CN112797944B - Flexibility detection method, device, equipment and computer readable storage medium - Google Patents
Flexibility detection method, device, equipment and computer readable storage medium Download PDFInfo
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Abstract
The application provides a flexible detection method, a flexible detection device, equipment and a computer-readable storage medium, wherein the flexible detection method is applied to the flexible detection equipment, the flexible detection equipment comprises a hardware module used for executing tasks, and the method comprises the following steps: receiving detection data of the workpiece sent by the hardware module; detecting whether the detection data is complete or not, and if the detection data is incomplete, acquiring incomplete degree information; calculating according to the incomplete degree information to obtain type selection information; and generating a terminal control instruction according to the type selection information and sending the terminal control instruction to an execution terminal so that the execution terminal adjusts the hardware module according to the terminal control instruction. The method fully utilizes the machine vision detection technology, realizes the functions of full-automatic contour detection and closed-loop feedback, does not need manual participation in the whole closed-loop process, and has wide application range.
Description
Technical Field
The present application relates to the field of computer vision technology and industrial inspection technology, and in particular, to a flexible inspection method, apparatus, device, and computer-readable storage medium.
Background
As an important technology in the current industry, the machine vision inspection technology is widely applied to various fields such as content-based image retrieval, automobile safety, video monitoring, and robotics, and along with the development of the technology, the machine vision inspection technology is applied to more and more fields to meet the ever-increasing market demand.
The current flexible detection device has unreasonable structural design, low working efficiency and small detection range, and can not meet the requirements of full-automatic contour detection.
Disclosure of Invention
The application aims to provide a flexible detection method, a flexible detection device, flexible detection equipment and a computer readable storage medium, so that full-automatic contour detection of the flexible detection equipment is realized, and the application range is wide.
The purpose of the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a flexibility detection method, where the flexibility detection method is applied to a flexibility detection apparatus, where the flexibility detection apparatus includes a hardware module for performing a task, and the method includes: receiving detection data of the workpiece sent by the hardware module; detecting whether the detection data is complete or not, and if the detection data is incomplete, acquiring incomplete degree information; calculating according to the incomplete degree information to obtain type selection information; and generating a terminal control instruction according to the type selection information and sending the terminal control instruction to an execution terminal so that the execution terminal adjusts the hardware module according to the terminal control instruction. This technical scheme's beneficial effect lies in, whether the detection data that flexible check out test set can judge the work piece is complete, if the detection data of work piece is incomplete, can acquire incomplete degree information to according to incomplete degree information adjustment hardware module, realize the function of full-automatic contour detection and closed loop feedback, whole closed loop process need not artifical the participation, and application scope is wide.
In some optional embodiments, the method further comprises: and respectively generating a task control instruction corresponding to each hardware module in the hardware module, and respectively sending each task control instruction to the corresponding hardware module so that each hardware module executes the corresponding task according to the received task control instruction. The technical scheme has the advantages that each hardware module in the hardware module can independently work according to the received task control instruction, the hardware modules are not interfered with each other, and the working efficiency of the flexible detection equipment is improved.
In some optional embodiments, the separately generating the task control instruction corresponding to each hardware module in the hardware module includes: and respectively generating a task control instruction corresponding to each hardware module in the hardware modules in a multithreading mode. The technical scheme has the advantages that the flexible detection equipment adopts a multithreading mode to manage hardware, any hardware can be added or deleted under the non-stop state, and the working efficiency of the flexible detection equipment is further improved.
In some optional embodiments, the detecting whether the detection data is complete includes: acquiring reference data corresponding to the workpiece in the current process; and detecting whether the detection data is complete according to the reference data. The technical scheme has the beneficial effects that the flexible detection equipment can judge whether the detection data is complete or not according to the reference data, so that the working efficiency and the operation accuracy are improved.
In some optional embodiments, the type selection information includes hardware types and a number corresponding to each of the hardware types. The technical scheme has the advantages that the adjustment range of the hardware can comprise the type of the hardware and the number of the corresponding types of hardware, the adjustment of the hardware module can be realized by changing the type of the hardware and the number of the corresponding types of hardware, and the application range is wide.
