Hub defect detection device and method based on polarization camera and 3D laser scanning

Abstract

The invention discloses a hub defect detection device and method based on a polarization camera and 3D laser scanning, and belongs to the field of hub detection. The device comprises a wheel type detection station, a hub side face and bottom face defect detection station, a hub upper surface defect recognition station, a hub upper surface defect detection station, a hub defect marking station and a polishing station which are sequentially arranged in the hub conveying direction. The hub conveying mechanism penetrates through the stations; the industrial computer is connected with the stations and the hub conveying mechanism; all the stations achieve intelligent detection of hub full-surface defects through cooperation of a polarization camera, a 3D laser scanner, a mechanical arm and other assemblies. According to the method, automatic detection and accurate marking of the full-surface defects of the hub are achieved through the processes of conveying, wheel type recognition, multi-surface detection, defect judgment and classification, marking and polishing prompting, and manual repairing is assisted. According to the invention, the hub detection rhythm and defect identification accuracy are effectively improved, and the large-scale production demand can be met.

Description

Technical Field

[0001] This invention relates to the field of wheel hub inspection technology, and in particular to a wheel hub defect inspection device and method based on a polarization camera and 3D laser scanning. Background Technology

[0002] As a core component of a vehicle's driving system, the surface quality of wheel hubs directly affects the vehicle's safety performance and service life. During the production process, wheel hub surfaces may develop various defects such as cracks, dents, and scratches due to process or environmental factors. Therefore, they must undergo rigorous quality testing to ensure that the products meet safety standards and usage requirements.

[0003] Currently, wheel hub surface inspection mainly relies on manual visual inspection or single-station automated inspection equipment. Manual inspection is inefficient and susceptible to the influence of human experience and subjective judgment, making consistency difficult to guarantee. Common automated inspection equipment typically scans only a specific area of ​​the wheel hub, failing to achieve full surface coverage and creating blind spots. Furthermore, traditional optical inspection methods are easily affected by ambient light and surface reflections, impacting the accuracy and stability of defect identification. Additionally, existing equipment often has poor adaptability to different wheel hub models, requiring frequent manual adjustments and hindering the implementation of continuous, intelligent inspection processes.

[0004] Current technologies suffer from fixed detection paths and a lack of flexibility, making it impossible to accurately verify suspected defect locations. Defect identification and marking are often disconnected, requiring manual intervention for secondary judgment and processing, further limiting detection efficiency and automation levels. Therefore, achieving fully covered, high-precision, and highly interference-resistant automated detection of wheel hub surfaces has become a pressing technical challenge in the wheel hub manufacturing industry.

[0005] Therefore, there is an urgent need for a wheel hub surface defect detection device that integrates multi-station collaboration, has a high degree of automation, and provides comprehensive and accurate detection. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a wheel hub defect detection device and method based on polarization camera and 3D laser scanning. Through the collaborative work of five stations, the device achieves fully automated detection from wheel shape identification to defect marking, and solves the technical problems of low detection efficiency, incomplete coverage, weak anti-interference ability and low degree of automation in the prior art.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A wheel hub defect detection device based on a polarization camera and 3D laser scanning includes: a wheel shape detection station, a wheel hub side and bottom defect detection station, a wheel hub upper surface defect identification station, a wheel hub upper surface defect detection station, a wheel hub defect marking station, a grinding station, a wheel hub conveying mechanism passing through each station, and an industrial computer connected to each station and the wheel hub conveying mechanism. The wheel type inspection station is equipped with a first polarization camera for identifying wheel hub models; the wheel hub side and bottom defect inspection station is equipped with a second polarization camera, a third polarization camera, and a first robotic arm for scanning and imaging the wheel hub side and bottom surfaces, as well as adjusting the pose of the third polarization camera; the wheel hub upper surface defect identification station is equipped with a first 3D laser scanner for acquiring the three-dimensional morphology of the wheel hub upper surface and determining the defect location; the wheel hub upper surface defect inspection station is equipped with a second robotic arm and several fourth polarization cameras installed at the execution end of the second robotic arm, the fourth polarization cameras being used for directional re-inspection of wheel hub defects based on the defect location coordinates; the wheel hub defect marking station is used for marking the corresponding positions on the wheel hub based on the verified defect information; the grinding station is equipped with a display device for displaying wheel hub defect information and location coordinates to guide manual grinding; The wheel hub upper surface defect identification station is communicatively connected to the wheel hub side and bottom surface defect detection stations. It is used to combine the detection results of the two stations to control the wheel hub conveying mechanism to transport wheel hubs with defects to the wheel hub upper surface defect detection station, and to divert wheel hubs without defects to the next section.

