CN106546190B - A kind of robot device and method for surface defects detection - Google Patents
A kind of robot device and method for surface defects detection Download PDFInfo
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- CN106546190B CN106546190B CN201611090449.7A CN201611090449A CN106546190B CN 106546190 B CN106546190 B CN 106546190B CN 201611090449 A CN201611090449 A CN 201611090449A CN 106546190 B CN106546190 B CN 106546190B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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Abstract
The present invention provides a kind of robot device and method for surface defects detection, the workbench of described device is installed on pedestal by bearing, multi-diameter shaft etc., realizes the continuous rotation around its center of circle；Prismatic pair, the revolute pair axis of each movement branch are respectively perpendicular to workbench mounting surface and end face, are mounted on driving motor and sensor in each movement vice division chief；Digital camera for acquiring image is installed at branches end, and the prismatic pair angle of adjacent motion branch is 45 °；The laser scanner being installed on pedestal acquires measured object three-D profile data in real time, generates motion profile, digital camera adjustment space position and posture under driving in conjunction with hardware parameters such as digital camera object distance, focal lengths.The present invention is suitable for the surface defects detection of the complicated shapes objects such as bridge, tunnel, and environmental suitability is strong, movement is flexible, applied widely, changes tradition by manual identified low efficiency, intelligent measurement means bad adaptability status, has important application value.
Description
Technical field
The invention belongs to industrial automations, are related to visual detection robot technology, can be right more particularly to one kind
The manipulator and method of complicated shape object surface defect progress intellectualized detection.
Background technique
In recent years, the non-destructive testing technology based on machine vision is widely used in surface defects detection, can be significantly
The degree of automation for improving production efficiency and production, especially in some dangerous work environment for being not suitable for manual work or people
Work vision is difficult to the occasion met the requirements, generally requires to replace artificial vision to detect using machine vision.It is led in vision-based detection
Domain first has to guarantee that picture quality is good, feature is obvious, and the image that handles for obtaining high quality is to carry out Intelligent treatment and identification
It is crucial, it is therefore necessary to design a suitable image collecting device.Digital camera is often mounted on a fixation at present
Station acquisition object on the move, or digital camera is installed on a mobile carrier, is quickly moved by carrier
The dynamic acquisition and storage realized to tested object image.
When the technology is applied to the surface defects detection of the Large-sized Communications infrastructure such as bridge, tunnel, due to measured object
Bulky, complete image could be obtained by generally requiring more cameras while shooting.Importantly, this measured object shape
Complex, by taking freeway tunnel as an example, section configuration is an arc-shaped surface, and the section configuration in different tunnel
And size is entirely different, which also limits the promotion and application of machine vision in this field.Robot is rising in recent years
One Men Xueke has many advantages, such as that multi-shaft interlocked, kinematic accuracy is high, bearing capacity is strong, compact-sized, is widely used in pose tune
The fields such as whole, movement simulation, system emulation, drive motion platform to realize space multiple degrees of freedom by each movement branch's suitable swing
Movement and positioning function.Therefore, robot technology is introduced into the field of non destructive testing of view-based access control model, can be fundamentally solved
Because acquisition parameters it is not up to standard caused by Image Acquisition quality is low, bad adaptability the problems such as.
Summary of the invention
A kind of Intelligent mechanical arm device is proposed in order to solve the above problem, flexible using robot motion, multi-shaft interlocked, work
The advantages that space is big, the device can adjust in real time spatial position and the posture of camera according to checking matter shape, be at best
Shot location is realized to large-scale, complicated shape object surface defect intellectualized detection.
A kind of robot device for surface defects detection, including pedestal, workbench, the identical movement of three structures
Branch and digital camera etc..Outer shape be circular workbench be installed on pedestal by bearing, multi-diameter shaft etc., it can be achieved that
Continuous rotation around its center of circle；Each movement branch is made of a prismatic pair (P), two revolute pairs (R) and connecting rod, wherein moving
Dynamic secondary, revolute pair axis is respectively perpendicular to workbench mounting surface and end face, each movement vice division chief be mounted on driving motor and
Sensor；Digital camera for acquiring image is installed at branches end, and the prismatic pair angle of adjacent motion branch is 45 °.
