CN113147176A - Method for detecting operation specification of silk-screen link - Google Patents
Method for detecting operation specification of silk-screen link Download PDFInfo
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- CN113147176A CN113147176A CN202110368747.2A CN202110368747A CN113147176A CN 113147176 A CN113147176 A CN 113147176A CN 202110368747 A CN202110368747 A CN 202110368747A CN 113147176 A CN113147176 A CN 113147176A
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- 238000000034 method Methods 0.000 title claims abstract description 74
- 239000011521 glass Substances 0.000 claims abstract description 384
- 230000009471 action Effects 0.000 claims abstract description 102
- 238000007650 screen-printing Methods 0.000 claims abstract description 102
- 239000000463 material Substances 0.000 claims abstract description 65
- 230000033001 locomotion Effects 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 210000000707 wrist Anatomy 0.000 claims description 41
- 230000008569 process Effects 0.000 claims description 39
- 230000036544 posture Effects 0.000 claims description 34
- 210000003414 extremity Anatomy 0.000 claims description 29
- 230000001133 acceleration Effects 0.000 claims description 21
- 210000004247 hand Anatomy 0.000 claims description 4
- 230000006399 behavior Effects 0.000 description 34
- 238000012549 training Methods 0.000 description 11
- 230000002159 abnormal effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000003064 k means clustering Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F33/00—Indicating, counting, warning, control or safety devices
- B41F33/0036—Devices for scanning or checking the printed matter for quality control
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Abstract
The application relates to a method for detecting the operation specification of a silk-screen link. According to the glass plate frame motion track and the worker limb information acquired in the material taking area, a complete glass plate taking behavior video can be acquired, so that the glass plate moving track and the worker taking action information are acquired. According to the glass plate moving track, the worker taking action information, the preset glass plate easy-to-collide area and the preset glass plate standard moving track, whether collision exists or not, whether the taking action is standard or not and whether the moving track is normal or not can be judged. And judging whether the screen printing operation time is normal or not according to the screen printing element track acquired in the equipment working area and a preset standard screen printing element track area set. And judging whether the glass plate placing action is standard or not according to the moving speed of the glass plate after silk screen printing from the equipment working area to the material placing area. The method for detecting the operation specification of the silk-screen link can realize the omnibearing detection of taking, silk-screen and placing of materials in the silk-screen link, and improves the detection accuracy and efficiency.
Description
Technical Field
The application relates to the technical field of silk screen printing, in particular to a method for detecting the operation specification of a silk screen printing link.
Background
The glass screen printing is a screen printing method which is used mainly for a glass plate. In the complete silk-screen printing process, the normalization of each step operation can affect the product quality. In the prior art, a manual supervision mode is usually adopted to check the operation specifications in the silk-screen production process so as to supervise and correct the behavior of workers violating the specifications.
However, the manual supervision mode has low accuracy and poor real-time property for detecting the violation of the regulation behavior, thereby causing the reduction of the product quality.
Disclosure of Invention
On the basis, it is necessary to provide a method for detecting the operation specification of the silk-screen link aiming at the problem that the quality of products is reduced due to low accuracy and poor real-time performance of the violation of the specification behaviors found in a manual supervision mode.
The application provides a method for detecting the operation specification of a silk-screen link, which comprises the following steps:
dividing a material taking area, an equipment working area and a material placing area according to a silk-screen link;
acquiring the movement track of the glass plate edge frame and the limb information of a worker in the material taking area;
acquiring a complete glass plate taking behavior video according to the glass plate frame motion track and the worker limb information in the corresponding time window, and acquiring a glass plate moving track and worker taking action information in the complete glass plate taking behavior video;
judging whether the glass plate is collided or not in the moving process according to the moving track of the glass plate and a preset easy-collided area of the glass plate;
acquiring finger posture information and sucker use information in the taking action according to the worker taking action information, and judging whether the glass plate taking action is standard or not according to the finger posture information and the sucker use information;
judging whether the moving track of the glass plate in the material taking area is normal or not according to the moving track of the glass plate and a preset standard moving track of the glass plate;
acquiring a screen printing element track in the equipment working area, and judging whether the screen printing operation time is normal or not according to the screen printing element track and a preset standard screen printing element track area set;
and judging whether the placing action of the glass plate after silk-screen printing is standard or not according to the moving speed of the glass plate after silk-screen printing from the equipment working area to the material placing area.
In one embodiment, the obtaining a complete glass plate taking action video according to the glass plate frame motion track and the worker limb information in the corresponding time window, and obtaining the glass plate moving track and the worker taking action information in the complete glass plate taking action video includes:
judging whether a worker has a glass plate taking behavior or not according to the glass plate frame motion track and the limb information of the worker in the corresponding time window;
if the worker has the glass plate taking behavior, generating a complete glass plate taking behavior video according to the continuous time window with the glass plate taking behavior;
and acquiring the moving track of the glass plate and the information of the worker taking action according to the complete glass plate taking action video.
In one embodiment, the determining whether a glass plate taking behavior of a worker exists according to the glass plate frame motion track and the limb information of the worker in the corresponding time window includes:
acquiring a distance difference set between the wrist position of a worker and the center position of the glass plate according to the movement track of the glass plate frame in the time window with a preset length and the limb information of the worker;
judging whether the absolute value of the difference between the maximum value and the minimum value in the distance difference set is smaller than a preset distance difference threshold value or not;
and if the absolute value of the difference between the maximum value and the minimum value in the distance difference set is smaller than the preset distance difference threshold, judging that the glass plate taking action exists in the time window with the preset length by the worker.
