Vagina electrode three-dimensional curved surface defect detection system and method based on machine vision

Abstract

The invention relates to the technical field of visual inspection, and discloses a vagina electrode three-dimensional curved surface defect detection system and method based on machine vision, and the vagina electrode three-dimensional curved surface defect detection system comprises a base station and a controller installed on the base station. When the visual detector detects the end of the electrode, the ejector rod moves upwards to drive the connecting frame to move, the protrusion at the tail end of the connecting frame slides along the strip-shaped groove of the rocker arm, the rocker arm is pushed to rotate, the angle of the visual detector is adjusted, the design can adapt to the radian difference between the curved surface of the end and the rod body, and the end detection blind area caused by angle fixation is avoided; tiny defects at the end part of the electrode can be accurately captured, and the requirement of medical equipment on the whole surface integrity of the electrode is met; and in a system resetting stage after the end detection is completed, the visual detector does not recover to the initial detection angle and forms a differentiated visual angle with the angle when the rod body is initially detected, and through secondary differentiated angle scanning in the resetting process, the missing detection defect caused by shadow shielding and a curved surface reflection blind area at the initial angle can be effectively captured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of visual detection, and particularly relates to a three-dimensional curved surface defect detection system and method for a vaginal electrode based on machine vision. BACKGROUND

[0002] As an invasive medical device used in gynecological disease diagnosis, pelvic floor muscle rehabilitation treatment and other scenarios, the surface integrity of the vaginal electrode is directly related to the safety and treatment effect of clinical use. If there are defects such as scratches, depressions, protrusions or edge burrs on the surface of the electrode, not only the human mucosa may be scratched during use, but also the stability of current conduction may be affected, the treatment accuracy may be reduced, and even the risk of infection may be caused.

[0003] The current detection scheme is an automatic detection scheme based on machine vision. However, the existing machine vision detection equipment mostly uses a fixed-angle camera or a linear array scanner to realize the scanning of the rod surface by driving the electrode to rotate or the detection assembly to translate. However, the detection structure with a fixed angle cannot adapt to the difference in the curvature of the end and the rod body. When the detection assembly moves to the end of the electrode, the fixed-angle vision lens is difficult to cover all areas of the end arc transition surface, which is easy to form a shadow block or a reflection blind area at the end edge and the curved surface inflection point, resulting in missed detection of the end defects. Although some equipment attempts to realize multi-angle detection through a multi-lens array, the calibration of the multi-lens is difficult, the equipment cost is high, and the field of view splicing between the lenses is easy to produce errors, and the end detection blind area problem cannot be completely solved.

[0004] Therefore, the present application is proposed. SUMMARY

[0005] To solve the above technical problems, the basic idea of the technical solution of the present application is as follows: A three-dimensional curved surface defect detection system for a vaginal electrode based on machine vision, comprising a base and a controller mounted on the base.

[0006] A clamping assembly for clamping the vaginal electrode is mounted on the base, and a sleeve is vertically inserted and connected to the base and sleeved outside the vaginal electrode. A sleeve ring is screwed and mounted inside the sleeve, and the sleeve ring is connected to a drive motor mounted on the top of the sleeve. A push plate is inserted and connected to the side wall of the sleeve ring. A rocker arm is rotatably mounted on the sleeve ring, and a vision detector is mounted at the end of the rocker arm and located outside the vaginal electrode. The side wall of the push plate is provided with a top rod, a connecting frame is rotatably installed on the top rod, the connecting frame is slidably connected with the rocker arm, a pressing rod is installed at the bottom of the top rod, the end of the pressing rod is correspondingly connected with the support plate installed at the bottom of the sleeve, an oval plate is installed at the bottom of the top rod, a shutter is rotatably installed on the side wall of the push plate, the top rod moves upwards to drive the oval plate to move upwards and open the shutter, the shutter is rotatably connected below the oval plate to position the top rod, and the visual detector is driven to change the angle of the end of the vaginal electrode during the movement of the top rod.

[0007] As a preferred embodiment of the present application, four supporting legs are installed at the bottom corners of the controller, adjusting rods are screwed and installed at the bottom of the four supporting legs, a pad plate is installed at the bottom of the adjusting rods, a non-slip pad is installed on the pad plate, an installation plate is installed on the base, and the installation plate is connected with the controller, an electric push rod is installed on the side wall of the base, a support is installed at the end of the electric push rod, and the support is connected with the drive motor housing, and the output end of the electric push rod is also connected with the sleeve.

[0008] As a preferred embodiment of the present application, the clamping assembly comprises a clamping sleeve, the clamping sleeve is installed on the base, a cavity is formed in the clamping sleeve, a clamping plate is slidably arranged in the cavity, a bolt is rotatably installed on the clamping plate, and the bolt is screwed and connected with the clamping sleeve, a plug rod is installed on the side wall of the clamping plate, the plug rod penetrates the clamping sleeve movably, and a plug plate is installed at the end of the plug rod.

[0009] As a preferred embodiment of the present application, a synchronous shaft is installed at the output end of the drive motor, a synchronous frame is installed on the synchronous shaft, slide rods are installed at both ends of the synchronous frame, the slide rods are slidably connected with the slide rails installed on the support plate, the slide rods movably penetrate the sleeve ring, external threads are formed in the side wall of the sleeve ring, internal threads are formed in the inner side wall of the sleeve, and the internal threads are screwed and matched with the external threads.

