CN115338130A - Hot-pressing detection method and system for insulating sheet - Google Patents
Hot-pressing detection method and system for insulating sheet Download PDFInfo
- Publication number
- CN115338130A CN115338130A CN202210660519.7A CN202210660519A CN115338130A CN 115338130 A CN115338130 A CN 115338130A CN 202210660519 A CN202210660519 A CN 202210660519A CN 115338130 A CN115338130 A CN 115338130A
- Authority
- CN
- China
- Prior art keywords
- image
- insulating sheet
- detection
- corner
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Landscapes
- Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a hot-pressing detection method of an insulating sheet, which comprises the following steps: conveying the insulation sheet subjected to hot pressing bending to a first detection station; shooting each surface element of the insulation sheet on the first detection station by using a first camera to obtain a surface image; judging whether each surface element is qualified or not according to surface image detection; sorting the insulation sheets on the first detection station according to the detection judgment result; continuously conveying the insulation sheet qualified by surface element detection to a second detection station; two second cameras are adopted to shoot two ends of a bend angle of an insulating sheet on a second detection station to obtain a first bend angle image and a second bend angle image; detecting and judging whether the bend angle is qualified or not according to the first bend angle image and the second bend angle image; and sorting the insulating sheets on the second detection station according to the detection judgment result. The hot-pressing detection method can detect the hot-pressing bending effect of the insulating sheet. The invention discloses a hot-pressing detection system of an insulating sheet.
Description
Technical Field
The invention relates to an insulating sheet detection technology, in particular to a hot-pressing detection method and system for an insulating sheet.
Background
The insulating sheet is a product widely applied to the electronic and electrical industry, the main raw material of the insulating sheet is a high polymer material, such as PP, PE, PC and the like, and the insulating sheet is used for insulating and separating electronic and electrical products or application processes. In the practical application process, the insulating sheet is often required to be machined into various shapes after being produced so as to meet the requirements of electronic products in the assembling or using process. In particular, in small and miniature electronic and electrical products, the insulating sheet often needs to be processed into various bent angle shapes to meet the process of product assembly.
Chinese patent No. CN201621270772.8 discloses an apparatus for preparing an insulating sheet with a bend angle, which comprises a hot melting machine mold and a hot melting machine table, wherein the hot melting machine mold comprises an upper mold and a lower mold, and the upper mold and the lower mold are respectively mounted on the hot melting machine table. The hot melting machine mould also comprises an upper mould core and a lower mould core, the shape of the upper mould core is matched with the inner cavity of the lower mould core, and the shape of the inner cavity of the lower mould core is matched with the preset shape of the insulating sheet to be processed. Still be equipped with the location stopper, utilize threaded connection and lower mould core swing joint, in actual production process, because the insulating piece shape of processing can change, so the location stopper is established to swing joint to change the use at any time, except threaded connection's mode, other swing joint modes such as still optional bolted connection, key pin connection, buckle connection are connected with lower mould core mutually. The top of the positioning limiting block is provided with a boss, and the side face of the boss and the side face of the lower die core limit the position of the insulating sheet to be processed together.
Some surface elements such as foam and viscose can be pasted on the surface of the insulating sheet, and the surface elements are used for pasting and fixing the insulating sheet on an electronic product when the insulating sheet is assembled.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a hot-pressing detection method and a hot-pressing detection system for an insulating sheet, which can detect the hot-pressing bending effect of the insulating sheet.
The technical problem to be solved by the invention is realized by the following technical scheme:
a hot-pressing detection method of an insulation sheet comprises the following steps:
step 100: conveying the insulating sheet subjected to hot pressing bending to a first detection station, wherein a bent angle is formed on the insulating sheet through hot pressing, and a plurality of surface elements are assembled on the surface of the insulating sheet;
step 200: shooting the surface of the insulation sheet positioned on the first detection station by using a first camera to obtain a surface image;
step 300: detecting and judging whether each surface element of the insulating sheet is qualified or not according to the obtained surface image;
step 400: sorting the insulation sheets on the first detection station according to the detection judgment result of the surface image;
step 500: continuously conveying the insulation sheet qualified by surface element detection to a second detection station;
step 600: shooting two bend angle ends of an insulation sheet positioned on the second detection station by adopting two second cameras to obtain a first bend angle image and a second bend angle image;
step 700: detecting and judging whether the bending angle of the insulating sheet is qualified or not according to the obtained first bending angle image and the second bending angle image;
step 800: and sorting the insulating sheets on the second detection station according to the detection judgment results of the first bend angle image and the second bend angle image.
