CN109085168A - The method for parameter configuration of adhesive tape detection sensor applied to gluing on-line checking - Google Patents
The method for parameter configuration of adhesive tape detection sensor applied to gluing on-line checking Download PDFInfo
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- CN109085168A CN109085168A CN201811036014.3A CN201811036014A CN109085168A CN 109085168 A CN109085168 A CN 109085168A CN 201811036014 A CN201811036014 A CN 201811036014A CN 109085168 A CN109085168 A CN 109085168A
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- adhesive tape
- gluing
- detection sensor
- glue
- personal computer
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- 239000002390 adhesive tape Substances 0.000 title claims abstract description 119
- 238000004026 adhesive bonding Methods 0.000 title claims abstract description 63
- 238000001514 detection method Methods 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000003292 glue Substances 0.000 claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000003860 storage Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012216 screening Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
- B05C11/1002—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves
- B05C11/1005—Means for controlling supply, i.e. flow or pressure, of liquid or other fluent material to the applying apparatus, e.g. valves responsive to condition of liquid or other fluent material already applied to the surface, e.g. coating thickness, weight or pattern
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8411—Application to online plant, process monitoring
- G01N2021/8416—Application to online plant, process monitoring and process controlling, not otherwise provided for
Abstract
The present invention discloses a kind of method for parameter configuration of adhesive tape detection sensor applied to gluing on-line checking, is applied to automatic double surface gluer, automatic double surface gluer includes: glue spreader, robot, adhesive tape detection sensor and industrial personal computer；Gluing function is moved synchronously according to the motion profile of robot；Adhesive tape detection sensor is mounted in the glue rifle, including installing the sensor master control borad, illuminating lamp plate and the camera chip that are integrated；The controller of robot is connect with glue spreader and industrial personal computer respectively；Teaching process is carried out in this detection method first, glue section is numbered, the configuration parameter of adhesive tape detection sensor is numbered according to adhesive tape corresponding number, is stored；The configuration parameter of next section of adhesive tape is stored in adhesive tape detection sensor when the last period adhesive tape starts detection, rapid configuration adhesive tape detection sensor when realizing test adhesive tape conversion；Two adjacent groups adhesive tape configuration parameter is only stored in adhesive tape detection sensor simultaneously, not will increase the storage pressure of adhesive tape detection sensor.
Description
Technical field
The present invention relates to field of visual inspection, and in particular to a kind of adhesive tape detection sensor applied to gluing on-line checking
Method for parameter configuration.
Background technique
With the raising of automated manufacturing degree, automatic glue coating technology is more and more applied to a variety of industries, special
It is not auto manufacturing, more and more auto production lines all use robot to carry glue rifle, complete the gluing of auto parts and components
Work, although current glue spreader function is more and more perfect, has the function of quantitative gluing, due to the difference of automobile production environment
Anisotropic and sprayed glues material difference usually will appear since glue condensation causes not plastic emitting or plastic emitting uneven at glue rifle Jiao Zui
Even situation, eventually lead to the adhesive tape on auto parts and components occur holiday, it is disconnected apply, be wide or narrow, be unable to satisfy automobile production
Technique requirement, the quality of production of strong influence automobile also can be to the safety of user while influencing auto vendor's prestige
It threatens.Therefore, it is necessary to a kind of gluing detection devices to be measured in real time to the quality of adhesive tape, to find gluing mistake in time
The problems in journey, and generate alarm signal and operator is notified to check automatic double surface gluer, while processing gluing does not conform in time
The components of lattice, in case next station is arrived in circulation.Due to gluing components and the diversity of adhesive tape color, may cause adhesive tape with
The contrast of components is lower, is unfavorable for subsequent image procossing.In addition to this, existing gluing sensor is used in each section of glue
At the end of configure the acquisition parameter of next section of adhesive tape and cause the inspection between glue and glue since parameter configuration needs the regular hour
Minimum interval is surveyed to be restricted.Due to the influence of industrial personal computer operating system non real-time nature, camera is sent using host computer
Often there is delay in trigger signal, cause camera triggering moment inaccurate, eventually leads to image and generates offset, cause detection inaccurate
Really.In order to avoid influencing caused by the problem, the method that gluing sensor often uses lower computer hardware triggering camera is protected with this
Demonstrate,prove the accuracy of camera triggering moment, it is therefore desirable to the number for triggering camera is configured to slave computer, stored by slave computer and pressed
According to sequence trigger switch camera.But since adhesive tape quantity and the disconnected length of glue are uncertain, cause the storage of camera numbers and configuration parameter can
It can exceed that the storage cap of slave computer.Simultaneously for the different parts of different components and identical components, the width of adhesive tape and
Technique requires may be different, therefore every section of glue can correspond to different technological parameters.In addition, for it is more glue rifle simultaneously gluing work
Skill needs to connect multiple gluing sensors, if by the way of the combination of traditional network industrial camera, it can be to industrial personal computer or exchange
The network interface quantity of machine proposes new challenge.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of adhesive tape detection sensors applied to gluing on-line checking
Method for parameter configuration, the last period adhesive tape start detection when i.e. by the configuration parameter of next section of adhesive tape be stored in adhesive tape detect
On sensor, rapid configuration adhesive tape detection sensor when realizing test adhesive tape conversion；Meanwhile in adhesive tape detection sensor while only
Two adjacent groups adhesive tape configuration parameter is stored, not will increase the storage pressure of adhesive tape detection sensor.
