Conductive slip ring brush wire visual inspection device and method

Abstract

This invention provides a visual inspection device and method for conductive slip ring brush filaments. A linear slide is used to mount the brush filaments and can drive them to move sequentially to the top-view shooting position of the top-view shooting module and the side-view shooting position of the side-view shooting module. The top-view shooting end of the top-view shooting module is located above the linear slide, enabling top-view imaging of the brush filaments. The reference line of the top-view visual inspection reference module is located below the top-view shooting end, providing a shooting reference for the top-view shooting module. The side-view shooting ends of the side-view shooting module are located on both sides of the linear slide, enabling side-view imaging of the brush filaments. An illumination module provides illumination for the top-view shooting module and / or the side-view shooting module. This invention has the advantages of high detection accuracy and high degree of automation, and can inspect brush filaments of different sizes.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology, specifically to a visual inspection device and method for conductive slip ring brush filaments, and more particularly to a visual inspection device for conductive slip ring brush filaments with high inspection accuracy, high degree of automation, and strong size adaptability. Background Technology

[0002] In recent years, my country has significantly increased its requirements for the lifespan of spacecraft. For example, the lifespan of low Earth orbit satellites has increased from 2-3 years to 5-8 years, the lifespan of geostationary orbit satellites has increased from 8 years to more than 15 years, and the space station is required to serve for more than 15 years.

[0003] Conductive slip rings are critical components of satellites and space stations, responsible for transmitting electrical energy and signals. Their quality directly affects the overall stability and reliability of the system. Conductive slip rings are widely used in spacecraft stabilization turntables, inertial navigation equipment, radar systems, weapon launch control systems, and global positioning systems. Abnormal operation of the conductive slip ring can affect the normal transmission of signals and current in the spacecraft, leading to power supply failures for the entire satellite or even mission failure; it is truly the "lifeline" of the spacecraft. In conductive slip rings, the contact condition between the brush filaments and the ring groove directly affects the transmission efficiency of electrical energy and signals. The contact angle between the brush filaments and the ring groove is a key parameter for the high-reliability operation of the slip ring. During the brush filament bending process, the bending angle is affected by factors such as springback and is difficult to control. Therefore, it is necessary to measure the bending angle of the brush filaments to ensure it is within a suitable range and meets the accuracy requirements for brush filament bending.

[0004] According to literature review, the current measurement of the bending angle of conductive slip ring brush filaments is mostly done manually, which has low measurement accuracy and efficiency and low degree of automation.

[0005] Patent application CN201910868252.9 discloses a conductive slip ring brush filament forming device. This device includes an industrial camera, which is mounted on a displacement stage via a connecting arm. The camera can only measure one side of the brush filament, limiting the measurement range. In this invention, both the side-view and top-view modules are fixed on an optical platform. By capturing images of the brush filament from multiple angles, a visual detection algorithm is used to obtain the brush filament deflection angle, bending angle, bending height, and end position.

[0006] Patent application CN202310417663.2 discloses a device for measuring the forming angle of a conductive slip ring elastic alloy wire. This device is mounted on the right side of the base with screws and uses an industrial camera and image processing software to measure the forming angle with high precision. However, it suffers from low automation and low measurement efficiency. The present invention's side-view and top-view modules are installed on the sides and top of a linear slide table. The movement of the linear slide table is controlled by a control system, enabling automated and high-precision measurement of all brush filaments. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the present invention aims to provide a visual inspection device and method for conductive slip ring brush filaments.

[0008] According to the present invention, a visual inspection device for conductive slip ring brush filaments includes: an optical platform, wherein the optical platform is provided with a side-viewing module, a top-viewing module, an illumination module, a light-blocking module, a top-viewing visual inspection reference module, and a linear slide.

[0009] The linear slide is used to install brush bristles and can drive the brush bristles to move sequentially to the top-view shooting position of the top-view shooting module and the side-view shooting position of the side-view shooting module.

[0010] The top-view shooting module has its top-view shooting end located above the linear slide, enabling it to shoot the brush filaments from above; the baseline of the top-view visual detection reference module is located below the top-view shooting end, providing a shooting reference for the top-view shooting module.

[0011] The side-facing camera module has its side-facing camera ends located on both sides of the linear slide, enabling it to take side-facing shots of the brush filaments.

[0012] The lighting module can provide illumination for the shooting of the top-down shooting module and / or the side-view shooting module;

[0013] When the brush filaments move to the lateral shooting position on the linear slide, the light-blocking plate of the light-blocking module can be located between the left and right sides of a row of brush filaments.

[0014] Preferably, the side-facing shooting module includes: a left camera, a left camera mounting plate, a left camera mounting post, a right camera, a right camera mounting plate, and a right camera mounting post;

[0015] The left camera mounting post and the right camera mounting post are mounted on the optical platform and are located on both sides of the linear slide, respectively.

[0016] The left camera mounting plate is mounted on the left camera mounting post, and the left camera is mounted on the left camera mounting plate;

[0017] The right-side camera mounting plate is mounted on the right-side camera mounting post, and the right-side camera is mounted on the right-side camera mounting plate;

[0018] The shooting ends of the left and right cameras are oriented towards the lateral shooting point on the linear slide, enabling them to take lateral shots of the brush filaments located at the lateral shooting point.

[0019] Preferably, the top-view shooting module includes: an industrial camera, a top-view camera vertical corner bracket, a top-view camera mounting plate, and a top-view camera mounting column;

[0020] The overhead camera mounting post is mounted on the optical platform; the overhead camera mounting plate is mounted on the overhead camera mounting post and is located above the linear slide.

