CN113522786A - Visual detection method, system and device for grabbing and sorting ship parts - Google Patents
Visual detection method, system and device for grabbing and sorting ship parts Download PDFInfo
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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
- B07C5/34—Sorting according to other particular properties
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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
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
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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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
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Abstract
The invention provides a visual detection method, a system and a device for grabbing and sorting ship parts, wherein the method comprises the following steps: controlling the camera device to move to a position above a tray for placing ship parts; acquiring first image information of a ship part through a camera device, identifying and grabbing the ship part based on the first image information, and grabbing the ship part to a cutting and polishing workbench to cut and polish the ship part; acquiring second image information of the cut and polished ship parts through a camera device, identifying character information in the second image information, and sorting the cut and polished ship parts based on the character information. The visual detection method, the system and the device for grabbing and sorting the ship parts are used for automatically grabbing, sorting and transporting the ship parts, which effectively reduce the manual load, improve the construction environment and improve the quality and the efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent workshops, in particular to a visual detection method, a system and a device for grabbing and sorting ship parts.
Background
The traditional character code spraying of ship parts is to print complete information of the parts by using uniform ink, so that cutting, material arrangement, transportation and assembly of single parts are realized. However, the shape of the part is irregular and flat, and the printing position of the character is not fixed, so that the positions of the character on the part are different. In the prior art, the parts are sorted and transported by a manual method. Manual material management requires personnel to carry out on-site recognition on the characters of the parts and judge different types of codes of the characters, so that the parts are hoisted, sorted and transported. However, in the field environment, various parts are mixed and overlapped, and meanwhile, the interference of conditions such as dust, abrasion, impact, pollution and the like exists, so that a series of problems such as heavy load of workers, low part sorting efficiency, environmental noise pollution and the like occur.
Therefore, it is desirable to solve the problem of how to efficiently identify ship parts for sorting.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a method, a system and a device for visually inspecting the grabbing and sorting of ship parts, which are used to solve the problem of how to efficiently identify ship parts for sorting in the prior art.
In order to achieve the above and other related objects, the present invention provides a visual inspection method for grabbing and sorting ship parts, comprising the following steps: controlling the camera device to move to a position above a tray for placing ship parts; acquiring first image information of a ship part through a camera device, and identifying and grabbing the ship part based on the first image information so as to control a robot to grab the ship part to a cutting and polishing workbench to cut and polish the ship part; the camera device is fixedly arranged on the robot; acquiring second image information of the cut and polished ship parts through a camera device, identifying character information in the second image information, and sorting the cut and polished ship parts based on the character information.
In an embodiment of the present invention, the acquiring, by the camera device, first image information of the ship part, and identifying and grabbing the ship part based on the first image information to control the robot to grab the ship part to the cutting and polishing worktable, so that the ship part is cut and polished includes: acquiring first image information of a ship part through a camera device; denoising the first image information to obtain first denoised image information; processing the first de-noising image information based on a preset edge detection algorithm to obtain ship part image information; processing the ship part image information based on a preset contour extraction algorithm to obtain the ship part contour information; processing the ship part contour information based on a preset mass center algorithm to obtain the ship part mass center position information, and controlling a robot to grab the ship part based on the ship part mass center position information; comparing the ship part outline information with a preset ship part outline template, and identifying the class of the ship part; planning a path for the ship parts based on the ship part category and the cutting and polishing workbench information, and grabbing the ship parts to the cutting and polishing workbench in an idle state based on the planned path so as to cut and polish the ship parts.
In an embodiment of the present invention, the acquiring, by the camera device, second image information of the cut and polished ship parts, identifying character information in the second image information, and sorting the cut and polished ship parts based on the character information includes: acquiring second image information of the cut and polished ship parts through a camera device; denoising the second image information to obtain second denoised image information; extracting character region image information of the second de-noising image information based on a preset threshold segmentation algorithm based on color features; cutting the character area image information based on a preset cutting algorithm to obtain characters, comparing the characters with preset characters, and identifying the characters to obtain character information; and obtaining character code information based on the character information, and determining the flow direction of the cut and polished ship parts based on the character code information, so as to sort the cut and polished ship parts.
