CN110715936A - Household appliance shell appearance automatic detection system based on visual images - Google Patents
Household appliance shell appearance automatic detection system based on visual images Download PDFInfo
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- CN110715936A CN110715936A CN201911113881.7A CN201911113881A CN110715936A CN 110715936 A CN110715936 A CN 110715936A CN 201911113881 A CN201911113881 A CN 201911113881A CN 110715936 A CN110715936 A CN 110715936A
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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
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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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Abstract
The application discloses home appliance shell appearance automatic detection system based on visual image. The automatic detection system for the appearance of the household appliance comprises a first detection system and/or a second detection system which are/is sequentially arranged on a household appliance production line; and the control component is used for controlling the first detection system and the second detection system. The household appliance appearance automatic detection system reasonably distributes the household appliance shell appearance detection items to the first detection system and the second detection system, the utilization rate and the detection efficiency of the first detection system and the second detection system are improved, the overall detection efficiency is improved, the household appliance model can be scanned and identified, the detection position of the household appliance model can be accurately determined, automatic positioning is realized, automatic photographing and automatic detection are realized, automatic detection can be carried out on various appearance flaws of the household appliance shell, the requirements of a household appliance production line and the requirements of household appliance appearance detection are met, the household appliance appearance automatic detection system is suitable for the intelligent production line of the household appliance industry, and the household appliance appearance automatic detection system has a good industrial application prospect.
Description
Technical Field
The application belongs to the field of intelligent industrial detection equipment, and particularly relates to a visual image-based automatic appearance detection system for a household appliance shell.
Background
In the production process of household appliances, the quality detection of the shell of the household appliance is an important link and is directly related to the appearance quality of the household appliance. The quality detection of the household appliance shell relates to a plurality of items and has high detection standard requirements. For example, whether the housing of the household appliance is flat, whether the distance between the housings of the household appliance is uniform, whether printed matters such as marks and energy consumption marks arranged on the housing of the household appliance meet the standard, whether stains, concave and convex points, scratches, chromatic aberration and the like exist on the surface of the housing, and the like, a quick, efficient and accurate detection method or detection equipment is urgently needed, and is matched with a production line of the household appliance to meet the production requirement.
Disclosure of Invention
In order to solve at least one of the above-mentioned technical problems in the prior art, an embodiment of the present application discloses an automatic detection system for external appearance of a housing of a household appliance based on a visual image, which includes a first detection system and/or a second detection system, sequentially arranged on a production line of the household appliance; the control assembly is used for controlling the first detection system and the second detection system; wherein the content of the first and second substances,
the first detection system includes:
the first code scanning gun is used for acquiring the model information of the household appliance;
the first lateral positioning mechanism is used for limiting the lateral position of the household appliance on the production line;
the rectangular coordinate mechanical assembly is arranged on the side surface of the household appliance production line;
the first visual detection assembly is arranged on the rectangular coordinate mechanical arm assembly, is driven by the rectangular coordinate mechanical assembly to move in a three-dimensional space and is used for detecting the appearance of the household appliance shell;
the second detection system includes:
the second code scanning gun is used for acquiring the model information of the household appliance;
a second lateral positioning mechanism arranged to define a lateral position of the household appliance on the production line;
a multi-axis robotic assembly;
the second visual detection assembly is arranged on the multi-axis robot assembly and used for detecting the appearance of the household appliance shell;
the laser positioning assembly is arranged on the other side, opposite to the multi-axis robot assembly, of the household appliance production line and used for positioning the household appliance.
Some embodiments disclose a visual image-based home appliance housing appearance automatic detection system, the first visual detection assembly comprising:
the first connecting flange is fixedly connected with the rectangular coordinate mechanical assembly;
the first detection bracket is fixedly connected with the first connecting flange;
the first industrial camera is arranged and mounted on the first detection support and used for acquiring the shell image of the household appliance;
the first light source component is arranged and installed on the first detection bracket and used for providing a light source for the first industrial camera;
and the first displacement sensor is fixedly connected with the first detection support and used for acquiring the position information of the household appliance shell.
Some embodiments disclose a home appliance housing appearance automatic detection system based on a visual image, the multi-axis robot assembly comprising:
the robot base is arranged on the side surface of the household appliance production line;
the multi-axis robot is arranged on the robot base and used for mounting and driving the second visual detection assembly;
and the robot controller is used for controlling the multi-axis robot.
Some embodiments disclose a visual image-based home appliance housing appearance automatic detection system, the second visual detection assembly comprising:
the second connecting flange is fixedly connected with the multi-axis robot;
the second detection bracket is fixedly connected with the second connecting flange;
the plurality of second industrial cameras are arranged on the second detection support to form a camera array and used for acquiring images of the household appliance shell, and the shooting area of the camera array is equivalent to the width of the household appliance shell;
a second light source part mounted on the second detection support, disposed around the camera array, for providing a light source to the camera array;
and the second displacement sensors are arranged on the second detection support and used for acquiring the position information of different parts of the household appliance shell.
Some embodiments disclose an automatic detection system for appearance of a housing of a home appliance based on a visual image, further comprising a blocking mechanism disposed on a home appliance production line for defining a vertical position of the home appliance.