In some optional embodiments, the type selection information further includes location information corresponding to each hardware type; the generating a terminal control instruction according to the type selection information and sending the terminal control instruction to an execution terminal so that the execution terminal adjusts the hardware module according to the terminal control instruction comprises the following steps: and generating the terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal can position and install each hardware module in the hardware module according to the terminal control instruction. The technical scheme has the advantages that on one hand, the adjustment range of the hardware can also comprise the adjustment of the position of the hardware, the adjustment of a hardware module can be realized by changing the position of the hardware, and the application range is wide; on the other hand, a corresponding terminal control instruction can be generated according to the type selection information, and each hardware module in the hardware module is positioned and installed by an execution terminal, such as a manipulator, according to the terminal control instruction, so that the working efficiency of the flexible detection equipment is further improved.
In some optional embodiments, the method further comprises: and respectively generating a parameter control instruction corresponding to each hardware module in the hardware module, and respectively sending each parameter control instruction to the corresponding hardware module so that each hardware module sets parameters according to the received parameter control instruction. The technical scheme has the advantages that each hardware module in the hardware module can automatically complete the adjustment of the internal parameters of the hardware according to the received parameter control instruction, the detection capability of the flexible detection equipment is further improved on the basis of realizing closed-loop feedback, and the application range is wide.
In some optional embodiments, the hardware module comprises a first hardware module and a second hardware module; the method further comprises the following steps: receiving a first data request sent by the first hardware module, wherein the first data request is used for sending data to the second hardware module, and the first data request comprises data in a first format; acquiring data in a second format corresponding to the second hardware module according to the data in the first format; and sending the data in the second format to the second hardware module. The technical scheme has the advantages that the data in the second format corresponding to the second hardware module can be obtained through the data in the first format of the first data request, so that data interaction between the first hardware and the second hardware is realized, and the cooperative work capacity between different hardware is improved.
In some optional embodiments, the obtaining, according to the data in the first format, the data in the second format corresponding to the second hardware module includes: converting the data in the first format into a data instruction; and converting the data instruction into the data in the second format. The technical scheme has the advantages that the data in the first format can be converted into the data in the second format through the data instruction, so that the data interaction efficiency between the first hardware and the second hardware is further improved, the data in the first format does not need to be directly converted into the data in the second format, the conversion between the data in different formats can be realized as long as the conversion between the data in any format and the data instruction can be realized, and the expandability is greatly improved.
In a second aspect, the present application provides a flexible detection apparatus, a flexible detection device includes the flexible detection apparatus and a hardware module for performing a task, the flexible detection apparatus includes: the data receiving module is used for receiving the detection data of the workpiece sent by the hardware module; the complete detection module is used for detecting whether the detection data is complete or not, and if the detection data is incomplete, incomplete degree information is acquired; the model selection calculation module is used for calculating to obtain model selection information according to the incomplete degree information; and the terminal control module is used for generating a terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal adjusts the hardware module according to the terminal control instruction.
In some optional embodiments, the apparatus further comprises a task control module, the task control module is to: and respectively generating a task control instruction corresponding to each hardware module in the hardware module, and respectively sending each task control instruction to the corresponding hardware module so that each hardware module executes the corresponding task according to the received task control instruction.
In some optional embodiments, the task control module is to: and respectively generating a task control instruction corresponding to each hardware module in the hardware modules in a multithreading mode.
In some optional embodiments, the integrity detection module comprises: the data acquisition unit is used for acquiring reference data corresponding to the workpiece in the current working procedure; and the data detection unit is used for detecting whether the detection data is complete or not according to the reference data.
In some optional embodiments, the type selection information includes hardware types and a number corresponding to each of the hardware types.
In some optional embodiments, the type selection information further includes location information corresponding to each hardware type;
the terminal control module is used for: and generating the terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal can position and install each hardware module in the hardware module according to the terminal control instruction.
