CN111659633A - Tooling product classification system and method - Google Patents
Tooling product classification system and method Download PDFInfo
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- CN111659633A CN111659633A CN202010507231.7A CN202010507231A CN111659633A CN 111659633 A CN111659633 A CN 111659633A CN 202010507231 A CN202010507231 A CN 202010507231A CN 111659633 A CN111659633 A CN 111659633A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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Abstract
The invention discloses a tooling product classification system and method. Wherein, this system includes: the vision acquisition equipment is used for acquiring images of the tooling products; the computing equipment is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result and determining whether the tool product in the transmission process is blocked according to the detection result; the limiting mechanism is used for blocking the tool product to be blocked at the transmission position corresponding to the limiting mechanism under the condition that the tool product is determined to be blocked; and the executing mechanism is used for conveying the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products. The invention solves the technical problems of long time consumption and low working efficiency caused by adopting a manual sorting mode in the prior art.
Description
Technical Field
The invention relates to the field of product sorting, in particular to a tooling product classification system and method.
Background
In the present year, due to the influence of epidemic situations, the production of masks is particularly regarded in China, but at present, although a large number of automatic mask production machines exist, the sorting of masks basically depends on manpower. In the future development of industry, it is a necessary trend that mechanical equipment replaces most of human labor, and the prior art generally adopts a manual mode to sort, and the mode has the problems of low efficiency and labor consumption.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a tooling product classification system and method, which at least solve the technical problems of long time consumption and low working efficiency caused by adopting a manual sorting mode in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a tooling product classification system, including: the vision acquisition equipment is used for acquiring images of the tooling products; the computing equipment is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result and determining whether the tool product in the transmission process is blocked according to the detection result; the limiting mechanism is used for blocking the tool product to be blocked at the transmission position corresponding to the limiting mechanism under the condition that the tool product is determined to be blocked; and the executing mechanism is used for conveying the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
Optionally, the vision acquisition device is further configured to acquire images acquired before and after the rotation operation is performed on the tooling product, so as to obtain at least two images; the computing equipment is also used for detecting the types of the at least two images to obtain at least two detection results; and controlling a corresponding limiting mechanism to block the tooling product based on each detection result in the at least two detection results so as to control an executing mechanism to convey the tooling product to a first target area corresponding to the type.
Optionally, the at least two images comprise: a first image and a second image; the computing equipment is used for controlling the vision acquisition equipment to acquire a first image of the tool product in a first direction and detecting the first image to obtain a first detection result; controlling a steering mechanism in the transmission process of the tool product to rotate the tool product by a preset angle, so that the tool product is positioned in a second direction; controlling the vision acquisition equipment to continuously acquire a second image of the tooling product after the tooling product rotates by a preset angle; detecting the second image to obtain a second detection result; according to first testing result and second testing result with frock product transport to corresponding target area to classify frock product, wherein, the target area includes: a first target area or a second target area.
Optionally, limit structure includes: the first limiting mechanism and the second limiting mechanism; a computing device to further: when the type of the tool product is a first type, controlling the first limiting mechanism to block transmission at a transmission position corresponding to the first type, and conveying the tool product at the transmission position to a first subregion corresponding to the first type by using the executing mechanism, wherein the first subregion is a subregion in a first target region; when the type of the tooling product is a second type, controlling a second limiting mechanism, stopping transmission at a transmission position corresponding to the second type, and conveying the tooling product at the transmission position to a second subregion corresponding to the second type by using an executing mechanism, wherein the second subregion is a subregion in the first target region; and when the type of the tooling product is a third type, closing the first limiting mechanism and the second limiting mechanism so as to convey the tooling product to a second target area corresponding to the third type by using the executing mechanism.
Optionally, the quality level corresponding to the first type is higher than the quality level corresponding to the second type, and the quality level corresponding to the third type is higher than the quality level corresponding to the first type.
Optionally, the product classification system further comprises: and the industrial robot is used for carrying the vision acquisition device, and controlling the vision acquisition device to start acquiring the image of the tool product after the vision acquisition device detects the calibration signal of the tool product.
Optionally, the industrial robot is further configured to move to a preset position together with the vision device in a direction away from the tooling product after the calibration signal is detected.