Some embodiments disclose an automatic detection system for external appearance of a household appliance housing based on a visual image, wherein a plurality of blocking mechanisms are arranged.
Some embodiments disclose the automatic detection system for the appearance of the housing of the household appliance based on the visual image, further comprising a guiding component, wherein the guiding component is arranged on the side edge of the production line of the household appliance and used for guiding the household appliance to enter a detection setting area of the household appliance.
Some embodiments disclose the home appliance shell appearance automatic check out system based on visual image, first visual detection subassembly still includes first safe edge of touching, sets up and installs outside first detection support front end.
Some embodiments disclose the home appliance housing appearance automatic check out system based on visual image, the second visual check out system still includes the second safe edge that touches, sets up and installs outside the second detection support front end.
Some embodiments disclose a visual image-based home appliance housing appearance automatic detection system, the laser positioning assembly comprising:
the positioning bracket is fixedly arranged on the side surface of the production line and comprises two horizontal extension parts which are arranged at the upper part of the positioning bracket and extend towards the production line;
the top laser displacement sensor is arranged on the extension part and used for measuring the top position information of the household appliance;
the back laser displacement sensor is arranged in the middle of the positioning support and used for measuring the position information of the back of the household appliance.
The embodiment of the application discloses home appliance casing outward appearance automated inspection system based on visual image, with home appliance casing outward appearance detection project rational distribution to first detecting system and second detecting system, first detecting system and second detecting system's utilization ratio and detection efficiency have been improved, whole detection efficiency has been improved, can scan discernment home appliance model, and its detection position is accurately confirmed, automatic positioning has been realized, automatic photographing, automated inspection, can home appliance casing's multiple outward appearance flaw carry out automated inspection, accord with the requirement of home appliance production water line and the detection requirement to the home appliance outward appearance, be suitable for the intelligent production line of home appliance trade, good industrial application prospect has.
Drawings
FIG. 1 embodiment 1 is a schematic plan view of an automatic external view detection system for a housing of a household appliance based on visual images
Fig. 2 embodiment 1 is a schematic view of a three-dimensional arrangement of an automatic detection system for external appearance of a housing of a household appliance based on visual images
Fig. 3 embodiment 2 is a schematic structural view of a lateral positioning mechanism of an automatic home appliance housing appearance detection system based on visual images
Detailed Description
The word "embodiment" as used herein, is not necessarily to be construed as preferred or advantageous over other embodiments, including any embodiment illustrated as "exemplary". Performance index tests in the examples of this application, unless otherwise indicated, were performed using routine experimentation in the art. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; other test methods and techniques not specifically mentioned in the present application are those commonly employed by those of ordinary skill in the art. The first and second cameras mentioned in the present application are only used for distinguishing different parts or components, and the front and rear order thereof is not strictly limited, for example, the first industrial camera and the second industrial camera only indicate two industrial cameras disposed at different positions, and do not indicate the front and rear positions or the order of disposition thereof. References herein to transverse and vertical generally refer to directions in the plane of the process line relative to its direction of travel, vertical being the same as its direction and transverse being perpendicular to its direction. The household appliances mentioned in the application include refrigerators, washing machines, air conditioners and the like.
The terms "substantially" and "about" are used throughout this disclosure to describe small fluctuations. For example, they may mean less than or equal to ± 5%, such as less than or equal to ± 2%, such as less than or equal to ± 1%, such as less than or equal to ± 0.5%, such as less than or equal to ± 0.2%, such as less than or equal to ± 0.1%, such as less than or equal to ± 0.05%. Concentrations, amounts, and other numerical data may be expressed or presented herein in a range format. Such range format is used merely for convenience and brevity and thus should be interpreted flexibly to include not only the numerical values explicitly recited as the limits of the range, but also to include all the individual numerical values or sub-ranges encompassed within that range as if each numerical value and sub-range is explicitly recited. For example, a numerical range of "1 to 5%" should be interpreted to include not only the explicitly recited values of 1% to 5%, but also include individual values and sub-ranges within the indicated range. Thus, included in this numerical range are individual values, such as 2%, 3.5%, and 4%, and sub-ranges, such as 1% to 3%, 2% to 4%, and 3% to 5%, etc. This principle applies equally to ranges reciting only one numerical value. Moreover, such an interpretation applies regardless of the breadth of the range or the characteristics being described.
In this disclosure, including the claims, all conjunctions such as "comprising," including, "" carrying, "" having, "" containing, "" involving, "" containing, "and the like are to be understood as being open-ended, i.e., to mean" including but not limited to. Only the conjunction "consisting of" and "consisting of" are closing conjunction.
In the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In the examples, some methods, means, instruments, apparatuses, etc. known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application. On the premise of no conflict, the technical features disclosed in the embodiments of the present application may be combined arbitrarily, and the obtained technical solution belongs to the content disclosed in the embodiments of the present application.
Generally, the production line of the household appliance is continuous operation so as to improve the production efficiency, the appearance of the shell of the household appliance is accurately and efficiently detected, the speed of the production line of the household appliance is kept consistent, the production efficiency is not influenced, and the working beat of the automatic appearance detection system of the shell of the household appliance based on the visual image is generally required to be set according to the production beat of the production line of the household appliance.
