Detection method and detection device

Abstract

The invention provides a detection method and a detection device. The method comprises the steps that a plurality of semi-finished product devices with coils and terminals welded are carried to the position over a camera; lighting the semi-finished product devices, and shooting the semi-finished product devices through a camera to obtain images of the semi-finished product devices; detecting whether a coil exists according to the image; if not, determining that the corresponding semi-finished product device is unqualified; if so, carrying out positive and negative detection on the coil according to the image; if the result of the positive and negative detection is reverse installation, determining that the corresponding semi-finished product device is unqualified; if the result of the positive and negative detection is positive, carrying out inclination detection on the coil according to the image; if the inclination detection is not passed, determining that the corresponding semi-finished product device is unqualified; and if the inclination detection is passed, determining that the corresponding semi-finished product device is qualified, and carrying the qualified semi-finished product device to a magnetic powder die-casting area to prepare the magnet. According to the invention, on-line full-number detection can be carried out on the coil state before a die-casting forming process is executed, and timely response can be made to process variation.

Description

Technical Field

[0001] This application relates to the field of magnetic device testing, specifically to a testing method and testing device. Background Technology

[0002] With the rapid development of technology, especially the emergence of multifunctional devices, the demand for passive components is increasing. Magnetic components, as one type of passive element, have been widely used. Magnetic components mainly include a magnet, a coil (also known as a "winding"), and terminals (also known as "external terminals" or "external electrodes"). The magnet is integrally die-cast from magnetic powder using a predetermined process. The coil is welded to the terminals, and after welding, the coil is die-cast into the magnet. Ensuring the quality of the die-casting process is the core link in manufacturing magnetic components, including integrally molded inductors. The quality control of the die-casting process directly affects the magnetic performance indicators (such as inductance, saturation current, DC resistance, quality factor, etc.) and structural reliability indicators (such as mechanical strength, thermal stability, sealing performance, etc.) of the magnetic components.

[0003] Currently, most die-casting machines on the market only have processing mechanisms and lack inspection mechanisms. They rely on controlling the mold and processing mechanism to ensure die-casting quality, and then use methods such as CT sampling and metallographic film analysis to inspect the internal condition of the molded products to ensure product quality. However, this method cannot perform online full inspection of the coil condition before the molding process, nor can it react promptly to process variations (i.e., coil conditions that do not meet requirements). It has serious drawbacks in terms of production efficiency, cost, and timeliness. Summary of the Invention

[0004] In view of this, this application provides a detection method and detection device that can perform online full detection of the coil state before the molding process and respond promptly to process variations.

[0005] This application provides a testing method for testing semi-finished components, the semi-finished components including terminals and coils soldered to the terminals, the method comprising: Move several semi-finished components to the top of the camera; The semi-finished components are illuminated, and images of each semi-finished component are obtained by taking pictures with a camera. The presence of a coil is detected based on the image. If it does not exist, then the corresponding semi-finished component is determined to be unqualified; If present, the orientation of the coil is detected based on the image; If the result of the forward and reverse testing is reversed, then the corresponding semi-finished component is determined to be unqualified. If the result of the front and back detection is that the coil is upright, then the tilt detection of the coil is performed based on the image. If the tilt test fails, the corresponding semi-finished device is determined to be unqualified. If the tilt detection is passed, the corresponding semi-finished device is determined to be qualified, and the qualified semi-finished device is transported to the magnetic powder die-casting area to prepare the magnet.

[0006] Optionally, before detecting the presence of a coil based on the image, the method further includes: The images of each semi-finished component are pre-processed.

[0007] Optionally, the preset processing includes at least one of binarization processing, noise reduction processing, and edge enhancement processing.

[0008] Optionally, detecting the presence of a coil based on the image includes: The presence of a coil is determined by detecting whether the image contains a coil outline and whether center positioning can be performed.

[0009] Optionally, the step of detecting the orientation of the coil based on the image includes: Obtain the outline of a predetermined portion of the coil in the image, the predetermined portion including the portion where the lead end of the coil is welded to the terminal; The coil's orientation is determined by detecting whether the lead end is located above or below the coil based on the contour of the preset portion.

