CN106125699B - A kind of automatic production line based on image recognition detection - Google Patents
A kind of automatic production line based on image recognition detection Download PDFInfo
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- CN106125699B CN106125699B CN201610705804.0A CN201610705804A CN106125699B CN 106125699 B CN106125699 B CN 106125699B CN 201610705804 A CN201610705804 A CN 201610705804A CN 106125699 B CN106125699 B CN 106125699B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32368—Quality control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30141—Printed circuit board [PCB]
Abstract
The present invention relates to a kind of automatic production lines and its working method based on image recognition detection, wherein this automatic production line includes: control module, the annular image detection device and mechanical pick-up arm being connected with the control module；Annular image detection device includes: two cameras, the ring-shaped guide rail for being sheathed on workpiece transmission mechanism；Wherein two cameras are suitable for the measured workpiece rotation transmitted along ring-shaped guide rail around workpiece transmission mechanism, to adjust shooting posture；After identifying that measured workpiece has flaw, control module control mechanical pick-up arm picks up the measured workpiece；The present invention improves workpiece sensing efficiency, and the multi-angle image image of available measured workpiece by annular image detection device, and detection more comprehensively, flexibly, and after identifying flaw workpiece, automatically picks up the flaw workpiece, improves production efficiency.
Description
Technical field
The present invention relates to a kind of automatic production lines and its working method based on image recognition detection.
Background technique
After traditional printed circuit board patch welding, need manually to carry out quality inspection to it, detection efficiency is low.
Therefore, how the technical problem that the detection efficiency of circuit board is this field is provided.
Summary of the invention
The object of the present invention is to provide a kind of automatic production line and its working methods, are identifying measured workpiece to realize
After flaw, the measured workpiece is picked up automatically.
In order to solve the above-mentioned technical problems, the present invention provides a kind of automatic production lines, comprising: control module, with this
The connected annular image detection device of control module and mechanical pick-up arm；The annular image detection device include: two cameras,
It is sheathed on the ring-shaped guide rail of workpiece transmission mechanism；Wherein two cameras are suitable for the quilt transmitted along ring-shaped guide rail around workpiece transmission mechanism
Workpiece rotation is surveyed, to adjust shooting posture；After identifying that measured workpiece has flaw, the control module controls mechanical pick-up
Arm picks up the measured workpiece.
Further, the workpiece transmission mechanism includes: the transmission wheel being symmetrical set, and left and right transmission wheel supports quilt
The both wings of workpiece are surveyed, to expose the lower surface of measured workpiece；The automatic production line includes control module；When detection, two are taken the photograph
As head is suitable for respectively along the upper half of ring-shaped guide rail, lower half follow shot, to obtain the image of the upper and lower surfaces of measured workpiece
Image, and it is sent to control module；And when control module detects that flaw occurs in any surface of measured workpiece, two cameras
The flaw is moved to along ring-shaped guide rail and corresponds to half cycle, acquires the image of the flaw simultaneously by two cameras.
Further, the two sides junction of the ring-shaped guide rail and workpiece transmission mechanism is equipped with turnover mechanism, the turnover mechanism
Flip an angle forward or backward suitable for control ring-shaped guide rail along the transmission direction of measured workpiece, with before shooting measured workpiece,
The image of rear side；And the turnover mechanism is controlled by control module.
Further, the turnover mechanism includes: overturning motor, and the shaft end of the overturning motor is equipped with female bracket, this is recessed
Two front ends of shape bracket are oppositely arranged with ring-shaped guide rail concave channel opening；And the overturning motor is controlled by control module.
Further, camera shooting head moving device is equipped in the ring-shaped guide rail；The camera shooting head moving device includes: camera
The rear end of rack, the camera rack is equipped with webcam driver motor；The ring-shaped guide rail opens up fluted, the camera shooting
Head rack moves in the groove, and the webcam driver motor is suitable for that two main drive wheels is driven to roll in groove；It is described
The two sides of the bottom of groove are equipped with main drive wheel insertion position and the two sides of the camera rack and are respectively equipped with driven wheel group,
And the middle part of the inner sidewall of groove is equipped with driven wheel and is embedded in position；The main drive wheel insertion is provided with positive and negative conductive electrode in position,
And electric energy is transmitted to by webcam driver motor by the conducting ring on main drive wheel；The webcam driver motor is by control mould
Block.