In some optional embodiments, the apparatus further comprises a parameter control module to: and respectively generating a parameter control instruction corresponding to each hardware module in the hardware module, and respectively sending each parameter control instruction to the corresponding hardware module so that each hardware module sets parameters according to the received parameter control instruction.
In some optional embodiments, the hardware module comprises a first hardware module and a second hardware module; the device also comprises a data transfer module, wherein the data transfer module comprises: a request receiving submodule, configured to receive a first data request sent by the first hardware module, where the first data request is used to send data to the second hardware module, and the first data request includes data in a first format; the format conversion submodule is used for acquiring data in a second format corresponding to the second hardware module according to the data in the first format; and the data sending submodule is used for sending the data in the second format to the second hardware module.
In some optional embodiments, the format conversion module comprises: the instruction conversion unit is used for converting the data in the first format into a data instruction; and the data conversion unit is used for converting the data instruction into the data in the second format.
In a third aspect, the present application provides a flexible detection apparatus, which includes a memory, a processor, and a hardware module for performing tasks, where the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.
In some optional embodiments, the flexible inspection apparatus is a 3D profile inspector.
In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of any of the methods described above.
Drawings
The present application is further described below with reference to the drawings and examples.
Fig. 1 is a schematic flow chart of a flexibility detection method provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of detecting whether the detection data is complete according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a flexibility detection method provided in an embodiment of the present application;
FIG. 4 is a schematic flow chart of a flexibility detection method provided in an embodiment of the present application;
FIG. 5 is a schematic flow chart of a flexibility detection method provided in an embodiment of the present application;
fig. 6 is a schematic flowchart of format conversion on data according to an embodiment of the present application;
FIG. 7 is a schematic flow chart of a flexibility detection method provided in an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a flexible detection apparatus provided in an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a complete detection module according to an embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram of a flexible detection apparatus provided in an embodiment of the present application;
FIG. 11 is a schematic structural diagram of a flexible testing device according to an embodiment of the present disclosure;
FIG. 12 is a schematic structural diagram of a flexible testing device according to an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of a data relay module according to an embodiment of the present application;
fig. 14 is a schematic structural diagram of a format conversion sub-module provided in an embodiment of the present application;
FIG. 15 is a block diagram of a flexible testing device according to an embodiment of the present disclosure;
fig. 16 is a schematic structural diagram of a program product for implementing a flexible detection method according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1, an embodiment of the present application provides a flexibility detection method, which may be applied to a flexibility detection apparatus 200, where the flexibility detection apparatus 200 may include a flexibility detection device and a hardware module for performing a task, and the method includes steps S101 to S104.
Step S101: and receiving the detection data of the workpiece sent by the hardware module. Specifically, the flexible inspection apparatus 200 may be a 3D profile inspection apparatus, the flexible inspection apparatus 200 may perform profile scanning on a workpiece, the inspection data of the workpiece may be profile inspection data of the workpiece, the hardware module may include a plurality of hardware modules, and the hardware modules may be sensors or machine rails.
Step S102: and detecting whether the detection data is complete or not, and if the detection data is incomplete, acquiring incomplete degree information. Specifically, the incomplete detection data may be incomplete contour detection data of the workpiece, the contour data of the workpiece may include, for example, length data, width data, height data, and curvature data of the workpiece, the incomplete detection data of the workpiece may be a case where the detection data includes only the length data of the workpiece, and the incomplete degree information may be that the detection data lacks the width data, the height data, and the curvature data.
In some embodiments of the present application, referring to fig. 2, the step S102 may include steps S201 to S202.
Step S201: and acquiring reference data corresponding to the workpiece in the current process. The reference data corresponding to the workpiece may be workpiece contour data required by the current process, and specifically, the reference data corresponding to the workpiece on the current process may include contour data of the workpiece, such as length data, width data, height data, and curvature data of the workpiece.
Step S202: and detecting whether the detection data is complete according to the reference data. By comparing the reference data with the detection data, it can be judged whether the detection data is complete. In particular, the reference data may include length data, width data, height data, and curvature data of the workpiece. If the detection data lack any one or more of the length data, the width data, the height data, and the curvature data, the detection data are incomplete, and if the detection data include the length data, the width data, the height data, and the curvature data of the workpiece, the detection data are complete.
