CN110194298A - The determination method and device of article quality - Google Patents
The determination method and device of article quality Download PDFInfo
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- CN110194298A CN110194298A CN201910442074.3A CN201910442074A CN110194298A CN 110194298 A CN110194298 A CN 110194298A CN 201910442074 A CN201910442074 A CN 201910442074A CN 110194298 A CN110194298 A CN 110194298A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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- 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
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
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- Textile Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of determination method and devices of article quality.Wherein, this method comprises: determining that article to be checked reaches area to be tested；It is scanned using packing material of the 3D visual scanning equipment to article to be checked, obtains the location information of hole location on packing material；Control detection device is based on location information and detects to article to be checked, obtains testing result；The quality of article to be checked is determined based on testing result, wherein quality is one of the following: it is qualified, it is unqualified.The present invention solves the lower technical problem of the mode efficiency in the related technology for being detected to article quality.
Description
Technical field
The present invention relates to technical field of vision detection, in particular to a kind of determination method and device of article quality.
Background technique
With the fast development of industrial automation, vision system detection progress Articles detecting is installed in equipment and is had become
A kind of trend.It can be used to precise positioning, error compensation in production practice by the vision detection system of installation, use extensively
In the technical process such as machining, assembly, inspection, carrying, welding.
However, due to using 2D vision-based detection, mode is X/Y two dimension, and test object compares in traditional Articles detecting
It is single, lead to not meet the frequent switching of product on station, inefficiency of stopping leakage in the roof.For example, when air conditioner has been packaged
After packing material, hole location can be provided on packing material, with when air conditioner passes through assembly line, using 2D vision to packaged sky
It adjusts device to be detected, specifically, 2D vision-based detection is carried out to the hole location on packing material, obtains the two-dimensional coordinate of hole location, with control
Detection device is based on two-dimensional coordinate and detects to packaged air conditioner, however, since detection device is only according to two dimension
Coordinate detects packaged air conditioner by hole location, may result in since the height adjustment of detection device is inaccurate,
And then cause the testing result to air conditioner inaccurate.
For the lower problem of the above-mentioned mode efficiency in the related technology for being detected to article quality, at present not yet
It puts forward effective solutions.
Summary of the invention
The embodiment of the invention provides a kind of determination method and devices of article quality, at least to solve to use in the related technology
In the lower technical problem of the mode efficiency detected to article quality.
According to an aspect of an embodiment of the present invention, a kind of determination method of article quality is provided, comprising: determine to be checked
Article reaches area to be tested；It is scanned, is obtained described using packing material of the 3D visual scanning equipment to the article to be checked
The location information of hole location on packing material；Control detection device is based on the location information and detects to the article to be checked, obtains
To testing result；The quality of the article to be checked is determined based on the testing result, wherein the quality is one of the following: closing
Lattice, it is unqualified.
Optionally, the carrier of the 3D visual scanning equipment and the detection device is robot.
Optionally, after determining that article to be checked reaches area to be tested, the determination method of the article quality further include: control
It makes the robot and is moved to the area to be tested, the packing material is swept with carrying the 3D visual scanning equipment
It retouches, and the detection device is carried based on the location information, the article to be checked is detected.
Optionally, it is scanned using packing material of the 3D visual scanning equipment to the article to be checked, obtains the packaging
The location information of hole location includes: that the image for the packing material for obtaining the article to be checked using the 3D visual scanning equipment is believed on object
Number；Described image signal is handled, the location information of the hole location is obtained.
Optionally, control detection device carries out detection to the article to be checked based on the location information and comprises determining that institute
The first three-dimensional coordinate of detection device is stated, and determines the second three-dimensional coordinate of the hole location based on the location information；Based on institute
It states the first three-dimensional coordinate and second three-dimensional coordinate is adjusted the current location of the detection device, to utilize the inspection
Measurement equipment detects the article to be checked.
Optionally, based on first three-dimensional coordinate and second three-dimensional coordinate to the current location of the detection device
Be adjusted, with using the detection device to the article to be checked carry out detection comprise determining that first three-dimensional coordinate and
Second three-dimensional coordinate difference in X-axis, Y-axis and Z-direction respectively；Based on the difference to the detection device
Current location is adjusted.
