CN112830206A - Panel positive and negative plate turnover based on computer vision detection - Google Patents
Panel positive and negative plate turnover based on computer vision detection Download PDFInfo
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- CN112830206A CN112830206A CN202011628594.2A CN202011628594A CN112830206A CN 112830206 A CN112830206 A CN 112830206A CN 202011628594 A CN202011628594 A CN 202011628594A CN 112830206 A CN112830206 A CN 112830206A
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- 238000001514 detection method Methods 0.000 title claims abstract description 77
- 230000007306 turnover Effects 0.000 title claims abstract description 55
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 238000004458 analytical method Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
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- 238000004519 manufacturing process Methods 0.000 description 3
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- 230000002159 abnormal effect Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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Abstract
The invention discloses a high-accuracy plate front and back face plate turnover device based on computer vision detection, which consists of a conveying device, a computer vision detection device and a conveying control device, wherein the conveying device comprises a chain plate conveying line and a plate turnover machine arranged on the chain plate conveying line, the computer vision detection device is arranged right above the conveying line, and the plate turnover machine is arranged behind the computer vision detection device; the computer vision detection device is connected with the conveying control device, and transmits the detection data to the conveying control device in real time after analog-to-digital conversion; the plate turnover machine is connected with the conveying control device, and after the control device receives detection data of the computer vision detection device and compares the detection data with a set value, the control device controls the plate turnover machine to start to turn over a plate conveyed to the plate turnover machine on the chain plate conveying line when the detection data is not within the range of the set value.
Description
Technical Field
The invention relates to the technical field of plate production devices, in particular to a plate front and back turning device based on computer vision detection.
Background
The plastic floor and other boards are usually divided into front and back surfaces, and during the production process of the boards, the boards in the processing process need to be turned over so that the boards are regularly positioned on a uniform orientation surface, thereby facilitating subsequent processing, stacking, packaging and the like. In the prior art, the plate turning operation of the plate in the processing process is generally performed by adopting a manual plate turning or a mechanical equipment plate turning, wherein the manual plate turning is low in efficiency and high in labor cost; the plate turnover equipment applied to the mechanical plate turnover comprises a color sensor, an automatic control component and the like, wherein the color sensor transmits a detection signal to the automatic controller, the plate turnover action is executed under the condition of meeting the program setting rule, the mechanical plate turnover has higher working efficiency and can be used for continuous production, and therefore, the mechanical plate turnover equipment is widely applied.
When mechanical equipment is used for turning the plate, because the surface color, the pattern, the glossiness, the granularity and the color uniformity of the plate are different, the condition that the front and back colors, the pattern and the texture of a plate product are similar exists in actual production, the resolution ratio of the color sensor is limited, the range of an identification area is limited, the resolution capability cannot cover the plate with a full color system and the front and back states are similar, the plate turning error is caused, the plate turning accuracy rate cannot be ensured, the normal processing of the plate is influenced, and the yield of the plate is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a high-accuracy plate front and back face plate turnover device based on computer vision detection.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the plate turning device comprises a conveying device, a computer vision detection device and a conveying control device, wherein the conveying device comprises a chain plate conveying line and a plate turning machine arranged on the chain plate conveying line, the computer vision detection device is arranged right above the conveying line, and the plate turning machine is arranged behind the computer vision detection device; the computer vision detection device is connected with the conveying control device, and transmits the detection data to the conveying control device in real time after analog-to-digital conversion; the plate turnover machine is connected with the conveying control device, and after the control device receives detection data of the computer vision detection device and compares the detection data with a set value, the control device controls the plate turnover machine to start to turn over a plate conveyed to the plate turnover machine on the chain plate conveying line when the detection data is not within the range of the set value.
Further, the computer vision detection device comprises a camera, a light source, an inductor and a detection controller, wherein the camera, the light source and the inductor are all connected with the detection controller, the camera, the light source and the inductor are right opposite to the chain plate conveying line, the inductor is arranged in front of the camera and the light source, when the inductor induces that plates are conveyed to the lower part of the computer vision detection device on the chain plate conveying line, the detection controller controls the camera to take a picture, the detection controller converts the upper surface data of the plates conveyed on the chain plate conveying line collected by the camera into data under RGB and HSV models and transmits the data to the transmission control device, the transmission control device compares the RGB data with various parameter values of the back surface of the preset plates under the RGB and HSV models and analyzes the color conditions of the front surface and the back surface of the plates conveyed on the chain plate conveying line by using a color analysis algorithm of RGB and MSV, after comparing with each set value, if the difference value of the single parameter is less than 10, judging that the data meets the requirement; and if the difference value of the single parameter is greater than or equal to 10, judging that the data is not in accordance with the requirement, and simultaneously controlling the plate turnover machine to start to turn over the plate which is conveyed on the chain plate conveying chain and photographed by the camera and is not in accordance with the requirement.
