CN108380509A - LED lamp panel sorting based on machine vision and detecting system - Google Patents
LED lamp panel sorting based on machine vision and detecting system Download PDFInfo
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- CN108380509A CN108380509A CN201711295826.5A CN201711295826A CN108380509A CN 108380509 A CN108380509 A CN 108380509A CN 201711295826 A CN201711295826 A CN 201711295826A CN 108380509 A CN108380509 A CN 108380509A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/344—Sorting according to other particular properties according to electric or electromagnetic properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- Sorting Of Articles (AREA)
Abstract
The invention discloses the LED lamp panels based on machine vision to sort and detecting system and its method, including camera identification station, mechanical arm crawl station, electric parameter measurement station and product sorting station, camera identifies that station includes camera frame and camera, it includes horizontal slide unit, saddle, vertical slide unit, electric rotating machine, vacuum cup and longitudinal slide unit that mechanical arm, which captures station, product sorting station includes rotary cylinder, baffle and sliding slot, and steps are as follows：Image recognition；The positioning of manipulator；Electric energy quality test；The sorting of product.The present invention is based on the sortings of the LED lamp panel of machine vision and detecting system and its method, complete mechanicalization works, working efficiency is higher than traditional artificial detection, be not in the phenomenon that substandard products are infiltrated in finished product, complete automatic business processing ensures the safety of worker, storage is uniformly processed in the detection data of product, it conveniently checks and records, and can be sorted according to different LED light disk shapes, greatly facilitate subsequent puting and packing.
Description
Technical field
The present invention relates to the sorting of LED lamp panel and detection technique fields, more particularly to the LED lamp panel based on machine vision point
It picks and detecting system and its method.
Background technology
Current industrial production line gradually moves towards automated production, and for the detection technique of product then still using artificial
The method of detection is relatively more.It is absolute when obviously the speed of artificial detection is compared with the speed of production of automatic production line
Disadvantage can not effectively accomplish the guarantee to product quality so inspection can only be sampled to product, the case where just investigation
For, most of middle-size and small-size factories on school periphery are remained and are detected to product using pure artificial mode, allow a line
Whether worker is qualified come the quality for detecting product using test equipment.And when carrying out mechanical manipulation for a long time, worker easy tos produce
Mental fatigue allows substandard products also to infiltrate in finished product.At the same time, the voltage of test is usually the household electricity of 220V, if surveyed
Test instrument occupation mode was not at that time, it will accident occurs, is to belong to one of station more dangerous in production line.To sum up,
The shortcomings that prior art/deficiency：
1. the speed of artificial detection is slow；
2. having certain danger；
3. the statistical difficulty of data；
Substandard products are allowed to infiltrate the situation in finished product 4. will appear.
Invention content
The purpose of the present invention is to provide the LED lamp panels based on machine vision to sort and detecting system and its method, work
Efficiency is higher than traditional artificial detection, is not in the phenomenon that substandard products are infiltrated in finished product, complete automatic business processing makes worker remote
From danger, ensure that the safety of worker, the detection data of product are uniformly processed storage, conveniently check and record, to solve the above-mentioned back of the body
The problem of being proposed in scape technology.
To achieve the above object, the present invention provides the following technical solutions：LED lamp panel sorting based on machine vision and detection
System, including camera identification station, mechanical arm crawl station, electric parameter measurement station and product sorting station, the camera shooting
Head identification station includes camera frame and camera, and camera frame is movably arranged on equipment supporter, installs and takes the photograph in camera frame
As head, conveyer belt is installed in the side of the camera frame, and LED lamp panel is placed on the conveyer belt, and the mechanical arm captures station
Including horizontal slide unit, saddle, vertical slide unit, electric rotating machine, vacuum cup and longitudinal slide unit, longitudinal slide unit is mounted on equipment supporter
On, engaging in longitudinal slide unit has horizontal slide unit, longitudinal slide unit to be slided in horizontal slide unit by the saddle being fixedly connected, described to hang down
Vacuum cup is installed in the bottom end of the mounting rotary electric machine on slide unit, electric rotating machine, and the electric parameter measurement station includes LED tests
Platform, the LED testboards are mounted on the side of conveyer belt, and the product sorting station includes rotary cylinder, baffle and sliding slot, rotation
Rotaring cylinder is mounted on the side of conveyer belt, and baffle is installed on the top of rotary cylinder, and the sliding slot is mounted on the other side of conveyer belt
Face.
