Visual detection device and method for brush wires of conductive slip ring

Abstract

The invention provides a conductive slip ring brush wire visual detection device and method, and the method is characterized in that a linear sliding table is used for installing brush wires, and can drive the brush wires to sequentially move to an overlook shooting site of an overlook shooting module and a lateral shooting site of a lateral shooting module; the overlook shooting end of the overlook shooting module is located above the linear sliding table and can carry out overlook shooting on the brush wires; a reference line of the overlook visual inspection reference module is located below the overlook shooting end and provides a shooting reference for the overlook shooting module; the lateral shooting ends of the lateral shooting module are located on the two sides of the linear sliding table and can carry out lateral shooting on the brush wires. The illumination module can provide illumination for shooting of the overlook shooting module and / or the lateral shooting module. The brush wire detection device has the advantages of high detection precision and high automation degree, and brush wires of different sizes can be detected.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of visual detection, in particular to a conductive slip ring brush wire visual detection device and method, and especially to a conductive slip ring brush wire visual detection device with high detection precision, high automation degree and strong size adaptability. BACKGROUND

[0002] In recent years, the life requirement of spacecraft in China has increased significantly, such as the life of near-earth orbit satellite from 2-3 years to 5-8 years, the life of synchronous orbit satellite from 8 years to more than 15 years, and the space station requires service for more than 15 years.

[0003] The conductive slip ring is a key component of satellite and space station, which carries and transmits electric energy and signal, and its quality is directly related to the stability and reliability of the whole. The conductive slip ring is widely used in spacecraft stable turntable, inertial navigation equipment, radar system, weapon launch control system, global positioning system and other fields. The abnormal work of the conductive slip ring will affect the normal transmission of signals and current of the aircraft, cause the power supply disorder of the whole satellite, and even the failure of the whole satellite mission, which is the real "lifeline" of the spacecraft. In the conductive slip ring, the contact condition of the brush wire and the ring groove directly affects the transmission effect of electric energy and signal. Among them, the contact angle of the brush wire-ring groove is the key parameter for high reliable operation of the slip ring. In the bending process of the brush wire, the bending angle of the brush wire is affected by the rebound and other reasons, and it is difficult to control, so it is necessary to measure the bending angle of the brush wire to ensure that it is within a suitable range and meet the precision requirement of the brush wire bending forming.

[0004] According to the literature research, the current measurement of the bending angle of the conductive slip ring brush wire mostly adopts the manual measurement method, which has low measurement precision and efficiency and low automation degree.

[0005] The patent document with patent application number CN201910868252.9 discloses a conductive slip ring brush wire angle forming device, which includes an industrial camera installed on a displacement table through a connecting arm, and can only measure the brush wire on one side, so the measurement direction is limited. The lateral shooting module and the overhead shooting module in the present application are fixed on an optical platform, and the brush wire is shot from multiple angles, and the visual detection algorithm is used to obtain the deflection angle, bending angle, bending height and end position of the brush wire.

[0006] The patent document with the patent application number CN202310417663.2 discloses a conductive slip ring elastic alloy wire forming angle measuring device. The angle measuring device is installed on the right side of the base through screws, and high-precision measurement of the forming angle is realized by using an industrial camera and image processing software. However, the degree of automation is low, and the measurement efficiency is low. The lateral shooting module and the overhead shooting module are installed on both sides and above the linear sliding table. The movement of the linear sliding table is controlled by the control system, and automatic and high-precision measurement of all brush wires is realized. SUMMARY

[0007] In view of the defects in the prior art, the purpose of the present application is to provide a conductive slip ring brush wire visual detection device and method.

[0008] According to the conductive slip ring brush wire visual detection device provided by the present application, the optical platform is provided with a lateral shooting module, an overhead shooting module, an illumination module, a light blocking module, an overhead visual detection reference module and a linear sliding table.

[0009] The linear sliding table is used to install the brush wire and can drive the brush wire to move to the overhead shooting point of the overhead shooting module and the lateral shooting point of the lateral shooting module in sequence.

[0010] The overhead shooting end of the overhead shooting module is located above the linear sliding table and can shoot the brush wire from overhead. The reference line of the overhead visual detection reference module is located below the overhead shooting end and provides a shooting reference for the overhead shooting module.

[0011] The lateral shooting end of the lateral shooting module is located on both sides of the linear sliding table and can shoot the brush wire from the side.

[0012] The illumination module can provide illumination for the shooting of the overhead shooting module and / or the lateral shooting module.

[0013] When the brush wire moves to the lateral shooting point on the linear sliding table, the light blocking plate of the light blocking module can be located between the left and right brush wires of a row of brush wires.

[0014] Preferably, the lateral shooting module comprises a left camera, a left camera fixing plate, a left camera fixing column, a right camera, a right camera fixing plate and a right camera fixing column.

[0015] The left camera fixing column and the right camera fixing column are installed on the optical platform and are located on both sides of the linear sliding table, respectively.

[0016] The left camera fixing plate is installed on the left camera fixing column, and the left camera is installed on the left camera fixing plate.

[0017] The right camera fixing plate is installed on the right camera fixing column, and the right camera is installed on the right camera fixing plate;

[0018] The shooting end of the left camera and the shooting end of the right camera are directed towards a lateral shooting site on the linear slide table, and can shoot the brush wire at the lateral shooting site.

[0019] Preferably, the overhead shooting module comprises an industrial camera, an overhead camera vertical corner, an overhead camera fixing plate, and an overhead camera fixing column.

[0020] The overhead camera fixing column is installed on the optical platform, and the overhead camera fixing plate is installed on the overhead camera fixing column and above the linear slide table.

[0021] The industrial camera is installed on the overhead camera fixing plate through the overhead camera vertical corner and above an overhead shooting site on the linear slide table, and can shoot the brush wire at the overhead shooting site.

[0022] Preferably, the illumination module comprises a left light source, a left light source fixing plate, a left light source fixing column, a right light source, a right light source fixing plate, and a right light source fixing column.

[0023] The left light source fixing column and the right light source fixing column are installed on the optical platform and are respectively located on both sides of the linear slide table.

[0024] The left light source fixing plate is installed on the left light source fixing column, and the left light source is installed on the left light source fixing plate.

[0025] The right light source fixing plate is installed on the right light source fixing column, and the right light source is installed on the right light source fixing plate.

[0026] The light emitting end of the left light source and the light emitting end of the right light source are directed towards the linear slide table.

[0027] Preferably, the light blocking module comprises a light blocking plate, a light blocking plate vertical corner, a light blocking plate fixing plate, and a light blocking plate fixing column.

[0028] The light blocking plate fixing column is installed on the optical platform, and the light blocking plate fixing plate is installed on the light blocking plate fixing column and above the linear slide table.