Optionally, being adjusted based on current location of the difference to the detection device includes: based on the difference
Generate control signal；The position that the detection device is moved to the hole location control in the horizontal direction is controlled according to the control signal
It sets, and the surface location that the detection device is moved to the hole location along the vertical direction is controlled based on the control signal.
Optionally, detection is carried out to the article to be checked and comprises determining that the detection device is moved to institute along the vertical direction
State the surface location of hole location；It controls detection device continuation and moves preset distance along the vertical direction into the packing material, with
The article to be checked is detected.
Optionally, the article to be checked is detected, obtaining testing result includes: to be sensed based on the detection device
The article to be checked packing material in gaseous state generate the testing result.
Another aspect according to an embodiment of the present invention, additionally provides a kind of determining device of article quality, comprising: the
One determination unit, for determining that article to be checked reaches area to be tested；Scanning element, for utilizing 3D visual scanning equipment to institute
The packing material for stating article to be checked is scanned, and obtains the location information of hole location on the packing material；Detection unit, for controlling inspection
Measurement equipment is based on the location information and detects to the article to be checked, obtains testing result；Second determination unit is used for base
The quality of the article to be checked is determined in the testing result, wherein the quality is one of the following: it is qualified, it is unqualified.
Optionally, the carrier of the 3D visual scanning equipment and the detection device is robot.
Optionally, the determining device of the article quality further include: control unit, for determining that it is to be checked that article to be checked reaches
It surveys after region, controls the robot and be moved to the area to be tested, to carry the 3D visual scanning equipment to described
Packing material is scanned, and is carried the detection device based on the location information and detected to the article to be checked.
Optionally, the scanning element includes: acquisition module, for using the 3D visual scanning equipment obtain it is described to
Examine the picture signal of the packing material of article；Processing module obtains the position of the hole location for handling described image signal
Confidence breath.
Optionally, the detection unit includes: the first determining module, and first for determining the detection device is three-dimensional to sit
It marks, and determines the second three-dimensional coordinate of the hole location based on the location information；First detection module, for being based on described first
Three-dimensional coordinate and second three-dimensional coordinate are adjusted the current location of the detection device, to utilize the detection device
The article to be checked is detected.
Optionally, the detection module comprises determining that submodule, for determining first three-dimensional coordinate and described second
The three-dimensional coordinate difference in X-axis, Y-axis and Z-direction respectively；Adjusting submodule, for being based on the difference to the inspection
The current location of measurement equipment is adjusted.
Optionally, the adjusting submodule includes: generation submodule, for generating control signal based on the difference；Control
System module, for controlling the position that the detection device is moved to the hole location control in the horizontal direction according to the control signal
It sets, and the surface location that the detection device is moved to the hole location along the vertical direction is controlled based on the control signal.
Optionally, the detection unit includes: the second determining module, for determining that the detection device moves along the vertical direction
Move the surface location of the hole location；Second detection module continues movement along the vertical direction in advance for controlling the detection device
Set a distance enters the packing material, to detect to the article to be checked.
Optionally, the detection unit includes: generation unit, described to be checked for being sensed based on the detection device
Gaseous state in the packing material of article generates the testing result.
Another aspect according to an embodiment of the present invention, additionally provides a kind of determination system of air conditioner quality, described
The determination system of air conditioner quality uses the determination method of described in any item article qualities among the above.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, the storage medium includes
The program of storage, wherein described program executes the determination method of described in any item article qualities among the above.
Another aspect according to an embodiment of the present invention, additionally provides a kind of processor, the processor is for running
Program, wherein the determination method of described in any item article qualities among the above is executed when described program is run.