In an embodiment of the present invention, the method further includes acquiring part number information input by a user, and displaying a corresponding part model and part positioning based on the part number information.
In order to achieve the above object, the present invention further provides a visual inspection system for grabbing and sorting ship parts, comprising: the automatic part sorting system comprises a control module, a part positioning and grabbing functional module and an automatic part sorting functional module; the control module is used for controlling the camera device to move above the position of the tray for placing the ship parts; the part positioning and grabbing functional module is used for acquiring first image information of a ship part through a camera device, identifying and grabbing the ship part based on the first image information, and controlling a robot to grab the ship part to a cutting and polishing workbench so as to cut and polish the ship part; the camera device is fixedly arranged on the robot; the automatic part sorting functional module is used for acquiring second image information of the ship parts after cutting and polishing through the camera device, recognizing character information in the second image information, and sorting the ship parts after cutting and polishing based on the character information.
In an embodiment of the present invention, the method further includes acquiring part number information input by a user, and displaying a corresponding part model and part positioning based on the part number information.
In order to achieve the above object, the present invention further provides a computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements any one of the above mentioned visual inspection methods for grabbing and sorting ship parts.
In order to achieve the above object, the present invention further provides a visual inspection device for grabbing and sorting ship parts, comprising: a processor and a memory; the memory is used for storing a computer program; the processor is connected with the memory and used for executing the computer program stored in the memory so as to enable the visual detection device for grabbing and sorting the ship parts to execute any one of the above visual detection methods for grabbing and sorting the ship parts.
Finally, the invention also provides a visual detection system for grabbing and sorting ship parts, which comprises: the robot comprises a visual detection device, a camera device and a robot, wherein the visual detection device is used for grabbing and sorting ship parts; the camera device is fixedly arranged on the robot and used for moving to a position above a tray for placing ship parts along with the robot to acquire first image information of the ship parts; acquiring second image information of the ship parts after cutting and polishing; the robot is used for grabbing the ship parts to a cutting and polishing workbench so that the ship parts are cut and polished.
In an embodiment of the present invention, the visual inspection apparatus for grabbing and sorting ship parts further includes an interaction unit, where the interaction unit is configured to obtain part number information input by a user, and display a corresponding part model and part positioning based on the part number information.
As described above, the visual inspection method, system and device for grabbing and sorting ship parts of the present invention have the following beneficial effects: the automatic grabbing, sorting and transporting device is used for automatically grabbing, sorting and transporting ship parts, effectively reducing manual load, improving construction environment and improving quality and efficiency.
Drawings
FIG. 1 is a flow chart illustrating a method for visual inspection of grabbing and sorting ship parts according to an embodiment of the present invention;
FIG. 2 is a schematic view of a visual inspection system for grabbing and sorting ship parts according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a visual inspection device for grabbing and sorting ship parts according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a visual inspection system for grabbing and sorting ship parts according to another embodiment of the present invention.
Description of the element reference numerals
21 control module
22 part positioning and grabbing functional module
23 automatic sorting functional module for parts
31 processor
32 memory
Visual detection device for grabbing and sorting 41 ship parts
42 image pickup device
43 robot
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, so that the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, the type, quantity and proportion of the components in actual implementation can be changed freely, and the layout of the components can be more complicated.
The visual detection method, the system and the device for grabbing and sorting the ship parts are used for automatically grabbing, sorting and transporting the ship parts, which effectively reduces the manual load, improves the construction environment and improves the quality and the efficiency.
As shown in fig. 1, in an embodiment, the visual inspection method for grabbing and sorting ship parts of the present invention includes the following steps:
and step S11, controlling the camera device to move to the position above the tray for placing the ship parts.
Specifically, the control camera device is in communication connection, and the camera device is moved to the position above the position of the tray for placing ship parts by sending a moving instruction to the camera device.
Specifically, part number information input by a user is obtained through a human-computer interaction interface, and a corresponding part model and part positioning are displayed based on the part number information. The human-computer interaction interface comprises: display screen, keyboard, mouse. The human-computer interaction interface is in communication connection with the visual detection and control device. Therefore, a user inputs part numbers through the human-computer interaction interface to perform information query operation, and information such as models, position coordinates and the like of the parts is provided for the user through the human-computer interaction interface so as to be analyzed and judged by the user.
