E buckle detection method and detection equipment

Abstract

The invention discloses an E buckle detection method and detection device.The method comprises the following steps of detection device providing, stamping test, image source obtaining, BLOB analysis, point-to-point measurement, condition detection, branch simulation and output image detection structure, stamping test can be conducted on a radiator firstly, so that an E buckle can be completely clamped into a stud or completely withdrawn from meshing, and then the radiator can be directly subjected to the stamping test; and the unstable meshing state of semi-buckle connection is avoided, the E buckle assembly condition of each workpiece is automatically judged in combination with a visual detection method and is filed and reserved, and manual detection is avoided.

Description

Technical Field

[0001] This invention relates to the field of radiator quality inspection equipment technology, and in particular to a method and equipment for detecting E-rings. Background Technology

[0002] In the current radiator production workshop, after the E-clamp is installed, it is still necessary to manually assemble and inspect the E-clamp. Radiators with E-clamps that are not properly installed are either reworked immediately or transferred to the defective products station.

[0003] like Figure 1 As shown, a radiator 9 includes a top cover 91 and multiple fins. The fins are stacked on the top cover 91. The top cover 91 has four perforations 90 at its four corners. Each perforation 90 is fitted with a spring-loaded mechanism. The spring-loaded mechanism includes a spring-loaded rod 92, a compression spring 93, a washer 94, a connecting sleeve 95, and an E-clip 96. One end of the spring-loaded rod has a groove 921. During assembly, firstly, the compression spring 93, washer 94, and connecting sleeve 95 are sequentially fitted onto the spring-loaded rod 92. Then, the connecting sleeve 95 is inserted into the perforation 90. One end of the spring-loaded rod 92 passes through the connecting sleeve and the perforation 90, extending to the other side of the top cover 91. Finally, the E-clip 96 is engaged with the groove 921 of the spring-loaded rod 92 to complete the assembly of the spring-loaded mechanism.

[0004] In the existing technology, the inspection of radiators with elastic push rod mechanisms is carried out manually. After the radiator with elastic push rod mechanism is assembled, it needs to be transferred to the next inspection station for manual inspection, which is very time-consuming and the accuracy of manual inspection is difficult to guarantee. Therefore, it is necessary to improve it. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a detection method and equipment for E-rings.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a method and equipment for detecting E-rings, comprising the following steps:

[0007] 1) Provide testing equipment, which includes a PLC controller, a stamping device, a testing fixture, a camera robot, and a vision inspection system. The camera robot and the vision inspection system are respectively connected to the PLC controller. The vision inspection system includes an image acquisition module, a Blob analysis module, a point measurement module, and a target output module. The image acquisition module is located at the end of the camera robot.

[0008] 2) Stamping test: The test fixture is moved to the bottom of the stamping device, which has a downward reciprocating striking block that impacts the top cover 91 at least 3 times.

[0009] 3) Image source acquisition: After the inspection fixture is removed from the stamping device and transferred to a preset position, the image acquisition module of the camera robot moves to directly above the inspection fixture to acquire the original vertical image of the workpiece to be tested.

[0010] 4) BLOB analysis: The Blob analysis module is used to perform BLOB analysis on the workpiece image to obtain a circle equation 1 representing the outer contour of the E-ring and a circle equation 2 representing the outer contour of the stud.

[0011] 5) Point-to-point measurement: The point-to-point measurement module combines the calculations of circle equation one and circle equation two to obtain the center distance d between the fitted circle of E-shaped loop and the fitted circle of stud.

[0012] 6) Conditional detection: When the center distance d is less than 0.3mm, the point measurement module outputs an electrical signal indicating that the detection result is qualified to the target output module; when the center distance d is greater than 0.3mm, the point measurement module outputs an electrical signal indicating that the detection result is unqualified to the target output module.

[0013] 7) Branch simulation: The target output module simulates and displays the fitted circle of E-button and the fitted circle of stud according to the first circle equation and the second circle equation, respectively, to obtain the first simulation diagram representing the profile of E-button and the second simulation diagram representing the profile of stud.

[0014] 8) Output image detection structure: The target output module is equipped with a display screen. After receiving a qualified electrical signal, the target output module displays "OK" on the display screen; after receiving a non-qualified electrical signal, the target output module displays "NG" on the display screen; at the same time, the display screen also displays the first and second simulation images with detection data in this detection cycle.