[0021] The industrial camera is mounted on the overhead camera mounting plate via the overhead camera vertical bracket and is located above the overhead shooting position on the linear slide, enabling it to take overhead shots of the brush filaments located at the overhead shooting position.

[0022] Preferably, the lighting module includes: a left light source, a left light source fixing plate, a left light source fixing post, a right light source, a right light source fixing plate, and a right light source fixing post;

[0023] The left light source fixing post and the right light source fixing post are mounted on the optical platform and are located on both sides of the linear slide, respectively.

[0024] The left light source fixing plate is mounted on the left light source fixing post, and the left light source is mounted on the left light source fixing plate;

[0025] The right light source fixing plate is mounted on the right light source fixing post, and the right light source is mounted on the right light source fixing plate;

[0026] The light-emitting ends of the left and right light sources face the linear slide.

[0027] Preferably, the light-blocking module includes: a light-blocking plate, a light-blocking plate vertical corner piece, a light-blocking plate fixing plate, and a light-blocking plate fixing post;

[0028] The light-blocking plate fixing post is installed on the optical platform; the light-blocking plate fixing plate is installed on the light-blocking plate fixing post and is located above the linear slide.

[0029] The light-blocking plate is mounted on the light-blocking plate fixing plate via the light-blocking plate vertical corner piece.

[0030] Preferably, the top-view visual inspection reference module includes: a top-view visual inspection reference line, a left hook, a left reference line fixing plate, a left reference line fixing post, a right hook, a right reference line fixing plate, and a right reference line fixing post;

[0031] The left baseline fixing post and the right baseline fixing post are mounted on the optical platform and located on both sides of the linear slide.

[0032] The left baseline fixing plate is installed on the left baseline fixing post, and the right baseline fixing plate is installed on the right baseline fixing post;

[0033] The top-view visual inspection baseline is located above the linear slide and below the industrial camera of the top-view shooting module;

[0034] One end of the top-view visual inspection baseline passes through the left baseline fixing plate and connects to the left hook weight;

[0035] The other end of the top-view visual inspection baseline passes through the right baseline fixing plate and connects to the right hook.

[0036] Preferably, the visual inspection device further includes a control system; the control system is connected to the linear slide and is used to control the linear slide.

[0037] And / or, the top-view shooting module, the lighting module, the light-blocking module, and the side-view shooting module are distributed at intervals along the length direction of the linear slide; the top-view visual detection reference module is arranged adjacent to the top-view shooting module.

[0038] The present invention also provides a method for visual inspection of conductive slip ring brush filaments, using the above-mentioned visual inspection device for conductive slip ring brush filaments, comprising the following steps:

[0039] Step S1: Control the linear slide table through the control system to move the first row of brush filaments below the industrial camera of the top-view shooting module and the top-view visual inspection reference line of the top-view visual inspection reference module. Then, take a top-view image of the first row of brush filaments through the industrial camera. Continue to control the linear slide table to complete the shooting of each row of brush filaments.

[0040] Step S2: Based on the top view image of each row of brush bristles taken in step S1, the top view image is preprocessed by a computer program to calculate the brush bristle deflection angle of each row of brush bristles.

[0041] Step S3: Continue to control the linear slide through the control system, so that the linear slide moves the first row of brush filaments to the shooting position of the side shooting module, turn on the left and right light sources of the lighting module, so that the light blocking plate is located in the middle of the left and right sides of the first row of brush filaments, and take pictures of the left and right sides of the first row of brush filaments through the left and right cameras of the side shooting module to obtain side images, and continue to control the linear slide to complete the shooting of the left and right sides of each row of brush filaments;

[0042] Step S4: Based on the side image captured in step S3, the side image is preprocessed by a computer program, and combined with the brush bristle deflection angle obtained in step S2, the brush bristle bending angle, bending height and end position are calculated to complete the visual inspection of the brush bristles.

[0043] Preferably, in step S2, the top-view image is preprocessed using a computer program to calculate the deflection angle of each row of brush bristles. The specific process is as follows:

[0044] Let O UV - The UV coordinate system represents the pixel coordinate system, and the O-XYZ coordinate system represents the 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 The coordinate system represents the 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 to coordinates (x,y) in the image coordinate system, where d x d y Indicates the pixel size;

[0047] Distortion correction, filtering, edge detection, and corner detection are performed on the top view image to obtain the coordinates of the two ends of the top view detection baseline in the pixel coordinate system, denoted as (u1,v1) and (u2,v2), and the coordinates of the brush root and the brush tip in the pixel coordinate system are obtained, denoted as (u3,v3) and (u4,v4).

[0048] Using (u1,v1) and (u2,v2), we obtain the linear equation 1 of the top-view detection baseline in the pixel coordinate system. Using (u3,v3) and (u4,v4), we obtain the linear equation l2 of the brush bristles in the pixel coordinate system. We calculate the angle between l1 and l2 to obtain the deflection angle of a single brush bristle. We repeat the above process to process all top-view images and obtain the deflection angle of all brush bristles.

[0049] Preferably, in step S4, the lateral image is preprocessed by a computer program, and combined with the bristle deflection angle obtained in step S2, the bristle bending angle, the height of the bending point, and the end position are calculated. The specific process is as follows:

[0050] Distortion correction, filtering, edge detection, and corner detection are performed on the lateral image to obtain the coordinates of the brush bristle bend and the brush bristle end in the pixel coordinate system, denoted as (u5, v5) and (u6, v6).