According to another aspect of the embodiments of the present invention, there is also provided a tooling product classification method, including: acquiring an image of a tooling product; detecting the tool product according to the image to obtain a detection result; determining whether to block the tool product in the transmission process according to the detection result; under the condition that the tool product is determined to be blocked, the tool product needing to be blocked is blocked at the transmission position corresponding to the limiting mechanism; and controlling an actuating mechanism in the transmission process to convey the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
Optionally, acquiring an image of the tooling product includes: acquiring images acquired before and after the rotation operation of the tool product to obtain at least two images; detect the frock product according to the image, obtain the testing result, include: detecting the types of the at least two images to obtain at least two detection results; under the condition that the definite frock product blockked, the transmission position department that corresponds with stop gear blocks the frock product that needs were blockked, include: and controlling a corresponding limiting mechanism to block the tooling product based on each detection result in the at least two detection results.
Optionally, the at least two images comprise: a first image and a second image; detecting the types of the at least two images to obtain at least two detection results, including: controlling a vision acquisition device to acquire a first image of the tool product in a first direction, and detecting the first image to obtain a first detection result; controlling a steering mechanism to rotate the tooling product by a preset angle so that the tooling product is positioned in a second direction; controlling the vision acquisition equipment to continuously acquire a second image of the tooling product after the tooling product rotates by a preset angle; detecting the second image to obtain a second detection result; the actuating mechanism of control transmission in-process carries the frock product that transmission position department blocked to the first target area that corresponds with the type of frock product, includes: according to first testing result and second testing result with frock product transport to corresponding target area to classify frock product, wherein, the target area includes: a first sub-region and a second sub-region in the first target region.
According to another aspect of the embodiments of the present invention, there is also provided a tooling product classification system, including: the vision acquisition equipment is used for acquiring images of the tooling products; the computing equipment is connected with the vision acquisition equipment and used for detecting the tooling product according to the image to obtain a detection result and determining a target area of the tooling product according to the detection result; and the classifying mechanism is used for conveying the tool products to corresponding target areas so as to classify the tool products, wherein different target areas correspond to different tool product types.
According to another aspect of the embodiments of the present invention, there is also provided a tooling product classification method, including: acquiring an image of a tooling product; detecting the tool product according to the image to obtain a detection result; and conveying the tooling products to different target areas according to the detection result so as to classify the tooling products, wherein the different target areas correspond to different tooling product types.
According to another aspect of the embodiment of the invention, the nonvolatile storage medium comprises a stored program, wherein when the program runs, the device where the nonvolatile storage medium is located is controlled to execute any tool product classification method.
According to another aspect of the embodiment of the present invention, a processor is further provided, where the processor is configured to execute a program, where the program executes any one of the tool product classification methods when running.
In the embodiment of the invention, the mode of identifying the image of the tooling product by the visual acquisition equipment is adopted, and the visual acquisition equipment is used for acquiring the image of the tooling product; the computing equipment is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result; the limiting mechanism is used for blocking the tool product at a transmission position corresponding to the limiting mechanism according to the detection result in the transmission process of the tool product; the actuating mechanism is used for conveying the tool products blocked at the transmission position to a target area corresponding to the types of the tool products, so that the purpose of classifying the tool products is achieved, the technical effect of automatically sorting the tool types is achieved, and the technical problems of long time consumption and low working efficiency caused by the adoption of a manual sorting mode in the prior art are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of a tool classification system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a spacing mechanism and corresponding tooling product type division according to an alternative embodiment of the present invention;
FIG. 3 is a schematic view of a mask according to an alternative embodiment of the present invention;
FIG. 4 is a schematic flow chart of a tool classifying method according to an embodiment of the present invention;
FIG. 5 is a flow diagram in accordance with an alternative embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another tooling classification system according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of another tool classifying method according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a tool classification method, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions, and that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than here.
Fig. 1 shows a tooling product sorting system according to an embodiment of the present invention, and as shown in fig. 1, the system includes:
the vision acquisition equipment 10 is used for acquiring images of the tooling products;
the computing equipment 12 is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result and determining whether the tool product in the transmission process is blocked according to the detection result;
the limiting mechanism 14 is used for blocking the tool product to be blocked at the transmission position corresponding to the limiting mechanism under the condition that the tool product is determined to be blocked;
and the executing mechanism 16 is used for conveying the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
In the system, a vision acquisition device 10 is used for acquiring images of tooling products; the computing equipment 12 is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result and determining whether the tool product in the transmission process is blocked according to the detection result; the limiting mechanism 14 is used for blocking the tool product to be blocked at the transmission position corresponding to the limiting mechanism under the condition that the tool product is determined to be blocked; the actuating mechanism 16 is used for conveying the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, inputting the tool products which do not need to be blocked to a second target area, achieving the purpose of classifying the tool products, achieving the technical effect of automatically sorting the tool types, and further solving the technical problems of long time consumption and low working efficiency caused by the manual sorting mode in the prior art.
