CN110561381B - Intelligent verification robot and verification method - Google Patents
Intelligent verification robot and verification method Download PDFInfo
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- CN110561381B CN110561381B CN201910810171.3A CN201910810171A CN110561381B CN 110561381 B CN110561381 B CN 110561381B CN 201910810171 A CN201910810171 A CN 201910810171A CN 110561381 B CN110561381 B CN 110561381B
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- 238000012795 verification Methods 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 22
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- 238000010200 validation analysis Methods 0.000 claims description 19
- 238000007689 inspection Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000012797 qualification Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 2
- 230000001960 triggered effect Effects 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000010330 laser marking Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention relates to an intelligent verification robot and a verification method. The two-dimensional code and the character string which are printed by the existing marking machine still depend on manual work, so that the efficiency is low, and the accuracy is difficult to guarantee. The invention comprises the following components: a set of verification robot (1), a set of verification robot pass through serial ports communication and be connected with photoelectric sensor (2) of given position department, given position department be the appointed area of marking machine, photoelectric sensor be used for detecting whether have the article that marking machine has beaten to place in given position, verification robot pass through bluetooth module (3) and link to each other with PC end (4). The invention is used for the intelligent verification robot.
Description
The technical field is as follows:
the invention relates to the field of Internet of things, in particular to an intelligent verification robot for verifying two-dimensional codes and character strings and a verification mode.
The background art comprises the following steps:
with the continuous development of economy in China, internet shopping payment is completely integrated into our lives, people can walk all the day after going out frequently only by taking a mobile phone, a two-dimensional code is required on the premise of network payment, the two-dimensional code is visible everywhere in our lives, and the two-dimensional code is not only used for shopping payment but also used for recording various information of products, can play a good role in anti-counterfeiting and tracing, controls the flow direction of the products, and avoids the situations of goods fleeing and the like.
Because the traditional modes of ink jet, silk screen printing and the like can not meet the market requirements, the market requirements of the laser two-dimensional code marking machine are accumulated day by day, the appearance of the laser two-dimensional code marking machine brings better experience and convenience to our life, the laser marking machine adopts non-contact processing, the product is not subjected to dynamic pressure deformation or other damages, no consumable material is used fundamentally, a mold is not required, computer software control is simple, convenient and easy to operate, the laser marking machine is pollution-free and noise-free environment-friendly equipment, the marked image and text are exquisite, attractive and perpetual, a small two-dimensional code can bear a large amount of information and is the root of product tracing, each product has a different two-dimensional code just like an identity card of people, and each person only needs one two-dimensional code, so that the problems of falsifying, goods fleeing, inventory and the like can be effectively avoided, the laser marking machine can complete assembly line consumption, the marking speed is high in efficiency, and is a non-two-to-choice of the conventional manufacturing industry;
at present, in industrial production, a marking machine is often used for marking two-dimensional codes and a segment of character string information on the surfaces of some products to serve as identity information of the products, and a user can scan the two-dimensional codes and the character strings by using a number gun to further verify the identity of the products; however, the two-dimensional code has a complex structure composition, and errors are likely to occur due to the influence of external conditions such as surface properties of a marked product, thermal stability, change of the working state of a marking machine and other factors in the marking process, so that scanning of the two-dimensional code is invalid, and subsequent processing, verification and production work are influenced;
in the market, after the marking of the marking machine, the marking result is not verified at all but directly put into subsequent production, or the verification work of the information depends on manual work, so that the efficiency is low, and the verification quality is difficult to guarantee.
The invention content is as follows:
the invention aims to provide an intelligent verification robot and a verification method for verifying two-dimensional codes and character strings. The structure and the method improve the automation degree of the validation work, promote the development of the Internet of things, make up for the market shortage and save the labor cost.
The above purpose is realized by the following technical scheme:
an intelligent validation robot, comprising: a set of verification robot, a set of verification robot pass through serial communication and be connected with the photoelectric sensor of giving position department, giving position department for marking machine's appointed area, photoelectric sensor be used for detecting whether have the article that marking machine has marked to place in giving position, verification robot pass through bluetooth module and link to each other with the PC end.