Furthermore, the plate front-back face plate turnover device further comprises a plate grabbing manipulator, and the plate grabbing manipulator is located at the front part of the chain plate conveying line.
Furthermore, plate trays to be detected are arranged on two sides of the plate grabbing manipulator, the plate trays to be detected are arranged on the lifting platform, the lifting platform is connected with the lifting platform control device, the upper portion of the lifting platform is provided with a sensing device which is connected with the lifting platform control device and used for sensing the top height of the lifting platform, the sensing device transmits sensing signals to the lifting platform control device in real time, and the lifting platform control device controls the lifting platform to lift so that the top height of the lifting platform is located at the same height in real time.
The board front and back face plate turnover device based on computer vision detection has the use method that:
(1) grabbing plates to be detected on a plate tray to be detected onto a chain plate conveying line through a plate grabbing manipulator, and automatically lifting the plate tray to be detected for a certain distance through a lifting platform so as to keep the top height of the lifting platform at the same height in real time;
(2) the plate to be detected is conveyed to the position below the computer vision detection device by the chain plate conveying line, when the sensor senses that the plate on the chain plate conveying line is conveyed to the lower portion of the computer vision detection device, the detection controller controls the camera to take a picture, the detection controller converts surface data of the plate conveyed on the chain plate conveying line collected by the camera into data under RGB and HSV models, and transmits the data to the conveying control device;
(3) the conveying control device compares data transmitted by the computer vision detection device with a preset value, controls the plate turnover machine not to be started under the condition of meeting the requirements, controls the plate turnover machine to be started under the condition of not meeting the requirements, and overturns the plate which is conveyed on the chain plate conveying chain and does not meet the requirements and is photographed by the camera.
Further, the comparing with the preset value comprises: comparing data transmitted by the computer vision detection device with various parameter values of the reverse side of a preset plate under RGB and HSV models, analyzing the color conditions of the front side and the reverse side of the plate conveyed on a chain plate conveying chain by using an RGB and HSV color analysis algorithm, comparing the color conditions with various set values, and judging that the data meets the requirements if the difference values of the single parameters are less than 10; if the difference value of the single parameter is greater than or equal to 10, judging that the data does not meet the requirement;
meanwhile, the back surface and the front surface of the plate are different, so that the back surface usually presents the condition of a single-color pattern without patterns or a single-color pattern, when color analysis is carried out, color image binarization is carried out, characteristic pattern extraction is carried out, comparison with preset pattern and pattern data is carried out, if the data is the same as the preset pattern and pattern data, the data is judged to be in accordance with the requirement, otherwise, the data is judged to be not in accordance with the requirement.
The back, the front portion all distinguish around with link joint transfer chain direction of delivery, the direction that the plate was placed in the transfer chain is preceding, plate direction of delivery is the back.
Compared with the prior art, the invention has the advantages that:
1. the manual work is saved, and the problem that when the plate turnover is abnormal due to the fact that the front side and the back side of the plate cannot be identified in the traditional mode is solved, the plate conveyed on the chain plate conveying line is monitored and turned in a manual plate turnover mode;
2. the plate front and back turning device is based on a computer vision detection technology, adopts a high-pixel camera to collect the upper surface data of plates conveyed on a chain plate conveying line, and analyzes and judges whether the plates conveyed on the chain plate conveying line should be turned through a specific algorithm;
3. the front and back panel turnover device disclosed by the invention is automatically controlled in the whole process, the monitoring and turnover efficiency is high, the manual operation is not needed, the labor cost is greatly saved, and the panel processing efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the present invention.
In the figure, 1-computer vision detection device, 21-chain plate conveying line, 22-plate turnover machine, 23-common conveying line, 3-plate grabbing mechanical arm and 4-plate tray to be detected.
Detailed Description
The invention will be further described with reference to the accompanying drawings, which are included to provide a further understanding of the invention to those skilled in the art, and the scope of the invention is not limited to the following embodiments. Any equivalent modifications made by those skilled in the art in the light of the teachings of this invention should be within the scope of this invention.
As shown in fig. 1 and 2, a plate material front and back side plate turnover device based on computer vision detection is composed of a conveying device, a computer vision detection device 1 and a conveying control device, wherein the conveying device comprises a chain plate conveying line 21 and a plate turnover machine 22 arranged on the chain plate conveying line 21, the computer vision detection device 1 is arranged right above the conveying line, and the plate turnover machine 22 is arranged behind the computer vision detection device 1; the computer vision detection device 1 is connected with the conveying control device, and transmits the detection data to the conveying control device in real time after analog-to-digital conversion; the plate turnover machine 22 is connected with the conveying control device, and after the control device receives the detection data of the computer vision detection device 1 and compares the detection data with a set value, the plate turnover machine 22 is controlled to start to turn over the plate conveyed to the plate turnover machine 22 on the chain plate conveying line 21 when the detection data is not within the range of the set value.