Preferably, the camera and the electrical connection of the ends PC.
Preferably, mechanical arm crawl station is controlled by PLC.
Another technical problem to be solved by the present invention is that provide based on machine vision LED lamp panel sorting with detecting system and
Its method, includes the following steps：
The first step, image recognition；
The positioning of second step, manipulator；
Third step, electric energy quality test；
The sorting of 4th step, product.
Preferably, step 1 image recognition comprises the steps of：
The first step, calibration；
Second step distinguishes LED lamp panel, and one photo with two LED lamp panel of shooting extracts two LED light using labview
The shape information of plate, using its shape as the differentiation of different lamp plates；
Third step, the extraction of LED lamp panel location information；
4th step carries out modbus host settings using the opc of labview, and communication format is consistent with the setting in PLC；
PC and PLC are attached by the 5th step by 485 connections, and bind required variable, you can are led between being allowed to
News.
Preferably, the positioning of step 2 manipulator comprises the steps of：
The first step, original point return when allowing servo motor to power on booting every time, all need to carry out an original point return, it is ensured that at origin
Pulse current value reset, PLC using ZRN instruction carry out original point return；
Second step, manipulator positioning are sat to enable manipulator accurately and quickly to reach anchor point we used absolute
Target linear interpolation instructs PPMA；
Preferably, step 3 electric energy quality test comprises the steps of：
The communication protocol of the first step, PLC and power quality module communication, power quality module is Modbus RTU communication protocols,
Therefore PLC can read the data of slave using MODRD instructions.Communication format is consistent with above-mentioned PC communications；
Second step, floating number conversion, since the data of reading are double-precision floating points, each register only stores 8 numbers
According to, it is a high position to occupy D1073, D1074, D1075, tetra- registers of D1076, and D1037 respectively, and D1076 is low level, and because
It is 16 bit instructions that PLC, which instructs INT, so needing register data reassembling into 16, can carry out floating number conversion.
Preferably, the sorting of step 4 product comprises the steps of：
It will enter product sorting station after the completion of the first step, LED lamp panel test：
Second step, when LED lamp panel test passes, rotary cylinder is failure to actuate, and LED lamp panel enters qualified area；When LED light looping test
When unqualified, rotary cylinder control baffle action, last LED lamp panel enters unqualified area by sliding slot.
Preferably, step 1 calibration includes the following steps：
The first step is loaded into the calibration template image acquired, and should calibration masterplate working face be placed horizontally in image；
Second step into row threshold division, makes black dot be displayed from background image by adjustment parameter.If calibration
Visual field is not completely covered in masterplate, also needs the range for delimiting out calibration mold version manually, can only be protected in the region of masterplate covering
Demonstrate,prove measurement accuracy.Point magnitude range and the circularity range of identification are finally defined to prevent subtle noise in image to be erroneously identified
To demarcate dot；
Third walks, the relevant information of masterplate is demarcated in input, the distance in X-direction between the two neighboring dot center of circle, adjacent in Y-direction
The unit of distance and distance between two dot centers of circle；
4th step, system will learn masterplate, need to select computational methods manually, at the same consider three distortion factors and
Tangential distortion will improve stated accuracy, while can also reduce calculating speed, should be selected according to actual demand；
5th step sets coordinate system for uncalibrated image, to obtain accurate coordinates value a little in follow-up measure；
The result demarcated is saved as png formatted files by the 6th step, is called when measuring；
7th step, last test stated accuracy, shooting one placed the picture of ruler, and be loaded into file after the completion of calibration, profit
Precision measure is carried out with visual aids, precision reaches 0.01mm.
