CN113351503B - Scaffold detection and sorting system and method - Google Patents
Scaffold detection and sorting system and method Download PDFInfo
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- CN113351503B CN113351503B CN202110699681.5A CN202110699681A CN113351503B CN 113351503 B CN113351503 B CN 113351503B CN 202110699681 A CN202110699681 A CN 202110699681A CN 113351503 B CN113351503 B CN 113351503B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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Abstract
The invention provides a scaffold detection and sorting system and method, which comprises the following steps: controlling a sorting robot to drive a second image acquisition device to move to the upper part of the loading area, shooting to obtain a first image, and controlling the sorting robot to sequentially grab the single scaffolds according to the first image; controlling a first image acquisition device to shoot an end face image of the scaffold, controlling a sorting robot to sort the scaffold to a defective area when the scaffold is judged to be a defective product, and controlling the sorting robot to place the scaffold on a workpiece clamping device when the scaffold is a defective product; control work piece centre gripping equipment drives the scaffold frame and rotates and control a plurality of side images that first image acquisition equipment shot the scaffold frame along the axial to control letter sorting robot when judging the scaffold frame for the defective products and sort scaffold frame to the defective products is regional, control letter sorting robot when the scaffold frame is the yields and sort scaffold frame to the yields region. The automatic sorting machine has the beneficial effects that the labor intensity of workers is obviously reduced, the sorting effect is ensured, and the robot changing informatization operation is realized.
Description
Technical Field
The invention relates to the technical field of visual detection, in particular to a scaffold detecting and sorting system and method.
Background
In the engineering and construction industry, the application range of the scaffold is quite wide, and the reuse degree is very high. However, in view of the special environment during the construction process, the scaffold will fail a lot after being used, and thus a lot of manpower is required to be invested for identification and classification. The manual work carries out the pile up neatly according to certified products, surface deposition, bending deformation, fracture, and at this in-process, artifical intensity of labour is big, and the discernment to the product is influenced by artificial subjective consciousness simultaneously, causes to have certain hidden danger in scaffold frame use.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a scaffold detection and sorting system, which comprises:
the loading area is used for placing a plurality of scaffolds;
the detection platform is provided with a workpiece clamping device and a first image acquisition device;
control module, connect respectively work piece centre gripping equipment first image acquisition equipment and at least a sorting robot, every be equipped with a second image acquisition equipment on the sorting robot, control module includes:
the first control unit is used for controlling the sorting robot to drive the second image acquisition equipment to move above the feeding area according to an external detection sorting instruction, shooting to obtain a first image, processing the first image to obtain position information of each scaffold, and controlling the sorting robot to sequentially grab the scaffolds to the detection platform according to the position information;
the second control unit is used for controlling the first image acquisition equipment to shoot an end face image of the scaffold when the sorting robot grasps the single scaffold to the detection platform, controlling the sorting robot to sort the scaffold to a pre-configured defective area when the end face image shows that the scaffold is defective, and controlling the sorting robot to place the scaffold on the workpiece clamping equipment when the end face image shows that the scaffold is good;
the third control unit is used for controlling the workpiece clamping equipment to drive the scaffold to rotate along the axial direction and controlling the first image acquisition equipment to shoot to obtain a plurality of side images of the scaffold, controlling the sorting robot to sort the scaffold to the defective product area when any side image indicates that the scaffold is a defective product, and controlling the sorting robot to sort the scaffold to a pre-configured good product area when all the side images indicate that the scaffold is a good product.
Preferably, the scaffold has at least one light passing hole, and the second control unit includes:
the first control subunit is used for controlling the first image acquisition equipment to shoot an end face image of the scaffold when the sorting robot grabs the single scaffold to the detection platform;
the first identification subunit is connected with the first control subunit and used for identifying the light through hole in the end face image, outputting a first identification signal when the area of the light through hole obtained by identification is smaller than a first threshold value, and outputting a second identification signal when the area of the light through hole is not smaller than the first threshold value;
and the second control subunit is connected with the first identification subunit and used for controlling the sorting robot to sort the scaffold to the defective product area according to the first identification signal and controlling the sorting robot to place the scaffold on the workpiece clamping equipment according to the second identification signal.