Further, three annular image detection devices are distributed along the transmission direction of workpiece transmission mechanism, wherein first
Annular image detection device is set to the front end of workpiece transmission mechanism, has been sequentially distributed the detection of second, third annular image thereafter
Device；The two sides of the workpiece transmission mechanism are equipped with for driving second, third annular image detection device work to move horizontally
Horizontal mobile mechanism；Wherein the horizontal mobile mechanism is controlled by control module；When the control module is gone out by image detection
When there is flaw by any surface of the measured workpiece of first annular image detection device, which is demarcated, and
It controls second, third annular image detection device and follows measured workpiece movement, while making second, third annular image detection dress
Each camera convergence in setting, to acquire the image of the flaw simultaneously.
Another aspect, the present invention also provides a kind of working methods of automatic production line.
Wherein, the automatic production line includes: control module, the annular image detection device being connected with the control module
With mechanical pick-up arm；Wherein the annular image detection device includes: two cameras, the annular that is sheathed on workpiece transmission mechanism is led
Rail；The working method includes: that the control module is suitable for two cameras of control along ring-shaped guide rail around the transmission of workpiece transmission mechanism
Measured workpiece rotation, to adjust shooting posture；And after identifying that measured workpiece has flaw, the control module controls machine
Tool pick-up arm picks up the measured workpiece.
Further, when the method for two cameras adjustment shooting posture includes: detection, two cameras are suitable for leading along annular respectively
Upper half, the lower half follow shot of rail, to obtain the image of the upper and lower surfaces of measured workpiece, and are sent to control mould
Block；And when control module detects that flaw occurs in any surface of measured workpiece, two cameras are moved to this along ring-shaped guide rail
Flaw corresponds to half cycle, acquires the image of the flaw simultaneously by two cameras.
Further, the two sides junction of the ring-shaped guide rail and workpiece transmission mechanism is equipped with turnover mechanism, the turnover mechanism
Suitable for control ring-shaped guide rail along the transmission direction of measured workpiece, flip an angle forward or backward, with before shooting measured workpiece,
The image of rear side；And the turnover mechanism is controlled by control module.
Further, three annular image detection devices are distributed along the transmission direction of workpiece transmission mechanism, wherein first
Annular image detection device is set to the front end of workpiece transmission mechanism, has been sequentially distributed the detection of second, third annular image thereafter
Device；The two sides of the workpiece transmission mechanism are equipped with for driving second, third annular image detection device work to move horizontally
Horizontal mobile mechanism；When the control module passes through image detection out by the measured workpiece of first annular image detection device
When flaw occurs in any surface, which is demarcated, and controls second, third annular image detection device and follows the quilt
It is mobile to survey workpiece, while making each camera convergence in second, third annular image detection device, to acquire the figure of the flaw simultaneously
As image.
The invention has the advantages that the automatic production line and its working method of the invention based on image recognition detection
Workpiece sensing efficiency, and the multi-angle image image of available measured workpiece are improved by annular image detection device,
Detection more comprehensively, flexibly, and after identifying flaw workpiece, automatically picks up the flaw workpiece, improves production efficiency；Also,
After identifying that measured workpiece has flaw, two cameras can be passed through and acquire the image of the flaw simultaneously, to flaw into
Row identification improves flaw identification accuracy, avoids erroneous judgement.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of automatic production line of the invention；
Fig. 2 is the structural schematic diagram of annular image detection device of the invention；
Fig. 3 is the partial schematic diagram of annular image detection device of the invention；
Fig. 4 is three annular image detection device distribution schematic diagrams of the invention.