[0029] The light blocking plate is installed on the light blocking plate fixing plate through the light blocking plate vertical corner.

[0030] Preferably, the overhead visual inspection reference module comprises: an overhead visual inspection reference line, a left hook, a left reference line fixing plate, a left reference line fixing column, a right hook, a right reference line fixing plate and a right reference line fixing column.

[0031] The left reference line fixing column and the right reference line fixing column are installed on the optical platform and located on both sides of the linear slide;

[0032] The left reference line fixing plate is installed on the left reference line fixing column, and the right reference line fixing plate is installed on the right reference line fixing column;

[0033] The overhead visual inspection reference line is located above the linear slide and below the industrial camera of the overhead shooting module;

[0034] One end of the overhead visual inspection reference line is connected to the left hook through the left reference line fixing plate;

[0035] The other end of the overhead visual inspection reference line is connected to the right hook through the right reference line fixing plate.

[0036] Preferably, the visual inspection device further comprises a control system; the control system is connected with the linear slide and used for controlling the linear slide;

[0037] And / or, the overhead shooting module, the lighting module, the light blocking module and the lateral shooting module are arranged at intervals along the length direction of the linear slide; and the overhead visual inspection reference module is arranged adjacent to the overhead shooting module.

[0038] The application further provides a conductive slip ring brush wire visual inspection method, which adopts the conductive slip ring brush wire visual inspection device and comprises the following steps:

[0039] Step S1: the linear slide is controlled by the control system, so that the linear slide drives the first row of brush wires to move below the industrial camera of the overhead shooting module and the overhead visual inspection reference line of the overhead visual inspection reference module, then the overhead image of the first row of brush wires is shot by the industrial camera, and the linear slide is continuously controlled to complete the shooting of each row of brush wires;

[0040] Step S2: based on the overhead image of each row of brush wires shot in step S1, the overhead image is preprocessed by a computer program, and the brush wire deflection angle of each row of brush wires is calculated;

[0041] Step S3: continue to control the linear slide table through the control system, so that the linear slide table drives the first row of brush wires to move to the shooting position of the side shooting module, turns on the left light source and the right light source of the illumination module, and makes the light shield plate be located between the left and right brush wires of the first row of brush wires, and then the left and right brush wires of the first row of brush wires are shot by the left camera and the right camera of the side shooting module to obtain a side image; and then the linear slide table is continuously controlled to complete the shooting of the left and right brush wires of each row of brush wires;

[0042] Step S4: based on the side image shot in step S3, the side image is preprocessed through a computer program, and the brush wire bending angle, the bending height and the end position are calculated by combining the brush wire deflection angle obtained in step S2, so as to complete the visual detection of the brush wire.

[0043] Preferably, in step S2, the overhead image is preprocessed through a computer program to calculate the brush wire deflection angle of each row of brush wires, and the specific process is as follows:

[0044] Let O UV -UV coordinate system represents pixel coordinate system, and O-XYZ coordinate system represents image coordinate system, with the midpoint O(u0, v0) of the imaging plane as the origin;

[0045] Let O c -X c Y c Z c coordinate system represents camera coordinate system, with the optical center as the origin;

[0046] According to the formula x = (u-u0)×d x , y = (v-v0)×d y , the point coordinates (u, v) in the pixel coordinate system are converted into the coordinates (x, y) in the image coordinate system, wherein d x , d y represent the pixel size;

[0047] The overhead image is corrected for distortion, filtered, edge detected and corner detected to obtain the coordinates of the two ends of the overhead detection reference line in the pixel coordinate system, denoted as (u1, v1) and (u2, v2), and the coordinates of the brush wire root and the brush wire end in the pixel coordinate system, denoted as (u3, v3) and (u4, v4);

[0048] The straight line analytical expression 1 of the top view detection reference line in the pixel coordinate system is obtained through (u1, v1) and (u2, v2), the straight line analytical expression l2 of the brush wire in the pixel coordinate system is obtained through (u3, v3) and (u4, v4), the included angle between l1 and l2 is calculated, the deflection angle of a single brush wire is obtained, the above process is repeated, and the deflection angles of all brush wires are obtained by processing all top view images.

[0049] Preferably, in the step S4, the lateral image is preprocessed by a computer program, and the brush wire bending angle, the bending height and the end position are calculated by combining the brush wire deflection angle obtained in the step S2, and the specific process is as follows:

[0050] The lateral image is subjected to distortion correction, filtering, edge detection and corner point detection, to obtain the coordinates of the brush wire bending position and the brush wire end in the pixel coordinate system, denoted as (u5, v5) and (u6, v6);

[0051] After edge detection, straight line detection is performed, the result is corrected, x = u5 is substituted into the analytical expression of straight line detection, and the y value at this time is used as v5 for subsequent calculation;

[0052] According to the formula x = (u-u0)×d x , y = (v-v0)×d y , (u5, v5) and (u6, v6) are converted into the coordinates (x5, y5) and (x6, y6) of the image coordinate system;

[0053] According to the focal length f and the working distance z c of the lens, the formula x c = x×z c / f and y c =y×z c / f are used to obtain the corresponding point of the object in the camera coordinate system, wherein the focal length f is a camera parameter;

[0054] The working distance of the brush wire bending position is z c5 , and the working distance of the brush wire end is z c6 , and the calculation method is as follows: assuming that the length of the brush wire bending part is L, the bending angle is θ b , the brush wire deflection angle is θ1, the included angle between the lateral camera and the axis of the straight line sliding table is θ2, and the angle between the lateral camera and the normal vector of the plane where the brush wire is located is θ1+θ2, then z c5 =z c6 -L×cosθ b ×sin(θ1+θ2);

[0055] According to the formula x c =x×z c / f and yc = y * z c , and (x5, y5)(x6, y6), the calculation obtains x c5 , y c5 , x c6 , y c6 , (x c5 , y c5 , z c5 ) and (x c6 , y c6 , z c6 ) are three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system;

[0056] The length L and the bending angle θ b of the brush wire bending part are iterated: according to the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system, the length of the brush wire bending part is calculated as L1, and the bending angle is calculated as θ b,1 , (L+L1) / 2 and (θ b +θ ,1 ) / 2 are taken as the length and the bending angle of the brush wire bending part, iterative calculation is performed, new three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system are obtained, and the process is repeatedly until ε n1 =L n -L n-1 and ε n2 =θ b,n -θ b,n-1 are smaller than a given value, the iteration is ended, and the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system obtained by calculation are the final result;

[0057] The three-dimensional coordinates of the brush wire bending part and the brush wire end are used to calculate the bending angle, the bending height and the end position of the brush wire.