As an alternative embodiment, a home appliance housing appearance detection section may be provided on the production line, and the production line in this section is set to three stages, namely, a rapid entry stage, a stop detection stage, and a rapid exit stage. The production section with three stages can keep the same working rhythm with the production line, and the normal production rhythm and efficiency of the production line of the household appliance are not influenced. In the fast entering near stage, the household appliance is set to enter at a speed faster than that of a normal production line, and in the stage, the model information of the household appliance is obtained and identified so that a control system can determine the corresponding household appliance information and the set position of the household appliance in the stop detection stage, and then the household appliance is sent to the set position to enter the stop detection stage; in the detection stopping stage, the detection assembly performs set item detection, and enters a quick exit stage after detection is completed; and (4) rapidly exiting, enabling the household appliance to obtain the moving speed, synchronizing with the production line, entering a subsequent production link, and finishing the appearance detection operation of the shell of the household appliance.
As an optional implementation mode, the production roller line is driven by an independent motor in three stages of automatic appearance detection of the shell of the household appliance, and each independent motor is controlled by independently regulating the speed through an independently arranged frequency converter.
As an optional implementation mode, the production line of the automatic appearance detection section of the household appliance shell is set to be a roller type production line, and a power and free roller is arranged between the production line and a plate link line of the household appliance production line and used for receiving the continuously conveyed household appliances, so that the normal production rhythm of the household appliances is not influenced. The accumulation roller is generally arranged at an upstream section of the automatic appearance detection section of the household appliance housing.
Generally, a first detection system and/or a second detection system of a home appliance housing appearance detection system are/is continuously arranged on a home appliance production line, namely, two mutually independent first detection sections and second detection sections can be arranged in the home appliance housing appearance detection section, the first detection system and the second detection system are respectively and correspondingly arranged, and the two detection systems work simultaneously, so that the working rhythm and the detection efficiency of the detection systems are improved; it is also possible to provide only one of the detection systems, for example, only the first detection system, or only the second detection system, according to the specific detection requirements.
As an optional implementation manner, the first detection section corresponding to the first detection system and the second detection section corresponding to the second detection system are coordinated with each other, and the fast moving-out stage of the first detection section and the fast moving-in stage of the second detection section are combined into one stage, so that the time of the shell appearance detection section is reduced as a whole. The first detection system and the second detection system which are matched with each other can simultaneously carry out detection operation, different detection items are respectively executed, and the detection operation efficiency is improved.
As an optional implementation mode, the detection items of the first detection section and the second detection section are reasonably distributed, the detection efficiency and the utilization rate of the two detection sections are improved, and the overall working efficiency of the detection system is improved. As an alternative embodiment, the first detection section may be configured to detect the quality of printed matters on the housing of the household appliance, such as whether the types and positions of energy efficiency marks, trademarks, service two-dimensional codes, stickers and the like are correctly pasted, whether the height of the housing is uneven, whether the seam in the housing is uniform, and the like; and arranging a second detection section for carrying out appearance fine detection, such as whether dirt, scratches, paint falling, concave-convex points, color difference and the like exist, whether the front and the back of the shell are horizontal or not, and the like.
In some embodiments, a visual image-based home appliance housing appearance automatic detection system comprises a first detection system, a second detection system and a control component; wherein the content of the first and second substances,
the first detection system includes: the first code scanning gun is used for acquiring the model information of the household appliance; the first lateral positioning mechanism is used for limiting the lateral position of the household appliance on the production line; the rectangular coordinate mechanical assembly is arranged on the side surface of the household appliance production line; the first visual detection assembly is arranged on the rectangular coordinate mechanical arm assembly, is driven by the rectangular coordinate mechanical assembly to move in a three-dimensional space and is used for detecting the appearance of the household appliance shell;
the second detection system includes: the second code scanning gun is used for acquiring the model information of the household appliance; a second lateral positioning mechanism arranged to define a lateral position of the household appliance on the production line; a multi-axis robotic assembly; the second visual detection assembly is arranged on the multi-axis robot assembly and used for detecting the appearance of the household appliance shell; the laser positioning assembly is arranged on the other side, opposite to the multi-axis robot, of the household appliance production line and used for positioning the household appliance.
The code scanning gun, also called a code scanner, can usually identify information such as bar codes and two-dimensional codes on household appliances, the information usually contains key technology and performance index information of a specific model represented by the household appliances, and the model of the household appliances can be judged according to the information, so that the code scanning gun is usually set to identify the model information of the household appliances, so that the information of the household appliances of different models continuously produced on a household appliance production line can be identified. The model information that marks on domestic appliance all sets up the trailing flank at domestic appliance usually, so, when sweeping yard rifle and being furnished with the setting on the assembly line usually, set up in same side with domestic appliance model information usually, be convenient for scan the discernment. As an alternative embodiment, a swing laser code scanning gun or a visual code scanning gun may be selected.