[0051] After edge detection, line detection is performed, and the results are corrected. Substitute x = u5 into the analytical expression of line detection, and use the y value at this time as v5 for subsequent calculations.

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

[0053] Based on the lens's focal length f and working distance z c Using formula x c =x×z c / f and y c =y×z c / f, find the point of the object in the camera coordinate system, where the focal length f is a camera parameter;

[0054] The working distance at the bristle bend is z c5 The working distance at the tip of the bristles is z c6 The calculation method is as follows: Assume the length of the bent part of the bristles is L, and the bending angle is θ. b Let the brush filament deflection angle be θ1, the angle between the side camera and the axis of the linear slide be θ2, and the angle between the side camera and the normal vector of the plane containing the brush filament be θ1+θ2. Then we have z c5 =z c6 -L×cosθ b ×sin(θ1+θ2);

[0055] According to formula x c =x×z c / f and yc =y×z c / f, and (x5,y5)(x6,y6), calculate x c5 y c5 x c6 y c6 , (x c5 ,y c5 ,z c5 ) and (x c6 ,y c6 ,z c6 () represents the three-dimensional coordinates of the bristle bend and the bristle tip in the camera coordinate system;

[0056] The length L of the bristle bending section and the bending angle θ b The values ​​are iterated: based on the three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system, the length of the brush bristle bend is calculated as L1 and the bend angle is θ. b,1 Take (L+L1) / 2 and (θ) b +θ ,1 Using ε / 2 as the length and bending angle of the bristle bend, iterative calculations are performed to obtain the new three-dimensional coordinates of the bristle bend and the bristle tip in the camera coordinate system. This process is repeated until ε is reached. n1 =L n -L n-1 and ε n2 =θ b,n -θ b,n-1 When the value is less than the given value, the iteration ends, and the calculated three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system are the final results.

[0057] By using the three-dimensional coordinates of the bristle bend and the bristle tip, the bristle bend angle, bend height, and tip position can be calculated.

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

[0059] 1. In terms of automation, the present invention controls each module through a control system. Based on image capture, the brush bristle deflection angle, bending angle, bending height, and end position are all obtained through computer programs, thus realizing the automation of brush bristle visual inspection.

[0060] 2. Regarding the detection accuracy, this invention uses visual inspection to measure the brush bristle deflection angle, bending angle, bending height, and end position. The linear slide is controlled by a control system to ensure the position of the brush bristles on the axis. The top-view visual inspection reference module ensures the measurement accuracy of the brush bristle deflection angle, and the light blocking module prevents the brush bristles on one side from interfering with the camera shooting on the other side, thus ensuring the measurement accuracy of the brush bristle bending angle, bending height, and end position.

[0061] 3. In terms of detection versatility, the present invention is compatible with the detection of multiple specifications of brush filaments. The size and position of the left camera fixing post, right camera fixing post, and top camera fixing post in the side shooting module and the top shooting module can be adjusted according to the brush filament size. The specifications of the left camera, right camera, and top camera can be adjusted according to the measurement accuracy and brush filament size. Attached Figure Description

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

[0063] Figure 1 This is a schematic diagram of the overall structure of the conductive slip ring brush filament visual inspection device of the present invention;

[0064] Figure 2 This is a schematic diagram of the side-viewing module of the present invention;

[0065] Figure 3 This is a schematic diagram of the top-view shooting module of the present invention;

[0066] Figure 4 This is a schematic diagram of the lighting module of the present invention;

[0067] Figure 5 This is a schematic diagram of the light-blocking module of the present invention;

[0068] Figure 6 This is a schematic diagram of the top-view visual inspection reference module of the present invention.

[0069] The diagram shows:

[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 scope of protection 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 also includes a control system; the control system is connected to the linear slide 7 and is used to control the linear slide 7. The top-view shooting module 2, the lighting module 3, the light-blocking module 4, and the side-view shooting module 1 are distributed at intervals along the length of the linear slide 7; the top-view visual inspection reference module 5 is located adjacent to the top-view shooting module 2.

[0076] The top-view shooting module 2 includes: an industrial camera 21, a top-view camera vertical bracket 22, a top-view camera mounting plate 23, and a top-view camera mounting post 24; the top-view camera mounting post 24 is mounted on the optical platform 6; the top-view camera mounting plate 23 is mounted on the top-view camera mounting post 24 and is located above the linear slide 7; the industrial camera 21 is mounted on the top-view camera mounting plate 23 via the top-view camera vertical bracket 22 and is located above the top-view shooting position on the linear slide 7, enabling it to perform top-view shooting of the brush filaments located at the top-view shooting position.

[0077] In this embodiment, the top-view camera mounting post 24 and the optical platform 6 are detachably installed through mounting holes, and the top-view camera mounting plate 23 and the top-view camera mounting post 24 are detachably installed through mounting holes.

[0078] The top-view visual inspection reference module 5 includes: a top-view visual inspection reference line 51, a left hook 52, a left reference line fixing plate 53, a left reference line fixing post 54, a right hook 55, a right reference line fixing plate 56, and a right reference line fixing post 57; the left reference line fixing post 54 and the right reference line fixing post 57 are mounted on the optical platform 6 and located on both sides of the linear slide 7; the left reference line fixing plate 53 is mounted on the left reference line fixing post 54, and the right reference line fixing plate 56 is mounted on the right reference line fixing post 57; the top-view visual inspection reference line 51 is located above the linear slide 7 and below the industrial camera 21 of the top-view shooting module 2; one end of the top-view visual inspection reference line 51 passes through the left reference line fixing plate 53 and connects to the left hook 52; the other end of the top-view visual inspection reference line 51 passes through the right reference line fixing plate 56 and connects to the right hook 55.