[0008] A further improvement of the technical solution of the present invention is that: the wheel inspection station is further provided with a first station fixing frame, a first anti-light interference outer light shield covering the outside of the first station fixing frame, a hanging rotating platform installed on the top of the first station fixing frame, a first laser rangefinder installed on the upper side of the first station fixing frame, an area array light source installed on the inner side of the first anti-light interference outer light shield, and a gimbal installed below the hanging rotating platform; the first polarization camera is installed below the hanging rotating platform; the first laser rangefinder is installed at the entrance of the wheel hub and connected to the top crossbar of the first station fixing frame.

[0009] A further improvement of the technical solution of the present invention is that: the number of the first polarization cameras is not less than eight, and each first polarization camera is connected to the hanging rotating platform through the gimbal; the number of the first area array light sources is not less than two sets.

[0010] A further improvement of the technical solution of the present invention is that: the wheel hub side and bottom defect detection station includes two parallel detection stations with identical structures. Each detection station is also equipped with a second station fixing frame, a second anti-light interference outer light shield covering the outside of the second station fixing frame, a second laser rangefinder installed on the upper side of the second station fixing frame, a second array light source installed on the inner side of the second anti-light interference outer light shield, a horizontal rotating platform installed at the bottom of the second station fixing frame and parallel to the wheel hub conveying mechanism, a servo motor and a wheel hub limiting mechanism installed at one end of the horizontal rotating platform; a second polarization camera is installed on the inner side of the second station fixing frame for photographing the outer side of the wheel hub; a first robotic arm is fixedly set on one side of the second station fixing frame; the end of the first robotic arm is equipped with a detection component including a ring light source and a third polarization camera.

[0011] A further improvement of the technical solution of the present invention is that: the wheel hub upper surface defect identification station is further provided with a third station fixing frame, a third laser rangefinder installed on the upper side of the third station fixing frame, a spiral push rod assembly fixed to the top of the third station fixing frame, and a wheel hub limiting device fixed to the bottom of the third station fixing frame; the first 3D laser scanner is suspended below the spiral push rod assembly; the spiral push rod assembly drives the first 3D laser scanner to move along the Y-axis; the number of the first 3D laser scanners is not less than four, arranged laterally, and forming a 90° angle with the direction of the wheel hub conveying mechanism below.

[0012] A further improvement of the technical solution of the present invention is that: the wheel hub upper surface defect detection station is equipped with two second robotic arms, and the fourth polarization camera and the ring light source detection component are integrated on the end effector of the second robotic arm; based on the defect coordinates provided by the wheel hub upper surface defect identification station, the second robotic arm drives the fourth polarization camera and the ring light source detection component integrated on the end effector to take pictures of the wheel hub surface defects and determine the defect category; after the wheel hub upper surface defect detection station determines the defect category, the defective wheel hub is conveyed to the wheel hub defect marking station by the wheel hub conveying mechanism.

[0013] A further improvement of the technical solution of the present invention is that: the wheel hub defect marking station is equipped with two third robotic arms and a spraying device integrated at the end of the third robotic arms; the third robotic arms drive the spraying device integrated at the end to spray and mark the defects on the wheel hub surface based on the defect coordinates provided by the wheel hub upper surface defect identification station and the defect type provided by the wheel hub upper surface defect detection station; after the defect marking station sprays the defect mark, the defective wheel hub is conveyed to the grinding station by the wheel hub conveying mechanism.

[0014] A further improvement of the technical solution of the present invention is that a display for displaying wheel hub defects and position coordinates is fixed above the grinding station.

[0015] A further improvement of the technical solution of the present invention is that: the roller conveyor of the hub conveying mechanism is connected in series through bearing seats to form a conveying path, and is connected to each work station at the same height. The drive component is connected to the roller conveyor shaft through chain drive to realize the sequential conveying of the hub between each work station.