Specifically, the human-computer interaction interface is used for information display, control operation and parameter setting.
Step S12, acquiring first image information of the ship part through a camera device, and identifying and grabbing the ship part based on the first image information so as to control a robot to grab the ship part to a cutting and polishing workbench to cut and polish the ship part; the camera device is fixedly arranged on the robot.
Specifically, the step S12 of acquiring first image information of a ship part through a camera device, and identifying and grabbing the ship part based on the first image information to control a robot to grab the ship part to a cutting and polishing worktable so that the ship part is cut and polished includes:
and step S121, acquiring first image information of the ship part through the camera device. Specifically, the camera device comprises an industrial camera, the camera device is fixedly arranged on the robot, and the movement of the camera device is realized by controlling the movement of the robot. Specifically, the industrial camera is a CCD industrial camera. CCD, English full name: the Charge coupled Device, which is called as a Charge coupled Device in Chinese, may be called a CCD image sensor. A CCD is a semiconductor device that can convert an optical image into a digital signal. The tiny photosensitive substances implanted on the CCD are called pixels (pixels). The larger the number of pixels contained in a CCD, the higher the resolution of the picture it provides. The CCD acts like a film, but it converts the image pixels into digital signals. The CCD has many capacitors arranged in order to sense light and convert the image into digital signal. Each small capacitor can transfer its charged charge to its neighboring capacitor under the control of an external circuit. As a kind of optical number conversion element, CCD cameras have been widely used.
Step S122, carrying out denoising processing on the first image information to obtain first denoised image information; processing the first de-noising image information based on a preset edge detection algorithm to obtain ship part image information; processing the ship part image information based on a preset contour extraction algorithm to obtain the ship part contour information; processing the ship part contour information based on a preset centroid algorithm to obtain the ship part centroid position information, and controlling a robot to grab the ship part based on the ship part centroid position information. Specifically, the processing the first de-noising image information based on a preset edge detection algorithm to obtain ship part image information includes: irrelevant information in the first image information is eliminated through image processing such as Gaussian filtering, graying, binarization, image sharpening and the like, and useful information is enhanced, so that first de-noised image information is obtained. The processing the ship part image information based on the preset contour extraction algorithm to obtain the ship part contour information comprises the following steps: a classical Canny edge detection algorithm is adopted to position the area with obvious change in the image, and the workpiece is separated from the tray; and realizing the contour detection function by adopting an OpenCV function library to obtain the complete closed outer contour of the workpiece in the image, namely the contour information of the ship part. The Canny edge detection algorithm is a multi-level detection algorithm. In 1986, John f.canny proposed three major criteria for edge detection: edge detection with low error rate: the detection algorithm should accurately find as many edges in the image as possible, reducing missed and false detections as possible. Optimal positioning: the detected edge point should be located exactly at the center of the edge. Any edge in the image should be marked only once, while image noise should not create a false edge. The OpenCV function library, OpenCV (
Open Source Computer Vision Library) is a Computer Vision Library developed by Intel corporation for application developers, including large librariesThe function of the quantities is used to handle problems common in the field of computer vision, such as motion analysis and tracking, face recognition, 3D reconstruction, and target recognition. Relative to other image function libraries, OpenCV is a source code open function library, and a developer can freely call related processing functions in the function library. And processing the ship part contour information based on a preset centroid algorithm to obtain the ship part centroid position information. The centroid method image preprocessing algorithm comprises the following steps: (1) selecting a threshold value after graying and color reversal of the image to obtain a light spot characteristic area; (2) fuzzy denoising (mean blu), which is to eliminate noise generated by thermal noise and pixel nonuniformity; (3) selecting a threshold value again to obtain a clearer light spot area; (4) performing morphological processing, namely selecting a proper field template, and performing corrosion and filling processing on the image to obtain a regular-shaped graph of a connected domain; (5) the edge detection obtains the image edge, and repeated experiments prove that the canny edge detection algorithm is the best; (6) and performing morphological strel-imode-closing-imfill correlation operation on the edge to obtain a more communicated