CN114972734A - Heat pipe marking identification device and method based on machine vision - Google Patents
Heat pipe marking identification device and method based on machine vision Download PDFInfo
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- CN114972734A CN114972734A CN202210592744.1A CN202210592744A CN114972734A CN 114972734 A CN114972734 A CN 114972734A CN 202210592744 A CN202210592744 A CN 202210592744A CN 114972734 A CN114972734 A CN 114972734A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/003—Apparatus, e.g. furnaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F3/00—Manufacture of workpieces or articles from metallic powder characterised by the manner of compacting or sintering; Apparatus specially adapted therefor ; Presses and furnaces
- B22F3/24—After-treatment of workpieces or articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F5/00—Manufacture of workpieces or articles from metallic powder characterised by the special shape of the product
- B22F5/10—Manufacture of workpieces or articles from metallic powder characterised by the special shape of the product of articles with cavities or holes, not otherwise provided for in the preceding subgroups
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- G—PHYSICS
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/28—Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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Abstract
The invention provides a heat pipe marking identification device and method based on machine vision. Wherein the visual recognition mechanism comprises a visual processing module: the device comprises a camera, a lens, a light source and a light source controller; the visual identification mechanism, the heat pipe lifting mechanism and the heat pipe conveying and clamping mechanism are all arranged on the bottom plate and are connected with the controller; wherein the visual recognition mechanism is vertically installed; the heat pipe lifting mechanism is arranged between the visual identification mechanism and the heat pipe conveying clamping mechanism. The invention has the advantages of simple principle, convenient use, strong adaptability and the like.
Description
Technical Field
The application relates to the field of heat pipe production and manufacturing, in particular to a heat pipe marking identification device and method based on machine vision.
Background
The machine vision technology is a cross discipline in a plurality of fields such as machinery, optics, artificial intelligence, image processing, computer science and the like. Machine vision mainly uses a computer to simulate human eyes, extracts target information from objective things and carries out related processing; i.e. measurement and judgment by a machine instead of the human eye. Machine vision also applies computer vision to industrial automation.
The heat pipe is a high-efficiency heat conducting element and is mainly applied to the electronic industry and various industrial fields. In the production and manufacturing process of the heat pipe, when secondary degassing and flattening processes are carried out, the heat pipe is sealed, and an operator cannot judge the direction of the inner wick on the appearance. Therefore, the marking is a marking process performed after the heat pipe sintering process in order to identify the position direction of the sintered wick inside the heat pipe, and an operator needs to perform related operations by observing the marked position when performing the secondary degassing and flattening processes. In order to replace the observation of human eyes on marking, a device for judging the marking direction based on machine vision is designed, the problem of eye fatigue of an operator during manual operation is effectively solved, and meanwhile, automatic identification and marking positioning can be realized.
Disclosure of Invention
The device and the method for identifying the heat pipe marking based on the machine vision are provided, so that the process of identifying the heat pipe marking direction can be automatically completed, and the production efficiency is improved.
A heat pipe marking identification method based on machine vision comprises a bottom plate, a vision identification mechanism, a heat pipe lifting mechanism, a heat pipe conveying and clamping mechanism and a controller;
the visual identification mechanism, the heat pipe lifting mechanism and the heat pipe conveying and clamping mechanism are all arranged on the bottom plate and are connected with the controller;
the visual recognition mechanism is vertically arranged;
the heat pipe lifting mechanism is arranged between the visual identification mechanism and the heat pipe conveying clamping mechanism.
The visual recognition mechanism comprises a vertical mounting plate, a camera, a lens, a light source and a background bottom plate;
the camera with the camera lens links to each other, and vertical installation, the camera is installed on the camera mounting panel, simultaneously the camera mounting panel is installed on Z axle slip table, Z axle slip table is installed through two short slabs on the vertical mounting panel, the short slab with the vertical mounting panel further connect through the connecting plate.