[0016] A wheel hub defect detection method based on polarization camera and 3D laser scanning includes the following steps: S101. The wheel hub to be inspected is conveyed to the conveyor roller conveyor. After the wheel hub conveyor mechanism is started, the roller conveyor will convey the wheel hub to the wheel type inspection station. S102. After the first laser rangefinder in the wheel type detection station detects the wheel hub, wheel type recognition is initiated; the first anti-light interference outer shield is closed, and the hanging rotating platform drives multiple first polarization cameras to collect images of the wheel hub surface under the illumination of the first array light source. S103, the industrial computer performs feature extraction and wheel shape recognition on the image acquired by S102. After the recognition is completed, the first anti-light interference outer light shield opens, and the wheel hub conveying mechanism conveys the wheel hub to the wheel hub side and bottom defect detection station. S104. In the wheel hub side and bottom defect detection station, the wheel hub limiting mechanism positions the wheel hub on a horizontal rotating worktable. The first robotic arm, equipped with a ring light source and a third polarization camera, first acquires an image of the wheel hub back cavity from the bottom. After the head of the first robotic arm adjusts its posture, it acquires an image of the inner side of the wheel hub. The ring light source and the second array light source are activated, the horizontal rotating worktable rotates, and the second polarization camera on the outside and the third polarization camera on the first robotic arm are activated to capture images. The industrial computer performs real-time detection and stitching of image data to generate a defect distribution map of the wheel hub back cavity and outer side. After the detection is completed, the wheel hub conveying mechanism transports the wheel hub to the wheel hub upper surface defect identification station. S105. The hub conveying mechanism transports the hub to the hub upper surface defect identification station. The hub limiting device fixes the hub. The first 3D laser scanner moves under the drive of the spiral push rod assembly, scans the upper surface of the hub, generates point cloud data for industrial computer analysis, identifies defects on the upper surface of the hub and marks the coordinates. S106. The industrial computer determines whether the wheel hub has defects based on the detection results of S104 and S105. If there are no defects, the wheel hub is directly sent to the next process section. If there are defects, the wheel hub conveying mechanism transports the wheel hub to the defect detection station on the upper surface of the wheel hub. The second robotic arm moves according to the defect coordinates, adjusts the focal length, and uses the integrated third polarization camera and ring light source detection components to collect clear images of the defect area. The industrial computer identifies the defect type from the collected images. S107. The wheel hub conveying mechanism transports the defective wheel hub to the wheel hub defect marking station. The third robotic arm moves the spraying device at its end according to the defect coordinates and type, and sprays the defect information at the wheel hub defect location according to the type. S108. The marked wheel hubs are transported to the grinding station, where the display shows the number, location, and type of defects in the wheel hubs for manual repair reference.

[0017] The technological advancements achieved by this invention due to the adoption of the above technical solutions are as follows: The wheel hub surface defect detection device of this invention achieves fully automated detection from wheel shape identification to defect marking through the collaborative operation of five stations. Wheel shape identification at the wheel shape detection station provides a basis for subsequent detection; the wheel hub side and bottom surface defect detection stations cover the bottom, inner, outer, and top surfaces respectively, and the combination of robotic arms and laser scanning technology eliminates blind spots; the precise verification at the wheel hub top surface defect detection station and the intelligent marking at the wheel hub defect marking station achieve closed-loop management of defect information. The anti-light interference design and automated conveying system significantly improve detection efficiency and accuracy, solving many problems existing in the prior art. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a schematic diagram of the overall structure of a wheel hub defect detection device based on a polarization camera and 3D laser scanning provided by the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of a wheel hub defect detection device based on a polarization camera and 3D laser scanning provided by the present invention. Figure 2 ; Figure 3 This is a top view of a wheel hub defect detection device based on a polarization camera and 3D laser scanning provided by the present invention; Figure 4 This is a front view of a wheel hub defect detection device based on a polarization camera and 3D laser scanning provided by the present invention; Figure 5 This is a left view of a wheel hub defect detection device based on a polarization camera and 3D laser scanning provided by the present invention; Figure 6 This is a right view of a wheel hub defect detection device based on a polarization camera and 3D laser scanning provided by the present invention; Figure 7 This is a flowchart of a wheel hub defect detection method based on a polarization camera and 3D laser scanning provided by the present invention; The components include: 100, wheel shape inspection station; 101, first station mounting frame; 102, first anti-light interference outer light shield; 103, first laser rangefinder; 104, hanging rotary platform; 105, first area array light source; 106, omnidirectional gimbal; 107, first polarization camera; 200, wheel hub side and bottom surface defect inspection station; 201, second station mounting frame; 202, second anti-light interference outer light shield; 203, second laser rangefinder; 204, second area array light source; 205, second polarization camera; 206, horizontal rotary platform; 207, servo motor; 208, first robotic arm; 300, wheel hub upper surface defect identification station; 301, third station mounting frame; 302, third laser rangefinder; 303, spiral push rod assembly; 304, first 3D laser scanner; 400. Wheel hub upper surface defect detection station; 401. Second robotic arm; 402. Third polarization camera; 403. Ring light source detection assembly; 500. Wheel hub defect marking station; 501. Third robotic arm; 502. Spraying device; 600. Grinding station; 601. Display. Detailed Implementation

