CN112833789A - Automobile hub air hole position detection device, azimuth angle detection device and method - Google Patents
Automobile hub air hole position detection device, azimuth angle detection device and method Download PDFInfo
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- CN112833789A CN112833789A CN202110047451.0A CN202110047451A CN112833789A CN 112833789 A CN112833789 A CN 112833789A CN 202110047451 A CN202110047451 A CN 202110047451A CN 112833789 A CN112833789 A CN 112833789A
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Abstract
The invention discloses an automobile hub air hole position detection device, an azimuth angle detection device and an automobile hub air hole position detection method, wherein the automobile hub air hole position detection device and the azimuth angle detection device comprise a hub conveying device, a visual detection device and a control system, the hub conveying device mainly comprises a logistics conveying roller way and a hub positioning photoelectric switch, the hub conveying device conveys a hub to be detected to the area of the visual detection device, a visual controller controls to turn on an annular exposure light source according to signals of the hub positioning photoelectric switch, an industrial camera is started to photograph, calculate and transmit data of the current hub, detect the air hole azimuth angle, and after detection is completed, the hub conveying device conveys the detected hub to the next process, namely a mechanical hand grabbing position. The device for detecting the azimuth angle of the automobile hub air hole has the characteristics of high detection precision, high detection speed, high identification rate, stable detection, no influence of an external illumination environment, strong universality, convenience in operation, good controllability and the like.
Description
Technical Field
The invention relates to the technical field of automobile hubs, in particular to an automobile hub air hole position detection device, an azimuth angle detection device and an azimuth angle detection method.
Background
At present, in the automatic production process of automobile hubs, the hubs qualified in production are conveyed to a packaging workshop through a logistics transmission system; the packaging workshop is provided with an intelligent warehousing system which sorts the hubs transmitted by the logistics transmission system according to information such as sizes, styles, customers and vehicle types allocated, and stores the hubs into a stereoscopic warehouse respectively; the stereoscopic warehouse respectively carries out warehouse-out on the hubs of the corresponding storage units according to information such as the number, the mode and the materials of the wheel hub bales required by the process, and transmits the relevant data of the warehouse-out wheel type to the automatic stacking and packaging system; the automatic stacking and packaging system stacks and packages the ex-warehouse hubs according to the process requirements; the hub that the packing was accomplished is transported to commodity circulation delivery area, waits for the loading delivery. Wherein, most processes require 4 layers per bag, 5 per layer, or 5 layers per bag, 4 per layer, and the air hole direction of the hub is required to be outward and perpendicular to the periphery of the tray and the partition plate when the hub is stacked. At present, most wheel hub plants adopt robots to stack the wheel hubs, the air hole angle detection cameras are mounted on the arms of the robots, the cameras move in real time along with the movement of the manipulators, the working environment is unstable, when the detection is needed, the manipulators need to stop to corresponding positions to wait for detection, the action rhythm is elongated, and the stacking efficiency is greatly reduced; the detection success rate and the detection precision are greatly reduced under the influence of environmental illumination conditions, such as the change of day and night illumination conditions, the system frequently fails in detection and alarms, an operator needs to attend the system on site, and the automatic production efficiency is not high; especially, when different wheel types with large color difference are encountered, the air hole angle of the wheel hub cannot be accurately calculated in time, so that the requirement of a packaging process cannot be met after the wheel hub is packaged, the wheel hub needs to be manually unpacked and stacked again in a later period, and the labor intensity of personnel and the production cost are greatly increased.
Disclosure of Invention
In view of the above problems in the prior art, the present invention aims to provide a novel, stable, reliable, simple and efficient automobile hub air hole position detection device and azimuth angle detection device, which can meet the requirements of air hole position detection, angle detection calculation and hub transmission before stacking automobile hubs, have a simple mechanical structure, and a stable camera working environment, and particularly, the change of day and night light conditions does not affect the detection precision and the detection success rate, thereby greatly improving the stability and the accuracy of the system work. Simultaneously, wheel hub gas pocket angle detection and manipulator pile up neatly process are independent each other, and synchronous execution, pile up neatly in-process, the manipulator directly snatchs wheel hub, need not stop the wait, and the takt time shortens, and pile up neatly efficiency improves greatly.