In embodiments of the present invention, area to be tested is reached using determination article to be checked；Utilize 3D visual scanning equipment pair
The packing material of article to be checked is scanned, and obtains the location information of hole location on packing material；It controls detection device and is based on location information
Article to be checked is detected, testing result is obtained；Determine the mode of the quality of article to be checked to object to be checked based on testing result
The quality of product is detected, and the determination method of the article quality provided through the embodiment of the present invention can use 3D visual scanning and set
The standby packing material for treating detection article is scanned, so that detection device, which can enter precisely into, treats detectable substance in packing material
The quality of product is detected, and is realized and is treated the purpose that the quality of detection article is accurately detected, and raising detection essence has been reached
The technical effect of degree, and then the lower technology of mode efficiency solved in the related technology for being detected to article quality is asked
Topic.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the determination method of article quality according to an embodiment of the present invention；
Fig. 2 is the flow chart of the determination method of optional article quality according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of the determining device of article quality according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
Embodiment 1
According to embodiments of the present invention, the embodiment of the method for a kind of determination method of article quality is provided, needs to illustrate
It is that step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions,
Also, although logical order is shown in flow charts, and it in some cases, can be to be different from sequence execution herein
Shown or described step.
Fig. 1 is the flow chart of the determination method of article quality according to an embodiment of the present invention, as shown in Figure 1, the article matter
Method for determination of amount includes the following steps:
Step S102 determines that article to be checked reaches area to be tested.
Wherein, the type for treating detection article in embodiments of the present invention is not specifically limited, and can include but is not limited to
It is several below: air conditioner, washing machine, refrigerator.
Step S104 is scanned using packing material of the 3D visual scanning equipment to article to be checked, obtains hole on packing material
The location information of position.
In an alternative embodiment, the carrier of 3D visual scanning equipment and detection device is robot.That is, machine
Device people is moved to article region to be checked equipped with 3D visual scanning equipment and detection device, and 3D visual scanning is driven to set
The standby packing material to article to be checked carries out whole scan, with obtain detection device on packing material can by hole location determined
Position；Alternatively, it is also possible to drive detection device to be deep into packing material by hole location after the specific location that above-mentioned hole location has been determined,
To be detected to article to be checked.
Step S106, control detection device are based on location information and detect to article to be checked, obtain testing result.
Step S108 determines the quality of article to be checked based on testing result, wherein quality is one of the following: it is qualified, do not conform to
Lattice.
Through the above steps, it can determine that article to be checked reaches area to be tested；Using 3D visual scanning equipment to be checked
The packing material of article is scanned, and obtains the location information of hole location on packing material；Control detection device is treated based on location information
Inspection article is detected, and testing result is obtained；The quality of article to be checked is determined based on testing result, wherein quality be it is following it
One: it is qualified, it is unqualified.Relative in the related technology, when carrying out quality testing to packaged article, it is based only on 2D vision
It is detected, it is relatively simple to be easy to appear detectable substance kind class；In addition, due to being only to carry out two-dimensional detection, it can not be to detection
Equipment and article to be detected carry out the judgement of distance on vertical direction, and then the quality that can not treat detection article carries out accurately
It calculates, detection efficiency is lower.The determination method of the article quality provided through the embodiment of the present invention can use 3D visual scanning
The packing material that equipment treats detection article is scanned, so that detection device can enter precisely into packing material to be detected
The quality of article is detected, and is realized and is treated the purpose that the quality of detection article is accurately detected, has reached raising detection
The technical effect of precision, and then solve the lower technology of mode efficiency for being detected to article quality in the related technology
Problem.
In an alternative embodiment, after determining that article to be checked reaches area to be tested, the article quality is really
The method of determining can also include: that control robot is moved to area to be tested, be carried out with carrying 3D visual scanning equipment to packing material
Scanning, and detection device is carried based on location information, article to be checked is detected.
In step S104, it is scanned using packing material of the 3D visual scanning equipment to article to be checked, obtains packing material
The location information of upper hole location may include: the picture signal that the packing material of article to be checked is obtained using 3D visual scanning equipment；It is right
Picture signal is handled, and the location information of hole location is obtained.In embodiments of the present invention, due to using 3D visual scanning equipment pair
The packing material of article to be detected is detected, and so as to be accurately positioned to the hole location on packing material, facilitates subsequent inspection
Being deep into packing material for measurement equipment detects article to be checked.
In addition, in step s 106, control detection device carries out detection to article to be checked based on location information and may include:
It determines the first three-dimensional coordinate of detection device, and determines the second three-dimensional coordinate of hole location based on location information；Based on the first three-dimensional
Coordinate and the second three-dimensional coordinate are adjusted the current location of detection device, to be examined using detection device to article to be checked
It surveys.