[0010] As a preferred embodiment of the present application, a pair of connecting rods are installed on the push plate, the extension lines of the pair of connecting rods are in the same straight line as the rocker arm, the length of the connecting rods is greater than the length of the rocker arm, and a ball is installed at the end of the connecting rod.

[0011] As a preferred embodiment of the present application, a force storage rod is installed on the push plate, the end of the force storage rod is movably connected with the force storage sleeve installed on the side wall of the sleeve ring, a baffle is slidably arranged in the force storage sleeve, one end of the baffle is connected with the force storage rod, a compression spring is installed between the other end of the baffle and the force storage sleeve, the compression direction of the compression spring is the same as the moving direction of the force storage rod, and the compression spring is used to drive the connecting rod to tightly adhere to the outer side wall of the vaginal electrode.

[0012] As a preferred embodiment of the present application, the top rod side wall is movably provided with a positioning seat, and the positioning seat is welded to the push plate side wall; the connecting frame is movably provided with a positioning rod; the bottom of the positioning rod is mounted on a positioning plate; the top of the positioning rod is mounted with a positioning plate, and the diameter of the positioning plate is larger than that of the positioning rod; a strip-shaped slot is formed in the rocker arm; a protrusion is slidably arranged in the strip-shaped slot; and the protrusion is connected with the end of the connecting frame.

[0013] As a preferred embodiment of the present application, the bottom of the pressing rod is mounted with a rolling ball, which is used to reduce friction; a clamping plate is mounted on the pressing rod; a first torsion spring is sleeved on the pressing rod; one end of the first torsion spring is clamped on the end of the top rod, and the other end is clamped on the clamping plate; sliding plates are mounted on both ends of the pressing rod; a limiting rod is movably mounted on the sliding plate; one end of the limiting rod is mounted with a limiting plate, and the diameter of the limiting plate is larger than that of the limiting rod; the other end of the limiting rod is mounted with a limiting seat, which is clamped on the side wall of the push plate; a limiting spring is sleeved on the limiting rod; one end of the limiting spring is clamped on the limiting seat; and the other end of the limiting spring is clamped on the limiting seat.

[0014] As a preferred embodiment of the present application, the push plate side wall is mounted with a pair of fixed seats, each of which is rotatably connected with a shutter; a second torsion spring is clamped between the rotary center of the shutter and the fixed seat; a top block is mounted on the fixed seat; the top block is attached to the bottom of the shutter; and the top block is used to block the downward rotation of the shutter.

[0015] A machine vision-based three-dimensional curved surface defect detection method for a vaginal electrode, comprising the following steps: Step one: fix the vaginal electrode, place the vaginal electrode to be detected into the clamping sleeve of the clamping assembly, rotate the bolt to push the clamping plate to slide in the cavity and attach to the side wall of the electrode, and complete the fixation; the insertion rod moves with the clamping plate, and the insertion plate limits the clamping plate from falling off; Step two: position the detection assembly, start the electric push rod through the controller, push the sleeve to move synchronously with the drive motor, close the electric push rod after the sleeve is sleeved with the electrode outside the preset position; Step three: detect the shaft curved surface, start the drive motor, drive the sliding rod to slide along the sliding rail through the synchronous shaft and the synchronous frame, and then drive the sleeve ring to rotate; use the cooperation between the external thread and the internal thread to drive the push plate to move along the electrode axis through the sleeve ring, when the push plate moves, the spring in the force storage sleeve pushes the push plate through the baffle and the force storage rod, the end ball of the connecting rod is attached to the side wall of the electrode, the distance between the vision detector and the electrode is kept constant, and the shaft curved surface is intermittently detected synchronously.

[0016] Step four: end surface angle adjustment detection, when the push plate drives the top rod to move down to contact the support plate, the top rod moves up relative to the push plate, the sliding plate slides along the limiting rod, the limiting spring is buffered, the top rod drives the connecting frame to move, the protrusion slides along the rocker arm strip-shaped groove, the rocker arm is pushed to rotate, the angle of the visual detector is adjusted to adapt to the end surface, at the same time, the oval plate moves up to open the shutter, the shutter is reset through the second torsional spring to clamp the oval plate, the positioning top rod is completed, and the end detection is completed; Step five: system reset, after the end detection, the driving motor is started in reverse to drive the sleeve ring, the push plate and other components to move up as a whole, and at this time, the angle of the visual detector changes, when the initial height is reached, the top rod is manually rotated to make the oval plate rotate 90° and separate from the shutter, and the top rod is unlocked.

[0017] Compared with the prior art, the present application has the following beneficial effects: When the visual detector detects the electrode end, the bottom of the top rod contacts the support plate, the push plate and the top rod produce relative displacement, the top rod moves up to drive the connecting frame to move, the protrusion at the end of the connecting frame slides along the rocker arm strip-shaped groove, the rocker arm is pushed to rotate and the angle of the visual detector is adjusted, which can adapt to the difference in curvature between the end surface and the rod body, avoid the end detection blind area caused by fixed angle, ensure that the small defects of the electrode end can also be accurately captured, and meet the strict requirements of medical equipment on the integrity of the whole surface of the electrode; during the system reset stage after the end detection, when the driving motor is started in reverse to drive the sleeve ring, the push plate, the top rod and the rocker arm and other components to move up as a whole, the visual detector will not return to the initial detection angle, but will maintain the specific angle state adjusted during the end detection, and the angle during the initial detection of the rod body is different, through the secondary differential angle scanning during the reset process, the missed defects caused by shadow blocking and curved surface reflection blind area at the initial angle can be effectively captured, the comprehensiveness and accuracy of defect identification are further improved, and the overall detection effect is strengthened.