[0015] In a further technical solution, step 3) of obtaining the image source also includes the following sub-steps:

[0016] 3.1) When the start button is pressed, the camera robot receives the D01test signal, moves to a safe point, and waits to open the SOCKET to communicate with the image acquisition module via TCP.

[0017] 3.2) The camera robot moves from the safety point to directly above the E-position to be inspected;

[0018] 3.3) The camera robot sends "1" to the image acquisition module through the established SOCKET to trigger the image acquisition module to take a picture.

[0019] 3.4) After each photo is taken, the camera robot receives the detection results from the image acquisition module via a SOCKET:

[0020] If the received result is "1", then record the result in the log and count the good products;

[0021] If the received result is E minus NG, then record the result in the log and count the defective products.

[0022] In a further technical solution, step 4) of the BLOB analysis also includes the following sub-steps:

[0023] 4.1) Morphological processing: The Blob analysis module is used to increase the black and white contrast of the workpiece image to segment the E-button feature and stud feature of the workpiece image.

[0024] 4.2) High-precision processing: Thresholding is performed on the workpiece image to be tested through the Blob analysis module, including: setting the threshold mode to "single threshold"; setting the polarity to "brighter than background"; setting the low threshold to "92-97"; setting the number of lookups to "100"; setting the fill area threshold to "0"; setting the area enable switch to "on" and setting the minimum value of the area range to 10 and the maximum value to 9999; setting the contour output enable switch to "off".

[0025] 4.3) Position Correction: Move the workpiece image to be tested so that the E-ring feature and stud feature in the workpiece image fall into the corresponding E-ring outer contour caliper and stud outer contour caliper, respectively. The E-ring outer contour caliper is composed of multiple fan-shaped mappings I arranged along the same circular trajectory at intervals along the circumferential direction; the stud outer contour caliper is composed of multiple fan-shaped mappings II arranged along the same circular trajectory at intervals along the circumferential direction. The corrected workpiece image meets the following conditions: the outer contour of the E-ring feature is located in each fan-shaped mapping I; the outer contour of the stud feature in the workpiece image is located in each fan-shaped mapping II, so as to collect the edge pixels of multiple E-ring features and stud features respectively.

[0026] 4.4) Generate fitted circles. The edge pixel sets of the collected E-button features and the edge pixel sets of the stud features are fitted by the least squares method to obtain circle equation one and circle equation two, respectively.

[0027] In a further technical solution, step 4.3) of the position correction step also includes the following setting steps: setting the inner radius of sector mapping one to 2.5mm-3.0mm and the outer radius to 4.5mm-5.5mm; setting the inner radius of sector mapping two to 1.8mm-2.3mm and the outer radius to 2.5mm-3.0mm.

[0028] In a further technical solution, in 4.4) generating the fitted circle, the first circle equation and the second circle equation are obtained by fitting using the least squares method, including the following steps:

[0029] Step 1, Understanding the Objective: The objective is to minimize the sum of squared distances from the edge pixel set of all sampled E-cut features or stud features to the E-cut fitted circle, i.e., to minimize the objective function:

[0030]

[0031] Where (a, b) are the coordinates of the center of the E-loop fitting circle or the stud fitting circle, and r is the radius of the E-loop fitting circle or the stud fitting circle. i y i ) is the coordinate of the edge pixel of the i-th E-clasp feature or stud feature, and N is the total number of edge pixels of the E-clasp feature or stud feature;

[0032] Step 2, Linearization Process: The problem is transformed into a linear optimization problem using the Taubin method, as follows:

[0033] ① The equation of the expanded circle is:

[0034]

[0035] After unfolding, we get:

[0036]

[0037] Sorted as:

[0038] (1)

[0039] ② Introduce auxiliary variable c for linearization

[0040] make Then equation (1) can be written as:

[0041] (2)

[0042] This is a linear equation, in the form of:

[0043] A +B +C= +

[0044] Where A=2a, B=2b, C=c

[0045] ③ Construct a system of linear equations

[0046] For the edge pixels (x) of N E-clasp features or stud features i y i We can write equation (2) as a least squares problem in array form:

[0047]

[0048] Notation:

[0049] X·θ=b

[0050] Where X is an N×3 design matrix, and each row is... ;

[0051] θ= It is a parameter vector with a ball;

[0052] b is an N×1 observation vector, and each element is: .