[0058] Compared with the prior art, the present application has the following beneficial effects:

[0059] 1. In the aspect of automation, the present application controls each module through a control system, and the brush wire deflection angle, the bending angle, the bending height and the end position are obtained through a computer program based on image shooting, so that the automation of brush wire visual detection is realized.

[0060] 2. In terms of detection accuracy, the brush wire deflection angle, bending angle, bending height and end position are measured by visual detection, the linear slide is controlled by the control system to control the moving position, the position of the brush wire on the axis is ensured, the overhead visual detection reference module ensures the measurement accuracy of the brush wire deflection angle, and the light blocking module prevents the interference of the one-side brush wire on the shooting of the other-side camera, and the measurement accuracy of the brush wire bending angle, bending height and end position is ensured.

[0061] 3. In terms of detection universality, the detection of brush wires of multiple specifications can be compatible, the size and position of the left camera fixing column, the right camera fixing column and the overhead camera fixing column in the lateral shooting module and the overhead shooting module can be adjusted according to the size of the brush wire, and the specifications of the left camera, the right camera and the overhead camera can be adjusted according to the measurement accuracy and the size of the brush wire. BRIEF DESCRIPTION OF DRAWINGS

[0062] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, read in conjunction with the accompanying drawings:

[0063] Figure 1 is a schematic diagram of the overall structure of the conductive slip ring brush wire visual detection device of the present application;

[0064] Figure 2 is a schematic diagram of the structure of the lateral shooting module of the present application;

[0065] Figure 3 is a schematic diagram of the structure of the overhead shooting module of the present application;

[0066] Figure 4 is a schematic diagram of the structure of the illumination module of the present application;

[0067] Figure 5 is a schematic diagram of the structure of the light blocking module of the present application;

[0068] Figure 6 is a schematic diagram of the structure of the overhead visual detection reference module of the present application.

[0069] The drawings show:

[0070] Side-view shooting module 1, left camera 11, left camera mounting plate 12, left camera mounting post 13, right camera 14, right camera mounting plate 15, right camera mounting post 16; Top-view shooting module 2, industrial camera 21, top-view camera vertical corner piece 22, top-view camera mounting plate 23, top-view camera mounting post 24; Lighting module 3, left light source 31, left light source mounting plate 32, left light source mounting post 33, right light source 34, right light source mounting plate 35, right light source mounting post 36; Light blocking module 4, light blocking plate 41, light blocking plate vertical corner piece 42, light blocking plate mounting plate 43, light blocking plate mounting post 44; Top-view visual inspection reference module 5, top-view visual inspection reference line 51, left hook 52, left reference line mounting plate 53, left reference line mounting post 54, right hook 55, right reference line mounting plate 56, right reference line mounting post 57; Optical platform 6; Linear slide 7. Detailed Implementation

[0071] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0072] Example 1

[0073] like Figures 1 to 6 As shown, this embodiment provides a visual inspection device for conductive slip ring brush filaments, including: an optical platform 6, on which a side-viewing module 1, a top-viewing module 2, an illumination module 3, a light-blocking module 4, a top-viewing visual inspection reference module 5, and a linear slide 7 are arranged; the linear slide 7 is used to install brush filaments and can drive the brush filaments to move sequentially to the top-viewing position of the top-viewing module 2 and the side-viewing position of the side-viewing module 1; the top-viewing end of the top-viewing module 2 is located above the linear slide 7, and can perform top-viewing of the brush filaments; the reference line of the top-viewing visual inspection reference module 5 is located below the top-viewing end, providing a shooting reference for the top-viewing module 2; the side-viewing ends of the side-viewing module 1 are located on both sides of the linear slide 7, and can perform side-viewing of the brush filaments; the illumination module 3 can provide illumination for the shooting of the top-viewing module 2 and / or the side-viewing module 1; when the brush filaments move to the side-viewing position on the linear slide 7, the light-blocking plate 41 of the light-blocking module 4 can be located in the middle of the left and right sides of a row of brush filaments.

[0074] In this embodiment, the specific brush bristle size, light-blocking plate size, height, etc., can be adjusted accordingly to ensure that the light-blocking plate and brush bristles do not collide during the process of the linear slide moving the brush bristles.

[0075] The visual inspection device further comprises a control system connected with the linear slide 7 for controlling the linear slide 7. The overhead shooting module 2, the lighting module 3, the light blocking module 4 and the lateral shooting module 1 are arranged in a spaced manner along the length direction of the linear slide 7. The overhead visual inspection reference module 5 is arranged adjacent to the overhead shooting module 2.

[0076] The overhead shooting module 2 comprises an industrial camera 21, an overhead camera vertical angle piece 22, an overhead camera fixing plate 23 and an overhead camera fixing column 24. The overhead camera fixing column 24 is installed on the optical platform 6. The overhead camera fixing plate 23 is installed on the overhead camera fixing column 24 and above the linear slide 7. The industrial camera 21 is installed on the overhead camera fixing plate 23 through the overhead camera vertical angle piece 22 and above the overhead shooting site on the linear slide 7, and can shoot the brush wire on the overhead shooting site.

[0077] In this embodiment, the overhead camera fixing column 24 is detachably installed on the optical platform 6 through the mounting hole, and the overhead camera fixing plate 23 is detachably installed on the overhead camera fixing column 24 through the mounting hole.

[0078] The overhead visual inspection reference module 5 comprises an overhead visual inspection reference line 51, a left hook code 52, a left reference line fixing plate 53, a left reference line fixing column 54, a right hook code 55, a right reference line fixing plate 56 and a right reference line fixing column 57. The left reference line fixing column 54 and the right reference line fixing column 57 are installed on the optical platform 6 and on both sides of the linear slide 7. The left reference line fixing plate 53 is installed on the left reference line fixing column 54, and the right reference line fixing plate 56 is installed on the right reference line fixing column 57. The overhead visual inspection reference line 51 is above the linear slide 7 and below the industrial camera 21 of the overhead shooting module 2. One end of the overhead visual inspection reference line 51 passes through the left reference line fixing plate 53 to connect the left hook code 52. The other end of the overhead visual inspection reference line 51 passes through the right reference line fixing plate 56 to connect the right hook code 55.

[0079] In this embodiment, the left reference line fixing column 54 is detachably installed on the optical platform 6 through the mounting hole, the left reference line fixing plate 53 is detachably installed on the left reference line fixing column 54 through the mounting hole, the right reference line fixing column 57 is detachably installed on the optical platform 6 through the mounting hole, and the right reference line fixing plate 56 is detachably installed on the right reference line fixing column 57 through the mounting hole.