[0018] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] In the drawings: Figure 1 It is a whole three-dimensional graph of a vaginal electrode three-dimensional curved surface defect detection system based on machine vision; Figure 2 It is a controller three-dimensional graph of a vaginal electrode three-dimensional curved surface defect detection system based on machine vision; Figure 3 It is a sleeve three-dimensional graph of a vaginal electrode three-dimensional curved surface defect detection system based on machine vision; Figure 4 It is a sleeve sectional view of a vaginal electrode three-dimensional curved surface defect detection system based on machine vision; Figure 5 A cross-sectional view of a collar in a machine vision-based three-dimensional curved surface defect detection system for vaginal electrodes; Figure 6 For a local area of ​​a machine vision-based three-dimensional surface defect detection system for vaginal electrodes Figure 1 ; Figure 7 For a local area of ​​a machine vision-based three-dimensional surface defect detection system for vaginal electrodes Figure 2 .

[0020] In the picture: 1. Base; 11. Controller; 111. Mounting plate; 112. Support leg; 113. Adjusting rod; 114. Pad; 12. Clamping assembly; 121. Clip; 122. Cavity; 123. Clamping plate; 124. Bolt; 125. Insert rod; 126. Inserting plate; 13. Electric push rod; 131. Sleeve; 132. Drive motor; 133. Bracket; 134. Support plate; 14. Collar; 141. External thread; 142. Internal thread; 143. Slide rod; 144. Slide rail; 145. Synchronizing frame; 146. Synchronizing shaft; 2. Push plate; 21. Power storage rod; 211. Power storage sleeve; 212. Baffle; 213. Compression spring; 22. Connecting rod; 221. Ball bearing; 23. Rocker arm; 231. Vision inspection instrument; 3. Top rod; 31. Positioning seat; 32. Connecting frame; 321. Positioning rod; 322. Positioning plate; 323. Protrusion; 324. Strip groove; 33. Pressure rod; 331. Rolling ball; 332. Clamping plate; 333. First torsion spring; 334. Slide plate; 335. Limiting rod; 336. Limiting plate; 337. Limiting seat; 338. Limiting spring; 34. Fixed seat; 341. Cover plate; 342. Second torsion spring; 343. Top block; 344. Elliptical plate. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention.

[0022] Example 1: like Figures 1 to 7 As shown, a machine vision-based three-dimensional curved surface defect detection system for vaginal electrodes includes a base 1 and a controller 11 mounted on the base 1.

[0023] A clamping assembly 12 for clamping a vaginal electrode is installed on the base 1, and a sleeve 131 that is sleeved on the outside of the vaginal electrode is vertically inserted into the base 1. A collar 14 is installed inside the sleeve 131 by screwing it in, and the collar 14 is connected to a drive motor 132 installed on the top of the sleeve 131. A push plate 2 is inserted into the side wall of the collar 14, and a rocker arm 23 is rotatably mounted on the collar 14. A visual inspection instrument 231 is mounted at the end of the rocker arm 23, and the visual inspection instrument 231 is located outside the vaginal electrode. A push rod 3 is inserted into the side wall of the push plate 2. A connecting frame 32 is rotatably mounted on the push rod 3. The end of the connecting frame 32 is slidably connected to the rocker arm 23. A pressure rod 33 is installed at the bottom of the push rod 3, and the end of the pressure rod 33 corresponds to the support plate 134 installed at the bottom of the sleeve 131. An elliptical plate 344 is installed at the bottom of the push rod 3. A cover plate 341 is rotatably mounted on the side wall of the push plate 2. When the push rod 3 moves upward, it causes the elliptical plate 344 to move upward and push open the cover plate 341. The cover plate 341 rotates and is locked below the elliptical plate 344 to position the push rod 3. During the movement of the push rod 3, the visual inspection instrument 231 is driven to change the angle at the end of the vaginal electrode.

[0024] like Figures 1 to 7 As shown, in a specific embodiment, four support legs 112 are installed at the bottom corner of the controller 11. Adjusting rods 113 are threaded onto the bottom of the four support legs 112. A pad 114 is installed at the bottom of the adjusting rod 113, and an anti-slip pad is installed on the pad 114. An mounting plate 111 is installed on the base 1, and the mounting plate 111 is connected to the controller 11. An electric push rod 13 is installed on the side wall of the base 1. A bracket 133 is installed at the end of the electric push rod 13, and the bracket 133 is connected to the housing of the drive motor 132. The output end of the electric push rod 13 is also connected to the sleeve 131. The controller 11, drive motor 132, and electric push rod 13 are electrically connected. The height of the support legs 112 can be flexibly adjusted via the adjusting rod 113 to ensure the base 1 is horizontal and stable. The anti-slip pad on the pad 114 enhances the stability of the equipment placement. The electric push rod 13 synchronously drives the sleeve 131 and drive motor 132 to move, achieving rapid and accurate positioning of the detection components, reducing manual adjustment time, and improving detection preparation efficiency.