Step S103: and calculating to obtain type selection information according to the incomplete degree information. The workpiece with any contour can be matched with corresponding type selection information, full-automatic contour detection is achieved, and the application range is wide.
In some embodiments of the present application, the type selection information may include hardware types and a corresponding number of each of the hardware types. The hardware module is adjusted by selecting the hardware with the corresponding type and the number corresponding to the type of the hardware, so that the detection range is enlarged.
In some embodiments of the present application, the type selection information may further include location information corresponding to each of the hardware types. And the hardware module is adjusted by selecting the position of the corresponding type of hardware, so that the detection range is further expanded.
Step S104: and generating a terminal control instruction according to the type selection information and sending the terminal control instruction to an execution terminal so that the execution terminal adjusts the hardware module according to the terminal control instruction. Specifically, the execution terminal can be a mechanical arm, the adjustment of the hardware module can be completed by the mechanical arm, manual operation is not needed, and the working efficiency is improved.
In some embodiments of the present application, the step S104 may include: and generating the terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal positions and installs each hardware module in the hardware module according to the terminal control instruction. And each hardware module in the hardware module is positioned and installed through the execution terminal, so that the hardware module is adjusted, and the working efficiency is further improved.
Referring to fig. 3, an embodiment of the present application further provides a flexibility detection method, where the method includes steps S101 to S104 and S105.
Step S105: and respectively generating a task control instruction corresponding to each hardware module in the hardware module, and respectively sending each task control instruction to the corresponding hardware module so that each hardware module executes the corresponding task according to the received task control instruction. Each hardware can work independently according to the received task control instruction, the hardware does not interfere with each other, and the working efficiency of the flexible detection equipment 200 is improved.
In some embodiments of the present application, the step S105 may include: and respectively generating a task control instruction corresponding to each hardware module in the hardware modules in a multithreading mode. Hardware is managed in a multi-thread mode, and any hardware can be added or deleted in a non-shutdown state, so that the working efficiency of the flexible detection device 200 is improved.
Referring to fig. 4, an embodiment of the present application further provides a flexible detection method, where the method includes S101 to S104, and S106.
Step S106: and respectively generating a parameter control instruction corresponding to each hardware module in the hardware module, and respectively sending each parameter control instruction to the corresponding hardware module so that each hardware module sets parameters according to the received parameter control instruction. Each hardware module in the hardware module can automatically complete the adjustment of the internal parameters of the hardware according to the received parameter control instruction, so that the detection capability of the flexible detection equipment 200 is further improved, and the application range is wide.
In some embodiments of the application, the hardware module may include a first hardware module and a second hardware module, and the detection range may be enlarged by providing a plurality of hardware modules, so as to facilitate adjustment of the hardware module.
Referring to fig. 5, an embodiment of the present application further provides a flexibility detection method, where the method includes steps S101 to S104 and S107 to S109.
Step S107: receiving a first data request sent by the first hardware module, where the first data request is used to send data to the second hardware module, and the first data request includes data in a first format. Specifically, the first hardware module and the second hardware module may be based on different communication protocols, the first hardware module may be based on a TCP/IP communication protocol, and the second hardware module may be based on a Modbus communication protocol.
Step S108: and acquiring data in a second format corresponding to the second hardware module according to the data in the first format. In particular, data in a first format may be parsed and encoded into data in a second format.
Step S109: and sending the data in the second format to the second hardware module. The data interaction between different hardware based on different communication protocols can be realized by receiving a first data request sent by a first hardware module, acquiring data in a second format according to the data in the first format and sending the data in the second format to a second hardware module.
Referring to fig. 6, in some embodiments of the present application, the step S108 may include steps S301 to S302.
Step S301: and converting the data in the first format into a data instruction. In a specific implementation manner, data in different formats can be converted into a unified instruction, so that information processing is facilitated.