Usually, the first code scanning gun and the second code scanning gun are selected to be provided with the same code scanning gun. As an alternative embodiment, the second code scanning gun and the second code scanning gun are selected to be provided with different code scanning guns.
Some embodiments disclose the automatic detection system for home appliance shell appearance based on visual image, further comprising a lateral positioning mechanism, which is arranged at the side of the home appliance production line and used for limiting the lateral position of the home appliance on the production line plane.
In some embodiments, the lateral positioning mechanism comprises: the base comprises a horizontally arranged base platform and a vertically arranged base support, the base platform is fixedly arranged on the side surface of the production line of the household appliance, and the base support is fixed on the ground of the production line through a detachable connecting piece; the fixing frame is horizontally arranged and fixedly connected on the base platform; the cylinder is horizontally arranged and fixedly connected on the fixed frame; and the positioning component is fixedly connected with the air cylinder and is arranged under the driving of the air cylinder to transversely and horizontally move along the household appliance detection assembly line so as to move the household appliance to a set position on the production assembly line. Generally, in the process that household appliances move on a production line, the position on the production line is not fixed and unchangeable, the household appliances can be located at different positions of the production line for various reasons, especially, the distance between the household appliances and the side face of the production line is different, so that obstacles can be brought to positioning and accurate detection, and the appearance detection time is prolonged. As an alternative embodiment, a lateral positioning mechanism is arranged on the side surface of the household appliance production line to position the household appliance in the plane of the production line. For example, the positioning part of the lateral positioning mechanism can be arranged to move to a set fixed position, and by moving the household appliance to the fixed position through the lateral movement of the positioning part, the positioning of the household appliance in the plane of the production line can be realized.
As an alternative, the base support of the lateral positioning mechanism is provided with a height-adjustable element by means of which the height of the base support can be adjusted to enable the positioning element to move the household appliance at different heights, for example by acting on the bottom support in the lower position to move the household appliance, or by acting on the side of the household appliance in the upper position to move the household appliance. As an alternative embodiment, the bottom of the base support is provided with an adjustable pedestal.
As an alternative, the positioning element of the lateral positioning mechanism may act on the shoe of the household appliance, and move the shoe to a fixed position, so as to position the household appliance in the plane of the assembly line. Generally, when the household appliance moves on a production line, the bottom of the household appliance is provided with the bottom support, so that the household appliance can be positioned by moving the bottom support to a fixed position.
As an alternative embodiment, a positioning component of the lateral positioning mechanism may be configured to act on a surface portion of the household appliance, and the household appliance may be moved laterally to a fixed position, so as to achieve positioning of the household appliance in a production line plane. The side position that directly acts on domestic appliance fixes a position it, and the location accuracy can be higher, and usually under this condition, need carry out specific setting to the positioning mechanism of lateral positioning mechanism, for example on the position that positioning mechanism and domestic appliance contacted, set up flexible contact surface to reduce the harm to domestic appliance surface, influence its pleasing to the eye.
Optionally, the first detection system and the second detection system are respectively provided with a first lateral positioning mechanism and a second lateral positioning mechanism. The first lateral positioning mechanism and the second lateral positioning mechanism can be formed by the same structure or different structures.
In some embodiments, the cartesian mechanical assembly of the first detection system comprises: vertical rails, generally provided as two parallel rails, vertically arranged on their fixed frame; the two ends of the transverse guide rail are respectively movably connected with the two vertical guide rails and can move up and down along the vertical guide rails in the vertical direction; the vertical moving motor is used for driving the transverse guide rail to move in the vertical direction; the manipulator is horizontally arranged in the horizontal plane of the transverse guide rail and is vertically connected with the transverse guide rail, and the manipulator is movably connected with the transverse guide rail; the transverse moving motor is used for driving the manipulator to move along the transverse guide rail; the manipulator comprises a fixed part and a movable part, wherein the fixed part is used for being connected with the transverse guide rail, and a cylinder assembly is arranged between the movable part and the fixed part and used for relative movement between the movable part and the fixed part; the movable component is used for installing the first visual detection assembly.
In some embodiments, the first visual inspection assembly comprises: the first connecting flange is fixedly connected with the rectangular coordinate mechanical assembly; the first detection bracket is fixedly connected with the first connecting flange; the first industrial camera is arranged and mounted on the first detection support and used for acquiring the shell image of the household appliance; the first light source component is arranged and installed on the first detection bracket and used for providing a light source for the first industrial camera; and the first displacement sensor is fixedly connected with the first detection support and used for acquiring the position information of the household appliance shell.
As an optional implementation mode, the first visual inspection assembly further comprises a first safety contact edge which is arranged and installed on the outer side of the front end of the first inspection support. The safety contact edge arranged on the outer side of the front end of the first visual detection assembly is contacted with any part or receives external resistance, and the manipulator stops moving to protect the safety of the first visual detection assembly.
As an alternative embodiment, the first connecting flange is provided as a long neck flange so as to fixedly connect the first detecting bracket with a manipulator of the rectangular coordinate manipulator assembly through the long neck flange, and the movement of the first detecting bracket is controlled by the movement of the manipulator.