In one embodiment, the determining whether the glass plate has a collision phenomenon in the moving process according to the moving track of the glass plate and a preset region where the glass plate is easy to collide includes:
calculating the acceleration of the glass plate according to the moving track of the glass plate and the video frame rate of the complete glass plate taking behavior video;
judging whether the moving track of the glass plate is located in the easy-to-collide area of the preset glass plate;
if the moving track of the glass plate is located in the area where the preset glass plate is easy to collide, judging whether the acceleration of the glass plate is smaller than a preset acceleration threshold value or not;
and if the acceleration of the glass plate is smaller than the preset acceleration threshold, judging that the glass plate has a collision phenomenon in the moving process, otherwise, judging that the glass plate does not have the collision phenomenon in the moving process.
In one embodiment, the acquiring finger posture information and sucker use information in the taking action according to the worker taking action information, and judging whether the glass plate taking action is standard according to the finger posture information and the sucker use information includes:
acquiring the finger posture information and the sucker use information in the taking action according to the worker taking action information;
judging whether the finger gesture of the worker is grabbing or not according to the finger gesture information;
judging whether the sucker exists in the area where the wrist of the worker is located or not according to the sucker use information;
and if the posture of the fingers of the worker is grabbing and the sucker exists in the area where the wrist of the worker is located, judging that the glass plate is taken as a standard action.
In one embodiment, the determining whether the glass plate moving track in the material taking area is normal according to the glass plate moving track and a preset glass plate standard moving track includes:
calculating the similarity between the moving track of the glass plate and the standard moving track of the preset glass plate;
judging whether the similarity is greater than a preset similarity threshold value or not;
judging whether the coordinates of the track points of the preset number at the end point position in the moving track of the glass plate are located in a standard glass plate placing area in the working area of the equipment or not;
if the similarity is larger than the preset similarity threshold value, and the coordinates of the track points of the preset number are located in the standard glass plate placing area, it is judged that the moving track of the glass plate is normal in the material taking area.
In one embodiment, the calculating the similarity between the glass plate moving track and the preset glass plate standard moving track comprises:
sequentially judging whether the distance between each actual track point in the moving track of the glass plate and a standard track point is smaller than a preset track distance boundary threshold value or not, wherein the standard track point is any one track point in the preset standard moving track of the glass plate;
if the distance between the actual track point and at least one standard track point is smaller than the preset track distance boundary threshold value, the similarity score of the actual track point is 1, otherwise, the similarity score is 0;
calculating all similarity score means of actual track points in the glass plate moving track, wherein the similarity score means is the similarity between the glass plate moving track and the preset glass plate standard moving track.
In one embodiment, the obtaining a silk-screen element trajectory in the device working area, and determining whether a silk-screen operation time is normal according to the silk-screen element trajectory and a preset standard silk-screen element trajectory area set includes:
judging whether the number of track points of the silk-screen element track in a standard silk-screen element track area is larger than a preset track point threshold value or not, wherein the standard silk-screen element track area is an area in a preset standard silk-screen element track area set;
if the number of track points of the silk-screen element track in any one standard silk-screen element area is larger than the preset track point number threshold value, judging that the glass plate moving track passes through the standard silk-screen element track area;
if the moving track of the glass plate passes through the standard silk-screen element track area, recording the time from the time when the glass plate is placed into the equipment working area to the time when the glass plate is taken out of a preset area, and obtaining silk-screen operation time;
judging whether the silk-screen operation time is within a preset time range or not, and judging whether the head of a worker passes through the preset area or not;
and if the silk-screen operation time is within a preset time range and the head of the worker passes through the preset area, judging that the silk-screen operation time is normal.
In one embodiment, the determining whether the placing action of the glass plate after the screen printing is standard according to the moving speed of the glass plate after the screen printing from the device working area to the material placing area includes:
calculating the number of track points of which the moving speed of the glass plate from the equipment working area to the material placing area is less than a preset speed threshold value after the silk-screen printing is finished;
calculating the track point proportion meeting the speed requirement according to the number of the track points and the total number of the track points of the glass plate from the equipment working area to the material placing area after the silk screen printing is finished;
judging whether the track point proportion is larger than a track point proportion threshold value or not;
and if the track point proportion is greater than the track point proportion threshold value, judging that the placement of the glass plate after the silk screen printing is finished is taken as a standard action.
In one embodiment, after determining whether the placing action of the glass plate after the screen printing is normal according to the moving speed of the glass plate after the screen printing from the device working area to the material placing area, the method further includes:
judging whether the accumulated silk-screen printing completion times are equal to a preset time threshold value or not;
if the accumulated silk-screen printing completion times are equal to the preset time threshold, clearing the accumulated silk-screen printing completion times, identifying wrists of workers and detecting postures of the workers according to the identified wrists of the workers;
if the posture of the worker is that the glass plate is held by hands, acquiring a movement track of the wrist of the worker;
acquiring the staying time of the wrist of the worker in a preset detection area, and judging whether the staying time is greater than a staying time threshold value;
if the stay time is greater than the stay time threshold, acquiring an included angle between the arm and the trunk of the worker within the stay time;
and judging whether the self-checking behavior of the worker is standard or not according to the included angle between the arm of the worker and the trunk of the worker.