In order to ensure the accuracy of the detection result, in some optional embodiments of the present application, the visual acquisition device is further configured to acquire images acquired before and after the rotation operation of the tooling product, so as to obtain at least two images; the computing equipment is also used for detecting the types of the at least two images to obtain at least two detection results; and controlling a corresponding limiting mechanism to block the tooling product based on each detection result in the at least two detection results so as to control an executing mechanism to convey the tooling product to a first target area corresponding to the type.
Specifically, the at least two images include: a first image and a second image; the computing equipment is used for controlling the vision acquisition equipment to acquire a first image of the tool product in a first direction and detecting the first image to obtain a first detection result; controlling a steering mechanism in the transmission process of the tool product to rotate the tool product by a preset angle, so that the tool product is positioned in a second direction; controlling the vision acquisition equipment to continuously acquire a second image of the tooling product after the tooling product rotates by a preset angle; detecting the second image to obtain a second detection result; according to first testing result and second testing result with frock product transport to corresponding target area to classify frock product, wherein, the target area includes: a first target area or a second target area.
Specifically, limit structure includes: the first limiting mechanism and the second limiting mechanism; a computing device to further: when the type of the tool product is a first type, controlling the first limiting mechanism to block transmission at a transmission position corresponding to the first type, and conveying the tool product at the transmission position to a first subregion corresponding to the first type by using the executing mechanism, wherein the first subregion is a subregion in a first target region; when the type of the tooling product is a second type, controlling a second limiting mechanism, stopping transmission at a transmission position corresponding to the second type, and conveying the tooling product at the transmission position to a second subregion corresponding to the second type by using an executing mechanism, wherein the second subregion is a subregion in the first target region; when the type of the tooling product is the third type, the first limiting mechanism and the second limiting mechanism are closed, so that the actuating mechanisms are used for conveying the tooling product to a second target area corresponding to the third type, and it should be noted that at least two actuating mechanisms or robots are used for conveying different types of products respectively.
It is easy to note that the tool product is not judged to belong to the first type, the second type or the third type only according to the image of the tool product before rotation, and therefore, when only the image of the tool product before rotation is detected, the tool product is not directly classified into the first type, the second type or the third type.
It should be noted that, the quality grade corresponding to the first type is higher than the quality grade corresponding to the second type, and the quality grade corresponding to the third type is higher than the quality grade corresponding to the first type, for example, when the detected object is a mask, the quality grades corresponding to the first type, the second type, and the third type may be a defective product, a rejected product, and a qualified product, respectively, where the defective product is a defective product that does not meet the quality requirement of the qualified product in one of two detections, and the rejected product is a defective product that does not meet the quality requirement of the qualified product in two detections, and it should be noted that the quality requirements of the qualified product include, but are not limited to: the mask has the advantages that the mask is free of stains and damages, the area size of the mask meets the preset standard area, a fixing frame (formed by metal strips) at the upper part in the mask does not leak, and the like, it is easy to notice that a first sub-area of a first type is a defective product area, a corresponding second sub-area of a second type is a scrapped product area, a corresponding second target area of a third type is a qualified product area, when the mask is a reported waste product, a limit 2 (a second limit device) divides the mask into the reported waste product, a limit 1 (a first limit device) divides the mask into the defective product, and the other parts of the mask are divided into the qualified products, as shown in figure 2.
Specifically, in an optional embodiment of the present application, the vision collecting device, when detecting the mask, firstly uses the length direction of the metal strip in the mask as a main direction, that is, the mask is placed horizontally, and the computing device detects the mask surface to obtain the detection result of the first mask surface when the mask is placed horizontally, for example, the detection result of the first mask surface is qualified, and then the mask is continuously driven forwards on the transmission mechanism, and the mask is rotated by 90 degrees, that is, the mask is placed vertically, and then the mask is detected in the same manner again to obtain the detection result of the second mask surface when the mask is placed vertically, for example, the detection result of the second mask surface is defective, and then the mask is considered as the first type mask, that is, the mask with defective products.