Compared with prior art, the beneficial effects of the invention are as follows：Based on the LED lamp panel sorting of machine vision and detection system
System and its method are identified two kinds of LED lamp panels of different model and by using camera identification station by the figure of acquisition
As information is sent to the ends PC, LabVIEW is sent to PLC to the information obtained after the analysis and processing of LED lamp panel face shaping, hair
Being sent to PLC drives two kinds of LED lamp panels of vacuum cup pair on manipulator to sort, and is placed into corresponding electric parameter measurement work
In position, after the completion of detection, LED lamp panel is captured into back conveyer belt and is transported to product sorting station, when the power quality of LED lamp panel is closed
When lattice, LED lamp panel continues forward on a moving belt, into qualified area.When the power quality of LED lamp panel is unqualified, rotary pneumatic
Cylinder control baffle makes unqualified lamp plate enter sliding slot, into unqualified area, each interrelated cooperation of station, and complete mechanical
Work, working efficiency are higher than traditional artificial detection, are not in the phenomenon that substandard products are infiltrated in finished product, at complete automation
Reason allows worker to ensure that the safety of worker, the detection data of product are unified in computer processing storage far from dangerous, conveniently check and
Record, and can be sorted according to different LED light disk shapes, and the placement position after sorting is fixed, and is greatly facilitated
Subsequent puting and packing.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is that the camera of the present invention identifies station structure schematic diagram；
Fig. 3 is that the mechanical arm of the present invention captures station structure schematic diagram；
Fig. 4 is the electric parameter measurement station structure schematic diagram of the present invention；
Fig. 5 is the product sorting station structure schematic diagram of the present invention；
Fig. 6 is the state diagram for the calibration template image for being loaded into acquisition；
Fig. 7 is the state diagram of test calibration precision；
Fig. 8 is that LED lamp panel location information extracts schematic diagram；
Fig. 9 is original point return routine schematic diagram；
Figure 10 is that the linear interpolation of absolute coordinate instructs the use routine schematic diagram of PPMA；
Figure 11 is the use routine schematic diagram that PLC uses MODRD instructions；
Figure 12 is the use routine schematic diagram that PLC instructions INT is 16 bit instructions；
In figure：1 camera identifies that station, 11 camera frames, 12 cameras, 2 mechanical arms crawl station, 21 horizontal slide units, 22 are slided
Part, 23 vertical slide units, 24 electric rotating machines, 25 vacuum cups, 26 longitudinal slide units, 3 electric parameter measurement stations, 31 LED testboards, 4
Product sorting station, 41 rotary cylinders, 42 baffles, 43 sliding slots, 5 conveyer belts, 6 equipment supporters, 7 LED lamp panels.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 5 are please referred to Fig.1, the LED lamp panel sorting based on machine vision and detecting system, including camera identification station 1,
Mechanical arm captures station 2, electric parameter measurement station 3 and product sorting station 4, and camera identifies that station 1 includes camera frame 11
With camera 12, camera frame 11 is movably arranged on equipment supporter 6, and camera 12, camera 12 are installed in camera frame 11
It is electrically connected with the ends PC, conveyer belt 5 is installed for the side to 7 data analysis of LED lamp panel, camera frame 11, is placed on conveyer belt 5
LED lamp panel 7, LED lamp panel 7 is random to be placed on conveyer belt 5, and camera 12 identifies the shape of LED lamp panel 7 and in conveyer belt 5
On location information and opposite electric parameter measurement station 3 deflection angle, and institute's identification information is sent in PLC, so as to
Station is handled below, and it includes horizontal slide unit 21, saddle 22, vertical slide unit 23, electric rotating machine 24, vacuum that mechanical arm, which captures station 2,
Sucker 25 and longitudinal slide unit 26, mechanical arm crawl station 2 are controlled by PLC, and longitudinal slide unit 26 is mounted on equipment supporter 6, longitudinal
