schematic diagram of the overall structure of the detection device described in this invention;

[0161] Figure 2 This is a schematic diagram of the structure of the detection platform in the detection equipment described in this invention;

[0162] Figure 3 This is a top view of the detection device described in this invention;

[0163] Figure 4 This is a schematic diagram of the adsorption component in the detection device of the present invention;

[0164] Figure 5 This is an exploded view of the adsorption component in the detection device of the present invention;

[0165] Figure 6 This is a schematic diagram of the structure of the visual inspection component in the inspection equipment described in this invention;

[0166] Figure 7 This refers to obtaining two partial brightness images (left and right) and a stitched overall brightness image in Example 1.

[0167] Figure 8 This is the height image obtained by stitching together images that are progressively enlarged in Example 1;

[0168] Figure 9 This is a diagram illustrating the point selection pattern within the rectangular region in Example 1.

[0169] Figure 10 This is a diagram illustrating the point selection pattern for the circular region in Example 1.

[0170] Figure 11 This is a schematic diagram of the mark points in Example 1;

[0171] Figure 12 This is a schematic diagram illustrating the binarization analysis of the mark point position;

[0172] Figure 13 This is a schematic diagram of image binarization analysis.

[0173] Figure 14 This is a schematic diagram of the calibration component in Example 2;

[0174] Figure 15 This is a schematic diagram of the module structure of the detection system described in this invention;

[0175] Figure 16 This is a schematic diagram of the flatness detection steps in the measurement method described in this invention;

[0176] In the diagram: 1-Detection platform; 2-Empty slot; 3-Tablet; 4-Adsorption component; 5-Soft breathable pad; 6-Ventilation hole; 7-Connecting plate; 8-Connecting pipeline; 9-External air source; 10-Vision inspection component; 11-Gantry truss; 12-3D line scan camera; 13-2D line scan camera; 14-2D area scan camera; 15-Calibration component; 101-Fixing module; 102-Detection module; 103-Flexible contact unit; 104-Camera unit. Detailed Implementation

[0177] This solution provides a full-size inspection device for water-cooled plates. Its main purpose is to change the traditional inspection method of water-cooled plates in the industry and realize fully automatic intelligent inspection. At the same time, it can meet the inspection of water-cooled plates of different models and sizes, so as to improve inspection efficiency, shorten delivery cycle and reduce labor costs.

[0178] Figure 1 A schematic diagram of the overall structure of the full-size inspection device for water-cooled plates according to the present invention is shown. The specific structure of the device is explained below by way of embodiments.

[0179] Example 1:

[0180] Reference Figure 2 The equipment first includes a testing platform 1, which needs to have high stability to ensure that the stability of the water-cooled plate and the testing tools under test is not affected by the platform during the testing process. In this embodiment, the testing platform 1 is made of marble.

[0181] from Figure 2 It can also be seen that four rows of empty slots 2 are provided on the front of the middle section of the testing platform 1. The specific number of rows of empty slots 2 can be adjusted according to the actual situation. At the rear of the testing platform 1, there is also a raised platform 3 made of marble, which spans both sides of the short side of the testing platform 1. Thus, as the basic working platform of this equipment, the entire structure is made of marble, which can effectively ensure the stability of the structure.

[0182] Three workstations are provided in each row of empty slots 2. In other embodiments, other numbers of workstations may be provided depending on the actual situation to be tested. A total of twelve workstations are arranged in a matrix on the testing platform 1.