Preferably, the defective product area includes a dust deposition area, and the second control subunit controls the sorting robot to sort the scaffold to the dust deposition area according to the first identification signal.
Preferably, the scaffold includes a body and at least one fixing member fixed to the body, and then the third control unit includes:
the third control subunit is used for controlling the workpiece clamping equipment to drive the scaffold to rotate along the axial direction and controlling the first image acquisition equipment to shoot so as to obtain a plurality of side images of the scaffold;
the second identification subunit is connected with the third control subunit and is used for identifying the fixing piece in each side image, outputting a third identification signal when the fixing piece is contained in the side image and outputting a fourth identification signal when the fixing piece is not contained in the side image;
the third identification subunit is connected with the second identification subunit and used for controlling the sorting robot to sort the scaffold to the defective product area when the area of the fixing piece is larger than a second threshold value according to the third identification signal, and outputting a fifth identification signal when the area of the fixing piece is not larger than the second threshold value;
and the fourth identification subunit is respectively connected with the second identification subunit and the third identification subunit, and is used for controlling the sorting robot to sort the scaffold to the defective product area when the deviation amount of the body along the length direction is larger than a deviation threshold value according to the fourth identification signal or the fifth identification signal, and controlling the sorting robot to sort the scaffold to the non-defective product area when all the deviation amounts are not larger than the deviation threshold value.
Preferably, the defective product region includes a deformation region and a bending region;
the third identifying subunit controls the sorting robot to sort the scaffold to the deformation region when the area of the fixing is greater than the second threshold value;
the fourth identification subunit controls the sorting robot to sort the scaffold to the bending area when the offset amount of the body in the length direction is greater than the offset threshold value.
Preferably, the first image acquisition device is arranged on the detection platform through a driving mechanism, and the driving mechanism is connected with the third control subunit;
the third control subunit controls the driving mechanism to drive the first image acquisition equipment to move along the length direction of the scaffold, controls the workpiece clamping equipment to drive the scaffold to rotate along the axial direction in the moving process, and controls the first image acquisition equipment to shoot so as to obtain each side image of the scaffold by sectional shooting.
Preferably, the device further comprises a whole stack detection area for placing a whole stack of scaffolds, wherein the whole stack of scaffolds comprises a plurality of whole stacks of stacked scaffolds, and a third image acquisition device connected with the control module is arranged above the whole stack detection area;
the control module further comprises a fourth control unit connected with the first control unit and used for controlling the third image acquisition equipment to acquire the outer surface image of the whole stack of scaffolds according to an external whole stack detection instruction, and the outer surface image indicates that the whole stack of scaffolds is conveyed to the feeding area and simultaneously generates a detection sorting instruction to be sent to the first control unit when defective products exist in the whole stack of scaffolds.
Preferably, the full-stack scaffold loading device further comprises a ground rail which is communicated with the full-stack detection area and the loading area, and a material conveying vehicle is arranged on the ground rail and used for loading the full-stack scaffold;
and the fourth control unit drives the material conveying vehicle to run along the ground rail when the outer surface image shows that defective products exist in the whole stack of scaffolds, so that the whole stack of scaffolds is conveyed to the feeding area from the whole stack detection area for detection and sorting.
Preferably, the third image acquisition equipment is arranged above the whole stack detection area through a four-axis truss.
The invention also provides a scaffold detection and sorting method, which is applied to the scaffold detection and sorting system, and the scaffold detection and sorting method comprises the following steps:
the method comprises the following steps that S1, a control module controls a sorting robot to drive a second image acquisition device to move to a position above a loading area according to an external detection sorting instruction, then a first image is obtained through shooting, the first image is processed to obtain position information of each scaffold, and the sorting robot is controlled to sequentially grab the scaffolds to a detection platform according to the position information;
s2, the control module controls the first image acquisition equipment to shoot to obtain an end face image of the scaffold, and performs image recognition on the end face image to judge whether the scaffold is a defective product:
if yes, the control module controls the sorting robot to sort the scaffold to a pre-configured defective product area, and then the step S1 is returned to;
if not, the control module controls the sorting robot to place the scaffold on the workpiece clamping equipment;
s3, the control module controls the workpiece clamping device to drive the scaffold to rotate along the axial direction and controls the first image acquisition device to shoot to obtain a plurality of side images of the scaffold, and the side images are respectively subjected to image recognition to judge whether any one side image represents that the scaffold is a defective product:
if yes, the control module controls the sorting robot to sort the scaffold to the defective product area, and then the step S1 is returned to;
if yes, controlling the sorting robot to sort the scaffold to a pre-configured good product area, and then returning to the step S1.
