CN109871863A - A kind of portable visual detection equipment for small lot Large-Scale Equipment - Google Patents
A kind of portable visual detection equipment for small lot Large-Scale Equipment Download PDFInfo
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- CN109871863A CN109871863A CN201811641369.5A CN201811641369A CN109871863A CN 109871863 A CN109871863 A CN 109871863A CN 201811641369 A CN201811641369 A CN 201811641369A CN 109871863 A CN109871863 A CN 109871863A
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Abstract
The present invention discloses a kind of portable visual detection equipment for small lot Large-Scale Equipment, including portable control terminal, control panel, camera pose adjustment device, camera, thermal infrared imager, image detection module and battery；Portable control terminal issues control instruction to control panel, and sends shooting instruction to camera and thermal infrared imager；Control panel controls the lifting of camera pose adjustment device according to control instruction and angle adjusts；Camera pose adjusts device and drives camera and thermal infrared imager to go up and down or adjust tilt angle according to the control instruction of control panel；Camera and thermal infrared imager shoot the image of object to be detected according to the instruction of portable control terminal and are sent to image detection module；Image detection module compares image to be detected and template image, judges whether image to be detected is consistent with template image, realizes that the vision-based detection to Large-Scale Equipment, the present invention can conveniently and effectively realize the vision-based detection of small lot Large Complex Equipment.
Description
Technical field
The invention belongs to the technical fields of industrial vision detection, and in particular to a kind of for the portable of small lot Large-Scale Equipment
Formula visual detection equipment.
Background technique
In the production assembling process of small lot Large Complex Equipment, most of process of assembly and quality inspection uses artificial
Means carry out operation and quality inspection to each assembly project, due to Large Complex Equipment detection by comparing paper process file
Very much, false retrieval missing inspection, and inefficiency are easily caused by the way of artificial, are the major issues for influencing production efficiency, are passed
The Computer Vision Detection mode of system relies on fixed scene and single target, and this visible detection method is commonly available to greatly
The considerations of for cost and place, it is large-scale multiple not to be suitable for small lot (within 100) for the detection of the large-scale and complicated device of batch
The detection of miscellaneous equipment (equipment for being highly greater than 1 meter).
Summary of the invention
In view of this, the present invention provides a kind of portable visual detection equipment for small lot Large-Scale Equipment, it can
Conveniently and effectively realize the vision-based detection of small lot Large Complex Equipment.
Realize that technical scheme is as follows:
A kind of portable visual detection equipment for small lot Large-Scale Equipment, including portable control terminal, control panel,
Camera pose adjusts device, camera, thermal infrared imager, image detection module and battery；
Portable control terminal is used to issue control instruction to control panel, and sends shooting to camera and thermal infrared imager and refer to
It enables；
Control panel controls lifting and the angle tune of camera pose adjustment device according to the control instruction of portable control terminal
It is whole；
Camera pose adjusts device and drives camera and thermal infrared imager lifting or adjustment to incline according to the control instruction of control panel
Rake angle；
Camera and thermal infrared imager shoot the image of object to be detected according to the instruction of portable control terminal, and by image
It is sent to image detection module；
Image detection module is used to compare the image of object to be detected and template image, is retouched using feature extraction and feature
It states algorithm and carries out images match, judge whether image to be detected is consistent with template image, realize the vision-based detection to Large-Scale Equipment；
Battery is used to examine to portable control terminal, control panel, camera pose adjustment device, thermal infrared imager and image
Survey module for power supply.
Further, the equipment further includes light compensating lamp, and the light compensating lamp is used in the case where illuminating insufficient situation, is provided
Additional illumination.
Further, the camera pose adjustment device includes elevating lever and holder.
Further, the feature extraction algorithm is fast feature detection algorithm, and the feature describes algorithm as BRIEF calculation
Method.
The utility model has the advantages that
1, the present invention combines Image Acquisition demand, and the control by adjusting device to camera pose, which is realized, takes pictures position to camera
Accurate Image Acquisition is realized in the positioning for setting posture.
2, the present invention describes algorithm realization to the contactless automatic of small lot Large-Scale Equipment by feature extraction and feature
Detection and assembly accuracy differentiate.
Detailed description of the invention
Fig. 1 is assay device structures schematic diagram of the present invention.
Fig. 2 is that camera pose of the present invention adjusts apparatus structure schematic diagram.
Fig. 3 is cradle head structure schematic diagram of the present invention.