edge curve, calling a regionprops (L, properties) function, and calculating the centroid according to a centroid method. And the preprocessing step of the centroid method image preprocessing algorithm is completed, and only the correlation function is required to be called to calculate the centroid according to the centroid method. Several common centroid algorithms (1), a common centroid algorithm, are described below, which are suitable for situations where there is no background noise, the background noise is consistent, or the signal-to-noise ratio is high. (2) And (3) imposing a weighted centroid algorithm, wherein a weighting function in the algorithm comprises all intensity values. The principle is that the pixel value of a partial area close to the center of the light spot is enhanced, so that the influence on the point with larger influence on the light spot is further increased, the centroid detection precision is improved, and even if the shape of the light spot is not approximate to Gaussian distribution, the method can still accurately detect the centroid of the light spot. (3) The threshold value centroid algorithm firstly performs threshold value segmentation on the image, then uses the COG algorithm, and the centroid detection error at the moment is smaller than that when only the COG algorithm is used. The algorithm is critical to the selection of the threshold. There are many ways to select the threshold. Fixed value thresholds, empirical thresholds and histogram thresholds are commonly used. Currently, adaptive thresholds are widely used. The adaptive threshold has a threshold value that varies with the change of the imageTo achieve the best results. The most common of the adaptive thresholds is the wavelet adaptive threshold. The method can well remove the Gaussian white noise. However, the conventional wavelet transform is not sufficiently calculated in signal denoising, so that the wavelet denoising algorithm can be improved. Specifically, through the electric permanent magnetism sucking disc of the multiple spot on the control robot, remove and stop accurately and snatch at the barycenter position of work piece, through PLC control multiple spot electric permanent magnetism sucking disc's lift number to adsorb the work piece and snatch the operation.
And S123, comparing the ship part outline information with a preset ship part outline template, and identifying the class of the ship part. A data preprocessing stage prior to step S11. The method comprises the steps of acquiring image information of different types of ship parts, marking the outline of a part by using an image data marking mode to obtain abundant ship part database information, and training a sample to obtain a template ship part database, wherein the template ship part database comprises a plurality of ship part outline templates.
And S124, planning a path for the ship parts based on the ship part category and the cutting and polishing workbench information, and controlling a robot to grab the ship parts to the cutting and polishing workbench in an idle state based on the planned path so as to cut and polish the ship parts. Specifically, the robot that snatchs boats and ships spare part to cutting grinding table only has a equipment, and the cutting grinding table that cuts and polish has a plurality ofly, carries boats and ships spare part to certain cutting grinding table and cuts before the operation of polishing, and the robot needs to judge the operating condition of different work pieces at different cutting grinding table through signal transmission's mode, based on the operating condition of cutting grinding table, selects the cutting to polish the cutting grinding table of boats and ships spare part. The cutting and grinding worktable working state comprises: working, idle, waiting for work. The working means that the ship parts are cut and polished, the idle means that the cutting and polishing work is not carried out and the waiting work is not carried out, and the waiting work means that the cutting and polishing work is not carried out but the ship parts are about to be transported and arrive. Therefore, the planned path is not the path from the robot to the cutting and grinding workbench, but the working state of the cutting and grinding workbench is considered, whether the planned path is busy or not is judged, and the path planning is executed according to the working condition. Thereby realizing real-time and accurate feeding and discharging operation. The robot needs to know the current working state of the workbench in advance, so that the shortest path for planning and carrying the ship parts is provided, the rest time for polishing and cutting the workpieces is reduced, and the working efficiency for automatically grabbing the whole ship parts is improved.
And step S13, acquiring second image information of the cut and polished ship parts through a camera device, identifying character information in the second image information, and sorting the cut and polished ship parts based on the character information.
Specifically, the obtaining, by the camera device, second image information of the cut and polished ship parts, identifying character information in the second image information, and sorting the cut and polished ship parts based on the character information includes:
and S131, acquiring second image information of the cut and polished ship parts through a camera device. And shooting through a camera device to obtain second image information of the ship parts after cutting and polishing.