The technical scheme has the following advantages or beneficial effects: the appearance of the scaffold is identified by adopting a visual detection technology, and automatic sorting and stacking are carried out according to an identification result, so that the labor intensity of workers is obviously reduced, the sorting effect is ensured, and the robot-changing informatization operation is realized.
Drawings
Fig. 1 is a schematic diagram of a scaffold inspection and sorting system according to a preferred embodiment of the present invention;
fig. 2 is a schematic diagram illustrating the control principle of a scaffold inspecting and sorting system according to a preferred embodiment of the present invention;
FIG. 3 (a) is a photograph of an end face of a light-transmitting hole when the light-transmitting hole is not blocked according to a preferred embodiment of the present invention;
FIG. 3 (b) is a photograph of the end face of a preferred embodiment of the present invention when the light-passing hole is seriously clogged;
FIG. 4 (a) is a side photographic image of a deformed scaffold in a preferred embodiment of the present invention;
FIG. 4 (b) is a photograph of a curved side of the scaffold according to the preferred embodiment of the present invention;
fig. 5 is a flowchart illustrating a scaffold inspecting and sorting method according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In accordance with the above-mentioned problems of the prior art, there is provided a scaffold inspecting and sorting system, as shown in fig. 1 to 2, comprising:
a loading area 1 for placing a plurality of scaffolds 2;
the detection platform 3 is provided with a workpiece clamping device 4 and a first image acquisition device 5;
the first control unit 61 is used for controlling the sorting robot 7 to drive the second image acquisition equipment 8 to move above the loading area 1 according to an external detection sorting instruction, then shooting to obtain a first image, processing the first image to obtain included position information of each scaffold 2, and controlling the sorting robot 7 to sequentially grab the single scaffold 2 to the detection platform 3 according to the position information;
the second control unit 62 is configured to control the first image capturing device 5 to capture an end face image of the scaffold 2 when the sorting robot 7 captures the single scaffold 2 to the detection platform 3, control the sorting robot 7 to sort the scaffold 2 to a pre-configured defective area 100 when the end face image indicates that the scaffold 2 is defective, and control the sorting robot 7 to place the scaffold 2 on the workpiece clamping device 4 when the end face image indicates that the scaffold 2 is non-defective;
the third control unit 63 is configured to control the workpiece clamping device 4 to drive the scaffold 2 to rotate along the axial direction and control the first image capturing device 5 to capture a plurality of side images of the scaffold 2, control the sorting robot 7 to sort the scaffold 2 to the defective area 100 when any one of the side images indicates that the scaffold 2 is defective, and control the sorting robot 7 to sort the scaffold 2 to a pre-configured good area 101 when all the side images indicate that the scaffold 2 is good.
Specifically, in this embodiment, the feeding area 1, the detecting platform 3, the defective area 100 and the non-defective area 101 preferably enclose an operation area 102, and the sorting robot 7 is preferably disposed in the operation area 102, so that the operation range of the sorting robot 7 can cover the feeding area 1, the detecting platform 3, the defective area 100 and the non-defective area 101, and the moving distance therebetween is relatively short, so as to further improve the detecting and sorting efficiency. The plurality of scaffolds 2 in the loading area 1 are preferably placed in the loading area 1 in a stacked manner; the sorting robot 7 has a robot gripper, on which the first image recording device 5 is preferably arranged.