[0025] like Figures 1 to 7As shown, further, the clamping assembly 12 comprises a clamping sleeve 121 mounted on the base 1, a cavity 122 is formed in the clamping sleeve 121, a clamping plate 123 is horizontally slidably arranged in the cavity 122, a bolt 124 is rotatably mounted on the clamping plate 123, the bolt 124 is threadedly connected with the clamping sleeve 121, an insertion rod 125 is mounted on the side wall of the clamping plate 123, the insertion rod 125 is movably penetrated through the clamping sleeve 121, an insertion plate 126 is mounted at the end of the insertion rod 125, and the diameter of the insertion plate 126 is greater than that of the insertion rod 125. The electrode is clamped by driving the clamping plate 123 to slide in the cavity 122 by the bolt 124, which can adapt to the fixing requirements of electrodes of different diameters. The cooperation of the insertion rod 125 and the insertion plate 126 can prevent the clamping plate 123 from sliding deviation, ensure that the electrode does not displace during detection, provide a stable reference for the visual detector 231, and at the same time avoid damaging the electrode surface due to excessive clamping force.

[0026] As shown in Figures 1 to 7 Further, a synchronous shaft 146 is mounted at the output end of the driving motor 132, a synchronous frame 145 is mounted on the synchronous shaft 146, slide rods 143 are mounted at both ends of the synchronous frame 145, the slide rods 143 are slidably connected with slide rails 144 mounted on the support plate 134, the slide rods 143 are movably penetrated through the sleeve ring 14, external threads 141 are formed in the side wall of the sleeve ring 14, internal threads 142 are formed in the inner side wall of the sleeve 131, and the internal threads 142 and the external threads 141 are threadedly connected. The cooperation of the synchronous shaft 146, the synchronous frame 145 and the slide rods 143 ensures that the driving force of the driving motor 132 is stably transmitted to the sleeve ring 14, the slide rails 144 limit the moving direction of the slide rods 143, which ensures that the sleeve ring 14 moves stably along the axial direction of the sleeve 131, and the cooperation of the external threads 141 and the internal threads 142 realizes accurate control of the movement and rotation of the sleeve ring 14, and provides reliable power for the visual detector 231 to scan at a constant speed along the axial direction of the electrode.

[0027] Embodiment 2: Based on the above embodiment, the difference between this embodiment and the above embodiment is that, as shown in Figures 1 to 7 A pair of connecting rods 22 are mounted on the push plate 2, the extension lines of the pair of connecting rods 22 are in the same straight line as the swing arm 23, the length of the connecting rod 22 is greater than the length of the swing arm 23, and a ball 221 is mounted at the end of the connecting rod 22, which is used to fit to the outer side wall of the vaginal electrode. The cooperation of the connecting rod 22 and the ball 221 can fit the electrode side wall in real time, and the collinear design of the connecting rod 22 and the swing arm 23 ensures that the distance between the visual detector 231 and the electrode surface is constant, avoids affecting the detection accuracy due to distance fluctuation, and the rolling property of the ball 221 reduces the friction damage to the electrode surface.

[0028] As shown in Figures 1 to 7As shown, in a specific embodiment, a accumulator rod 21 is installed on the push plate 2. The end of the accumulator rod 21 is movably inserted into an accumulator sleeve 211 installed on the side wall of the collar 14. A baffle 212 is slidably arranged inside the accumulator sleeve 211. One end of the baffle 212 is connected to the accumulator rod 21, and a compression spring 213 is installed between the other end of the baffle 212 and the accumulator sleeve 211. The compression direction of the compression spring 213 is the same as the movement direction of the accumulator rod 21. The compression spring 213 is used to drive the connecting rod 22 to fit tightly against the outer wall of the vaginal electrode. The cooperation of the accumulator rod 21, the accumulator sleeve 211, and the compression spring 213 provides a continuous pushing force to the push plate 2, ensuring that the ball bearing 221 at the end of the connecting rod 22 always fits tightly against the electrode side wall, offsetting the spacing deviation caused by the change in the curvature of the electrode surface, ensuring the consistency of the detection distance of the visual inspection instrument 231, and improving the stability of defect identification.

[0029] Example 3: The difference between the above embodiments and this embodiment is that: Figures 1 to 7 As shown, a positioning seat 31 is movably connected through the side wall of the push rod 3, and the positioning seat 31 is welded to the side wall of the push plate 2. A positioning rod 321 is movably connected through the connecting frame 32. The bottom of the positioning rod 321 is mounted on the positioning plate 322, and the top of the positioning rod 321 is also mounted on the positioning plate 322. The diameter of the positioning plate 322 is larger than that of the positioning rod 321. A strip groove 324 is provided on the rocker arm 23, and a protrusion 323 is slidably provided on the strip groove 324. The protrusion 323 is connected to the end of the connecting frame 32. The positioning seat 31 provides stable guidance for the push rod 3, ensuring accurate movement of the push rod 3. The positioning rod 321 and the positioning plate 322 limit the offset of the connecting frame 32. The sliding cooperation between the protrusion 323 and the strip groove 324 converts the linear motion of the connecting frame 32 into the rotational motion of the rocker arm 23, realizing smooth adjustment of the angle of the vision inspection instrument 231 and improving the angle control accuracy.