It should be noted that the product classification system further includes: an industrial robot, the industrial robot is used for carrying a visual acquisition device, after a calibration signal of a tooling product is detected by the visual acquisition device, the visual acquisition device is controlled to start to acquire an image of the tooling product, for example, when the mask is detected, the mask is conveyed to a front point by a conveyor belt, a limiting mechanism can be opened to block the mask, then the mask is calibrated by adopting a cross-shaped pattern, the mask tooling diagram is shown as figure 3 and is used for determining the position of the mask on the conveyor belt at present, after the position is determined, the visual acquisition device is used for starting to identify the mask at a rear position, when the visual acquisition device acquires the image of the mask, a computing device can carry out image processing on the acquired image, for example, the image is binarized to obtain a binarized image of the mask, and whether the area size of the mask meets a preset area or not can be firstly judged, the area of the mask can be a closed area formed by four welding points corresponding to four corners of the mask, and the mask surface is not reflective generally, so the mask is black, but the exposed metal wires, glue of the welding points, dirt on the surface of the mask and the like can reflect light and is white in the binary image, so that the metal strips of the mask and the glue of the welding points can be judged to be leaked or have dirt by white pixels in the binary image.
It should be noted that, when the vision collecting device is mounted on the industrial robot, the computing device and the vision collecting device in the classification system of the tooling product communicate with each other in a full-duplex communication mode, in which the data of the vision collecting device can be transmitted to the computing device for processing, so that the computing rate of the industrial robot system is not occupied, the processing efficiency is high, and the full-duplex communication protocol can effectively reduce the cycle time of the operation of the classification system of the tooling product, the signals transmitted synchronously in two directions can make the robot perform some preparation actions when the vision device transmits data to the computing device, for example, the vision sensing device transmits data to the computing device after completing data collection, the computing device can issue a command to the industrial robot when receiving a flag bit signal (i.e. a start bit signal, i.e. a first bit signal), the robot is enabled to move to a rear position, so that the running time of the robot from the point A to the point B is increased, the acceleration and the motor shake are reduced, the loss of the motor and the requirement on a speed reducer are reduced, and the service life of the robot is prolonged. If a half-duplex (one-way communication) passing protocol is adopted, the robot must wait for the completion of data transmission before starting to run to a post point (a transition point together with a visual detection pre point, a safety point for avoiding collision of the robot in the running process).
In some embodiments of the application, the industrial robot is further configured to move to a preset position together with the vision device in a direction away from the tooling product after detecting the calibration signal.
Fig. 4 shows a tooling product sorting method according to an embodiment of the present invention, as shown in fig. 4, the method includes the following steps:
s202, acquiring an image of a tooling product; detecting the tool product according to the image to obtain a detection result;
s204, determining whether to block the tool product in the transmission process according to the detection result;
s206, blocking the tool product to be blocked at the transmission position corresponding to the limiting mechanism under the condition that the tool product is determined to be blocked;
and S208, controlling an actuating mechanism in the transmission process to convey the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
In the method for classifying the tooling products, firstly, images of the tooling products are obtained; detecting the tool product according to the image to obtain a detection result; secondly, determining whether to block the tool product in the transmission process according to the detection result; then, under the condition that the tool product is determined to be blocked, the tool product needing to be blocked is blocked at the transmission position corresponding to the limiting mechanism; finally, an actuating mechanism in the transmission process is controlled to convey the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, the tool products which do not need to be blocked are input to a second target area, and the purpose of classifying the tool products is achieved, so that the technical effect of automatically sorting the tool types is achieved, and the technical problems of long consumed time and low working efficiency caused by the adoption of a manual sorting mode in the prior art are solved.
In an optional embodiment of the present application, the image of the tooling product is obtained, including: acquiring images acquired before and after the rotation operation of the tool product to obtain at least two images; detect the frock product according to the image, obtain the testing result, include: detecting the types of the at least two images to obtain at least two detection results; under the condition that the definite frock product blockked, the transmission position department that corresponds with stop gear blocks the frock product that needs were blockked, include: and controlling a corresponding limiting mechanism to block the tooling product based on each detection result in the at least two detection results.