[0183] Reference Figure 3 , Figure 3 for Figure 1A top view of the overall equipment shows that each workstation is equipped with an adsorption assembly 4, which can be raised and lowered in a vertical plane. At the top front of each adsorption assembly 4, there is a soft, breathable pad 5. The shape of the soft, breathable pad 5 can be adjusted according to the actual situation. That is, the soft, breathable pad 5 has two functions: first, it is raiseable, and second, it is breathable. The effect achieved is that if we first raise the adsorption assembly 4 until the soft, breathable pad 5 is higher than the top surface of the testing platform 1, and then place the water-cooled plate to be tested flat on the adsorption assembly 4, the vacuum effect allows the soft, breathable pad 5 to completely adhere to the back of the water-cooled plate. Furthermore, because the back of the water-cooled plate has a flow channel structure, the soft, breathable pad 5 can fit well with each surface of the flow channel, effectively enveloping the flow channel and thus maintaining a straight surface. After adsorption and bonding, the adsorption component 4 is controlled to descend, so that the back of the water-cooled plate to be tested can be laid flat on the top surface of the testing platform 1, thereby ensuring that the front of the water-cooled plate to be tested can always be in a flat state, and visual inspection can be completed in a flat state.

[0184] Reference Figure 4 and Figure 5 , Figure 4 A schematic diagram of the overall structure of the adsorption component 4 in this embodiment is shown. Figure 5 An exploded view of the adsorption assembly 4 is shown. The topmost part of the adsorption assembly 4 is a soft, breathable pad 5, which has several ventilation holes 6 arranged in a matrix. A connecting plate 7 is fixedly connected to the bottom surface of the soft, breathable pad 5. The connecting plate 7 also has corresponding ventilation holes. These holes are connected to an external air source 9 located below the detection platform 1 via external connecting pipes 8, thus achieving a vacuum adsorption effect. The matrix arrangement of the ventilation holes 6 effectively ensures the adsorption force, and the arrangement of multiple adsorption assemblies 4 can effectively cover almost all sizes and models of water-cooled plates. This allows the adsorption assembly 4 to adsorb the water-cooled plate regardless of its orientation or angle when it enters the detection platform 1, maintaining the flatness of its front surface.

[0185] It is important to note that these adsorption components 4 need to maintain synchronized lifting and lowering movements to ensure that the water-cooled plate under test remains on the same reference plane during its descent and ascent, preventing damage to the upper and lower surfaces of the water-cooled plate and ensuring product integrity. Specifically, this can be achieved by using EPOS-based or process object axis-based control methods to control the synchronized movement of the servo electric cylinder.

[0186] As can be seen, the most significant difference from existing technologies is that this solution uses a bottom-mounted vacuum adsorption method to fix the water-cooled plate to be tested. The biggest advantage of this solution, which differs from the "positioning pin" and "reference plate" methods mentioned in the background technology, is that it can accommodate water-cooled plates of various models and sizes to enter the testing platform 1 at different angles and postures. Furthermore, the adsorption component 4 located at the bottom can completely avoid obstruction of the visual inspection tool from the top and sides, thereby achieving full-area and all-round inspection of the water-cooled plate to be tested, which greatly improves the inspection accuracy and efficiency.

[0187] Back Figure 1 and Figure 3 In the image, a visual inspection component 10 for performing inspection work is located at one corner of the inspection platform 1.

[0188] The vision inspection component 10 is first mounted on a gantry truss 11. The gantry truss 11 uses the inspection platform 1 as its reference plane. Its X-axis lies on the two long sides of the inspection platform 1, its Y-axis is formed by the platform 3, and its Z-axis is contained within the vision inspection component 10. X-axis guide rails are provided on the two long sides of the inspection platform 1, Y-axis guide rails are provided on the platform 3, and the Z-axis guide rail is included inside the vision inspection component 10, thus enabling movement of the vision inspection component 10 in three axes. Simultaneously, the marble-material inspection platform 1 effectively ensures that the vision inspection component 10 maintains a highly stable state during movement, thereby guaranteeing inspection accuracy.

[0189] Specifically, refer to Figure 6 The diagram illustrates the structure of the visual inspection component 10 in this embodiment. In this embodiment, the visual inspection component 10 includes a 3D line scan camera 12, a 2D line scan camera 13, and a 2D area scan camera 14.

[0190] 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 misalignment of plate edges; and the 2D area scan camera 14 is used to detect the size of water pipe openings.

[0191] The biggest advantage of this solution is that it can achieve compatible use of multiple cameras. It can simultaneously call one or more of the 3D line scan camera 12, 2D line scan camera 13, and 2D area scan camera 14 for individual or simultaneous acquisition.