[0079] In this embodiment, the left baseline fixing post 54 and the optical platform 6 are detachably installed through the mounting holes, the left baseline fixing plate 53 and the left baseline fixing post 54 are detachably installed through the mounting holes, the right baseline fixing post 57 and the optical platform 6 are detachably installed through the mounting holes, and the right baseline fixing plate 56 and the right baseline fixing post 57 are detachably installed through the mounting holes.

[0080] 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 left light source fixing post 33 and the right light source fixing post 36 are mounted 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 mounted on the left light source fixing post 33, and the left light source 31 is mounted on the left light source fixing plate 32; the right light source fixing plate 35 is mounted on the right light source fixing post 36, and the right light source 34 is mounted on the right light source fixing plate 35; the light-emitting ends of the left light source 31 and the right light source 34 face the linear slide 7.

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

[0082] The light-blocking module 4 includes: 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 post 44; the light-blocking plate fixing post 44 is installed on the optical platform 6; the light-blocking plate fixing plate 43 is installed on the light-blocking plate fixing post 44 and is located above the linear slide table 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.

[0083] In this embodiment, the light-blocking plate fixing post 44 and the optical platform 6 are detachably installed through the mounting holes, and the light-blocking plate fixing plate 43 and the light-blocking plate fixing post 44 are detachably installed through the mounting holes.

[0084] 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 left camera mounting post 13 and the right camera mounting post 16 are mounted on the optical platform 6 and are located on both sides of the linear slide 7 respectively; the left camera mounting plate 12 is mounted on the left camera mounting post 13, and the left camera 11 is mounted on the left camera mounting plate 12; the right camera mounting plate 15 is mounted on the right camera mounting post 16, and the right camera 14 is mounted on the right camera mounting plate 15; the shooting ends of the left camera 11 and the right camera 14 face the side-facing shooting position on the linear slide 7, and can perform side-facing shooting of the brush filaments located at the side-facing shooting position.

[0085] In this embodiment, the left camera mounting post 13 and the optical platform 6 are detachably installed through mounting holes, the left camera mounting plate 12 and the left camera mounting post 13 are detachably installed through mounting holes, the right camera mounting post 16 and the optical platform 6 are detachably installed through mounting holes, and the right camera mounting plate 15 and the right camera mounting post 16 are detachably installed through mounting holes.

[0086] This embodiment also provides a visual inspection method for conductive slip ring brush filaments, using the aforementioned visual inspection device for conductive slip ring brush filaments, and includes the following steps:

[0087] Step S1: Control the linear slide 7 through the control system to move the first row of brush filaments to below the industrial camera 21 of the top view shooting module 2 and the top view visual inspection reference line 51 of the top view visual inspection reference module 5. Then, take a top view image of the first row of brush filaments through the industrial camera 21, and continue to control the linear slide 7 to complete the shooting of each row of brush filaments.

[0088] Step S2: Based on the top view image of each row of brush bristles taken in step S1, the top view image is preprocessed by a computer program to calculate the brush bristle deflection angle of each row of brush bristles.

[0089] In step S2, the top-view image is preprocessed using a computer program to calculate the deflection angle of each row of brush bristles. The specific process is as follows:

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

[0091] Let O c -X c Y c Z c The coordinate system represents the 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 to coordinates (x,y) in the image coordinate system, where d x d y Indicates the pixel size;

[0093] Distortion correction, filtering, edge detection, and corner detection are performed on the top view image to obtain the coordinates of the two ends of the top view detection baseline in the pixel coordinate system, denoted as (u1,v1) and (u2,v2), and the coordinates of the brush root and the brush tip in the pixel coordinate system are obtained, denoted as (u3,v3) and (u4,v4).

[0094] The analytical expression l1 of the top-view detection baseline in the pixel coordinate system is obtained through (u1,v1) and (u2,v2). The analytical expression l2 of the brush bristles 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 bristle. The above process is repeated for all top-view images to obtain the deflection angle of all brush bristles.

[0095] Step S3: Continue to control the linear slide 7 through the control system, so that the linear slide 7 moves the first row of brush filaments to the shooting position of the side shooting module 1, turn on the left light source 31 and right light source 34 of the lighting module 3, so that the light blocking plate 41 is located in the middle of the left and right sides of the first row of brush filaments, and take pictures of the left and right sides of the first row of brush filaments through the left camera 11 and right camera 14 of the side shooting module 1 to obtain side images, and continue to control the linear slide 7 to complete the shooting of the left and right sides of each row of brush filaments;

[0096] Step S4: Based on the side image captured in step S3, the side image is preprocessed by a computer program, and combined with the brush bristle deflection angle obtained in step S2, the brush bristle bending angle, bending height and end position are calculated to complete the visual inspection of the brush bristles.

[0097] In step S4, the lateral image is preprocessed using a computer program, and combined with the bristle deflection angle obtained in step S2, the bristle bending angle, bending height, and end position are calculated. The specific process is as follows:

[0098] Distortion correction, filtering, edge detection, and corner detection are performed on the lateral image to obtain the coordinates of the brush bristle bend and the brush bristle end in the pixel coordinate system, denoted as (u5, v5) and (u6, v6).