The laser scanner being installed on pedestal acquires measured object three-D profile data in real time, hard in conjunction with digital camera object distance, focal length etc.
Part parameter generates robot motion track, and digital camera adjusts its spatial position and posture under each driving effect, to obtain most
Good picture quality.
The technical solution adopted by the invention is as follows:
A kind of robot device for surface defects detection, which is characterized in that by pedestal, workbench, three structures
Identical movement branch, digital camera and laser scanner are constituted, in which:
Workbench center position with circular configuration is disposed with circular hole and keyway, passes through bearing, multi-diameter shaft and key
It is installed on pedestal, pedestal is welded by a horizontally disposed rectangular platform and two bearing blocks arranged vertically；Pedestal
Laser scanner is installed, for acquiring measured object three-D profile data in real time, surrounding is disposed with lower margin installation in rectangular platform
Hole, for connecting carrier；Base bearing seat one end installation driving device, the other end are equipped with counting device, for driving work
Platform rotation, and record its corner；
Movement branch is one, and there is space three-freedom to move (PRR) branch, be turned by connecting rod, a prismatic pair and two
Dynamic secondary composition, wherein moving secondary axis perpendicular to workbench mounting surface, two revolute pair axis are parallel to each other and are each perpendicular to
Mounting platform end face；The identical movement branch of three structures is installed on workbench surface, mobile secondary axis folder in contiguous branch
Angle is 45 °；Digital camera is installed on branches end, driving device and sensor is mounted in movement vice division chief, branch, in each drive
Dynamic device acts on lower movement and rotation of the digital camera in workbench plane, realizes accurate positioning and posture adjustment.
Preferably, the driving device at the base bearing seat is motor, counting device is encoder.
Preferably, the implementation of prismatic pair is servo electric jar in movement branch.
Preferably, the implementation of prismatic pair is the combination of lead screw, sliding block, guide rail in movement branch.
Preferably, revolute pair is made of multi-diameter shaft, bearing, end cap in movement branch.
Preferably, grating scale of the mobile vice division chief's installation for precise measurement linear motion, rotation vice division chief, which is equipped with, to be used for
The absolute value encoder of precise measurement rotational motion.
Preferably, digital camera is installed on branches end, optical axis is along the connecting rod direction for moving rotation vice division chief, branch.
Preferably, controller servo period is less than 20ms when using industrial line scan digital camera.
Preferably, controller servo period is less than 100ms when using industrial face battle array digital camera.
The robot device for surface defects detection for detection method the following steps are included:
(1) in carrier traveling process, laser scanner real-time measurement measured object 3D shape size, and generate based on sensing
The measured object profile mathematic(al) representation of device coordinate system；
(2) workbench rotational angle is calculated according to measured object profile mathematic(al) representation, it is made to move to detected profile
Center position；
(3) after workbench moves to designated position, in conjunction with digital camera focal length, object distance, aperture parameters planning shooting
Range, and make digital camera optical axis perpendicular to tested curved surface, calculating camera reaches required when best shooting pose on this basis
Motion compensation quantity；
(4) according to manipulator arrangement form and structural parameters, with digital camera pose compensation rate, workbench amount of spin,
Measured object profile parameters are input quantity, and real-time resolving movement branch respectively moves vice division chief's drive displacement, the value of speed, acceleration；
(5) it is inputted above-mentioned calculated value as control system, driving motor movement is controlled after signal converts, in each movement
Manipulator is moved along intended trajectory under vice division chief's driving collective effect, and respectively movement vice division chief's sensor acquires movement letter in real time at the same time
Number；
(6) when each sensor values reach required value, stop drive system, digital camera starts Image Acquisition and deposits
The detection work of a position is so far completed in storage；When carrier movement to next position, repeat the above steps.
Present invention innovation proposes a kind of visual detection robot device, suitable for the complicated shapes object such as bridge, tunnel
Surface defects detection has many advantages, such as that environmental suitability is strong, movement is flexible, applied widely, changes tradition and knows by artificial
The statuses such as other low efficiency, intelligent measurement means bad adaptability have important application value.