[0080] The lighting module 3 comprises a left light source 31, a left light source fixing plate 32, a left light source fixing column 33, a right light source 34, a right light source fixing plate 35 and a right light source fixing column 36; the left light source fixing column 33 and the right light source fixing column 36 are installed on the optical platform 6 and are located on the two sides of the linear slide 7 respectively; the left light source fixing plate 32 is installed on the left light source fixing column 33, and the left light source 31 is installed on the left light source fixing plate 32; the right light source fixing plate 35 is installed on the right light source fixing column 36, and the right light source 34 is installed on the right light source fixing plate 35; the light emitting end of the left light source 31 and the light emitting end of the right light source 34 are directed towards the linear slide 7.

[0081] In the embodiment, the left light source fixing column 33 is detachably installed on the optical platform 6 through the mounting hole, the left light source fixing plate 32 is detachably installed on the left light source fixing column 33 through the mounting hole, the right light source fixing column 36 is detachably installed on the optical platform 6 through the mounting hole, and the right light source fixing plate 35 is detachably installed on the right light source fixing column 36 through the mounting hole.

[0082] The light blocking module 4 comprises a light blocking plate 41, a light blocking plate vertical angle piece 42, a light blocking plate fixing plate 43 and a light blocking plate fixing column 44; the light blocking plate fixing column 44 is installed on the optical platform 6; the light blocking plate fixing plate 43 is installed on the light blocking plate fixing column 44 and is located above the linear slide 7; the light blocking plate 41 is installed on the light blocking plate fixing plate 43 through the light blocking plate vertical angle piece 42.

[0083] In the embodiment, the light blocking plate fixing column 44 is detachably installed on the optical platform 6 through the mounting hole, and the light blocking plate fixing plate 43 is detachably installed on the light blocking plate fixing column 44 through the mounting hole.

[0084] The lateral shooting module 1 comprises a left side camera 11, a left side camera fixing plate 12, a left side camera fixing column 13, a right side camera 14, a right side camera fixing plate 15 and a right side camera fixing column 16; the left side camera fixing column 13 and the right side camera fixing column 16 are installed on the optical platform 6 and are located on the two sides of the linear slide 7 respectively; the left side camera fixing plate 12 is installed on the left side camera fixing column 13, and the left side camera 11 is installed on the left side camera fixing plate 12; the right side camera fixing plate 15 is installed on the right side camera fixing column 16, and the right side camera 14 is installed on the right side camera fixing plate 15; the shooting end of the left side camera 11 and the shooting end of the right side camera 14 are directed towards the lateral shooting site on the linear slide 7, and the left side camera 11 and the right side camera 14 can shoot the brush wire located at the lateral shooting site from the side.

[0085] In the embodiment, the left side camera fixing column 13 is detachably installed on the optical platform 6 through the mounting hole, the left side camera fixing plate 12 is detachably installed on the left side camera fixing column 13 through the mounting hole, the right side camera fixing column 16 is detachably installed on the optical platform 6 through the mounting hole, and the right side camera fixing plate 15 is detachably installed on the right side camera fixing column 16 through the mounting hole.

[0086] The embodiment also provides a conductive slip ring brush wire visual detection method, which adopts the conductive slip ring brush wire visual detection device and comprises the following steps:

[0087] Step S1: the linear slide table 7 is controlled by the control system to drive the first row of brush wires to move below the industrial camera 21 of the overhead shooting module 2 and the overhead visual detection reference line 51 of the overhead visual detection reference module 5, then the overhead image of the first row of brush wires is shot by the industrial camera 21, and the shooting of each row of brush wires is completed by continuously controlling the linear slide table 7;

[0088] Step S2: based on the overhead image of each row of brush wires shot in step S1, the overhead image is preprocessed by a computer program, and the brush wire deflection angle of each row of brush wires is calculated;

[0089] In step S2, the overhead image is preprocessed by a computer program, and the brush wire deflection angle of each row of brush wires is calculated, and the specific process is as follows:

[0090] Let O UV -UV represents a pixel coordinate system, and O-XYZ represents an image coordinate system, with the midpoint O(u0, v0) in the imaging plane as the origin;

[0091] Let O c -X c Y c Z c represents a camera coordinate system, with the optical center as the origin;

[0092] According to the formula x = (u-u0)×d x , y = (v-v0)×d y , the point coordinates (u, v) in the pixel coordinate system are converted into the coordinates (x, y) in the image coordinate system, wherein d x , d y represent the pixel size;

[0093] The overhead image is subjected to distortion correction, filtering, edge detection and corner detection to obtain the coordinates of the two ends of the overhead detection reference line in the pixel coordinate system, denoted as (u1, v1) and (u2, v2), and the coordinates of the brush wire root and the brush wire end in the pixel coordinate system, denoted as (u3, v3) and (u4, v4);

[0094] The straight line analytical expression l1 of the brush wire in the pixel coordinate system is obtained through (u1, v1) and (u2, v2), the straight line analytical expression l2 of the brush wire in the pixel coordinate system is obtained through (u3, v3) and (u4, v4), the included angle between l1 and l2 is calculated to obtain the deflection angle of the single brush wire, and the above process is repeated to process all the top view images to obtain the deflection angles of all the brush wires.

[0095] Step S3: The control system continues to control the linear slide table 7 to move the first row of brush wires to the shooting position of the side shooting module 1, turns on the left light source 31 and the right light source 34 of the illumination module 3, and positions the light shield plate 41 between the left and right brush wires of the first row of brush wires, and then the left camera 11 and the right camera 14 of the side shooting module 1 shoot the left and right brush wires of the first row of brush wires to obtain a side view, and the linear slide table 7 is continuously controlled to complete the shooting of the left and right brush wires of each row of brush wires.

[0096] Step S4: Based on the side view obtained in step S3, the computer program pre-processes the side view, and combines the deflection angle of the brush wire obtained in step S2 to calculate the bending angle, the bending height and the end position of the brush wire, thereby completing the visual detection of the brush wire.

[0097] In step S4, the computer program pre-processes the side view, and combines the deflection angle of the brush wire obtained in step S2 to calculate the bending angle, the bending height and the end position of the brush wire, and the specific process is as follows:

[0098] The side view is subjected to distortion correction, filtering, edge detection and corner point detection to obtain the coordinates of the bending position of the brush wire and the end position of the brush wire in the pixel coordinate system, denoted as (u5, v5) and (u6, v6);

[0099] After edge detection, straight line detection is performed, the result is corrected, and x=u5 is substituted into the analytical expression of the straight line detection, and the y value at this time is used as v5 for subsequent calculation;

[0100] According to the formula χ=(u-u0)×d x , y=(v-v0)×d y , (u5, v5) and (u6, v6) are converted into the coordinates (x5, y5) and (x6, y6) of the image coordinate system;

[0101] According to the focal length f and the working distance z c of the lens, the formula x c =x×z c / f and y c =y×z cf, where f is the focal length of the camera;

[0102] The working distance of the brush wire bending part is z c5 The working distance of the brush wire end is z c6 The calculation method is as follows: assuming that the length of the brush wire bending part is L, the bending angle is θ b The deflection angle of the brush wire is θ1, the included angle between the lateral camera and the axis of the linear slide is θ2, and the angle between the lateral camera and the normal vector of the plane where the brush wire is located is θ1+θ2, then z c5 =z c6 -L×cosθ b ×sin(θ1+θ2).