[0030] like Figures 1 to 7As shown in the specific embodiment, the bottom of the pressing rod 33 is provided with a rolling ball 331 for reducing friction, the pressing rod 33 is provided with a clamping plate 332, the pressing rod 33 is provided with a first torsion spring 333 in a sleeving manner, one end of the first torsion spring 333 is clamped to the end of the jacking rod 3, the other end is clamped to the clamping plate 332, the both ends of the pressing rod 33 are provided with sliding plates 334, the sliding plates 334 are provided with limiting rods 335 in a penetrating manner, one end of the limiting rod 335 is provided with a limiting plate 336, the diameter of the limiting plate 336 is greater than the diameter of the limiting rod 335, the other end of the limiting rod 335 is provided with a limiting seat 337, the limiting seat 337 is clamped to the side wall of the push plate 2, the limiting rod 335 is provided with a limiting spring 338 in a sleeving manner, one end of the limiting spring 338 is clamped to the limiting seat 337, and the other end of the limiting spring 338 is clamped to the limiting seat 337. The rolling ball 331 reduces the contact friction between the pressing rod 33 and the supporting plate 134, prolongs the service life of the component, the first torsion spring 333 and the limiting spring 338 provide a buffer force, cooperate with the guidance of the sliding plate 334 and the limiting rod 335, ensure that the jacking rod 3 moves upward stably without impact, avoid the angle adjustment deviation of the visual detector 231 caused by vibration, and guarantee the detection stability.

[0031] As shown in the specific embodiment, Figures 1 to 7 Further, the side wall of the push plate 2 is provided with a pair of fixed seats 34, each fixed seat 34 is rotatably connected with a shutter 341, a second torsion spring 342 is clamped between the rotary center of the shutter 341 and the fixed seat 34, the fixed seat 34 is provided with a top block 343, the top block 343 is attached to the bottom of the shutter 341, and the top block 343 is used for blocking the downward rotation of the shutter 341. The fixed seat 34 provides a rotation fulcrum for the shutter 341, the second torsion spring 342 ensures that the shutter 341 is tightly clamped with the elliptical plate 344, the top block 343 limits the excessive rotation of the shutter 341, and the three cooperate to realize the stable locking of the position of the jacking rod 3, guarantee the angle constancy of the visual detector 231 in the end detection stage, and improve the detection precision.

[0032] The application also discloses a vagina electrode three-dimensional curved surface defect detection method based on machine vision. Step one: fixing the vagina electrode, placing the vagina electrode to be detected into the clamping sleeve 121 of the clamping assembly 12, rotating the bolt 124 to push the clamping plate 123 to slide in the cavity 122 and abut against the side wall of the electrode, and completing the fixing; the inserting rod 125 moves with the clamping plate 123, and the limiting plate 126 limits the electrode from falling off; Step two: positioning the detection assembly, starting the electric push rod 13 through the controller 11, pushing the sleeve 131 to move synchronously with the driving motor 132, closing the electric push rod 13 after the sleeve 131 is sleeved with the electrode outside a preset position; Step three: the rod body curved surface detection, the driving motor 132 is started, the sliding rod 143 is driven to slide along the slide rail 144 through the synchronous shaft 146 and the synchronous frame 145, and then the sleeve ring 14 is rotated; the sleeve ring 14 drives the push plate 2 to move along the electrode axial direction by utilizing the cooperation of the external thread 141 and the internal thread 142; when the push plate 2 moves, the spring 213 in the force storage sleeve 211 extrudes the push plate 2 through the baffle 212 and the force storage rod 21, so that the ball 221 at the end of the connecting rod 22 is attached to the electrode side wall, the distance between the visual detector 231 and the electrode is kept constant, and the intermittent detection of the curved surface of the rod body is simultaneously performed.

[0033] Step four: end curved surface angle adjustment and detection; when the push plate 2 drives the ejector rod 3 to move downward to contact the support plate 134, the ejector rod 3 moves upward relative to the push plate 2, the sliding plate 334 slides along the limiting rod 335, the limiting spring 338 is buffered, the ejector rod 3 drives the connecting frame 32 to move, the protrusion 323 slides along the bar-shaped groove 324 of the rocker arm 23, the rocker arm 23 is rotated, the angle of the visual detector 231 is adjusted to adapt to the end curved surface, at the same time, the oval plate 344 moves upward to open the shutter 341, the shutter 341 is reset to be clamped with the oval plate 344 through the second torsional spring 342, the ejector rod 3 is positioned, and the end detection is completed. Step five: system reset; after the end detection, the driving motor 132 is started in the reverse direction to drive the sleeve ring 14, the push plate 2 and other components to move upward as a whole for reset, and at this time, the angle of the visual detector 231 changes, when the visual detector 231 moves to the vicinity of the initial height, the ejector rod 3 is manually rotated to make the oval plate 344 rotate by 90° and separate from the shutter 341, and the ejector rod 3 is unlocked.

[0034] The implementation principle of the three-dimensional curved surface defect detection system for the vaginal electrode based on machine vision is as follows: First, the fixing operation of the vaginal electrode is performed, and the positioning is completed by means of the clamping assembly 12 on the base 1. The operator puts the vaginal electrode to be detected into the inner part of the clamping sleeve 121, and then rotates the bolt 124; since the bolt 124 is in threaded connection with the clamping sleeve 121, the rotation of the bolt 124 will push the clamping plate 123 to slide horizontally in the cavity 122 until the clamping plate 123 tightly adheres to the side wall of the vaginal electrode, so that stable clamping is formed. In this process, the insertion rod 125 installed on the side wall of the clamping plate 123 moves synchronously with the clamping plate 123 and penetrates the clamping sleeve 121, and the insertion plate 126 at the end of the insertion rod 125 can effectively prevent the insertion rod 125 from being separated from the clamping sleeve 121, so as to further guarantee the structural stability of the clamping assembly 12 and lay a foundation for subsequent detection.