Detailed description of the invention
Fig. 1 is provided by the present invention for the structural schematic diagram of the robot device of surface defects detection, and appended drawing reference is such as
Under:
Pedestal -1, workbench -2, movement branch -3, digital camera -4, bearing -5, multi-diameter shaft -6, key -7, rectangle are flat
Platform-(1-1), bearing block-(1-2), prismatic pair-(3-1), revolute pair one-(3-2), revolute pair two-(3-3).
Specific embodiment
Below with reference to specific embodiment to the robot device and method of the present invention for surface defects detection
It is described further, but the scope of protection of the present invention is not limited thereto.
The present invention provides a kind of Intelligent mechanical arm devices, by pedestal, workbench, the identical movement point of three structures
Branch, digital camera and laser scanner are constituted, and each section composition and type of attachment are as follows:
Workbench center position with circular configuration is disposed with circular hole and keyway, passes through bearing, multi-diameter shaft, key etc.
It is installed on pedestal, pedestal is welded by a horizontally disposed rectangular platform and two bearing blocks arranged vertically.Pedestal
Laser scanner is installed, for acquiring measured object three-D profile data in real time, surrounding is disposed with lower margin installation in rectangular platform
Hole, for connecting the carriers such as vehicle；Base bearing seat one end is equipped with the driving devices such as motor, the other end is equipped with encoder etc.
Counting device for driving workbench to rotate, and records its corner.
Movement branch is the PRR branch with space three-freedom movement, is turned by connecting rod, a prismatic pair and two
Dynamic secondary composition, wherein moving secondary axis perpendicular to workbench mounting surface, two revolute pair axis are parallel to each other and are each perpendicular to
Mounting platform end face.The identical movement branch of three structures is installed on workbench surface, mobile secondary axis folder in contiguous branch
Angle is 45 °.Digital camera is installed on branches end, driving device and sensor is mounted in movement vice division chief, branch, in each drive
Any mobile and rotation of the dynamic lower digital camera of device effect in workbench plane, realizes accurate positioning and posture adjustment.
It moves in branch there are two types of the implementations of prismatic pair, the first is servo electric jar, and second is lead screw, cunning
The combination of block, guide rail；Revolute pair is realized by multi-diameter shaft, bearing, end cap etc..
The mobile vice division chief's installation of branch can accurately measure the grating scale of linear motion, rotation vice division chief is equipped with can accurately measure and turn
The absolute value encoder of dynamic movement.
Digital camera is fixedly installed in the movement branches end, and optical axis is along the connecting rod side for moving rotation vice division chief, branch
To.
For a kind of robot device for surface defects detection, corresponding implementation method includes following step
It is rapid:
(1) in the carriers traveling process such as vehicle, laser scanner real-time measurement measured object 3D shape size, and generate base
In the measured object profile mathematic(al) representation of sensor coordinate system；
(2) workbench rotational angle is calculated according to measured object profile mathematic(al) representation, it is made to move to detected profile
Center position；
(3) it after workbench moves to designated position, is clapped in conjunction with parametric programmings such as digital camera focal length, object distance, apertures
Range is taken the photograph, and makes digital camera optical axis perpendicular to tested curved surface, camera is calculated on this basis and reaches best shooting pose when institute
The motion compensation quantity needed；
(4) according to manipulator arrangement form and structural parameters, with digital camera pose compensation rate, workbench amount of spin,
Measured object profile parameters are input quantity, and it is equivalent that real-time resolving movement branch respectively moves vice division chief's drive displacement, speed, acceleration；
(5) it is inputted above-mentioned calculated value as control system, driving motor movement is controlled after signal converts, in each movement
Manipulator is moved along intended trajectory under vice division chief's driving collective effect, and respectively movement vice division chief's sensor acquires movement letter in real time at the same time
Number；
(6) when each sensor values reach required value, that is, show that manipulator reaches designated position, stop drive system,
Digital camera starts Image Acquisition and storage, so far completes the detection work of a position；When the carrier movements such as vehicle are to next
When position, repeat the above steps.
When using industrial line scan digital camera, controller servo period should be less than 20ms；When using industrial face battle array number
When camera, controller servo period should be less than 100ms.