[0192] For the detection of target defects, this solution adopts a one-stage target detection algorithm. By processing the captured image, the class category and bounding box of the object in the image are identified as the dataset. Then, the feature extraction network is used to obtain the region extraction network / ROIS / classification and location regression network based on the original features. Finally, the detection and localization results are obtained, and the accuracy of defect detection is evaluated by intersection and union ratio.

[0193] For flatness detection, we utilize an integrated controller to control a 3D line scan camera 12. The inherent characteristics of the 3D line scan camera 12 allow us to determine the number of rows that can be included in each scan, and based on this, calculate the number of scans required for the water-cooled plate under inspection, thus mitigating the impact of the large size of the plate itself. Image acquisition is achieved through three-axis movement, resulting in multiple image data of the water-cooled plate under inspection. Each image data includes corresponding local brightness and local height information.

[0194] To obtain complete surface data of the water-cooled plate under test and ensure a perfect fit in the stitched image, we need to stitch the image data using an algorithm. First, we need to affix marker points to the acquired image data, ensuring that every two consecutive images contain at least one identical marker point. This gives the different image data common feature information, allowing us to obtain a complete brightness image through point-by-point stitching. Simultaneously, we stitch together local height information point-by-point after array slicing to obtain a complete height image. (Refer to...) Figure 7 The image, displayed from left to right in this embodiment, shows two partial brightness images (left and right) and the stitched overall brightness image. (Refer to...) Figure 8 It sequentially displays the height images obtained by stitching together gradually enlarged images, and the seamless stitching eliminates the segment differences.

[0195] After obtaining the stitched image, we can calculate the flatness. First, we need to obtain the point cloud data of several points in the height image. However, for large workpieces, it is impossible to substitute all the point clouds into the calculation, which would result in excessively long calculation time. Therefore, we can select the point cloud 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, many different point selection situations will arise. For flatness, the calculation of the distance from point to surface and the distance from surface to surface will be affected by the point selection situation.

[0196] We can address this in two ways:

[0197] The first step is to select points within a rectangular region: This involves uniformly dividing the height image into... In each block, a rectangle of fixed length and width is selected as the filtering area; points are then selected at fixed intervals along both the length and width of the filtering area, including its sides. Filtering indivual The set of point cloud heights, and select from each height set. The median height of each data point is used as the point cloud data in the final flatness calculation. This effectively avoids the influence of outliers on the calculation results. At the same time, the point area can be shifted in a certain direction according to different needs.

[0198] Reference Figure 9 In this embodiment, , Figure 14 The following steps sequentially demonstrate how to filter a center point and four corner points within a selected small rectangular area on the surface of the water-cooled plate to be tested, totaling... There are points, each of which is . The structure contains four information areas for the height images.

[0199] The second method involves selecting points within a circular area: Within the height plane, a detection area is chosen, and the coordinates of a point within that area are determined. This point is then used as the center point and controllable parameters. R A uniform circular matrix is ​​obtained by radial diffusion, ensuring that the number of points selected each time is the square of an odd number starting from 1, and the number of selected points does not exceed the circular matrix.

[0200] Reference Figure 10 There is one dot at 0 laps and 49 dots at 3 laps.

[0201] With the point cloud data of the points involved in the calculation, the flatness can then be calculated. First, a plane fitting is performed using the point cloud data.

[0202] The principle of plane fitting is expressed by the following formula:

[0203] ;

[0204] in, Point cloud data for each point, For the first The error between the observed values ​​at each point and the fitted plane. Our goal is to find... , , The value of minimizes the sum of squared errors, i.e.