[0053] ④ Solve using the least squares method

[0054] The core of the least squares method is to minimize the sum of squared residuals:

[0055]

[0056] Its analytical solution is:

[0057]

[0058] That is, a, b, c can be solved directly through matrix operations.

[0059] ⑤ Calculate the radius r of the E-button feature or stud feature.

[0060] Depend on Solve for r:

[0061] r=

[0062] Step 3: Summarize the process

[0063] ① Input: A set of edge pixels for E-tuck features or stud features.

[0064] .

[0065] ② Constructing the matrix: Construct the design matrix X and the observation vector b.

[0066] ③ Least multiplication solution: Calculate

[0067] We get a, b, c.

[0068] ④ Calculate the radius of the fitted circle E: from r = Obtain the radius of the circle.

[0069] ⑤ Output: E represents either the first or second equation of the fitted circle.

[0070]

[0071] In a further technical solution, in step 5) of point-to-point measurement, the distance d between the center of the circle is obtained by combining the calculations of equation one and equation two.

[0072] Let the coordinates of the center of the circle in equation one be ( , The coordinates of the center of the circle in equation two are ( , ),

[0073] According to the formula for calculating the distance between two points in a plane

[0074] It can be seen that the distance between the centers is d = .

[0075] In a further technical solution, the testing equipment includes a stamping device, two testing fixtures, and a position switching drive device. The position switching drive device includes a linear electric cylinder with a linear drive base. A switching base plate is mounted on the top of the linear drive base, and the two testing fixtures are respectively located on both sides of the switching base plate. The stamping device is located in the middle of the linear electric cylinder. Under the driving action of the linear electric cylinder, the two testing fixtures move alternately to the bottom of the stamping device to achieve alternating stamping test coordination.

[0076] In a further technical solution, two detection fixtures are each provided with a preset position, and the camera robot moves alternately to the preset positions on both sides to acquire image sources from the two preset positions.

[0077] The advantages of this invention compared to the prior art after adopting the above structure are:

[0078] 1. By integrating the stamping testing mechanism and the visual inspection mechanism, the assembly quality of the E-button is automatically detected without human intervention. This avoids the problems of low efficiency, high labor intensity, and susceptibility to subjective factors in traditional manual inspection methods, significantly improving inspection efficiency and meeting the needs of modern production lines for high-speed and high-precision inspection.

[0079] 2. Through the visual inspection system, combined with the Blob analysis module, circle search module, and point measurement module, high-precision image processing and measurement of the fitted circle of the E-ring and stud are achieved. The inspection results are stable and have good repeatability, effectively avoiding the problems of false detection or missed detection caused by visual fatigue and inconsistent judgment standards in manual inspection, thus improving the consistency and reliability of the inspection.

[0080] 3. It reduces reliance on manual labor in the quality inspection process, lowers labor costs, and effectively avoids the risk of defective products flowing into the next process due to human inspection errors, thereby improving the overall production yield and product quality control level. Attached Figure Description

[0081] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0082] Figure 1 This is a schematic diagram of the workpiece to be tested in this invention, which is equipped with a heat sink with an E-shaped clip.

[0083] Figure 2 This is a schematic diagram of the detection device in this invention.

[0084] Figure 3 This is a flowchart of the present invention.

[0085] Figure 4 This is a thresholding setting diagram for high-precision processing in the Blob analysis step of this invention.

[0086] Figure 5 This is a schematic diagram of the position correction step in this invention.

[0087] Figure 6 This is the first simulation diagram in the branch simulation step of this invention.

[0088] Figure 7 This is the second simulation diagram in the branch simulation step of this invention. Detailed Implementation

[0089] The following are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

[0090] like Figures 2 to 7 As shown, a method and equipment for detecting E-rings are characterized by comprising the following steps:

[0091] 1) Provide testing equipment 1, which includes a PLC controller, a stamping device 2, a testing fixture 21, a camera robot 3, and a vision inspection system. The camera robot and the vision inspection system are respectively connected to the PLC controller. The vision inspection system includes an image acquisition module 4, a Blob analysis module, a point measurement module, and a target output module. The image acquisition module is located at the end of the camera robot.