The intelligent inspection robot, the inspection robot including bearing chassis, singlechip, middle part support arm, the permanent magnet is installed respectively at chassis top both ends that bear, bear chassis below front end install 2 transmission wheels, 2 transmission wheels pass through the coupling joint, the shaft coupling be connected with the motor, 4 driven wheels parallel mount respectively be in bear the both sides on chassis, bear the chassis on the plane have about two article place the district, middle part support arm front end install the arm, the inspection robot top install high definition digtal camera.
The intelligent verification robot, the motion mode of intelligent verification robot realize through the tracking, when the photoelectric sensor of given position department triggers, the verification robot begin the tracking, the verification robot will obtain the atress condition of laying two permanent magnets department on it at the in-process of tracking, move to preset position promptly when two atresss reach the peak value simultaneously, preset position be near given position department to have two permanent magnets the same with permanent magnet on the dolly, and the relative position of these two permanent magnets should be the same completely with the relative position of permanent magnet on the dolly, and can with the relation of the permanent magnet emergence power on the dolly.
The intelligent verification robot, the PC end install network control system, network control system is as auxiliary system for realize the work of verifying, the verification robot as actuating mechanism, accomplish given position department article take a picture, upload the photo and give network control system given position department article's classification work.
The intelligent verification robot, network control system through the two-dimensional code that the user uploaded and the two-dimensional code and the character string information that obtain and character string information comparison realize verification work, to the two-dimensional code that the user uploaded and character string picture gray scale processing and binaryzation, right the two-dimensional code that the verification robot uploaded and character string picture gray scale processing and binaryzation, the part that the interception user uploaded the picture threshold value and is 255, all the other parts are the hole, the part that the interception verification robot uploaded the picture threshold value and is 0, all the other parts are the hole, make two parts coincide completely, the clearance of picture after the calculation coincidence accounts for the proportion of whole with the overlap.
An intelligent verification robot and a verification method, the method comprises the following steps:
(1) A user enters a webpage through a PC to log in a network control system and sends two-dimensional code and character string picture information to be verified;
(2) When detecting that an article appears at the designated position, the checking robot goes to the predetermined position according to a predetermined program, and takes a picture of the two-dimensional code and the character string area on the article;
(3) The validation robot sends the picture to the network control system;
(4) The network control system compares whether the two-dimensional code and the character string information on the photo are consistent with the two-dimensional code and the character string picture information input by the user or not, and sends the comparison result to the verification robot;
(5) The checking robot puts the articles into different article placing areas according to the comparison result;
(6) The validation robot returns to the initial position to wait for the next trigger;
the inspection robot can record the real-time state of the inspected article and send a feedback state recording result to a network control system, and the state recording comprises the qualification judgment of the article and the description of the specific position of each unqualified product.
Has the advantages that:
1. according to the method, the user only needs to upload the two-dimensional code and the character string series required to be verified on the PC side, the robot can automatically complete verification work in cooperation with the Internet of things, and the automation degree is improved.
The invention uses website control, and the user does not need to download the APP client, thereby greatly saving the maintenance cost.
The invention meets the requirement of the verification and is provided with the mechanical arm, and classification processing and information recording can be carried out according to the verification result.
The image can be automatically zoomed and adjusted by the computer according to the use requirement in the verification mode adopted by the invention, thereby solving the problems of low efficiency and even incapability of identification caused by over dense two-dimensional codes in the traditional identification technology.
Description of the drawings:
FIG. 1 is a system diagram of the present invention.
Fig. 2 is a mechanical structure schematic diagram of the invention.
Fig. 3 is a top view of fig. 2.
Fig. 4 is a left side view of fig. 2.
Fig. 5 is a perspective view of the mechanical structure of the present invention.
FIG. 6 is a schematic diagram of the placement of the permanent magnets according to the present invention.
Fig. 7 is a diagram showing the configuration of a network control system according to the present invention.
FIG. 8 is a flowchart of the validation job of the present invention.
Fig. 9 is a system flow diagram of the present invention.
The specific implementation mode is as follows:
example 1:
an intelligent validation robot, comprising: a set of verification robot 1, a set of verification robot pass through serial communication and be connected with photoelectric sensor 2 of giving position department, given position department for the appointed area of marking machine, photoelectric sensor be used for detecting whether have the article that marking machine has marked to place in the given position, verification robot pass through bluetooth module 3 and link to each other with PC end 4.