The application provides a method for detecting the operation specification of a silk-screen link. The method comprises the steps of obtaining the movement track of a glass plate edge frame and the limb information of workers in a material taking area, thus obtaining a complete glass plate taking behavior video, and obtaining the movement track of the glass plate and the information of the worker taking actions in the complete glass plate taking behavior video. According to the moving track of the glass plate and the preset area where the glass plate is easy to collide, whether the glass plate collides in the moving process can be judged. And acquiring finger posture information and sucker use information in the taking action according to the taking action information of the worker, and judging whether the taking action of the glass plate is standard or not according to the finger posture information and the sucker use information. And judging whether the moving track of the glass plate in the material taking area is normal or not according to the moving track of the glass plate and a preset standard moving track of the glass plate. Through the judgment process, whether the taking action of workers in the material taking process is standard, whether the glass plate colliding condition exists and whether the moving track of the glass plate meets the requirement of the operation standard can be detected simultaneously, so that the comprehensive detection of the material taking process of the workers is realized. In addition, the screen printing element tracks are obtained in the equipment working area, and whether the screen printing operation time is normal or not is judged according to the screen printing element tracks and the preset standard screen printing element track area set, so that the screen printing quality is detected. And finally, judging whether the placing action of the glass plate after silk-screen printing is standard or not according to the moving speed of the glass plate after silk-screen printing from the equipment working area to the material placing area. In summary, the method for detecting the operation specification of the silk-screen link can realize all-dimensional detection of the material taking process, the silk-screen process and the material placing process of the silk-screen link, and improves the detection accuracy and the detection efficiency of the operation specification of the silk-screen link.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for detecting the operation specification of a silk-screen link according to an embodiment of the present application;
fig. 2 is a region division diagram of a method for detecting the operation specification of a silk-screen link according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a moving track of a glass plate in a process of taking a silk-screen link operation specification detection method provided by an embodiment of the present application;
fig. 4 is a schematic diagram of a movement track of a silk-screen element in a silk-screen process of the method for detecting the operation specification of the silk-screen link according to the embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, the present application provides a method for detecting the operation specification of a silk-screen link. The method for detecting the operation specification of the silk-screen link comprises the following steps:
step 10, dividing a material taking area, an equipment working area and a material placing area according to a silk-screen link;
step 20, obtaining the movement track of the glass plate frame and the limb information of a worker in the material taking area;
step 30, acquiring a complete glass plate taking behavior video according to the glass plate frame motion track and the limb information of workers in the corresponding time window, and acquiring the glass plate moving track and the worker taking action information in the complete glass plate taking behavior video;
step 40, judging whether the glass plate is collided in the moving process or not according to the moving track of the glass plate and a preset easy-collided area of the glass plate;
step 50, acquiring finger posture information and sucker use information in the taking action according to the taking action information of workers, and judging whether the taking action of the glass plate is standard or not according to the finger posture information and the sucker use information;
and step 80, judging whether the placing action of the glass plate after silk-screen printing is standard or not according to the moving speed of the glass plate after silk-screen printing from the equipment working area to the material placing area.
The application provides a method for detecting the operation specification of a silk-screen link. The method comprises the steps of obtaining the movement track of a glass plate edge frame and the limb information of workers in a material taking area, thus obtaining a complete glass plate taking behavior video, and obtaining the movement track of the glass plate and the information of the worker taking actions in the complete glass plate taking behavior video. According to the moving track of the glass plate and the preset area where the glass plate is easy to collide, whether the glass plate collides in the moving process can be judged. And acquiring finger posture information and sucker use information in the taking action according to the taking action information of the worker, and judging whether the taking action of the glass plate is standard or not according to the finger posture information and the sucker use information. And judging whether the moving track of the glass plate in the material taking area is normal or not according to the moving track of the glass plate and a preset standard moving track of the glass plate. Through the judgment process, whether the taking action of workers in the material taking process is standard, whether the glass plate colliding condition exists and whether the moving track of the glass plate meets the requirement of the operation standard can be detected simultaneously, so that the comprehensive detection of the material taking process of the workers is realized. In addition, the screen printing element tracks are obtained in the equipment working area, and whether the screen printing operation time is normal or not is judged according to the screen printing element tracks and the preset standard screen printing element track area set, so that the screen printing quality is detected. And finally, judging whether the placing action of the glass plate after silk-screen printing is standard or not according to the moving speed of the glass plate after silk-screen printing from the equipment working area to the material placing area.
In summary, the method for detecting the operation specification of the silk-screen link can utilize video to conduct real-time operation specification supervision, realize all-dimensional detection of the material taking process, the silk-screen process and the material placing process of the silk-screen link, improve the detection accuracy and the detection efficiency of the operation specification of the silk-screen link, and further guarantee the quality of products.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, in step S10, the area of the silk-screen link may be divided according to the monitoring scenario, that is, the area may be divided into a material taking area, an equipment working area, and a material placing area. It can be understood that in the single-cycle silk-screen printing process, a worker can take the glass plate from the material taking area and place the glass plate into silk-screen printing equipment in the equipment working area, so that a silk-screen printing process is completed, and finally the glass plate after silk-screen printing is placed into the material placing area.
Referring to fig. 2, in one embodiment, a factory actual silk-screen printing detection scene may be referred to in fig. 2, where the detection time may be 8 am to 12 am. In fig. 2, the area labeled 1 may be a material taking area, the area labeled 2 may be a glass plate placing area, the area labeled 3 may be an equipment working area, the area labeled 4 may be a standard silk-screen element track area, the area labeled 5 may be a glass plate taking area, and the area labeled 6 may be a material placing area.
In one embodiment, step S20, before acquiring the movement track of the glass panel frame and the information of the limb of the worker in the material taking area, further includes:
step S201, acquiring a glass plate frame motion track in a material taking area according to a preset glass plate frame identification model;
step S202, identifying workers in the material taking area according to a preset worker identification model;
and S203, detecting the identified workers according to a preset limb detection model, and acquiring limb information of the workers in the material taking area.
In one embodiment, in step S201, since the glass plate itself cannot be accurately identified, the position of the glass plate can be determined by identifying the frame of the glass plate, so as to obtain the moving track of the glass plate. In this embodiment, preset glass plate frame recognition model can be glass plate frame recognition model according to historical data training in advance, and glass plate frame recognition model training in advance can discern the glass plate frame in the region of taking the material to obtain the glass plate frame movement track in the region of taking the material. In addition, the glass plate frame recognition model trained in advance can also recognize the glass plate frame in the working area of the equipment.
In one embodiment, in step S202, feature training may be performed on the image of the silk-screen worker, and clothing features of the silk-screen worker are extracted, so as to obtain the silk-screen worker recognition model through training. In the method for detecting the operation specification of the silk-screen link, the silk-screen link can be shot through one or more cameras, and a pre-trained silk-screen worker recognition model can be adopted in the whole video to recognize silk-screen workers.