In some embodiments, the multi-axis robotic assembly of the second detection system comprises: the robot base is arranged on the side surface of the household appliance production line; the multi-axis robot is arranged on the robot base and used for mounting and driving the second visual detection assembly; and the robot controller is used for controlling the multi-axis robot. A four-axis robot and a six-axis robot can be selected as the multi-axis robot.
The six-axis robot is a man-machine cooperation robot, can rotate 360 degrees in three-dimensional direction, every direction, and usually has a six-degree-of-freedom activity space, for example, an 50 kg robot MH50 II in Antchuan, repetition precision +/-0.07 mm, arm spread 2061mm, and can meet the external appearance detection requirement of a household appliance shell.
In some embodiments, a robot base is provided for mounting a selected multi-axis robot, securing it in place. Usually at the side of the household appliance production line.
In some embodiments, a multi-axis robot controller is provided, which is configured to control the multi-axis robot according to a preset control command.
In some embodiments, the second visual inspection assembly comprises: the second connecting flange is fixedly connected with the multi-axis robot; the second detection bracket is fixedly connected with the second connecting flange; the plurality of second industrial cameras are arranged on the second detection support to form a camera array and used for acquiring images of the household appliance shell, and the shooting area of the camera array is equivalent to the width of the household appliance shell; a second light source part mounted on the second detection support, disposed around the camera array, for providing a light source to the camera array; and the second displacement sensors are arranged on the second detection support and used for acquiring the position information of different parts of the household appliance shell.
As an optional implementation mode, the second visual detection system further comprises a second safety touch edge which is arranged and installed on the outer side of the front end of the second detection support. The safety contact edge arranged on the outer side of the front end of the second visual detection assembly is contacted with any part or is subjected to external resistance, and the multi-axis robot stops moving to protect the safety of the second visual detection assembly.
As an optional implementation manner, the second connecting flange is selectively set to be a long-neck connecting flange, one end of the second connecting flange is fixedly connected with the movable end of the multi-axis robot, and the other end of the second connecting flange is fixedly connected with the second detection support.
Generally, an industrial camera is used to acquire image information of a housing of a home appliance and detect whether a defect exists on the housing of the home appliance. As an optional implementation mode, the industrial camera is fixedly connected with the mounting bracket, and the mounting direction of the industrial camera is vertical to the mounting bracket; a color camera or a black and white camera is typically selected, for example, a 500W pixel CCD color camera may be selected. As an alternative embodiment, the industrial camera may be an area camera, a line camera or a combined industrial camera comprising an area camera and a line camera.
Generally, the first industrial camera and the second industrial camera can be the same industrial camera or different industrial cameras.
In some embodiments, the light source assembly is used to provide a light source suitable for taking pictures to an industrial camera. Generally, the light source module can emit light with high brightness to increase the brightness of the surface of the housing of the household electrical appliance to obtain an image with proper brightness and easy analysis of photo information. As an alternative embodiment, the light source may be selected from a blue light source, a white light source, or an AOI variable color light source.
As an alternative, the light source module typically comprises a bowl-shaped light source, a bar-shaped light source, a polygonal light source, a planar light source. As an alternative embodiment, the first light source assembly and the second light source assembly need to be configured according to their specific structures, such as type, shape, size, etc. As an optional implementation mode, the linear array light combined light source with various angles can be arranged and matched with the linear array camera.
In some embodiments, the displacement sensor is used for detecting the position information of the household appliance, so as to accurately determine the position of the household appliance shell, adjust and control the visual detection assembly, and improve the detection efficiency and effect. For example, an optional laser displacement sensor. As an alternative embodiment, the kind and number of the first displacement sensor and the second displacement sensor are selected and set according to specific needs.
In some embodiments, the first visual inspection assembly includes a long neck attachment flange configured to be attached to a robot of the cartesian mechanical assembly, typically to a moveable component of the robot; the first detection bracket which is integrally square is fixedly connected to the long-neck connecting flange; the first industrial camera is arranged and installed at the middle position of the square first detection support, and the first displacement sensor is arranged at the position close to the first industrial camera and fixedly connected with the first detection support; the two long-edge strip-shaped light sources are arranged on the outer sides of the two long edges of the first detection frame in parallel, and the two short-edge strip-shaped light sources are arranged on the outer sides of the two short edges of the first detection frame in parallel; the first safe limit of touching of an annular sets up in the front end outside of first detection support, links firmly with first detection support.
In some embodiments, the second visual inspection assembly comprises a long neck flange secured with a multi-axis robot free end; the second detection bracket is integrally rectangular and fixedly connected to the long-neck connecting flange, and the four second industrial cameras are sequentially and uniformly arranged on the rectangular second shape detection bracket to form a camera array, wherein the shooting range of the camera array is equivalent to the width of the household appliance shell, so that a picture comprising the width range of the whole household appliance can be shot for detection and analysis; the four second displacement sensors are sequentially and uniformly arranged on the rectangular second detection support and are matched with the four second industrial cameras so as to accurately position the corresponding photographing areas of the four second industrial cameras; the annular light source is arranged around the camera array and fixedly connected with the rectangular second detection support so as to cover the photographing area range of the camera array, and the second safe contact edge is arranged on the outer side of the front end of the second detection support and fixedly connected with the second safe contact edge.