Example 2:
according to embodiment 1 intelligent verification robot, verification robot including bearing chassis 5, singlechip, middle part support arm, bear chassis top both ends and install permanent magnet 6 respectively, bear chassis below front end install 2 transmission wheel 10,2 the transmission wheel pass through the coupling joint, the shaft coupling be connected with motor 11, 4 driven wheel 12 parallel mount respectively in bear the both sides on chassis, bear the chassis on the plane have about two article place district 9, middle part support arm front end install arm 7, verification robot top install high definition digtal camera 8.
Example 3:
the intelligent verification robot of embodiment 2, the motion mode of intelligent verification robot realize through the tracking, when the photoelectric sensor of given position department triggers, verification robot begin the tracking, verification robot in the in-process of tracking will obtain the atress condition of laying in its two permanent magnets department, when two atresss reach the peak value simultaneously promptly to the predetermined position, the predetermined position be near given position department to have two permanent magnets the same with permanent magnet on the dolly, and the relative position of these two permanent magnets should be identical with the relative position of permanent magnet on the dolly, and can with the permanent magnet emergence relation of power on the dolly.
Example 4:
according to embodiment 3 of the intelligent verification robot, the PC end is provided with a network control system, the network control system is used as an auxiliary system to realize verification work, and the verification robot is used as an execution mechanism to complete the photographing of the articles at the given positions, the uploading of photos to the network control system and the classification work of the articles at the given positions.
Example 5:
according to embodiment 4 intelligent verification robot, network control system through user upload two-dimensional code and character string information with obtain two-dimensional code and character string information comparison realization verification work, to user upload two-dimensional code and character string picture gray scale processing and binaryzation, right the verification robot upload two-dimensional code and character string picture gray scale processing and binaryzation, intercept the user upload picture threshold value be 255 part, the rest is the hole, intercept the part that the verification robot uploaded the picture threshold value be 0, the rest is the hole, make two parts coincide completely, calculate the clearance of picture after the coincidence and overlap the proportion that the part accounts for the whole.
Example 6:
an intelligent validation robot and a validation method using the same as described in embodiments 1-5, the method comprising the steps of:
(1) A user enters a webpage through a PC to log in a network control system and sends two-dimensional code and character string picture information to be verified;
(2) When detecting that an article appears at the designated position, the checking robot goes to the predetermined position according to a predetermined program, and takes a picture of the two-dimensional code and the character string area on the article;
(3) The validation robot sends the picture to the network control system;
(4) The network control system compares whether the two-dimensional code and the character string information on the photo are consistent with the two-dimensional code and the character string picture information input by the user or not, and sends the comparison result to the verification robot;
(5) The checking robot puts the articles into different article placing areas according to the comparison result;
(6) The validation robot returns to the initial position to wait for the next trigger;
the inspection robot can record the real-time state of the inspected article and send a feedback state recording result to a network control system, and the state recording comprises the qualification judgment of the article and the description of the specific position of each unqualified product.
A verify intelligent robot and the mode of verifying of two-dimensional code and character string, including intelligent robot and network control system of verifying, network control system is as auxiliary system for realize verifying work, intelligent robot of verifying accomplish as actuating mechanism the given position department article take a picture, upload the photo and give network control system, and the classification work of given position department article.
The intelligent inspection robot system comprises a bearing chassis, a mechanical arm, a high-definition camera and two permanent magnets, wherein two transmission wheels and four driven wheels are arranged below the bearing chassis; the mechanical arm is used for picking and placing articles, the high-definition camera is used for positioning the positions of the articles in a certain area, the two-dimensional code character strings on the articles are shot in the area, the specific position coordinates of the articles are generated in an auxiliary mode, the geometric center of the direct contact position of the mechanical arm and the bearing chassis is used, the direction perpendicular to the chassis is upwards a Z axis, the advancing direction of the intelligent verification robot is an X axis, the positive direction of the plane formed by the X axis and the Z axis is a Y axis, the specific positions of the articles are determined according to the difference of reflected light during shooting, the position information is sent to the single chip microcomputer, the single chip microcomputer generates coordinate values according to the position information and guides the mechanical arm to move according to the coordinate values, the single chip microcomputer comprises a program used for controlling a lower computer, the upper computer information is processed, the object state records are recorded and fed back, and a power module, a sensor module, a wireless communication module and the like are further installed on the intelligent verification robot: the power module of the robot is used for supplying power to the robot; the sensor module is used for sensing the stress of the two permanent magnets, the wireless communication module adopts Bluetooth communication and is used for sending two-dimensional codes and character string pictures shot by the high-definition camera, receiving an analysis result from the network control system and sending article state information to the PC terminal.