The light source is an annular light source and is arranged on two light source mounting bars, the two light source sliding mounting bars are arranged on a sliding bar, the sliding bar and the background bottom plate are both arranged on the vertical mounting plate in a sliding manner, and the background bottom plate is arranged below the light source;
the two light source mounting bars can slide left and right in a certain range on the sliding bar, the sliding bar can slide up and down in a certain range on the vertical mounting plate, and the background bottom plate can also slide up and down in a certain range on the vertical mounting plate.
The camera, the lens, the light source and the background bottom plate are all arranged on the same side of the vertical mounting plate.
The vision recognition mechanism is installed through vision mounting plate on the bottom plate, vision mounting plate with vertical mounting panel connects through two strengthening ribs, simultaneously vision mounting plate, strengthening rib with the camera is installed respectively the both sides of vertical mounting panel.
The heat pipe lifting mechanism comprises a lifting cylinder, a cylinder mounting plate, a base, a mounting seat, a heat pipe and a front positioning metal plate;
the lifting cylinder is arranged on the bottom plate through a positioning pin and is vertically arranged; the cylinder mounting plate is mounted on the cylinder mounting plate through a positioning pin; the base is arranged on the cylinder mounting plate through a groove below the base, the mounting seat is arranged on the base, meanwhile, the mounting seat can be replaced according to different pipe diameters of the heat pipes, and the base can be arranged at different positions on the cylinder mounting plate according to different lengths of the heat pipes; the location panel beating is installed cylinder mounting panel one end is as the location.
The heat pipe conveying and clamping mechanism comprises a linear module, an XZ shaft sliding table, a stepping motor, a sliding ring, a pneumatic clamping jaw and a clamping jaw;
the linear module is arranged on the bottom plate, the XZ shaft sliding table is arranged on the linear module, and the XZ shaft sliding table is connected with the linear module through a module mounting plate; the sliding table mounting plate is mounted on the XZ shaft sliding table, and the motor mounting bracket is mounted on the sliding table mounting plate; the stepping motor and the slip ring are respectively arranged on two sides of the motor mounting bracket; the slip ring shaft is connected with the slip ring and passes through a bearing; the bearing is arranged in the motor mounting bracket; the slip ring shaft is connected with the motor through a coupling; a slip ring output flange is arranged on the other side of the slip ring; the slip ring output flange is connected with the pneumatic clamping jaw through the clamping jaw mounting plate I and the clamping jaw mounting plate II; the pneumatic clamping jaw is arranged above the pneumatic clamping jaw; the clamping jaw mounting plate II is mounted above the pneumatic clamping jaw and the clamping jaw mounting plate I; the two clamping jaws are arranged on the pneumatic clamping jaw; the two heat pipe clamps are respectively arranged on the clamping jaws.
The controller is a Racing motion controller.
By adopting the device, the heat pipe marking identification method based on machine vision comprises the following steps:
firstly, adjusting the position of a light source on a sliding strip to ensure that the central position of the light source is superposed with the central positions of a camera and a lens; placing a white board on a background bottom board as an image background; then, the lifting cylinder is lifted, the heat pipe is placed on the lifting cylinder, positioning is simultaneously carried out, the linear module is driven to move forward until the clamping jaw can clamp the tail of the heat pipe, and then the linear module stops moving, and the heat pipe can be stably clamped; if the center of the clamping jaw is not coincident with the center of the heat pipe, the center point is finely adjusted by adjusting the XZ axis sliding table, so that the center of the clamping jaw is coincident with the center of the heat pipe; after the clamping jaw clamps the heat pipe, the lifting cylinder descends to drive the linear module to continue to advance, the marking position of the heat pipe is transferred to the position below the light source, the brightness of the light source, the aperture size of the lens, the focal length of the lens, the height of the camera, the height of the light source and the height of the background bottom plate are adjusted, and then the marking position of the heat pipe is fixed through the Z-axis sliding table and the rear of the vertical mounting plate through bolts, so that the image of the marking position of the heat pipe in an image is clear; rotating the heat pipe, observing the image in the rotating process, clearly seeing the marked mark, overexposure the heat pipe under the background and the light of the annular light source to show the same gray level as the background, only seeing the marked part to show black, resetting all elements, and finishing the early preparation work;