[0092] 2) Stamping test: The test fixture 21 is moved to the bottom of the stamping device 2. The stamping device 2 has a downward reciprocating striking block that impacts the top cover 91 at least 3 times.

[0093] 3) Image source acquisition: After the inspection fixture 21 is detached from the stamping device 2 and transferred to a preset position, the image acquisition module 4 of the camera robot 3 moves to directly above the inspection fixture 21 to acquire the original vertical image of the workpiece to be tested; the image source acquisition step also includes the following sub-steps:

[0094] 3.1) When the start button is pressed, the camera robot 3 receives the D01test signal, moves to a safe point, and waits to open the SOCKET to communicate with the image acquisition module 4 via TCP.

[0095] 3.2) Camera robot 3 moves from the safety point to directly above the E-position to be detected;

[0096] 3.3) The camera robot 3 sends "1" to the image acquisition module 4 through the established SOCKET to trigger the image acquisition module 4 to take a picture.

[0097] 3.4) After each photo is taken, the camera robot 3 receives the detection results from the image acquisition module via a SOCKET:

[0098] If the received result is "1", then record the result in the log and count the good products;

[0099] If the received result is E minus NG, then record the result in the log and count the defective products.

[0100] 4) BLOB analysis: The Blob analysis module performs BLOB analysis on the workpiece image to obtain two circle equations: one for the E-ring's outer contour and another for the stud's outer contour. The BLOB analysis process also includes the following sub-steps:

[0101] 4.1) Morphological processing: The Blob analysis module is used to increase the black and white contrast of the workpiece image to segment the E-button feature and stud feature of the workpiece image.

[0102] 4.2) High-precision processing: Thresholding is performed on the workpiece image to be tested through the Blob analysis module, including: setting the threshold mode to "single threshold"; setting the polarity to "brighter than background"; setting the low threshold to "92-97"; setting the number of lookups to "100"; setting the fill area threshold to "0"; setting the area enable switch to "on" and setting the minimum value of the area range to 10 and the maximum value to 9999; setting the contour output enable switch to "off".

[0103] 4.3) Position Correction: Move the workpiece image to be measured so that the E-ring features and stud features in the workpiece image fall into the corresponding E-ring outer contour calipers and stud outer contour calipers, respectively. The E-ring outer contour calipers are composed of multiple fan-shaped mappings (I) spaced along the same circular trajectory, arranged circumferentially. The stud outer contour calipers are composed of multiple fan-shaped mappings (II) spaced along the same circular trajectory, arranged circumferentially. This ensures that the corrected workpiece image meets the following conditions: the outer contour of the E-ring feature is within each fan-shaped mapping (I); the outer contour of the stud feature is within each fan-shaped mapping (II), allowing for the acquisition of multiple edge pixels of the E-ring and stud features. The position correction step also includes a caliper working parameter setting step, setting the inner radius of fan-shaped mapping (I) to 2.7mm and the outer radius to 5mm; and the inner radius of fan-shaped mapping (II) to 2.05mm and the outer radius to 2.75mm.

[0104] 4.4) Generate fitted circles. The edge pixel sets of the collected E-button features and the edge pixel sets of the stud features are fitted by the least squares method to obtain circle equation one and circle equation two, respectively.

[0105] 5) Point-to-point measurement: The point-to-point measurement module combines the calculations of circle equation one and circle equation two to obtain the center distance d between the fitted circle of E-shaped loop and the fitted circle of stud.

[0106] Let the coordinates of the center of the circle in equation one be ( , The coordinates of the center of the circle in equation two are ( , ),

[0107] According to the formula for calculating the distance between two points in a plane

[0108] It can be seen that the distance between the centers is d = .

[0109] 6) Conditional detection: When the center distance d is less than 0.3mm, the point measurement module outputs an electrical signal indicating that the detection result is qualified to the target output module; when the center distance d is greater than 0.3mm, the point measurement module outputs an electrical signal indicating that the detection result is unqualified to the target output module.