[0010] Optionally, the tilt detection of the coil based on the image includes: The similarity detection method is used to determine whether the tilt of the coil is greater than a first threshold. When the tilt of the coil is less than a first threshold, it is detected whether the tilt of the coil is greater than a second threshold, wherein the second threshold is less than the first threshold; Specifically, if the tilt of the coil is greater than a first threshold or greater than a second threshold, the tilt detection is determined to have failed; if the tilt of the coil is less than the second threshold, the tilt detection is determined to have passed.

[0011] Optionally, detecting whether the tilt angle of the coil is greater than a second threshold includes: Establish a Cartesian coordinate system in the image; The horizontal and vertical radii of the coil in the image are obtained using the Cartesian coordinate system. The inclination of the coil is calculated using inverse trigonometric functions based on the horizontal and vertical radii. The tilt of the coil is compared with a second threshold.

[0012] Optionally, the first threshold is 40°.

[0013] This application provides a detection device, comprising: Machine tool; A robotic arm is used to move semi-finished components placed on the machine platform; A light source, mounted on the machine platform, is used to illuminate the semi-finished device; A camera, mounted on the machine platform, is used to capture images of each semi-finished component. A central processing unit is configured to perform the detection method as described in any one of claims 1 to 8 on the images captured by the camera.

[0014] Optionally, the light source includes a first strip light source and a second strip light source disposed on both sides of the camera.

[0015] As described above, in the detection method and detection device of this application, several semi-finished devices with completed coil and terminal welding are transported to directly above the camera, illuminated, and images of each semi-finished device are captured by the camera. Then, based on the images, the presence of coils, the orientation of coils, and tilt detection are detected. Thus, the coil state can be fully detected online before the die-casting process, and the process variation can be reacted to in a timely manner, improving production efficiency, cost, and timeliness. Attached Figure Description

[0016] Figure 1 This is a schematic flowchart of a detection method provided in an embodiment of this application; Figure 2 This is a bottom view of a semi-finished device provided in an embodiment of this application; Figure 3 This is a front view of a detection device provided in an embodiment of this application; Figure 4 yes Figure 3 The diagram shows a three-dimensional structure of the detection device. Figure 5 yes Figure 3 Top view of the detection device shown; Figure 6 This is a schematic diagram of the structure of the robotic arm, light source, and camera of the testing device in this application; Figure 7 This is a schematic diagram showing that no coils are present in the image captured by the camera; Figure 8 This is a schematic diagram of an image captured by a camera where the coil is tilted.

[0017] First direction x, second direction y, third direction Z; Coil 2, lead end 20, terminal 3; detection device 100, machine base 11, machine box 111, feeding area 11a, robotic arm picking area 11b, robotic arm 12, robotic hand 121, light source 13, first strip light source 131, second strip light source 132, camera 14, central processing unit 15, wheel 16. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly described below in conjunction with specific embodiments and corresponding drawings. Obviously, the embodiments described below are only a part of the embodiments of this application, and not all of them. Unless otherwise specified, the following embodiments and their technical features can be combined with each other, and also belong to the technical solutions of this application.

[0019] Figure 1 This is a flowchart illustrating a detection method provided in an embodiment of this application. This method is used to detect semi-finished devices, also known as "semi-finished magnetic devices," in conjunction with... Figure 2 As shown, the semi-finished device includes a terminal 3 and a coil 2 welded to the terminal 3, but does not include the magnet of the magnetic device. The coil 2 is a wound structure, and the specific number of turns can be determined according to the actual scenario. Its overall shape after winding is cylindrical, and the orthographic projection of the wound cylindrical area can be circular. The coil 2 can be wound from a single wire (e.g., enameled wire), thus having two lead ends 20. One lead end 20 extends from the top of the coil 2, and the other lead end 20 extends from the bottom of the coil 2, and is welded to the corresponding terminal 3 to achieve electrical connection. Figure 2 In the upward view shown, the lead end 20 on the left extends from above the coil 2 and is soldered to a terminal 3 on the left, while the lead end 20 on the right extends from below the coil 2 and is soldered to a terminal 3 on the right.