the positions of all parts in preparation work before storage are fixed, firstly, the linear module is returned to the original position of the right end, the pneumatic clamping jaw is in an open state, the lifting cylinder is lifted, the heat pipe is placed on the two mounting seats, the specifications of the mounting seats are changed according to the diameter of the heat pipe, meanwhile, a proper mounting position can be selected on the mounting plate of the cylinder according to the length of the heat pipe, and the heat pipe is placed by taking a positioning metal plate as the front end for positioning;
the linear module is driven to move forward until the clamping jaw can clamp the tail of the heat pipe for a certain distance, and the heat pipe can be stably clamped; after the clamping jaw clamps the heat pipe, the lifting cylinder is descended, then the linear module is driven to move forward again until the marking part of the heat pipe is approximately positioned at the center of the camera visual field, and then the linear module stops, and then the camera is triggered to acquire an instruction in real time and a rotating instruction of the stepping motor; when the stepping motor rotates, the camera collects an image in real time, processes the image in real time, draws an ROI (region of interest) aiming at a marking position in the image when the image is processed, the size of the ROI can be enlarged relative to the size of a marking mark, binaryzation is carried out inside the ROI, the gray level of the marking is displayed, the color of the position, which is not marked, of the heat pipe is the same as the background color, the gray level is 255, the size of the area after binaryzation inside the ROI is calculated in real time, and if the marking position is completely upward, the area at the moment is the maximum value; controlling the stepping motor to stop after rotating for one circle, and simultaneously finishing the real-time camera acquisition instruction; aiming at the picture serial number corresponding to the maximum area obtained when the camera processes the image in real time, the frame rate is combined, namely the angle of the stepping motor which needs to rotate continuously is calculated, and further the number of pulses which need to be sent is calculated through the number of single-turn pulses of the stepping motor; then, the stepping motor is driven to rotate again to the required rotation angle, and the rotation can be stopped;
after the stepping motor finishes rotating, the linear module is controlled to return to the original position of the heat pipe.
The heat pipe marking identification method and device based on machine vision have the advantage of automatically identifying the marking direction of the heat pipe through the machine vision.
Drawings
FIG. 1 is a schematic perspective view of a heat pipe marking recognition device based on machine vision according to the present invention;
FIG. 2 is a schematic perspective view of the visual identification mechanism of the present invention;
FIG. 3 is a schematic perspective view of the heat pipe lifting mechanism of the present invention;
FIG. 4 is a schematic perspective view of a heat pipe transporting and clamping mechanism according to the present invention;
FIG. 5 is a schematic view of the motor mounting bracket, slip ring shaft and bearing mounting of the present invention;
FIG. 6 is a flow chart of the operation of the preliminary preparation work of the present invention;
FIG. 7 is a flowchart illustrating operation of an embodiment of the present invention.
Detailed description of the preferred embodiments
The specific technical scheme of the invention is explained by combining the attached drawings.
Referring to fig. 1, the heat pipe marking recognition device based on machine vision of the present invention includes a bottom plate 1, a vision recognition mechanism 2, a heat pipe lifting mechanism 3, a heat pipe conveying and clamping mechanism 4, and a controller;
the visual identification mechanism 2, the heat pipe lifting mechanism 3 and the heat pipe conveying and clamping mechanism 4 are all arranged on the bottom plate 1 and are connected with a controller;
the visual recognition mechanism 2 is vertically arranged;
the heat pipe lifting mechanism 3 is arranged between the visual identification mechanism 2 and the heat pipe conveying and clamping mechanism 4.
As shown in fig. 2, the visual recognition mechanism 2 includes a vertical mounting plate 15, a camera 10, a lens 11, a light source 13 and a background base plate 14;
The light source 13 is an annular light source and is mounted on two light source mounting bars 12, the two light source mounting bars 12 are mounted on a sliding bar 18, the sliding bar 18 and the background bottom plate 14 are both mounted on the vertical mounting plate 15, and the background bottom plate 14 is mounted below the light source 13;
the two light source mounting bars 12 can slide left and right on the sliding bar 18 within a certain range, the sliding bar 18 can slide up and down on the vertical mounting plate 15 within a certain range, and the background bottom plate 14 can also slide up and down on the vertical mounting plate 15 within a certain range.
