阅读说明：本技术 一种基于视觉定位的磁转子磁通量检测装置及检测方法 (Magnetic rotor magnetic flux detection device and detection method based on visual positioning ) 是由 林明星 徐萌 代成刚 于 2019-09-30 设计创作，主要内容包括：本发明公开了一种基于视觉定位的磁转子磁通量检测装置及检测方法,包括作业平台,作业平台上设置三轴移动装置,三轴移动装置与气动机械手连接；所述作业平台上固定设置待检测磁转子托盘、合格磁转子托盘、不合格磁转子输送通道,所述待检测磁转子托盘上方对应设置相机组件以采集待检测磁转子托盘的图像,相机组件将图像传输给控制器,控制器对图像进行处理得出待检测磁转子的像素坐标以对磁转子进行定位；所述作业平台上还设置感应线圈以检测磁转子磁通量。该检测装置能够实现磁转子磁通量检测的自动化,并且通过视觉定位可以有效避免因前序工步失误而造成的检测过程误操作,提高检测效率。(The invention discloses a magnetic rotor magnetic flux detection device and a magnetic rotor magnetic flux detection method based on visual positioning, wherein the magnetic rotor magnetic flux detection device comprises an operation platform, a three-axis moving device is arranged on the operation platform, and the three-axis moving device is connected with a pneumatic manipulator; the operation platform is fixedly provided with a magnetic rotor tray to be detected, a qualified magnetic rotor tray and an unqualified magnetic rotor conveying channel, a camera assembly is correspondingly arranged above the magnetic rotor tray to be detected to collect an image of the magnetic rotor tray to be detected, the camera assembly transmits the image to the controller, and the controller processes the image to obtain a pixel coordinate of the magnetic rotor to be detected so as to position the magnetic rotor; and the work platform is also provided with an induction coil for detecting the magnetic flux of the magnetic rotor. The detection device can realize the automation of magnetic rotor magnetic flux detection, and can effectively avoid detection process misoperation caused by preorder step errors through visual positioning, thereby improving the detection efficiency.)

1. A magnetic rotor magnetic flux detection device based on visual positioning is characterized by comprising an operation platform, wherein a three-axis moving device is arranged on the operation platform and is connected with a pneumatic manipulator; the operation platform is fixedly provided with a magnetic rotor tray to be detected, a qualified magnetic rotor tray and an unqualified magnetic rotor conveying channel, a camera assembly is correspondingly arranged above the magnetic rotor tray to be detected to collect an image of the magnetic rotor tray to be detected, the camera assembly transmits the image to the controller, and the controller processes the image to obtain a pixel coordinate of the magnetic rotor to be detected so as to position the magnetic rotor; and the work platform is also provided with an induction coil for detecting the magnetic flux of the magnetic rotor.

2. The magnetic rotor flux sensing device of claim 1, wherein the camera assembly comprises an industrial camera having a lens at a bottom thereof, an annular light source disposed below the lens, and both the lens and the annular light source aligned above the tray of the magnetic rotor to be sensed.

3. the magnetic rotor flux sensing device of claim 2, wherein the industrial camera is connected to a camera boom of adjustable length, the camera boom is laterally disposed, the camera boom is connected to a vertical camera assembly post, and the camera boom is slidable up and down along the camera assembly post and is fixed thereto, the camera assembly post is fixed to the work platform.

4. The magnetic rotor flux sensing device of claim 3, wherein the annular light source is connected to a light source cantilever of adjustable length, the light source cantilever is laterally disposed, the light source cantilever is connected to a vertical camera assembly support, and the light source cantilever is slidable up and down along the camera assembly support and is fixed.

5. the magnetic rotor flux detection device of claim 1, wherein a plurality of rows and columns of magnetic rotor placement counter bores are uniformly arranged on the magnetic rotor tray to be detected, and a plurality of positioning holes are further formed in the magnetic rotor tray to be detected to be connected with the operation platform through fasteners; and a plurality of rows and columns of magnetic rotor placing counter bores are arranged on the qualified magnetic rotor tray.

6. the magnetic rotor flux sensing device of claim 1, wherein the pneumatic robot comprises a rotating motor, the bottom of the rotating motor is connected to a pneumatic component, and the bottom of the pneumatic component is connected to a pneumatic finger through a pneumatic finger connector; and the magnetic rotor tray to be detected, the qualified magnetic rotor tray and the unqualified magnetic rotor conveying channel are respectively arranged at the periphery of the induction coil.