Fig. 4 is feature of present invention extraction algorithm schematic diagram.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of portable visual detection equipments for small lot Large-Scale Equipment, as shown in Figure 1, including
Portable control terminal, control panel, camera pose adjustment device, camera, thermal infrared imager, image detection module and battery；
Portable control terminal is used to issue control instruction to control panel, and sends shooting to camera and thermal infrared imager and refer to
It enables；
Control panel controls lifting and the angle tune of camera pose adjustment device according to the control instruction of portable control terminal
It is whole；
Camera pose adjusts device and drives camera and thermal infrared imager lifting or adjustment to incline according to the control instruction of control panel
Rake angle；Camera pose adjustment device includes elevating lever and cradle head of two degrees of freedom, and elevating lever controls camera and thermal infrared imager
Lifting, the angle tilt of cradle head control camera and thermal infrared imager.
Camera and thermal infrared imager shoot the image of object to be detected according to the instruction of portable control terminal, and by image
It is sent to image detection module；Camera and thermal infrared imager can carry out full coverage type scanning collection figure to small lot Large-Scale Equipment
Picture detects components, the device of equipping upper different distributions, and can be for components, the space layout tool of device
There is the function that multi-angle is taken pictures.
Image detection module is used to compare the image of object to be detected and template image, is retouched using feature extraction and feature
It states algorithm and carries out images match, judge whether image to be detected is consistent with template image；
Battery be used for portable control terminal, control panel, camera pose adjustment device, camera, thermal infrared imager and
Image detection module power supply.
The equipment further includes light compensating lamp, and the light compensating lamp is used in the case where illuminating insufficient situation, provides additional illumination.
The hardware of the present embodiment mainly includes tool box, elevating lever, cradle head of two degrees of freedom, light compensating lamp, portable control end
End and control panel etc..Tool box can store all hardware devices, in the state that elevating lever is shunk convenient for taking
Band, elevating lever provide condition for the space orientation of camera, may be implemented the control of two dimensions on vertical direction and horizontal plane, and two
Degree-of-freedom cradle head controls the level of camera, pitching, yaw angle, and camera is substantially carried out Image Acquisition, and light compensating lamp is used to eliminate inspection
Survey the influence of the dark environment in scene.
Tool box provides the control of storage for all hardware equipment, needs folded elevating lever, camera, controlling terminal
Etc. equipment stored, have rationally, the location mode of safety, it is easy to carry, and equipment can be played a certain protective role.
Elevating lever is mainly the mobile offer basis of industrial camera and infrared camera, is allowed in vertical and horizontal directions
It is moved.As shown in Fig. 2, this system uses foldable mechanical arm, off working state can fold into work box, work
Automatic-expanding after starting, rises to specified altitude assignment.The movement of different freedom degrees can be carried out, realizes multi-angled shooting.Push rod row
Journey: 1200mm is able to detect the object of 800mm-2000mm.
As shown in figure 3, clouds terrace system is to adjust the carrier that vertically and horizontally rotates of camera, by PELCOD agreement+
Baud rate 2400+485 control terminal maximum can realize vertical 78 degree of intelligent rotating, and 350 degree of horizontal intelligent rotating, PTZ level moves
Speed is up to 7 degrees seconds.It is main to realize infrared camera to the multi-angled shooting at shooting end.Holder: horizontal extent 0-350 degree, vertically
Range 0-70 degree.
Portable control terminal is the carrier of system software operation, main to realize task configuration, hardware controls, image analysis
With calculate, result output etc. functions, need higher hardware configuration.Pass through wired or wireless net between terminal and hardware device
Network interacts, main to realize the operation such as control instruction transmission, image transmitting.
Control panel is the control core of a whole set of control system, mainly includes master control borad and motion control board and large capacity electricity
Pond and power management module, master control borad mainly include stm32f407 single chip machine controlling circuit, network module (openwrt system)
Circuit, push rod control circuit, cradle head control circuit.For the portability for realizing this equipment, need real using embedded power-supply system
It now powers, and can guarantee system continuing working within a certain period of time.
Battery in the present invention uses rechargeable Li-ion batteries piles.This type battery has energy height, longevity
The advantages that life length, voltage rating is high, is able to bear high power, light-weight.It needs to consider mechanical arm, infrared camera in design process
Power demands, use output voltage for 24V lithium battery group power, battery capacity, if necessary and can be real in 20AH or more
Now it is used in series.