Specifically, the at least two images include: a first image and a second image; detecting the types of the at least two images to obtain at least two detection results, including: controlling a vision acquisition device to acquire a first image of the tool product in a first direction, and detecting the first image to obtain a first detection result; controlling a steering mechanism to rotate the tooling product by a preset angle so that the tooling product is positioned in a second direction; controlling the vision acquisition equipment to continuously acquire a second image of the tooling product after the tooling product rotates by a preset angle; detecting the second image to obtain a second detection result; the actuating mechanism of control transmission in-process carries the frock product that transmission position department blocked to the first target area that corresponds with the type of frock product, includes: according to first testing result and second testing result with frock product transport to corresponding target area to classify frock product, wherein, the target area includes: a first sub-region and a second sub-region in the first target region.
It is easy to notice that, only according to the image before the tool product rotates, whether the tool product before rotating is qualified or not can be determined, then the tool product is divided into two types, namely a qualified tool product and an unqualified tool product, the image after the tool product which is possibly qualified is rotated is identified, and the tool product is determined to be a qualified product or a defective product, wherein the two identification results (before the rotation and after the rotation) meet the preset condition as the qualified product, and one identification result in the two identification results does not meet the preset condition as the defective product; when the tool product is an unqualified tool product, the first limiting device (limiting cylinder 1) is opened to block the unqualified tool product; the image after rotating the unqualified tool product is identified again, the image meets the preset condition and is determined as a defective product, the image does not meet the preset condition at the current identification result and is determined as a waste product, wherein the preset condition comprises but is not limited to: no stain, no damage, the area size according with the preset standard area and the like.
In an application scenario of the present application, when the tooling product is a mask, an execution flow frame diagram of a classification system is further provided, as shown in fig. 5, when the mask is transported to a front point position by a conveyor belt, the front limit blocks the mask, a robot first calibrates a cross (without special limitation on a calibration pattern) on the mask (positions the mask position), and then starts to perform visual sampling on the mask, a closed area formed by four sides of welding points is determined, if the closed area is greater than or equal to a preset threshold of the mask, an item a is determined to be qualified, if the predetermined threshold is smaller than the preset threshold of the mask, an item a is determined to be unqualified, then a highlight detection iron core is exposed, whether the mask surface is stained, whether the mask surface is damaged (i.e., whether white spots exist in visual identification, and whether a strip-shaped light reflects exist), if so, an item a is also determined to be unqualified, and the condition for determining whether the mask is, the method comprises the steps of firstly judging whether stains exist or not, then judging the area size of a mask to be detected and a preset threshold value, namely judging whether the mask before rotation is qualified or not by judging whether stains exist or not and judging whether the mask before rotation is qualified or not by judging the area size of the mask to be detected and the preset threshold value, and not dividing the mask after rotation into a first type, a second type or a third type because whether an image corresponding to the mask after rotation is qualified or not is uncertain. Then the robot resets to the preposed point, the cylinder (also can use an electric cylinder) which is positioned at the front position to jack the tool, the tool is conveyed to the motor to turn the tool, the detection before the detection is repeated for one time, the unqualified condition is regarded as that the item b is unqualified (the detection can be carried out for a plurality of times according to the requirement), the limiting cylinder 1 is opened (for blocking the mask) when the item a or the item b is unqualified, the limiting cylinder 2 is opened (the cylinder 2 is arranged in front of the cylinder 1) when the item a and the item b are unqualified, the preposed limiting is closed after the vision collection is finished, the mask continues to flow downwards, if the item a and the item b are qualified, no limiting block exists, the mask flows into a high-quality product area, when the item a or the item b is unqualified, the mask is blocked by the limiting cylinder 1, the rear action cylinder pushes the mask into a defective product area, and when.
Fig. 6 is a diagram of another tooling product sorting system according to another aspect of the embodiment of the present invention, as shown in fig. 6, the system includes:
the vision acquisition equipment 20 is used for acquiring images of the tooling products;
the computing equipment 22 is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result; determining a target area of the tooling product according to the detection result;
and the sorting mechanism 24 is used for conveying the tool products to corresponding target areas so as to sort the tool products, wherein different target areas correspond to different tool product types.
In the system, a vision acquisition device 20 for acquiring an image of a tooling product; the computing equipment 22 is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result; determining a target area of the tooling product according to the detection result; the classifying mechanism 24 is used for conveying the tooling products to corresponding target areas so as to classify the tooling products, wherein different current areas correspond to different tooling product types, and it should be noted that the classifying mechanism 24 comprises a limiting mechanism 14 and an executing mechanism 16, and the system also achieves the purpose of classifying the tooling products, thereby realizing the technical effect of automatically sorting the tooling types, and further solving the technical problems of long time consumption and low working efficiency caused by adopting a manual sorting mode in the prior art.