[0205] ;

[0206] right , , Differentiate them separately;

[0207] right Find the partial derivative :

[0208] ;

[0209] ;

[0210] right Find the partial derivative :

[0211] ;

[0212] right Find the partial derivative :

[0213] ;

[0214] Solve the above three equations simultaneously to obtain the results. , , , , They are respectively , The matrix:

[0215] ;

[0216] ;

[0217] ;

[0218] ;

[0219] ;

[0220] ;

[0221] This yields the plane parameters of the reference plane. , , This leads to the obtained fitting plane;

[0222] Subsequently, flatness calculation is performed. The point cloud data of the points involved in the calculation is substituted into the calculation formula of the reference surface. The flatness of the water-cooled plate under test is obtained by calculating the maximum and minimum height differences. In addition, this surface can also serve as an important parameter for calculating the distance from a point to a surface and the distance from a surface to a surface. This can be achieved simply by substituted the point cloud data of the points involved in the calculation into the formula for the distance from a point to a reference surface.

[0223] After obtaining the flatness results, a stability test is required. Specifically, a coordinate measuring machine (CMM) test is performed according to the specified sampling area, and the test results are compared with the CMM results. The error needs to be stable within a reasonable range. Considering the influence of factors such as hardware, mechanical errors, algorithm errors, and workpiece deformation, the maximum repeatability and stability accuracy can be considered to be within the range of 0.05.

[0224] For positional accuracy detection, we calculate it based on the deviation of the measured feature along the X and Y axes. The basic formula is as follows:

[0225] .

[0226] In some cases, in order to account for the offset range of position (i.e., the tolerance zone), it may be necessary to multiply the calculation result by a coefficient, depending on the specific tolerance specification and calculation requirements.

[0227] In addition, the hardware debugging process of this equipment is as follows: the water-cooled plate to be tested is placed on the adsorption component 4 by means of automatic feeding or manual handling, so as to avoid the product bending in its natural state and to make the water-cooled plate to be tested fall flat on the testing platform 1. The integrated controller determines the starting and ending positions of the line scanning camera according to the actual size of the water-cooled plate to be tested, ensuring that the line scanning camera can output images normally. The number of scans is determined according to the actual width of the product plus the field of view of the line scanning camera.

[0228] Depending on the camera's scanning range, mark points need to be placed at appropriate locations on the water-cooled plate to be inspected, ensuring that each subsequent scan captures the previous mark point. (Refer to...) Figure 11 It sequentially demonstrates how, during the scanning process from left to right, each image captures the corresponding mark point from the previous image.

[0229] After obtaining the image, the first step is to use image processing software to perform binarization analysis on the mark point positions, referring to... Figure 12 The row and column coordinates of the center point are mentioned, and so on, to obtain the coordinates of all the mark points on the images that need to be stitched together.

[0230] The images to be stitched are then read into the software. Based on the extracted row and column coordinates, the positions of the mark points on each image are converted into matrix arrays. Finally, the coordinates of the mark points on all images are converted into matrix arrays. Then, array slicing is used to extract the column coordinates from the first column coordinates of the image to the first mark point. The same operation is performed on each image. The stitching function is used to integrate the segmented arrays along the Y-axis. Finally, the stitched image is saved to the specified path for the next step of positional calculation.

[0231] Reference Figure 13 The integrated controller continues to read the stitched image and then uses binarization analysis to extract the coordinates of the bottom ellipse and center (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 (the intersection of the X and Y axes) is measured according to the drawing (digital model, etc.). The coordinates of the center of the measured hole and the distance from the point to the straight line are extracted by measurement. The pixel distance from this point to the X and Y axes is calculated, and the actual pixel distance is determined based on the single-pixel precision. Finally, the above formula is used—

[0232] ;

[0233] Calculate the position degree result.

[0234] Example 2:

[0235] In this embodiment, the other parts are the same as the structure in Embodiment 1.

[0236] Reference Figure 14 In the empty slot 2, a calibration component 15 corresponding to each adsorption component 4 is also provided. 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.

[0237] Example 3:

[0238] In this embodiment, the other parts are the same as the structure in Embodiment 1, while the soft and breathable pad 5 is specially designed as a sponge, which has good flexibility, breathability and wrapping properties, and can protect the back of the water-cooled plate to be tested from damage while ensuring the adsorption and fixation effect.