Step S302: and converting the data instruction into the data in the second format. In a specific embodiment, the unified instruction can be converted into data in different formats, the data interaction efficiency between the first hardware and the second hardware is further improved, the data in the first format does not need to be directly converted into the data in the second format, the conversion between the data in different formats can be realized as long as the conversion between the data in any format and the data instruction can be realized, and the expandability is greatly improved.
Referring to fig. 7, an embodiment of the present application further provides a flexibility detection method, where the method includes steps S401 to S409.
Step S401: a detect-in-place signal is received. In particular, the detected-in-place signal may be a profile measurement in-place signal, and when the detected-in-place signal is received, the subsequent operation of the flexible detection may be performed.
Step S402: the software system generates control instructions. The software system can be used for executing the flexible detection method, and after receiving the detection positioning signal, the software system can generate a control instruction and send the control instruction to the robot actuator.
Step S403: and the tail end of the robot executor acts. The robot effector end-point may position and install the hardware according to the control instructions of the software system. The robot effector end is, for example, a robot arm and the hardware is, for example, a sensor or a machine guide.
Step S404: a hardware in-place signal is received. When the hardware in-place signal is received, the next step of operation can be carried out.
Step S405: and scanning the outline of the workpiece. After the workpiece is subjected to contour scanning, contour scanning data of the workpiece can be acquired.
Step S406: and (5) performing algorithm processing by a software system. The software system can process the profile scanning data of the workpiece through a preset algorithm to obtain profile data required by detection.
Step S407: detecting whether the contour data is complete, if the contour data is incomplete, executing step S402; if the contour data is complete, go to step S408. Specifically, whether the contour data is complete or not can be detected by comparing preset reference data and the contour data.
Step S408: and detecting a specific contour index. Further inspection of the workpiece with complete profile data can be performed.
Step S409: and outputting a detection result.
On one hand, the flexible detection method can realize full-automatic contour detection; on one hand, the workpiece with any contour can be detected, and the application scope of the system is greatly improved; on one hand, closed loop detection can be realized, and the efficiency of the system is improved; on the other hand, the software system can integrally control all the connecting hardware, so that data can be managed uniformly.
Referring to fig. 8, embodiments of the present application further provide a flexible detection apparatus, which may include: the data receiving module 101 may be configured to receive detection data of the workpiece sent by the hardware module; a complete detection module 102, configured to detect whether the detection data is complete, and if the detection data is incomplete, obtain incomplete degree information; the model selection calculation module 103 may be configured to calculate to obtain model selection information according to the incompleteness degree information; the terminal control module 104 may be configured to generate a terminal control instruction according to the type selection information and send the terminal control instruction to an execution terminal, so that the execution terminal adjusts the hardware module according to the terminal control instruction. On one hand, the flexible detection device receives detection data sent by a hardware module through the data receiving module 101, the complete detection module 102 acquires incomplete degree information, the type selection calculation module 103 calculates to obtain type selection information according to the incomplete degree information, and the terminal control module 104 generates a terminal control instruction according to the type selection information and sends the terminal control instruction to the execution terminal, so that the execution terminal adjusts the hardware module according to the terminal control instruction, a closed-loop feedback function is realized, and the detection efficiency is improved; on the other hand, workpieces with any profiles can be matched with corresponding type selection information, full-automatic profile detection is achieved, and the application range is wide.
Referring to fig. 9, in some embodiments of the present application, the integrity detection module 102 may include: a data obtaining unit 1021, configured to obtain reference data corresponding to the workpiece in the current process; the data detection unit 1022 may be configured to detect whether the detection data is complete according to the reference data. Specifically, the reference data corresponding to the workpiece on the current process may include profile data of the workpiece, such as length data, width data, height data, and curvature data of the workpiece. If the detection data lack any one or more of the length data, the width data, the height data and the curvature data, the detection data are incomplete, and if the detection data comprise the length data, the width data, the height data and the curvature data of the workpiece, the detection data are complete.