Fig. 7 shows another tooling product sorting method according to another aspect of the embodiment of the present invention, as shown in fig. 7, the method includes the following steps:
s302, acquiring an image of a tooling product;
s304, detecting the tooling product according to the image to obtain a detection result;
s306, conveying the tooling products to different target areas according to the detection result so as to classify the tooling products, wherein the different target areas correspond to different tooling product types.
In the method, firstly, an image of a tooling product is obtained; then, detecting the tool product according to the image to obtain a detection result; and finally, conveying the tooling products to different target areas according to the detection result so as to classify the tooling products, wherein different current areas correspond to different tooling product types, and the method also achieves the purpose of classifying the tooling products, thereby realizing the technical effect of automatically sorting the tooling types, and further solving the technical problems of long time consumption and low working efficiency caused by adopting a manual sorting mode in the prior art.
According to another aspect of the embodiment of the invention, the nonvolatile storage medium comprises a stored program, wherein when the program runs, the device where the nonvolatile storage medium is located is controlled to execute any tool product classification method.
Specifically, the storage medium is used for storing program instructions for executing the following functions, and the following functions are realized:
acquiring an image of a tooling product; detecting the tool product according to the image to obtain a detection result; determining whether to block the tool product in the transmission process according to the detection result; under the condition that the tool product is determined to be blocked, the tool product needing to be blocked is blocked at the transmission position corresponding to the limiting mechanism; and controlling an actuating mechanism in the transmission process to convey the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
According to another aspect of the embodiment of the present invention, a processor is further provided, where the processor is configured to execute a program, where the program executes any one of the tool product classification methods when running.
Specifically, the processor is configured to call a program instruction in the memory, and implement the following functions:
acquiring an image of a tooling product; detecting the tool product according to the image to obtain a detection result; determining whether to block the tool product in the transmission process according to the detection result; under the condition that the tool product is determined to be blocked, the tool product needing to be blocked is blocked at the transmission position corresponding to the limiting mechanism; and controlling an actuating mechanism in the transmission process to convey the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
In the embodiment of the invention, the mode of identifying the image of the tooling product by the visual acquisition equipment is adopted, and the visual acquisition equipment is used for acquiring the image of the tooling product; the computing equipment is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result; the limiting mechanism is used for blocking the tool product at a transmission position corresponding to the limiting mechanism according to the detection result in the transmission process of the tool product; the actuating mechanism is used for conveying the tool products blocked at the transmission position to a target area corresponding to the types of the tool products, so that the purpose of classifying the tool products is achieved, the technical effect of automatically sorting the tool types is achieved, and the technical problems of long time consumption and low working efficiency caused by the adoption of a manual sorting mode in the prior art are solved.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (14)
1. The utility model provides a frock product classification system which characterized in that includes:
the vision acquisition equipment is used for acquiring images of the tooling products;
the computing equipment is connected with the vision acquisition equipment and used for detecting the tool product according to the image to obtain a detection result and determining whether the tool product in the transmission process is blocked or not according to the detection result;
the limiting mechanism is used for blocking the tool product to be blocked at the transmission position corresponding to the limiting mechanism under the condition that the tool product is determined to be blocked;
and the executing mechanism is used for conveying the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
2. The product sorting system according to claim 1,
the vision acquisition equipment is also used for acquiring images respectively acquired before and after the rotation operation of the tooling product to obtain at least two images;
the computing device is further configured to detect the types of the at least two images to obtain at least two detection results; and controlling a corresponding limiting mechanism to block the tooling product based on each detection result of the at least two detection results so as to control the executing mechanism to convey the tooling product to the first target area corresponding to the type.
3. The product classification system according to claim 2, characterized in that the at least two images comprise: a first image and a second image;
the computing equipment is used for controlling the vision acquisition equipment to acquire the first image of the tooling product in a first direction and detecting the first image to obtain a first detection result; controlling a steering mechanism in the transmission process of the tool product to rotate the tool product by a preset angle, so that the tool product is located at a second position; controlling the vision acquisition equipment to continuously acquire a second image of the tooling product after the vision acquisition equipment rotates by a preset angle; detecting the second image to obtain a second detection result; conveying the tooling products to corresponding target areas according to the first detection result and the second detection result so as to classify the tooling products, wherein the target areas comprise: the first target region or the second target region.