In one embodiment, in step S203, for the silk-screen worker obtained by identification, a limb detection model obtained by pre-training, that is, a preset limb detection model, may be used to perform limb detection, so that limb-related information, such as head information, wrist information, finger information, arm information, and the like of the silk-screen worker may be obtained. In this embodiment, can detect the movement track of silk screen printing workman's wrist in the region of taking the material to can detect workman's limbs information when workman's wrist arrives the region of placing the glass board.
Referring to fig. 3 together, in one embodiment, the step S30, obtaining a complete glass plate taking action video according to the glass plate frame motion track and the limb information of the worker in the corresponding time window, and obtaining the glass plate moving track and the worker taking action information in the complete glass plate taking action video includes:
step S310, judging whether a glass plate taking action exists in a worker or not according to the movement track of the glass plate frame and the limb information of the worker in the corresponding time window;
step S320, if the worker has the glass plate taking action, generating a complete glass plate taking action video according to the continuous time window with the glass plate taking action;
and S330, acquiring the moving track of the glass plate and the information of the worker taking action according to the complete glass plate taking action video. In this embodiment, a schematic diagram of a moving track of the glass plate in the fetching action video can be shown by a white thick solid line in fig. 3, and the whole moving process can be performed in the direction of an arrow.
In one embodiment, the step S310 of determining whether the worker has a glass plate taking behavior according to the glass plate frame movement track and the worker limb information in the corresponding time window includes:
step S311, acquiring a distance difference set between the wrist position of a worker and the center position of the glass plate according to the movement track of the frame of the glass plate in a time window with a preset length and the limb information of the worker;
step S312, judging whether the absolute value of the difference between the maximum value and the minimum value in the distance difference set is smaller than a preset distance difference threshold value;
in step S313, if the absolute value of the difference between the maximum value and the minimum value in the distance difference set is smaller than the preset distance difference threshold, it is determined that the glass plate taking action exists within the time window of the preset length.
In one embodiment, in step S311, the wrist position (x) of the worker during the same time in a time window with a preset length can be calculatedsw,ysw) And the center position (x) of the glass platebl,ybl) Difference in distance between
The wrist position of a worker can be acquired according to limb information of the worker, and the central position of the glass plate can be acquired according to the movement track of the frame of the glass plate. Therefore, through step S311, the preset length can be obtainedThe time window corresponds to a set of distance differences between the wrist position of the worker and the center position of the glass plate.
In one embodiment, in step S312, distance difference sets are respectively obtained
Maximum value of
And minimum value
And judging the maximum value
And minimum value
Absolute value of the difference between
Whether or not it is less than a preset distance difference threshold d1. Wherein the distance difference threshold d1The training can be obtained according to historical data, or the training can be set according to historical experience and actual needs.
In one embodiment, step S313 includes determining a set of distance differences
Maximum value of
And minimum value
Absolute value of the difference between
Less than a predetermined distance difference threshold d1And then judging that the glass plate exists in the time window with the preset lengthAnd taking action, otherwise, the glass plate does not exist.
In one embodiment, in step S320, if the worker has a glass plate taking action, the continuous time windows with the glass plate taking action are combined into a complete large time window, so as to generate a video of the complete glass plate taking action in the large time window. It can be appreciated that generating the full glass sheet take action can be the basis for triggering subsequent specification tests, i.e., the subsequent tests require obtaining the required information from the full glass sheet take action video. Thus, the process does not require the generation and transmission of relevant information to the relevant management personnel.
In one embodiment, step S330 is to obtain the moving track of the glass plate and the information of the worker' S fetching action according to the video of the complete glass plate fetching action. Wherein the glass board removes the orbit and can include the track point that the glass board removed the process, and the workman action information of taking can include workman finger gesture information to for in the follow-up step to the standardization detection of the phenomenon of colliding with and the action of the in-process of taking provide required information.
In one embodiment, step S40, determining whether there is a collision phenomenon in the moving process of the glass plate according to the moving track of the glass plate and a preset region where the glass plate is likely to collide with the glass plate includes:
step S410, calculating the acceleration of the glass plate according to the moving track of the glass plate and the video frame rate of the complete glass plate taking behavior video;
step S420, judging whether the moving track of the glass plate is located in a preset easy-to-collide area of the glass plate;
step S430, if the moving track of the glass plate is located in a preset glass plate collision-prone area, judging whether the acceleration of the glass plate is smaller than a preset acceleration threshold value;
and step S440, if the acceleration of the glass plate is smaller than a preset acceleration threshold, judging that the glass plate has a collision phenomenon in the moving process, otherwise, judging that the glass plate does not have the collision phenomenon in the moving process.
In one embodiment, in step S410, the glass sheet border can be moved within the complete video segment of the behavior detected as the behavior of the worker taking the glass sheetAnd analyzing whether the collision phenomenon exists in the moving process. In this embodiment, the acceleration of the glass plate can be calculated according to the moving track of the glass plate and the video frame rate of the complete glass plate taking behavior video. First, the speed at which the glass sheet passes each track point can be calculated separately. The first central point on the frame track of the glass plate can be set as the origin, and the speed of the origin
Setting any position point of non-origin point in the frame track of the glass plate as
And its former location point is
So bliThe velocity of (A) may be
Wherein fs is the video frame rate of the video of the taking behavior of the complete glass plate. Subsequently, the calculated moving speed of the glass sheet can be integrated
Sorting according to time so as to add a time coordinate to obtain a curve coordinate set of the speed of the glass plate changing along with the time
Finally, the acceleration of the glass sheet at each location can be obtained by approximately deriving the time-dependent curve of the speed of the glass sheet, wherein the time is
There is a one-to-one correspondence with the glass sheet position.
