CN110695964A - Hub vehicle logo assembling method, system, device and storage medium - Google Patents
Hub vehicle logo assembling method, system, device and storage medium Download PDFInfo
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- CN110695964A CN110695964A CN201910926866.8A CN201910926866A CN110695964A CN 110695964 A CN110695964 A CN 110695964A CN 201910926866 A CN201910926866 A CN 201910926866A CN 110695964 A CN110695964 A CN 110695964A
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Classifications
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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
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- 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
- B25J19/04—Viewing devices
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
Abstract
The invention discloses a method, a system, a device and a storage medium for assembling a hub logo, wherein the method comprises the following steps: when the fact that the materials are in place on the material tray is detected is confirmed, the materials on the material tray are photographed through a vision system, and a first image is obtained; carrying out identification processing on the first image to obtain an identification processing result; controlling the robot to move to a position corresponding to the material according to the identification processing result; and controlling the robot to suck the materials and put the materials on the conveying belt. According to the invention, the materials on the material tray are photographed and subjected to image processing, so that the materials can be automatically assembled by using the robot, not only can the human resources be effectively reduced, but also the working efficiency can be greatly improved. The invention can be widely applied to the assembly field.
Description
Technical Field
The invention relates to the technical field of assembly, in particular to a method, a system and a device for assembling a hub logo and a storage medium.
Background
The hub car logo production is mainly accomplished to processes such as moulding plastics, spraying paint, electroplating, installation spring, and every link all the time all adopts the tray, and manual transfer after the stack, the installation spring process then needs the manual work to take out the material loading from the tray one by one. However, this manual method is inefficient and wastes a lot of labor.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a hub emblem assembly method, a system, a device and a storage medium, which can improve the efficiency.
The technical scheme adopted by the invention is as follows:
a method of assembling a hub emblem, comprising the steps of:
when the fact that the materials are in place on the material tray is detected is confirmed, the materials on the material tray are photographed through a vision system, and a first image is obtained;
carrying out identification processing on the first image to obtain an identification processing result;
controlling the robot to move to a position corresponding to the material according to the identification processing result;
and controlling the robot to suck the materials and put the materials on the conveying belt.
As a further improvement of the hub emblem assembly method, the identifying the first image to obtain an identification result includes:
comparing the first image with a preset second image, and finding out a corresponding image of the first image and the second image;
acquiring a coordinate point pixel value of a corresponding image in a first image;
and converting the pixel value of the coordinate point into a coordinate position value according to preset calibration data to obtain an identification processing result.
As a further improvement of the method for assembling the hub emblem, the step of controlling the robot to suck the material and put the material on the conveying belt specifically comprises:
controlling the robot to switch the corresponding jig according to the material type of the material;
mounting a sucker on the sucker mounting hole corresponding to the jig according to the recognition processing result;
the material is sucked by the sucking disc and is put on the conveying belt.
As a further improvement of the hub logo assembling method, the jig is provided with a plurality of sucker mounting holes.
As a further improvement of said in-wheel emblem assembly method, said vision system comprises:
the camera is used for photographing materials on the material tray;
the annular light source ring is used for providing a polishing effect for the camera;
the annular light source ring is arranged above the jig, the inner wall of the annular light source ring is inclined by 30 degrees, and a plurality of lamp beads are arranged on the inner wall.
The other technical scheme adopted by the invention is as follows:
a hub emblem assembly system, comprising:
the photographing unit is used for photographing the materials on the material tray through a vision system to obtain a first image when the materials are detected to be in place on the material tray;
the identification unit is used for carrying out identification processing on the first image to obtain an identification processing result;
the mobile control unit is used for controlling the robot to move to a position corresponding to the material according to the identification processing result;
and the suction unit is used for controlling the robot to suck the materials and putting the materials on the conveying belt.
