CN107270817A - The screw mounting device and screw installation method of view-based access control model processing - Google Patents
The screw mounting device and screw installation method of view-based access control model processing Download PDFInfo
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- CN107270817A CN107270817A CN201710695552.2A CN201710695552A CN107270817A CN 107270817 A CN107270817 A CN 107270817A CN 201710695552 A CN201710695552 A CN 201710695552A CN 107270817 A CN107270817 A CN 107270817A
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- Prior art keywords
- screw
- mounting device
- described image
- screw mounting
- operation signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention discloses the screw mounting device and screw installation method of view-based access control model processing, the screw mounting device of view-based access control model processing includes IMAQ memory cell, graphics processing unit, CPU and screw installation unit, wherein described image collection memory cell is used for the image information for obtaining the locus of screw and screw hole position, described image processing unit, for described image information to be converted into data signal, the CPU is used to receive the data signal and sends operation signal, the screw installation unit is used to receive the operation signal, and the screw is arranged on by corresponding screw hole position according to the operation signal.After being installed so during the mounting screw and by screw, the elevation information of screw can be obtained, so as to judge whether screw is installed in place so that screw mounting device possesses self-checking function, save whether the later stage is installed in place spent manpower for detection screw.
Description
Technical field
Technical field is paid the present invention relates to screw lock, and in particular to the screw mounting device and screw peace of view-based access control model processing
Dress method.
Background technology
It is frequently necessary to assemble substantial amounts of screw in the assembling line of product, in the past by the way of manual work, causes
Missing nail phenomenon often occurs, and the quality that screw lock is paid cannot be guaranteed, and screw loosening occurs in product in follow-up work
Etc. phenomenon, so as to cause signal leakage occur, the service behaviour of product is set to have a greatly reduced quality.
Based on this, the screw machine of view-based access control model identification is occurred in that in the prior art, and the screw machine is mainly based upon CCD phases
Machine, by IMAQ and identification, obtains the position of the rotation offset of assembling object, then these position coordinateses is carried out corresponding
Processing corresponding controller is passed to instruct the work of screw machine.But, traditional CCD camera is can calibration plane XY
Coordinate position, can only be positioned to planar screw hole site, in the case of product screw coverage rate is very big, often be occurred
Cover plate and screw hole and actuating station straight on the head misaligned situation, the situation of eccentric moment occurs during pinning, causes
Perform screw after end moment reaches and highly there is a situation where inconsistent, often occur that screw can only lock the situation of half.Due to
CCD camera can not obtain the elevation information of Z-direction, so after screw is installed, it is impossible to know screw whether screw whether
All be installed into screw hole so that screw machine of the prior art does not have self-checking function, generally require in subsequent handling according to
Rely the artificial lock to screw to pay quality to go through, waste the input of later stage inspection manpower.
The content of the invention
In view of the shortcomings of the prior art, the invention provides the screw mounting device of view-based access control model processing and screw installation side
Method, it is of the prior art because screw machine does not have self-checking function and causes the larger defect of later stage human input to make up.
Therefore, according in a first aspect, providing the screw mounting device that view-based access control model is handled, the screw in a kind of embodiment
Erecting device includes：
IMAQ memory cell, the image information of the locus for obtaining screw and screw hole position；
Graphics processing unit, for described image information to be converted into data signal；
CPU, for receiving the data signal and sending operation signal；And
The screw, is arranged on by screw installation unit for receiving the operation signal, and according to the operation signal
Corresponding screw hole position.
As the further alternative of the screw mounting device, described image collection memory cell includes optical frames
Head, 3D cameras and image pick-up card, the optical lens are arranged on the 3D cameras, described image capture card and the 3D phases
The output end of machine is connected.
As the further alternative of the screw mounting device, it is single that described image collection memory cell also includes illumination
Member, the lighting unit is used to provide the light when 3D cameras are taken pictures.