[0110] 7) Branch simulation: The target output module simulates and displays the E-shaped fitting circle and the stud fitting circle according to the first circle equation and the second circle equation, respectively, to obtain the first simulation diagram and the second simulation diagram;

[0111] 8) Output image detection structure: The target output module is equipped with a display screen. After receiving a qualified electrical signal, the target output module displays "OK" on the display screen; after receiving a non-qualified electrical signal, the target output module displays "NG" on the display screen; at the same time, the display screen also displays the first and second simulation images with detection data in this detection cycle.

[0112] In the step of generating the fitted circle, the first circle equation is obtained by fitting using the least squares method, including the following steps:

[0113] Step 1, Understanding the Objective: The objective is to minimize the sum of squared distances from the set of edge pixels of all sampled E-cut features to the fitted circle of E-cut, i.e., to minimize the objective function:

[0114]

[0115] Where (a, b) are the coordinates of the center of the fitted circle of E, r is the radius of the fitted circle of E, and (x i y i ) is the coordinate of the edge pixel of the i-th E-tuck feature, and N is the total number of edge pixels of the E-tuck feature.

[0116] Step 2, Linearization Process: The Taubin method is used to transform it into a linear optimization problem. The steps are as follows:

[0117] ① The equation of the expanded circle is:

[0118]

[0119] After unfolding, we get:

[0120]

[0121] Sorted as:

[0122] (1)

[0123] ② Introduce auxiliary variable c for linearization

[0124] make Then equation (1) can be written as:

[0125] (2)

[0126] This is a linear equation, in the form of:

[0127] A +B +C= +

[0128] Where A=2a, B=2b, C=c

[0129] ③ Construct a system of linear equations

[0130] For the edge pixels of N E-tuck features (x i y i We can write equation (2) as a least squares problem in array form:

[0131]

[0132] Notation:

[0133] X·θ=b

[0134] Where X is an N×3 design matrix, and each row is... ;

[0135] θ= It is a parameter vector with a ball;

[0136] b is an N×1 observation vector, and each element is: .

[0137] ④ Solve using the least squares method

[0138] The core of the least squares method is to minimize the sum of squared residuals:

[0139]

[0140] Its analytical solution is:

[0141]

[0142] That is, a, b, c can be solved directly through matrix operations.

[0143] ⑤ Calculate the radius r of the fitted circle E.

[0144] Depend on Solve for r:

[0145] r=

[0146] Step 3: Summarize the process

[0147] ① Input: The set of edge pixels of the E-tuck feature

[0148] .

[0149] ② Constructing the matrix: Construct the design matrix X and the observation vector b.

[0150] ③ Least multiplication solution: Calculate

[0151] We get a, b, c.

[0152] ④ Calculate the radius of the fitted circle E: from r = Obtain the radius of the circle.

[0153] ⑤ Output: Equation of the fitted circle (E)

[0154]

[0155] Similarly, the above calculation steps can be used to obtain the second circle equation representing the fitted circle of the stud.

[0156] Substitute the coordinates of the center of the circle from equation one and equation two into the formula.

[0157] Distance between the centers d=

[0158] The calculated center distance d is used to determine whether the E-ring assembly is qualified.

[0159] This detection method has the following advantages:

[0160] 1. By integrating the visual inspection of E-rings with workpiece fixtures, automatic inspection of E-ring assembly quality is achieved without manual intervention. This avoids the problems of low efficiency, high labor intensity, and susceptibility to subjective factors in traditional manual inspection methods, significantly improving inspection efficiency and meeting the needs of modern production lines for high-speed and high-precision inspection.

[0161] 2. By using a target detection platform based on a visual quality perception model, combined with a Blob analysis module, a circle search module, and a point measurement module, high-precision image processing and measurement of the fitted circle of the E-ring and stud are achieved. The detection results are stable and have good repeatability, effectively avoiding the problems of false detection or missed detection caused by visual fatigue and inconsistent judgment standards in manual detection, thus improving the consistency and reliability of detection.

[0162] 3. It reduces reliance on manual labor in the quality inspection process, lowers labor costs, and effectively avoids the risk of defective products flowing into the next process due to human inspection errors, thereby improving the overall production yield and product quality control level.

[0163] 4. Adding a stamping test to the testing procedure allows the E-ring to be fully engaged with the stud, or completely disengaged, avoiding unstable engagement in a semi-clamped connection and further improving the accuracy of the test.