In some embodiments, the visual image-based home appliance housing appearance automatic detection system further comprises a blocking mechanism disposed on the home appliance production line for defining a vertical position of the home appliance. As an alternative embodiment, the first detection system and the second detection system are each provided independently with a blocking mechanism. As an alternative, the blocking mechanism is provided in plurality.
In some embodiments, the automatic home appliance housing appearance detecting system based on the visual image further includes a guiding component, which is disposed on a side of the home appliance production line and is used for guiding the home appliance into the home appliance detection setting area.
The guide part is a strip-shaped part and is arranged at the position adjacent to the upstream of the lateral positioning part, one end of the guide part is fixedly connected to the side edge of the production line, the other end of the guide part extends to the middle of the production line for a certain distance, and the extending distance does not exceed the setting position of the lateral positioning mechanism on the production line generally, so that the household appliance is guided to be close to the positioning mechanism, and the accurate positioning of the lateral positioning mechanism on the household appliance is not influenced. As an alternative, the guide member is provided as a guide rod.
As an alternative, both the first detection system and the second detection system are provided with guide members. As an alternative embodiment, the first detection system and the second detection system are provided with a shared guide member, i.e. the guide member extends through the first detection section and the second detection section.
In some embodiments, a blocking member is provided on the production line, which blocking member is arranged perpendicular to the direction of the line, so as to define the relative position of the household appliance and the production line in its direction of advance, i.e. the vertical position of the household appliance within the plane of the production line. Usually, the blocking member is disposed at a stop detection stage of the detection section of the housing of the household appliance, and the blocking member automatically moves downward after the detection operation is completed, so that the blocking member does not block the movement of the household appliance in the direction of the production line. As an alternative, a movable flap, which can move up and down, is provided on the roller line as a blocking member to define a set position of the household appliance in the advancing direction of the line.
As an alternative embodiment, the first and second detection systems are provided with first and second blocking members, respectively.
In some embodiments, the automatic home appliance housing appearance detection system based on the visual images is arranged in a relatively concentrated area, the first detection system and the second detection system are arranged adjacently, a guard rail is arranged around the outer side of the area, the automatic detection system is isolated from the surrounding environment, and the safety of the detection system and the detection operation process is ensured. As an optional implementation mode, the protective guard comprises a transparent curtain wall, so that the detection system and the detection operation condition can be observed from the outside conveniently, an automatic door for personnel to pass through is arranged on the protective guard, the automatic door is set to be automatically controlled, and the opening of the automatic door is controlled by identifying the identity of the personnel. The method for identifying the identity of the personnel comprises password identification, face identification and gesture identification. As an alternative embodiment, the protective barrier is provided as a protective fence.
In some embodiments, the first detection system and the second detection system are provided with independent alarm components, and sound and light alarms are given according to the information and instructions of the control component.
In some embodiments, the automatic home appliance housing appearance detecting system based on the visual image comprises a control component for processing, storing and displaying information provided by a code scanning gun, an industrial camera, a displacement sensor, a robot controller and the like, and controlling the automatic detecting system. The control assembly typically includes an information processor, memory, display, and information input components, among other things. In some embodiments, a communication component is also provided for the transmission of information between the automatic detection system and other information processing units.
As an alternative embodiment, the control assembly includes an image processor for processing the image obtained by the image acquisition assembly, which may optionally be provided as a separate circuit, module or chip. The image processor can be realized by a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA), or can be realized by transmitting an image to an industrial personal computer in a communication mode and using the industrial personal computer as the processor. The image processor may comprise a single processor or a plurality of processors.
In some embodiments, the control assembly includes a display module, such as a display, which may be a device suitable for displaying images or video, such as a Liquid Crystal Display (LCD), a Cathode Ray Tube (CRT), an Organic Light Emitting Diode (OLED), or a plasma display, which may be configured to display images acquired by the image acquisition assembly and images processed by the image processor. In some implementations, the display may be a remote terminal, such as a smartphone, tablet, laptop, etc., that receives image data from the control component via a wireless link. The wireless link may be an RF (radio frequency) link, a WI-FI link, a Bluetooth link, a 3G link, or an LTE link.