It is used as the further alternative of the screw mounting device, the optical lens, the 3D cameras and the figure
As capture card is multiple, and the optical lens, the 3D cameras and described image capture card correspond and install.
As the further alternative of the screw mounting device, the CPU uses industrial computer.
As the further alternative of the screw mounting device, the screw installation unit is multiple.
As the further alternative of the screw mounting device, the screw installation unit can be using automatic lock screw
Machine or manipulator.
As the further alternative of the screw mounting device, the screw mounting device also include industry control board and
Servo-driver, the industry control board is connected with the servo-driver, and the industry control board is connected with the servo-driver
Between the CPU and the screw installation unit.
As the further alternative of the screw mounting device, the screw mounting device also includes moving cell,
Described image collection memory cell is arranged on the moving cell, drives described image collection storage single by the moving cell
Member motion.
According to second aspect, screw installation method is provided in a kind of embodiment, the screw installation method includes：
Obtain the image information of the locus of screw and screw hole position；
Described image information is converted into data signal；
Receive the data signal and send operation signal；And
The operation signal is received, and the screw is arranged on by the corresponding screw hole according to the operation signal
Position.
Beneficial effects of the present invention：
According to the screw mounting device in above example, because figure collection memory cell can obtain screw machine screw
The image information of the locus of hole position, after being installed so during the mounting screw and by screw, can obtain spiral shell
The elevation information of nail, so as to judge whether screw is installed in place so that screw mounting device possesses self-checking function, after saving
Whether the phase is installed in place spent manpower for detection screw.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows the block diagram for the screw mounting device that the view-based access control model provided according to the embodiment of the present application is handled；
Fig. 2 shows the IMAQ for the screw mounting device that the view-based access control model provided according to the embodiment of the present application is handled
The block diagram of memory cell；
Fig. 3 shows the block diagram for the screw mounting device that the view-based access control model provided according to the embodiment of the present application is handled；
Fig. 4 shows the flow chart for the screw installation method that the view-based access control model provided according to the embodiment of the present application is handled；
Fig. 5 shows another flow for the screw installation method that the view-based access control model provided according to the embodiment of the present application is handled
Figure.
Main element symbol description：
100- IMAQ memory cell；200- graphics processing units；300- CPU；400- screws are installed single
Member；500- moving cells；600- moves module；700- industry control boards；800- servo-drivers；900- alarm units；1000- is supervised
Control unit；110- optical lens；120-3D cameras；130- image pick-up cards；140- lighting units.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicate or imply that the device or element of meaning must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features are directly contacted, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
Embodiment
The screw mounting device of view-based access control model processing is present embodiments provided, Fig. 1 is refer to, the screw mounting device includes
IMAQ memory cell 100, graphics processing unit 200, CPU 300 and screw installation unit 400.
Wherein, IMAQ memory cell 100 is used for the image information for obtaining the locus of screw and screw hole position.Figure
As processing unit 200 is used to image information being converted into data signal.CPU 300 is concurrent for receiving data signal
Send operation signal.Screw installation unit 400 is used to receive operation signal, and screw is arranged on into corresponding spiral shell according to operation signal
Nail position.
In this way, because IMAQ memory cell 100 can obtain the image letter of the locus of screw and screw hole position
Breath, so allows for after being installed during the mounting screw and by screw, can obtain the elevation information of screw, so that
Judge whether screw is installed in place so that screw mounting device possesses self-checking function, save the later stage whether to detect screw
It is installed in place spent manpower.
In embodiments of the present invention, Fig. 2 is refer to, IMAQ memory cell 100 includes optical lens 110,3D phases
Machine 120 and image pick-up card 130.Optical lens 110 is arranged on 3D cameras 120, image pick-up card 130 and 3D cameras 120
Output end is connected.
Essence just so can be carried out to the position of screw and screw hole by the effect of optical lens 110 and 3D cameras 120
True grasp.It is main to be realized by screw and screw hole shoot in real time.The image information photographed is stored in
In image pick-up card 130.