Fig. 1 shows a kind of robot device schematic diagram for surface defects detection in the preferred embodiment of the present invention.Base
Seat (1) is welded by rectangular platform (1-1) and two groups of bearing blocks (1-2), and rectangular platform (1-1) uses alloy steel material, ruler
Very little is 500 × 1000mm, with a thickness of 50mm, and surrounding is disposed withLower margin mounting hole；Bearing block (1-2) with a thickness of
85mm, the distance between center and rectangular platform are 525mm, and the distance between two groups of bearing blocks (1-2) are 200mm.
Workbench (2) uses aviation aluminum alloy material, and outer shape is circle, and diameter isWith a thickness of
80mm, center position are provided with diameter and areCircular hole, keyway is having a size of 22mm × 5.4mm.Workbench (2) passes through
Bearing (5), multi-diameter shaft (6), key (7) are connect with pedestal (1), and selected bearing (5) internal diameter isModel UELP312 band
Base spherical outside surface ball bearing, key (7) are having a size of 22 × 14mm, multi-diameter shaft (6) diameterLadder shaft length is 320mm key
For slot cross-section having a size of 22mm × 9mm, keyway length is 120mm.
Moving branch's (3) structure type is PRR, it can be achieved that space three-freedom moves.Prismatic pair (3-1) is by servo-electric
Cylinder realizes that stroke is ± 500mm, and electric cylinder fixing end is installed on workbench (2), is equipped with high-precision grating scale thereon,
Positioning accuracy is 0.1mm；Revolute pair (3-2,3-3) is realized by multi-diameter shaft, bearing, end cap etc., is equipped with absolute encoder thereon
Device, positioning accuracy are 0.01 °.The movement vice division chief driving is all made of stepper motor, and electric cylinder axis angle is in contiguous branch
45°。
0.25 ° of laser scanner angular resolution, 0~270 ° of detection range, are installed in pedestal (1) rectangular platform (1-1)
At surface, axis is parallel to workbench (2) end face, and the distance that central point deviates workbench (2) end face is 210mm.
As one embodiment, the present invention is installed on movement branch (3) end using industrial line scan digital camera (4)
At revolute pair (3-3), selected controller model Siemens Simotion D445, servo period 4ms.The present invention is corresponding
Implementation method the following steps are included:
(1) in the carriers traveling process such as vehicle, laser scanner real-time measurement measured object 3D shape size, and generate base
In the measured object profile mathematic(al) representation of sensor coordinate system；
(2) workbench (2) rotational angle is calculated according to measured object profile mathematic(al) representation, it is made to move to tested measuring wheel
Wide center position；
(3) after workbench (2) moves to designated position, in conjunction with parameters such as digital camera (4) focal length, object distance, apertures
It plans coverage, and makes digital camera (4) optical axis perpendicular to tested curved surface, calculate camera (4) on this basis and reach most preferably
Shoot motion compensation quantity required when pose；
(4) according to manipulator arrangement form and structural parameters, with digital camera (4) pose compensation rate, workbench 2) turn
Momentum, measured object profile parameters are input quantity, and real-time resolving moves branch (3) respectively movement vice division chief's drive displacement, speed, acceleration
It is equivalent；
(5) it is inputted above-mentioned calculated value as control system, driving motor movement is controlled after signal converts, in each movement
Manipulator is moved along intended trajectory under vice division chief's driving collective effect, and respectively movement vice division chief's sensor acquires movement letter in real time at the same time
Number；
(6) when each sensor values reach required value, that is, show that manipulator reaches designated position, stop drive system,
Digital camera (4) starts Image Acquisition and storage, so far completes the detection work of a position；When the carrier movements such as vehicle are under
When a position, repeat the above steps.