[0035] After the completion of the vaginal electrode fixed, start the controller 11, triggered by the controller 11, the base station 1 side wall mounted electric push rod 13 work. Electric push rod 13 output end at the same time push sleeve 131 and bracket 133 movement, wherein the bracket 133 and drive motor 132 shell fixed connection, therefore drive motor 132 will move with sleeve 131 synchronous vertical, until the sleeve 131 accurate sleeve joint in the lateral vaginal electrode suitable detection position. Subsequently drive motor 132 start, its output end drive synchronous shaft 146 rotation, synchronous shaft 146 on the synchronous frame 145 rotates, synchronous frame 145 both ends of the slide bar 143 will along the slide rail 144 installed on the support plate 134 slide, while the slide bar 143 drive sleeve ring 14 rotation. Because the sleeve ring 14 side wall opening has external thread 141, the sleeve 131 inside wall opening has internal thread 142, and the internal thread 142 and external thread 141 screw fit, sleeve ring 14 in the process of rotation will along the sleeve 131 inner wall vertical movement, in turn drive sleeve ring 14 side wall plug in the push plate 2 synchronous movement, provide power for subsequent detection position switching.

[0036] When the push plate 2 moves with the sleeve ring 14, the distance between the visual detector 231 and the vaginal electrode needs to be constant, which is achieved by the cooperation of the force storage assembly and the connecting rod 22. The force storage spring transmits force to the push plate 2 through the baffle 212 and the force storage rod 21, so that the pair of connecting rods 22 installed on the push plate 2 always have a tendency to approach the vaginal electrode. The extension line of the pair of connecting rods 22 is in the same straight line as the rocker arm 23, and the ball 221 at the end of the connecting rod 22 tightly fits the outer wall of the vaginal electrode. Through the stable contact between the ball 221 and the vaginal electrode, and the fixed length of the rocker arm 23, the distance between the visual detector 231 at the end of the rocker arm 23 and the vaginal electrode is always kept constant, avoiding the influence of distance change on detection accuracy.

[0037] In the process of moving the push plate 2 along the axial direction of the vaginal electrode to gradually detect the bar body curve, the top rod 3 passing through the push plate 2 side wall through the positioning seat 31 will move downward synchronously with the push plate 2. When the pressure rod 33 at the bottom of the top rod 3 contacts the support plate 134, the pressure rod 33 is blocked by the support plate 134 and no longer continues to move downward, while the push plate 2 continues to move downward under the drive of the sleeve ring 14, which causes the relative displacement of the push plate 2 and the top rod 3, so that the top rod 3 moves upward relative to the push plate 2. At this time, the detection position reaches the end of the vaginal electrode, and since there is a significant difference between the end curve and the bar body, angle adjustment is needed to ensure that the visual detector 231 can cover all the curve areas of the end, avoiding the occurrence of detection blind area.

[0038] When the pressure rod 33 moves upward relative to the top rod 3, the slide plate 334 mounted on the side wall of the pressure rod 33 will slide along the limiting rod 335, one end of the limiting rod 335 is limited by the limiting plate 336, and the other end is fixed to the side wall of the push plate 2 through the limiting seat 337. The limiting spring 338 sleeved on the limiting rod 335 will be elastically deformed due to the extrusion of the slide plate 334, which can buffer the movement of the slide plate 334, ensure the stability of the movement of the pressure rod 33, and avoid angle adjustment deviation caused by impact.

[0039] When the top rod 3 moves upward, the connecting frame 32 rotationally connected to the top of the top rod 3 will move synchronously, and the positioning rod 321 movably penetrating the connecting frame 32 will slide along the connecting frame 32 to prevent the connecting frame 32 from deviating during movement. The protrusion 323 at the end of the connecting frame 32 will slide along the strip-shaped slot 324 formed in the rocker arm 23, and the movement of the connecting frame 32 will be converted into a pushing force on the rocker arm 23 through the sliding cooperation between the protrusion 323 and the strip-shaped slot 324, so as to drive the rocker arm 23 to rotate around the rotation connection point between the rocker arm 23 and the sleeve ring 14, and then drive the visual detector 231 at the end of the rocker arm 23 to change the angle, so that it adapts to the curved surface of the end of the vaginal electrode, and realizes comprehensive detection of the end defects.

[0040] At the same time, the upward movement of the top rod 3 will drive the oval plate 344 mounted at the bottom of the top rod 3 to move upward synchronously, and the oval plate 344 will push open the shutter 341 rotationally connected to the side wall of the push plate 2 through the fixing seat 34. When the shutter 341 rotates around the fixing seat 34, the top block 343 mounted on the fixing seat 34 will be attached to the bottom of the shutter 341, thereby preventing the shutter 341 from rotating downward excessively. When the top rod 3 moves to the appropriate position, the shutter 341 will rotate to reset under the action of its own gravity and the second torsional spring 342 interlocked between the fixing seat 34 and the rotation center of the shutter 341, and is interlocked below the oval plate 344, thereby positioning the position of the top rod 3 and ensuring that the visual detector 231 can stably maintain the adjusted angle, thereby ensuring the stability of the end detection process.