Further, in step 300, the step of determining whether each surface element of the insulating sheet is acceptable according to the obtained surface image detection is as follows:
step 301: identifying in the surface image the outline of the insulating sheet and the number and image positions of the individual surface elements;
step 302: calculating the assembly position of each surface element on the insulating sheet according to the appearance of the insulating sheet and the image position of each surface element;
step 303: and if the calculated number of the surface elements is consistent with the preset number and the assembly positions of the calculated surface elements on the insulating sheet are in the preset assembly range, judging that the surface elements of the insulating sheet are qualified for detection.
Further, in step 301, the shape of the insulating sheet can be passed through firstly the surface image is converted into a surface grayscale image, then the surface grayscale image is binarized to obtain a surface binarized image, then the surface binarized image is subjected to edge detection to obtain the shape edge of the insulating sheet, and finally the shape edge of the insulating sheet is extracted to be used as the shape of the insulating sheet.
Further, when the outline edge of the insulating sheet is extracted from the surface binarization image, pixel filling is performed on the pattern inner area described by the outline edge of the insulating sheet, and pixel deletion is performed on the pattern outer area described by the outline edge of the insulating sheet.
Further, in step 301, the surface elements are identified according to the difference in reflectivity or color between the surface elements and the insulating sheet, or the surface elements are identified according to the marks on the surface elements, so as to identify the number and image positions of the surface elements.
Further, in step 700, the step of detecting whether the corner of the insulating sheet is qualified according to the obtained first corner image and second corner image is as follows:
step 701: converting the first and second bend angle images into first and second bend angle grayscale images;
step 702: performing binarization processing on the first corner angle grayscale image and the second corner angle grayscale image to obtain a first corner angle binarization image and a second corner angle binarization image;
step 703: performing edge detection on the first corner binary image and the second corner binary image to obtain edges at two ends of the corner of the insulating sheet;
step 704: performing linear fitting on the edges of the two ends of the bent angle of the insulating sheet, and calculating the angles of the two ends of the bent angle of the insulating sheet;
step 705: and if the calculated angles at the two ends of the bending angle are both in a preset angle range and the difference between the angles at the two ends of the bending angle is also in a preset difference range, judging that the bending angle detection of the insulating sheet is qualified.
Further, before the straight line fitting, pixel filling is performed on the inner regions of the patterns described by the edges at the two ends of the bent angle of the insulating sheet, and pixel deletion is performed on the outer regions of the patterns described by the edges at the two ends of the bent angle of the insulating sheet.
A hot-pressing detection system for an insulation sheet comprises a first conveying device, a first camera, a first sorting device, a second conveying device, two second cameras, a second sorting device and a control device, wherein the first conveying device, the first sorting device, the second conveying device and the second sorting device are sequentially connected, the first camera is positioned above the first conveying device, and the two second cameras are respectively positioned on two sides of the second conveying device; wherein
The first conveying device is provided with a first detection station and is used for conveying the insulation sheet to the first detection station, the insulation sheet is subjected to hot pressing to form a bent angle, and a plurality of surface elements are assembled on the surface of the insulation sheet;
the first camera is used for shooting the surface of the insulation sheet positioned on the first detection station to obtain a surface image;
the first sorting device is used for sorting the insulating sheets on the first detection station according to the detection judgment result of the control device on the surface image;
the second conveying device is provided with a second detection station and is used for continuously conveying the insulation sheet qualified for surface element detection to the second detection station;
the two second cameras are used for shooting two bent angle ends of the insulating sheet on the second detection station to obtain a first bent angle image and a second bent angle image;
and the second sorting device is used for sorting the insulating sheets on the second detection station according to the detection judgment results of the first bend angle image and the second bend angle image of the control device.
Controlling means connection control first conveyor, first camera, first sorting device, second conveyor and two second cameras to detect the judgement according to the surface image that obtains whether each surface element of insulating piece is qualified, and detects the judgement according to the first bent angle image that obtains and second bent angle image whether qualified the bent angle on the insulating piece.