In order to realize the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a device for detecting the position of an automobile hub air hole, which comprises a hub conveying device, a visual detection device and a control system, wherein a hub positioning photoelectric switch is arranged on the hub conveying device, the visual detection device is provided with a detection support, the detection support is arranged on the hub conveying device, an annular exposure light source is arranged on the detection support, an industrial camera is arranged in the center of the annular exposure light source, a visual controller is arranged on the side surface of the detection support, and the visual controller is in signal transmission with the hub positioning photoelectric switch and controls the annular exposure light source and the industrial camera to complete photographing, data operation and data transmission.
As the preferred technical scheme, a fixed base is arranged at the lower part of the hub conveying device, a logistics conveying roller way is arranged on the fixed base, and hub positioning photoelectric switches are arranged on two sides of the outlet side of the logistics conveying roller way.
As a preferred technical scheme, the device further comprises a protective closing device, and the protective closing device provides stable illumination environment and mechanical protection for visual detection.
According to a preferable technical scheme, the protective closing device comprises a protective cover, two transverse side plates of the protective cover along the hub transmission direction are arranged on the hub conveying device, two longitudinal side plates are vertically arranged between the two transverse side plates, and top plates are fixedly arranged at the top ends of the two transverse side plates and the two longitudinal side plates.
According to the preferable technical scheme, the longitudinal side plates are half-width plates, and the minimum distance between the lower edges of the longitudinal side plates and the upper plane of the conveying roller way can ensure that any type of hub can smoothly pass through the inlet and the outlet of the automobile hub air hole azimuth angle detection device.
The invention also provides an automobile hub air hole azimuth angle detection device which comprises any one of the automobile hub air hole position detection devices, wherein a vision controller compares current warehouse-out hub data read by an industrial bus according to image data obtained by photographing by an industrial camera to calculate a current hub air hole azimuth angle value, after detection is finished, the vision controller sends a detection success signal to a logistics conveying device and transmits a detection result to a palletizing robot through the industrial bus, and the logistics conveying device transmits the current hub to a manipulator grabbing position of the palletizing robot.
The invention also provides a method for detecting the azimuth angle of the automobile hub air hole, which is realized according to the device for detecting the azimuth angle of the automobile hub air hole and comprises the following steps in sequence:
s1, starting the system, performing self-checking on the system, and entering an automatic working mode after confirming that no abnormity exists;
s2, judging the current station state, executing S3 if the current station state is in turn, and executing S5 if the current station state is not in turn;
s3, stopping the logistics conveying roller way, scanning and detecting the central hole circle a and the air hole circle b of the hub in a preset scanning area according to the ex-warehouse data, and calculating the circle center O of the air hole circle bbAzimuth angle β at the hub surface;
s4, transmitting the successfully detected hub to the next station, and transmitting the air hole azimuth angle beta value to the palletizing robot;
and S5, reading the current warehouse out-warehouse state and the warehouse out-warehouse hub wheel type data, starting a logistics conveying roller way and requesting to enter a wheel.
The step S4 specifically includes:
s41, waiting for the next station, namely the robot palletizer arm to grab the hub position, and after sending a wheel-out allowing signal, the logistics conveying roller way transmits the hub which is successfully detected at present to the next station;
and S42, after the current hub leaves the hub positioning photoelectric switch, transmitting a detection result, namely the current hub air hole azimuth angle beta, to the palletizing robot, and adjusting the grabbing angle and stacking angle of the mechanical arm by the palletizing robot according to the hub air hole azimuth angle beta so as to ensure the requirement of the palletizing process on the hub palletizing angle.
Compared with the prior art, the invention has the beneficial effects that:
1. mechanical structure is simple, and camera operational environment is stable, and especially day and night light condition changes can not influence detection precision and detection success rate, has improved the stability and the accuracy of system's work greatly.
2. Wheel hub gas pocket angle detection and manipulator pile up neatly process are independent each other, and synchronous execution, pile up neatly in-process, the manipulator directly snatchs wheel hub, need not stop the wait, and the takt time shortens, and pile up neatly efficiency improves greatly.
3. The automobile wheel hub air hole position detection device is not only suitable for detecting the direction angle of the wheel hub air hole in the wheel hub stacking procedure, but also suitable for detecting the position of the wheel hub air hole and automatically plugging and unplugging the air hole plug in the wheel hub air tightness test process.
Drawings
FIG. 1 is a schematic structural diagram of an automobile hub air hole position detection device according to the present invention;
FIG. 2 is a flow chart of a detection method of the device for detecting the azimuth angle of the air hole of the automobile hub according to the present invention;
FIG. 3 is a flow chart of a detection method of the device for detecting the azimuth angle of the air hole of the automobile hub.