For this purpose, technical scheme is as follows:
A kind of method for parameter configuration of the adhesive tape detection sensor applied to gluing on-line checking is applied to automatic double surface gluer,
The automatic double surface gluer includes: glue spreader, robot, adhesive tape detection sensor and industrial personal computer；The glue rifle of the glue spreader is mounted on
The front end of robot can be moved synchronously according to the motion profile of robot；The adhesive tape detection sensor is mounted on the glue rifle
On, including installing the sensor master control borad, illuminating lamp plate and the camera chip that are integrated；The controller of the robot respectively with painting
Glue machine is connected with industrial personal computer；
The following steps are included:
1) when robot arrival needs the initial position of gluing, signal is sent to glue spreader, glue spreader control glue rifle starts to apply
Glue, robot are moved according to desired trajectory, drive glue rifle in corresponding position gluing, adhesive tape detection sensor is according to biography at this time
Configuration parameter in sensor master control borad is started to work, by collected picture Real-time Feedback to industrial personal computer；
2) industrial personal computer is received when applying the data packet comprising the first picture information of adhesive tape, in processing data packet
The sensor master control borad is sent by the configuration parameter of next section of adhesive tape while included data；The sensor master control borad
It is only stored after receiving the configuration parameter of next section of adhesive tape；
3) when robot motion to apply adhesive tape end-position when, send stopping respectively to the glue spreader, industrial personal computer
The instruction of gluing when the industrial personal computer is connected to the instruction for stopping gluing, sends signal I, the biography to the sensor master control borad
When sensor master control borad is connected to signal I, stops acquisition picture and delete in the configuration parameter for applying adhesive tape, with next section of adhesive tape of storage
Configuration parameter reconfigure each associated components；
4) it when robot moves to the head end of next section of adhesive tape, is sent respectively to glue spreader, industrial personal computer and starts gluing
Instruction, glue spreader start gluing, and industrial personal computer sends the signal for starting to acquire picture, the sensor to the sensor master control borad
Master control borad sends to the camera chip and instructs, and camera chip starts to acquire picture, and by the picture of acquisition in real time to industrial personal computer
Feedback；
5) step 2)~4 are repeated), until completing the acquisition of all adhesive tape images, industrial personal computer is same acquisition image data
When data are handled and are exported.
Further, the camera chip has multiple, it is preferable that the camera chip has 2~6.
Further, the illuminating lamp plate is color LED lamp plate.
As above it is examined online applied to the method for parameter configuration of the adhesive tape detection sensor of gluing on-line checking in progress gluing
Also need to carry out teaching process before surveying, the teaching process steps are as follows:
1. marking the breakpoint between adhesive tape according to the motion profile to glue sites teaching robot, storing robot
Motion profile；
2. robot drives glue rifle to move according to predetermined movement track, when arrival needs glue sites, opened to glue spreader transmission
The instruction of beginning gluing；Glue spreader makes glue rifle in corresponding position gluing after being connected to the instruction for starting gluing, adjusts glue spreader parameter, directly
The adhesive tape generated to gluing is met the requirements；
3. acquiring adhesive tape feature image using adhesive tape detection sensor, and it is transmitted to industrial personal computer；
4. the image data that industrial personal computer is docked to is stored, and corresponding on the basis of the breakpoint location on robot trajectory
Adhesive tape position, number consecutively；
The optimized image of each collection point in same section of adhesive tape of artificial screening, is stored as standard picture, and retrospect obtains this standard
The configuration parameter of adhesive tape detection sensor when image；The configuration of the adhesive tape detection sensor is joined according to adhesive tape corresponding number
Number is numbered, stores, and completes teaching process.