Further, the control module 6 may be a PLC controller, and when receiving an external detection sorting instruction, the control module first controls the robot gripper of the sorting robot 7 to move above the loading area 1, at this time, the first image capturing device 5 moves above the loading area 1 synchronously, and then controls the first image capturing device 5 to shoot a first image of the loading area 1 and send the first image to the control module 6, where the first image includes a plurality of scaffolds 2, the control module 6 obtains position information of each scaffold 2 included in the first image according to the first image processing, and then controls the robot gripper of the sorting robot 7 to perform unordered grasping of the scaffolds 2 according to the position information, grasp one scaffold 2 at a time to the detection platform 3 for appearance detection, and then perform sorting according to an appearance detection result.
The specific detection process of the appearance detection comprises the following steps: the robot gripper grabs a scaffold 2 to a corresponding position of the detection platform 3, keeps a grabbing state, then the control module 6 controls a second image acquisition device 8 arranged on the detection platform 3 to firstly shoot an end face image of the scaffold 2, then whether the scaffold 2 is a defective product or not is judged according to the end face image, if the scaffold is a defective product, subsequent detection is not needed, the scaffold 2 is directly sorted to a defective product area 100, and if the scaffold is a defective product, the robot gripper 7 is controlled to place the scaffold 2 on the workpiece clamping device 4 to continue detection of the next step. At this time, the work holding device 4 clamps the scaffold 2, and then controls the second image capturing device 8 to capture a side image of the scaffold 2, on one hand, since the length of the scaffold 2 is usually much larger than the capture coverage area of the second image capturing device 8, it is preferable to capture a side image of the scaffold 2 in a full length direction by means of sectional capture. On the other hand, because the second image acquisition device 8 is arranged on one side of the workpiece clamping device 4, therefore, a single shot of each segmented position can only acquire an image of one side of the scaffold 2, in this embodiment, the workpiece clamping device 4 is controlled to drive the scaffold 2 to axially rotate, so that the second image acquisition device 8 acquires a side image of the complete circumference of the scaffold through multiple shots, and then whether the scaffold is a defective product or not is judged according to the recognition result of the multiple side images, if the scaffold is a defective product, the scaffold 2 is sorted to a defective product area 100, and if the scaffold is a defective product, the sorting robot 7 is controlled to sort the scaffold 2 to a defective product area 101, and the detection and sorting process of a single scaffold 2 is completed. And (4) sequentially and repeatedly executing the detection sorting process for other scaffolds in the loading area 1.
As a preferred embodiment, the first image capturing device 5 and the second image capturing device 8 may be a CCD camera module.
As a preferred embodiment, the defective product area 100 and the non-defective product area 101 are respectively provided with a corresponding rack for placing defective products and non-defective products after sorting, the top side of the rack is preferably provided with an infrared detection sensor, and the control module 6 is connected to indicate that the rack is full when infrared signals are not detected continuously, and at this time, the control module 6 can generate a prompt signal to prompt a worker to process the signals.
As a preferred embodiment, the detecting platforms 3 may be provided in plurality, taking two as an example, when the first detecting platform 3 performs the side image shooting and processing of the scaffold 2, the sorting robot 7 is in an idle state, at this time, the sorting robot 7 may be controlled to capture one scaffold 2 from the loading area 1 to perform appearance detection on the second detecting platform 3, and when the second detecting platform 3 performs the side image shooting and processing of the scaffold 2, if the first detecting platform 3 has completed detection, the sorting robot 7 is controlled to sort the scaffold on the first detecting platform 3, thereby further improving the detecting and sorting efficiency. Likewise, also can set up a plurality of letter sorting robots 7 simultaneously according to the demand, further promote and detect letter sorting efficiency.
In a preferred embodiment, the processing of the end face image and the side face image is preferably implemented by using an artificial intelligence model obtained by training in advance.
In the preferred embodiment of the present invention, the defective product area 100 is preferably divided into the dust deposition area 200, the deformation area 201 and the bending area 202, and each area corresponds to a corresponding appearance detection result, so as to classify and maintain the defective products.