[0164] Specifically, the testing equipment includes a stamping device 2, two testing fixtures 21, and a position switching drive device 20. The position switching drive device includes a linear electric cylinder with a linear drive base. A switching base plate is installed on the top of the linear drive base, and the two testing fixtures are respectively located on both sides of the switching base plate. The stamping device is located in the middle of the linear electric cylinder. Under the driving action of the linear electric cylinder, the two testing fixtures move alternately to the bottom of the stamping device to achieve alternating stamping test coordination.

[0165] Specifically, each of the two detection fixtures 21 is provided with a preset position, and the camera robot 3 moves alternately to the preset positions on both sides to cooperate in acquiring image sources from the two preset positions.

[0166] The design of the dual inspection fixture 21 enables simultaneous visual inspection and stamping testing, further improving the inspection efficiency of the equipment.

[0167] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method and equipment for detecting E-rings, characterized in that, Includes the following steps: 1) Provide testing equipment (1), which includes a PLC controller, a stamping device (2), a testing fixture (21), a camera robot (3) and a vision inspection system. The camera robot and the vision inspection system are respectively connected to the PLC controller. The vision inspection system includes an image acquisition module (4), a Blob analysis module, a point measurement module and a target output module. The image acquisition module is located at the end of the camera robot. 2) Stamping test, the test fixture (21) is moved to the bottom of the stamping device (2), the stamping device (2) has a downward reciprocating striking block, the striking block impacts the top cover 91, the number of impacts is at least 3. 3) Image source acquisition: After the inspection fixture (21) is removed from the stamping device (2) and transferred to a preset position, the image acquisition module (4) of the camera robot (3) moves to the top of the inspection fixture (21) to acquire the original vertical image of the workpiece to be tested. 4) BLOB analysis: The Blob analysis module performs BLOB analysis on the workpiece image to obtain two equations: one for the fitted circle representing the outer contour of the E-ring and another for the fitted circle representing the outer contour of the stud. Based on equation one, the coordinates of the center of the outer contour of the E-ring are calculated as follows: , According to the second equation of the circle, the coordinates of the center of the circle are ( , ); 5) Point-to-point measurement: The point-to-point measurement module calculates the center distance d between the fitted circle of the E-shaped loop and the fitted circle of the stud. The center distance d = ; 6) Conditional detection: When the center distance d is less than 0.3mm, the point measurement module outputs an electrical signal indicating that the detection result is qualified to the target output module; when the center distance d is greater than 0.3mm, the point measurement module outputs an electrical signal indicating that the detection result is unqualified to the target output module. 7) Branch simulation: The target output module simulates and displays the E-shaped fitting circle and the stud fitting circle according to the first circle equation and the second circle equation, respectively, to obtain the first simulation diagram and the second simulation diagram; 8) Output image detection structure: The target output module is equipped with a display screen. After receiving a qualified electrical signal, the target output module displays "OK" on the display screen; after receiving a non-qualified electrical signal, the target output module displays "NG" on the display screen; at the same time, the display screen also displays the first and second simulation images with detection data in this detection cycle.

2. The detection method and detection equipment for an E-ring according to claim 1, characterized in that: The image source acquisition step (3) further includes the following sub-steps: 3.1) When the camera robot (3) presses the start button, it receives the D01test signal, moves to a safe point, and waits to open the SOCKET to communicate with the image acquisition module (4) via TCP. 3.2) The camera robot (3) moves from the safety point to directly above the E-position to be detected; 3.3) The camera robot (3) sends "1" to the image acquisition module (4) through the established SOCKET to trigger the image acquisition module (4) to take a picture. 3.4) After each photo is taken, the camera robot (3) receives the detection results fed back by the image acquisition module via SOCKET: If the received result is "1", then record the result in the log and count the good products; If the received result is E minus NG, then record the result in the log and count the defective products.