In some embodiments, the operation of the automatic home appliance housing appearance detecting system based on the visual image includes:
acquiring model information of the household appliance;
according to the model information of the household appliance, basically determining the detection position of the appearance detection section of the household appliance shell;
stabilizing the household appliance at a set position on a production line;
the first detection assembly moves to the detection position of the first detection section and performs detection; in the detection process, the position information of the household appliance shell needs to be acquired, the detection position and the photographing direction of the visual detection system are adjusted according to the position information, and a clear picture and the position information of each part to be detected on the surface of the shell, such as the surfaces of a plurality of shells on the surface of the household appliance shell, the parts among the shells and the like, are acquired;
the control assembly analyzes quality flaws of all parts of the shell according to the obtained position information and the obtained graph information, if the quality flaws on the surface of the shell are judged to be in accordance with the detection standard, appearance detection of a first detection section of the household appliance shell is completed, and if the quality flaws on the surface of the shell are judged to be not in accordance with the detection standard, alarm information is sent;
the second detection assembly moves to the detection position of the second detection section and performs detection; in the detection process, the position information of the household appliance shell needs to be acquired, the detection position and the photographing direction of the visual detection system are adjusted according to the position information, and a clear picture and the position information of each part to be detected on the surface of the shell, such as the surfaces of a plurality of shells on the surface of the household appliance shell, the parts among the shells and the like, are acquired;
the control assembly analyzes quality flaws of all parts of the shell according to the obtained position information and the obtained graph information, if the quality flaws on the surface of the shell are judged to be in accordance with the detection standard, appearance detection of a second detection section of the household appliance shell is completed, and if the quality flaws on the surface of the shell are judged to be not in accordance with the detection standard, alarm information is sent;
after finishing the appearance quality detection of the two detection sections, the household appliance obtains the same production rhythm as the production line and enters the production line.
As an optional implementation mode, in the working process of the home appliance shell appearance automatic detection system based on the visual image, whether the posting of the printed matter is regular is judged according to the distance between the edge of the printed matter and the edge of the home appliance shell; judging whether different positions are in the same plane or not according to the information of the displacement sensor, namely whether the door level meets the regulations or not; and (4) processing the photo to determine whether the surface of the household appliance shell has defects such as color, scratch, convex-concave point, dirty spot and the like.
The technical details of the embodiments of the present application are further described below with reference to the accompanying drawings.
Fig. 1 is a schematic plane arrangement diagram of a system for automatically detecting the appearance of a refrigerator shell based on a visual image disclosed in embodiment 1, and fig. 2 is a schematic perspective arrangement diagram thereof.
In embodiment 1, the refrigerator shell appearance detection system based on visual images is arranged on a refrigerator production line, a accumulating roller 101 is arranged behind a plate chain line 100 of the refrigerator production line, and a roller line 104 is arranged behind the accumulating roller 101; edge sides 102 are arranged at the two side edges of the assembly line, and a guide rod 103 is fixedly connected to each edge side 102;
the first detection system comprises a first code scanning gun 11 which is arranged on one side pointed by the back of the refrigerator 4 on the refrigerator production line; the rectangular coordinate manipulator assembly 13 is arranged on one side of the refrigerator 4 pointed by the panel; a first visual detection assembly 15 is arranged on the rectangular coordinate manipulator assembly 13; a first lateral positioning mechanism 12 is arranged at the upstream position on the same side as the rectangular coordinate manipulator assembly 13; a first blocking mechanism 16 is arranged on a detection section of the refrigerator production line where the rectangular coordinate mechanical arm assembly 13 is positioned;
the second detection system includes a second lateral positioning mechanism 22 disposed behind the first cartesian robot assembly 13; the robot base 23 is arranged and mounted behind the second lateral positioning mechanism 22; a six-axis robot 24 is arranged on the robot base 23, and a robot controller 25 is arranged behind the robot base 23; the top end of the six-axis robot 24 is provided with a second visual detection assembly 26; the second code scanning gun 21 is arranged on one side, pointing to the back, of the refrigerator 4 on the refrigerator production line, and a laser positioning assembly 27 is arranged on the same side face; two extending parts 271 extending towards the direction of the production line are arranged at the upper part of the positioning bracket of the laser positioning assembly 27, and two horizontal extending parts 271 are respectively provided with a laser displacement sensor for measuring the position information of two corresponding parts on the upper surface of the refrigerator; two vertical cross rods 272 arranged in parallel with the production line are arranged in the middle of the positioning support, two laser displacement sensors which are uniformly distributed are respectively arranged on the two vertical cross rods 272 and used for measuring the position information of the corresponding part on the back surface of the refrigerator, and a second blocking mechanism 28 is arranged on a second detection section corresponding to the second detection system.
Fig. 3 is a schematic structural view of a lateral positioning mechanism of the automatic refrigerator casing appearance detection system based on visual images disclosed in embodiment 2.
In embodiment 2, the lateral positioning mechanism 6 is disposed on the side of the roller assembly line 104, the roller assembly line is provided with edge sides, strip-shaped guide rods 103 are disposed on the edge sides, and the lateral positioning mechanism 6 is disposed adjacent to the guide rods 103;
the lateral positioning mechanism 6 comprises a base formed by fixedly connecting a vertically arranged base support 63 and a horizontally arranged base platform 60, four fixing and mounting pieces 66 are arranged at the bottom end of the base support 63, a fixing frame 64 is arranged on the base platform 60, and the base platform 60 is fixedly connected with the fixing frame 64 through a mounting part 65; the mounting parts 65 are strip-shaped parts provided with mounting holes arranged at intervals, and are fixedly mounted on the base platform 60, the two mounting parts 65 are fixed on two sides of the upper surface of the base platform 60 in parallel, and the distance between the fixing frame 64 and the roller assembly line can be adjusted by adjusting the relative position between the fixing frame 64 and the mounting parts 65; the cylinder 62 is fixedly connected to the fixing frame 64, and the positioning component 61 is fixedly connected with the cylinder 62; the positioning member 61 is provided to push the refrigerator 4 to a set detection position by the driving of the air cylinder 62.