The dust deposition condition of the scaffold is represented by an appearance detection result of the end face image, when the appearance detection result is a defective product, the corresponding scaffold is sorted to the dust deposition area 200, and the dust deposition condition can be a cement blocking condition. Preferably, the scaffold 2 has at least one light through hole 21, the scaffold can be a vertical rod, and the light through hole 21 is a fixing hole for fixing the disc-shaped fixing member 23 of the cross rod and the diagonal rod, and the second control unit 62 includes:
the first control subunit 621 is configured to control the first image capturing device 5 to capture an end face image of the scaffold 2 when the sorting robot 7 captures the single scaffold 2 to the detection platform 3;
a first identifying subunit 622, connected to the first control subunit 621, configured to identify the light-passing hole 21 in the end face image, and output a first identifying signal when the area of the identified light-passing hole 21 is smaller than a first threshold, and output a second identifying signal when the area of the light-passing hole 21 is not smaller than the first threshold;
and a second control subunit 623 connected to the first identifying subunit 622, for controlling the sorting robot 7 to sort the scaffolds 2 to the defective product area according to the first identifying signal, and controlling the sorting robot 7 to place the scaffolds 2 on the workpiece clamping device 4 according to the second identifying signal.
Specifically, in the present embodiment, as shown in fig. 3 (a), the area of the light transmitting hole 21 is the largest when there is no cement clogging, and the area of the light transmitting hole 21 is decreased when there is cement clogging, and the first threshold value may be previously set as an evaluation criterion for scaffold end surface detection as needed, and as shown in fig. 3 (b), when the area of the light transmitting hole 21 is smaller than the first threshold value, it indicates that the clogging is serious, and at this time, the scaffold is sorted to the defective product region 100.
In a preferred embodiment of the present invention, the defective area includes a dust deposition area, and the second control subunit 623 controls the sorting robot 7 to sort the scaffold 2 to the dust deposition area according to the first identification signal.
In a preferred embodiment of the present invention, as shown in fig. 4 (a) and 4 (b), the scaffold 2 includes a body 22 and at least one fixing member 23 fixed on the body 22, the deformation condition and bending condition of the scaffold are characterized by the appearance detection result of the side image, the appearance detection result is a defective product, and when the deformation condition is detected, the corresponding scaffold is sorted to the deformation area 201, taking the vertical rod as an example, as shown in fig. 4 (a), the deformation condition here may be the deformation condition of the fixing member 23, wherein the frame selection part is the area of the deformed fixing frame; when the appearance detection result is a defective product and the scaffold is a bending condition, the corresponding scaffold is sorted to the bending area 202, taking the vertical rod as an example, as shown in fig. 4 (b), the bending condition here may be a deviation condition of the body 22, wherein the frame selection part is a deviation condition of the bent fixing frame; the third control unit 63 includes:
the third control subunit 631 is configured to control the workpiece clamping device to drive the scaffold to rotate in the axial direction and control the first image acquisition device to capture a plurality of side images of the scaffold;
a second identifying subunit 632 connected to the third controlling subunit 631, configured to identify the anchor in each side image, and output a third identifying signal when the anchor is included in the side image, and output a fourth identifying signal when the anchor is not included in the side image;
the third identifying subunit 633, connected to the second identifying subunit 632, is configured to control the sorting robot to sort the scaffold to the defective area when the area of the fixing element is greater than a second threshold value according to the third identifying signal, and output a fifth identifying signal when the area of the fixing element is not greater than the second threshold value;
the fourth identifying subunit 634, which is respectively connected to the second identifying subunit 632 and the third identifying subunit 633, is configured to control the sorting robot to sort the scaffold to a defective area when the deviation amount of the body in the length direction is greater than a deviation threshold value according to the fourth identifying signal or the fifth identifying signal, and control the sorting robot to sort the scaffold to a non-defective area when all the deviation amounts are not greater than the deviation threshold value.
In the preferred embodiment of the present invention, the defective area includes a deformation area 201 and a bending area 202;
the third recognition subunit 633 controls the sorting robot to sort the scaffold to the deformation region when the area of the fixing member is greater than the second threshold;
the fourth recognition subunit 634 controls the sorting robot to sort the scaffold to the bending region when the amount of displacement of the body in the length direction is greater than the displacement threshold.