In one embodiment, step S420 may be performed according to a glass firstAnd determining the position of the glass plate by the movement track of the glass plate so as to judge whether the glass plate passes through a preset easy-to-collide area of the glass plate. In this embodiment, for any position in the trajectory of the glass sheet
If it is
So that
The position of the glass plate can be judged to be located in the preset easy-to-collide area of the glass plate. Wherein Kp can be a central coordinate set of a preset glass plate easy-to-collide area, and dkeThe method can be used for presetting a boundary threshold value of an area which is easy to collide with the glass plate.
In one embodiment, in steps S430 to S440, when the moving track of the glass plate is located in a preset easy-to-collide area of the glass plate, that is, the glass plate passes through the easy-to-collide area, the acceleration a of the glass plate can be determinedblWhether or not the acceleration is less than a preset acceleration threshold ayz. If the glass plate is accelerated ablLess than a predetermined acceleration threshold ayzAnd then the glass plate can be judged to collide. In this embodiment, if the glass plate is collided, collision warning information may be generated and sent to a relevant manager for auditing.
In one embodiment, the step S50, obtaining the finger posture information and the sucker use information in the taking action according to the information of the worker taking action, and judging whether the glass plate taking action is normal according to the finger posture information and the sucker use information, includes:
step S510, acquiring finger posture information and sucker use information in the taking action according to the information of the taking action of the worker;
step S520, judging whether the finger gesture of the worker is grabbing or not according to the finger gesture information;
step S530, judging whether the suction cup exists in the area where the wrist of the worker is located according to the use information of the suction cup;
in step S540, if the posture of the finger of the worker is gripping and the suction cup exists in the area where the wrist of the worker is located, it is determined that the glass plate is taken as a standard motion.
In one embodiment, the analysis of whether the glass sheet taking action is normative may be performed within the complete video segment of the worker behavior detection as the glass sheet taking action in steps S510-S540. In the embodiment, in the complete glass plate taking action video, the corresponding recognition model obtained by pre-training is used for recognizing the finger gesture and the sucker in the wrist area of the worker, if the finger gesture of the worker is detected to be grabbing and the sucker exists in the area where the wrist of the worker is located, the worker taking action is judged as a standard action, otherwise, the worker taking action is judged as an abnormal action, and the abnormal taking information is sent to a relevant manager for auditing. It can be understood that the sucker can be a specified tool for taking the glass plate, and the sucker identification model can be obtained by training the sucker image, so that whether the sucker exists in the wrist area of a worker can be identified, and whether the worker takes the glass plate by using the sucker is judged.
In one embodiment, in step S540, if the posture of the finger of the worker is grabbing and the suction cup exists in the area where the wrist of the worker is located, after determining that the glass plate taking action is a normative action, the method further includes:
step S550, judging whether the duration time of the wrist of the worker not taking the glass plate in the glass plate area is greater than a preset time threshold value;
and step S560, if the duration time of the wrist of the worker not taking the glass plate in the glass plate area is greater than a preset time threshold, judging that the glass plate taking action of the worker is not standard.
In one embodiment, in steps S550-S560, the position of the wrist of the worker who does not take the glass plate can be detected if the time duration of the position of the wrist of the worker who does not take the glass plate in the area of the glass plate is greater than the time threshold tspThen it is determined that the worker's hand directly contacts the glass plate. Wherein, the glass plate area is the area of the glass plate which is determined according to the frame of the glass plate and is held by a worker. At this time, fetch exception information may be generated and sent toAnd (4) carrying out auditing treatment at the relevant management personnel. It will be appreciated that the standard action of the worker may be to use the suction cup to pick up the glass sheet with one hand, if the position of the wrist of the worker not picking up the glass sheet is in the region of the glass sheet for a time duration greater than the time threshold tspAnd if the hand which does not take the glass plate is not provided with the sucker, the glass plate taking action of the worker is not standard.
In one embodiment, the step S60, determining whether the moving track of the glass sheet in the material taking area is normal according to the moving track of the glass sheet and a preset standard moving track of the glass sheet, includes:
step S610, calculating the similarity between the moving track of the glass plate and the standard moving track of the preset glass plate;
step S620, judging whether the similarity is greater than a preset similarity threshold value;
step S630, judging whether the coordinates of the track points with the preset number at the end point position in the moving track of the glass plate are positioned in a standard glass plate placing area in the working area of the equipment;
and step S640, if the similarity is greater than a preset similarity threshold value and the coordinates of the track points of the preset number are located in the standard glass plate placing area, judging that the moving track of the glass plate in the material taking area is normal.
In one embodiment, the step S610 of calculating the similarity between the moving track of the glass plate and the standard moving track of the preset glass plate includes:
step S611, sequentially judging whether the distance between each actual track point and a standard track point in the moving track of the glass plate is smaller than a preset track distance boundary threshold value, wherein the standard track point is any one track point in the preset standard moving track of the glass plate;
step S612, if the distance between the actual track point and at least one standard track point is smaller than a preset track distance boundary threshold value, the similarity score of the actual track point is 1, otherwise, the similarity score is 0;
step S613, calculating the similarity score average of all actual track points in the moving track of the glass plate, wherein the similarity score average is the similarity between the moving track of the glass plate and the preset standard moving track of the glass plate.
In one embodiment, the detection of whether the glass sheet movement track is normal can be performed within a complete video segment of the behavior of the worker detected as the behavior of taking the glass sheet. In step S611 to step S612, the glass plate movement track set and the pre-trained standard movement track set { (xb)i,ybi) And similarity calculation is carried out, wherein the set of the movement tracks of the glass plate can be a set of track points in the movement tracks of the glass plate, and the pre-trained standard movement track set can be a set of track points in a preset standard movement track of the glass plate. Firstly, a set of moving tracks of the glass plate and any standard track point can be calculated
Similarity score gds ofiThe standard trace point may be one trace point in a standard moving trace set. If it is
So that
Then gdsi1, otherwise gdsiIs 0, wherein dydMay be a trajectory distance boundary threshold.