The present invention realizes visual effect by using 3D cameras 120, can simultaneously the grey-tone image of reference object and including
The 3-dimensional information of depth, therefore the information finally obtained not only includes X, the Y location of assembling object screw hole, while can also wrap
The information of the Z-direction of height containing screw.Therefore, when carrying out mounting screw, the present invention can accomplish to be accurately positioned, without by frock
The influence of fixture and product manufacturing precision, while can also detect whether screw after screw installation is installed in place, is saved
Whether the later stage is installed in place spent manpower for detection screw.
In some specific embodiments, 3D cameras 120 are using Daheng's image C5-3360CS19-248 integral type 3D phases
Machine, wherein every profile includes the resolution ratio 0.05-0.09mm of 3360 data point numbers, X and Y-direction, Z axis height resolution is
0.035mm, operating distance is 700mm, and Z-direction measurement range is 500mm, field range 170-327mm, weighs 1.9 kilograms.Optics
Camera lens 110 is using the five mega pixel DC driving auto irises of Computer MG1616FC-MP models, and its focal length is 12mm, light
Late coefficient F values are 1.6-360C.Image pick-up card 130 uses Xcelera-CL PX8 Dual, supports 2 cameras, bus form
PCle*8, board internal memory 256MB, while needing an external capture card, model iPORT CL-U3B-IND, by Camera
Link turns after USB port to be connected with industrial computer.
Choose 3D cameras 120, optical lens 110 and the image pick-up card 130 of above model and can be formed and matched somebody with somebody well
Effect is closed, the working effect of IMAQ memory cell is improved.
In some embodiments, the realization principle of 3D effect uses light time-of-flight method (TOF), can be by launching
Light pulse is launched in pole to measurand (screw or screw hole), and receiver is then by calculating light pulse from transmitter to tested pair
The distance of measured object is determined as returning to the run time of receiver again with pixel format.Light time-of-flight method can be simultaneously
Whole scene is obtained, 3D range images are determined, it is ensured that the effect that 3D is presented.
It should be noted that image processing algorithm of the present invention is based on matlab and the C# interface done and algorithm,
The basic step of algorithm：Extraction original image-image enhaucament (gray-level correction, image increase clear)-filtering/rim detection/point
Cut-extract characteristic value-feedback fine setting amendment coordinate.
In some embodiments, IMAQ memory cell 100 also includes lighting unit 140, and the lighting unit 140 can
, can also individualism to be installed along with optical lens 110 on 3D cameras 120.Lighting unit 140 is mainly used in providing 3D
Light when camera 120 is taken pictures, it is ensured that the effect of taking pictures of 3D cameras 120.
In some specific embodiments, lighting unit 140 can use high frequency LED, can eliminate flicker of taking pictures
And the phenomenon for the illumination unevenness brought.
Specifically, flat illumination LFLX2-200SW, voltage 24V, power 25W of the lighting unit 140 using Japan, can be real
The diffusion of existing high uniformity, while realizing the effect for coaxially falling to penetrate illumination and shadowless lighting.
In some embodiments, optical lens 110,3D cameras 120 and image pick-up card 130 is multiple, and optical frames
First 110,3D cameras 120 and image pick-up card 130, which are corresponded, installs.
Multiple information relevant with screw installation so can be just obtained by same set of screw mounting device, for example can be with
The positional information of multiple screw holes for needing mounting screw is obtained, so that instruct can be to multiple spiral shells during mounting screw
Nail synchronizes installation, improves the installation effectiveness of screw.
Likewise, screw installation unit 400 is it can also be provided that multiple, for multiple optical lens 110,3D cameras
120 and image pick-up card 130 carry out supporting, complete the synchronous installation of multiple screws.
In some embodiments, screw installation unit 400 can be using automatic lock screw machine or manipulator, the automatic lock
Screw machine or manipulator can receive the operation signal that CPU 300 is assigned, and according to predetermined operating path by spiral shell
Nail is installed to the screw hole position specified.