[0019] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or stations is not necessarily limited to those steps or stations explicitly listed, but may include other steps or stations not explicitly listed or inherent to such process, method, product or device.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "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 invention 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 invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments: like Figures 1 to 6 As shown, a wheel hub defect detection device based on a polarization camera and 3D laser scanning includes: a wheel shape detection station 100, a wheel hub side and bottom defect detection station 200, a wheel hub upper surface defect identification station 300, a wheel hub upper surface defect detection station 400, a wheel hub defect marking station 500, a grinding station 600, a wheel hub conveying mechanism passing through each station, and an industrial computer connected to each station and the wheel hub conveying mechanism. Wheel type inspection station 100 is equipped with a first polarization camera 107 for identifying wheel hub model; wheel hub side and bottom surface defect inspection station 200 is equipped with a second polarization camera 205 and a third polarization camera for scanning and imaging the wheel hub side and bottom surface, as well as a first robotic arm 208 for adjusting the pose of the third polarization camera; wheel hub upper surface defect identification station 300 is equipped with a first 3D laser scanner 304 for acquiring the three-dimensional shape of the wheel hub upper surface and determining the defect location; wheel hub upper surface defect inspection station 400 is equipped with a second robotic arm 401 and several fourth polarization cameras 402 installed at the execution end of the second robotic arm 401, the fourth polarization cameras 402 are used for directional re-inspection of wheel hub defects according to the defect location coordinates; wheel hub defect marking station 500 is used to mark the corresponding position on the wheel hub according to the verified defect information; grinding station 600 is equipped with a display device for displaying wheel hub defect information and position coordinates to guide manual grinding; The wheel hub upper surface defect identification station 300 is communicatively connected to the wheel hub side and bottom surface defect detection station 200. It is used to combine the detection results of the two stations to control the wheel hub conveying mechanism to transfer wheel hubs with defects to the wheel hub upper surface defect detection station 400, and to divert wheel hubs without defects to the next section.

[0023] Furthermore, such as Figures 1 to 6As shown, the wheel inspection station 100 is also equipped with a first station fixing frame 101, a first anti-light interference outer light shield 102 covering the outside of the first station fixing frame 101, a hanging rotating platform 104 installed on the top of the first station fixing frame 101, a first laser rangefinder 103 installed on the upper side of the first station fixing frame 101, an area array light source 105 installed on the inner side of the first anti-light interference outer light shield 102, and a gimbal 106 installed below the hanging rotating platform 104; a first polarization camera 107 is installed below the hanging rotating platform 104; the first laser rangefinder 103 is installed at the entrance of the wheel hub and connected to the top crossbar of the first station fixing frame 101. The first laser rangefinder 103 is used to determine whether the wheel hub has arrived at the wheel shape detection station 100. After the wheel hub enters the wheel shape detection station 100, the hanging rotating platform 104 carries multiple first polarization cameras 107 to simultaneously capture images of the wheel hub. Wheel shape recognition is completed through image stitching technology. The first anti-light interference outer light shield 102 ensures stable illumination.

[0024] Furthermore, such as Figures 1 to 6 As shown, the number of first polarization cameras 107 is no less than eight, and each first polarization camera 107 is connected to the hanging rotating platform 104 through a gimbal 106; the number of first array light sources 105 is no less than two sets.