[0103] According to the formulas x c =x×z c / f and y c =y×z c / f, and (x5, y5) and (x6, y6), x c5 , y c5 , x c6 , y c6 , (x c5 , y c5 , z c5 ) and (x c6 , y c6 , z c6 ) are the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system;

[0104] The length L and the bending angle θ b of the brush wire bending part are iterated: according to the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system, the length L1 and the bending angle θ b,1 of the brush wire bending part are calculated, (L+L1) / 2 and (θ b +θ b,1 ) / 2 are taken as the length and the bending angle of the brush wire bending part, the iterative calculation is performed, the new three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system are obtained, and the process is repeatedly until ε n1 =L n -L n-1 and ε n2 =θ b,n -θ b,n-1 are smaller than a given value, the iteration is ended, and the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system obtained are the final results;

[0105] The bending angle of the brush wire, the height of the bending part, and the position of the end are calculated using the three-dimensional coordinates of the brush wire bending part and the brush wire end.

[0106] Example 2

[0107] The skilled person can understand the present embodiment as a more specific illustration of embodiment 1.

[0108] The present embodiment provides a conductive slip ring brush wire visual detection device, which comprises a lateral shooting module, an overhead shooting module, an illumination module, a light blocking module, an overhead visual detection reference module, an optical platform, a linear sliding table and a control system.

[0109] The present embodiment aims to provide a conductive slip ring brush wire visual detection device to solve the problems of low measurement accuracy and efficiency of the bending angle of the brush wire and low automation.

[0110] Further, the lateral shooting module comprises a left camera, a left camera fixing plate, a left camera fixing column, a right camera, a right camera fixing plate and a right camera fixing column. The left camera fixing column is installed on the optical platform bottom plate and located on the left side of the linear sliding table. The left camera fixing plate is installed on the left camera fixing column. The left camera is installed on the left camera fixing plate. The right camera fixing column is installed on the optical platform bottom plate and located on the right side of the linear sliding table. The right camera fixing plate is installed on the right camera fixing column. The right camera is installed on the right camera fixing plate.

[0111] Further, the overhead shooting module comprises an overhead shooting industrial camera, an overhead camera vertical angle piece, an overhead camera fixing plate and an overhead camera fixing column. The overhead shooting industrial camera is fixed on the overhead camera fixing plate through the overhead camera vertical angle piece. The overhead camera fixing plate is installed on the optical platform bottom plate through the overhead camera fixing column and located above the linear sliding table.

[0112] Further, the illumination module comprises a left light source, a left light source fixing plate, a left light source fixing column, a right light source, a right light source fixing plate and a right light source fixing column. The left light source is fixed on the left light source fixing plate. The left light source fixing plate is installed on the optical platform bottom plate through the left light source fixing column and located on the left side of the linear sliding table. The right light source is fixed on the right light source fixing plate. The right light source fixing plate is installed on the optical platform bottom plate through the right light source fixing column and located on the right side of the linear sliding table, which provides illumination for the lateral shooting module and the overhead shooting module.

[0113] Further, the light blocking module comprises a light blocking plate, a light blocking plate vertical angle piece, a light blocking plate fixing plate and a light blocking plate fixing column. The light blocking plate is fixed on the light blocking plate fixing plate through the light blocking plate vertical angle piece. The light blocking plate fixing plate is installed on the optical platform bottom plate through the light blocking plate fixing column and located above the linear sliding table.

[0114] Further, the overhead visual detection reference module comprises an overhead visual detection reference line, hooks, a reference line fixing plate, and a reference line fixing column, wherein the reference line fixing column is installed on the optical platform bottom plate to provide support for the reference line fixing plate, and the two ends of the overhead visual detection reference line are connected with hooks and pass through the hole in the middle of the reference line fixing plate to be fixed above the linear slide.

[0115] The controller controls the rotation of the linear slide stepper motor to move the brush wire to a specified position, and the lateral shooting module and the overhead shooting module shoot images of the brush wire from the side and from above, respectively. The lighting module, the light blocking module, and the overhead visual detection reference module provide the light source required for shooting, block the brush wire on the opposite side, and provide the overhead shooting reference, respectively. The bending angle, the bending height, and the end position of the brush wire are measured through a visual detection algorithm.

[0116] After the processing of the brush wire is completed, the linear slide moves the brush wire below the overhead visual detection reference line, and the overhead camera shoots the brush wire. The deflection angle of the brush wire is obtained through a computer program, and the overhead shooting of all brush wires is completed according to the above method to obtain the deflection angles of all brush wires. Then, the brush wire is moved to a specified position for lateral shooting through the linear slide, the light source is turned on, the left camera shoots the left brush wire, and the right camera shoots the right brush wire. The light blocking plate is located in the middle of the two brush wires to prevent interference with the shooting of the camera on the other side by the brush wire on one side. The shooting image is combined with the above-mentioned deflection angle of the brush wire through a computer program to obtain the bending angle, the bending height, and the end position of the brush wire.

[0117] The conductive slip ring brush wire visual detection device of the embodiment comprises a lateral shooting module, an overhead shooting module, a lighting module, a light blocking module, an overhead visual detection reference module, an optical platform, a linear slide, and a control system. The linear slide is fixed above the optical platform, and the lateral shooting module, the overhead shooting module, the lighting module, the light blocking module, and the overhead visual detection reference module are fixedly installed above the optical platform and the linear slide. The overhead shooting module shoots an overhead angle photo of the brush wire, and the deflection angle of the brush wire is calculated through image preprocessing and an algorithm. The image shot by the lateral shooting module is preprocessed, and the deflection angle of the brush wire is combined to calculate the bending angle, the bending height, and the end position of the brush wire. The control system moves the main linear slide to transport the brush wire seat back and forth to visually detect multiple rows of brush wires. The device has the advantages of high detection precision and high automation, and can detect brush wires of different sizes.

[0118] Example 3

[0119] Those skilled in the art can understand the embodiment as a more specific description of Embodiment 1.