Further, the configuration parameter of adhesive tape detection sensor include: camera position and exposure value, camera acquisition frame per second,
Illuminating lamp plate brightness and color, analog gain, digital gain.
The invention has the following advantages:
A kind of method for parameter configuration of the adhesive tape detection sensor applied to gluing on-line checking, is opened in the last period adhesive tape
Begin that the configuration parameter of next section of adhesive tape is stored in adhesive tape detection sensor when detection, realizes quick when test adhesive tape conversion
Configure adhesive tape detection sensor；Meanwhile two adjacent groups adhesive tape configuration parameter, Bu Huizeng are only stored in adhesive tape detection sensor simultaneously
The storage pressure for adding adhesive tape detection sensor, can recycle the storage resource of slave computer processor, avoid due to adhesive tape number
Measure more, adhesive tape longer the problem of causing configuration parameter memory space to be more than slave computer processor storage cap.And then it solves to need
Long adhesive tape is segmented the problem of detecting, reduces the workload of live adhesive tape teaching.
Gluing detection sensor uses master control borad+camera board structure type in the present invention, and there is no traditional gluing detections
The problem of sensor structure is limited by industrial camera outer dimension, it can be achieved that the miniaturization of gluing detection sensor outer dimension and
It customizes.
The color of annular color LED lamp plate, brightness can be separately configured in every section of glue, and the exposure of camera, analog gain, number increase
Benefit can configure different parameters according to the adhesive tape of different components and different colours, so that the image effect finally acquired reaches
Most preferably, it is more advantageous to processing of the subsequent algorithm to image, to improve the accuracy in detection of different background under strip.
Detailed description of the invention
The different adhesive tape section schematic diagrames that Fig. 1 is tested for the present invention.
Specific embodiment
Technical solution of the present invention is described in detail below in conjunction with drawings and examples.
A kind of method for parameter configuration of the adhesive tape detection sensor applied to gluing on-line checking is applied to automatic double surface gluer,
Automatic double surface gluer includes: glue spreader, robot, adhesive tape detection sensor and industrial personal computer；The glue rifle of glue spreader is mounted on robot
Front end can be moved synchronously according to the motion profile of robot；Adhesive tape detection sensor is mounted in glue rifle, including installation is integrated
Sensor master control borad, illuminating lamp plate and camera chip；The controller of robot is connect with glue spreader and industrial personal computer respectively；
As an embodiment of the present invention, camera chip has 4, requires camera chip quantity according to actually detected visual field
It can reasonably select.Illuminating lamp plate is color LED lamp plate.
Detection method includes the following steps:
Teaching process, teaching process steps are as follows:
1. marking the breakpoint between adhesive tape according to the motion profile to glue sites teaching robot, storing robot
Motion profile；
2. robot drives glue rifle to move according to predetermined movement track, when arrival needs glue sites, opened to glue spreader transmission
The instruction of beginning gluing；Glue spreader makes glue rifle in corresponding position gluing after being connected to the instruction for starting gluing, adjusts glue spreader parameter, directly
The adhesive tape generated to gluing is met the requirements；
3. acquiring adhesive tape feature image using adhesive tape detection sensor, and it is transmitted to industrial personal computer；
4. the image data that industrial personal computer is docked to is stored, and corresponding on the basis of the breakpoint location on robot trajectory
Adhesive tape position, number consecutively are divided into Glue1 as shown in Figure 1: red glue section；Glue2: green glue section；Glue3: blue glue
Section；Glue4: white size section；
The optimized image of each collection point in same section of adhesive tape of artificial screening, is stored as standard picture, and retrospect obtains this standard
The configuration parameter of adhesive tape detection sensor when image；According to the corresponding number of adhesive tape to the configuration parameter of adhesive tape detection sensor into
Row number, storage complete teaching process.
Further, the configuration parameter of adhesive tape detection sensor include: camera position and exposure value, camera acquisition frame per second,
The brightness of color LED lamp plate and color, analog gain, digital gain.