[0025] Furthermore, such as Figures 1 to 6As shown, the wheel hub side and bottom defect inspection station 200 includes two parallel inspection units with identical structures. Each inspection unit is also equipped with a second station fixing frame 201, a second anti-light interference outer light shield 202 covering the outside of the second station fixing frame 201, a second laser rangefinder 203 installed on the upper side of the second station fixing frame 201, a second array light source 204 installed on the inner side of the second anti-light interference outer light shield 202, a horizontal rotating platform 206 installed at the bottom of the second station fixing frame 201 and parallel to the wheel hub conveying mechanism, a servo motor 207 installed at one end of the horizontal rotating platform 206, and a wheel hub limiting mechanism (set on the horizontal rotating platform 206). A second polarization camera 205 is installed on the inner side of the second station fixing frame 201 for photographing the outer side of the wheel hub. A first robotic arm 208 is fixedly installed on one side of the second station fixing frame 201. The end of the first robotic arm 208 is equipped with an inspection component including a ring light source and a third polarization camera. The second laser rangefinder 203 is used to determine whether the wheel hub has reached the wheel hub side and bottom defect detection station 200. After the wheel hub enters the wheel shape detection station 100, the wheel hub limiting mechanism limits the wheel hub. Then, the horizontal rotating platform 206 drives the wheel hub to rotate. The third polarization camera on the first robotic arm 208 first takes pictures of the bottom surface of the wheel hub, and then rotates its head 90 degrees to face the inner side of the wheel hub. The ring light source and the second array light source 204 are activated, the horizontal rotating platform 206 works, and the second polarization camera 205 and the third polarization camera take pictures of the outer and inner sides of the wheel hub respectively. The second anti-light interference outer light shield 202 ensures stable lighting and realizes all-round detection of the inner side of the wheel hub, thus obtaining the defects on the side of the wheel hub.

[0026] Furthermore, such as Figures 1 to 6As shown, the wheel hub upper surface defect identification station 300 is also equipped with a third station fixing frame 301, a third laser rangefinder 302 installed on the upper side of the third station fixing frame 301, a spiral push rod assembly 303 fixed to the top of the third station fixing frame 301, and a wheel hub limiting device fixed to the bottom of the third station fixing frame 301; the first 3D laser scanner 304 is suspended below the spiral push rod assembly 303; the spiral push rod assembly 303 drives the first 3D laser scanner 304 to move along the Y-axis; the number of first 3D laser scanners 304 is not less than four, arranged laterally, and at a 90° angle with the direction of the wheel hub conveying mechanism below. The third laser rangefinder 302 is used to determine whether the wheel hub has reached the wheel hub upper surface defect identification station 300. After the wheel hub enters the wheel hub upper surface defect identification station 300, it is limited by the wheel hub limiting device and stops at the center position of the wheel hub upper surface defect identification station 300 (on the roller conveyor of the wheel hub conveyor mechanism). The spiral push rod assembly 303 drives eight first 3D laser scanners 304 to scan the upper surface of the wheel hub, detect and locate defects. Defective wheel hubs are sent to the wheel hub upper surface defect detection station 400 by the wheel hub conveyor mechanism; defect-free wheel hubs are sent to the next section (such as...) by the wheel hub conveyor mechanism. Figures 1 to 6 Another roller conveyor shown.

[0027] Furthermore, such as Figures 1 to 6 As shown, the wheel hub upper surface defect detection station 400 is equipped with two second robotic arms 401 (that is, two second robotic arms 401 are arranged opposite each other on both sides of the wheel hub conveyor roller). The end effector of the second robotic arm 401 integrates a fourth polarization camera 402 and a ring light source detection component 403. Based on the defect coordinates provided by the wheel hub upper surface defect identification station 300, the second robotic arm 401 drives the fourth polarization camera 402 and the ring light source detection component 403 integrated on the end effector to take pictures of the wheel hub surface defects and determine the defect category. When the wheel hub enters the wheel hub upper surface defect detection station 400, according to the defect position coordinates obtained by the wheel hub upper surface defect identification station 300, the second robotic arm 401 moves its pose through the path planning algorithm, so that the fourth polarization camera 402 is aligned with the wheel hub defect position, takes a clear picture, and performs defect category detection (cracks, dents, etc.) through a deep learning algorithm. After the defect category is determined at the wheel hub upper surface defect inspection station 400, the defective wheel hub is conveyed by the wheel hub conveying mechanism to the wheel hub defect marking station 500.

[0028] Furthermore, such as Figures 1 to 6As shown, the wheel hub defect marking station 500 is equipped with two third robotic arms 501 (that is, two third robotic arms 501 are arranged opposite each other on both sides of the wheel hub conveyor roller table) and a spraying device 502 integrated at the end of the third robotic arms 501. After the wheel hub arrives at the wheel hub defect marking station 500, the third robotic arms 501 drive the spraying device 502 integrated at the end to spray and mark the defects on the wheel hub surface based on the defect coordinates provided by the wheel hub upper surface defect identification station 300 and the defect type provided by the wheel hub upper surface defect detection station 400. After the defect marking station 500 sprays the defect mark, the defective wheel hub is conveyed to the grinding station 600 by the wheel hub conveyor mechanism.