[0099] After edge detection, line detection is performed, and the results are corrected. Substitute x = u5 into the analytical expression of line detection, and use the y value at this time as v5 for subsequent calculations.

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

[0101] Based on the lens's focal length f and working distance z c Using formula x c =x×z c / f and y c =y×z c / f, find the point of the object in the camera coordinate system, where the focal length f is a camera parameter;

[0102] The working distance at the bristle bend is z c5 The working distance at the tip of the bristles is z c6 The calculation method is as follows: Assume the length of the bent part of the bristles is L, and the bending angle is θ. b Let the brush filament deflection angle be θ1, the angle between the side camera and the axis of the linear slide be θ2, and the angle between the side camera and the normal vector of the plane containing the brush filament be θ1+θ2. Then we have z c5 =z c6 -L×cosθ b ×sin(θ1+θ2);

[0103] According to formula x c =x×z c / f and y c =y×z c / f, and (x5,y5)(x6,y6), calculate x c5 y c5 x c6 y c6 , (x c5 ,y c5 ,z c5 ) and (x c6 ,y c6 ,z c6 () represents the three-dimensional coordinates of the bristle bend and the bristle tip in the camera coordinate system;

[0104] The length L of the bristle bending section and the bending angle θ b The values ​​are iterated: based on the three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system, the length of the brush bristle bend is calculated as L1 and the bend angle is θ. b,1 Take (L+L1) / 2 and (θ) b +θ b,1 Using ε / 2 as the length and bending angle of the bristle bend, iterative calculations are performed to obtain the new three-dimensional coordinates of the bristle bend and the bristle tip in the camera coordinate system. This process is repeated until ε is reached. n1 =L n -L n-1 and ε n2 =θ b,n -θ b,n-1 When the value is less than the given value, the iteration ends, and the calculated three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system are the final results.

[0105] By using the three-dimensional coordinates of the bristle bend and the bristle tip, the bristle bend angle, bend height, and tip position can be calculated.

[0106] Example 2

[0107] Those skilled in the art can understand this embodiment as a more specific description of Embodiment 1.

[0108] This embodiment provides a visual inspection device for conductive slip ring brush filaments, including a side-view imaging module, a top-view imaging module, an illumination module, a light-blocking module, a top-view visual inspection reference module, an optical platform, a linear slide, and a control system.

[0109] The purpose of this embodiment is to provide a visual inspection device for conductive slip ring brush filaments, which solves the problems of low accuracy and efficiency in measuring the bending angle of current brush filaments and low degree of automation.

[0110] Furthermore, the side-facing shooting module includes a left camera, a left camera mounting plate, a left camera mounting post, a right camera, a right camera mounting plate, and a right camera mounting post. The left camera mounting post is mounted on the optical platform base plate, located to the left of the linear slide. The left camera mounting plate is mounted on the left camera mounting post, and the left camera is mounted on the left camera mounting plate. Similarly, the right camera mounting post is mounted on the optical platform base plate, located to the right of the linear slide. The right camera mounting plate is mounted on the right camera mounting post, and the right camera is mounted on the right camera mounting plate.

[0111] Furthermore, the overhead shooting module includes an industrial camera for overhead shooting, an overhead camera vertical corner bracket, an overhead camera mounting plate, and an overhead camera mounting column. The industrial camera for overhead shooting is fixed to the overhead camera mounting plate by the overhead camera vertical corner bracket, and the overhead camera mounting plate is mounted on the optical platform base plate by the overhead camera mounting column, located above the linear slide.

[0112] Furthermore, the lighting module includes 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, and the left light source fixing plate is mounted on the optical platform base plate via the left light source fixing column, located on the left side of the linear slide. The right light source is fixed on the right light source fixing plate, and the right light source fixing plate is mounted on the optical platform base plate via the right light source fixing column, located on the right side of the linear slide, providing illumination for the side-view shooting module and the top-view shooting module.

[0113] Furthermore, the light-blocking module includes a light-blocking plate, a light-blocking plate vertical corner piece, a light-blocking plate fixing plate, and a light-blocking plate fixing post. The light-blocking plate is fixed to the light-blocking plate fixing plate by the light-blocking plate vertical corner piece, and the light-blocking plate fixing plate is installed on the optical platform base plate by the light-blocking plate fixing post, located above the linear slide.

[0114] Furthermore, the top-view visual inspection reference module includes a top-view visual inspection reference line, weights, a reference line fixing plate, and a reference line fixing post. The reference line fixing post is installed on the optical platform base plate to provide support for the reference line fixing plate. Weights are attached to both ends of the top-view visual inspection reference line, which passes through the opening in the middle of the reference line fixing plate and is fixed above the linear slide.

[0115] The controller controls the linear slide stepper motor to rotate, moving the brush bristles to a designated position. Side-view and top-view imaging modules capture images of the brush bristles from the side and top, respectively. The lighting module, light-blocking module, and top-view visual inspection reference module provide the necessary light source for imaging, block the brush bristles on the opposite side, and provide a reference for the top-view imaging, respectively. A visual inspection algorithm measures the brush bristle bending angle, the height of the bending point, and the position of the brush bristle tip.