As a further improvement of the in-wheel emblem assembly system, the identification processing result includes a coordinate position value, and the identification unit specifically includes:
the searching unit is used for comparing the first image with a preset second image and searching a corresponding image of the first image and the second image;
the pixel value acquisition unit is used for acquiring a coordinate point pixel value of a corresponding image in the first image;
and the conversion unit is used for converting the coordinate point pixel value into a coordinate position value according to preset calibration data to obtain an identification processing result.
As a further improvement of the in-wheel emblem assembly system, the suction unit specifically includes:
the switching unit is used for controlling the robot to switch the corresponding jig according to the material type of the material;
the mounting unit is used for mounting the suckers on the sucker mounting holes corresponding to the jig according to the recognition processing result;
the conveying unit is used for sucking materials through the sucking discs and placing the materials on the conveying belt.
The invention adopts another technical scheme that:
an in-wheel emblem assembly device, comprising:
a memory for storing a program;
and a processor for executing the program, wherein the program enables the processor to execute the hub emblem assembly method.
The invention adopts another technical scheme that:
a computer storage medium comprising a computer program which, when run on a computer, causes the in-wheel emblem assembly method to be performed.
The invention has the beneficial effects that:
according to the hub logo assembling method, system and device and the storage medium, the materials on the material tray are photographed and subjected to image processing, so that the materials can be automatically assembled by using a robot, manpower resources can be effectively reduced, and the working efficiency can be greatly improved.
Drawings
FIG. 1 is a flow chart of the steps of a method of assembling a hubcap of the present invention;
FIG. 2 is a block diagram of a hubcap assembly system of the present invention;
fig. 3 is a schematic structural diagram of a jig according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings:
referring to fig. 1, an embodiment of the present invention provides a method for assembling a hub emblem, including the steps of:
s1, when the fact that the materials are in place on the material tray is determined to be detected, the materials on the material tray are photographed through a vision system to obtain a first image;
the robot in the embodiment adopts a four-axis robot, and the vision system is installed on the robot arm and can move along with the robot to take pictures. In the embodiment, whether the material on the material tray is in place or not can be detected after the material tray is fed, and if the material is not in place, namely the material is not on the material tray, the operation returns to continue to execute the feeding operation; and if the materials are detected to be in place, the vision system is controlled to photograph the materials on the material tray.
S2, carrying out recognition processing on the first image to obtain a recognition processing result;
s3, controlling the robot to move to a position corresponding to the material according to the recognition processing result;
the recognition processing result of this embodiment includes the coordinate position value, and the robot can conveniently carry out subsequent absorption operation according to the top that the coordinate position value removed corresponding material.
And S4, controlling the robot to suck the materials and put the materials on the conveying belt.
In the embodiment, after the materials are placed on the conveying belt, whether the material tray is empty or not can be detected, and if not, the operation of restarting photographing and identifying can be performed; and if so, restarting the feeding treatment.
Further as a preferred embodiment, the recognition processing result described in this embodiment includes a coordinate position value. The step of performing recognition processing on the first image to obtain a recognition processing result specifically includes:
s21, comparing the first image with a preset second image, and finding out a corresponding image of the first image and the second image;
s22, acquiring a coordinate point pixel value of a corresponding image in the first image;
and S23, converting the coordinate point pixel value into a coordinate position value according to preset calibration data to obtain an identification processing result.
The identification processing result can also comprise an angle value, so that the position of the material can be more accurately acquired according to the coordinate position value and the angle value.
With reference to fig. 3, as a further preferred embodiment, the step of controlling the robot to suck the material and place the material on the conveyor belt specifically includes:
s41, controlling the robot to switch corresponding jigs according to the material types of the materials;
s42, mounting a sucker on the sucker mounting hole corresponding to the jig according to the recognition processing result;
and S43, sucking the materials through the suction cups and putting the materials on a conveying belt.