Engaging has horizontal slide unit 21, longitudinal slide unit 26 to be slided in horizontal slide unit 21 by the saddle 22 being fixedly connected on slide unit 26, hangs down
Vacuum cup 25 is installed in the bottom end of the mounting rotary electric machine 24 on slide unit 23, electric rotating machine 24, is recognized obtaining camera 12
Coordinate and deflection angle information after, PLC control machineries arm captures LED lamp panel 7, and electric parameter measurement station 3 includes
LED testboards 31, LED testboards 31 are mounted on the side of conveyer belt 5, after the shape information for obtaining camera 12, PLC controls
LED lamp panel 7 reaches corresponding testboard, and rotates contraposition by the electric rotating machine 24 on Z axis, and LED lamp panel 7 is made to access testboard
Power supply.Then electric parameter measurement is carried out, and judges whether the lamp plate is qualified.Finally send LED lamp panel 7 back to conveyer belt 5, work again
Make efficiency and be higher than traditional artificial detection, is not in the phenomenon that substandard products are infiltrated in finished product, the detection data of product is uniformly processed
Storage, conveniently checks and records, and product sorting station 4 includes rotary cylinder 41, baffle 42 and sliding slot 43, and rotary cylinder 41 is installed
In the side of conveyer belt 5, baffle 42 is installed on the top of rotary cylinder 41, and sliding slot 43 is mounted on the another side of conveyer belt 5, LED
Lamp panel 7 will enter product sorting station 4 after the completion of testing.When 7 test passes of LED lamp panel, rotary cylinder 41 is failure to actuate, LED
Lamp panel 7 enters qualified area；When 7 test failure of LED lamp panel, the action of 41 control baffle 42 of rotary cylinder, last LED lamp panel 7
Enter unqualified area by sliding slot 43, complete automatic business processing allows worker far from danger, ensures the safety of worker, can basis
Different 7 shapes of LED lamp panel are sorted, and the placement position after sorting is fixed, and subsequent puting and packing is greatly facilitated.
LED lamp panel sorting based on machine vision and detecting system and its method, include the following steps：
The first step, image recognition, wherein image recognition include：
（1）Calibration, wherein calibration includes；
1）It is loaded into the calibration template image of acquisition, calibration masterplate should be placed horizontally at working face in image, as shown in Figure 6：
2）Into row threshold division, black dot is made to be displayed from background image by adjustment parameter.If demarcating masterplate
Visual field is not completely covered, also needs the range for delimiting out calibration mold version manually, only can ensure to survey in the region of masterplate covering
Accuracy of measurement.Point magnitude range and the circularity range of identification are finally defined to prevent subtle noise in image to be erroneously identified as marking
Determine dot；
3）The relevant information of input calibration masterplate, the distance in X-direction between the two neighboring dot center of circle are two neighboring in Y-direction
The unit of distance and distance between the dot center of circle；
4）System will learn masterplate, need to select computational methods manually, while consider three distortion factors and tangential
Distortion will improve stated accuracy, while can also reduce calculating speed, should be selected according to actual demand；
5）Coordinate system is set for uncalibrated image, to obtain accurate coordinates value a little in follow-up measure；
6）The result demarcated is saved as into png formatted files, is called when measuring；
7）Last test stated accuracy, shooting one placed the picture of ruler, and be loaded into file after the completion of calibration, utilize vision
Assistant carries out precision measure, and precision reaches 0.01mm, sees Fig. 7：
（2）LED lamp panel is distinguished, one photo with two LED lamp panel of shooting extracts two LED lamp panel using labview
Shape information, using its shape as the differentiation of different lamp plates；
（3）LED lamp panel location information extracts, following Fig. 8：
（4）Modbus host settings are carried out using the opc of labview, communication format is consistent with the setting in PLC；
（5）PC and PLC are attached by 485 connections, and bind required variable, you can is communicated between being allowed to.