[0116] After the bristles are processed, a linear slide moves the bristles below the top-view visual inspection baseline. A top-view camera photographs the bristles, and the bristle deflection angle is obtained through a computer program. This process is repeated for all bristles to obtain their deflection angles. Then, the linear slide moves the bristles to a designated position for side-view photography. The light source is turned on, and the left camera photographs the left bristles, while the right camera photographs the right bristles. A light-blocking plate is positioned between the two bristles to prevent interference from one bristle on one side affecting the other. The captured images are then processed by a computer program, combined with the bristle deflection angles, to determine the bristle bending angle, bending height, and end position.

[0117] The conductive slip ring brush filament visual inspection device of this embodiment includes a side-view imaging module, a top-view imaging module, an illumination module, a light-blocking module, a top-view visual inspection reference module, an optical platform, a linear slide, and a control system. The linear slide is fixed above the optical platform, and the side-view imaging module, top-view imaging module, illumination module, light-blocking module, and top-view visual inspection reference module are fixedly installed above the optical platform and the linear slide. The top-view imaging module captures a top-view photograph of the brush filaments, and calculates the brush filament deflection angle through image preprocessing and algorithms. The image captured by the side-view imaging module is preprocessed, and combined with the brush filament deflection angle, the brush filament bending angle, the height of the bending point, and the position of the brush filament end are calculated. The control system moves the main linear slide to transport the brush filament holder back and forth, thereby performing visual inspection on multiple rows of brush filaments. This device has the advantages of high detection accuracy and high degree of automation, and can inspect brush filaments of different sizes.

[0118] Example 3

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

[0120] This embodiment provides a visual inspection device for conductive slip ring brush filaments, such as... 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 piece 42, a light-blocking plate fixing plate 43, and a light-blocking plate fixing post 44. The lower end of the light-blocking plate fixing post 44 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 light-blocking plate fixing plate 43 is an acrylic plate with an opening at the top, and it is fixed on the light-blocking plate fixing post 44. The light-blocking plate 41 is fixed to the light-blocking plate vertical corner piece 42 by screws, and the light-blocking plate vertical corner piece 42 is fixed to the light-blocking plate fixing plate 43.

[0125] like Figure 6 As shown, the top-view visual inspection reference module 5 includes a top-view visual inspection reference line 51, hooks 52, a reference line fixing plate 53, and a reference line fixing post 54. The lower end of the reference line fixing post 54 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 reference line fixing plate 53 is an acrylic plate fixed on the reference line fixing post 54. The top-view visual inspection reference line 51 is a thin copper wire with hooks 52 attached to both ends, passes through the reference line fixing plate 53, and is fixed above the linear slide 7 and below the industrial camera 21 for top-view shooting.

[0126] Working Principle: During operation, the controller controls the linear slide 7 to move the first row of brush filaments below the top-view industrial camera 21 and the top-view visual inspection baseline 51. The top-view industrial camera 21 captures an image of the first row of brush filaments. The controller continues to control the linear slide 7 to capture an image of the second row of brush filaments. This process is repeated to capture top-view images of all brush filaments. The computer program preprocesses the images to calculate the brush filament deflection angle. The controller then controls the linear slide 7 to move further, moving the first row of brush filaments to a position for side-view image capture. The left light source 31 and right light source 34 are turned on, and the light shield 41 is positioned between the left and right brush filaments to prevent interference from one side of the brush filaments to the other side's camera. The left camera 11 and right camera 14 capture images of the left and right sides of the first row of brush filaments, respectively. The controller controls the linear slide 7 to continue moving to capture images of all brush filaments. The computer program preprocesses the images and, combined with the brush filament deflection angle, calculates the brush filament bending angle, bending height, and end position to complete the visual inspection of the brush filaments.

[0127] The bristle deflection angle was calculated as follows:

[0128] Let O UV -UV represents the pixel coordinate system (unit: pixel), and the 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] The point coordinates (u, v) in the pixel coordinate system are determined by the formula x = (u - u0) × d. x y = (v - v0) × d y It can be directly converted to coordinates (x, y) in the image coordinate system, where d x d y Indicates the pixel size.

[0130] For the top-view image, distortion correction, filtering, edge detection, and corner detection are performed to obtain the coordinates of the two ends of the top-view detection baseline in the pixel coordinate system, denoted as (u1,v1) and (u2,v2). The coordinates of the brush root and the brush tip in the pixel coordinate system are also obtained, denoted as (u3,v3) and (u4,v4). The linear equation l1 of the top-view detection baseline in the pixel coordinate system is obtained from (u1,v1) and (u2,v2). The linear equation l2 of the brush filament in the pixel coordinate system is obtained from (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 angle of all brush filaments.

[0131] The bristle bending angle, bending point height, and end position are calculated as follows:

[0132] Distortion correction, filtering, edge detection, and corner detection are performed on the lateral image to obtain the coordinates of the brush filament bend and the brush filament tip in the pixel coordinate system, denoted as (u5, v5) and (u6, v6). Considering that the coordinates of the detection point at the brush filament bend are usually lower in the actual corner detection process, line detection can be performed after edge detection, and the result can be corrected. That is, x = u5 is substituted into the analytical expression of line detection, and the y value at this time is used as v5 for subsequent calculations. According to the aforementioned formula, these coordinates are directly converted to the coordinates (x5, y5) and (x6, y6) in the image coordinate system.