In this embodiment, the jig is provided with a plurality of sucker mounting holes. On snatching the tool, every wheel hub car logo all is equipped with a tool cost very high, and the dismouting is troublesome moreover. Therefore, the jig in a combination mode is designed, the sucker types can be freely combined according to different shapes of car logos, the combinability is dozens of types, the suction of most car logo types can be met, the workload of assembling and disassembling the suckers is small, the switching is convenient, and due to the fact that the sucker mounting holes are preset, after the jig is switched according to the material types of materials, the corresponding robot tool coordinate system can be directly called, the point position does not need to be taught again, and the jig is convenient and fast.
Further as a preferred embodiment, the vision system in this embodiment includes:
the camera is used for photographing materials on the material tray;
the annular light source ring is used for providing a polishing effect for the camera;
the annular light source ring is arranged above the jig, the inner wall of the annular light source ring is inclined by 30 degrees, and a plurality of lamp beads are arranged on the inner wall.
In this embodiment, because the style of wheel hub car LOGO is different, the colour is various, and the material also has a lot of, and some highlights, like silver, bright black, the reflection of light is serious, and the LOGO of most car LOGOs is the same with the bottom colour moreover, and is very high to the mode of polishing. Through a large number of tests, the following light sources are selected in consideration of the polishing effect, the installation mode and the economical efficiency of the light sources: the white annular light of lamp pearl angle 30, annular light source ring are 2 ~ 3 times of wheel hub car logo diameter, and the mounting height is wheel hub car logo upper surface 20 ~ 40mm department to can reach the best shooting effect, effectively avoid the condition of reflection of light.
Referring to fig. 2, the present embodiment provides a hub emblem assembly system, including:
the photographing unit is used for photographing the materials on the material tray through a vision system to obtain a first image when the materials are detected to be in place on the material tray;
the identification unit is used for carrying out identification processing on the first image to obtain an identification processing result;
the mobile control unit is used for controlling the robot to move to a position corresponding to the material according to the identification processing result;
and the suction unit is used for controlling the robot to suck the materials and putting the materials on the conveying belt.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
Further as a preferred embodiment, the recognition processing result includes a coordinate position value, and the recognition unit specifically includes:
the searching unit is used for comparing the first image with a preset second image and searching a corresponding image of the first image and the second image;
the pixel value acquisition unit is used for acquiring a coordinate point pixel value of a corresponding image in the first image;
and the conversion unit is used for converting the coordinate point pixel value into a coordinate position value according to preset calibration data to obtain an identification processing result.
As a preferred embodiment, the suction unit specifically includes:
the switching unit is used for controlling the robot to switch the corresponding jig according to the material type of the material;
the mounting unit is used for mounting the suckers on the sucker mounting holes corresponding to the jig according to the recognition processing result;
the conveying unit is used for sucking materials through the sucking discs and placing the materials on the conveying belt.
The embodiment also provides a hub emblem assembly device, includes:
a memory for storing a program;
and a processor for executing the program, wherein the program enables the processor to execute the hub emblem assembly method.
The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.
The present embodiment also provides a computer storage medium including a computer program that, when run on a computer, causes the in-wheel emblem assembly method described herein to be performed.
The contents in the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present storage medium embodiment are also the same as those achieved by the above method embodiments.
According to the invention, the materials on the material tray are photographed and subjected to image processing, so that the materials can be automatically assembled by using the robot, the human resources can be effectively reduced, and the working efficiency can be greatly improved.
It should be recognized that embodiments of the present invention can be realized and implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
Further, the operations of processes described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The processes described herein (or variations and/or combinations thereof) may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or combinations thereof. The computer program includes a plurality of instructions executable by one or more processors.
Further, the method may be implemented in any type of computing platform operatively connected to a suitable interface, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. Aspects of the invention may be embodied in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optically read and/or write storage medium, RAM, ROM, or the like, such that it may be read by a programmable computer, which when read by the storage medium or device, is operative to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
A computer program can be applied to input data to perform the functions described herein to transform the input data to generate output data that is stored to non-volatile memory. The output information may also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including particular visual depictions of physical and tangible objects produced on a display.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method of assembling a hub emblem, comprising the steps of:
when the fact that the materials are in place on the material tray is detected is confirmed, the materials on the material tray are photographed through a vision system, and a first image is obtained;
carrying out identification processing on the first image to obtain an identification processing result;
controlling the robot to move to a position corresponding to the material according to the identification processing result;
and controlling the robot to suck the materials and put the materials on the conveying belt.