Specifically, in the above-described embodiments, based on the first three-dimensional coordinate and the second three-dimensional coordinate to the current of detection device
Position is adjusted, and may include: to determine the first three-dimensional coordinate and second to carry out detection to article to be checked using detection device
The three-dimensional coordinate difference in X-axis, Y-axis and Z-direction respectively；It is adjusted based on current location of the difference to detection device
It is whole.
Wherein, be adjusted based on current location of the difference to detection device may include: to generate control letter based on difference
Number；It is moved to the position of hole location control in the horizontal direction according to control signal control detection device, and based on control signal control
Detection device is moved to the surface location of hole location along the vertical direction.
In an alternative embodiment, carrying out detection to article to be checked may include: determining detection device along vertical side
To the surface location for being moved to hole location；Control detection device continuation moves preset distance along the vertical direction and enters packing material, with right
Article to be checked is detected.Above-mentioned preset distance can be based on what pre-defined algorithm obtained, due to the movement to detection device into
It has gone and has more accurately calculated, article to be checked has been carried out so that detection device is moved to the rational position in packing material
Detection, so that the testing result detected to the quality of article to be checked is more accurate.
Specifically, article to be checked is detected, obtaining testing result includes: the object to be checked sensed based on detection device
Gaseous state in the packing material of product generates testing result.For example, the amount when gas in the packing material of article to be detected is higher than in advance
Definite value or gas concentration are higher than predetermined value, can determine that article to be checked goes wrong, belong to disqualified goods；Conversely, then may be used
Using determination article to be checked as conforming articls.
One preferred embodiment of the present invention is described in detail with reference to the accompanying drawing.
Fig. 2 is the flow chart of the determination method of optional article quality according to an embodiment of the present invention, as shown in Fig. 2, machine
Device people wait article to be checked in place (wherein, robot is transportable, or when article to be checked in place after, notify machine
Device people is moved to area to be tested), control robot is adjusted the position of 3D visual scanning equipment；Robot starts 3D view
Feel scanning device；It is scanned using 3D visual scanning equipment and determines the hole location position on packing material；3D visual scanning equipment returns
To the predetermined position of robot；Robot is moved to hole location position；Start detection device by hole location position to article to be checked into
Row detection；Judge whether article to be checked is disqualified goods；When judging result, which is, is, disqualified goods are handled
(for example, disqualified goods are moved to disqualified goods placement region), and continue waiting for next article to be checked；Conversely, determining
Article to be checked is conforming articls, and robot allows it to pass through；Judge whether the article to be checked is the last one article to be detected；?
In the case where being, terminate program；Conversely, waiting next article to be checked, while robot is moved to where 3D visual scanning equipment
Location information.
The determination method of the article quality provided through the embodiment of the present invention can use to be flowed through on cylinder positioning assembly line
The article to be checked come, completes the positioning of article to be checked；Then robot folder for carrying is moved to the visual scanner field 3D and starts
3D visual scanning equipment is scanned the packing material of article to be checked, finds hole location position (wherein, hole location position on packing material
Setting is three-dimensional coordinate position), and obtained hole location position is sent to robot；Robot detects object to be checked by detection device
Product obtain testing result；When determining that article to be checked is conforming articls based on testing result, robot direction is waited next
Article to be checked；Conversely, issuing alarm signal, disqualified goods are handled by other equipment or personnel, realizes and treats
The purpose that inspection article is accurately detected.
In addition, the determination method of the article quality provided in embodiments of the present invention passes through 3D visual scanning equipment and machine
People provides hole location on article packing material to be checked and also improves detection efficiency in X, Y, the elaborate position of Z-direction using combining.
Embodiment 2
Another aspect according to an embodiment of the present invention, additionally provides a kind of for executing the determination method of article quality
Installation practice, Fig. 3 is the schematic diagram of the determining device of article quality according to an embodiment of the present invention, as shown in figure 3, the object
The determining device of quality includes: the first determination unit 31, scanning element 33, detection unit 35 and the second determination unit 37.
The determining device of the article quality is described in detail below.
Wherein, the first determination unit 31, for determining that article to be checked reaches area to be tested.
Scanning element 33 is packed for being scanned using packing material of the 3D visual scanning equipment to article to be checked
The location information of hole location on object.