[0133] Based on the lens's focal length f and working distance z c Using formula x c =x×z c / f and y c =y×z c / f can be used to find the point corresponding to the object in the camera coordinate system, where the focal length f is a camera parameter and the working distance z at the brush filament bend is the focal length. c5 The actual installation situation depends on the specific equipment, because in step S2 each row of brush bristles moves to the same position, therefore z c5 The working distance z at the tip of the brush bristles is a constant. c6 The calculation method is as follows: First, assume that the length of the bent part of the bristles is L and the bending angle is θ. bThe brush filament deflection angle is θ1, and the angle between the lateral camera and the axis of the linear slide is θ2. At this point, the angle between the camera and the normal vector of the plane containing the brush filament is θ1 + θ2. Therefore, z c5 =z c6 -L×cosθ b ×sin(θ1+θ2), according to the above formula, we can obtain x c5 y c5 x c6 y c6 , (x c5 ,y c5 ,z c5 ) and (x c6 ,y c6 ,z c6 This refers to the three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system.

[0134] Then, for the bristle bending section with length L and bending angle θ... b The values ​​are iterated, and the length of the bent portion of the brush bristles, L1, and the bending angle, θ, are calculated using the three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system. b,1 Take (L+L1) / 2 and (θ) b +θ b,1 The length and bending angle of the brush bristle bend are used for iterative calculation to obtain the new three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system. This process is repeated until ε is reached. n1 =L n -L n-1 and ε n2 =θ b,n -θ b,n-1 When the value is less than the given value, the iteration ends. The three-dimensional coordinates of the brush bristle bend and the brush bristle end in the camera coordinate system are the final result.

[0135] The bending angle, bending height, and end position of the bristles can be calculated using the three-dimensional coordinates of the bristle bend and the bristle tip (or converted to coordinates in the world coordinate system for calculation).

[0136] This invention has the advantages of high detection accuracy and high degree of automation, and can detect brush filaments of different sizes.

[0137] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0138] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for visual inspection of conductive slip ring brush filaments, characterized in that, A conductive slip ring brush filament visual inspection device includes: an optical platform (6), on which 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), a linear slide (7), and a control system are provided; the linear slide (7) is used to install brush filaments; The side-facing camera 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 overhead shooting module (2) includes: an industrial camera (21), an overhead camera vertical corner bracket (22), an overhead camera mounting plate (23), and an overhead camera mounting column (24). 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 light-blocking module (4) includes: 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 post (44). The top-view visual inspection reference module (5) includes: a top-view visual inspection reference line (51), a left hook (52), a left reference line fixing plate (53), a left reference line fixing post (54), a right hook (55), a right reference line fixing plate (56), and a right reference line fixing post (57). Step S1: Control the linear slide (7) through the control system to move the first row of brush filaments to below the industrial camera (21) of the top view shooting module (2) and the top view visual inspection reference line (51) of the top view visual inspection reference module (5). Then, take a top view image of the first row of brush filaments through the industrial camera (21) and continue to control the linear slide (7) to complete the shooting of each row of brush filaments. Step S2: Based on the top view image of each row of brush bristles taken in step S1, the top view image is preprocessed by a computer program to calculate the brush bristle deflection angle of each row of brush bristles. Step S3: Continue to control the linear slide (7) through the control system, so that the linear slide (7) moves the first row of brush filaments to the shooting position of the side shooting module (1), turn on the left light source (31) and right light source (34) of the lighting module (3), so that the light blocking plate (41) of the light blocking module (4) is located in the middle of the left and right sides of the first row of brush filaments, and take pictures of the left and right sides of the first row of brush filaments through the left camera (11) and right camera (14) of the side shooting module (1) to obtain a side image, continue to control the linear slide (7) to complete the shooting of the left and right sides of each row of brush filaments; Step S4: Based on the side image captured in step S3, the side image is preprocessed by a computer program, and combined with the brush bristle deflection angle obtained in step S2, the brush bristle bending angle, bending height and end position are calculated to complete the visual inspection of the brush bristles. The specific process of step S2 is as follows: make The coordinate system represents the pixel coordinate system. The coordinate system represents the image coordinate system, with the midpoint of the imaging plane as the reference point. The origin; make The coordinate system represents the camera coordinate system, with the optical center as the origin; According to the formula , The point coordinates in the pixel coordinate system Converted to coordinates in the image coordinate system ,in Indicates the pixel size; Distortion correction, filtering, edge detection, and corner detection are performed on the top view image to obtain the coordinates of the two ends of the top view detection baseline in the pixel coordinate system, denoted as . and The coordinates of the brush bristle root and the brush bristle tip in the pixel coordinate system are obtained and denoted as follows: and ; pass and The analytical expression of the top-view detection baseline in the pixel coordinate system is obtained. ,pass and Obtain the analytical expression of the brush filaments as straight lines in the pixel coordinate system. ,calculate and The angle between them is used to obtain the deflection angle of a single bristle. Step S2 is repeated to process all top view images to obtain the deflection angle of all bristles.