The positioning of the positioning of second step, manipulator, wherein manipulator includes；
（1）Original point return when allowing servo motor to power on booting every time, all needs to carry out an original point return, it is ensured that the arteries and veins at origin
Current value reset is rushed, PLC carries out original point return using ZRN instructions, and original point return routine is shown in Fig. 9：
（2）Manipulator positions, and in order to enable manipulator accurately and quickly to reach anchor point, we used absolute coordinates
Linear interpolation instructs PPMA, the use routine of instruction to see Figure 10：
Third step, electric energy quality test, wherein electric energy quality test include：
（1）The communication protocol of PLC and power quality module communication, power quality module is Modbus RTU communication protocols, therefore
PLC can read the data of slave using MODRD instructions.Communication format is consistent with above-mentioned PC communications, and the use routine of instruction is shown in
Figure 11：
（2）Floating number is converted, and since the data of reading are double-precision floating points, each register only stores 8 data, point
It is a high position not occupy D1073, D1074, D1075, tetra- registers of D1076, and D1037, and D1076 is low level, and because PLC refers to
It is 16 bit instructions to enable INT, so needing register data reassembling into 16, can carry out floating number conversion, routine is shown in Figure 12：
The sorting of the sorting of 4th step, product, wherein product includes：
（1）LED lamp panel 7 will enter product sorting station after the completion of testing：
（2）When 7 test passes of LED lamp panel, rotary cylinder 41 is failure to actuate, and LED lamp panel 7 enters qualified area；When LED lamp panel 7 is surveyed
When trying unqualified, 41 control baffle 42 of rotary cylinder action, last LED lamp panel 7 enters unqualified area by sliding slot 43.
Workflow：Two kinds of LED lamp panels 7 of different model are positioned on baby conveyor, station 1 is identified in camera
On, the image information of acquisition is sent to the ends PC by camera 12, the analysis to 7 face shaping of LED lamp panel and place by LabVIEW
Reason, obtains the location information of the LED lamp panel 7 of different model（Including：Coordinate, angle etc.）, and the information of identification is sent to PLC
In.In mechanical arm captures station 2, the vacuum cup 25 on manipulator is driven to sort two kinds of LED lamp panels 7 by PLC, and
It is placed into corresponding electric parameter measurement station 3.Using electric energy quality test module to power factor (PF), the frequency etc. of LED lamp panel 7
Important indicator is tested, and data are sent in touch screen.After the completion of detection, LED lamp panel 7 is captured into back conveyer belt 5, with
The movement of conveyer belt 5, LED lamp panel 7 enters product sorting station 4.When the power quality qualification of LED lamp panel 7, LED lamp panel 7
Continue on conveyer belt 5 forward, into qualified area.When the power quality of LED lamp panel 7 is unqualified, the control gear of rotary cylinder 41
Plate 42 makes unqualified lamp plate enter sliding slot 43, into unqualified area, completes the test and sorting of LED lamp panel 7.
In conclusion LED lamp panel sorting and detecting system and its method proposed by the present invention based on machine vision, pass through
Two kinds of LED lamp panels 7 of different model are identified using camera identification station 1 and the image information of acquisition is sent to PC
End, LabVIEW are sent to PLC to the information obtained after the analysis and processing of 7 face shaping of LED lamp panel, are sent to PLC band motivations
The vacuum cup 25 of tool on hand sorts two kinds of LED lamp panels 7, and is placed into corresponding electric parameter measurement station 3, detection
After the completion, LED lamp panel 7 is captured into back conveyer belt 5 and is transported to product sorting station 4, when the power quality qualification of LED lamp panel 7,
LED lamp panel 7 continues forward on conveyer belt 5, into qualified area.When the power quality of LED lamp panel 7 is unqualified, rotary cylinder
41 control baffles 42, make unqualified lamp plate enter sliding slot 43, into unqualified area, each interrelated cooperation of station, and complete machine
Toolization works, and working efficiency is higher than traditional artificial detection, is not in the phenomenon that substandard products are infiltrated in finished product, complete to automate
Processing allows worker far from danger, ensures that the safety of worker, the detection data of product are unified in computer processing storage, conveniently check
And record, and can be sorted according to different 7 shapes of LED lamp panel, and the placement position after sorting is fixed, and is significantly facilitated
Subsequent puting and packing.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. the LED lamp panel sorting based on machine vision and detecting system, which is characterized in that including camera identification station (1), machine