[0020] It should be understood that Figure 2 The coil 2 and terminal 3 shown are merely illustrative and do not constitute a limitation on the scope of protection of this application. For example, in other embodiments, the coil 2 may be formed by winding a long strip (or a long strip-shaped sheet) of flat wire. The flat wire has a low DC resistance (DCR), resulting in a low impedance of the coil 2. The flat wire includes a body and an insulating outer layer covering the outer surface of the body. The body is a conductive element, and the insulating outer layer ensures that the turns of the flat wire are electrically insulated from each other after winding. As another example, the terminal 3 shown in the figure is in its straight state before the die-cast magnet is formed. After the die-cast magnet is formed, the portion of the terminal 3 extending outside the magnet can be bent and fitted to the corresponding surface of the magnet.

[0021] like Figure 1 As shown, the detection method includes at least the following steps: S11: Move several semi-finished components to the top of the camera; S12: Illuminate the semi-finished components and take images of each semi-finished component using a camera; S13: Detect the presence of coils based on the image; If it does not exist, proceed to S17: determine if the corresponding semi-finished component is unqualified; If it exists, then execute S14: perform coil orientation detection based on the image; If the result of the forward and reverse testing is reversed, then proceed to S17: determine that the corresponding semi-finished component is unqualified; If the result of the forward and reverse detection is forward, then execute S15: perform coil tilt detection based on the image; If the tilt detection fails, proceed to step S17: determine that the corresponding semi-finished device is unqualified; If the tilt detection is passed, then S16 is executed: the corresponding semi-finished device is determined to be qualified, and the qualified semi-finished device is transported to the magnetic powder die-casting area to prepare the magnet.

[0022] The detection method of this application is implemented using a camera, which is a structural element of the detection device. The following describes the method in conjunction with... Figure 3 To the diagram Figure 5 The detection device 100 shown will be described.

[0023] To facilitate the description and understanding of the present application, the height direction (i.e., the gravity direction g) of the detection device 100 is referred to as the second direction y, and a three-dimensional rectangular coordinate system is established with the second direction y as one of the coordinate axes. The positive directions of the other two coordinate axes of this three-dimensional rectangular coordinate system are referred to as the first direction x and the third direction z, respectively, and the first direction x, the second direction y, and the third direction z are all perpendicular to each other. It should be understood that the term "perpendicular" throughout the present application does not require that the angle between the two directions must be 90°, but allows for deviations of, for example, ±10°. That is, "perpendicular" can be understood as the angle between any two directions being 80° to 100°. Similarly, the term "parallel" throughout the present application does not require that the angle between the two directions be 0° or 180°, but allows for deviations of, for example, ±10°. That is, "parallel" can be understood as the angle between any two directions being 0° to 10° or 170° to 190°.

[0024] Combined Figures 3 to 6 As shown, the detection device 100 includes a machine base 11, a robotic arm 12, a light source 13, a camera 14, and a central processing unit 15.

[0025] The machine 11 provides the table surface required for the entire test, and can also be equipped with a cabinet 111. The cabinet 111 can be equipped with a cabinet door so that the operator can open and close the cabinet 111.

[0026] The robotic arm 12 is used to transport semi-finished components placed on the machine platform 11. For example, a robotic arm 121 can be provided on the side of the robotic arm 12 facing the platform. The robotic arm 12 can be a multi-axis (e.g., three-axis or five-axis) rotating structure, which can drive the robotic arm 121 and the semi-finished component it grasps to rotate at least in the three-dimensional coordinate space, thereby transporting the semi-finished component to the area on the platform related to the detection. The structure of the robotic arm 121 and the method of grasping the semi-finished component can be adapted according to actual needs, and this application does not limit it. For example, the grasping can be performed by negative pressure adsorption of the terminal 3 of the semi-finished component.