[0239] The core of the full-size inspection method for water-cooled plates described in this invention lies in fixing the water-cooled plate to be inspected from the back using a vacuum adsorption method, so that the front of the water-cooled plate to be inspected is always in a flat state to complete the inspection.

[0240] Example 4:

[0241] In this embodiment, we further specify that the back of the water-cooled plate to be tested can be laid flat on a fixed testing platform after adsorption, and the testing platform is made of marble. Specifically, a specialized vacuum adsorption assembly is used for the adsorption operation. This adsorption assembly is set in an empty slot opened inside the front of the testing platform. There is at least one adsorption assembly. In this embodiment, there are four rows of empty slots, with three adsorption assemblies in each row. This ensures that the adsorption operation can be completed regardless of the size and model of the water-cooled plate to be tested, or its orientation and angle when it enters the testing platform.

[0242] It is important to note that when multiple adsorption components are present, the front surface of the water-cooled plate under test must be kept flat by maintaining synchronized lifting and lowering movements of all components. In this embodiment, EPOS or process object axis control methods can be used to control the synchronized movement of the servo electric cylinder of each adsorption component.

[0243] In this embodiment, a soft, breathable pad that can flexibly adhere to the back of the water-cooled plate under test is used to achieve contact with the plate. This allows for a wrapping fit to the water-cooled plate, which has a flow channel structure on its back. This avoids damage to the back of the water-cooled plate and also improves the adsorption and fixation effect. In other embodiments, the soft, breathable pad can be made of sponge.

[0244] In addition, we have created multiple ventilation holes arranged in a matrix on the soft, breathable pad, and connected them to an external air source to achieve vacuum adsorption.

[0245] For inspection, we use a vision inspection assembly that can move in three axes to inspect the water-cooled plate. First, this vision inspection assembly is also mounted on a marble inspection platform, ensuring its stability. Second, the vision inspection assembly includes one or a combination of several of the following: a 3D line scan camera, a 2D line scan camera, and a 2D area scan camera. The appropriate camera is selected based on different inspection requirements.

[0246] Specifically, the methods for measuring flatness, surface defects, and position have been described above.

[0247] Example 5:

[0248] In this embodiment, a corresponding calibration component is set for each adsorption component to sense and calibrate its lifting height, thereby realizing synchronous lifting control of all adsorption components.

[0249] Reference Figure 15 The water-cooled plate full-size inspection system of the present invention includes a fixing module 101 and an inspection module 102, wherein the fixing module 101 includes a flexible contact unit 103 and the inspection module 102 includes a camera unit 104.

[0250] The fixing module 101 is configured to fix the water-cooled plate to be tested by vacuum adsorption from the back of the water-cooled plate to be tested.

[0251] The detection module 102 is configured to detect the water-cooled plate to be tested, whose front side remains flat after being fixed.

[0252] The flexible contact unit 103 is configured to contact the back of the water-cooled plate to be tested in a flexible fit during vacuum adsorption.

[0253] The camera unit 104 is movable in three-axis directions and includes at least one 3D line scan camera, one 2D line scan camera and one 2D area scan camera that can be freely combined according to detection requirements.

[0254] Example 6:

[0255] In this embodiment, there are multiple fixed modules 101 arranged in a matrix, and the multiple fixed modules 101 can be raised and lowered synchronously.

[0256] The combined measurement method for full-size inspection of water-cooled plates described in this invention uses at least one 3D line scan camera to inspect the flatness and contour of the water-cooled plate to be inspected.

[0257] At least one 2D line scan camera is used to detect the position, defects, and misalignment of the water-cooled plate under inspection;

[0258] At least one 2D area scan camera is used to detect the size of the water pipe openings on the water-cooled plate under test.

[0259] Reference Figure 16 The detection of surface defects, flatness, and position in this method can refer to the measurement process of the detection equipment described above.