[0029] Furthermore, such as Figures 1 to 6 As shown, a display 601 for displaying wheel hub defects and their coordinates is fixed above the grinding station 600. After the wheel hub arrives at the grinding station 600, the display 601 shows the hub defects and their coordinates, and the operator (located next to the grinding station 600) grinds and repairs the defective wheel hub.

[0030] Furthermore, such as Figures 1 to 6 As shown, the roller conveyors of the hub conveyor mechanism are connected in series via bearing seats to form a conveying path, and are aligned with each workstation at the same height. The drive assembly is connected to the roller conveyor shaft via chain drive, realizing the sequential conveying of hubs between each workstation. The hub conveyor mechanism runs through each workstation to sequentially transport hubs to each workstation for inspection.

[0031] like Figure 7 As shown, a wheel hub defect detection method based on a polarization camera and 3D laser scanning is described, employing a wheel hub defect detection device based on a polarization camera and 3D laser scanning, including the following steps: S101. The wheel hub to be inspected is conveyed to the conveyor roller conveyor. After the wheel hub conveyor mechanism is started, the roller conveyor will convey the wheel hub to wheel type inspection station 100 (station one). S102, after the first laser rangefinder 103 in the wheel type detection station 100 detects the wheel hub, it starts wheel type recognition; the first anti-light interference outer light shield 102 is closed, and the hanging rotating platform 104 drives multiple first polarization cameras 107 to collect images of the wheel hub surface under the illumination of the first array light source 105. S103. The industrial computer performs feature extraction and wheel shape recognition on the image acquired by S102. After the recognition is completed, the first anti-light interference outer light shield 102 is opened, and the wheel hub conveying mechanism conveys the wheel hub to the wheel hub side and bottom defect detection station 200 (station two). S104, the wheel hub limiting mechanism in the wheel hub side and bottom defect detection station 200 positions the wheel hub on the horizontal rotating worktable 206. The first robotic arm 208, equipped with a ring light source and a third polarization camera, first acquires an image of the wheel hub back cavity from the bottom. After adjusting its head posture, the first robotic arm 208 acquires an image of the inner side of the wheel hub. The ring light source and the second array light source 204 are activated, the horizontal rotating worktable 206 rotates, and the second polarization camera 205 on the outer side and the third polarization camera on the first robotic arm 208 are activated to capture images. The industrial computer performs real-time detection and stitching of the image data to generate a defect distribution map of the wheel hub back cavity and outer side. After the detection is completed, the wheel hub conveying mechanism transports the wheel hub to the wheel hub upper surface defect identification station 300. There are two detection stations in the figure, which can be used for sequential detection. S105, The hub conveyor transports the hub to the hub upper surface defect identification station 300 (station three). The hub limiting device fixes the hub on the roller conveyor. The first 3D laser scanner 304 moves under the drive of the spiral push rod assembly 303, scans the upper surface of the hub, generates point cloud data for industrial computer analysis, identifies defects on the upper surface of the hub and marks the coordinates. S106. The industrial computer determines whether the wheel hub has defects based on the detection results of S104 and S105. If there are no defects, the wheel hub is directly sent to the next section. If there are defects, the wheel hub conveying mechanism transports the wheel hub to the defect detection station 400 (station four) on the upper surface of the wheel hub. The second robotic arm 401 moves according to the defect coordinates, adjusts the focal length, and uses the integrated third polarization camera 402 and ring light source detection component 403 to collect clear images of the defect area. The industrial computer identifies the defect type from the collected images. In the figure, there are two roller conveyors. One roller conveyor leads to the next section, and the other roller conveyor leads to the next station.

[0032] S107. The wheel hub conveying mechanism transports the defective wheel hub to the wheel hub defect marking station 500 (station five). The third robotic arm 501 moves the spraying device 502 at its end according to the defect coordinates and type, and sprays the defect information at the wheel hub defect location according to the type. S108. The marked wheel hub is transported to the grinding station 600 (station six). The display 601 shows the number, location and type of defects in the wheel hub for manual repair reference.

