CN105068139B - A kind of characterization processes of piston cooling nozzle installment state - Google Patents
A kind of characterization processes of piston cooling nozzle installment state Download PDFInfo
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- CN105068139B CN105068139B CN201510523595.3A CN201510523595A CN105068139B CN 105068139 B CN105068139 B CN 105068139B CN 201510523595 A CN201510523595 A CN 201510523595A CN 105068139 B CN105068139 B CN 105068139B
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- cooling nozzle
- piston cooling
- circle
- installment state
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Abstract
The invention discloses a kind of characterization processes of piston cooling nozzle installment state, after engine enters position, camera is driven to setting position by robot, then the piston cooling nozzle in cylinder body is taken pictures, photo is identified vision software, and be compared with default data, it is whether qualified so as to detect piston cooling nozzle installment state.The present invention uses vision detection technology, it is ensured that the correctness of accuracy of detection and testing result；Cancel artificial detection, reduce cost of labor；Optimizing detection flow, cancel the operations such as rotation bent axle, improve detection efficiency；It is flexible high using executing agency of the robot as camera, adapt to the detection of the more structure engine piston cooling nozzle installment states of multi items.
Description
Technical field
The invention belongs to engine assembly technical field, more particularly to a kind of detection of piston cooling nozzle installment state
Technique.
Background technology
Piston cooling nozzle is mounted in a part in cylinder body, for being cooled down to piston.Generally
The piston cooling nozzle installed relies on hand inspection.The installment state of artificial range estimation piston cooling nozzle, is primarily present three aspects
The shortcomings that：First, piston cooling nozzle is in inside cylinder block, artificial detection error is larger, and easily produces visual fatigue,
It cannot ensure that piston does not collide with piston cooling nozzle in the process of running, piston and piston cooling nozzle etc. zero be present
The risk that part is broken；Second, artificial detection cost is higher；Third, need to carry out rotating the operation such as bent axle, it is less efficient.And piston
Once cooling nozzles neglected loading, piston cooling will be caused bad, easily cause scuffing of cylinder bore.And if such problem is in test run link ability quilt
It was found that, it will cause larger rework cost.Therefore, there is an urgent need to a kind of effective means to detect the peace of piston cooling nozzle
Packing quality.
The content of the invention
Present invention aims at solve deficiency existing for artificial detection piston cooling nozzle installment state.It is complete certainly by equipment
Dynamic, high-precision detection, it is ensured that the correctness of testing result；Detected by cancelling operator or inspector, reduce cost of labor；
By optimizing detection flow, detection efficiency is improved.
The present invention to achieve the above object, adopts the following technical scheme that：
A kind of characterization processes of piston cooling nozzle installment state, it is characterised in that comprise the steps：
A. engine enters wire body operating position and stopped；
B.RFID labels or scanner provide engine model signal and are transferred to PLC；
C. the engine model obtained according to step b, setting robot motion track program；
D.PLC handles engine model signal and triggers the track program that corresponding type is walked by robot；
E. robot drives camera to go to corresponding position and trigger camera and taken pictures, and obtains engine cylinder block intra pictures；
F. visual program identification engine cylinder block intra pictures, vision journey is converted into by piston cooling nozzle installment state
The image-element that sequence can identify；
G. visual program by the image-element that step f is identified with store cylinder block internal image key element compared with, and
Whether automatic decision is qualified；If qualified, robot drives camera to continue to walk next position and taken pictures；, will if unqualified
Unqualified position records and stored, and then carries out next position and takes pictures；
H. robot resets after all positions are taken pictures；
I. testing result is generated, man-machine interface carries out testing result prompting automatically；If qualified, next step is directly entered；
If unqualified, installment state confirmation or adjustment are carried out, untill qualified；
J. detection is completed, wire body starts, and engine flows away；
K.a ~ j step cycles.