The camera 10, the lens 11, the light source 13 and the background base plate 14 are all mounted on the same side of the vertical mounting plate 15.
As shown in fig. 3, the heat pipe lifting mechanism 3 includes a lifting cylinder 30, a cylinder mounting plate 31, a base 32, a mounting seat 33, a heat pipe 34, and a front positioning metal plate 35;
the lifting cylinder 30 is mounted on the bottom plate 1 through a positioning pin and is vertically mounted; the cylinder mounting plate 31 is mounted on the cylinder mounting plate 31 through a positioning pin; the base 32 is installed on the cylinder installation plate 31 through a groove below the base, the installation seat 33 is installed on the base 32, meanwhile, the installation seat 33 can be replaced according to different pipe diameters of heat pipes, and the base 32 can be installed at different positions on the cylinder installation plate 31 according to different lengths of the heat pipes; the location panel beating 35 is installed cylinder mounting panel 31 one end is as the location.
As shown in fig. 4 to 5, the heat pipe conveying and clamping mechanism 4 includes a linear module 40, an XZ axis sliding table 42, a stepping motor 41, a sliding ring 45, a pneumatic clamping jaw 51 and a clamping jaw 49;
the linear module 40 is mounted on the bottom plate 1, the XZ shaft sliding table 42 is mounted on the linear module 40, and the XZ shaft sliding table 42 is connected with the linear module 40 through a module mounting plate 41; a sliding table mounting plate 43 is mounted on the XZ shaft sliding table 42, and a motor mounting bracket 42 is mounted on the sliding table mounting plate 43; the stepping motor 41 and the slip ring 45 are respectively arranged at two sides of the motor mounting bracket 42; the slip ring shaft 44 is connected with the slip ring 45 and passes through a bearing 52; the bearing 52 is mounted inside the motor mounting bracket 42; the slip ring shaft 44 is connected with the motor through a coupling 43; a slip ring output flange 46 is mounted on the other side of the slip ring 45; a first clamping jaw mounting plate 47 and a second clamping jaw mounting plate 48 connect the slip ring output flange 46 with the pneumatic clamping jaw 51; the pneumatic clamping jaw 51 is arranged above the pneumatic clamping jaw 51; the second clamping jaw mounting plate 48 is arranged above the pneumatic clamping jaw 51 and the first clamping jaw mounting plate 47; two clamping jaws 49 are arranged and are mounted on the pneumatic clamping jaw 51; two heat pipe clamps 50 are respectively arranged on the clamping jaws 49.
The controller is a Racing motion controller.
The heat pipe marking identification method based on machine vision comprises the following steps:
as shown in fig. 6, first, the position of the light source 13 on the slide bar 18 is adjusted so that the center position of the light source 13 approximately coincides with the center positions of the camera 10 and the lens 11. A white board is placed on the background base 14 as an image background. Then, the lifting cylinder 30 is lifted, the heat pipe 34 is placed, positioning is well done, the linear module 40 is driven to advance, the linear module stops after the clamping jaw 49 can clamp the tail of the heat pipe 34, and the heat pipe 34 can be stably clamped; if the center of the clamping jaw 49 is not coincident with the center of the heat pipe 3, the center point is finely adjusted by adjusting the XZ axis sliding table 42, so that the center of the clamping jaw 49 is coincident with the center of the heat pipe 34; after the clamping jaw 49 clamps the heat pipe, the lifting cylinder 30 descends, the driving linear module 40 continues to advance, the marking position of the heat pipe 34 is transferred to the position below the light source 13, the brightness of the light source 13, the aperture size of the lens 11, the focal length of the lens 11, the height of the camera 10, the height of the light source 13 and the height of the background bottom plate 14 are adjusted, and then the marking position of the heat pipe 34 is fixed through the Z-axis sliding table 19 and the vertical mounting plate 15 through bolts, so that the image of the marking position of the heat pipe 34 in the image is clear. The heat pipe 34 is rotated, marked marks can be clearly seen in an observation image in the rotating process, the heat pipe 34 is overexposed under the background and the lighting of the annular light source 13, the gray level of the heat pipe is the same as that of the background, only the marked part is seen to be black, all elements are reset, and the early preparation work is finished.