Claims

1. A full-size inspection device for water-cooled plates, characterized in that, The device vacuum-adheres and fixes the water-cooled plate to be tested from the back, ensuring that the front of the water-cooled plate is always flat during testing. The device includes a testing platform (1), on which the back of the water-cooled plate to be tested is placed flat after adsorption onto the testing platform (1) for testing; The testing platform (1) is provided with at least one row of empty slots (2), and each empty slot (2) is provided with at least one liftable adsorption component (4) for adsorbing the back of the water-cooled plate to be tested. When there are multiple adsorption components (4), the multiple adsorption components (4) maintain synchronous lifting and lowering motion; The empty slot (2) is also provided with a calibration component (15) corresponding to each of the adsorption components (4). The calibration component (15) senses and calibrates the lifting position of the corresponding adsorption component (4). The adsorption components (4) are arranged in a matrix.

2. The water-cooled plate full-size inspection equipment according to claim 1, characterized in that, The testing platform (1) is made of marble.

3. The water-cooled plate full-size inspection equipment according to claim 1, characterized in that, The adsorption component (4) includes a soft, breathable pad (5) that is attached to the back of the water-cooled plate to be tested.

4. The water-cooled plate full-size inspection equipment according to claim 3, characterized in that, The soft, breathable pad (5) is a sponge.

5. The water-cooled plate full-size inspection equipment according to claim 3, characterized in that, The soft, breathable pad (5) has ventilation holes (6) arranged in a matrix, and the ventilation holes (6) are connected to an external air source (9).

6. The water-cooled plate full-size inspection equipment according to any one of claims 3-5, characterized in that, When there are multiple adsorption components (4), the multiple adsorption components (4) maintain synchronous lifting and lowering motion.

7. The water-cooled plate full-size inspection equipment according to claim 6, characterized in that, The empty slot (2) is also provided with a calibration component (15) corresponding to each of the adsorption components (4), and the calibration component (15) senses and calibrates the lifting position of the corresponding adsorption component.

8. The water-cooled plate full-size inspection equipment according to claim 1, characterized in that, The device includes a vision inspection component (10) that can move in three axes.

9. The water-cooled plate full-size inspection equipment according to claim 8, characterized in that, The device includes a vision inspection component (10) movable in three axes, the vision inspection component (10) being mounted on the inspection platform.

10. The water-cooled plate full-size inspection equipment according to any one of claims 8 or 9, characterized in that, The visual inspection component (10) includes one or a combination of a 3D line scan camera (12), a 2D line scan camera (13), and a 2D area scan camera (14).

11. The water-cooled plate full-size inspection equipment according to claim 10, characterized in that, The flatness of the water-cooled plate to be tested is detected by the 3D line scan camera (12); The 3D line scan camera (12) acquires multiple image data of the water-cooled plate to be detected, and each image data includes corresponding local brightness information and local height information; The integrated controller performs flatness calculation based on the local brightness information and the local height information. The integrated controller affixes mark points to each of the image data, while ensuring that every two consecutive image data contain at least one identical mark point. A complete brightness image is obtained by stitching the marks point by point. The integrated controller also stitches the local height information by slicing the array and then stitching the marks point by point to obtain a 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 using the point cloud data. ； in, Point cloud data for each point, For the first The error between the observed values ​​at each point and the fitted plane; pass ; right , , Differentiate them separately; right Find the partial derivative : ； ； right Find the partial derivative : ； right Find the partial derivative : ； Solve the above three equations simultaneously to obtain the results. , , , , They are respectively , The matrix: ； ； ； ； ； ； This yields the plane parameters of the reference plane. , , The fitting plane is then obtained. The integrated controller inputs the point cloud data of the points involved in the calculation into the reference plane formula, and obtains the flatness of the water-cooled plate to be tested by calculating the maximum height difference and the minimum height difference.