It is further characterized by：Image-element is identified in step f, g and judges qualified concretely comprise the following steps：
F1. visual program calls vision aid that main bearing hole A characteristic points are fitted into a circle, and determines the center of circle whole
Relative position in picture, then establish coordinate system using the center of circle as origin；
F2. visual program calls vision aid that main bearing hole B characteristic points are fitted into a circle, and obtains central coordinate of circle,
Then two main bearing hole line of centres straight lines 1 are established；
F3. visual program calls vision aid that piston cooling nozzle shaft is highlighted into Partial Feature point and is fitted to one directly
Line, form straight line 2；
F4. the angle theta that straight line 1 intersects to form with straight line 2 is calculated；
F5. visual program calls vision aid that piston cooling nozzle head edge characteristic point is fitted into a circle, and obtains
Obtain center of circle O coordinates；
F6. center of circle O is calculated to the vertical range h of straight line 1；
F7. by angle theta, distance h compared with setting range, the correctness of piston cooling nozzle installation is determined.
Further：Camera is taken pictures in the step e, is illuminated when obtaining engine interior picture by secondary light source.
The calculating of vertical range is multiplied by by the pixel value of the center of circle O to the straight line 1 that are found in picture in the step f6
Resolution ratio obtains.
The engine has six cylinders, and each cylinder is provided with a piston cooling nozzle.
The invention has the advantages that：
1. use vision detection technology, it is ensured that accuracy of detection, it is ensured that the correctness of testing result；
2. cancelling artificial detection, cost of labor is reduced；
3. optimizing detection flow, cancel the operations such as rotation bent axle, improve detection efficiency；
4. it is flexible high using executing agency of the robot as camera, adapt to the more structure engine piston coolings of multi items
The detection of nozzle installment state.
Brief description of the drawings
Fig. 1 is Cleaning Principle schematic diagram of the present invention.
Fig. 2 is the inventive method flow chart.
Embodiment
A kind of characterization processes of piston cooling nozzle installment state, it is characterized in that the characterization processes comprise the following steps：
A. engine enters wire body operating position and stopped；
B.RFID labels or scanner provide engine model signal and are transferred to PLC；
C. the engine model obtained according to step b, robot trajectory's program of engine model is set；
D.PLC handles engine model signal and triggers the track program that corresponding type is walked by robot；
E. robot drives camera to go to corresponding position and trigger camera and taken pictures, using camera lens, light source when camera is taken pictures
Etc. being aided in, to obtain suitable engine cylinder block intra pictures；
F. visual program calls vision aid that main bearing hole A characteristic points are fitted into a circle, and determines the center of circle whole
Relative position in picture, then establish coordinate system using the center of circle as origin；
G. visual program calls vision aid that main bearing hole B characteristic points are fitted into a circle, and obtains central coordinate of circle, so
After establish two main bearing hole line of centres straight lines 1；
H. visual program calls vision aid that the highlighted Partial Feature point fitting of piston cooling nozzle shaft is in alignment,
Form straight line 2；
I. the angle theta that straight line 1 intersects to form with straight line 2 is calculated；
J. visual program calls vision aid that piston cooling nozzle head edge characteristic point is fitted into a circle, and obtains
Center of circle O coordinates；
K. resolution ratio is multiplied by by the pixel value of the center of circle O to the straight line 1 that are found in picture and obtains center of circle O to straight line 1
Vertical range h；
L. by angle theta, distance h compared with setting range, it is qualified that the two is considered as in the range of；If qualified, machine
People, which continues to walk next position, to be taken pictures；If unqualified, unqualified position is recorded and stored, then carry out next position
Put and take pictures；
M. robot resets after all positions are taken pictures；
N. testing result is generated, man-machine interface carries out testing result prompting automatically；If qualified, next step is directly entered；
If unqualified, installment state confirmation or adjustment are carried out, untill qualified；
O. detection is completed, wire body starts, and engine flows away；
A ~ o step cycles.