7. A method of detecting using the magnetic rotor flux detecting apparatus as claimed in any one of claims 1 to 6, comprising the steps of:

the camera assembly collects images of the tray of the magnetic rotor to be detected and the magnetic rotor to be detected on the tray, and the images are processed to obtain pixel coordinates of the magnetic rotor to be detected;

Converting the pixel coordinates of the magnetic rotor to be detected into positioning coordinates under a pneumatic manipulator coordinate system;

The three-axis moving device and the pneumatic manipulator are matched to operate, and the magnetic rotor to be detected is placed at the induction coil to detect the magnetic flux;

placing the magnetic rotor with qualified magnetic flux on a qualified magnetic rotor tray, and conveying the magnetic rotor with unqualified magnetic flux to an unqualified magnetic rotor conveying channel;

and repeating the steps to finish the automatic detection of the magnetic flux of all the magnetic rotors.

8. The method of testing as defined in claim 7, wherein the step of determining whether the magnetic flux of the magnetic rotor is acceptable comprises:

comparing the magnetic flux of the magnetic rotor with allowable magnetic flux, if the magnetic flux does not meet the allowable magnetic flux requirement, rotating the pneumatic manipulator to drive the magnetic rotor to adjust the angle for detecting again, and judging that the magnetic flux of the magnetic rotor is unqualified until the magnetic flux detected for three times does not meet the allowable magnetic flux requirement; otherwise, the product is qualified.

9. The inspection method of claim 7, wherein the step of processing the image comprises:

preprocessing the collected image, carrying out graying processing on the image, carrying out binarization processing on the grayed image, carrying out smoothing processing on the image, carrying out hole filling operation on the image, detecting edges of the image after hole filling, searching the outline, and calculating the centroid coordinate of each outline, namely the pixel coordinate of the magnetic rotor to be detected, by calculating the moment of each outline;

The specific process of the hole filling operation is as follows: detecting edge pixels by traversing the image so as to find each contour and numbering; calculating the area of each inner contour before filling the inner contour, comparing the area with a preset area threshold value, and performing filling operation when the area of each inner contour is smaller than the area threshold value; and then, filling holes after inverting the image to remove salt and pepper noise in the image, and then inverting the image.

10. The inspection method of claim 7, wherein the step of converting the pixel coordinates to location coordinates comprises:

The positioning holes of the magnetic rotor tray to be detected are positioned at the centers of the four adjacent magnetic rotor placing counter bores, the positioning holes are connected into a rectangle, the magnetic rotor tray to be detected is divided into a plurality of areas by the positioning holes, and each magnetic rotor placing counter bore is positioned in one area;

And determining the boundary value of each area according to the coordinates of the mass center of the fastener in the positioning hole, wherein the boundary value of each area corresponds to one grabbing point coordinate of the pneumatic manipulator.

Technical Field

The disclosure belongs to the field of magnetic flux detection of magnetic rotors, and particularly relates to a magnetic rotor magnetic flux detection device and a magnetic rotor magnetic flux detection method based on visual positioning.

background

the permanent magnet rotor is a rotor for a motor, but the internal and external magnetic fields of a natural permanent magnet have poor uniformity, so that the permanent magnet rotor is not easy to be directly applied to industrial occasions. At present, the permanent magnet rotor is mostly prepared manually by adopting an injection molding mode, and the product of the permanent magnet rotor is widely applied in the market. However, the manufactured permanent magnet needs to be strictly checked for product quality and can be put on the market after being qualified. Whether the maximum magnetic flux of the magnetic rotor exceeds the allowable limit value is an important index for whether the magnetic rotor product is qualified. And because the application fields of magnetic rotor products are various, the difference between the shapes and the sizes of the magnetic rotor products is large, and the magnetic flux detection is difficult to detect by using certain general equipment. Therefore, a lot of manpower is needed to be consumed during detection, the detection efficiency is low, and the automatic production is difficult to carry out.

disclosure of Invention

The present disclosure aims to overcome the above disadvantages of the prior art, and provides a magnetic rotor flux detection device and method based on visual positioning; the detection device can realize the automation of magnetic rotor magnetic flux detection, and can effectively avoid detection process misoperation caused by preorder step errors through visual positioning, thereby improving the detection efficiency.