2. A method of assembling a emblem for a wheel according to claim 1, wherein: the step of performing recognition processing on the first image to obtain a recognition processing result specifically includes:
comparing the first image with a preset second image, and finding out a corresponding image of the first image and the second image;
acquiring a coordinate point pixel value of a corresponding image in a first image;
and converting the pixel value of the coordinate point into a coordinate position value according to preset calibration data to obtain an identification processing result.
3. A method of assembling a emblem for a wheel according to claim 1, wherein: the control robot absorbs the material and puts the material on the conveyer belt, and the step specifically includes:
controlling the robot to switch the corresponding jig according to the material type of the material;
installing a sucker on the corresponding sucker installation hole on the jig according to the identification processing result;
the material is sucked by the sucking disc and is put on the conveying belt.
4. A method of assembling a emblem for a wheel according to claim 3, wherein: the jig is provided with a plurality of sucker mounting holes.
5. A method of assembling a emblem for a wheel according to claim 1, wherein: the vision system includes:
the camera is used for photographing materials on the material tray;
the annular light source ring is used for providing a polishing effect for the camera;
the annular light source ring is arranged above the jig, the inner wall of the annular light source ring is inclined by 30 degrees, and a plurality of lamp beads are arranged on the inner wall.
6. A hub emblem assembly system, comprising:
the photographing unit is used for photographing the materials on the material tray through a vision system to obtain a first image when the materials are detected to be in place on the material tray;
the identification unit is used for carrying out identification processing on the first image to obtain an identification processing result;
the mobile control unit is used for controlling the robot to move to a position corresponding to the material according to the identification processing result;
and the suction unit is used for controlling the robot to suck the materials and putting the materials on the conveying belt.
7. A in-wheel emblem assembly system as claimed in claim 6, wherein: the recognition processing result includes a coordinate position value, and the recognition unit specifically includes:
the searching unit is used for comparing the first image with a preset second image and searching a corresponding image of the first image and the second image;
the pixel value acquisition unit is used for acquiring a coordinate point pixel value of a corresponding image in the first image;
and the conversion unit is used for converting the coordinate point pixel value into a coordinate position value according to preset calibration data to obtain an identification processing result.
8. A in-wheel emblem assembly system as claimed in claim 6, wherein: the suction unit specifically comprises:
the switching unit is used for controlling the robot to switch the corresponding jig according to the material type of the material;
the mounting unit is used for mounting the suckers on the sucker mounting holes corresponding to the jig according to the recognition processing result;
the conveying unit is used for sucking materials through the sucking discs and placing the materials on the conveying belt.
9. An in-wheel emblem assembly device, comprising:
a memory for storing a program;
a processor for executing the program, the program causing the processor to execute the in-wheel emblem assembly method as defined in any one of claims 1-5.
10. A computer storage medium, characterized by comprising a computer program which, when run on a computer, causes the in-wheel emblem assembly method of any of claims 1-5 to be performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910926866.8A CN110695964A (en) | 2019-09-27 | 2019-09-27 | Hub vehicle logo assembling method, system, device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910926866.8A CN110695964A (en) | 2019-09-27 | 2019-09-27 | Hub vehicle logo assembling method, system, device and storage medium |
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| CN110695964A true CN110695964A (en) | 2020-01-17 |
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| CN201910926866.8A Pending CN110695964A (en) | 2019-09-27 | 2019-09-27 | Hub vehicle logo assembling method, system, device and storage medium |
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| CN112991461A (en) * | 2021-03-11 | 2021-06-18 | 珠海格力智能装备有限公司 | Material assembling method and device, computer readable storage medium and processor |
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Application publication date: 20200117 |