Step S132, carrying out denoising processing on the second image information to obtain second denoising image information; and extracting the character region image information of the second de-noising image information based on a preset threshold segmentation algorithm based on color features. The denoising process includes removing image noise by gaussian filtering. The threshold segmentation algorithm of the color features comprises the following steps: setting a threshold value to extract the background and the required character area by utilizing three characteristics of hue, saturation and brightness of the HSV color model so as to obtain character area image information. HSV (Hue, Saturation) is a color space created by a.r. smith in 1978, also known as the hexagonal cone Model (Hexcone Model), based on the intuitive nature of color. And processing the obtained character area image information based on a preset character correction algorithm to obtain corrected character area image information. Specifically, all straight lines in the image information of the character area are detected by utilizing Hough line transformation, then the inclination angle of each straight line is calculated and averaged, finally, rotation correction is carried out according to the final inclination angle, and the characters are kept horizontal.
Step S133, cutting the character region image information based on a preset cutting algorithm to obtain a character, comparing the character with a preset character, and recognizing the character to obtain character information. The obtaining of the preset character comprises the following steps: and pre-training character recognition in advance to obtain database information of preset characters. The preset cutting algorithm is used for cutting the character region image information to obtain characters and comprises the following steps: and cutting the character region image information by adopting a horizontal and vertical projection algorithm to obtain characters.
And S134, acquiring character code information based on the character information, and determining the flow direction of the cut and polished ship parts based on the character code information, so as to sort the cut and polished ship parts. One or more characters can be obtained by cutting, and character coding information can be obtained based on the character coding mode, wherein the character coding information comprises the flow direction information of the ship parts after cutting and grinding. Therefore, the flow direction of the ship parts after cutting and grinding is determined based on the character coding information, and therefore sorting of the ship parts after cutting and grinding is carried out.
Specifically, the coding mode of the characters of the ship parts comprises a ship number, an engineering number, a tray number, a flow direction code, a processing type code, a part distinguishing code and the like, wherein the processing type code is a digital code and is used for defining part types corresponding to different procedures, and the flow direction code is a letter code and is used for defining a flow direction code of a next flow after the parts are cut to a corresponding design drawing. And determining the lane flow direction of the workpiece by analyzing the processing type code and the flow direction code, and realizing the automatic sorting and transportation of the parts. The ship number is the ship type number that the ship spare part was adapted, the engineering number is the serial number of the affiliated engineering of ship spare part, the tray number is the transportation the tray serial number of ship spare part.
As shown in fig. 2, in an embodiment, the visual inspection system for grabbing and sorting ship parts of the present invention includes a control module 21, a part positioning and grabbing function module 22, and a part automatic sorting function module 23; the control module is used for controlling the camera device to move above the position of the tray for placing the ship parts; the part positioning and grabbing functional module is used for acquiring first image information of a ship part through a camera device, identifying and grabbing the ship part based on the first image information, and controlling the robot to grab the ship part to a cutting and polishing workbench so as to cut and polish the ship part; the camera device is fixedly arranged on the robot; the automatic part sorting functional module is used for acquiring second image information of the ship parts after cutting and polishing through the camera device, recognizing character information in the second image information, and sorting the ship parts after cutting and polishing based on the character information.
The part positioning and grabbing functional module 22 is used for acquiring first image information of a ship part through a camera device, identifying and grabbing the ship part based on the first image information, controlling robot grabbing to control the robot grabbing the ship part to a cutting and polishing workbench, so that the ship part is cut and polished, and comprises: acquiring first image information of a ship part through a camera device; denoising the first image information to obtain first denoised image information; processing the first de-noising image information based on a preset edge detection algorithm to obtain ship part image information; processing the ship part image information based on a preset contour extraction algorithm to obtain the ship part contour information; processing the ship part contour information based on a preset mass center algorithm to obtain the ship part mass center position information, and controlling a robot to grab the ship part based on the ship part mass center position information; comparing the ship part outline information with a preset ship part outline template, and identifying the class of the ship part; planning a path for the ship parts based on the ship part category and the cutting and polishing workbench information, and grabbing the ship parts to the cutting and polishing workbench in an idle state based on the planned path so as to cut and polish the ship parts.