Further, the computer vision detection device 1 comprises a camera, a light source, a sensor and a detection controller, wherein the camera, the light source and the sensor are all connected with the detection controller, the camera, the light source and the sensor are right opposite to the chain plate conveying line 21, the sensor is arranged in front of the camera and the light source, when the sensor senses that plates are conveyed to the lower part of the computer vision detection device 1 on the chain plate conveying line 21, the detection controller controls the camera to take a picture, the detection controller converts the upper surface data of the plates conveyed on the chain plate conveying line collected by the camera into data under RGB and HSV models and transmits the data to the transmission control device, the transmission control device compares the data with various parameter values of preset plates under the RGB and HSV models on the back surface of the plates and analyzes the color conditions of the front surface and the back surface of the plates conveyed on the chain plate conveying line by using an RGB and HSV color analysis algorithm, after comparing with each set value, if the difference value of the single parameter is less than 10, judging that the data meets the requirement; and if the difference value of the single parameter is greater than or equal to 10, judging that the data is not in accordance with the requirement, and simultaneously controlling the plate turnover machine 22 to start to turn over the plate which is shot by the camera and conveyed on the chain plate conveying chain and is not in accordance with the requirement.
Further, the plate front and back face plate turnover device further comprises a plate grabbing manipulator 3, the plate grabbing manipulator 3 is located at the front portion of the chain plate conveying line 21, the lower portion of the plate grabbing manipulator 3 is provided with the chain plate conveying line 2, and a common conveying line 23 which is not a chain plate conveying line can be selected and used in a conveying line section at the lower portion of the plate turnover machine 22.
Furthermore, plate trays 4 to be detected are arranged on two sides of the plate grabbing manipulator 3, the plate trays 4 to be detected are arranged on a lifting platform, the lifting platform is connected with a lifting platform control device, a sensing device which is connected with the lifting platform control device and used for sensing the top height of the lifting platform is arranged on the upper portion of the lifting platform, the sensing device transmits sensing signals to the lifting platform control device in real time, the lifting platform control device controls the lifting platform to lift so that the top height of the lifting platform is at the same height in real time, namely, after the plate grabbing manipulator 3 grabs plates on the plate trays to be detected and moves to a chain plate conveying line 21, the top height of the lifting platform is lowered by the thickness value of one plate, the sensing device transmits the sensing signals to the lifting platform control device, and the lifting platform control device controls the lifting platform to lift by the height of the thickness value of one plate, the heights of the tops of the lifting platforms are in the same height in real time so that the plate grabbing mechanical arm 3 can grab the plate.
The board front and back face plate turnover device based on computer vision detection has the use method that:
(1) grabbing plates to be detected on a plate tray 4 to be detected onto a chain plate conveying line 21 through a plate grabbing manipulator 3, automatically lifting the plate tray 4 to be detected by a certain distance through a lifting platform to keep the top height of the lifting platform at the same height in real time, when the plates to be detected on the plate tray 4 to be detected are about to be grabbed, manually feeding or mechanically feeding can be adopted, and after feeding, an upper platform automatically descends by a certain distance to keep the top height of the lifting platform at the same height in real time;
(2) the plate to be detected is conveyed to the position below the computer vision detection device 1 by the chain plate conveying line 21, when the sensor senses that the plate on the chain plate conveying line 21 is conveyed to the lower portion of the computer vision detection device 1, the detection controller controls the camera to take a picture, the detection controller converts surface data of the plate conveyed on the chain plate conveying line collected by the camera into data under RGB and HSV models, and transmits the data to the conveying control device;
(3) the conveying control device compares the data transmitted by the computer vision detection device 1 with a preset value, controls the plate turnover machine 22 not to be started under the condition of meeting the requirements, controls the plate turnover machine 22 to be started under the condition of not meeting the requirements, and overturns the plate which is conveyed on the chain plate conveying chain photographed by the camera and does not meet the requirements.
Further, the comparing with the preset value comprises: comparing data transmitted by the computer vision detection device 1 with various parameter values of the reverse side of a preset plate under RGB and HSV models, analyzing the color conditions of the front side and the reverse side of the plate conveyed on a chain plate conveying chain by using an RGB and HSV color analysis algorithm, comparing the color conditions with various set values, and judging that the data meets the requirements if the difference values of the single parameters are less than 10; if the difference value of the single parameter is greater than or equal to 10, judging that the data does not meet the requirement;
meanwhile, the back surface and the front surface of the plate are different, so that the back surface usually presents the condition of a single-color pattern without patterns or a single-color pattern, when color analysis is carried out, color image binarization is carried out, characteristic pattern extraction is carried out, comparison with preset pattern and pattern data is carried out, if the data is the same as the preset pattern and pattern data, the data is judged to be in accordance with the requirement, otherwise, the data is judged to be not in accordance with the requirement.