Detection unit 35 detects article to be checked based on location information for controlling detection device, obtains detection knot
Fruit.
Second determination unit 37, for determining the quality of article to be checked based on testing result, wherein quality be it is following it
One: it is qualified, it is unqualified.
Herein it should be noted that above-mentioned first determination unit 31, scanning element 33, detection unit 35 and the second determination
Unit 37 corresponds to the step S102 to S108 in embodiment 1, the example and application that above-mentioned module is realized with corresponding step
Scene is identical, but is not limited to the above embodiments 1 disclosure of that.It should be noted that one as device of above-mentioned module
Divide to execute in a computer system such as a set of computer executable instructions.
From the foregoing, it will be observed that in the above embodiments of the present application, can use the first determination unit determine article to be checked reach to
Detection zone；And be scanned based on scanning element using packing material of the 3D visual scanning equipment to article to be checked, it is packed
The location information of hole location on object；It recycles detection unit control detection device to be based on location information to detect article to be checked,
Obtain testing result；And the quality of article to be checked is determined based on testing result using the second determination unit, wherein quality be with
It is one of lower: it is qualified, it is unqualified.Relative in the related technology, when carrying out quality testing to packaged article, it is based only on 2D
Vision is detected, and it is relatively simple to be easy to appear detectable substance kind class；In addition, due to being only to carry out two-dimensional detection, it can not be right
Detection device and article to be detected carry out the judgement of distance on vertical direction, and then the quality that can not treat detection article carries out essence
True calculating, detection efficiency are lower.The determining device of the article quality provided through the embodiment of the present invention can use 3D vision
The packing material that scanning device treats detection article is scanned, and is treated so that detection device can enter precisely into packing material
The quality of detection article is detected, and is realized and is treated the purpose that the quality of detection article is accurately detected, has reached raising
The technical effect of detection accuracy, and then the mode efficiency solved in the related technology for being detected to article quality is lower
Technical problem.
As a kind of optional embodiment, the carrier of 3D visual scanning equipment and detection device is robot.
As a kind of optional embodiment, the determining device of the article quality can also include: control unit, for true
After fixed article to be checked reaches area to be tested, control robot is moved to area to be tested, to carry 3D visual scanning equipment
Packing material is scanned, and detection device is carried based on location information, article to be checked is detected.
As a kind of optional embodiment, scanning element includes: acquisition module, for being obtained using 3D visual scanning equipment
The picture signal of the packing material of article to be checked；Processing module obtains the position letter of hole location for handling picture signal
Breath.
As a kind of optional embodiment, detection unit includes: the first determining module, for determining the first of detection device
Three-dimensional coordinate, and determine based on location information the second three-dimensional coordinate of hole location；First detection module, for based on the first three-dimensional seat
Mark and the second three-dimensional coordinate are adjusted the current location of detection device, to be examined using detection device to article to be checked
It surveys.
As a kind of optional embodiment, detection module comprises determining that submodule, for determining the first three-dimensional coordinate and
The two three-dimensional coordinates difference in X-axis, Y-axis and Z-direction respectively；Adjusting submodule, for being based on difference to detection device
Current location be adjusted.
As a kind of optional embodiment, adjusting submodule includes: generation submodule, for generating control letter based on difference
Number；Control submodule, for being moved to the position of hole location control, and base in the horizontal direction according to control signal control detection device
It is moved to the surface location of hole location along the vertical direction in control signal control detection device.
As a kind of optional embodiment, detection unit includes: the second determining module, for determining detection device along vertical
Direction is moved to the surface location of hole location；Second detection module continues mobile along the vertical direction make a reservation for for controlling detection device
Distance enters packing material, to detect to article to be checked.
As a kind of optional embodiment, detection unit includes: generation unit, for based on detection device sense to
The gaseous state examined in the packing material of article generates testing result.
Embodiment 3
Another aspect according to an embodiment of the present invention, additionally provides a kind of determination system of air conditioner quality, air-conditioning
The determination system of device quality uses the determination method of any one of above-mentioned article quality.The sky provided through the embodiment of the present invention
It adjusts the determination system of device quality to can use 3D visual scanning equipment to be scanned the packing material of air conditioner to be detected, to obtain
On packing material detection device can by hole location more specific location information, due to the location information be 3D location information, detection
Equipment can be mobile according to 3D location information after receiving location information, so that detection device can accurately go deep into sky
It adjusts the packing material of device to detect air conditioner, realizes and treat the purpose that the quality of detection article is accurately detected, reach
The technical effect of detection accuracy is improved, and then solves the mode efficiency for being detected to article quality in the related technology
Lower technical problem.