[0033] In summary, the wheel hub defect detection device based on a polarization camera and 3D laser scanning provided by this invention achieves a detection efficiency of up to 6 seconds per part and a defect identification accuracy of ≥99% through multi-station collaboration and automated control, significantly outperforming traditional detection equipment. The wheel hub defect detection method based on a polarization camera and 3D laser scanning provided by this invention, through standardized processes and intelligent algorithms, achieves efficient detection and accurate marking of wheel hub surface defects, meeting the quality control requirements of large-scale production.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheel hub defect detection device based on a polarization camera and 3D laser scanning, characterized in that, include: The wheel hub conveying direction is arranged in sequence as follows: wheel shape inspection station (100), wheel hub side and bottom defect inspection station (200), wheel hub upper surface defect identification station (300), wheel hub upper surface defect inspection station (400), wheel hub defect marking station (500), grinding station (600), wheel hub conveying mechanism running through each station, and industrial computer connected to each station and wheel hub conveying mechanism; The wheel type inspection station (100) is equipped with a first polarization camera (107) for identifying wheel hub models; the wheel hub side and bottom defect inspection station (200) is equipped with a second polarization camera (205), a third polarization camera, and a first robotic arm (208) for scanning and imaging the wheel hub side and bottom surfaces; the wheel hub upper surface defect identification station (300) is equipped with a first 3D laser scanner (304) for acquiring the three-dimensional morphology of the wheel hub upper surface and determining the defect location; the wheel hub upper surface... The surface defect detection station (400) is equipped with a second robotic arm (401) and several fourth polarization cameras (402) installed at the execution end of the second robotic arm (401). The fourth polarization cameras (402) are used to perform directional re-inspection of the defects of the wheel hub according to the defect position coordinates. The wheel hub defect marking station (500) is used to mark the corresponding position of the wheel hub according to the confirmed defect information. The grinding station (600) is equipped with a display device for displaying wheel hub defect information and position coordinates to guide manual grinding. The wheel hub upper surface defect identification station (300) is communicatively connected to the wheel hub side and bottom surface defect detection station (200). It is used to combine the detection results of the two to control the wheel hub conveying mechanism to transport the wheel hub with defects to the wheel hub upper surface defect detection station (400) and to divert the wheel hub without defects to the next section.

2. The wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 1, characterized in that, The wheel inspection station (100) is also provided with a first station fixing frame (101), a first anti-light interference outer light shield (102) covering the outside of the first station fixing frame (101), a hanging rotating platform (104) installed on the top of the first station fixing frame (101), a first laser rangefinder (103) installed on the upper side of the first station fixing frame (101), an area array light source (105) installed on the inner side of the first anti-light interference outer light shield (102), and a gimbal (106) installed below the hanging rotating platform (104); the first polarization camera (107) is installed below the hanging rotating platform (104); the first laser rangefinder (103) is installed at the entrance of the wheel hub and connected to the top crossbar of the first station fixing frame (101).

3. The wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 2, characterized in that, The number of the first polarization camera (107) is not less than eight, and each first polarization camera (107) is connected to the hanging rotating platform (104) through the gimbal (106); the number of the first area array light source (105) is not less than two sets.

4. The wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 1, characterized in that, The wheel hub side and bottom defect inspection station (200) includes two parallel inspection stations with identical structures. Each inspection station is also equipped with a second station fixture (201), a second anti-light interference outer light shield (202) covering the outside of the second station fixture (201), a second laser rangefinder (203) installed on the upper side of the second station fixture (201), a second array light source (204) installed on the inner side of the second anti-light interference outer light shield (202), and a second laser rangefinder (203) installed on the second station fixture (201). 1) A horizontal rotating platform (206) at the bottom and parallel to the hub conveying mechanism, a servo motor (207) and a hub limiting mechanism installed at one end of the horizontal rotating platform (206); a second polarization camera (205) is installed on the inner side of the second station fixture (201) for taking pictures of the outer side of the hub; a first robotic arm (208) is fixedly set on one side of the second station fixture (201); the end of the first robotic arm (208) is equipped with a detection component including a ring light source and a third polarization camera.

5. The wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 1, characterized in that, The wheel hub upper surface defect identification station (300) is also provided with a third station fixing frame (301), a third laser rangefinder (302) installed on the upper side of the third station fixing frame (301), a spiral push rod assembly (303) fixed to the top of the third station fixing frame (301), and a wheel hub limiting device fixed to the bottom of the third station fixing frame (301); the first 3D laser scanner (304) is suspended below the spiral push rod assembly (303); the spiral push rod assembly (303) drives the first 3D laser scanner (304) to move along the Y-axis; the number of the first 3D laser scanners (304) is not less than four, arranged laterally, and at a 90° angle with the direction of the wheel hub conveying mechanism below.