Reference numerals: 1. a hub positioning photoelectric switch; 2. a vision controller; 3. an industrial camera; 4. an annular exposure light source; 5. detecting the bracket; 6. a logistics conveying roller way; 7. a shield.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the technical solutions of the present invention, but are not intended to limit the scope of the present invention.
As shown in fig. 1, the device for detecting the position of the air hole of the automobile hub provided by the invention comprises: the wheel hub conveying device is provided with a wheel hub positioning photoelectric switch 1, the visual detection device is provided with a detection support 5, the detection support 5 is installed on the wheel hub conveying device, an annular exposure light source 4 is arranged on the detection support 5, an industrial camera 3 is arranged in the center of the annular exposure light source 4, a visual controller 2 is arranged on the side face of the detection support 5, and the visual controller 2 is in signal transmission with the wheel hub positioning photoelectric switch 1 and controls the annular exposure light source 4 and the industrial camera 3 to complete photographing, data operation and transmission; the control system controls the visual controller 2 to send a detection request signal to the hub conveying device, the hub conveying device conveys the hub to be detected to the hub positioning photoelectric switch 1, and after the visual detection device finishes detecting the hub air hole angle, the hub conveying device conveys the hub which is successfully detected to a mechanical hand grabbing position of the palletizing robot; the hub positioning photoelectric switch 1 is used for detecting whether a hub on the hub conveying device moves into the visual detection device or not and transmitting a signal to the visual controller 2, the visual controller 2 controls to start the annular exposure light source 4 according to the signal of the hub positioning photoelectric switch 1, and the industrial camera 3 is started to photograph, operate and transmit data of the current hub.
In the embodiment, the lower part of the hub conveying device is provided with a fixed base, a logistics conveying roller way 6 is arranged on the fixed base, and the logistics conveying roller way 6 bears the conveying hub, so that the hub can transfer and move on the logistics conveying roller way; hub positioning photoelectric switches 1 are arranged on two sides of the outlet side of the logistics conveying roller way 6; the device also comprises a protective closing device, wherein the protective closing device provides stable illumination environment and mechanical protection for visual detection; the protective sealing device comprises a protective cover 7, two transverse side plates of the protective cover 7 along the transmission direction of the hub are arranged on the hub conveying device, two longitudinal side plates are vertically arranged between the two transverse side plates, and top plates are fixedly arranged at the top ends of the two transverse side plates and the two longitudinal side plates; the longitudinal side plate is a half-width plate, and the minimum distance between the lower edge of the longitudinal side plate and the upper plane of the logistics conveying roller bed 6 can ensure that any type of hub smoothly passes through the inlet and the outlet of the automobile hub air hole azimuth angle detection device.
The automobile hub air hole position detection device is suitable for procedures of detection of the position of the hub air hole, automatic plugging and unplugging of the air hole plug and the like in the hub air tightness test process.
According to the invention, the vision controller judges whether the hub is moved into the vision detection device or not according to a signal transmitted by the hub positioning photoelectric switch; further, the visual controller calculates the azimuth angle of the air hole of the hub according to image data obtained by photographing by an industrial camera for detecting the angle of the air hole of the hub; and judging whether the hub can be moved out of the visual detection device or not according to the recognition completion result and the actually-measured direction angle value of the hub air hole.
The automobile hub air hole position detection device provided by the invention can be used for detecting the wheel hub air hole azimuth angle, the vision controller 2 compares the current ex-warehouse wheel hub data read by an industrial bus according to the image data obtained by photographing by an industrial camera 3, the current wheel hub air hole azimuth angle value is calculated, after the detection is finished, the vision controller 2 sends a detection success signal to the logistics conveying device, the detection result is transmitted to a palletizing robot through the industrial bus, and the logistics conveying roller way transmits the current wheel hub to the mechanical arm grabbing position of the palletizing robot.
The device for detecting the azimuth angle of the automobile hub air hole is mainly applied to detecting and calculating the angle of the automobile hub air hole before automatic stacking of automobile hubs, and has the characteristics of simple mechanical structure, stable camera working environment, no influence on detection precision and detection success rate due to especially day-day noctilucence line change, and great improvement on the stability and accuracy of system work. In addition, the automatic wheel hub stacking machine has the advantages that the wheel hub air hole angle detection and the manipulator stacking process are independent and synchronous in execution, the manipulator directly grabs the wheel hub in the stacking process, stopping and waiting are not needed, the takt time is shortened, the stacking efficiency is greatly improved, and the like.