The path planning of intelligence inspection robot pass through sensor trigger, when installing the photoelectric sensor on marking machine specified area and detect that it has marked the article and appear promptly, intelligence inspection robot receives the instruction, begin to remove along the tracking line, sensor on the in-process intelligence inspection robot that removes will experience the stress state of two permanent magnets on the intelligence inspection robot, begin to record the atress size when first permanent magnet atress suddenly risees, along with the motion of intelligence inspection robot, the maximum value will appear in the atress of first permanent magnet, record this value this moment, along with its continuation forward motion, the atress of two magnets will rise simultaneously, when the maximum value that the size of two magnet atress all differed with the first magnet of record before is less than 2%, the dolly stops, begin to examine categorised work, the trace returns initial position after accomplishing work.
The network control system consists of a client website and a plurality of lower computer robots which communicate through Bluetooth, wherein the robots move through sensors, send picture information to the client website through Bluetooth modules, receive analysis result information from the client website through the Bluetooth modules, and send state recording information to the client website through the Bluetooth modules. The picture information is a picture of a two-dimensional code and a character string region shot by a high-definition camera, the analysis result information is a similarity comparison result of the two-dimensional code and the character string information input by a user and the two-dimensional code and the character string information shot by the high-definition camera, and the state record comprises qualification judgment of the article and description of specific positions for placing unqualified products.
The network control system realizes verification work by comparing two-dimensional code and character string information uploaded by a user with the two-dimensional code and character string information obtained by the user, firstly, the user uploads picture information which is the same as the two-dimensional code and character string information to be printed by a marking machine to the network control system, after an intelligent verification robot uploads the shot picture information to the network control system, a computer cuts the two-dimensional codes on two pictures according to a two-dimensional code position detection graphic area, cuts the character string information at the same position on the two pictures according to the geometric relation of the area occupied by the character string information, automatically scales the cut two-dimensional codes and the two-dimensional codes, the character string and the character string are completely equal in size, simultaneously processes the two-dimensional codes and the character string in gray scale, then determines binarization conditions according to the color relation (figure 1) of the material color and the mark of the marking machine, and binarizes the two-dimensional codes and the character string pictures according to the conditions. Then, intercepting a picture with a threshold value of 255 and holes in a binary picture of a two-dimensional code and a character string from a user, intercepting a picture with a threshold value of 0 and holes in the binary picture of the two-dimensional code and the character string from the intelligent verification robot, finally superposing two intercepted pictures of the two-dimensional codes, calculating the area ratio of the superposed picture in the superposed picture of the two-dimensional codes, determining a two-dimensional code verification standard (figure 2) when the method is applied according to the ratio relation specified by the error correction level of the known two-dimensional codes, and determining a verification result; and overlapping two character string intercepting pictures, and determining a character string validation result according to a concentration degree standard and a maximum allowable standard of a gap and an overlapping part in the overlapped pictures, wherein the concentration degree standard is that in a certain small area in the overlapped pictures, the gap and the overlapping part occupy less than 30% of the total gap and the overlapping part, and the maximum allowable standard is that the gap and the overlapping part occupy no more than 3% of the total area of the overlapped pictures. The results of the experiments are shown in tables 1-3
Table 1:
TABLE 3
The software part of the network control system can be divided into a client website and lower computer programs of the intelligent transfer robot, wherein the lower computer programs comprise a robot motion program, a pickup program, a photographing program and programs of uploading, receiving, analyzing and the like which are added into network control. The client website is provided with a program for uploading the two-dimensional code and the character string picture by another user, a program for comparing and analyzing the received picture information and the picture information uploaded by the user, and a program for displaying the feedback state recording information.