The embodiment of the application discloses home appliance casing outward appearance automated inspection system based on visual image, with home appliance casing outward appearance detection project rational distribution to first detecting system and second detecting system, first detecting system and second detecting system's utilization ratio and detection efficiency have been improved, whole detection efficiency has been improved, can scan discernment home appliance model, and its detection position is accurately confirmed, automatic positioning has been realized, automatic photographing, automated inspection, can carry out automated inspection to the multiple outward appearance flaw of home appliance casing, accord with the requirement of home appliance production water line and the detection requirement to the home appliance outward appearance, be suitable for the intelligent production line of home appliance trade, good industrial application prospect has.
The technical details disclosed in the technical solutions and embodiments of the present application are only examples to illustrate the concept of the present application, and do not constitute a limitation of the present application, and all the non-inventive changes to the technical details disclosed in the present application have the same inventive spirit as the present application, and are within the scope of the claims of the present application.
Claims (10)
1. A home appliance shell appearance automatic detection system based on visual images is characterized by comprising a first detection system and/or a second detection system which are/is sequentially arranged on a home appliance production line; the control assembly is used for controlling the first detection system and the second detection system; wherein the content of the first and second substances,
the first detection system includes:
the first code scanning gun is used for acquiring the model information of the household appliance;
the first lateral positioning mechanism is used for limiting the lateral position of the household appliance on the production line;
the rectangular coordinate mechanical assembly is arranged on the side surface of the household appliance production line;
the first visual detection assembly is arranged on the rectangular coordinate mechanical assembly, is driven by the rectangular coordinate mechanical assembly to move in a three-dimensional space and is used for detecting the appearance of the household appliance shell;
the second detection system includes:
the second code scanning gun is used for acquiring the model information of the household appliance;
a second lateral positioning mechanism arranged to define a lateral position of the household appliance on the production line;
a multi-axis robotic assembly;
the second visual detection assembly is arranged on the multi-axis robot assembly and used for detecting the appearance of the household appliance shell;
and the laser positioning component is arranged on the other side, opposite to the multi-axis robot component, of the household appliance production line and used for positioning the household appliance.
2. The visual-image-based automatic home appliance housing appearance detection system according to claim 1, wherein the first visual detection assembly comprises:
the first connecting flange is fixedly connected with the rectangular coordinate mechanical assembly;
the first detection bracket is fixedly connected with the first connecting flange;
the first industrial camera is arranged and mounted on the first detection support and used for acquiring an image of the shell of the household appliance;
the first light source component is arranged and installed on the first detection bracket and used for providing a light source for the first industrial camera;
and the first displacement sensor is fixedly connected with the first detection support and used for acquiring the position information of the shell of the household appliance.
3. The visual-image-based home appliance housing appearance automatic detection system according to claim 1, wherein the multi-axis robot assembly comprises:
the robot base is arranged on the side surface of the household appliance production line;
the multi-axis robot is arranged on the robot base and used for mounting and driving the second visual detection assembly;
a robot controller for controlling the multi-axis robot.
4. The visual-image-based automatic home appliance housing appearance detection system according to claim 1, wherein the second visual detection assembly comprises:
the second connecting flange is fixedly connected with the multi-axis robot;
the second detection bracket is fixedly connected with the second connecting flange;
the plurality of second industrial cameras are arranged and installed on the second detection support to form a camera array for acquiring images of the household appliance shell, and the shooting area of the camera array is equivalent to the width of the household appliance shell;
a second light source part mounted on the second detection support, disposed around the camera array, for providing a light source to the camera array;
and the second displacement sensors are arranged on the second detection support and used for acquiring the position information of different parts of the household appliance shell.
5. The visual image-based automatic home appliance housing appearance detection system according to claim 1, further comprising a blocking mechanism provided on a home appliance production line for defining a vertical position of the home appliance.
6. The automatic visual-image-based appearance detection system for home appliance housings according to claim 5, wherein the blocking mechanism is provided in plurality.
7. The visual image-based automatic home appliance housing appearance detection system according to claim 1, further comprising a guide member provided on a side of a home appliance production line for guiding the home appliance into a home appliance detection setting area.
8. The automatic visual-image-based appearance detection system for the housing of the household appliance according to claim 2, wherein the first visual detection assembly further comprises a first safety contact edge installed outside the front end of the first detection bracket.
9. The visual-image-based automatic appearance detection system for the housing of the household appliance according to claim 4, wherein the second visual detection system further comprises a second safety touch edge installed outside the front end of the second detection bracket.
10. The automatic visual image-based home appliance housing appearance detection system according to claim 1, wherein the laser positioning assembly comprises:
the positioning bracket is fixedly arranged on the side surface of the production line and comprises two extending parts which are arranged at the upper part of the positioning bracket and extend towards the production line;
the top laser displacement sensor is arranged on the extension part and used for measuring the top position information of the household appliance;
and the back laser displacement sensor is arranged in the middle of the positioning support and is used for measuring the position information of the back of the household appliance.
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