According to the device for detecting the azimuth angle of the automobile hub air hole, disclosed by the invention, a control system controls a vision controller 2 to send a detection request signal to a hub conveying device, the hub conveying device conveys a hub to be detected to a hub positioning photoelectric switch 1, the hub positioning photoelectric switch detects whether the hub on the hub conveying device is moved into a vision detection device or not and transmits a signal to the vision controller 2, the vision controller 2 controls to turn on an annular exposure light source 4 according to the signal of the hub positioning photoelectric switch, an industrial camera 3 is started to photograph, calculate and transmit data of the current hub, and after the vision detection device finishes detection of the hub air hole angle, the hub conveying device conveys the hub which is successfully detected to a stacker robot manipulator grabbing position.
As shown in fig. 2 and 3, a detection method of an automobile hub air hole azimuth angle detection apparatus according to an embodiment of the present invention includes:
step 1, starting a system, performing self-checking on the system, and entering an automatic working mode after confirming that no abnormity exists;
step 2, judging the current station state, if the current station state is round, executing step 3, and if the current station state is round, executing step 5;
specifically, step 3 includes:
3.1, stopping the logistics conveying roller bed 6 and starting the visual detection device after the hub positioning photoelectric switch 1 in the logistics conveying device detects that the hub is in place;
step 3.2, after the visual detection device is started, firstly, a current hub photo is shot, and binarization and sharpening are carried out according to preset white balance, gray scale, concentration and the like to obtain an image F;
step 3.3, reading the wheel type model and the wheel type size of the current warehouse-out stacking, and defining the radius R in the image FACircular scanning area of (1) -circle A, and by RC-RBA ring-shaped scanning area-ring D;
step 3.4, firstly, scanning an image F in the circle A, detecting a circle a similar to a hub center hole in a prestored hub image H with the same size, and determining the circle a as a current hub center hole Ma;
if the central hole circle meeting the similarity requirement is not detected, jumping back to S32 for re-detection, when the detection times exceed 3 times and the circle a is still not detected, the system gives an alarm, and after the resetting is confirmed manually, the system is restarted;
step 3.5, if the circle a meeting the similarity requirement is detected, calculating the center coordinate point O of the circle a in the F planea(xa,ya). Wherein the reference origin of the F plane is the center R of the circle AAThe horizontal direction is the positive X direction, the vertical direction is the positive Y direction, XaIs point OaPixel value in the X direction, yaIs point OaPixel values in the Y direction;
meanwhile, scanning the image F in the ring D, detecting a circle b with the highest similarity with the hub air holes in the prestored wheel hub image H with the same size, identifying the circle b as the air hole Mb of the current wheel hub, and calculating a circle center coordinate point O of the circle b in the plane Fb(xb,yb). Wherein the reference origin of the F plane is the center R of the circle AAThe horizontal direction is the positive X direction, the vertical direction is the positive Y direction, XbIs point ObPixel value in the X direction, ybIs point ObPixel values in the Y direction;
according to point OaAnd ObDetermining a straight line LabAnd calculating the L and the predetermined base straight line according to the formula (1)OIs taken as the center O of the current air hole of the hubbIn the azimuth angle of the surface of the hub, in order to ensure that the mechanical arm of the palletizing robot has the shortest action path and reduce the action beat time, the angle is-180 degrees<β＝<180 deg., wherein LOIs in the F plane through OaAnd parallel to the line in the X direction;
specifically, step 4 includes:
4.1, waiting for the next station, namely a palletizing robot arm to grab a hub position, and after a wheel outlet allowing signal is sent out, transmitting the hub which is successfully detected at present to the next station by the logistics conveying roller bed 6;
4.2, after the current hub leaves the hub positioning photoelectric switch 1, transmitting a detection result, namely a current hub air hole azimuth angle beta value, to the stacking robot, and adjusting the grabbing angle and stacking angle of the mechanical arm by the stacking robot according to the hub air hole azimuth angle beta angle position so as to ensure the requirement of the stacking process on the hub stacking angle;
and 5, reading the current warehouse-out state and warehouse-out hub wheel type data, starting a logistics conveying roller way 6 and requesting to enter a wheel.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. Automobile wheel hub gas pocket position detection device, its characterized in that, including wheel hub conveyor, visual detection device and control system, wheel hub location photoelectric switch (1) is provided with on the wheel hub conveyor, visual detection device is provided with detects support (5), it installs to detect support (5) on the wheel hub conveyor, be provided with annular exposure light source (4) on detecting support (5), the center of annular exposure light source (4) is provided with industrial camera (3), the side of detecting support (5) is provided with visual controller (2), visual controller (2) and wheel hub location photoelectric switch (1) signal transmission and control annular exposure light source (4) and industrial camera (3) are accomplished and are shot and data operation, transmission.