[0027] The light source 13 is set on the table of the machine tool 11 and is used to illuminate the semi-finished device.

[0028] Camera 14 is mounted on the table of machine 11 and is used to capture images of the various semi-finished components to be inspected. Camera 14 may employ a 20-megapixel lens with a 75mm focal length, its field of view (i.e., the size of the captured image) is 110mm*74mm, and its single-pixel accuracy reaches 0.02mm / pixel. Camera 14 is triggered by software based on the central processing unit 15, and the communication between camera 14 and central processing unit 15 can be I / O (input / output) communication.

[0029] The central processing unit 15 can be housed within the chassis 111 of the machine tool 11, and is used to analyze the images captured by the camera 14 to perform inspection on the semi-finished components. In a real-world scenario, the robotic arm 12, the light source 13, and the camera 14 can all be electrically connected to the central processing unit 15 and perform their respective operations under the control of the central processing unit 15.

[0030] In step S11, the table surface of the machine tool 11 can be provided with a loading area 11a. Several semi-finished components to be tested can be loaded into a loading fixture and placed in the loading area 11a. In actual scenarios, the loading fixture can load up to 48 semi-finished components. Then, the testing device 100 can automatically move the loading fixture along the first direction x (i.e., Figure 1The components (shown in the right direction) are transported to the robotic arm picking area 11b directly in front of the camera 14; then, the robotic arm 12 rotates to the robotic arm picking area 11b and picks up several semi-finished components to be inspected from the material-carrying fixture. In one example, before picking, the robotic arm 12 may be fitted with a smoothing fixture and use the smoothing fixture to perform a smoothing action on the semi-finished components to flatten them to be approximately on the same plane, for example, to flatten the terminals 3 of the semi-finished components to be on the same horizontal plane, improving the state of the coil 2.

[0031] In step S12, after the smoothing action is completed, the robotic arm 12 will grab several semi-finished components and rotate them to be directly above the camera 14, and then keep them stationary. The semi-finished components will be illuminated by the light source 13. For example, the light source 13 may include a first strip light source 131 and a second strip light source 132 arranged on both sides of the camera 14 along the first direction x. The two are combined to form a light path at a specific angle, so that the light converges on the semi-finished components to be photographed. At the same time, the camera 14 photographs each semi-finished component loaded on the material carrier fixture to obtain an image of each semi-finished component. The shooting cycle of the camera 14 can be 500 milliseconds / material carrier fixture. The combined lighting of the first strip light source 131 and the second strip light source 132 can make the features of the coil 2 more prominent. Optionally, either the first strip light source 131 or the second strip light source 132 can adjust its own light path to adjust the light path after the combined lighting. In addition, the smoothing fixture mounted on the robotic arm 12 can be equipped with a dark striped plate to increase the color difference contrast when photographing the features of the coil 2, making the features in the image more accurate.

[0032] The camera 14 is connected to the central processing unit 15 and transmits the captured images to the central processing unit 15. The central processing unit 15 loads the images into its installed vision software. The vision software can perform preset processing on the images of each semi-finished device, such as binarization processing, noise processing, and edge enhancement processing, to make the image after preset processing have a clearer imaging quality. All subsequent detection steps based on the image are based on the image after preset processing.

[0033] In step S13, the presence of a coil outline and whether center localization can be performed in the image are detected to determine whether coil 2 exists in the image. For example, the outline of coil 2 in various forms can be pre-acquired by AI, and then AI identifies the outlines of each structural element in the image and compares them with the pre-acquired outline of coil 2 to determine whether a coil outline exists. The center localization method can be to first identify the outlines of each structural element in the image, then identify the circular or near-circular outlines, and then use a center localization algorithm to locate the center of the outline. The principle and process of the center localization algorithm can be found in existing technologies. If the coil outline is not identified or the center is not located, such as Figure 7 As shown, this indicates that coil 2 does not exist, and the corresponding semi-finished component is deemed unqualified; if a coil outline exists and is located at the center, as shown... Figure 2 As shown, this indicates the presence of coil 2, and step S14 is executed.