In some embodiments, CPU 300 uses industrial computer.Further, it can use and grind Chinese workers
Control machine.
In embodiments of the present invention, please further refer to Fig. 3, screw mounting device also includes moving cell 500, image
Gather memory cell 100 to be arranged on moving cell 500, drive IMAQ memory cell 100 to move by moving cell 500,
Then the positional information for obtaining screw and screw hole position that screw mounting device can be in all directions is facilitated, it is ensured that acquisition of information
Stability and dependability.
On the other hand, in embodiments of the present invention, screw mounting device also includes motion module 600, and screw is installed single
Member 400 is just arranged on the motion module 600, drives screw installation unit 400 to reach the screw hole specified by motion module 600
At position.
Further, motion module 600 include X to motion module, Y-direction moves module and Z-direction moves module.Above-mentioned X
To motion module, Y-direction moves module and Z-direction is moved module and can realized by straight line module etc., mainly including motor, gas
Cylinder etc..
It is appreciated that after screw installation unit is installed on motion module, can by the effect for moving module 600
To drive screw installation unit to be moved in space.
For the operation and operation of stricter management and control screw installation unit, it is ensured that screw installation unit can be by spiral shell
Nail is accurately installed at the screw hole position specified, and in some embodiments, refer to Fig. 3, screw mounting device also includes
Industry control board 700 and servo-driver 800, industry control board 700 are connected with servo-driver 800, and industry control board 700 drives with servo
Dynamic device 800 is connected between CPU 300 and screw installation unit 400.
The signal so come out from CPU 300 can also be changed into further specifically by industry control board 700
Pulse signal, industry control board 700 retransmits corresponding umber of pulse to servo-driver 800, and servo-driver 800 receives above-mentioned arteries and veins
Rushing after number just can accurately instruct the motion for moving module 600, until screw installation unit to be transported to the screw hole specified
At position.
So far, screw mounting device of the invention can just complete the installation of screw.It essentially consists in acquisition screw and spiral shell
The positional information of the three-dimensional coordinate of nail position, then by the essence of central processing unit 300, industry control board 700 and servo-driver 800
Really control, screw is installed in corresponding screw hole.During installation, pass through the plane of screw and height obtained in real time
Course of the adjustment out position feedback of the information of degree to the constantly amendment adjusting screw of industry control board 700, until screw is accurate
Errorless is installed to corresponding screw hole.After screw installation, it can also be the elevation information of screw by acquisition, so as to sentence
Whether disconnected screw is all installed in screw hole so that screw mounting device possesses self-checking function, and it is detection to save the later stage
Whether screw is installed in place spent manpower.
In some embodiments, screw mounting device also includes alarm unit 900, the alarm unit 900 and centre
Unit 300 is managed to be connected.When deviation or not in place, the alarm list of screw installation occurs in the course that screw is found by detecting
Member 900 can be alarmed, so as to instruct operator to make adjustment in real time.
In some embodiments, screw mounting device also includes monitoring unit 1000, and the monitoring unit is connected to image
Processing unit 200, the working condition for showing screw installation unit in real time so that operator installs to whole screw and filled
The working condition put has a visual understanding.
The present embodiment additionally provides the screw installation method of view-based access control model processing simultaneously, refer to Fig. 4, this method is mainly wrapped
Include following steps：
The image information of S100, acquisition screw and screw hole position locus；
S200, described image information is converted into data signal；
S300, the reception data signal simultaneously send operation signal；
S400, the reception operation signal, and the screw is arranged on by the corresponding spiral shell according to the operation signal
Nail position.
Specifically, the installation accuracy in order to further improve screw, refer to Fig. 5, another embodiment can include
Following steps：
The image information of S100, acquisition screw and screw hole position locus；
S200, described image information is converted into data signal；
S300, the reception data signal simultaneously send operation signal；
S500, the reception operation signal, and the operation signal is converted into specific pulse signal；
S600, receive the pulse signal, and according to the pulse signal plan the course of screw and by the spiral shell
Nail is arranged on the corresponding screw hole position.