2. The automobile hub air hole position detection device according to claim 1, wherein a fixed base is arranged at the lower part of the hub conveying device, a logistics conveying roller way (6) is arranged on the fixed base, and hub positioning photoelectric switches (1) are arranged on two sides of the outlet side of the logistics conveying roller way (6).
3. The automobile hub air hole position detection device of claim 2, further comprising a protective sealing device, wherein the protective sealing device provides stable illumination environment and mechanical protection for visual detection.
4. The automobile hub air hole position detection device according to claim 3, wherein the protective closing device comprises a protective cover (7), two transverse side plates of the protective cover (7) along the hub transmission direction are mounted on the hub conveying device, two longitudinal side plates are vertically mounted between the two transverse side plates, and top plates are fixedly mounted at the top ends of the two transverse side plates and the two longitudinal side plates.
5. The automobile hub air hole position detection device according to claim 4, wherein the longitudinal side plate is a half-plate, and the minimum distance between the lower edge of the longitudinal side plate and the upper plane of the logistics conveying roller way (6) can ensure that any type of hub can pass through the inlet and outlet of the automobile hub air hole position detection device smoothly.
6. The automobile hub air hole azimuth angle detection device is characterized by comprising the automobile hub air hole position detection device according to any one of claims 1-5, wherein the visual controller (2) compares current warehouse-out hub data read through an industrial bus according to image data obtained by photographing through the industrial camera (3) to calculate a current hub air hole azimuth angle value, after detection is completed, the visual controller (2) sends a detection success signal to the logistics conveying device (6) and transmits a detection result to the stacking robot through the industrial bus, and the logistics conveying device (6) transmits the current hub to a manipulator grabbing position of the stacking robot.
7. The automobile hub air hole azimuth angle detection method is realized according to the automobile hub air hole azimuth angle detection device of claim 6, and comprises the following steps in sequence:
s1, starting the system, performing self-checking on the system, and entering an automatic working mode after confirming that no abnormity exists;
s2, judging the current station state, executing S3 if the current station state is in turn, and executing S5 if the current station state is not in turn;
s3, stopping the logistics conveying roller way (6), scanning and detecting the central hole circle a and the air hole circle b of the hub in a preset scanning area according to the ex-warehouse data, and calculating the circle center O of the air hole circle bbAzimuth angle β at the hub surface;
s4, transmitting the successfully detected hub to the next station, and transmitting the air hole azimuth angle beta value to the palletizing robot;
and S5, reading the current warehouse out-warehouse state and the warehouse out-warehouse hub wheel type data, starting a logistics conveying roller way and requesting to enter a wheel.
8. The method for detecting the azimuth angle of the automobile hub air hole according to claim 7, wherein the step S4 specifically includes:
s41, waiting for the next station, namely the robot palletizer arm to grab the hub position, and after sending a wheel-out allowing signal, the logistics conveying roller way (6) transmits the hub which is successfully detected at present to the next station;
and S42, after the current hub leaves the hub positioning photoelectric switch (1), transmitting a detection result, namely the current hub air hole azimuth angle beta, to the palletizing robot, and adjusting the grabbing angle and the stacking angle of the mechanical arm by the palletizing robot according to the hub air hole azimuth angle beta to ensure the requirement of the palletizing process on the hub palletizing angle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113432585A (en) * | 2021-06-29 | 2021-09-24 | 沈阳工学院 | Non-contact hub position accurate measurement method based on machine vision technology |
| CN115753767A (en) * | 2022-11-15 | 2023-03-07 | 滨州戴森车轮科技有限公司 | Hub bolt hole blockage online detection device and method |
-
2021
- 2021-01-14 CN CN202110047451.0A patent/CN112833789A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113432585A (en) * | 2021-06-29 | 2021-09-24 | 沈阳工学院 | Non-contact hub position accurate measurement method based on machine vision technology |
| CN115753767A (en) * | 2022-11-15 | 2023-03-07 | 滨州戴森车轮科技有限公司 | Hub bolt hole blockage online detection device and method |
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