Present invention innovation proposes a kind of visual detection robot device, suitable for the complicated shapes object such as bridge, tunnel
Surface defects detection has many advantages, such as that environmental suitability is strong, movement is flexible, applied widely, changes tradition and knows by artificial
The statuses such as other low efficiency, intelligent measurement means bad adaptability have important application value.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (9)
1. a kind of method of robot device for surface defects detection for detection, which is characterized in that the manipulator
Device is made of pedestal, workbench, the identical movement branch of three structures, digital camera and laser scanner, in which:
Workbench center position with circular configuration is disposed with circular hole and keyway, is installed by bearing, multi-diameter shaft and key
In on pedestal, pedestal is welded by a horizontally disposed rectangular platform and two bearing blocks arranged vertically；Pedestal rectangle
Laser scanner is installed, for acquiring measured object three-D profile data in real time, surrounding is disposed with lower margin mounting hole, uses on platform
In connection carrier；Base bearing seat one end installation driving device, the other end are equipped with counting device, for driving workbench to turn
It is dynamic, and record its corner；
Movement branch is the movement branch with space three-freedom, by connecting rod, a prismatic pair and two revolute pair structures
At wherein moving secondary axis perpendicular to workbench mounting surface, two revolute pair axis are parallel to each other and are each perpendicular to install flat
End face；The identical movement branch of three structures is installed on workbench surface, and prismatic pair axis angle is in contiguous branch
45°；Digital camera is installed on branches end, is mounted on driving device and sensor in movement vice division chief, branch, fills in each driving
Lower movement and rotation of the digital camera in workbench plane of the effect of setting, realizes accurate positioning and posture adjustment；
The method the following steps are included:
(1) in carrier traveling process, laser scanner real-time measurement measured object 3D shape size, and generate and sat based on sensor
Mark the measured object profile mathematic(al) representation of system；
(2) workbench rotational angle is calculated according to measured object profile mathematic(al) representation, it is made to move to detected profile center
At position；
(3) after workbench moves to designated position, coverage is planned in conjunction with digital camera focal length, object distance, aperture parameters,
And make digital camera optical axis perpendicular to tested curved surface, camera is calculated on this basis reaches movement required when best shooting pose
Compensation rate；
(4) it according to manipulator arrangement form and structural parameters, with digital camera pose compensation rate, workbench amount of spin, is tested
Object profile parameters are input quantity, and real-time resolving movement branch respectively moves vice division chief's drive displacement, the value of speed, acceleration；
(5) it is inputted above-mentioned calculated value as control system, driving motor movement is controlled after signal converts, in each movement vice division chief
Manipulator is moved along intended trajectory under driving collective effect, and respectively movement vice division chief's sensor acquires motor message in real time at the same time；
(6) when each sensor values reach required value, stopping drive system, digital camera starts Image Acquisition and storage, until
This completes the detection work of a position；When carrier movement to next position, repeat the above steps.
2. being counted the method according to claim 1, wherein the driving device at the base bearing seat is motor
Counting apparatus is encoder.
3. the method according to claim 1, wherein the implementation of prismatic pair is servo-electric in movement branch
Cylinder.
4. the method according to claim 1, wherein the implementation of prismatic pair is lead screw, cunning in movement branch
The combination of block, guide rail.
5. the method according to claim 1, wherein revolute pair is by multi-diameter shaft, bearing, end cap structure in movement branch
At.
6. the method according to claim 1, wherein light of the mobile vice division chief's installation for precise measurement linear motion
Grid ruler, rotation vice division chief are equipped with the absolute value encoder for precise measurement rotational motion.
7. the method according to claim 1, wherein digital camera is installed on branches end, optical axis is along moving point
The connecting rod direction of branch rotation vice division chief.
8. according to claim 1 to method described in any one in 7, which is characterized in that when using industrial line scan digital camera
When, controller servo period is less than 20ms.
9. according to claim 1 to method described in any one in 7, which is characterized in that when using industrial face battle array digital camera
When, controller servo period is less than 100ms.
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Families Citing this family (5)
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| CN107246848A (en) * | 2017-04-21 | 2017-10-13 | 江西省高速公路投资集团有限责任公司 | A kind of constructing tunnel fracture morphology rapid detection system and its detection method |
| CN107655898B (en) * | 2017-10-10 | 2023-11-03 | 山西省智慧交通研究院有限公司 | Stereoscopic scanning robot for road tunnel detection and implementation method thereof |
| CN111609279A (en) * | 2020-04-29 | 2020-09-01 | 南京理工大学 | Automatic shooting device for tunnel full-section multi-viewpoint photogrammetry |
| CN112903710A (en) * | 2021-01-22 | 2021-06-04 | 山东高速工程检测有限公司 | Method, system and device for monitoring apparent bridge diseases |
| CN116164797B (en) * | 2023-04-20 | 2023-07-14 | 河北拓森建筑装饰工程有限公司 | Road and bridge tunnel lining detection device |
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