the first invention of this disclosure is to propose a magnetic rotor flux detection device based on visual positioning, in order to achieve the above purpose, this disclosure adopts the following technical solutions:

a magnetic rotor magnetic flux detection device based on visual positioning comprises an operation platform, wherein a three-axis moving device is arranged on the operation platform and is connected with a pneumatic manipulator; the operation platform is fixedly provided with a magnetic rotor tray to be detected, a qualified magnetic rotor tray and an unqualified magnetic rotor conveying channel, a camera assembly is correspondingly arranged above the magnetic rotor tray to be detected to collect an image of the magnetic rotor tray to be detected, the camera assembly transmits the image to the controller, and the controller processes the image to obtain a pixel coordinate of the magnetic rotor to be detected so as to position the magnetic rotor; and the work platform is also provided with an induction coil for detecting the magnetic flux of the magnetic rotor.

as a further technical scheme, the camera assembly comprises an industrial camera, a lens is arranged at the bottom of the industrial camera, an annular light source is arranged below the lens, and the lens and the annular light source are aligned and arranged above the magnetic rotor tray to be detected.

as a further technical scheme, the industry camera is connected with the camera cantilever of adjustable length, the camera cantilever transversely sets up, and the camera cantilever is connected with vertical camera subassembly pillar, and the camera cantilever can slide from top to bottom and fix along the camera subassembly pillar, and the camera subassembly pillar is fixed in work platform.

As a further technical scheme, the annular light source is connected with a light source cantilever with adjustable length, the light source cantilever is transversely arranged and connected with a vertical camera assembly support, and the light source cantilever can slide up and down along the camera assembly support and is fixed.

As a further technical scheme, a plurality of rows and columns of magnetic rotor placing counter bores are uniformly arranged on the magnetic rotor tray to be detected, and a plurality of positioning holes are further formed in the magnetic rotor tray to be detected to be connected with the operation platform through fasteners.

As a further technical scheme, a plurality of rows and columns of magnetic rotor placing counter bores are arranged on the qualified magnetic rotor tray.

As a further technical scheme, the pneumatic manipulator comprises a rotating motor, the bottom of the rotating motor is connected with a pneumatic component, and the bottom of the pneumatic component is connected with a pneumatic finger through a pneumatic finger connector.

as a further technical scheme, the magnetic rotor tray to be detected, the qualified magnetic rotor tray and the unqualified magnetic rotor conveying channel are respectively arranged on the periphery of the induction coil.

A second object of the present disclosure is to propose a detection method using the magnetic flux detection apparatus as described above, including the steps of:

the camera assembly collects images of the tray of the magnetic rotor to be detected and the magnetic rotor to be detected on the tray, and the images are processed to obtain pixel coordinates of the magnetic rotor to be detected;

Converting the pixel coordinates of the magnetic rotor to be detected into positioning coordinates under a pneumatic manipulator coordinate system;

The three-axis moving device and the pneumatic manipulator are matched to operate, and the magnetic rotor to be detected is placed at the induction coil to detect the magnetic flux;

Placing the magnetic rotor with qualified magnetic flux on a qualified magnetic rotor tray, and conveying the magnetic rotor with unqualified magnetic flux to an unqualified magnetic rotor conveying channel;

and repeating the steps to finish the automatic detection of the magnetic flux of all the magnetic rotors.

As a further technical scheme, the step of judging whether the magnetic flux of the magnetic rotor is qualified is as follows:

comparing the magnetic flux of the magnetic rotor with allowable magnetic flux, if the magnetic flux does not meet the allowable magnetic flux requirement, rotating the pneumatic manipulator to drive the magnetic rotor to adjust the angle for detecting again, and judging that the magnetic flux of the magnetic rotor is unqualified until the magnetic flux detected for three times does not meet the allowable magnetic flux requirement; otherwise, the product is qualified.