In figure:
Annular image detection device 1, camera 101, ring-shaped guide rail 102, camera rack 103, webcam driver electricity
Machine 104, main drive wheel 105, main drive wheel insertion position 106, driven wheel 107, driven wheel are embedded in position 108, conductive electrode 109；
Overturn motor 11, female bracket 12；
Workpiece transmission mechanism 2, transmission wheel 201；
Mechanical pick-up arm 3；
Horizontal mobile mechanism 4, linear guide 401, sliding block 402；
Measured workpiece 5.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figure 1, a kind of automatic production line of the invention, comprising: control module, the ring being connected with the control module
Shape image detection device 1 and mechanical pick-up arm 3；The annular image detection device 1 includes: two cameras 101, is sheathed on workpiece
The ring-shaped guide rail 102 of transmission mechanism 2；Wherein two cameras are suitable for transmitting along ring-shaped guide rail 102 around workpiece transmission mechanism 2 tested
Workpiece 5 rotates, to adjust shooting posture；After identifying that measured workpiece has flaw, the control module controls mechanical pick-up
Arm picks up the measured workpiece.
Further, the workpiece transmission mechanism 2 includes: the transmission wheel 201 being symmetrical set, and left and right transmission takes turns 201
The both wings of measured workpiece 5 are supported, to expose the lower surface of measured workpiece 5；The automatic production line includes control module, described
The image of acquisition is sent to control module to two cameras and the workpiece transmission mechanism 2 is also controlled by control module.
Optionally, when detecting, two cameras are suitable for respectively along the upper half of ring-shaped guide rail 102, lower half follow shot,
To obtain the image of the upper and lower surfaces of measured workpiece 5, and it is sent to control module；And when control module detect by
When flaw occurs in any surface for surveying workpiece 5, control module controls workpiece transmission mechanism 2 and stops the transmission of measured workpiece 5, two cameras
The flaw is moved to along ring-shaped guide rail 102 and corresponds to half cycle, the image of the flaw is acquired simultaneously by two cameras, to this
The flaw of image is accurately identified.The moving direction of the camera is as shown by the arrows in Figure 1.
This annular image detection device 1 can upper and lower surfaces to measured workpiece 5 detect simultaneously, improve detection effect
Rate.
As shown in Figures 2 and 3, the two sides junction of the ring-shaped guide rail 102 and workpiece transmission mechanism 2 is equipped with tipper
Structure, the turnover mechanism are suitable for control ring-shaped guide rail 102 and flip an angle forward or backward along the transmission direction of measured workpiece 5,
To shoot the image of the forward and backward side of measured workpiece 5；And the turnover mechanism is controlled by control module.
Wherein, it is such as, but not limited to 30 ° with the angle of workpiece transmission mechanism 2 after ring-shaped guide rail 102 is overturn.
The turnover mechanism is such as, but not limited to using overturning motor 11 or tumble cylinder.
For the present embodiment for overturning motor 11, the turnover mechanism includes: overturning motor 11, which turns
Shaft end is equipped with female bracket 12, and two front ends and the 102 concave channel opening of ring-shaped guide rail of the female bracket 12 are oppositely arranged；And institute
Overturning motor 11 is stated to be controlled by control module.
In order to realize that camera moves in arc-shaped guide rail, and as a kind of its optional embodiment, the annular is led
Camera shooting head moving device is equipped in rail 102；The camera shooting head moving device includes: camera rack 103, which places
The rear end of frame 103 is equipped with webcam driver motor 104, and the ring-shaped guide rail 102 opens up fluted, the camera rack
103 move in the groove, and the webcam driver motor 104 is suitable for that two main drive wheels 105 is driven to roll in groove；Institute
State groove two sides of the bottom be equipped with main drive wheel insertion position 106 and the camera rack 103 two sides be respectively equipped with from
Driving wheel group, and the middle part of the inner sidewall of groove is equipped with driven wheel and is embedded in position 108；The main drive wheel insertion is provided in position 106
Positive and negative conductive electrode, and electric energy is transmitted to by webcam driver motor 104 by the conducting ring on main drive wheel, further, also
Realize webcam driver motor 104, camera and the power supply of corresponding control circuit, the webcam driver motor 104 is by control mould
Block.The groove that practical two inner sidewalls for along groove in main drive wheel insertion position 106 and driven wheel insertion position 108 symmetrically open up.
Wherein, the image of camera acquisition is such as, but not limited to wirelessly sent to control module, and
Control module such as, but not limited to uses wireless mode to be sent to webcam driver the control signal of webcam driver motor 104
Motor 104.Wherein, wireless mode can be realized using known technology.