In the preferred embodiment of the present invention, the first image capturing device 5 is disposed on the detecting platform 3 through a driving mechanism 9, the driving mechanism 9 is connected to the third control subunit 631;
the third control subunit 631 controls the driving mechanism 9 to drive the first image capturing device 5 to move along the length direction of the scaffold 2, and controls the workpiece clamping device 4 to drive the scaffold 2 to rotate along the axial direction and control the first image capturing device 5 to capture images of the side surfaces of the scaffold 2 in a segmented manner.
In a preferred embodiment of the present invention, the system further comprises a whole stack detection area 10 for placing a whole stack of scaffolds 11, wherein the whole stack of scaffolds 11 comprises a plurality of whole stacks of stacked scaffolds, and a third image acquisition device 12 connected to the control module 6 is arranged above the whole stack detection area 10;
the control module 6 further comprises a fourth control unit 64 connected to the first control unit 61, and configured to control the third image capturing device to capture an image of an outer surface of the entire stack of scaffolds according to an external entire stack detection instruction, and when the image of the outer surface indicates that a defective product exists in the entire stack of scaffolds, the third image capturing device conveys the entire stack of scaffolds to the loading area, and generates a detection sorting instruction to send to the first control unit.
As a preferred embodiment, the first image capturing device 5 and the second image capturing device 8 may be a CCD camera module.
In a preferred embodiment of the present invention, the present invention further comprises a ground rail 13, which communicates the entire pile detection area 10 and the loading area 1, wherein a material transporting vehicle 14 is arranged on the ground rail 13, and is used for loading the entire pile of scaffolds 10;
the fourth control unit 64 will drive the cart to run along the ground rail when the image of the outer surface indicates that there is a defective product in the entire stack of scaffolds, so as to transport the entire stack of scaffolds from the entire stack detection area to the loading area.
In the preferred embodiment of the present invention, the third image capturing device 12 is disposed above the entire stack inspection area 10 by a four-axis truss.
Specifically, in this embodiment, the control module 6 further includes a human-computer interface, and the third image capturing device 12 is further provided with a distance sensor. The whole stack detection process is as follows:
the whole stack of scaffolds 11 can be placed at the designated position of the material transporting vehicle 14 through a forklift, and then the lock catch arranged above the whole stack of scaffolds 11 can be opened, so that the whole stack of scaffolds 11 can be properly arranged, and the sorting robot 7 can reasonably and quickly take materials. After the operation is finished, the type and the specification of the scaffold are selected and determined on a human-computer interaction interface, and then the equipment is started. The four-axis truss moves above the whole stack of scaffolds 11 according to the setting, the distance sensor measures the distance between the third image acquisition device 12 and the whole stack of scaffolds 11, the camera focal length position of the third image acquisition device 12 is adjusted according to the distance measurement result, and the third image acquisition device 12 starts to detect the top surface of the whole stack of scaffolds 11. After the detection, the four-axis truss moves to one side of the whole stack of scaffolds 11, the distance sensor measures the distance of the third image acquisition device 12, the camera focal length position of the third image acquisition device 12 is adjusted according to the distance measurement result, and the third image acquisition device 12 starts to detect the side face of the whole stack of scaffolds 11. After the completion, the four-axis truss drives third image acquisition equipment 12 and moves to other 3 faces of whole buttress scaffold 11 respectively, accomplishes predetermined detection content, and this predetermined detection content includes the detection of deposition condition, deformation condition and crooked condition, and 5 faces are whole to be detected the completion back, and unqualified direct is delivered to material loading area 1 through ground rail 13 and dumper 14 and continues the letter sorting, and whole buttress scaffold 11 of certified products can be transported by voice prompt fork truck.