[0034] In step S14, the outline of a preset portion of the coil 2 in the image can be obtained. This preset portion includes the area where the lead end 20, where the coil 2 is welded to the terminal 3, is located. Then, based on the outline of the preset portion, it is detected whether the lead end 20 is located above or below the coil 2 to perform the forward / reverse detection of the coil 2. Combined with... Figure 2 As shown, when the semi-finished device is directly above the camera 14, the image captured by the camera 14 is an image of the semi-finished device from a low-angle view. Therefore, the relative positions of the lead end 20 and the coil 2 in the image are opposite to their actual relative positions within the semi-finished device. For example, in... Figure 2 In the image shown, the left lead end 20 is below the coil 2, and the right lead end 20 is above the coil 2. However, in the actual semi-finished device, the left lead end 20 is above the coil 2, and the right lead end 20 is below the coil 2. Therefore, this example can perform the forward and reverse detection of the coil 2 by photographing the relative positions of the lead end 20 and the coil 2.

[0035] In one example, the preset portion can be selected as Figure 2 The right half of the image shown, i.e. Figure 2The area selected by the dashed line is used as the preset part. If the lead end 20 of coil 2 extending from the right side is detected above coil 2, it indicates that in the actual semi-finished device, the lead end 20 on that side is below coil 2. Therefore, the result of the forward / reverse detection is correct, conforming to the product design. Then, step S15 is executed to perform coil tilt detection. If the lead end 20 of coil 2 extending from the right side is detected below coil 2 in the image, it indicates that in the actual semi-finished device, the lead end 20 on that side is above coil 2. The result of the forward / reverse detection is reversed, and the corresponding semi-finished device is determined to be unqualified. Of course, other examples can also be selected. Figure 2 The left half of the image shown is used as the preset part, and the principle of performing positive and negative detection can be found in the foregoing.

[0036] In step S15, the tilt detection refers to whether the tilt degree of coil 2 meets the requirements. The tilt degree can be understood as the tilt angle of the central axis of coil 2 relative to the plane where terminal 3 is located. When the tilt angle of coil 2 is zero, the central axis of coil 2 is parallel to the second direction y. At this time, the orthographic projection of the cylindrical area formed by coil 2 (i.e., the image captured by camera 14) is circular. When coil 2 is tilted, there is a non-zero angle between the central axis of coil 2 and the second direction y, and camera 14 can capture the image of the side of coil 2. The orthographic projection of the cylindrical area formed by coil 2 is elliptical. The larger the tilt angle of coil 2, the smaller the minor radius of the ellipse, the larger the area exposed on the side of coil 2, and the larger the image of coil 2 in the image. If the tilt degree of coil 2 is large, it is determined that the tilt detection has failed; if the tilt degree is small, it is determined that the tilt detection has passed.

[0037] In one example, the tilt angle of coil 2 can be determined first by similarity detection to see if it is greater than a first threshold. For example, if the tilt angle is greater than 40° (i.e., the first threshold is 40°), the vision software can directly identify it through AI similarity matching and directly determine that the tilt detection has failed. It should be understood that other examples can also set the first threshold to other values ​​such as 30°. Then, when the tilt angle of coil 2 is less than the first threshold, the tilt angle of coil 2 is detected to see if it is greater than a second threshold. The second threshold is less than the first threshold, and the tilt detection is performed in this way. When the tilt angle of coil 2 is greater than the first threshold or the tilt angle of coil 2 is greater than the second threshold, it indicates that the tilt angle of coil 2 is large, and the tilt detection is determined to have failed. When the tilt angle of coil 2 is less than the second threshold, the tilt detection is determined to have passed.