Image detection module describes algorithm (BRIEF calculation using feature extraction algorithm (fast feature detection algorithm) and feature
Method), by both algorithms in conjunction with come the vision-based detection that carries out large scale equipment, it can satisfy required precision and have real well
Shi Xing.The basic principle of feature point detection algorithm is setting gray difference threshold εdWith neighborhood gray scale difference number threshold value t.Retrieve image
Each grey scale pixel value, the pixel value are greater than the number of gray difference threshold such as with grey scale pixel value difference each in making a circle in its week
Under:
Wherein I (x) is the gray scale at any point on circumference, and I (p) is the gray scale in the center of circle.If N is greater than given threshold value t,
Think that the central pixel point is a candidate feature point.The present invention chooses the Bresenham circle that radius is 3, as shown in figure 4, making
Determine whether its center pixel P is angle point with a length of 16 pixels of circumference.It is continuous in the adjacent area judgement of pixel
12 pixels, if these pixels are all larger than or are less than central pixel point and differ by more than specific threshold, then it is assumed that should
Central pixel point is a candidate feature point.The present invention is not had using a kind of method of gray scale mass center to solve the candidate feature
The problem of direction:
Wherein,
After extracting candidate feature, subsequent matching could be used for by needing to be described, and feature describes algorithm (BRIEF
Algorithm) then number of bits can be calculated with xor operation come the thinking that realize based on calculating for Hamming distance.Candidate special
N number of point pair is chosen with certain pattern around sign point, the comparison result this N number of point pair is sub in combination as description.Image
In pocket (patch) can be by the way that the seldom point of quantity be compared and is effectively distinguished to gray scale is carried out.Therefore, right
It is as follows that the image-region p of one S*S defines a τ test:
Each τ test is the point pair chosen by certain pattern to result.τ is tested according to following formula
Arrangement, can be obtained BRIEF feature:
BRIEF description is extracted according to the principal direction, and characteristic point is matched, using the description algorithm of cross-correlation,
This method does not utilize the gray value of feature neighborhood of a point, but the cross-correlation coefficient according to characteristic point neighborhood territory pixel gray value directly
It is matched for matching principle.Algorithm thinking is to take centered on each of template image and detection image characteristic point respectively
Then a certain size region finds corresponding matching as reference point using each characteristic point in template image in detection image
Point, matching is according to the related coefficient for being calculating characteristic point relevant range: normalized cross-correlation coefficient being utilized to carry out characteristic point
Matching, obtain the affine transformation matrix of template image and detection image further according to matched characteristic point, judge template image and to
Whether detection image is consistent.
Of the corresponding characteristic point of maximum related coefficient as the reference point in related coefficient is chosen when Feature Points Matching
With point.After characteristic matching, the affine transformation matrix of template image and detection image is obtained according to the feature of accurate match.ORB
There is extremely strong effect in terms of speed, by comparing to the power distribution cabinet image algorithm speed of service, operation time is SURF algorithm
1/10th or so.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (4)
1. a kind of portable visual detection equipment for small lot Large-Scale Equipment, which is characterized in that including portable control end
End, control panel, camera pose adjustment device, camera, thermal infrared imager, image detection module and battery；
Portable control terminal is used to issue control instruction to control panel, and sends shooting instruction to camera and thermal infrared imager；
Control panel controls the lifting of camera pose adjustment device according to the control instruction of portable control terminal and angle adjusts；
Camera pose adjusts device and drives camera and thermal infrared imager to go up and down or adjust inclination angle according to the control instruction of control panel
Degree；
Camera and thermal infrared imager shoot the image of object to be detected according to the instruction of portable control terminal, and image is sent
To image detection module；
Image detection module is used to compare the image of object to be detected and template image, is calculated using feature extraction and feature description
Method carries out images match, judges whether image to be detected is consistent with template image, realizes the vision-based detection to Large-Scale Equipment；
Battery is used for portable control terminal, control panel, camera pose adjustment device, thermal infrared imager and image detection mould
Block power supply.
2. a kind of portable visual detection equipment for small lot Large-Scale Equipment as described in claim 1, which is characterized in that
The equipment further includes light compensating lamp, and the light compensating lamp is used in the case where illuminating insufficient situation, provides additional illumination.
3. a kind of portable visual detection equipment for small lot Large-Scale Equipment as claimed in claim 1 or 2, feature exist
In the camera pose adjustment device includes elevating lever and holder.
4. a kind of portable visual detection equipment for small lot Large-Scale Equipment as claimed in claim 3, which is characterized in that
The feature extraction algorithm is fast feature detection algorithm, and it is BRIEF algorithm that the feature, which describes algorithm,.
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| CN201811641369.5A CN109871863A (en) | 2018-12-29 | 2018-12-29 | A kind of portable visual detection equipment for small lot Large-Scale Equipment |
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| CN201811641369.5A CN109871863A (en) | 2018-12-29 | 2018-12-29 | A kind of portable visual detection equipment for small lot Large-Scale Equipment |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107357286A (en) * | 2016-05-09 | 2017-11-17 | 两只蚂蚁公司 | Vision positioning guider and its method |
| CN107219235A (en) * | 2016-10-27 | 2017-09-29 | 中新红外科技（武汉）有限公司 | A kind of wind energy infra-red inspection instrument and its operating system |
| US9870624B1 (en) * | 2017-01-13 | 2018-01-16 | Otsaw Digital Pte. Ltd. | Three-dimensional mapping of an environment |
| CN108303426A (en) * | 2018-02-06 | 2018-07-20 | 华中科技大学 | A kind of lossless device for fast detecting of cable tunnel defect and its detection method |
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Application publication date: 20190611 |
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