Tool arm captures station (2), electric parameter measurement station (3) and product sorting station (4), and the camera identification station (1) includes
Camera frame (11) and camera (12), camera frame (11) are movably arranged on equipment supporter (6), and camera frame is pacified on (11)
Camera (12) is filled, the side of the camera frame (11) installs conveyer belt (5), LED lamp panel is placed on the conveyer belt (5)
(7), mechanical arm crawl station (2) include horizontal slide unit (21), saddle (22), vertical slide unit (23), electric rotating machine (24),
Vacuum cup (25) and longitudinal slide unit (26), longitudinal slide unit (26) are mounted on equipment supporter (6), and longitudinal slide unit engages on (26)
There are horizontal slide unit (21), longitudinal slide unit (26) to be slided in horizontal slide unit (21) by the saddle (22) being fixedly connected, it is described to hang down
The mounting rotary electric machine (24) on slide unit (23), the bottom end installation vacuum cup (25) of electric rotating machine (24), the electrical parameter are surveyed
It includes LED testboards (31) to measure station (3), and the LED testboards (31) are mounted on the side of conveyer belt (5), the product point
It includes rotary cylinder (41), baffle (42) and sliding slot (43) to pick station (4), and rotary cylinder (41) is mounted on the side of conveyer belt (5)
Face, the top installation baffle (42) of rotary cylinder (41), the sliding slot (43) are mounted on the another side of conveyer belt (5).
2. the LED lamp panel sorting based on machine vision and detecting system as described in claim 1, which is characterized in that described to take the photograph
As head (12) and the electrical connection of the ends PC.
3. the LED lamp panel sorting based on machine vision and detecting system as described in claim 1, which is characterized in that mechanical arm
Crawl station (2) is controlled by PLC.
4. the method for LED lamp panel sorting and detection based on machine vision as described in claim 1, which is characterized in that including
Following steps：
The first step, image recognition；
The positioning of second step, manipulator；
Third step, electric energy quality test；
The sorting of 4th step, product.
5. the method for LED lamp panel sorting and detection based on machine vision as claimed in claim 4, which is characterized in that step
One comprises the steps of：
The first step, calibration；
Second step distinguishes LED lamp panel, and one photo with two LED lamp panel of shooting extracts two LED light using labview
The shape information of plate, using its shape as the differentiation of different lamp plates；
Third step, the extraction of LED lamp panel location information；
4th step carries out modbus host settings using the opc of labview, and communication format is consistent with the setting in PLC；
PC and PLC are attached by the 5th step by 485 connections, and bind required variable, you can are led between being allowed to
News.
6. the method for LED lamp panel sorting and detection based on machine vision as claimed in claim 4, which is characterized in that step
Two comprise the steps of：
The first step, original point return when allowing servo motor to power on booting every time, all need to carry out an original point return, it is ensured that at origin
Pulse current value reset, PLC using ZRN instruction carry out original point return；
Second step, manipulator positioning are sat to enable manipulator accurately and quickly to reach anchor point we used absolute
Target linear interpolation instructs PPMA.
7. the method for LED lamp panel sorting and detection based on machine vision as claimed in claim 4, which is characterized in that step
Three comprise the steps of：
The communication protocol of the first step, PLC and power quality module communication, power quality module is Modbus RTU communication protocols,
Therefore PLC can read the data of slave using MODRD instructions.Communication format is consistent with above-mentioned PC communications；
Second step, floating number conversion, since the data of reading are double-precision floating points, each register only stores 8 numbers
According to, it is a high position to occupy D1073, D1074, D1075, tetra- registers of D1076, and D1037 respectively, and D1076 is low level, and because
It is 16 bit instructions that PLC, which instructs INT, so needing register data reassembling into 16, can carry out floating number conversion.
8. the method for LED lamp panel sorting and detection based on machine vision as claimed in claim 4, which is characterized in that step
Four comprise the steps of：
It will enter product sorting station after the completion of the first step, LED lamp panel (7) test：
Second step, when LED lamp panel (7) test passes, rotary cylinder (41) is failure to actuate, and LED lamp panel (7) enters qualified area；When
When LED lamp panel (7) test failure, rotary cylinder (41) control baffle (42) action, last LED lamp panel (7) passes through sliding slot
(43) enter unqualified area.