In one embodiment, in step S613, the similarity score of the set of moving tracks of the glass plate can be calculated
If gd>gdyzIf the track of the glass plate is normal, otherwise, the track of the glass plate is abnormal, track abnormal information can be generated and sent to a relevant manager for auditing, wherein gdyzMay be an empirically set similarity threshold.
In one embodiment, the coordinates of the part of the end point of the glass sheet movement trajectory of the glass taking action may be detected in steps S630 to S640. If the coordinates of the track end point part are located in the glass plate placing area, namely the area 2 of the label in fig. 2, it can be judged that the glass plate is placed into the silk-screen printing device from the limited area, otherwise, the glass plate is not placed into the silk-screen printing device according to the required position, and abnormal information can be generated and sent to a relevant manager for auditing.
Referring to fig. 4, in one embodiment, in step S70, a silk-screen element trajectory is obtained in the working area of the device, where a schematic diagram of a silk-screen element movement trajectory in the silk-screen process may refer to a white thick solid line in fig. 4, and the whole movement process may refer to an arrow direction. And according to silk screen printing component orbit and presetting standard silk screen printing component orbit regional set, judge whether the silk screen printing operating time is normal, include:
step S710, judging whether the track number of the silk-screen element track in a standard silk-screen element track area is larger than a preset track number threshold value or not, wherein the standard silk-screen element track area is an area in a preset standard silk-screen element track area set;
step S720, if the track number of the silk-screen element track in any standard silk-screen element area is larger than a preset track number threshold value, judging that the glass plate moving track passes through the standard silk-screen element track area;
step S730, if the moving track of the glass plate passes through the track area of the standard silk-screen element, recording the time from the time when the glass plate is placed into the working area of the equipment to the time when the glass plate is taken out of the preset area, and obtaining the silk-screen operation time;
step S740, judging whether the silk-screen printing operation time is within a preset time range, and judging whether the head of a worker passes through a preset area;
and step S750, if the silk-screen operation time is within the preset time range and the head of the worker passes through the preset area, judging that the silk-screen operation time is normal.
In one embodiment, step S710, before determining whether the number of trace points of the silk-screen element trace in the standard silk-screen element trace area is greater than the preset trace point threshold, further includes:
step S701, acquiring a moving track set of multi-period processing of the silk-screen element according to a preset silk-screen element identification model;
step S702, acquiring a clustering center of a moving track set by adopting a clustering algorithm as a position center set of a screen printing element track staying area;
and step S703, generating a preset standard screen printing element track area set according to the position center set, wherein the standard screen printing element track area is a rectangular area in which the number of track points of the screen printing element meets a preset track point number judgment formula.
In one embodiment, the abnormality detection may be performed on the duration of the silk-screen operation after the glass plate is placed in the silk-screen device. In steps S701 to S703, a pre-trained silk-screen element recognition model may be used to record a spatial point set of a running trajectory of a silk-screen element in multi-cycle processing in a working area of the device. Subsequently, clustering can be carried out on the point set of the silk-screen element track by using a K-means clustering algorithm, and the clustering center of the point set is obtained as a set { ds) of the staying position centers of the silk-screen element tracki＝(xsi,ysi)}. For each location center dsi＝(xsi，ysi) Setting the radius lx of the dwell zonei，lyiSo as to make the screen printing element stay in the rectangular area S in the working period of the screen printing elementi＝{(x，y)|xsi-lxi<x<xsi+lxiandysi-lyi<y<ysi+lyiThe number n of the trace points of the screen printing elementiSatisfies ni>te x fs, wherein te is a time threshold value obtained by training according to historical data, fs is a video frame rate detection, and thus a preset standard silk screen element track area set { S { is obtainedi}。
In one embodiment, in steps S710-S720, it is determined that the screen printing element trace is in the standard screen printing element trace area SiNumber of trace points bn withiniWhether the number of track points is greater than a preset track point threshold value, wherein the track point threshold value can be fs x bnyz，bnyzIs a number threshold. If the screen printing element track is in any standard screen printing element track area SiNumber of existing trace points bni>fs×bnyzAnd judging that the track of the glass plate passes through the track area of the standard silk-screen element.
In one embodiment, the start time t may be recorded after the glass plate is placed in the screen printing apparatus in steps S730-S750stAnd then the silk-screen elements can sequentially pass through all the track areas of the standard silk-screen elements, and after the glass plate is detected to be taken out of the designated area by a worker, the end time t can be recordeden. If tdo<ten- tst<tupAnd the head of the worker passes through the preset area, the normal operation time of the silk screen printing can be judged, the operation time exceeds the time range, and abnormal information can be generated and sent to relevant management personnel for auditing. The designated area may be an area partially overlapping the glass plate placement area.
In one embodiment, the step S80 of determining whether the placing motion of the glass plate after the screen printing is normal according to the moving speed of the glass plate after the screen printing from the device working area to the material placing area includes:
step S810, calculating the number of track points of which the moving speed of the glass plate from the equipment working area to the material placing area is less than a preset speed threshold value after silk-screen printing is finished;
step S820, calculating the track point proportion meeting the speed requirement according to the number of track points and the total number of track points from the equipment working area to the material placing area of the glass plate after silk-screen printing is finished;
step S830, judging whether the track point proportion is larger than a track point proportion threshold value;
and step S840, if the track point proportion is larger than the track point proportion threshold value, judging that the placement of the glass plate after the silk screen printing is finished is a standard action.
In one embodiment, the glass plate is knocked due to the fact that the glass plate is too fast, and therefore the glass plate needs to be lightly taken and placed in the process of moving the glass plate to the material placing area after silk screen printing is completed. Therefore, in steps S810-S840, the trajectory coordinates at which the worker places the glass sheet in the material placement area may be detected after the glass sheet is taken out from the designated area. The velocity vf of each trace point can be calculated by the velocity calculation method in step S410iAnd statistically satisfies vfi<vfyzNumber n of trace pointsfWherein vfyzIs a preset speed threshold. Trace point ratio if speed requirement is met
Judging that the action of the worker for placing the glass plate is standard after the silk screen printing is finished, otherwise judging that the action of the worker for placing the glass plate is not standard, and generating and sending abnormal information to a relevant manager for auditing, wherein Nf is the number of track points, and Nf is not standardyzIs a trace point proportion threshold value.