Specifically, the camera is connected with wireless control module, the wireless control module include processor (such as
But it is not limited to using STM32F407ZET6, i.MX6Q Cortex-A9), the wireless communication module being connected with the processor module
(such as, but not limited to using CC2530 module, the serial ports WIFI wireless module being made of ESP8266) and motor drive module,
To realize picture signal transmission and receive the control signal for the webcam driver motor 104 that control module is sent.
As shown in figure 4, the transmission direction along workpiece transmission mechanism 2 is distributed three annular image detection devices 1, wherein
First annular image detection device 1 is set to the front end of workpiece transmission mechanism 2, has been sequentially distributed second, third circular chart thereafter
As detection device 1；The two sides of the workpiece transmission mechanism 2 are equipped with for driving second, third annular image detection device 1 to make water
The dynamic horizontal mobile mechanism 4 of translation；Wherein the horizontal mobile mechanism 4 is controlled by control module.
The horizontal mobile mechanism 4 such as, but not limited to uses linear guide 401, and the linear guide 401 is equipped with two
Sliding block 402, and two sliding block 402 is moved horizontally by control module by cylinder control, the sliding block 402 is adapted to overturn
Mechanism.
Specifically, when the control module goes out to pass through the tested work of first annular image detection device 1 by image detection
When flaw occurs in any surface of part 5, which is demarcated, and controls second, third annular image detection device 1
It is mobile to follow the measured workpiece 5, while making each camera convergence in second, third annular image detection device 1, to acquire simultaneously
The image of the flaw.
Measured workpiece 5 is demarcated such as, but not limited to using identification code (bar code or two dimensional code), i.e., tested
After 5 upper surface of workpiece prints identification code, is read by image recognition technology by camera, filled by first annular image detection
It is doubtful rejected product that 1, which is set, convenient for first demarcating the measured workpiece 5, tested to this by second, third annular image detection device 1
Workpiece 5 further detects, and accurately to determine, avoids judging by accident.
Further, the image for acquiring the flaw after converging by four cameras simultaneously, can be to the flaw position
Image carry out precise acquisition, judgment accuracy is high.
The control module is for example but unlimited use embedded processing module (such as, but not limited to uses
STM32F407ZET6, i.MX6Q Cortex-A9) constitute control circuit, and further include wireless module (such as, but not limited to
Using CC2530 module, the serial ports WIFI wireless module being made of ESP8266), it is carried out wirelessly with realizing with wireless control module
Communication.
The mechanical pick-up arm 3 includes: the multijoint control mechanism with X-axis, Y-axis and Z axis, negative pressure mouth, the multiaxis control
Mechanism processed is suitable for driving negative pressure mouth upper and lower, left and right mobile, to draw measured workpiece.Wherein multijoint control mechanism, negative pressure mouth are equal
There is the control module to control.
Wherein, the measured workpiece is such as, but not limited to circuit board.
Embodiment 2
As shown in Figures 1 to 4, on that basis of example 1, the present embodiment 2 additionally provides a kind of work of automatic production line
Make method.
Wherein the automatic production line includes: control module, the annular image detection device being connected with the control module
With mechanical pick-up arm；The annular image detection device 1 includes: two cameras, the ring-shaped guide rail for being sheathed on workpiece transmission mechanism 2
102；The working method includes: that the control module is suitable for two cameras of control along ring-shaped guide rail 102 around workpiece transmission mechanism 2
The measured workpiece 5 of transmission rotates, to adjust shooting posture；And after identifying that measured workpiece has flaw, the control module
Control mechanical pick-up arm picks up the measured workpiece.
When the method for two cameras adjustment shooting posture includes: detection, two cameras are suitable for respectively along ring-shaped guide rail 102
Upper half, lower half follow shot to obtain the image of the upper and lower surfaces of measured workpiece 5, and are sent to control module；
And when control module detects that flaw occurs in any surface of measured workpiece 5, two cameras are moved to this along ring-shaped guide rail 102
Flaw corresponds to half cycle, acquires the image of the flaw simultaneously by two cameras.