In the process of developing the local area network client website, multiple programming languages are generally required to be matched with each other, and the method adopts mainstream programming languages HTML and PHP.
Claims (2)
1. An intelligent validation robot, comprising: a set of verification robot, characterized by: the group of verification robots are connected with photoelectric sensors at given positions through serial port communication, the given positions are designated areas of the marking machine, the photoelectric sensors are used for detecting whether articles marked by the marking machine are placed at the given positions, and the verification robots are connected with a PC (personal computer) end through Bluetooth modules;
the inspection robot comprises a bearing chassis, a single chip microcomputer and a middle support arm, permanent magnets are respectively installed at two ends above the bearing chassis, 2 transmission wheels are installed at the front end below the bearing chassis, 2 transmission wheels are connected through a coupler, the coupler is connected with a motor, 4 driven wheels are respectively installed on two sides of the bearing chassis in parallel, a left article placing area and a right article placing area are arranged on the upper plane of the bearing chassis, a mechanical arm is installed at the front end of the middle support arm, and a high-definition camera is installed above the inspection robot;
the motion mode of the intelligent verification robot is realized through tracking, when a photoelectric sensor at a given position is triggered, the verification robot starts to track, the verification robot obtains the stress conditions of two permanent magnets placed on the verification robot in the tracking process, when the two stresses reach peak values simultaneously, the verification robot moves to a preset position, the preset position is near the given position and is provided with two permanent magnets which are the same as the permanent magnets on the trolley, and the relative positions of the two permanent magnets are completely the same as the relative positions of the permanent magnets on the trolley and can generate force relation with the permanent magnets on the trolley;
the PC end is provided with a network control system which is used as an auxiliary system for realizing validation work, and the validation robot is used as an executing mechanism for finishing the photographing of the article at the given position, uploading the photograph to the network control system and the classification work of the article at the given position;
the network control system compares the two-dimensional code and the character string information uploaded by the user with the two-dimensional code and the character string information obtained by the two-dimensional code and the character string information to realize verification work, processes and binarizes the two-dimensional code and the character string picture gray level uploaded by the user, processes and binarizes the two-dimensional code and the character string picture gray level uploaded by the verification robot, intercepts the part with the picture threshold value of 255 uploaded by the user, intercepts the part with the picture threshold value of 0 uploaded by the verification robot, and calculates the proportion of the gap and the overlapped part of the overlapped picture in the whole body, determines the two-dimensional code verification standard when the method is applied according to the proportion relation specified by the error correction level of the known two-dimensional code, and determines the verification result; and overlapping two character string intercepting pictures, and determining a character string validation result according to a concentration degree standard and a maximum allowable standard of a gap and an overlapping part in the overlapped pictures, wherein the concentration degree standard is that in a certain small area in the overlapped pictures, the gap and the overlapping part occupy less than 30% of the total gap and the overlapping part, and the maximum allowable standard is that the gap and the overlapping part occupy no more than 3% of the total area of the overlapped pictures.
2. A validation method using the intelligent validation robot of claim 1, characterized in that: the method comprises the following steps:
(1) A user enters a webpage through a PC to log in a network control system and sends two-dimensional code and character string picture information needing to be verified;
(2) When detecting that an article appears at the specified position, the checking robot goes to the preset position according to a preset program and takes a picture of the two-dimensional code and the character string area on the article;
(3) The validation robot sends the picture to the network control system;
(4) The network control system compares whether the two-dimensional code and the character string information on the photo are consistent with the two-dimensional code and the character string picture information input by the user or not, and sends the comparison result to the verification robot;
(5) The checking robot puts the articles into different article placing areas according to the comparison result;
(6) The validation robot returns to the initial position to wait for the next trigger;
the checking robot can record the real-time state of the checked articles and send feedback state record results to a network control system, and the state record comprises the qualification judgment of the articles and the description of the specific placement position of each unqualified product.
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Effective date of registration: 20231229 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 150080 No. 74, Xuefu Road, Nangang District, Heilongjiang, Harbin Patentee before: Heilongjiang University |