In one embodiment, the step S80, after determining whether the placing action of the glass plate after the screen printing is normal according to the moving speed of the glass plate after the screen printing from the device working area to the material placing area, further includes:
step S910, judging whether the accumulated silk-screen printing completion times are equal to a preset time threshold value;
step S920, if the accumulated silk-screen printing completion times are equal to a preset time threshold, resetting the accumulated silk-screen printing completion times, identifying wrists of workers and detecting postures of the workers according to the identified wrists of the workers;
step S930, if the posture of the worker is that the glass plate is held by two hands, acquiring the movement track of the wrist of the worker;
step S940, the staying time of the wrist of the worker in a preset detection area is obtained, and whether the staying time is larger than a staying time threshold value is judged;
step S950, if the stay time is greater than the stay time threshold, acquiring an included angle between an arm and a trunk of a worker within the stay time;
and S960, judging whether the self-checking behavior of the worker is standard or not according to the included angle between the arm of the worker and the trunk of the worker.
In one embodiment, the step S960 of determining whether the self-checking behavior of the product of the worker is normal according to the included angle between the arm of the worker and the trunk of the worker includes:
step S961, judging whether an included angle between an arm of a worker and a trunk of the worker is within a preset included angle range;
step 962, if the included angle between the arm of the worker and the trunk of the worker is within a preset included angle range, the included angle posture score is 1, otherwise, the included angle posture score is 0;
step S963, judging whether the included angle attitude score mean value of all track points in the staying time is larger than an included angle attitude score threshold value or not;
and S964, if the included angle posture score mean value is larger than the included angle posture score threshold value, judging that the product self-checking behavior of the worker is a standard behavior.
In one embodiment, in steps S910 to S960, whether the product self-inspection behavior of the worker is standardized after each 10 screen printing operations are completed is recorded. First, the information of the wrist of the worker can be recognized, and when the posture of the worker is detected that the glass plate is held by the hands, the moving track of the wrist of the worker can be recorded, so that the staying time of the wrist of the worker in a preset inspection area can be detected according to the moving track of the wrist of the worker. Judging whether the stay time is greater than a stay time threshold value or not, and if the stay time is greater than the time threshold value, recording an included angle theta formed between the arm and the trunk of the worker in the stay timeiThe attitude score dx ofi. In this embodiment, if the included angle θlj< θi<θrjThen dx i1, whereas dxi0, where θlj,θrjThe included angle changes a lower bound and an upper bound respectively. Calculating a behavioral score, i.e. mean of angle pose scores
Wherein N isxwThe number of all track points in the movement track of the wrist of the worker is shown. If g isxw>gxyzIf the detection result shows that the direction of the worker is correct, namely the product self-checking behavior is standard behavior, otherwise, the worker does not hold the glass under the set table lamp according to the requirement, the limited direction is kept opposite to the light detection, whether flaws exist in the screen printing process or not is detected, and abnormal information can be generated and sent to relevant managers for auditing. Wherein, gxyzIs based onAnd training historical data to obtain an included angle attitude score threshold value.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for detecting the operation specification of a silk-screen link is characterized by comprising the following steps:
dividing a material taking area, an equipment working area and a material placing area according to a silk-screen link;
acquiring the movement track of the glass plate edge frame and the limb information of a worker in the material taking area;
acquiring a complete glass plate taking behavior video according to the glass plate frame motion track and the worker limb information in the corresponding time window, and acquiring a glass plate moving track and worker taking action information in the complete glass plate taking behavior video;
judging whether the glass plate is collided or not in the moving process according to the moving track of the glass plate and a preset easy-collided area of the glass plate;
acquiring finger posture information and sucker use information in the taking action according to the worker taking action information, and judging whether the glass plate taking action is standard or not according to the finger posture information and the sucker use information;
judging whether the moving track of the glass plate in the material taking area is normal or not according to the moving track of the glass plate and a preset standard moving track of the glass plate;
acquiring a screen printing element track in the equipment working area, and judging whether the screen printing operation time is normal or not according to the screen printing element track and a preset standard screen printing element track area set;
and judging whether the placing action of the glass plate after silk-screen printing is standard or not according to the moving speed of the glass plate after silk-screen printing from the equipment working area to the material placing area.
2. The method for detecting the operation specification of the silk-screen link according to claim 1, wherein the steps of obtaining the video of the taking behavior of the complete glass plate according to the movement track of the frame of the glass plate and the limb information of the worker in the corresponding time window, and obtaining the movement track of the glass plate and the information of the taking action of the worker in the video of the taking behavior of the complete glass plate comprise:
judging whether a worker has a glass plate taking behavior or not according to the glass plate frame motion track and the limb information of the worker in the corresponding time window;
if the worker has the glass plate taking behavior, generating a complete glass plate taking behavior video according to the continuous time window with the glass plate taking behavior;
and acquiring the moving track of the glass plate and the information of the worker taking action according to the complete glass plate taking action video.
3. The method for detecting the operation specification of the silk-screen link according to claim 2, wherein the step of judging whether the worker has a glass plate taking action according to the movement track of the frame of the glass plate and the limb information of the worker in the corresponding time window comprises the following steps:
acquiring a distance difference set between the wrist position of a worker and the center position of the glass plate according to the movement track of the glass plate frame in the time window with a preset length and the limb information of the worker;
judging whether the absolute value of the difference between the maximum value and the minimum value in the distance difference set is smaller than a preset distance difference threshold value or not;
and if the absolute value of the difference between the maximum value and the minimum value in the distance difference set is smaller than the preset distance difference threshold, judging that the glass plate taking action exists in the time window with the preset length by the worker.