12. The water-cooled plate full-size inspection equipment according to claim 11, characterized in that, The integrated controller calculates the positional accuracy of the water-cooled plate to be tested based on the deviation of the measured element on the X and Y axes. 。 13. The water-cooled plate full-size inspection equipment according to claim 11, characterized in that, The process by which the integrated controller acquires several points from the height image is as follows: The height plane is evenly divided into In each block, a rectangle of fixed length and width is selected as the filtering area; points are then selected at fixed intervals along both the length and width of the filtering area, including its sides. Filtering indivual The set of point cloud heights, and select from each height set. The median height of each data point is used as part of the final flatness calculation.

14. The water-cooled plate full-size inspection equipment according to claim 11, characterized in that, The process by which the integrated controller acquires several points from the height image is as follows: Select a detection area within the height plane, determine the coordinates of a point within the selected area, and use this point as the center point and controllable parameters. R A uniform circular matrix is ​​obtained by radial diffusion, ensuring that the number of points selected each time is the square of an odd number starting from 1, and the number of selected points does not exceed the circular matrix.

15. A method for full-size inspection of a water-cooled plate, characterized in that, The method includes the following steps: The water-cooled plate to be tested is fixed by vacuum adsorption from the back, so that the front of the water-cooled plate to be tested is always in a flat state to complete the test. After adsorption, the back of the water-cooled plate to be tested is laid flat on the testing platform for testing; The testing platform has at least one row of empty slots, and the back of the water-cooled plate to be tested is adsorbed by at least one liftable adsorption component set in the empty slots. When there are multiple adsorption components, the surface of the water-cooled plate to be tested is always kept flat by keeping the multiple adsorption components moving up and down synchronously. The lifting and lowering positions of the adsorption components are calibrated by using a calibration component that corresponds one-to-one with each of the adsorption components. The adsorption components are arranged in a matrix distribution. The water-cooled plate full-size inspection system based on the above detection method includes a fixing module (101) and a detection module (102). The fixing module (101) fixes the water-cooled plate to be tested by vacuum adsorption from the back of the water-cooled plate to be tested; The detection module (102) detects the water-cooled plate to be tested, whose front side remains flat after being fixed.

16. The method for full-size inspection of a water-cooled plate according to claim 15, characterized in that, The testing platform is made of marble.

17. The method for full-size inspection of a water-cooled plate according to claim 15, characterized in that, A soft, breathable pad is used that can flexibly fit the back of the water-cooled plate to be tested.

18. The method for full-size inspection of a water-cooled plate according to claim 17, characterized in that, The soft, breathable pad is made of sponge.

19. The method for full-size inspection of a water-cooled plate according to claim 18, characterized in that, The soft, breathable pad has ventilation holes arranged in a matrix pattern, and these ventilation holes are connected to an external air source.

20. The method for full-size inspection of a water-cooled plate according to claim 15, characterized in that, A vision inspection component that can move in three axes is used to inspect the water-cooled plate to be inspected, and the vision inspection component is installed on the inspection platform.

21. The method for full-size inspection of a water-cooled plate according to claim 20, characterized in that, The visual inspection component includes one or more of the following: a 3D line scan camera, a 2D line scan camera, and a 2D area scan camera. The appropriate camera is selected based on different inspection requirements.

22. The method for full-size inspection of a water-cooled plate according to claim 21, characterized in that, The flatness of the water-cooled plate under test is detected using the 3D line scan camera. The detection steps include: S1: Acquire multiple image data of the water-cooled plate to be tested, and each image 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, paste mark points in each image data, and ensure that each two consecutive image data contain at least one identical mark point. Obtain a complete brightness image by stitching the marks together. S3: The local height information is stitched together by slicing the array and then piecing it together to obtain a complete height image; S4: In the height image, the corresponding pixel information in the height image is converted into point cloud data, and plane fitting is performed using the point cloud data; According to the formula ; in, Point cloud data for each point, For the first The error between the observed values ​​at each point and the fitted plane; pass ; right , , Differentiate them separately; right Find the partial derivative : ； ； right Find the partial derivative : ； right Find the partial derivative : ； Solve the above three equations simultaneously to obtain the results. , , , , They are respectively , The matrix: ； ； ； ； ； ； This yields the plane parameters of the reference plane. , , This leads to the obtained fitting plane; S5: Input the point cloud data of the points involved in the calculation into the reference surface formula, and obtain the flatness of the water-cooled plate to be tested by calculating the maximum height difference and the minimum height difference; The positional accuracy of the water-cooled plate to be tested is calculated based on the deviation of the measured element on the X and Y axes. ； The process of obtaining several points from the height image is as follows: The height plane is evenly divided into In each block, a rectangle of fixed length and width is selected as the filtering area; points are then selected at fixed intervals along both the length and width of the filtering area, including its sides. Filtering indivual The set of point cloud heights, and select from each height set. The median height of each data point is used as part of the final flatness calculation. The process of obtaining several points from the height image through the integrated controller is as follows: Select a detection area within the height plane, determine the coordinates of a point within the selected area, and use this point as the center point and controllable parameters. R A uniform circular matrix is ​​obtained by radial diffusion, ensuring that the number of points selected each time is the square of an odd number starting from 1, and the number of selected points does not exceed the circular matrix.