As shown in fig. 7, the positions of the components in the preparation work before storage are not changed, the linear module 40 is returned to the right end original position, the pneumatic clamping jaw 51 is in the open state, the lifting cylinder 30 is lifted, the heat pipe 34 is placed on the two mounting seats 33, the specification of the mounting seats 33 is changed according to the diameter of the heat pipe 34, meanwhile, the proper mounting position can be selected on the cylinder mounting plate 31 according to the length of the heat pipe 34, and the heat pipe 34 is placed by taking the positioning metal plate 35 as the front end for positioning.
The linear module 40 is driven to advance until the clamping jaws 49 can clamp the tail of the heat pipe 34 for a certain distance, and the heat pipe 34 can be stably clamped. After the clamping jaw 49 is ensured to clamp the heat pipe, the lifting cylinder 30 is descended, then the linear module 40 is driven again to move forward until the marking part of the heat pipe 34 is approximately positioned at the center of the visual field of the camera 10 and then stopped, and then the camera 10 is triggered to acquire an instruction in real time and the stepping motor 41 is triggered to rotate at the same time. When the stepping motor 41 rotates, the camera 10 collects an image in real time, processes the image in real time, draws an ROI at a marking position in the image when processing the image, the size of the ROI can be enlarged relative to the size of the marking mark, binarizes inside the ROI to display the gray level of the marking, the color of the non-marking position of the heat pipe 34 is the same as the background color, the gray level is 255, the size of the area after binarization inside the ROI is calculated in real time, and if the marking position is completely upward, the area at the moment is the maximum value. And controlling the stepping motor 41 to stop after rotating for one circle, and simultaneously finishing the real-time acquisition of the instruction by the camera 10. For the picture sequence number corresponding to the maximum area obtained when the camera 10 processes the image in real time, the angle of the stepping motor 41 required to continue rotating can be calculated by combining the frame rate, and further, the pulse number to be sent can be calculated by the number of single-turn pulses of the stepping motor 41. And then the stepping motor 41 is driven again to rotate to the required rotation angle, and the operation can be stopped.
After the stepping motor 10 finishes rotating, the linear control module 40 returns to the original position of the heat pipe 34, so that the heat pipe marking identification based on machine vision is realized, and meanwhile, the marking direction can be ensured to face the same direction.
The above examples are merely representative of the methods and several embodiments of the present application, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.
Claims (8)
1. A heat pipe marking identification device based on machine vision is characterized by comprising a bottom plate (1), a vision identification mechanism (2), a heat pipe lifting mechanism (3), a heat pipe conveying and clamping mechanism (4) and a controller;
the visual identification mechanism (2), the heat pipe lifting mechanism (3) and the heat pipe conveying and clamping mechanism (4) are all arranged on the bottom plate (1) and are connected with the controller;
the visual recognition mechanism (2) is vertically arranged;
the heat pipe lifting mechanism (3) is arranged between the visual identification mechanism (2) and the heat pipe conveying clamping mechanism (4).
2. The machine vision-based heat pipe marking recognition device as claimed in claim 1, wherein: the visual recognition mechanism (2) comprises a vertical mounting plate (15), a camera (10), a lens (11), a light source (13) and a background bottom plate (14);
camera (10) with camera lens (11) link to each other, and vertical installation, install on camera mounting panel (20) camera (10), simultaneously camera mounting panel (20) are installed on Z axle slip table (19), Z axle slip table (19) are installed on two short slabs (21), short slab (21) through connecting plate (22) with vertical mounting panel (15) are connected.