[0120] The conductive slip ring brush wire visual detection device of the embodiment comprises a lateral shooting module, an overhead shooting module, a lighting module, a light blocking module, an overhead visual detection reference module, an optical platform, a linear slide, and a control system. The linear slide is fixed above the optical platform, and the lateral shooting module, the overhead shooting module, the lighting module, the light blocking module, and the overhead visual detection reference module are fixedly installed above the optical platform and the linear slide. The overhead shooting module shoots an overhead angle photo of the brush wire, and the deflection angle of the brush wire is calculated through image preprocessing and an algorithm. The image shot by the lateral shooting module is preprocessed, and the deflection angle of the brush wire is combined to calculate the bending angle, the bending height, and the end position of the brush wire. The control system moves the main linear slide to transport the brush wire seat back and forth to visually detect multiple rows of brush wires. The device has the advantages of high detection precision and high automation, and can detect brush wires of different sizes.Figure 1 As shown, it mainly includes a side-view shooting module 1, a top-view shooting module 2, an illumination module 3, a light-blocking module 4, a top-view visual inspection reference module 5, an optical platform 6, a linear slide 7, and a control system.

[0121] like Figure 2 As shown, the side-facing shooting module 1 includes a left camera 11, a left camera mounting plate 12, a left camera mounting post 13, a right camera 14, a right camera mounting plate 15, and a right camera mounting post 16. The lower end of the left camera mounting post 13 is a threaded post with the same size as the aperture of the optical platform 6, and it is fixed to the optical platform 6. The left camera mounting plate 12 is made of acrylic and has an opening at the top, and it is fixed to the left camera mounting post 13. The left camera 11 is fixed to the left camera mounting plate 12 with screws, facing a designated position on the linear slide 7. The right camera 14, the right camera mounting plate 15, and the right camera mounting post 16 are fixed symmetrically on the other side of the optical platform 6.

[0122] like Figure 3 As shown, the top-view shooting module 2 includes a top-view industrial camera 21, a top-view camera vertical corner bracket 22, a top-view camera mounting plate 23, and a top-view camera mounting post 24. The bottom end of the top-view camera mounting post 24 is a threaded post with the same size as the aperture of the optical platform 6, and it is fixed on the optical platform 6. The top-view camera mounting plate 23 is made of acrylic and has an opening at the top, and it is fixed on the top-view camera mounting post 24. The top-view industrial camera 21 is fixed to the top-view camera vertical corner bracket 22 by screws, and the top-view camera vertical corner bracket 22 is fixed to the top-view camera mounting plate 23.

[0123] like Figure 4 As shown, the lighting module 3 includes a left light source 31, a left light source fixing plate 32, a left light source fixing post 33, a right light source 34, a right light source fixing plate 35, and a right light source fixing post 36. The lower end of the left light source fixing post 33 is a threaded post with the same size as the aperture of the optical platform 6, and it is fixed on the optical platform 6. The left light source fixing plate 32 is an acrylic plate with an opening at the top, and it is fixed on the left light source fixing post 33. The left light source 31 is fixed on the left light source fixing plate 32 with screws, and the light-emitting surface faces the linear slide 7. The right light source 34, the right light source fixing plate 35, and the right light source fixing post 36 are fixed symmetrically on the other side of the optical platform 6.

[0124] like Figure 5As shown, the light blocking module 4 includes a light blocking plate 41, a light blocking plate vertical corner 42, a light blocking plate fixing plate 43, and a light blocking plate fixing column 44. The lower end of the light blocking plate fixing column 44 is a threaded column with the same size as the aperture of the optical platform 6, which is fixed on the optical platform 6. The light blocking plate fixing plate 43 is an acrylic plate with an opening at the top, which is fixed on the light blocking plate fixing column 44. The light blocking plate 41 is fixed on the light blocking plate vertical corner 42 by screws, and the light blocking plate vertical corner 42 is fixed on the light blocking plate fixing plate 43.

[0125] As shown in the figure, Figure 6 As shown, the overhead visual inspection reference module 5 includes an overhead visual inspection reference line 51, a hook 52, a reference line fixing plate 53, and a reference line fixing column 54. The lower end of the reference line fixing column 54 is a threaded column with the same size as the aperture of the optical platform 6, which is fixed on the optical platform 6. The reference line fixing plate 53 is an acrylic plate fixed on the reference line fixing column 54. The overhead visual inspection reference line 51 is a thin copper wire with hooks 52 at both ends, which passes through the reference line fixing plate 53 and is fixed above the linear slide 7 and below the overhead shooting industrial camera 21.

[0126] Working principle: When working, the controller controls the linear slide 7 to move the first row of brush wires below the overhead shooting industrial camera 21 and the overhead visual inspection reference line 51. The overhead shooting industrial camera 21 shoots the image of the first row of brush wires. The controller continues to control the linear slide 7 to complete the shooting of the image of the second row of brush wires. This process is repeated to complete the overhead shooting of all brush wires. Through computer program preprocessing of the image, the deflection angle of the brush wire is calculated. The controller controls the linear slide 7 to continue moving, so that the first row of brush wires moves to the position of shooting the image of the brush wire. The left light source 31 and the right light source 34 are turned on, and the light blocking plate 41 is located in the middle of the brush wires on both sides to prevent interference with the shooting of the camera on the other side. The left camera 11 and the right camera 14 complete the shooting of the first row of left and right brush wires, respectively. The controller controls the linear slide 7 to continue moving to complete the shooting of all brush wires. Through computer program preprocessing of the image, combined with the deflection angle of the brush wire, the bending angle, the height of the bending point, and the end position of the brush wire are calculated to complete the visual inspection of the brush wire.

[0127] The deflection angle of the brush wire is calculated as follows:

[0128] Let O UV -UV represents the pixel coordinate system (unit: pixel), and O-XYZ coordinate system represents the image coordinate system with the midpoint O(H0, v0) of the imaging plane as the origin. c -X c Y c Z c The coordinate system represents the camera coordinate system with the optical center as the origin.

[0129] where the point coordinate (u, v) in pixel coordinate system can be directly converted into the coordinate (x, y) in image coordinate system according to the formula x = (u - u0) x d x , y = (v - v0) x d y , where d x , d y represents the size of the pixel.

[0130] The top-view detection reference line is obtained by distortion correction, filtering, edge detection and corner detection of the top-view image, and the coordinates of the two ends of the top-view detection reference line in the pixel coordinate system are recorded as (u1, v1) and (u2, v2). The coordinates of the brush filament root and the brush filament end in the pixel coordinate system are recorded as (u3, v3) and (u4, v4). The analytical expression of the straight line of the top-view detection reference line in the pixel coordinate system is obtained through (u1, v1) and (u2, v2), and the analytical expression of the straight line of the brush filament in the pixel coordinate system is obtained through (u3, v3) and (u4, v4). The angle between l1 and l2 is calculated to obtain the deflection angle of a single brush filament. The above process is repeated for all top-view images to obtain the deflection angles of all brush filaments.

[0131] The bending angle of the brush filament, the height of the bending position and the end position are calculated.