23. The method for full-size inspection of a water-cooled plate according to claim 15, characterized in that, The fixing module (101) includes a flexible contact unit (103), which contacts the back of the water-cooled plate to be tested in a flexible fit during vacuum adsorption.

24. The method for full-size inspection of a water-cooled plate according to claim 15, characterized in that, The detection module (102) includes a camera unit (104) that can move in three axes.

25. The method for full-size inspection of a water-cooled plate according to claim 24, characterized in that, The camera unit (104) includes at least one 3D line scan camera, one 2D line scan camera and one 2D area scan camera, which can be freely combined according to detection requirements.

26. A combined measurement method for full-size inspection of water-cooled plates, based on the full-size inspection method of water-cooled plates according to claim 15, characterized in that, The method employs at least one 3D line scan camera to detect the flatness and contour of the water-cooled plate under test; At least one 2D line scan camera is used to detect the position, defects, and misalignment of the water-cooled plate under inspection; At least one 2D area scan camera is used to detect the size of the water pipe openings of the water cooling plate under test; The flatness inspection includes the following steps: S1: The 3D line scan camera acquires multiple image data of the water-cooled plate to be detected, and each image 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, paste mark points in each image data, and ensure that each two consecutive image data contain at least one identical mark point. Obtain a complete brightness image by stitching the marks together. S3: The local height information is stitched together by slicing the array and then piecing it together to obtain a complete height image; S4: In the height image, the corresponding pixel information is converted into point cloud data, and plane fitting is performed using the point cloud data; According to the formula ; in, Point cloud data for each point, For the first The error between the observed values ​​at each point and the fitted plane; pass ; right , , Differentiate them separately; right Find the partial derivative : ； ； right Find the partial derivative : ； right Find the partial derivative : ； Solve the above three equations simultaneously to obtain the results. , , , , They are respectively , The matrix: ； ； ； ； ； ； This yields the plane parameters of the reference plane. , , This leads to the obtained fitting plane; S5: Input the point cloud data of the points involved in the calculation into the reference surface formula, and obtain the flatness of the water-cooled plate to be tested by calculating the maximum height difference and the minimum height difference.

27. The combined measurement method according to claim 26, characterized in that, The process of obtaining several points from the height image is as follows: The height plane is evenly divided into In each block, a rectangle of fixed length and width is selected as the filtering area; points are then selected at fixed intervals along both the length and width of the filtering area, including its sides. Filtering indivual The set of point cloud heights, and select from each height set. The median height of each data point is used as part of the final flatness calculation. The process of obtaining several points from the height image is as follows: Select a detection area within the height plane, determine the coordinates of a point within the selected area, and use this point as the center point and controllable parameters. R To obtain a uniform circular matrix by radius diffusion, ensure that the number of points selected each time is the square of an odd number starting from 1, and the number of points selected does not exceed the circular matrix. The detection of positional accuracy includes the following steps: The positional accuracy of the water-cooled plate to be tested is calculated based on the deviation of the measured element on the X and Y axes. 。

Images