Further, the second conveying device comprises a positioning jig and a turnover mechanism, wherein the positioning jig and the turnover mechanism are arranged in the second conveying device
The positioning jig comprises a positioning groove for accommodating the insulating sheet, a first positioning push rod and a first positioning driver which are arranged in the positioning groove along one side of the X-axis direction, and a second positioning push rod and a second positioning driver which are arranged in the positioning groove along one side of the Y-axis direction; one end of the first positioning push rod is arranged in the positioning groove, the other end of the first positioning push rod is connected with the first positioning driver, the first positioning driver drives the first positioning push rod to move in the positioning groove along the X-axis direction, and therefore the insulation sheet in the positioning groove is pushed to be positioned to the designated position of the X-axis; one end of the second positioning push rod is arranged in the positioning groove, the other end of the second positioning push rod is connected with the second positioning driver, and the second positioning driver drives the second positioning push rod to move in the positioning groove along the Y-axis direction so as to push the insulating sheet in the positioning groove to be positioned to the designated position of the Y-axis;
the turnover mechanism comprises two lifting suckers, a turnover frame, a turnover shaft and a turnover driver, wherein the turnover frame is arranged on the turnover shaft, the turnover shaft is connected with the turnover driver, and the turnover shaft is driven by the turnover driver to turn over so as to drive the turnover frame to turn over; the two lifting suckers are oppositely arranged on the turnover frame and are rotationally symmetrical by taking the turnover shaft as a center, and when one lifting sucker is turned over to the positioning jig along with the turnover frame, the other lifting sucker is turned over to the second detection station along with the turnover frame.
Further, the sorting device also comprises a first waste basket and a second waste basket, wherein the first waste basket is arranged beside the first sorting device, and the second waste basket is arranged beside the second sorting device; the first sorting device sorts and places the insulation sheets with qualified surface element detection on the second conveying device and sorts and places the insulation sheets with unqualified surface element detection on the first waste basket according to the detection judgment result of the control device on the surface image; the second sorting device is according to controlling means is right the detection judgement result of first bent angle image and second bent angle image is put into next device with the insulating piece letter sorting that the bent angle detected qualifiedly on, puts into the insulating piece letter sorting that the bent angle detected disqualification in the second waste product basket.
The invention has the following beneficial effects: the hot-pressing detection method and the hot-pressing detection system are based on an image recognition technology, the plurality of surface elements on the insulating sheet and the bent angle of the insulating sheet are detected in the conveying process of the insulating sheet respectively, so that the hot-pressing bending effect of the insulating sheet is detected, defective products are prevented from flowing into the next procedure, the detection efficiency is greatly improved, the judgment basis is more objective, and errors caused by artificial subjective judgment can be avoided.
Drawings
Fig. 1 is a schematic structural view of the insulating sheet provided by the present invention after being bent by hot pressing;
FIG. 2 is a schematic structural view of a corner on an insulating sheet according to the present invention;
fig. 3 is a block diagram illustrating steps of a hot-pressing testing method for an insulation sheet according to the present invention;
fig. 4 is a block diagram illustrating a step 300 of the method for testing the insulation sheet in fig. 3;
fig. 5 is a block diagram illustrating a step 700 of the method for testing the thermal compression of the insulating sheet shown in fig. 3;
fig. 6 is a schematic block diagram of a hot-pressing detection system for an insulation sheet according to the present invention;
fig. 7 is a schematic structural diagram of a hot-pressing detection system for an insulation sheet according to the present invention;
fig. 8 is a schematic structural diagram of a second conveying device in the thermal compression testing system for the insulation sheet shown in fig. 7.
Detailed Description
The invention will be described in detail below with reference to the drawings, in which examples of said embodiments are shown, wherein the same or similar reference numerals indicate the same or similar surface elements or surface elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and to simplify the description, but are not intended to indicate or imply that the referenced device or surface element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second", "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," "disposed," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through an intermediate medium, or a communication within or an interaction of two surface elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example one
As shown in fig. 3, a hot-pressing detection method for an insulation sheet includes the following steps:
step 100: the insulation sheet 1 bent by the hot pressing is conveyed to a first inspection station, as shown in fig. 1 and 2, the insulation sheet 1 is formed with a bend angle α by the hot pressing, and a plurality of surface elements 11 are mounted on the surface thereof.