[0038] When coil 2 is tilted, coil 2 is in Figure 2 In the orthographic projection image shown, it will be displayed as an ellipse, such as Figure 8As shown, the tilt of coil 2 can be detected as greater than a second threshold based on the major and minor radii of the ellipse. For example, combined with... Figure 8 As shown, a rectangular coordinate system O is first established in the image, and the intersection point (i.e., the origin) O of the horizontal and vertical coordinate axes can be the center of the ellipse. Then, the radius (i.e., the major radius) R1 and the radius (i.e., the minor radius) R2 of the coil 2 in the image are obtained according to the rectangular coordinate system O. Then, the tilt of the coil 2 is calculated using inverse trigonometric functions based on the horizontal and vertical radii. The specific process and principle of the calculation can be found in the prior art, and will not be elaborated here. Then, the tilt of the coil 2 is compared with a second threshold to detect whether the tilt of the coil 2 is greater than the second threshold.

[0039] If the tilt detection fails, the corresponding semi-finished device is determined to be unqualified. The robotic arm 12 will grab the unqualified semi-finished device and transfer it to the defective product warehouse. For qualified semi-finished devices that pass the tilt detection, the robotic arm 12 will grab them and transport them to the magnetic powder die-casting area to prepare magnets.

[0040] As described above, this application can perform three detection procedures based on the captured images: coil presence / absence, coil orientation / reversal, and tilt. The coil presence / absence detection significantly reduces problems such as mold damage during die-casting of magnets due to missing coils. The coil orientation / reversal detection ensures the coil is positioned correctly within the die-cast magnet, thus guaranteeing magnetic performance and structural reliability. The tilt detection accurately quantifies and ensures the allowance for the magnetic device. The allowance refers to the distance between coil 2 and the surface of the die-cast magnet. Accurate quantification of this allowance ensures the magnetic performance and structural reliability of the magnetic device. In summary, through these three detection procedures, this application can perform online full inspection of the coil state before the die-casting process and respond promptly to process variations. This solves the problems of high inspection costs and low efficiency caused by no inspection during manufacturing, random sampling, or CT inspection after molding, thus improving production efficiency, cost, and timeliness.

[0041] In addition, this application can introduce AI detection into the corresponding inspection process, which can increase the ability to distinguish quality monitoring and on-site improvement actions, that is, improve the detection sensitivity, thereby greatly helping to reduce quality rework and scrap costs and control process quality.

[0042] In practical scenarios, the number of semi-finished devices that can be inspected by the above-mentioned testing device 100 at one time can reach 48 pieces. Through the testing method, this application can ensure that the yield of magnetic devices reaches 95.42%, the false negative rate of coil presence and coil orientation detection can be reduced to 0%, the false negative rate can be reduced to 0.16%, and the false negative rate of tilt detection can be reduced to 0.41% and the false negative rate can be reduced to 1.07%.

[0043] Furthermore, this application allows for adjustment of the number of components inspected at once. For example, by adjusting the field of view of camera 14 and the combined lighting of the first and second strip light sources 131 and 132, the number of semi-finished components inspected at one time can be increased to 24 pieces, and the inspection accuracy can be improved to 0.01 mm / pixel, thereby performing more precise inspections. Of course, other examples can be performed to inspect different numbers of semi-finished components at once, depending on the model of the product being inspected and the inspection requirements, thereby performing inspections with even higher precision.

[0044] It should be understood that the detection device 100 provided in this application embodiment is a complete device and also has the structure of known detection devices. This document only describes the necessary components required for detection in this device, and other components will not be described in detail. For example, the detection device 100 may also include multiple wheels 16, a display screen, and related wiring harnesses. These wheels 16 are disposed at the bottom of the machine base 11 to allow the operator to move the detection device 100. The wiring harnesses can be used for electrical connections between the robotic arm 12, the light source 13, and the camera 14 and the central processing unit 15, and can also be used to power the central processing unit 15. The display screen can be used to display relevant detection information, including the above-mentioned images. Of course, the display screen can also be a touch screen, used to accept touch commands from the operator to control at least one of the robotic arm 12, the light source 13, the camera 14, and the central processing unit 15 to perform relevant operations.

[0045] Furthermore, the specific form of the shape, quantity, size, and other parameters of any of the following components in the detection device 100—the machine tool 11, the robotic arm 12, the light source 13, the camera 14, and the central processing unit 15—can be determined according to the adaptability required by the actual scenario, and this application does not limit them.