[0132] The bending position of the brush filament and the end position of the brush filament in the pixel coordinate system are obtained by distortion correction, filtering, edge detection and corner detection of the side-view image, and are recorded as (u5, v5) and (u6, v6). Considering that the coordinates of the detected points at the bending position of the brush filament are usually offset downward in the actual corner detection process, straight line detection can be performed after edge detection, and the results are corrected, that is, x = u5 is substituted into the analytical expression of the straight line detection, and the y value at this time is used as v5 for subsequent calculation. According to the foregoing formula, it is directly converted into the coordinates (x5, y5) and (x6, y6) in the image coordinate system.

[0133] According to the focal length f and the working distance z c of the lens, the formula x c = x x z c / f and y c = y x z c / f are used to obtain the corresponding point of the object in the camera coordinate system, where the focal length f is a camera parameter, and the working distance z c5 of the bending position of the brush filament is determined by the actual installation of the device. Since each row of brush filaments is moved to the same position in step S2, z c5 is a constant value. The working distance z c6 of the end of the brush filament is calculated as follows: first, assume that the length of the bending part of the brush filament is L, and the bending angle is θ b, the deflection angle of the brush wire is θ1, the included angle between the lateral camera and the axis of the linear slide is θ2, the angle between the normal vector of the plane where the camera and the brush wire are located and the brush wire is θ1+θ2, then z c5 =z c6 -Lcosθ b ×sin(θ1+θ2), according to the above formula, x c5 , y c5 , x c6 , y c6 , (x c5 , y c5 , z c5 ) and (x c6 , y c6 , z c6 ) are the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system.

[0134] Then, the length L of the brush wire bending part and the bending angle θ b are iterated, the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system are calculated, the length L1 of the brush wire bending part and the bending angle θ b,1 are obtained, (L+L1) / 2 and (θ b +θ b,1 ) / 2 are taken as the length and the bending angle of the brush wire bending part, the new three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system are calculated, the process is repeated until ε n1 =L n -L n-1 and ε n2 =θ b,n -θ b,n-1 are smaller than a given value, the iteration is ended, and the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system are the final results.

[0135] The three-dimensional coordinates of the brush wire bending part and the brush wire end are used to calculate the bending angle, the bending height and the end position of the brush wire (which can also be converted into the coordinates in the world coordinate system for calculation).

[0136] The application has the advantages of high detection precision and high automation, and can detect brush wires of different sizes.

[0137] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like refer to the orientation or positional relationship shown in the drawings, and are only intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0138] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that the combinations do not conflict.

Claims

1. A conductive slip ring brush filament visual inspection apparatus, characterized by, The application relates to a brush wire shooting device. The device comprises an optical platform (6), a lateral shooting module (1), an overhead shooting module (2), an illumination module (3), a light blocking module (4), an overhead visual detection reference module (5) and a linear slide (7) arranged on the optical platform (6). The linear slide (7) is used for mounting brush wires and can drive the brush wires to move to an overhead shooting position of the overhead shooting module (2) and a lateral shooting position of the lateral shooting module (1) in sequence. The overhead shooting end of the overhead shooting module (2) is located above the linear slide (7) and can shoot the brush wires overhead. The reference line of the overhead visual detection reference module (5) is located below the overhead shooting end and provides a shooting reference for the overhead shooting module (2). The lateral shooting end of the lateral shooting module (1) is located on both sides of the linear slide (7) and can shoot the brush wires laterally. The illumination module (3) can provide light for the shooting of the overhead shooting module (2) and / or the lateral shooting module (1).

2. The electrically conductive slip ring brush filament visual inspection apparatus of claim 1, wherein, When the brush wires move to the lateral shooting position on the linear slide (7), the light blocking plate (41) of the light blocking module (4) can be located between the brush wires on the left and right sides of a row of brush wires. The lateral shooting module (1) comprises a left camera (11), a left camera fixing plate (12), a left camera fixing column (13), a right camera (14), a right camera fixing plate (15) and a right camera fixing column (16). The left camera fixing column (13) and the right camera fixing column (16) are installed on the optical platform (6) and are located on both sides of the linear slide (7) respectively. The left camera fixing plate (12) is installed on the left camera fixing column (13) and the left camera (11) is installed on the left camera fixing plate (12). The right camera fixing plate (15) is installed on the right camera fixing column (16) and the right camera (14) is installed on the right camera fixing plate (15).

3. The electrically conductive slip ring brush filament visual inspection apparatus of claim 1, wherein, The shooting ends of the left camera (11) and the right camera (14) face the lateral shooting position on the linear slide (7) and can shoot the brush wires on the lateral shooting position laterally. The overhead shooting module (2) comprises an industrial camera (21), an overhead camera vertical angle piece (22), an overhead camera fixing plate (23) and an overhead camera fixing column (24). The overhead camera fixing column (24) is installed on the optical platform (6) and the overhead camera fixing plate (23) is installed on the overhead camera fixing column (24) and located above the linear slide (7). The industrial camera (21) is installed on the overhead camera fixing plate (23) through the overhead camera vertical angle piece (22) and is located above the overhead shooting position on the linear slide (7) and can shoot the brush wires on the overhead shooting position overhead.

4. The electrically conductive slip ring brush filament visual inspection apparatus of claim 1, wherein, The lighting module (3) comprises a left light source (31), a left light source fixing plate (32), a left light source fixing column (33), a right light source (34), a right light source fixing plate (35) and a right light source fixing column (36); The left light source fixing column (33) and the right light source fixing column (36) are installed on the optical platform (6) and are located on both sides of the linear slide (7) respectively; The left light source fixing plate (32) is installed on the left light source fixing column (33), and the left light source (31) is installed on the left light source fixing plate (32); The right light source fixing plate (35) is installed on the right light source fixing column (36), and the right light source (34) is installed on the right light source fixing plate (35); The light emitting end of the left light source (31) and the light emitting end of the right light source (34) are directed towards the linear slide (7).

5. The electrically conductive slip ring brush filament visual inspection apparatus of claim 1, wherein, The light blocking module (4) comprises a light blocking plate (41), a light blocking plate vertical corner piece (42), a light blocking plate fixing plate (43) and a light blocking plate fixing column (44); The light blocking plate fixing column (44) is installed on the optical platform (6); the light blocking plate fixing plate (43) is installed on the light blocking plate fixing column (44) and is located above the linear slide (7); The light blocking plate (41) is installed on the light blocking plate fixing plate (43) through the light blocking plate vertical corner piece (42).