3. The detection method and detection equipment for an E-ring according to claim 1, characterized in that: The BLOB analysis step described in section 4) also includes the following sub-steps: 4.1) Morphological processing: The Blob analysis module is used to increase the black and white contrast of the workpiece image to be tested, so as to segment the E-button feature and stud feature of the workpiece image to be tested. 4.2) High-precision processing: The Blob analysis module performs thresholding on the workpiece image to be tested, including: setting the threshold mode to "single threshold"; setting the polarity to "brighter than background"; setting the low threshold to "92-97"; setting the number of lookups to "100"; setting the fill area threshold to "0"; setting the area enable switch to "on" and setting the minimum value of the area range to 10 and the maximum value to 9999; setting the contour output enable switch to "off". 4.3) Position Correction: Move the workpiece image to be tested so that the E-ring feature and stud feature in the workpiece image fall into the corresponding E-ring outer contour caliper and stud outer contour caliper, respectively. The E-ring outer contour caliper is composed of multiple fan-shaped mappings I arranged along the same circular trajectory at intervals along the circumferential direction; the stud outer contour caliper is composed of multiple fan-shaped mappings II arranged along the same circular trajectory at intervals along the circumferential direction. The corrected workpiece image meets the following conditions: the outer contour of the E-ring feature is located in each fan-shaped mapping I; the outer contour of the stud feature in the workpiece image is located in each fan-shaped mapping II, so as to collect the edge pixels of multiple E-ring features and stud features respectively. 4.4) Generate a fitted circle. The edge pixel set of the collected E-button feature and the edge pixel set of the stud feature are fitted by the least squares method to obtain the first circle equation and the second circle equation.

4. The detection method and detection equipment for an E-ring according to claim 3, characterized in that: The position correction step in step 4.3) further includes the following setting step: setting the inner radius of the first sector mapping to 2.5mm-3.0mm and the outer radius to 4.5mm-5.5mm; setting the inner radius of the second sector mapping to 1.8mm-2.3mm and the outer radius to 2.5mm-3.0mm.

5. The detection method and detection equipment for an E-ring according to claim 3, characterized in that: In section 4.4), generating the fitted circle involves obtaining circle equation one and circle equation two using the least squares method, including the following steps: Step 1, Understanding the Objective: The objective is to minimize the sum of squared distances from the edge pixel set of all sampled E-cut features or stud features to the E-cut fitted circle, i.e., to minimize the objective function: Where (a, b) are the coordinates of the center of the E-loop fitting circle or the stud fitting circle, and r is the radius of the E-loop fitting circle or the stud fitting circle. i y i ) is the coordinate of the edge pixel of the i-th E-clasp feature or stud feature, and N is the total number of edge pixels of the E-clasp feature or stud feature; Step 2, Linearization Process: The problem is transformed into a linear optimization problem using the Taubin method, as follows: ① The equation of the expanded circle is: After unfolding, we get: Sorted as: （1） ② Introduce auxiliary variable c for linearization make Then equation (1) can be written as: （2） This is a linear equation, in the form of: A +B +C= + Where A=2a, B=2b, C=c ③ Construct a system of linear equations For the edge pixels (x) of N E-clasp features or stud features i y i We can write equation (2) as a least squares problem in array form: Notation: X·θ=b Where X is an N×3 design matrix, and each row is... ; θ= It is a parameter vector with a ball; b is an N×1 observation vector, and each element is: . ④ Solve using the least squares method The core of the least squares method is to minimize the sum of squared residuals: Its analytical solution is: That is, a, b, c can be solved directly through matrix operations. ⑤ Calculate the radius r of the E-button feature or stud feature. Depend on Solve for r: r= Step 3: Summarize the process ① Input: A set of edge pixels for E-tuck features or stud features. 。 ② Constructing the matrix: Construct the design matrix X and the observation vector b. ③ Least multiplication solution: Calculate We get a, b, c. ④ Calculate the radius of the fitted circle E: from r = Obtain the radius of the circle. ⑤ Output: E represents either the first or second equation of the fitted circle.

6. The detection method and detection equipment for an E-ring according to claim 1, characterized in that: The testing equipment includes a stamping device (2), two testing fixtures (21), and a position switching drive device (20). The position switching drive device includes a linear electric cylinder with a linear drive seat. A switching base plate is installed on the top of the linear drive seat. The two testing fixtures are respectively located on both sides of the switching base plate. The stamping device is located in the middle of the linear electric cylinder. The two testing fixtures are alternately moved to the bottom of the stamping device under the driving action of the linear electric cylinder to achieve alternating stamping test coordination.

7. The detection method and detection equipment for an E-ring according to claim 6, characterized in that: The two detection fixtures are each provided with a preset position. The camera robot moves alternately to the preset positions on both sides and performs image source acquisition at the two preset positions.

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