In some embodiments of the present application, the type selection information may include hardware types and a number corresponding to each of the hardware types. The hardware module is adjusted by selecting the hardware with the corresponding type and the number corresponding to the type of the hardware, so that the detection range is enlarged.
In some embodiments of the present application, the type selection information may further include location information corresponding to each of the hardware types. And the hardware module is adjusted by selecting the position of the corresponding type of hardware, so that the detection range is further expanded.
The terminal control module 104 may be further configured to: and generating the terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal can position and install each hardware module in the hardware module according to the terminal control instruction. Specifically, the execution terminal can be a mechanical arm, the adjustment of the hardware module can be completed by the mechanical arm, manual operation is not needed, and the working efficiency is improved. And each hardware module in the hardware module is positioned and installed through the execution terminal, so that the hardware module is adjusted, and the working efficiency is further improved.
Referring to fig. 10, in some embodiments of the present application, the flexible detection device may further include a task control module 105, and the task control module 105 may be configured to: and respectively generating a task control instruction corresponding to each hardware module in the hardware module, and respectively sending each task control instruction to the corresponding hardware module so that each hardware module executes the corresponding task according to the received task control instruction. Each hardware can work independently according to the received task control instruction, the hardware does not interfere with each other, and the working efficiency of the flexible detection equipment 200 is improved.
In some embodiments of the present application, the task control module 105 may be further configured to: and respectively generating a task control instruction corresponding to each hardware module in the hardware modules in a multithreading mode. Hardware is managed in a multi-thread mode, and any hardware can be added or deleted in a non-shutdown state, so that the working efficiency of the flexible detection device 200 is improved. Referring to fig. 11, in some embodiments of the present application, the flexibility detection apparatus may further include a parameter control module 106, and the parameter control module 106 may be configured to: and respectively generating a parameter control instruction corresponding to each hardware module in the hardware module, and respectively sending each parameter control instruction to the corresponding hardware module, so that each hardware module sets parameters according to the received parameter control instruction. Each hardware module in the hardware module can automatically complete the adjustment of the internal parameters of the hardware according to the received parameter control instruction, so that the detection capability of the flexible detection equipment 200 is further improved, and the application range is wide.
In some embodiments of the application, the hardware module may include a first hardware module and a second hardware module, and by setting the plurality of hardware modules, the detection range may be expanded, which facilitates adjustment of the hardware module.
Referring to fig. 12-13, in some embodiments of the present application, the flexibility detection apparatus may further include a data relay module 107, and the data relay module 107 may include: a request receiving submodule 1071, configured to receive a first data request sent by the first hardware module, where the first data request is used to send data to the second hardware module, and the first data request includes data in a first format; a format conversion module 1072, configured to obtain data in a second format corresponding to the second hardware module according to the data in the first format; a data sending sub-module 1073, configured to send the data in the second format to the second hardware module. Specifically, the first hardware module and the second hardware module may be based on different communication protocols, the first hardware module may be based on a TCP/IP communication protocol, and the second hardware module may be based on a Modbus communication protocol, and may parse and encode data in the first format into data in the second format. The data interaction between different hardware based on different communication protocols can be realized by receiving a first data request sent by a first hardware module, acquiring data in a second format according to the data in the first format and sending the data in the second format to a second hardware module.
Referring to fig. 14, in some embodiments of the present application, the format conversion sub-module 1072 may include: an instruction conversion unit 1072a, operable to convert said data in said first format into data instructions; a data conversion unit 1072b may be configured to convert the data instruction into data in the second format. By converting the data in the first format into the data instruction and converting the data instruction into the data in the second format, the data interaction efficiency between the first hardware and the second hardware is further improved, the data in the first format does not need to be directly converted into the data in the second format, the conversion between the data in different formats can be realized as long as the conversion between the data in any format and the data instruction can be realized, and the expandability is greatly improved.
Referring to fig. 15, an embodiment of the present application further provides a flexible detection apparatus 200, where the flexible detection apparatus 200 may include at least one memory 210, at least one processor 220, a hardware module (not shown) for performing tasks, and a bus 230 connecting different platform systems, in a specific embodiment, the memory 210 may store a computer program, and the processor 220 may implement the foregoing flexible detection method when executing the computer program.