4. The product sorting system of claim 1, wherein the retaining structure comprises: the first limiting mechanism and the second limiting mechanism;
the computing device further to:
when the type of the tooling product is a first type, controlling the first limiting mechanism to block transmission at a transmission position corresponding to the first type, and conveying the tooling product at the transmission position to a first subregion corresponding to the first type by using the executing mechanism, wherein the first subregion is a subregion in the first target region;
when the type of the tooling product is a second type, controlling the second limiting mechanism, stopping transmission at a transmission position corresponding to the second type, and conveying the tooling product at the transmission position to a second subregion corresponding to the second type by using the executing mechanism, wherein the second subregion is a subregion in the first target region;
and when the type of the tooling product is a third type, closing the first limiting mechanism and the second limiting mechanism so as to convey the tooling product to a second target area corresponding to the third type by using the executing mechanism.
5. The product classification system according to claim 4, wherein the quality level corresponding to the first type is higher than the quality level corresponding to the second type, and the quality level corresponding to the third type is higher than the quality level corresponding to the first type.
6. The product sorting system of claim 1, further comprising: and the industrial robot is used for carrying the vision acquisition device, and controlling the vision acquisition device to start acquiring the image of the tool product after the vision acquisition device detects the calibration signal of the tool product.
7. The product sorting system of claim 6, wherein the industrial robot is further configured to move to a predetermined position in a direction away from the tooling product in common with the vision device upon detection of the calibration signal.
8. The utility model provides a frock product classification method which characterized in that includes:
acquiring an image of a tooling product;
detecting the tool product according to the image to obtain a detection result;
determining whether the tooling product in the transmission process is blocked or not according to the detection result;
under the condition that the tool product is determined to be blocked, the tool product needing to be blocked is blocked at the transmission position corresponding to the limiting mechanism;
and controlling an actuating mechanism in the transmission process to convey the tool products blocked at the transmission position to a first target area corresponding to the types of the tool products, and inputting the tool products which do not need to be blocked to a second target area so as to classify the tool products.
9. The method of claim 8,
obtain the image of frock product, include: acquiring images respectively acquired before and after the rotation operation of the tool product to obtain at least two images;
detecting the tool product according to the image to obtain a detection result, comprising: detecting the types of the at least two images to obtain at least two detection results;
the definite pair under the condition that the frock product blockked, with the transmission position department that stop gear corresponds blocks the frock product that needs block, include: and controlling a corresponding limiting mechanism to block the tooling product based on each detection result in the at least two detection results.
10. The method of claim 9, wherein the at least two images comprise: a first image and a second image; detecting the types of the at least two images to obtain at least two detection results, including:
controlling a vision acquisition device to acquire the first image of the tooling product in a first direction, and detecting the first image to obtain a first detection result; controlling a steering mechanism to rotate the tooling product by a preset angle, so that the tooling product is positioned in a second direction; controlling the vision acquisition equipment to continuously acquire a second image of the tooling product after the vision acquisition equipment rotates by a preset angle; detecting the second image to obtain a second detection result; controlling an actuating mechanism in the transmission process to convey the tooling product blocked at the transmission position to a first target area corresponding to the type of the tooling product, wherein the method comprises the following steps: conveying the tooling products to corresponding target areas according to the first detection result and the second detection result so as to classify the tooling products, wherein the target areas comprise: a first sub-region and a second sub-region in the first target region.
11. The utility model provides a frock product classification system which characterized in that includes:
the vision acquisition equipment is used for acquiring images of the tooling products;
the computing equipment is connected with the vision acquisition equipment and used for detecting the tooling product according to the image to obtain a detection result and determining a target area of the tooling product according to the detection result;
and the classifying mechanism is used for conveying the tool products to corresponding target areas so as to classify the tool products, wherein different target areas correspond to different tool product types.
12. The utility model provides a frock product classification method which characterized in that includes:
acquiring an image of a tooling product;
detecting the tool product according to the image to obtain a detection result;
and conveying the tooling products to different target areas according to the detection result so as to classify the tooling products, wherein the different target areas correspond to different tooling product types.
13. A non-volatile storage medium, characterized in that the non-volatile storage medium includes a stored program, and when the program runs, the non-volatile storage medium is controlled to execute the tool product classification method according to any one of claims 8 to 10.
14. A processor, configured to execute a program, wherein the program executes the tooling product classification method according to any one of claims 8 to 10.
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