As a further technical solution, the step of processing the image is:

Preprocessing the collected image, carrying out graying processing on the image, carrying out binarization processing on the grayed image, carrying out smoothing processing on the image, carrying out hole filling operation on the image, detecting edges of the image after hole filling, searching the outline, and calculating the centroid coordinate of each outline, namely the pixel coordinate of the magnetic rotor to be detected, by calculating the moment of each outline;

The specific process of the hole filling operation is as follows: detecting edge pixels by traversing the image so as to find each contour and numbering; calculating the area of each inner contour before filling the inner contour, comparing the area with a preset area threshold value, and performing filling operation when the area of each inner contour is smaller than the area threshold value; and then, filling holes after inverting the image to remove salt and pepper noise in the image, and then inverting the image.

as a further technical solution, the step of converting the pixel coordinates into the positioning coordinates is:

The positioning holes of the magnetic rotor tray to be detected are positioned at the centers of the four adjacent magnetic rotor placing counter bores, the positioning holes are connected into a rectangle, the magnetic rotor tray to be detected is divided into a plurality of areas by the positioning holes, and each magnetic rotor placing counter bore is positioned in one area;

And determining the boundary value of each area according to the coordinates of the mass center of the fastener in the positioning hole, wherein the boundary value of each area corresponds to one grabbing point coordinate of the pneumatic manipulator.

the beneficial effect of this disclosure does:

this magnetic rotor magnetic flux detection device of opening, through camera subassembly's setting, can gather and wait to detect the image of magnetic rotor tray and last magnetic rotor, the pixel coordinate that reachs waiting to detect the magnetic rotor and then fix a position the magnetic rotor through the discernment processing of controller to the image, can realize treating to detect the magnetic rotor and carry out visual positioning, can effectively avoid because of the testing process maloperation that preamble step error caused, improve detection efficiency.

the magnetic rotor magnetic flux detection device disclosed by the invention can automatically clamp and move the magnetic rotor to detect the magnetic flux through the matching of the three-axis moving device and the pneumatic manipulator, can realize the automatic detection of the magnetic rotor, and classifies and conveys the detected product to a specified area according to the result. Therefore, the device can improve the efficiency and the stability of the magnetic rotor magnetic flux detection operation, and meets the production requirements.

drawings

the accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

fig. 1 is a schematic view of the overall structure of a magnetic rotor flux detection apparatus disclosed in one embodiment;

FIG. 2 is a schematic structural view of a pneumatic robot;

FIG. 3 is a schematic view of a camera assembly;

FIG. 4 is a schematic view of a magnetic rotor tray to be tested;

FIG. 5 is a schematic illustration of a magnetic rotor flux detection flow disclosed in one embodiment;

FIG. 6 is a rectangular coordinate system of a magnetic rotor pallet to be inspected as disclosed in one embodiment;

In the figure, 1, a controller, 2, an X-axis feeding device, 3, an operation platform, 4, a Y-axis feeding device, 5, a Z-axis feeding device, 6, a camera assembly, 7, a pneumatic manipulator, 8, a magnetic rotor tray to be detected, 9, an induction coil, 10, an unqualified magnetic rotor conveying channel and 11, a qualified magnetic rotor tray;

1-1. Z-axis connecting seat, 1-2. rotating motor, 1-3. air inlet, 1-4. air outlet, 1-5. pneumatic finger connector, 1-6. pneumatic finger;

2-1, an industrial camera, 2-2, a lens, 2-3, an annular light source, 2-4, a camera cantilever, 2-5, a light source cantilever, 2-6, a camera component support, and 2-7, a camera component base;

3-1, placing a counter bore in the magnetic rotor, and 3-2, positioning holes.

Detailed Description

it should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

it is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate description of the disclosure and simplify description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure.

As described in the background art, the inventor finds that the magnetic flux detection of the magnetic rotor requires a lot of manpower, has low detection efficiency, and is difficult to perform automatic production.

the application provides a magnetic rotor magnetic flux detection device based on visual positioning, which comprises an operation platform, wherein a three-axis moving device is arranged on the operation platform and is connected with a pneumatic manipulator; the operation platform is fixedly provided with a magnetic rotor tray to be detected, a qualified magnetic rotor tray and an unqualified magnetic rotor conveying channel, a camera assembly is correspondingly arranged above the magnetic rotor tray to be detected to collect an image of the magnetic rotor tray to be detected, the camera assembly transmits the image to the controller, and the controller processes the image to obtain a pixel coordinate of the magnetic rotor to be detected so as to position the magnetic rotor; and the work platform is also provided with an induction coil for detecting the magnetic flux of the magnetic rotor.