The invention also provides a scaffold detection and sorting method, which is applied to the scaffold detection and sorting system, and as shown in fig. 5, the scaffold detection and sorting method comprises the following steps:
the method comprises the following steps that S1, a control module controls a sorting robot to drive a second image acquisition device to move to the upper side of a loading area according to an external detection sorting instruction, then a first image is obtained through shooting, the first image is processed to obtain position information of each contained scaffold, and the control module controls the sorting robot to sequentially grab the single scaffold to a detection platform according to the position information;
s2, the control module controls the first image acquisition equipment to shoot to obtain an end face image of the scaffold, and performs image recognition on the end face image to judge whether the scaffold is a defective product:
if yes, the control module controls the sorting robot to sort the scaffold to a pre-configured defective product area, and then the step S1 is returned;
if not, the control module controls the sorting robot to place the scaffold on the workpiece clamping equipment;
s3, the control module controls the workpiece clamping device to drive the scaffold to rotate along the axial direction and controls the first image acquisition device to shoot a plurality of side images of the scaffold, and the side images are respectively subjected to image recognition to judge whether any side image exists to indicate that the scaffold is a defective product:
if yes, the control module controls the sorting robot to sort the scaffold to a defective product area, and then the step S1 is returned;
if not, controlling the sorting robot to sort the scaffold to a pre-configured good product area, and then returning to the step S1.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the spirit and scope of the invention.
Claims (9)
1. A scaffold detection and sorting system, comprising:
the loading area is used for placing a plurality of scaffolds;
the detection platform is provided with a workpiece clamping device and a first image acquisition device;
control module, connect respectively work piece centre gripping equipment first image acquisition equipment and at least a sorting robot, every be equipped with a second image acquisition equipment on the sorting robot, control module includes:
the first control unit is used for controlling the sorting robot to drive the second image acquisition equipment to move to the position above the feeding area according to an external detection sorting instruction, then shooting to obtain a first image, processing the first image to obtain position information of each scaffold, and controlling the sorting robot to sequentially grab the scaffolds to the detection platform according to the position information;
the second control unit is used for controlling the first image acquisition equipment to shoot an end face image of the scaffold when the sorting robot grasps the single scaffold to the detection platform, controlling the sorting robot to sort the scaffold to a pre-configured defective area when the end face image shows that the scaffold is defective, and controlling the sorting robot to place the scaffold on the workpiece clamping equipment when the end face image shows that the scaffold is good;
the third control unit is used for controlling the workpiece clamping equipment to drive the scaffold to rotate along the axial direction and controlling the first image acquisition equipment to shoot to obtain a plurality of side images of the scaffold, controlling the sorting robot to sort the scaffold to the defective area when any one of the side images shows that the scaffold is defective, and controlling the sorting robot to sort the scaffold to a pre-configured good area when all the side images show that the scaffold is good;
the scaffold has at least one light through hole, and the second control unit comprises:
the first control subunit is used for controlling the first image acquisition equipment to shoot an end face image of the scaffold when the sorting robot grabs the single scaffold to the detection platform;
the first identification subunit is connected with the first control subunit and is used for identifying the light through holes in the end face image, outputting a first identification signal when the area of the identified light through holes is smaller than a first threshold value, and outputting a second identification signal when the area of the light through holes is not smaller than the first threshold value;
and the second control subunit is connected with the first identification subunit and used for controlling the sorting robot to sort the scaffold to the defective product area according to the first identification signal and controlling the sorting robot to place the scaffold on the workpiece clamping equipment according to the second identification signal.
2. The scaffold detecting and sorting system according to claim 1, wherein the defective product area includes a dust deposition area, and the second control subunit controls the sorting robot to sort the scaffold to the dust deposition area according to the first identification signal.
3. The scaffold detection and sorting system of claim 1, wherein the scaffold comprises a body and at least one fixing member fixed on the body, and the third control unit comprises:
the third control subunit is used for controlling the workpiece clamping equipment to drive the scaffold to rotate along the axial direction and controlling the first image acquisition equipment to shoot so as to obtain a plurality of side images of the scaffold;
a second identifying subunit, connected to the third controlling subunit, configured to identify the anchor in each of the side images, and output a third identifying signal when the anchor is included in the side image, and output a fourth identifying signal when the anchor is not included in the side image;
the third identification subunit is connected with the second identification subunit and used for controlling the sorting robot to sort the scaffold to the defective product area when the area of the fixing piece is larger than a second threshold value according to the third identification signal, and outputting a fifth identification signal when the area of the fixing piece is not larger than the second threshold value;
and the fourth identification subunit is respectively connected with the second identification subunit and the third identification subunit, and is used for controlling the sorting robot to sort the scaffolds to the defective product areas when the deviation amount of the body along the length direction is larger than a deviation threshold value according to the fourth identification signal or the fifth identification signal, and controlling the sorting robot to sort the scaffolds to the defective product areas when all the deviation amounts are not larger than the deviation threshold value.