9. the method for LED lamp panel sorting and detection based on machine vision as claimed in claim 5, which is characterized in that step
One includes the following steps：
The first step is loaded into the calibration template image acquired, and should calibration masterplate working face be placed horizontally in image；
Second step into row threshold division, makes black dot be displayed from background image by adjustment parameter.If calibration
Visual field is not completely covered in masterplate, also needs the range for delimiting out calibration mold version manually, can only be protected in the region of masterplate covering
Demonstrate,prove measurement accuracy.Point magnitude range and the circularity range of identification are finally defined to prevent subtle noise in image to be erroneously identified
To demarcate dot；
Third walks, the relevant information of masterplate is demarcated in input, the distance in X-direction between the two neighboring dot center of circle, adjacent in Y-direction
The unit of distance and distance between two dot centers of circle；
4th step, system will learn masterplate, need to select computational methods manually, at the same consider three distortion factors and
Tangential distortion will improve stated accuracy, while can also reduce calculating speed, should be selected according to actual demand；
5th step sets coordinate system for uncalibrated image, to obtain accurate coordinates value a little in follow-up measure；
The result demarcated is saved as png formatted files by the 6th step, is called when measuring；
7th step, last test stated accuracy, shooting one placed the picture of ruler, and be loaded into file after the completion of calibration, profit
Precision measure is carried out with visual aids, precision reaches 0.01mm.
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| CN109060810A (en) * | 2018-09-12 | 2018-12-21 | 深圳信息职业技术学院 | Product appearance quality detection device, appearance detecting device and its detection method |
| CN109317420A (en) * | 2018-09-30 | 2019-02-12 | 安徽信息工程学院 | Convey the control device of sorting automatically for courier packages |
| CN109877049A (en) * | 2019-03-08 | 2019-06-14 | 昆山齐力盛精密模具有限公司 | Detection device based on mobile phone assembling line |
| CN110116101A (en) * | 2019-06-05 | 2019-08-13 | 绵阳华威芯气动设计有限公司 | A kind of automatic detection of capacitor material and sorter |
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| CN110293076A (en) * | 2019-04-24 | 2019-10-01 | 张勇 | A kind of on-line monitoring formula food inspection device |
| CN110116101A (en) * | 2019-06-05 | 2019-08-13 | 绵阳华威芯气动设计有限公司 | A kind of automatic detection of capacitor material and sorter |
| CN110618139A (en) * | 2019-10-31 | 2019-12-27 | 深圳市惟禾自动化设备有限公司 | LED appearance detection |
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| CN111660691B (en) * | 2020-06-25 | 2021-10-01 | 曹雪松 | Bill binding means that financial affairs were used |
| CN111660691A (en) * | 2020-06-25 | 2020-09-15 | 刘雪侠 | Bill binding means that financial affairs were used |
| CN111871841A (en) * | 2020-08-12 | 2020-11-03 | 安徽信息工程学院 | Rotary classification machine vision part sorting system, method and device |
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| CN115583493A (en) * | 2022-09-02 | 2023-01-10 | 福建世高智能科技有限公司 | Triangular window glass production line |
| CN116297199A (en) * | 2023-03-21 | 2023-06-23 | 广东奥普特科技股份有限公司 | Detection system for automatically detecting lithium battery parameters based on machine vision |
| CN116297199B (en) * | 2023-03-21 | 2024-03-26 | 广东奥普特科技股份有限公司 | Detection system for automatically detecting lithium battery parameters based on machine vision |
| CN117884932A (en) * | 2024-03-14 | 2024-04-16 | 朗快智能科技（杭州）有限公司 | Automatic processing system and processing method suitable for irregular-section products |
| CN117884932B (en) * | 2024-03-14 | 2024-05-28 | 朗快智能科技（杭州）有限公司 | Automatic processing system and processing method suitable for irregular-section products |
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