The automatic part sorting function module 23 is configured to acquire second image information of the ship parts after cutting and polishing through a camera device, recognize character information in the second image information, and perform sorting of the ship parts after cutting and polishing based on the character information, including: acquiring second image information of the cut and polished ship parts through a camera device; denoising the second image information to obtain second denoised image information; extracting character region image information of the second de-noising image information based on a preset threshold segmentation algorithm based on color features; cutting the character area image information based on a preset cutting algorithm to obtain characters, comparing the characters with preset characters, and identifying the characters to obtain character information; and obtaining character code information based on the character information, and determining the flow direction of the cut and polished ship parts based on the character code information, so as to sort the cut and polished ship parts.
Specifically, the method further comprises the steps of obtaining part number information input by a user, and displaying a corresponding part model and part positioning based on the part number information.
It should be noted that the structures and principles of the control module 21, the part positioning and grabbing functional module 22, and the part automatic sorting functional module 23 correspond to the steps in the above-mentioned visual inspection method for grabbing and sorting ship parts one by one, and therefore, the description thereof is omitted here.
It should be noted that the division of the modules of the above system is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the x module may be a processing element that is set up separately, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the x module may be called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Specific Integrated circuits (ASICs), or one or more Microprocessors (MPUs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
In an embodiment of the present invention, the present invention further includes a computer readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements any one of the above-mentioned visual inspection methods for grabbing and sorting ship parts.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
As shown in fig. 3, in an embodiment, the visual inspection device for grabbing and sorting ship parts of the present invention includes: a processor 31 and a memory 32; the memory 32 is for storing a computer program; the processor 31 is connected to the memory 32, and is configured to execute the computer program stored in the memory 32, so that the visual inspection apparatus for grabbing and sorting ship parts performs any one of the visual inspection methods for grabbing and sorting ship parts.
Specifically, the memory 32 includes: various media that can store program codes, such as ROM, RAM, magnetic disk, U-disk, memory card, or optical disk.
Preferably, the Processor 31 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
As shown in fig. 4, in an embodiment, the visual inspection system for grabbing and sorting ship parts of the present invention includes a visual inspection device 41 for grabbing and sorting ship parts, a camera device 42 and a robot 43; the camera device is fixedly arranged on the robot, namely the camera device is fixed on the robot and used for moving to a position above a tray for placing ship parts along with the robot to acquire first image information of the ship parts; acquiring second image information of the ship parts after cutting and polishing; the robot is used for grabbing the ship parts to a cutting and polishing workbench so that the ship parts are cut and polished.
Specifically, the visual detection device for grabbing and sorting the ship parts further comprises an interaction unit, wherein the interaction unit is used for acquiring part number information input by a user and displaying corresponding part models and part positioning based on the part number information.
In conclusion, the visual detection method, the system and the device for grabbing and sorting the ship parts are used for automatically grabbing, sorting and transporting the ship parts, which effectively reduce the manual load, improve the construction environment and improve the quality and efficiency; and carrying out part contour recognition and character recognition on the ship parts by using a visual detection and recognition method, realizing automatic positioning and grabbing of the parts, and automatically sorting, blanking and transporting the parts. The implementation of the process means that the rest working procedures can be automatically completed by completely depending on a visual detection device and a robot as long as the parts are orderly placed in the tray; not only save artifical input, improved moreover that the part snatchs with a series of problems of the abominable environment of artifical heavy load, noise height with letter sorting in-process to add the tile for realizing intelligent transformation of boats and ships and green shipbuilding. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A visual detection method for grabbing and sorting ship parts is characterized by comprising the following steps:
controlling the camera device to move to a position above a tray for placing ship parts;
acquiring first image information of a ship part through a camera device, and identifying and grabbing the ship part based on the first image information so as to control a robot to grab the ship part to a cutting and polishing workbench to cut and polish the ship part; the camera device is fixedly arranged on the robot;
acquiring second image information of the cut and polished ship parts through a camera device, identifying character information in the second image information, and sorting the cut and polished ship parts based on the character information.