3. The heat pipe marking identification device based on machine vision as claimed in claim 2, wherein: the light source (13) is an annular light source and is arranged on two light source mounting bars (12), the two light source mounting bars (12) are arranged on a sliding bar (18) in a sliding manner, the sliding bar (18) and the background bottom plate (14) are arranged on the vertical mounting plate (15) in a sliding manner, and the background bottom plate (14) is arranged below the light source (13);
the two light source mounting bars (12) can slide left and right on the sliding bar (18) within a certain range, the sliding bar (18) can slide up and down on the vertical mounting plate (15) within a certain range, and the background bottom plate (14) can also slide up and down on the vertical mounting plate (15) within a certain range;
the camera (10), the lens (11), the light source (13) and the background bottom plate (14) are all installed on the same side of the vertical installation plate (15).
4. The machine vision-based heat pipe marking recognition device as claimed in claim 2, wherein: visual identification mechanism (2) are installed through vision mounting plate (16) on bottom plate (1), vision mounting plate (16) with vertical mounting panel (15) are connected through two strengthening ribs (17), simultaneously vision mounting plate (16), strengthening rib (17) with camera (10) are installed respectively the both sides of vertical mounting panel (15).
5. The machine vision-based heat pipe marking recognition device as claimed in claim 1, wherein: the heat pipe lifting mechanism (3) comprises a lifting cylinder (30), a cylinder mounting plate (31), a base (32), a mounting seat (33), a heat pipe (34) and a front positioning metal plate (35);
the lifting cylinder (30) is arranged on the bottom plate (1) through a positioning pin and is vertically arranged; the cylinder mounting plate (31) is mounted on the cylinder mounting plate (31) through a positioning pin; the base (32) is installed on the cylinder installation plate (31) through a groove below the base, the installation seat (33) is installed on the base (32), meanwhile, the installation seat (33) is replaced according to different pipe diameters of the heat pipes, and the base (32) is installed at different positions on the cylinder installation plate (31) according to different lengths of the heat pipes; the location panel beating (35) are installed cylinder mounting panel (31) one end is as the location.
6. The machine vision-based heat pipe marking recognition device as claimed in claim 1, wherein: the heat pipe conveying and clamping mechanism (4) comprises a linear module (40), an XZ shaft sliding table (42), a stepping motor (41), a sliding ring (45), a pneumatic clamping jaw (51) and a clamping jaw (49);
the linear module (40) is arranged on the bottom plate (1), the XZ shaft sliding table (42) is arranged on the linear module (40), and the XZ shaft sliding table (42) is connected with the linear module (40) through a module mounting plate (41); a sliding table mounting plate (43) is mounted on the XZ shaft sliding table (42), and a motor mounting bracket (42) is mounted on the sliding table mounting plate (43); the stepping motor (41) and the slip ring (45) are respectively arranged at two sides of the motor mounting bracket (42); a slip ring shaft (44) is connected with the slip ring (45) and passes through a bearing (52); the bearing (52) is mounted inside the motor mounting bracket (42); the slip ring shaft (44) is connected with the motor through a coupling (43); a slip ring output flange (46) is arranged on the other side of the slip ring (45); a first clamping jaw mounting plate (47) and a second clamping jaw mounting plate (48) connect the slip ring output flange (46) with the pneumatic clamping jaw (51); the pneumatic clamping jaw (51) is arranged above the pneumatic clamping jaw (51); the second clamping jaw mounting plate (48) is mounted above the pneumatic clamping jaw (51) and the first clamping jaw mounting plate (47); the two clamping jaws (49) are arranged on the pneumatic clamping jaw (51); the two heat pipe clamps (50) are respectively arranged on the clamping jaws (49).
7. The machine vision-based heat pipe marking recognition device as claimed in claim 1, wherein: the controller is a Racing motion controller.