[0046] The detection device 100 and the aforementioned detection method are based on the same concept and have basically the same or similar problem-solving principles. The implementation methods of each protected subject can be referred to each other. Therefore, these two protected subjects have at least the same beneficial effects, and the repeated parts will not be described in detail.

[0047] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. For those skilled in the art, any equivalent structural transformations made using the content of this specification and drawings are similarly included within the patent protection scope of this application.

[0048] In the description of the embodiments of this application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solutions of the corresponding embodiments, and are not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limitations on this application.

[0049] Although this document uses terms such as "first," "second," etc., to describe various types of information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. Furthermore, the singular forms "a," "an," and "the" are intended to also include the plural forms. The terms "or" and "and / or" are interpreted as inclusive, or meaning either one or any combination thereof. Exceptions to this definition only arise when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.

Claims

1. A testing method for testing semi-finished components, the semi-finished components comprising terminals and coils soldered to the terminals, characterized in that, The method includes: Move several semi-finished components to the top of the camera; The semi-finished components are illuminated, and images of each semi-finished component are obtained by taking pictures with a camera. The presence of a coil is detected based on the image. If it does not exist, then the corresponding semi-finished component is determined to be unqualified; If present, the orientation of the coil is detected based on the image; If the result of the forward and reverse testing is reversed, then the corresponding semi-finished component is determined to be unqualified. If the result of the front and back detection is that the coil is upright, then the tilt detection of the coil is performed based on the image. If the tilt test fails, the corresponding semi-finished device is determined to be unqualified. If the tilt detection is passed, the corresponding semi-finished device is determined to be qualified, and the qualified semi-finished device is transported to the magnetic powder die-casting area to prepare the magnet.

2. The method according to claim 1, characterized in that, Before detecting the presence of a coil based on the image, the method further includes: The images of each semi-finished component are pre-processed.

3. The method according to claim 2, characterized in that, The preset processing includes at least one of binarization processing, noise reduction processing, and edge enhancement processing.

4. The method according to claim 1, characterized in that, The step of detecting the presence of a coil based on the image includes: The presence of a coil is determined by detecting whether the image contains a coil outline and whether center positioning can be performed.

5. The method according to claim 1, characterized in that, The step of detecting the orientation of the coil based on the image includes: Obtain the outline of a predetermined portion of the coil in the image, the predetermined portion including the portion where the lead end of the coil is welded to the terminal; The coil's orientation is determined by detecting whether the lead end is located above or below the coil based on the contour of the preset portion.

6. The method according to claim 1, characterized in that, The step of detecting the tilt of the coil based on the image includes: The similarity detection method is used to determine whether the tilt of the coil is greater than a first threshold. When the tilt of the coil is less than a first threshold, it is detected whether the tilt of the coil is greater than a second threshold, wherein the second threshold is less than the first threshold; Specifically, if the tilt of the coil is greater than a first threshold or greater than a second threshold, the tilt detection is determined to have failed; if the tilt of the coil is less than the second threshold, the tilt detection is determined to have passed.

7. The method according to claim 6, characterized in that, The step of detecting whether the tilt of the coil is greater than the second threshold includes: Establish a Cartesian coordinate system in the image; The horizontal and vertical radii of the coil in the image are obtained using the Cartesian coordinate system. The inclination of the coil is calculated using inverse trigonometric functions based on the horizontal and vertical radii. The tilt of the coil is compared with a second threshold.

8. The method according to claim 6 or 7, characterized in that, The first threshold is 40°.

9. A detection device, characterized in that, include: Machine tool; A robotic arm is used to move semi-finished components placed on the machine platform; A light source, mounted on the machine platform, is used to illuminate the semi-finished device; A camera, mounted on the machine platform, is used to capture images of each semi-finished component. A central processing unit is configured to perform the detection method as described in any one of claims 1 to 8 on the images captured by the camera.

10. The detection device according to claim 9, characterized in that, The light source includes a first strip light source and a second strip light source disposed on both sides of the camera.

Images