The rear part and the front part are respectively distinguished by the conveying direction of the chain plate conveying line 21, the plate is placed in the front of the conveying line, and the conveying direction of the plate is in the rear.
Claims (4)
1. Panel positive and negative plate turnover based on computer vision detection, its characterized in that: the conveying device comprises a chain plate conveying line and a plate turnover machine arranged on the chain plate conveying line, the computer vision detection device is arranged right above the conveying line, and the plate turnover machine is arranged behind the computer vision detection device; the computer vision detection device is connected with the conveying control device, and transmits the detection data to the conveying control device in real time after analog-to-digital conversion; the plate turnover machine is connected with the conveying control device, and after the control device receives detection data of the computer vision detection device and compares the detection data with a set value, the control device controls the plate turnover machine to start to turn over a plate conveyed to the plate turnover machine on the chain plate conveying line when the detection data is not within the range of the set value.
2. The board front and back face plate turnover device based on computer vision detection as claimed in claim 1, wherein: the computer vision detection device comprises a camera, a light source, an inductor and a detection controller, wherein the camera, the light source and the inductor are all connected with the detection controller, the camera, the light source and the inductor are right opposite to the chain plate conveying line, and the inductor is arranged in front of the camera and the light source.
3. The board front and back face plate turnover device based on computer vision detection as claimed in claim 1, wherein: the plate front and back face plate turnover device further comprises a plate grabbing manipulator, and the plate grabbing manipulator is located at the front part of the chain plate conveying line.
4. The board front and back face plate turnover device based on computer vision detection as claimed in claim 3, wherein: the plate grabbing manipulator is characterized in that plate trays to be detected are arranged on two sides of the plate grabbing manipulator and are arranged on a lifting platform, the lifting platform is connected with a lifting platform control device, a sensing device which is connected with the lifting platform control device and used for sensing the top height of the lifting platform is arranged on the upper portion of the lifting platform, the sensing device transmits a sensing signal to the lifting platform control device in real time, and the lifting platform control device controls the lifting platform to lift so that the top height of the lifting platform is located at the same height in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011628594.2A CN112830206A (en) | 2020-12-30 | 2020-12-30 | Panel positive and negative plate turnover based on computer vision detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011628594.2A CN112830206A (en) | 2020-12-30 | 2020-12-30 | Panel positive and negative plate turnover based on computer vision detection |
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| Publication Number | Publication Date |
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| CN112830206A true CN112830206A (en) | 2021-05-25 |
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| CN202011628594.2A Pending CN112830206A (en) | 2020-12-30 | 2020-12-30 | Panel positive and negative plate turnover based on computer vision detection |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200394150Y1 (en) * | 2005-06-20 | 2005-08-30 | (주)진테크놀로지 | Vision inspection apparatus for semiconductor package having a rotating module for rotating a tray |
| CN105109979A (en) * | 2015-08-26 | 2015-12-02 | 卓达新材料科技集团有限公司 | Automatic plate turning and conveying device |
| CN108007865A (en) * | 2018-01-09 | 2018-05-08 | 科为升视觉技术（苏州）有限公司 | PCB automatic Feeding Detecting Systems and method based on image recognition |
| CN111361993A (en) * | 2018-12-26 | 2020-07-03 | 东莞科耀机电设备有限公司 | AOI automatic plate collecting and releasing machine |
| CN215158722U (en) * | 2020-12-30 | 2021-12-14 | 泰州市华丽新材料有限公司 | Panel positive and negative plate turnover |
-
2020
- 2020-12-30 CN CN202011628594.2A patent/CN112830206A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200394150Y1 (en) * | 2005-06-20 | 2005-08-30 | (주)진테크놀로지 | Vision inspection apparatus for semiconductor package having a rotating module for rotating a tray |
| CN105109979A (en) * | 2015-08-26 | 2015-12-02 | 卓达新材料科技集团有限公司 | Automatic plate turning and conveying device |
| CN108007865A (en) * | 2018-01-09 | 2018-05-08 | 科为升视觉技术（苏州）有限公司 | PCB automatic Feeding Detecting Systems and method based on image recognition |
| CN111361993A (en) * | 2018-12-26 | 2020-07-03 | 东莞科耀机电设备有限公司 | AOI automatic plate collecting and releasing machine |
| CN215158722U (en) * | 2020-12-30 | 2021-12-14 | 泰州市华丽新材料有限公司 | Panel positive and negative plate turnover |
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