8. A heat pipe marking identification method based on machine vision is characterized in that: the heat pipe marking identification device based on machine vision as claimed in any one of claims 1 to 7, comprising the following steps:
firstly, adjusting the position of a light source (13) on a sliding bar (18) to enable the central position of the light source (13) to be superposed with the central positions of a camera (10) and a lens (11); placing a whiteboard on a background base plate (14) as an image background; then, the lifting cylinder (30) is lifted, the heat pipe (34) is placed, positioning is well done, the linear module (40) is driven to advance, the tail of the heat pipe (34) can be clamped by the clamping jaw (49), and then the linear module stops, and the heat pipe (34) can be stably clamped; if the center of the clamping jaw (49) is not coincident with the center of the heat pipe (34), the center point is finely adjusted by adjusting the XZ sliding table (42), so that the center of the clamping jaw (49) is coincident with the center of the heat pipe (34); after the heat pipe is clamped by the clamping jaw (49), the lifting cylinder (30) descends, the driving linear module (40) continues to advance, the marking position of the heat pipe (34) is transferred to the lower part of the light source (13), the brightness of the light source (13), the aperture size of the lens (11), the focal length of the lens (11), the height of the camera (10), the height of the light source (13) and the height of the background bottom plate (14) are adjusted, and then the marking position of the heat pipe (34) is fixed through the Z-axis sliding table (19) and the vertical mounting plate (15) through bolts, so that the image of the marking position of the heat pipe (34) is clear in the image; the rotary heat pipe (34) can clearly see the marked mark in an observation image in the rotating process, the heat pipe (34) is overexposed under the background and the lighting of the annular light source (13) to present the same gray level as the background, only the marked part is seen to present black, all elements are reset, and the early preparation work is finished;
before preservation, the positions of all parts in preparation work are fixed, firstly, the linear module (40) is returned to the original position of the right end, the pneumatic clamping jaw (51) is in an open state, the lifting cylinder (30) is lifted, the heat pipe (34) is placed on the two mounting seats (33), the specification of the mounting seats (33) is changed according to the diameter of the heat pipe (34), meanwhile, a proper mounting position can be selected on the cylinder mounting plate (31) according to the length of the heat pipe (34), and the heat pipe (34) is placed by taking a positioning metal plate (35) as the front end for positioning;
the linear module (40) is driven to advance until the clamping jaw (49) can clamp the tail of the heat pipe (34) for a certain distance and then stop, and the heat pipe (34) can be stably clamped; after the clamping jaw (49) clamps the heat pipe, the lifting cylinder (30) is descended, then the linear module (40) is driven again to move forward until the marking part of the heat pipe (34) is approximately positioned at the center of the visual field of the camera (10) and then stops, and then the camera (10) is triggered to acquire an instruction in real time and a rotating instruction of the stepping motor (41) at the same time; when the stepping motor (41) rotates, the camera (10) collects an image in real time, processes the image in real time, draws an ROI (region of interest) at a marking position in the image when the image is processed, the size of the ROI can be enlarged relative to the size of a marking mark, binarization is carried out inside the ROI, the marked gray scale is displayed, the color of the non-marking position of the heat pipe (34) is the same as the background color, the gray scale is 255, the size of the area after binarization inside the ROI is calculated in real time, and if the marking position is completely upward, the area at the moment is the maximum value; controlling the stepping motor (41) to rotate for one circle and then stop, and simultaneously finishing the real-time acquisition of the instruction by the camera (10); aiming at the picture serial number corresponding to the maximum area obtained when the camera (10) processes the image in real time, the frame rate is combined, namely the angle of the stepping motor (41) which needs to rotate continuously is calculated, and the pulse number which needs to be sent is further calculated through the single-circle pulse number of the stepping motor (41); then, the stepping motor (41) is driven again to rotate to the required rotation angle, and then the rotation can be stopped;
after the stepping motor (10) finishes rotating, the linear module (40) is controlled to retract to the original position of the heat pipe (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210592744.1A CN114972734A (en) | 2022-05-27 | 2022-05-27 | Heat pipe marking identification device and method based on machine vision |
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| CN115684157A (en) * | 2022-10-28 | 2023-02-03 | 华南理工大学 | Heat pipe marking identification and positioning method and device based on machine vision center coordinate method |
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| CN115684157A (en) * | 2022-10-28 | 2023-02-03 | 华南理工大学 | Heat pipe marking identification and positioning method and device based on machine vision center coordinate method |
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