In some embodiments of the present application, the processor 220 may communicate with each hardware module in the hardware module, the processor 220 integrates a plurality of interfaces accessible to the hardware, and the hardware may receive different task control commands from the processor 220 through different interface IDs, such as a port number or a MAC address, on one hand, the processor 220 may integrally control all connection hardware, so as to facilitate unified management of data, and on the other hand, each hardware may independently work according to the received task control command, and the hardware does not interfere with each other, thereby improving the work efficiency of the flexible detection device 200.
The memory 210 may include readable media in the form of volatile memory, such as random access memory (pram) 211 and/or cache memory 212, and may further include Read Only Memory (ROM) 213.
The memory 210 further stores a computer program, and the computer program can be executed by the processor 220, so that the processor 220 executes the steps of the flexibility detection method in the embodiment of the present application. Memory 210 may also include a program/utility 214 having a set (at least one) of program modules 215, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
Accordingly, processor 220 may execute the computer programs described above, as well as may execute programs/utilities 214.
The flexible detection device 200 can also communicate with one or more external devices 240, such as a keyboard, pointing device, bluetooth device, etc., and also with one or more devices capable of interacting with the flexible detection device 200, and/or with any device (e.g., router, modem, etc.) that enables the flexible detection device 200 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interfaces 250. Also, the flexible detection device 200 can communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 260. The network adapter 260 may communicate with other modules of the flexible test device 200 via the bus 230. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the flexible test device 200, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
Embodiments of the present application further provide a computer-readable storage medium, which is used to store a computer program, where the computer program is executed to implement the steps of the flexible detection method in the embodiments of the present application. Fig. 16 shows a program product 300 for implementing the method provided in this embodiment, which may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be executed on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a wide area network (wan), or may be connected to AN external computing device (e.g., through the internet using AN internet service provider).
The foregoing description and drawings are only for purposes of illustrating the preferred embodiments of the present application and are not intended to limit the present application, which is, therefore, to the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present application.
Claims (13)
1. A flexibility detection method is applied to flexibility detection equipment, the flexibility detection equipment is a 3D contour detection instrument, the flexibility detection equipment comprises a hardware module for executing tasks, the hardware module comprises a plurality of hardware modules, each hardware module comprises a sensor, and the method comprises the following steps:
receiving detection data of the workpiece sent by the hardware module, wherein the detection data is contour detection data;
detecting whether the detection data is complete or not, and if the detection data is incomplete, acquiring incomplete degree information;
calculating according to the incomplete degree information to obtain type selection information;
generating a terminal control instruction according to the type selection information and sending the terminal control instruction to an execution terminal so that the execution terminal adjusts the hardware module according to the terminal control instruction;
the type selection information comprises hardware types and the number corresponding to each hardware type;
the type selection information also comprises position information corresponding to each hardware type;
the generating a terminal control instruction according to the type selection information and sending the terminal control instruction to an execution terminal so that the execution terminal adjusts the hardware module according to the terminal control instruction comprises:
and generating the terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal can position and install each hardware module in the hardware module according to the terminal control instruction.
2. The flexibility detection method of claim 1, wherein the method further comprises:
and respectively generating a task control instruction corresponding to each hardware module in the hardware module, and respectively sending each task control instruction to the corresponding hardware module so that each hardware module executes the corresponding task according to the received task control instruction.
3. The flexibility detection method according to claim 2, wherein the generating task control instructions corresponding to each of the hardware modules respectively includes:
and respectively generating a task control instruction corresponding to each hardware module in the hardware module by adopting a multithreading mode.
4. The flexible detection method according to claim 1, wherein the detecting whether the detection data is complete comprises:
acquiring reference data corresponding to the workpiece in the current process;
and detecting whether the detection data is complete according to the reference data.