2. The visual inspection method for grabbing and sorting ship parts according to claim 1, wherein the acquiring first image information of the ship parts by a camera device, and identifying and grabbing the ship parts based on the first image information to control a robot to grab the ship parts to a cutting and polishing worktable so that the ship parts are cut and polished comprises:
acquiring first image information of a ship part through a camera device;
denoising the first image information to obtain first denoised image information; processing the first de-noising image information based on a preset edge detection algorithm to obtain ship part image information; processing the ship part image information based on a preset contour extraction algorithm to obtain the ship part contour information; processing the ship part contour information based on a preset mass center algorithm to obtain the ship part mass center position information, and controlling a robot to grab the ship part based on the ship part mass center position information;
comparing the ship part outline information with a preset ship part outline template, and identifying the class of the ship part;
planning a path for the ship parts based on the ship part category and the cutting and polishing workbench information, and grabbing the ship parts to the cutting and polishing workbench in an idle state based on the planned path so as to cut and polish the ship parts.
3. The visual inspection method for grabbing and sorting ship parts according to claim 1, wherein the acquiring, by the camera device, second image information of the cut and polished ship parts, recognizing character information in the second image information, and sorting the cut and polished ship parts based on the character information comprises:
acquiring second image information of the cut and polished ship parts through a camera device;
denoising the second image information to obtain second denoised image information; extracting character region image information of the second de-noising image information based on a preset threshold segmentation algorithm based on color features;
cutting the character area image information based on a preset cutting algorithm to obtain characters, comparing the characters with preset characters, and identifying the characters to obtain character information;
and obtaining character code information based on the character information, and determining the flow direction of the cut and polished ship parts based on the character code information, so as to sort the cut and polished ship parts.
4. The visual inspection method for grabbing and sorting marine components according to claim 1, further comprising obtaining part number information input by a user, and displaying corresponding part models and part locations based on the part number information.
5. The utility model provides a visual detection system that boats and ships spare part snatchs and sorts which characterized in that includes: the automatic part sorting system comprises a control module, a part positioning and grabbing functional module and an automatic part sorting functional module;
the control module is used for controlling the camera device to move above the position of the tray for placing the ship parts;
the part positioning and grabbing functional module is used for acquiring first image information of a ship part through a camera device, identifying and grabbing the ship part based on the first image information, and controlling a robot to grab the ship part to a cutting and polishing workbench so as to cut and polish the ship part; the camera device is fixedly arranged on the robot;
the automatic part sorting functional module is used for acquiring second image information of the ship parts after cutting and polishing through the camera device, recognizing character information in the second image information, and sorting the ship parts after cutting and polishing based on the character information.
6. The visual inspection system for grabbing and sorting marine components as claimed in claim 5, further comprising obtaining part number information inputted by a user, and displaying corresponding part models and part locations based on the part number information.
7. A computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the visual inspection method for grabbing and sorting ship parts according to any one of claims 1 to 4.
8. The utility model provides a visual detection device that boats and ships spare part snatchs and sorts which characterized in that includes: a processor and a memory;
the memory is used for storing a computer program;
the processor is connected with the memory and is used for executing the computer program stored in the memory so as to enable the visual inspection device for grabbing and sorting the ship parts to execute the visual inspection method for grabbing and sorting the ship parts as claimed in any one of claims 1 to 4.
9. A visual inspection system for grabbing and sorting ship parts, which is characterized by comprising the visual inspection device for grabbing and sorting the ship parts, a camera device and a robot according to claim 9;
the camera device is fixedly arranged on the robot and used for moving to a position above a tray for placing ship parts along with the robot to acquire first image information of the ship parts; acquiring second image information of the ship parts after cutting and polishing;
the robot is used for grabbing the ship parts to a cutting and polishing workbench so that the ship parts are cut and polished.
10. The visual inspection system for grabbing and sorting marine parts according to claim 9, wherein the visual inspection device for grabbing and sorting marine parts further comprises an interaction unit, the interaction unit is configured to obtain part number information input by a user, and display a corresponding part model and part location based on the part number information.
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