So, by specifically planning that the traveling signal of screw can accurately instruct the movement locus of screw, by screw
Transport to specified screw hole position.Also, when deviation occurs in the position of screw, real-time adjustment can also be reversed.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. the screw mounting device of view-based access control model processing, it is characterised in that including：
IMAQ memory cell, the image information of the locus for obtaining screw and screw hole position；
Graphics processing unit, for described image information to be converted into data signal；
CPU, for receiving the data signal and sending operation signal；And
Screw installation unit, correspondence is arranged on for receiving the operation signal, and according to the operation signal by the screw
Screw hole position.
2. screw mounting device as claimed in claim 1, it is characterised in that described image collection memory cell includes optical frames
Head, 3D cameras and image pick-up card, the optical lens are arranged on the 3D cameras, described image capture card and the 3D phases
The output end of machine is connected.
3. screw mounting device as claimed in claim 2, it is characterised in that described image collection memory cell also includes illumination
Unit, the lighting unit is used to provide the light when 3D cameras are taken pictures.
4. the screw mounting device as any one of claim 2-3, it is characterised in that the optical lens, the 3D
Camera and described image capture card are multiple, and a pair of the optical lens, the 3D cameras and described image capture card 1
It should install.
5. screw mounting device as claimed in claim 1, it is characterised in that the CPU is calculated using industry
Machine.
6. screw mounting device as claimed in claim 1, it is characterised in that the screw installation unit is multiple.
7. screw mounting device as claimed in claim 1, it is characterised in that the screw installation unit can be using automatic lock spiral shell
Nailing machine or manipulator.
8. screw mounting device as claimed in claim 1, it is characterised in that the screw mounting device also includes industry control board
And servo-driver, the industry control board is connected with the servo-driver, and the industry control board connects with the servo-driver
It is connected between the CPU and the screw installation unit.
9. screw mounting device as claimed in claim 1, it is characterised in that it is single that the screw mounting device also includes motion
Member, described image collection memory cell is arranged on the moving cell, drives described image collection to deposit by the moving cell
Storage unit is moved.
10. screw installation method, it is characterised in that including：
Obtain the image information of the locus of screw and screw hole position；
Described image information is converted into data signal；
Receive the data signal and send operation signal；And
The operation signal is received, and the screw is arranged on by the corresponding screw hole position according to the operation signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710695552.2A CN107270817A (en) | 2017-08-15 | 2017-08-15 | The screw mounting device and screw installation method of view-based access control model processing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710695552.2A CN107270817A (en) | 2017-08-15 | 2017-08-15 | The screw mounting device and screw installation method of view-based access control model processing |
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| CN107270817A true CN107270817A (en) | 2017-10-20 |
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| CN111780675A (en) * | 2020-06-30 | 2020-10-16 | Oppo（重庆）智能科技有限公司 | Screw floating height detection method and device, electronic device and storage medium |
| CN114279331A (en) * | 2021-12-27 | 2022-04-05 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Guide vane overall dimension visual measurement device and measurement method thereof |
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| CN109807610A (en) * | 2019-01-21 | 2019-05-28 | 奥克斯空调股份有限公司 | A kind of castor installation equipment, method and device |
| CN111780675A (en) * | 2020-06-30 | 2020-10-16 | Oppo（重庆）智能科技有限公司 | Screw floating height detection method and device, electronic device and storage medium |
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| CN114279331A (en) * | 2021-12-27 | 2022-04-05 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Guide vane overall dimension visual measurement device and measurement method thereof |
| CN114279331B (en) * | 2021-12-27 | 2024-04-05 | 长三角哈特机器人产业技术研究院 | Visual measuring device and measuring method for outline dimension of guide vane |
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