6. The electrically conductive slip ring brush filament visual inspection apparatus of claim 1, wherein, The overhead visual inspection reference module (5) comprises an overhead visual inspection reference line (51), a left hook code (52), a left reference line fixing plate (53), a left reference line fixing column (54), a right hook code (55), a right reference line fixing plate (56) and a right reference line fixing column (57); The left reference line fixing column (54) and the right reference line fixing column (57) are installed on the optical platform (6) and are located on both sides of the linear slide (7); The left reference line fixing plate (53) is installed on the left reference line fixing column (54), and the right reference line fixing plate (56) is installed on the right reference line fixing column (57); The overhead visual inspection reference line (51) is located above the linear slide (7) and below the industrial camera (21) of the overhead shooting module (2); One end of the overhead visual inspection reference line (51) is connected to the left hook code (52) through the left reference line fixing plate (53); The other end of the overhead visual inspection reference line (51) is connected to the right hook code (55) through the right reference line fixing plate (56).

7. The electrically conductive slip ring brush filament visual inspection apparatus of claim 1, wherein, The visual inspection device further comprises a control system; the control system is connected with the linear slide (7) and is used for controlling the linear slide (7); And / or, the overhead shooting module (2), the lighting module (3), the light blocking module (4) and the lateral shooting module (1) are arranged at intervals along the length direction of the linear slide (7); the overhead visual inspection reference module (5) is arranged adjacent to the overhead shooting module (2).

8. A method for visual inspection of conductive slip ring brush filaments, characterized in that, The conductive slip ring brush wire visual inspection device of any one of claims 1 to 7 comprises the following steps: The conductive slip ring brush wire visual inspection device of any one of claims 1 to 7 comprises the following steps: Step S1: control the linear slide (7) by the control system, make the linear slide (7) drive the first row of brush wires to move below the industrial camera (21) of the overhead shooting module (2) and the overhead visual inspection reference line (51) of the overhead visual inspection reference module (5), then shoot the overhead image of the first row of brush wires by the industrial camera (21), continue to control the linear slide (7) to complete the shooting of each row of brush wires; Step S2: based on the overhead image of each row of brush wires shot in step S1, pre-process the overhead image by computer program, calculate the brush wire deflection angle of each row of brush wires; Step S3: continue to control the linear slide (7) by the control system, make the linear slide (7) drive the first row of brush wires to move to the shooting position of the lateral shooting module (1), turn on the left light source (31) and the right light source (34) of the illumination module (3), make the light shield plate (41) be located in the middle of the left and right brush wires of the first row of brush wires, shoot the left and right brush wires of the first row of brush wires by the left camera (11) and the right camera (14) of the lateral shooting module (1) to obtain the lateral image, continue to control the linear slide (7) to complete the shooting of the left and right brush wires of each row of brush wires; Step S4: based on the lateral image shot in step S3, pre-process the lateral image by computer program, and combine the brush wire deflection angle obtained in step S2 to calculate the brush wire bending angle, bending height and end position to complete the visual inspection of the brush wire.

9. The electrically conductive slip ring brush filament visual inspection method of claim 8, wherein, In step S2, the overhead image is pre-processed by computer program to calculate the brush wire deflection angle of each row of brush wires, the specific process is: Let O UV -UV coordinate system represents pixel coordinate system, O-XYZ coordinate system represents image coordinate system, with point O(u0, v0) in imaging plane as origin; Let O c X c Y c Z c The coordinate system represents the camera coordinate system, with the optical center as the origin. According to the formula x = (u - u0) x d x , y = (v - v0) x d y , the point coordinates (u, v) in the pixel coordinate system are converted into coordinates (x, y) in the image coordinate system, wherein d x , d y represents the size of a pixel. The overhead image is corrected for distortion, filtered, edge detected and corner detected to obtain the coordinates of the two ends of the overhead detection reference line in the pixel coordinate system, denoted as (u1, v1) and (u2, v2), and the coordinates of the brush wire root and the brush wire end in the pixel coordinate system, denoted as (u3, v3) and (u4, v4); The straight line analytical expression l1 of the overhead detection reference line in the pixel coordinate system is obtained through (u1, v1) and (u2, v2), the straight line analytical expression l2 of the brush wire in the pixel coordinate system is obtained through (u3, v3) and (u4, v4), the included angle between l1 and l2 is calculated to obtain the deflection angle of a single brush wire, and the above process is repeated to process all overhead images to obtain the deflection angles of all brush wires.

10. The electrically conductive slip ring brush filament visual inspection method of claim 9, wherein, In step S4, the lateral image is pre-processed by computer program, and the brush wire bending angle, bending height and end position are calculated by combining the brush wire deflection angle obtained in step S2, the specific process is: The lateral image is corrected for distortion, filtered, edge detected and corner detected to obtain the coordinates of the brush wire bending position and the brush wire end in the pixel coordinate system, denoted as (u5, v5) and (u6, v6); After edge detection, straight line detection is carried out, the result is corrected, x=u5 is substituted into the analytic expression of straight line detection, and the y value at this time is used as v5 to perform subsequent calculation; According to the formula x = (u - u0) x d x , y = (v - v0) x d y , (u5, v5) and (u6, v6) are converted into coordinates (x5, y5) and (x6, y6) of the image coordinate system; According to the focal length f and the working distance z of the lens c , the corresponding point of the object in the camera coordinate system is obtained by using the formula x c = x × z c / f and y c = y × z c / f, wherein the focal length f is a camera parameter; The working distance of the brush wire bending part is z c5 The working distance of the brush wire end is z c6 The calculation method is as follows: assuming that the length of the brush wire bending part is L, the bending angle is θ b The deflection angle of the brush wire is θ1, the included angle between the lateral camera and the axis of the linear slide is θ2, and the angle between the lateral camera and the normal vector of the plane where the brush wire is located is θ1+θ2, then z c5 =z c6 -L×cosθ b ×sin(θ1+θ2) According to the formula x c = x * z c / f and y c = y * z c / f, and (x5, y5) (x6, y6), x c5 , y c5 , x c6 , y c6 , (x c5 , y c5 , z c5 ) and (x c6 , y c6 , z c6 ) are the three-dimensional coordinates of the brush wire bending and the brush wire end in the camera coordinate system; The length L and the bending angle θ of the bent part of the brush wire are iterated b According to the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system, the length L and the bending angle θ of the brush wire bending part are calculated b,1 , and (L+L1) / 2 and (θ b +θ b,1 ) / 2 are taken as the length and the bending angle of the brush wire bending part, and the iteration calculation is performed to obtain new three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system. This process is repeated until ε n1 =L n -L n-1 and ε n2 =θ b,n -θ b,n-1 are smaller than a given value, the iteration is ended, and the three-dimensional coordinates of the brush wire bending part and the brush wire end in the camera coordinate system obtained by calculation are the final result. The three-dimensional coordinates of the bending position and the end position of the brush wire are used to calculate the bending angle of the brush wire, the height of the bending position and the end position.

Images