The two sides junction of the ring-shaped guide rail 102 and workpiece transmission mechanism 2 is equipped with turnover mechanism, which is suitable for
Ring-shaped guide rail 102 is controlled along the transmission direction of measured workpiece 5, is flipped an angle forward or backward, to shoot measured workpiece 5
The image of forward and backward side；And the turnover mechanism is controlled by control module.
Transmission direction along workpiece transmission mechanism 2 is distributed three annular image detection devices 1, wherein first annular figure
As detection device 1 is set to the front end of workpiece transmission mechanism 2, it has been sequentially distributed second, third annular image detection device thereafter
1；The two sides of the workpiece transmission mechanism 2 are equipped with the water for driving second, third annular image detection device 1 to make to move horizontally
Flat mobile mechanism 4；When the control module goes out to pass through the measured workpiece 5 of first annular image detection device 1 by image detection
Any surface when there is flaw, which is demarcated, and control second, third annular image detection device 1 and follow
The measured workpiece 5 is mobile, while making each camera convergence in second, third annular image detection device 1, to acquire the flaw simultaneously
The image of defect.
By four cameras in second, third annular image detection device 1 to the flaw position in 5 face of measured workpiece into
Row identification, improves the accuracy of identification.
The control module identifies flaw by image contributions, is suitable for through associated picture identifying processing in the prior art
Method realizes which is not described herein again.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (2)
1. a kind of automatic production line characterized by comprising control module, the annular image inspection being connected with the control module
Survey device and mechanical pick-up arm；
The annular image detection device includes: two cameras, the ring-shaped guide rail for being sheathed on workpiece transmission mechanism；Wherein
Two cameras are suitable for the measured workpiece rotation transmitted along ring-shaped guide rail around workpiece transmission mechanism, to adjust shooting posture；
After identifying that measured workpiece has flaw, the control module control mechanical pick-up arm picks up the measured workpiece；
The workpiece transmission mechanism includes: the transmission wheel being symmetrical set, and left and right transmission wheel supports the two of measured workpiece
The wing, to expose the lower surface of measured workpiece；
When detection, two cameras are suitable for respectively along the upper half of ring-shaped guide rail, lower half follow shot, to obtain measured workpiece
The image of upper and lower surfaces, and it is sent to control module；And
When control module detects that flaw occurs in any surface of measured workpiece, two cameras are moved to the flaw along ring-shaped guide rail
Corresponding half cycle, the image of the flaw is acquired by two cameras simultaneously；
The two sides junction of the ring-shaped guide rail and workpiece transmission mechanism is equipped with turnover mechanism, which is suitable for control annular
Guide rail flips an angle forward or backward along the transmission direction of measured workpiece, to shoot the image shadow of the forward and backward side of measured workpiece
Picture；And
The turnover mechanism is controlled by control module；
Transmission direction along workpiece transmission mechanism is distributed three annular image detection devices, wherein
First annular image detection device is set to the front end of workpiece transmission mechanism, has been sequentially distributed second, third annular thereafter
Image detection device；
The two sides of the workpiece transmission mechanism are equipped with the water for driving second, third annular image detection device to make to move horizontally
Flat mobile mechanism；Wherein
The horizontal mobile mechanism is controlled by control module；
When the control module goes out to go out by any surface of the measured workpiece of first annular image detection device by image detection
When existing flaw, which is demarcated, and controls second, third annular image detection device and the measured workpiece is followed to move
It is dynamic, while making each camera convergence in second, third annular image detection device, to acquire the image of the flaw simultaneously.
2. automatic production line according to claim 1, which is characterized in that
The turnover mechanism includes: overturning motor, and the shaft end of the overturning motor is equipped with female bracket, the female bracket two before
End is oppositely arranged with ring-shaped guide rail concave channel opening；And
The overturning motor is controlled by control module.
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| CN110962396B (en) * | 2018-09-30 | 2023-05-26 | 上海东冠纸业有限公司 | Anti-blocking bag system of soft tissue paper production line |
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| CN109693140B (en) * | 2018-12-31 | 2021-07-06 | 常州工业职业技术学院 | Intelligent flexible production line and working method thereof |
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