Claims (4)
1. a kind of characterization processes of piston cooling nozzle installment state, it is characterised in that comprise the steps：
A. engine enters wire body operating position and stopped；
B.RFID labels or scanner provide engine model signal and are transferred to PLC；
C. the engine model obtained according to step b, setting robot motion track program；
D.PLC handles engine model signal and triggers the track program that corresponding type is walked by robot；
E. robot drives camera to go to corresponding position and trigger camera and taken pictures, and obtains engine cylinder block intra pictures；
F. visual program identification engine cylinder block intra pictures, visual program energy is converted into by piston cooling nozzle installment state
The image-element enough identified；
G. visual program by the image-element that step f is identified compared with the cylinder block internal image key element stored, and automatically
It is qualified to judge whether；If qualified, robot drives camera to continue to walk next position and taken pictures；If unqualified, will not conform to
Lattice position records and stored, and then carries out next position and takes pictures；
H. robot resets after all positions are taken pictures；
I. testing result is generated, man-machine interface carries out testing result prompting automatically；If qualified, next step is directly entered；If no
It is qualified, then installment state confirmation or adjustment are carried out, untill qualified；
J. detection is completed, wire body starts, and engine flows away；
K.a ~ j step cycles；
Image-element is identified in step f, g and judges whether qualified concretely comprise the following steps：
F1. visual program calls vision aid that main bearing hole A characteristic points are fitted into a circle, and determines that the center of circle is entirely being schemed
Relative position in piece, then establish coordinate system using the center of circle as origin；
F2. visual program calls vision aid that main bearing hole B characteristic points are fitted into a circle, and obtains central coordinate of circle, then
Establish two main bearing hole line of centres straight lines 1；
F3. visual program calls vision aid that piston cooling nozzle shaft is highlighted into Partial Feature point and is fitted in alignment, shape
It is in line 2；
F4. the angle theta that straight line 1 intersects to form with straight line 2 is calculated；
F5. visual program calls vision aid that piston cooling nozzle head edge characteristic point is fitted into a circle, and obtains circle
Heart O coordinates；
F6. center of circle O is calculated to the vertical range h of straight line 1；
F7. by angle theta, distance h compared with setting range, the correctness of piston cooling nozzle installation is determined.
2. the characterization processes of piston cooling nozzle installment state according to claim 1, it is characterised in that：The step e
Middle camera is taken pictures, and is illuminated when obtaining engine interior picture by secondary light source.
3. the characterization processes of piston cooling nozzle installment state according to claim 1, it is characterised in that：The step f6
The calculating of middle vertical range is multiplied by resolution ratio by the pixel value of the center of circle O to the straight line 1 that are found in picture and obtained.
4. the characterization processes of the piston cooling nozzle installment state according to any one of claim 1 ~ 3, it is characterised in that：Institute
Stating engine has six cylinders, and each cylinder is provided with a piston cooling nozzle.
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| CN105068139B true CN105068139B (en) | 2017-11-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106770343A (en) * | 2017-03-28 | 2017-05-31 | 慧眼自动化科技（广州）有限公司 | Gluing Product Visual detecting system and detection method |
| CN108303012A (en) * | 2018-02-02 | 2018-07-20 | 河北华北柴油机有限责任公司 | A kind of engine cooling spray nozzle cubing |
| CN113049600A (en) * | 2021-03-31 | 2021-06-29 | 上汽通用五菱汽车股份有限公司 | Engine part wrong and neglected loading detection method and system based on visual detection |
| CN113567450A (en) * | 2021-07-20 | 2021-10-29 | 上汽通用五菱汽车股份有限公司 | Engine label information visual detection system and method |
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| WO2013015145A1 (en) * | 2011-07-22 | 2013-01-31 | 三洋電機株式会社 | Information acquiring apparatus and object detecting apparatus |
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| CN1719236A (en) * | 2005-08-02 | 2006-01-11 | 湖南大学 | Multivision hollow bottle quality detection method and multi vision hollow bottle detection robot |
| CN102955476A (en) * | 2012-11-12 | 2013-03-06 | 宁波韵升股份有限公司 | Automatic guided vehicle (AGV) path planning method based on radio frequency identification (RFID) technology |
| CN203204923U (en) * | 2013-03-14 | 2013-09-18 | 浙江天煌科技实业有限公司 | Industrial robot, intelligent vision and RFID data transmission teaching training system |
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