5. The flexibility testing method of claim 1, further comprising:
and respectively generating a parameter control instruction corresponding to each hardware module in the hardware module, and respectively sending each parameter control instruction to the corresponding hardware module, so that each hardware module sets parameters according to the received parameter control instruction.
6. The flexibility detection method according to claim 1, wherein the hardware module comprises a first hardware module and a second hardware module;
the method further comprises the following steps:
receiving a first data request sent by the first hardware module, wherein the first data request is used for sending data to the second hardware module, and the first data request comprises data in a first format;
acquiring data in a second format corresponding to the second hardware module according to the data in the first format;
and sending the data in the second format to the second hardware module.
7. The flexibility detection method according to claim 6, wherein the obtaining data in a second format corresponding to the second hardware module according to the data in the first format includes:
converting the data in the first format into a data instruction;
and converting the data instruction into the data in the second format.
8. A compliance testing device, wherein a compliance testing apparatus comprises the compliance testing device and a hardware module for performing a task, the compliance testing device is a 3D profile tester, the hardware module comprises a plurality of hardware modules, each hardware module comprises a sensor, the compliance testing device comprises:
the data receiving module is used for receiving detection data of the workpiece sent by the hardware module, and the detection data is contour detection data;
the integrity detection module is used for detecting whether the detection data is intact or not, and acquiring incomplete degree information if the detection data is incomplete;
the model selection calculation module is used for calculating to obtain model selection information according to the incomplete degree information;
the terminal control module is used for generating a terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal can adjust the hardware module according to the terminal control instruction;
the type selection information comprises hardware types and the number corresponding to each hardware type;
the type selection information also comprises position information corresponding to each hardware type;
the terminal control module is used for:
and generating the terminal control instruction according to the type selection information and sending the terminal control instruction to the execution terminal so that the execution terminal positions and installs each hardware module in the hardware module according to the terminal control instruction.
9. The flexibility detection device of claim 8, wherein the device further comprises a task control module configured to:
and respectively generating a task control instruction corresponding to each hardware module in the hardware module, and respectively sending each task control instruction to the corresponding hardware module so that each hardware module executes the corresponding task according to the received task control instruction.
10. The flexibility detection device of claim 8 further comprising a parameter control module configured to:
and respectively generating a parameter control instruction corresponding to each hardware module in the hardware module, and respectively sending each parameter control instruction to the corresponding hardware module so that each hardware module sets parameters according to the received parameter control instruction.
11. The flexibility detection device according to claim 8, wherein the hardware module comprises a first hardware module and a second hardware module;
the device also comprises a data transfer module, wherein the data transfer module comprises:
a request receiving submodule, configured to receive a first data request sent by the first hardware module, where the first data request is used to send data to the second hardware module, and the first data request includes data in a first format;
the format conversion sub-module is used for acquiring data in a second format corresponding to the second hardware module according to the data in the first format;
and the data sending submodule is used for sending the data in the second format to the second hardware module.
12. A flexible inspection apparatus comprising a memory, a processor and hardware modules for performing tasks, the flexible inspection apparatus being a 3D profile inspection apparatus, the hardware modules comprising a plurality of hardware modules each comprising a sensor, the memory storing a computer program, the processor implementing the steps of the method according to any one of claims 1 to 7 when executing the computer program.
13. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| JP2007061979A (en) * | 2005-09-01 | 2007-03-15 | Sharp Corp | Visual sensor correction method for robot arm and computer program |
| CN102752151B (en) * | 2012-07-23 | 2014-09-10 | 北京泛华恒兴科技有限公司 | Measuring and controlling product management method and device based on flexibility testing technology |
| CN104281132A (en) * | 2014-09-24 | 2015-01-14 | 镇江市高等专科学校 | Information collection system and method for machine manufacturing workshop in production process based on machine vision |
| CN108989084A (en) * | 2018-06-11 | 2018-12-11 | 新疆玖富万卡信息技术有限公司 | Abnormal data monitoring method, apparatus and system |
| CN208795826U (en) * | 2018-08-27 | 2019-04-26 | 常德高迈新能源科技有限公司 | The battery core detection platform of power battery automatic production line |
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