2. The method for visual inspection of conductive slip ring brush filaments according to claim 1, characterized in that, In step S4, the lateral image is preprocessed using a computer program, and combined with the bristle deflection angle obtained in step S2, the bristle bending angle, bending height, and end position are calculated. The specific process is as follows: The lateral image is subjected to distortion correction, filtering, edge detection, and corner detection to obtain the coordinates of the brush bristle bend and the brush bristle tip in the pixel coordinate system, denoted as . and ; After edge detection, line detection is performed, and the results are corrected by substituting the values ​​into the analytical expression for line detection. Take advantage of this time Value as Perform subsequent calculations; According to the formula , ,Will and Coordinates converted to the image coordinate system and ; According to the focal length of the lens and working distance Using the formula and Find the point corresponding to the object in the camera coordinate system, where the focal length is... For camera parameters; The working distance at the bristle bend is The working distance at the tip of the bristles is The calculation method is as follows: assuming the length of the bent portion of the bristles is... The bending angle is The bristle deflection angle is The angle between the side camera and the axis of the linear slide is The angle between the side camera and the normal vector of the plane containing the brush filaments is... Then there is ; According to the formula and ,as well as Calculations yielded , and The three-dimensional coordinates of the bristle bend and the bristle tip in the camera coordinate system; The length of the bristle bending section Bending angle The value is iterated: based on the three-dimensional coordinates of the bristle bend and the bristle tip in the camera coordinate system, the length of the bristle bend is calculated as follows: Bending angle is ,Pick and The length and bending angle of the bristle bend are used for iterative calculations to obtain the new three-dimensional coordinates of the bristle bend and the bristle tip in the camera coordinate system. This process is repeated until... and When the value is less than the given value, the iteration ends, and the calculated three-dimensional coordinates of the brush bristle bend and the brush bristle tip in the camera coordinate system are the final results. By using the three-dimensional coordinates of the bristle bend and the bristle tip, the bristle bend angle, bend height, and tip position can be calculated.

3. The method for visual inspection of conductive slip ring brush filaments according to claim 2, characterized in that, The conductive slip ring brush filament visual inspection device also includes: The linear slide (7) can drive the brush bristles to move sequentially to the top view shooting position of the top view shooting module (2) and the side view shooting position of the side view shooting module (1); The top-view shooting module (2) is located above the linear slide (7) and can shoot the brush bristles from above; the reference line of the top-view visual detection reference module (5) is located below the top-view shooting end and provides a shooting reference for the top-view shooting module (2). The side-facing camera module (1) has its side-facing camera end located on both sides of the linear slide (7), which is capable of taking side-facing shots of the brush bristles. The lighting module (3) can provide illumination for the shooting of the top-view shooting module (2) and / or the side-view shooting module (1); When the brush filaments 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 in the middle of the left and right sides of a row of brush filaments.

4. The method for visual inspection of conductive slip ring brush filaments according to claim 2, characterized in that, The side-viewing module also includes: The left camera mounting post (13) and the right camera mounting post (16) are mounted on the optical platform (6) and are located on both sides of the linear slide (7), respectively. The left camera mounting plate (12) is mounted on the left camera mounting post (13), and the left camera (11) is mounted on the left camera mounting plate (12); The right camera mounting plate (15) is mounted on the right camera mounting post (16), and the right camera (14) is mounted on the right camera mounting plate (15); The shooting ends of the left camera (11) and the right camera (14) are directed toward the lateral shooting position on the linear slide (7), enabling lateral shooting of the brush filaments located at the lateral shooting position.

5. The method for visual inspection of conductive slip ring brush filaments according to claim 2, characterized in that, The overhead shooting module also includes: The top-view camera mounting post (24) is mounted on the optical platform (6); the top-view camera mounting plate (23) is mounted on the top-view camera mounting post (24) and is located above the linear slide (7); The industrial camera (21) is mounted on the top-view camera mounting plate (23) via the top-view camera vertical corner piece (22) and is located above the top-view shooting position on the linear slide (7), enabling it to take top-view shots of the brush filaments located at the top-view shooting position.

6. The method for visual inspection of conductive slip ring brush filaments according to claim 2, characterized in that, The lighting module also includes: The left light source fixing post (33) and the right light source fixing post (36) are mounted on the optical platform (6) and are located on both sides of the linear slide (7); The left light source fixing plate (32) is mounted on the left light source fixing post (33), and the left light source (31) is mounted on the left light source fixing plate (32); The right light source fixing plate (35) is mounted on the right light source fixing post (36), and the right light source (34) is mounted on the right light source fixing plate (35); The light-emitting ends of the left light source (31) and the right light source (34) face the linear slide (7).

7. The method for visual inspection of conductive slip ring brush filaments according to claim 2, characterized in that, The light-blocking module also includes: The light-blocking plate fixing post (44) is installed on the optical platform (6); the light-blocking plate fixing plate (43) is installed on the light-blocking plate fixing post (44) and is located above the linear slide (7); The light-blocking plate (41) is mounted on the light-blocking plate fixing plate (43) via the light-blocking plate vertical corner piece (42).

8. The method for visual inspection of conductive slip ring brush filaments according to claim 2, characterized in that, The top-view visual inspection benchmark module also includes: The left baseline fixing post (54) and the right baseline fixing post (57) are mounted on the optical platform (6) and located on both sides of the linear slide (7); The left baseline fixing plate (53) is installed on the left baseline fixing post (54), and the right baseline fixing plate (56) is installed on the right baseline fixing post (57); The top-view visual inspection baseline (51) is located above the linear slide (7) and below the industrial camera (21) of the top-view shooting module (2); One end of the top-view visual inspection baseline (51) passes through the left baseline fixing plate (53) and connects to the left hook (52); The other end of the top-view visual inspection baseline (51) passes through the right baseline fixing plate (56) and connects to the right hook (55).

9. The method for visual inspection of conductive slip ring brush filaments according to claim 2, characterized in that, The top-view visual inspection benchmark module also includes: The top-view shooting module (2), the lighting module (3), the light-blocking module (4) and the side-view shooting module (1) are arranged at intervals along the length direction of the linear slide (7); the top-view visual detection reference module (5) is arranged adjacent to the top-view shooting module (2).

Images