4. The scaffold detection and sorting system of claim 3, wherein the defective product region comprises a deformed region and a bent region;
the third identification subunit controls the sorting robot to sort the scaffold to the deformation region when the area of the fixing member is greater than the second threshold value;
the fourth identification subunit controls the sorting robot to sort the scaffold to the bending area when the offset amount of the body in the length direction is greater than the offset threshold value.
5. The scaffold detection and sorting system according to claim 3, wherein the first image capturing device is disposed on the detection platform through a driving mechanism, and the driving mechanism is connected to the third control sub-unit;
the third control subunit controls the driving mechanism to drive the first image acquisition equipment to move along the length direction of the scaffold, controls the workpiece clamping equipment to drive the scaffold to rotate along the axial direction in the moving process, and controls the first image acquisition equipment to shoot so as to obtain each side image of the scaffold by sectional shooting.
6. The scaffold detecting and sorting system according to claim 1, further comprising a whole stack detecting area for placing a whole stack of scaffolds, wherein the whole stack of scaffolds comprises a whole stack of stacked scaffolds, and a third image capturing device connected to the control module is disposed above the whole stack detecting area;
the control module further comprises a fourth control unit connected with the first control unit and used for controlling the third image acquisition equipment to acquire the outer surface image of the whole stack of scaffolds according to an external whole stack detection instruction, and the outer surface image indicates that the whole stack of scaffolds is conveyed to the feeding area and simultaneously generates the detection sorting instruction which is sent to the first control unit when defective products exist in the whole stack of scaffolds.
7. The scaffold detecting and sorting system according to claim 6, further comprising a ground rail communicating the entire pile detection area and the loading area, wherein a material transporting vehicle is arranged on the ground rail for loading the entire pile of scaffolds;
and the fourth control unit drives the material conveying vehicle to run along the ground rail when the outer surface image shows that defective products exist in the whole stack of scaffolds, so that the whole stack of scaffolds is conveyed to the feeding area from the whole stack detection area for detection and sorting.
8. The scaffold inspection and sorting system of claim 6, wherein the third image capturing device is disposed above the full stack inspection area by a four-axis truss.
9. A scaffold detection and sorting method applied to the scaffold detection and sorting system according to any one of claims 1 to 8, the scaffold detection and sorting method comprising:
the method comprises the following steps that S1, a control module controls a sorting robot to drive a second image acquisition device to move to the position above a loading area according to an external detection sorting instruction, then a first image is obtained through shooting, the first image is processed to obtain position information of each scaffold, and the sorting robot is controlled to sequentially grab the single scaffold to a detection platform according to the position information;
s2, the control module controls the first image acquisition equipment to shoot to obtain an end face image of the scaffold, and performs image recognition on the end face image to judge whether the scaffold is a defective product:
if yes, the control module controls the sorting robot to sort the scaffold to a pre-configured defective product area, and then the step S1 is returned to;
if not, the control module controls the sorting robot to place the scaffold on the workpiece clamping equipment;
s3, the control module controls the workpiece clamping device to drive the scaffold to rotate along the axial direction and controls the first image acquisition device to shoot to obtain a plurality of side images of the scaffold, and the side images are respectively subjected to image recognition to judge whether any one side image represents that the scaffold is a defective product:
if yes, the control module controls the sorting robot to sort the scaffold to the defective product area, and then the step S1 is returned to;
and if yes, controlling the sorting robot to sort the scaffold to a pre-configured good product area, and then returning to the step S1.
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