4. The method for detecting the operation specification of the screen printing link according to claim 1, wherein the step of judging whether the glass plate is collided in the moving process according to the moving track of the glass plate and a preset area where the glass plate is easy to collide comprises the steps of:
calculating the acceleration of the glass plate according to the moving track of the glass plate and the video frame rate of the complete glass plate taking behavior video;
judging whether the moving track of the glass plate is located in the easy-to-collide area of the preset glass plate;
if the moving track of the glass plate is located in the area where the preset glass plate is easy to collide, judging whether the acceleration of the glass plate is smaller than a preset acceleration threshold value or not;
and if the acceleration of the glass plate is smaller than the preset acceleration threshold, judging that the glass plate has a collision phenomenon in the moving process, otherwise, judging that the glass plate does not have the collision phenomenon in the moving process.
5. The method for detecting the operation specification of the screen printing link according to claim 1, wherein the step of obtaining the finger posture information and the sucker use information in the taking action according to the worker taking action information and judging whether the glass plate taking action is normal or not according to the finger posture information and the sucker use information comprises the steps of:
acquiring the finger posture information and the sucker use information in the taking action according to the worker taking action information;
judging whether the finger gesture of the worker is grabbing or not according to the finger gesture information;
judging whether the sucker exists in the area where the wrist of the worker is located or not according to the sucker use information;
and if the posture of the fingers of the worker is grabbing and the sucker exists in the area where the wrist of the worker is located, judging that the glass plate is taken as a standard action.
6. The method for detecting the operation specification of the screen printing link according to claim 1, wherein the step of judging whether the movement track of the glass plate in the material taking area is normal or not according to the movement track of the glass plate and a preset standard movement track of the glass plate comprises the following steps:
calculating the similarity between the moving track of the glass plate and the standard moving track of the preset glass plate;
judging whether the similarity is greater than a preset similarity threshold value or not;
judging whether the coordinates of the track points of the preset number at the end point position in the moving track of the glass plate are located in a standard glass plate placing area in the working area of the equipment or not;
if the similarity is larger than the preset similarity threshold value, and the coordinates of the track points of the preset number are located in the standard glass plate placing area, it is judged that the moving track of the glass plate is normal in the material taking area.
7. The method for detecting the operation specification of the screen printing link according to claim 6, wherein the calculating the similarity between the movement track of the glass plate and the standard movement track of the preset glass plate comprises:
sequentially judging whether the distance between each actual track point in the moving track of the glass plate and a standard track point is smaller than a preset track distance boundary threshold value or not, wherein the standard track point is any one track point in the preset standard moving track of the glass plate;
if the distance between the actual track point and at least one standard track point is smaller than the preset track distance boundary threshold value, the similarity score of the actual track point is 1, otherwise, the similarity score is 0;
calculating all similarity score means of actual track points in the glass plate moving track, wherein the similarity score means is the similarity between the glass plate moving track and the preset glass plate standard moving track.
8. The method for detecting the operation specification of the silk-screen link according to claim 1, wherein the step of obtaining the silk-screen element trajectory in the equipment working area and judging whether the silk-screen operation time is normal or not according to the silk-screen element trajectory and a preset standard silk-screen element trajectory area set comprises the steps of:
judging whether the number of track points of the silk-screen element track in a standard silk-screen element track area is larger than a preset track point threshold value or not, wherein the standard silk-screen element track area is an area in a preset standard silk-screen element track area set;
if the number of track points of the silk-screen element track in any one standard silk-screen element area is larger than the preset track point number threshold value, judging that the glass plate moving track passes through the standard silk-screen element track area;
if the moving track of the glass plate passes through the standard silk-screen element track area, recording the time from the time when the glass plate is placed into the equipment working area to the time when the glass plate is taken out of a preset area, and obtaining silk-screen operation time;
judging whether the silk-screen operation time is within a preset time range or not, and judging whether the head of a worker passes through the preset area or not;
and if the silk-screen operation time is within a preset time range and the head of the worker passes through the preset area, judging that the silk-screen operation time is normal.
9. The method for detecting the operation specification of the screen printing link according to claim 1, wherein the step of judging whether the placing action of the glass plate after the screen printing is normal or not according to the moving speed of the glass plate after the screen printing from the equipment working area to the material placing area comprises the following steps:
calculating the number of track points of which the moving speed of the glass plate from the equipment working area to the material placing area is less than a preset speed threshold value after the silk-screen printing is finished;
calculating the track point proportion meeting the speed requirement according to the number of the track points and the total number of the track points of the glass plate from the equipment working area to the material placing area after the silk screen printing is finished;
judging whether the track point proportion is larger than a track point proportion threshold value or not;
and if the track point proportion is greater than the track point proportion threshold value, judging that the placement of the glass plate after the silk screen printing is finished is taken as a standard action.
10. The method for detecting the operation specification of the screen printing link according to claim 1, wherein after judging whether the placing action of the glass plate after the screen printing is specified according to the moving speed of the glass plate after the screen printing from the equipment working area to the material placing area, the method further comprises:
judging whether the accumulated silk-screen printing completion times are equal to a preset time threshold value or not;
if the accumulated silk-screen printing completion times are equal to the preset time threshold, clearing the accumulated silk-screen printing completion times, identifying wrists of workers and detecting postures of the workers according to the identified wrists of the workers;
if the posture of the worker is that the glass plate is held by hands, acquiring a movement track of the wrist of the worker;
acquiring the staying time of the wrist of the worker in a preset detection area, and judging whether the staying time is greater than a staying time threshold value;
if the stay time is greater than the stay time threshold, acquiring an included angle between the arm and the trunk of the worker within the stay time;
and judging whether the self-checking behavior of the worker is standard or not according to the included angle between the arm of the worker and the trunk of the worker.
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