6. The wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 1, characterized in that, The wheel hub upper surface defect detection station (400) is equipped with two second robotic arms (401). The fourth polarization camera (402) and the ring light source detection component (403) are integrated on the end effector of the second robotic arm (401). Based on the defect coordinates provided by the wheel hub upper surface defect identification station (300), the second robotic arm (401) drives the fourth polarization camera (402) and the ring light source detection component (403) integrated on the end effector to take pictures of the wheel hub surface defects and determine the defect category. After the wheel hub upper surface defect detection station (400) determines the defect category, the defective wheel hub is conveyed by the wheel hub conveying mechanism to the wheel hub defect marking station (500).

7. The wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 1, characterized in that, The wheel hub defect marking station (500) is equipped with two third robotic arms (501) and a spraying device (502) integrated at the end of the third robotic arms (501). The third robotic arm (501) drives the spraying device (502) integrated at the end to spray and mark the defects on the wheel hub surface based on the defect coordinates provided by the wheel hub upper surface defect identification station (300) and the defect type provided by the wheel hub upper surface defect detection station (400). After the wheel hub defect marking station (500) sprays the defect mark, the defective wheel hub is conveyed to the grinding station (600) by the wheel hub conveying mechanism.

8. The wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 1, characterized in that, A display (601) for displaying wheel hub defects and position coordinates is fixed above the grinding station (600).

9. A wheel hub defect detection device based on a polarization camera and 3D laser scanning according to claim 1, characterized in that, The roller conveyor of the hub conveyor mechanism forms a conveying path through a series of bearing seats, and is connected at the same height to each workstation. The drive component is connected to the roller conveyor shaft through chain drive to realize the sequential conveying of hubs between each workstation.

10. A method for detecting wheel hub defects based on a polarization camera and 3D laser scanning, employing the wheel hub defect detection device based on a polarization camera and 3D laser scanning as described in any one of claims 1-9, characterized in that, Includes the following steps: S101. The wheel hub to be inspected is conveyed to the conveyor roller. After the wheel hub conveyor mechanism is started, the roller conveyor will convey the wheel hub to the wheel type inspection station (100). S102, After the first laser rangefinder (103) in the wheel type detection station (100) detects the wheel hub, it starts wheel type recognition; the first anti-light interference outer shield (102) is closed, and the hanging rotating platform (104) drives multiple first polarization cameras (107) to collect images of the wheel hub surface under the illumination of the first array light source (105); S103, the industrial computer performs feature extraction and wheel shape recognition on the image collected by S102. After the recognition is completed, the first anti-light interference outer light shield (102) is opened, and the wheel hub conveying mechanism conveys the wheel hub to the wheel hub side and bottom defect detection station (200). S104, the wheel hub limiting mechanism in the wheel hub side and bottom defect detection station (200) positions the wheel hub on the horizontal rotating worktable (206). The first robotic arm (208) equipped with a ring light source and a third polarization camera first collects the image of the wheel hub back cavity at the bottom. After the head of the first robotic arm (208) adjusts its posture, it collects the image of the inner side of the wheel hub. The ring light source and the second array light source (204) are activated. The horizontal rotating worktable (206) rotates. The second polarization camera (205) on the outside and the third polarization camera on the first robotic arm (208) are activated to take pictures. The industrial computer performs real-time detection and stitching of image data to generate a defect distribution map of the wheel hub back cavity and outer side. After the detection is completed, the wheel hub conveying mechanism transports the wheel hub to the wheel hub upper surface defect identification station (300). S105, The hub conveying mechanism conveys the hub to the hub upper surface defect identification station (300), the hub limiting device fixes the hub, the first 3D laser scanner (304) moves under the drive of the spiral push rod assembly (303), scans the upper surface of the hub, generates point cloud data for industrial computer analysis, identifies the defects on the upper surface of the hub and marks the coordinates; S106. The industrial computer determines whether the wheel hub has defects based on the detection results of S104 and S105. If there are no defects, the wheel hub is directly sent to the next section. If there are defects, the wheel hub conveying mechanism transports the wheel hub to the defect detection station (400) on the upper surface of the wheel hub. The second robotic arm (401) moves according to the defect coordinates, adjusts the focal length, and uses the integrated third polarization camera (402) and ring light source detection component (403) to collect clear images of the defect area. The industrial computer identifies the defect type of the collected images. S107, The hub conveying mechanism transports the defective hub to the hub defect marking station (500). The third robotic arm (501) moves the spraying device (502) at its end according to the defect coordinates and type, and sprays the defect information at the hub defect location according to the type. S108. The marked wheel hub is transported to the grinding station (600). The display (601) shows the number, location and type of defects in the wheel hub for manual repair reference.

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