[0041] When the end detection of the vaginal electrode is completed, the system enters the overall upward reset stage. At this time, the driving motor 132 is started in reverse, driving the synchronous shaft 146, the synchronous frame 145 and the slide rod 143 to move in reverse, the slide rod 143 slides along the slide rail 144 in reverse while driving the sleeve ring 14 to rotate in reverse, the sleeve ring 14 moves upward along the inner wall of the sleeve 131 through the cooperation of the external thread 141 and the internal thread 142, and then drives the push plate 2, the top rod 3 and the rocker arm 23 and other components to reset upward as a whole. However, the visual detector 231 has a different angle change at this time, so that the detection is more accurate.

[0042] When the overall structure is moved upward to the vicinity of the initial height, the operator can manually rotate the top rod 3, which drives the bottom oval plate 344 to rotate 90 degrees synchronously. Since the oval plate 344 is in an initial state in which the long axis is consistent with the clamping direction of the shutter 341, after rotating 90 degrees, the long axis of the oval plate 344 is perpendicular to the clamping direction of the shutter 341, the sidewall of the oval plate 344 originally clamped with the shutter 341 is separated from the shutter 341, the positioning and limiting of the shutter 341 on the oval plate 344 is released, and the unlocking of the top rod 3 is realized. After unlocking, the top rod 3 can move downward relative to the push plate 2 under the guidance of the positioning seat 31, drive the connecting frame 32 and the rocker arm 23 to reset synchronously, until the visual detector 231 returns to the initial detection position, at the same time, the pressing rod 33 is separated from the supporting plate 134, and the whole system returns to the initial state, ready for the next defect detection of the vaginal electrode.

Claims

1. A machine vision-based three-dimensional curved surface defect detection system for vaginal electrodes, comprising a base (1) and a controller (11) mounted on the base (1), characterized in that: the base (1) is provided with a clamping assembly (12) for clamping the vaginal electrode, and a sleeve (131) is vertically inserted and arranged on the base (1) and sleeved on the outside of the vaginal electrode, a sleeve ring (14) is screwed and mounted inside the sleeve (131), and the sleeve ring (14) is connected with a drive motor (132) mounted on the top of the sleeve (131); a push plate (2) is inserted and arranged on the side wall of the sleeve ring (14), a rocker arm (23) is rotatably mounted on the sleeve ring (14), and a vision detector (231) is mounted at the end of the rocker arm (23), and the vision detector (231) is located on the outside of the vaginal electrode; a top rod (3) is inserted and arranged on the side wall of the push plate (2), a connecting frame (32) is rotatably mounted on the top rod (3), the connecting frame (32) is slidably connected with the rocker arm (23), a pressing rod (33) is mounted at the bottom of the top rod (3) and corresponds to a supporting plate (134) mounted at the bottom of the sleeve (131), an elliptical plate (344) is mounted at the bottom of the top rod (3), a shutter (341) is rotatably mounted on the side wall of the push plate (2), the top rod (3) moves upwards to drive the elliptical plate (344) to move upwards and open the shutter (341), the shutter (341) is rotatably clamped below the elliptical plate (344) to position the top rod (3), and the drive vision detector (231) is driven to change the angle of the end of the vaginal electrode during the movement of the top rod (3). Four supporting legs (112) are mounted at the bottom corners of the controller (11), adjusting rods (113) are screwed and mounted at the bottom of the four supporting legs (112), a pad plate (114) is mounted at the bottom of the adjusting rods (113), anti-skid pads are mounted on the pad plate (114), a mounting plate (111) is mounted on the base (1) and connected with the controller (11), an electric push rod (13) is mounted on the side wall of the base (1), a bracket (133) is mounted at the end of the electric push rod (13) and connected with the housing of the drive motor (132), and the output end of the electric push rod (13) is also connected with the sleeve (131). The clamping assembly (12) comprises a clamping sleeve (121) mounted on the base (1), a cavity (122) is formed in the clamping sleeve (121), a clamping plate (123) is slidably arranged in the cavity (122), a bolt (124) is rotatably mounted on the clamping plate (123) and screwed and connected with the clamping sleeve (121), an insertion rod (125) is mounted on the side wall of the clamping plate (123), the insertion rod (125) penetrates the clamping sleeve (121) movably, an insertion plate (126) is mounted at the end of the insertion rod (125), and the diameter of the insertion plate (126) is larger than that of the insertion rod (125). ​ 2. The machine vision-based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 1, characterized in that, ​ 3. The machine vision based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 1, wherein, ​ 4. The machine vision based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 1, wherein, The output end of the driving motor (132) is provided with a synchronous shaft (146), the synchronous shaft (146) is provided with a synchronous frame (145), the both ends of the synchronous frame (145) are provided with slide rods (143), the slide rods (143) are slidably connected with slide rails (144) provided on the supporting plate (134), the slide rods (143) are movably penetrated through the sleeve ring (14), the sleeve ring (14) is provided with external threads (141) on the side wall, the sleeve (131) is provided with internal threads (142) on the inner side wall, and the internal threads (142) and the external threads (141) are screwed and matched.

5. The machine vision based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 1, wherein, A pair of connecting rods (22) are installed on the push plate (2), the extension lines of the pair of connecting rods (22) are in the same straight line with the rocker arm (23), the length of the connecting rod (22) is greater than the length of the rocker arm (23), the end of the connecting rod (22) is provided with a ball (221), and the ball (221) is used for being attached to the outer side wall of the vaginal electrode.