After completing teaching process, gluing on-line checking is carried out:
1) when robot arrival needs initial position (label 9 in Fig. 1) of gluing, signal, glue spreader control are sent to glue spreader
Glue rifle starts gluing, and robot is moved according to desired trajectory, drives glue rifle in corresponding position gluing, adhesive tape detects at this time
Sensor is started to work according to the configuration parameter in sensor master control borad, by collected picture Real-time Feedback to industrial personal computer；
2) industrial personal computer is received when applying the data packet comprising the first picture information of adhesive tape, is wrapped in processing data packet
The configuration parameter of next section of adhesive tape (label 10 in Fig. 1) is sent sensor master control borad by while containing data；Sensor master control
Plate is only stored after receiving the configuration parameter of next section of adhesive tape；
3) when robot motion to apply adhesive tape end-position when, to glue spreader, industrial personal computer respectively sends stopping gluing
Instruction, when industrial personal computer is connected to the instruction for stopping gluing, send signal I to sensor master control borad, sensor master control borad receives letter
When number I, stops acquisition picture and simultaneously delete in the configuration parameter for applying adhesive tape, matched again with the configuration parameter of next section of adhesive tape of storage
Set each associated components；
4) it when robot moves to head end (label 11 in Fig. 1) of next section of adhesive tape, is sent out respectively to glue spreader, industrial personal computer
The instruction for starting gluing is sent, glue spreader starts gluing, and industrial personal computer sends the signal for starting to acquire picture to sensor master control borad, passes
Sensor master control borad sends to camera chip and instructs, and camera chip starts to acquire picture, and by the picture of acquisition in real time to industrial personal computer
Feedback；
5) step 2)~4 are repeated), until completing the acquisition of all adhesive tape images, industrial personal computer is same acquisition image data
When data are handled and are exported.
For ease of explanation and precise definition of the appended claims, term " on ", "lower", "inner" and "outside" be used to refer to
The position of these shown features describes the features of illustrative embodiments in attached drawing.
The description that specific exemplary embodiment of the present invention is presented in front is for the purpose of illustration and description.Front
Description be not intended to become without missing, be not intended to limit the invention to disclosed precise forms, it is clear that root
It is possible for much changing and change all according to above-mentioned introduction.It selects exemplary implementation scheme and is described to be to explain this hair
Bright certain principles and practical application, so that others skilled in the art can be realized and utilize of the invention each
Kind exemplary implementation scheme and its different selection forms and modification.The scope of the present invention be intended to by the appended claims and
Its equivalent form is limited.
Claims (6)
1. a kind of method for parameter configuration of the adhesive tape detection sensor applied to gluing on-line checking is applied to automatic double surface gluer, institute
Stating automatic double surface gluer includes: glue spreader, robot, adhesive tape detection sensor and industrial personal computer；The glue rifle of the glue spreader is mounted on machine
The front end of device people can be moved synchronously according to the motion profile of robot；The adhesive tape detection sensor is mounted in the glue rifle,
Including installing the sensor master control borad, illuminating lamp plate and the camera chip that are integrated；The controller of the robot respectively with gluing
Machine is connected with industrial personal computer；
It is characterized by comprising following steps:
1) when robot arrival needs the initial position of gluing, signal is sent to glue spreader, glue spreader control glue rifle starts gluing, machine
Device people moves according to desired trajectory, drives glue rifle in corresponding position gluing, adhesive tape detection sensor is according to sensor at this time
Configuration parameter in master control borad is started to work, by collected picture Real-time Feedback to industrial personal computer；
2) industrial personal computer is received when applying the data packet comprising the first picture information of adhesive tape, is wrapped in processing data packet
The configuration parameter of next section of adhesive tape is sent the sensor master control borad by while containing data；The sensor master control borad receives
It is only stored after to the configuration parameter of next section of adhesive tape；
3) when robot motion to apply adhesive tape end-position when, to the glue spreader, industrial personal computer respectively sends stopping gluing
Instruction, the industrial personal computer be connected to stop gluing instruction when, to the sensor master control borad send signal I, the sensor
When master control borad is connected to signal I, stops acquisition picture and delete in the configuration parameter for applying adhesive tape, with matching for next section of adhesive tape of storage
It sets parameter and reconfigures each associated components；
4) when robot moves to the head end of next section of adhesive tape, the instruction for starting gluing is sent respectively to glue spreader, industrial personal computer,
Glue spreader starts gluing, and industrial personal computer sends the signal for starting to acquire picture, the sensor master control to the sensor master control borad
Plate sends to the camera chip and instructs, and camera chip starts to acquire picture, and the picture of acquisition is fed back to industrial personal computer in real time；
5) step 2)~4 are repeated), until complete the acquisition of all adhesive tape images, industrial personal computer is while acquiring image data pair
Data are handled and are exported.