Embodiment 4
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, and storage medium includes storage
Program, wherein program executes the determination method of any one of above-mentioned article quality.
Embodiment 5
Another aspect according to an embodiment of the present invention additionally provides a kind of processor, and processor is used to run program,
Wherein, the determination method of any one of above-mentioned article quality is executed when program is run.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (13)
1. a kind of determination method of article quality characterized by comprising
Determine that article to be checked reaches area to be tested；
It is scanned using packing material of the 3D visual scanning equipment to the article to be checked, obtains the position of hole location on the packing material
Confidence breath；
Control detection device is based on the location information and detects to the article to be checked, obtains testing result；
The quality of the article to be checked is determined based on the testing result, wherein the quality is one of the following: it is qualified, do not conform to
Lattice.
2. the method according to claim 1, wherein the 3D visual scanning equipment and the detection device
Carrier is robot.
3. according to the method described in claim 2, it is characterized in that, being gone back after determining that article to be checked reaches area to be tested
It include: that the control robot is moved to the area to be tested, to carry the 3D visual scanning equipment to the packing material
It is scanned, and the detection device is carried based on the location information, the article to be checked is detected.
4. the method according to claim 1, wherein using 3D visual scanning equipment to the packet of the article to be checked
Dress object is scanned, and the location information for obtaining hole location on the packing material includes:
The picture signal of the packing material of the article to be checked is obtained using the 3D visual scanning equipment；
Described image signal is handled, the location information of the hole location is obtained.
5. the method according to claim 1, wherein control detection device be based on the location information to it is described to
Inspection article carries out detection
It determines the first three-dimensional coordinate of the detection device, and determines the second three-dimensional seat of the hole location based on the location information
Mark；
The current location of the detection device is adjusted based on first three-dimensional coordinate and second three-dimensional coordinate, with
The article to be checked is detected using the detection device.
6. according to the method described in claim 5, it is characterized in that, based on first three-dimensional coordinate and the second three-dimensional seat
Mark is adjusted the current location of the detection device, to carry out detection packet to the article to be checked using the detection device
It includes:
Determine first three-dimensional coordinate and second three-dimensional coordinate difference in X-axis, Y-axis and Z-direction respectively；
It is adjusted based on current location of the difference to the detection device.
7. according to the method described in claim 6, it is characterized in that, based on the difference to the current location of the detection device
It is adjusted and includes:
Control signal is generated based on the difference；
The position that the detection device is moved to the hole location control in the horizontal direction is controlled according to the control signal, and is based on
The control signal controls the surface location that the detection device is moved to the hole location along the vertical direction.
8. the method according to the description of claim 7 is characterized in that the article to be checked carry out detection include:
Determine that the detection device is moved to the surface location of the hole location along the vertical direction；
It controls the detection device continuation and moves preset distance along the vertical direction into the packing material, to the article to be checked
It is detected.
9. method according to any one of claim 1 to 8, which is characterized in that detect, obtain to the article to be checked
It include: the gaseous state generation institute in the packing material of the article to be checked sensed based on the detection device to testing result
State testing result.
10. a kind of determining device of article quality characterized by comprising
First determination unit, for determining that article to be checked reaches area to be tested；
Scanning element obtains the packet for being scanned using packing material of the 3D visual scanning equipment to the article to be checked
Fill the location information of hole location on object；
Detection unit detects the article to be checked based on the location information for controlling detection device, is detected
As a result；
Second determination unit, for determining the quality of the article to be checked based on the testing result, wherein the quality be with
It is one of lower: it is qualified, it is unqualified.
11. a kind of determination system of air conditioner quality, which is characterized in that the determination system of the air conditioner quality uses above-mentioned power
Benefit require any one of 1 to 9 described in article quality determination method.
12. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution
Benefit require any one of 1 to 9 described in article quality determination method.
13. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 9 described in article quality determination method.
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