6. The machine vision-based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 5, wherein, The push plate (2) is provided with a force storage rod (21), the end of the force storage rod (21) is movably inserted into the force storage sleeve (211) provided on the side wall of the sleeve ring (14), the force storage sleeve (211) is slidably provided with a baffle (212), one end of the baffle (212) is connected with the force storage rod (21), the other end of the baffle (212) and the force storage sleeve (211) are provided with an extrusion spring (213), the compression direction of the extrusion spring (213) is the same as the moving direction of the force storage rod (21), and the extrusion spring (213) is used for driving the connecting rod (22) to be closely attached to the outer side wall of the vaginal electrode.

7. The machine vision-based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 1, wherein, The side wall of the jacking rod (3) is movably penetrated through a positioning seat (31), the positioning seat (31) is welded on the side wall of the push plate (2), the connecting frame (32) is movably penetrated through a positioning rod (321), the bottom of the positioning rod (321) is installed on a positioning plate (322), the top of the positioning rod (321) is provided with the positioning plate (322), the diameter of the positioning plate (322) is greater than the diameter of the positioning rod (321), the rocker arm (23) is provided with a strip-shaped groove (324), the strip-shaped groove (324) is slidably provided with a protrusion (323), and the protrusion (323) is connected with the end of the connecting frame (32).

8. The machine vision based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 1, wherein, The bottom of the pressing rod (33) is provided with a rolling ball (331) for reducing friction, a clamping plate (332) is installed on the pressing rod (33), a first torsion spring (333) is sleeved on the pressing rod (33), one end of the first torsion spring (333) is clamped on the end of the jacking rod (3), the other end is clamped on the clamping plate (332), sliding plates (334) are installed on both ends of the pressing rod (33), a limiting rod (335) is installed through the sliding plate (334), one end of the limiting rod (335) is provided with a limiting plate (336) with a diameter larger than that of the limiting rod (335), the other end of the limiting rod (335) is provided with a limiting seat (337), the limiting seat (337) is clamped on the side wall of the push plate (2), a limiting spring (338) is sleeved on the limiting rod (335), one end of the limiting spring (338) is clamped on the limiting seat (337), and the other end of the limiting spring (338) is clamped on the limiting seat (337).

9. The machine vision based three-dimensional curved surface defect detection system for vaginal electrodes according to claim 1, wherein, A pair of fixed seats (34) are installed on the side wall of the push plate (2), each fixed seat (34) is rotationally connected with a shutter (341), a second torsion spring (342) is clamped between the rotation center of the shutter (341) and the fixed seat (34), a top block (343) is installed on the fixed seat (34), the top block (343) is attached to the bottom of the shutter (341), and the top block (343) is used to block the downward rotation of the shutter (341). 10.A method for detecting defects on a three-dimensional curved surface of a vaginal electrode based on machine vision, characterized in that, The machine vision-based three-dimensional curved surface defect detection system for a vaginal electrode and the machine vision-based three-dimensional curved surface defect detection method for a vaginal electrode are used, and the steps are as follows: Step one: vaginal electrode fixation, the to-be-detected vaginal electrode is placed in the clamping sleeve (121) of the clamping assembly (12), the bolt (124) is rotated to push the clamping plate (123) to slide in the cavity (122) and abut against the side wall of the electrode, and the fixation is completed; the insertion rod (125) moves with the clamping plate (123), and the insertion plate (126) limits the electrode from falling off; Step two: detection assembly positioning, the controller (11) is started to drive the electric push rod (13), the sleeve (131) moves synchronously with the drive motor (132), the sleeve (131) is sleeved on the outer side of the electrode at a predetermined position, and then the electric push rod (13) is turned off; Step three: rod body curved surface detection, the drive motor (132) is started, the sliding rod (143) is driven to slide along the sliding rail (144) through the synchronous shaft (146) and the synchronous frame (145), and then the sleeve ring (14) is rotated; the sleeve ring (14) drives the push plate (2) to move along the electrode axis by cooperation of the external thread (141) and the internal thread (142), when the push plate (2) moves, the spring (213) in the force storage sleeve (211) pushes the push plate (2) through the baffle (212) and the force storage rod (21), so that the ball (221) at the end of the connecting rod (22) abuts against the side wall of the electrode, the distance between the vision detector (231) and the electrode is constant, and the rod body curved surface is intermittently detected.

11. Step four: end surface angle adjustment detection, when the push plate (2) drives the top rod (3) to move down to contact the support plate (134), the top rod (3) moves up relative to the push plate (2), the sliding plate (334) slides along the limiting rod (335), the limiting spring (338) is buffered, the top rod (3) drives the connecting frame (32) to move, the convex (323) slides along the rocker arm (23) strip-shaped groove (324), pushes the rocker arm (23) to rotate, adjusts the angle of the visual detector (231) to adapt to the end surface, at the same time, the oval plate (344) moves up to open the shutter (341), the shutter (341) is reset to be clamped with the oval plate (344) through the second torsional spring (342), the top rod (3) is positioned, and the end detection is completed; Step five: system reset, after the end detection, the driving motor (132) is started in reverse, drives the sleeve ring (14), the push plate (2) and other components to move up as a whole, and at this time the angle of the visual detector 231 changes, when it moves to the vicinity of the initial height, the top rod (3) is manually rotated to make the oval plate (344) rotate 90° and separate from the shutter (341), and the top rod (3) is unlocked.

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