2. the method for parameter configuration applied to the adhesive tape detection sensor of gluing on-line checking as described in claim 1, feature
Be: the camera chip has multiple.
3. the method for parameter configuration applied to the adhesive tape detection sensor of gluing on-line checking as described in claim 1, feature
Be: the camera chip has 2~6.
4. the parameter of the adhesive tape detection sensor as described in any one of claims 1 to 3 applied to gluing on-line checking is matched
Set method, it is characterised in that: the illuminating lamp plate is color LED lamp plate.
5. the method for parameter configuration applied to the adhesive tape detection sensor of gluing on-line checking as claimed in claim 4, feature
It is: also needs to carry out teaching process before carrying out gluing on-line checking, the teaching process steps are as follows:
1. marking the breakpoint between adhesive tape according to the motion profile to glue sites teaching robot, storing the movement of robot
Track；
2. robot drives glue rifle to move according to predetermined movement track, when arrival needs glue sites, start to apply to glue spreader transmission
The instruction of glue；Glue spreader makes glue rifle in corresponding position gluing after being connected to the instruction for starting gluing, adjusts glue spreader parameter, until applying
The adhesive tape that glue generates is met the requirements；
3. acquiring adhesive tape feature image using adhesive tape detection sensor, and it is transmitted to industrial personal computer；
4. the image data that industrial personal computer is docked to is stored, and corresponds to adhesive tape on the basis of the breakpoint location on robot trajectory
Position, number consecutively；
The optimized image of each collection point in same section of adhesive tape of artificial screening, is stored as standard picture, and retrospect obtains this standard picture
When adhesive tape detection sensor configuration parameter；According to the corresponding number of adhesive tape to the configuration parameter of the adhesive tape detection sensor into
Row number, storage complete teaching process.
6. the method for parameter configuration applied to the adhesive tape detection sensor of gluing on-line checking as claimed in claim 5, feature
Be: the configuration parameter of adhesive tape detection sensor includes: that camera position and exposure value, the frame per second of camera acquisition, illuminating lamp plate are bright
Degree and color, analog gain, digital gain.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811036014.3A CN109085168B (en) | 2018-09-06 | 2018-09-06 | The method for parameter configuration of adhesive tape detection sensor applied to gluing on-line checking |
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| CN201811036014.3A CN109085168B (en) | 2018-09-06 | 2018-09-06 | The method for parameter configuration of adhesive tape detection sensor applied to gluing on-line checking |
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| CN110189316A (en) * | 2019-05-29 | 2019-08-30 | 易思维（杭州）科技有限公司 | A kind of adhesive tape detection automatic teaching method |
| CN110646431A (en) * | 2019-10-30 | 2020-01-03 | 易思维（杭州）科技有限公司 | Automatic teaching method of gluing sensor |
| CN111451095A (en) * | 2020-04-09 | 2020-07-28 | 深圳了然视觉科技有限公司 | Real-time gluing quality detection and automatic glue supplementing technology based on vision |
| CN113192001A (en) * | 2021-03-19 | 2021-07-30 | 易思维（杭州）科技有限公司 | Method for displaying visual detection result of curved object to be detected |
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| CN110646431A (en) * | 2019-10-30 | 2020-01-03 | 易思维（杭州）科技有限公司 | Automatic teaching method of gluing sensor |
| CN111451095A (en) * | 2020-04-09 | 2020-07-28 | 深圳了然视觉科技有限公司 | Real-time gluing quality detection and automatic glue supplementing technology based on vision |
| CN113192001A (en) * | 2021-03-19 | 2021-07-30 | 易思维（杭州）科技有限公司 | Method for displaying visual detection result of curved object to be detected |
| CN113192001B (en) * | 2021-03-19 | 2022-04-19 | 易思维（杭州）科技有限公司 | Method for displaying visual detection result of curved object to be detected |
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| Publication number | Publication date |
|---|---|
| CN109085168B (en) | 2019-06-25 |
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