In this embodiment, each surface element 11 assembled on the surface of the insulating sheet 1 is made of foam, viscose, or the like, but, according to different assembly requirements and end products, each surface element 11 assembled on the surface of the insulating sheet 1 may also be made of plastic or the like; the nature of the surface element 11 should not be limiting to the scope of protection of the present patent.
The angle of the corner angle α is 70 ° to 80 °, and each surface element 11 is assembled on a surface of the first side wall 1a of the corner angle α facing the second side wall 1b, and when the angle of the corner angle α is 70 ° to 80 °, the second side wall 1b of the corner angle α is bent and inclined above the first side wall 1a to shield the first side wall 1a to a certain extent. Because insulating piece 1 is forming behind bent angle alpha, bent angle alpha can be right the first side wall 1a that need set up surface element 11 on insulating piece 1 forms sheltering from of certain degree, so insulating piece 1 is forming each surface element 11 of reassembling after bent angle alpha, need with second side wall 1b toward with the opposite direction of first side wall 1a is broken off with the fingers and thumb a little, and this has not only reduced assembly efficiency, opens with the fingers and thumb second side wall 1b can enlarge bent angle alpha angle formed between first side wall 1a and the second side wall 1b has destroyed the hot pressing bending effect of insulating piece 1.
Step 200: and shooting each surface element 11 of the insulation sheet 1 on the first detection station by using a first camera to obtain a surface image.
In this step 200, when the insulating sheet 1 is conveyed to the first inspection station, the first side wall 1a thereof is horizontally placed, and the second side wall 1b thereof is obliquely disposed at an angle α of 70 ° to 80 ° without shielding the surface elements 11; the first camera that is located insulating piece 1 square can be completely shot each surface element 11 on insulating piece 1.
Step 300: and detecting and judging whether each surface element 11 of the insulating sheet 1 is qualified or not according to the obtained surface image.
In step 300, as shown in fig. 4, the step of determining whether or not each surface element 11 of the insulating sheet 1 is acceptable by the obtained surface image detection is as follows:
step 301: the outline of the insulating sheet 1 as well as the number and image positions of the individual surface elements 11 are identified in the surface image.
In this step 301, the appearance accessible of insulating piece 1 is earlier the surface image converts surface grey level image into, then is right surface grey level image carries out binarization processing, obtains surface binarization image, and then it is right surface binarization image carries out edge detection, obtains the appearance edge of insulating piece 1 will at last the appearance edge of insulating piece 1 is extracted as the appearance of insulating piece 1.
When converting into the surface gray scale image, converting each pixel into a corresponding gray scale value according to the brightness value of each pixel in the surface image, wherein the gray scale value corresponding to the pixel with the larger brightness value is also larger, and the gray scale value corresponding to the pixel with the smaller brightness value is also smaller.
When the surface gray level image is subjected to binarization processing, each pixel on the surface gray level image is subjected to binarization processing according to a binarization threshold value, the gray values of all the pixels with the gray values larger than the binarization threshold value are uniformly set to be maximum (namely 255), and the gray values of all the pixels with the gray values smaller than the binarization threshold value are uniformly set to be minimum (namely 0), otherwise, the surface gray level image can also be subjected to binarization processing. The binarization threshold value can be preset by technicians according to experience, or the maximum gray value in the surface gray image can be extracted first, and then the preset percentage of the maximum gray value is taken as the binarization threshold value.
Specifically, the maximum grayscale value may be a grayscale value corresponding to a pixel having the largest grayscale value in the surface grayscale image, or an average of grayscale values corresponding to a plurality of pixels having relatively large grayscale values; the plurality of pixels having a larger gray value means a plurality of pixels having gray values arranged in the first few bits after the gray values of all the pixels are rearranged from large to small.
When the edge detection is performed on the surface binary image, the adopted edge detection algorithm can be, but is not limited to, canny algorithm.
When the outline edge of the insulating sheet 1 is extracted from the surface binarization image, pixel filling is performed on the pattern inner area described by the outline edge of the insulating sheet 1, and pixel deletion is performed on the pattern outer area described by the outline edge of the insulating sheet 1, so that noise points of the pattern inner and outer areas described by the outline edge of the insulating sheet 1 are eliminated, and the edge extraction precision is improved.
The surface elements 11 can be identified by using the difference in reflectivity or the difference in color between the surface elements 11 and the insulating sheet 1, for example, the insulating sheet 1 is made of PP, PE, PC, etc. which have smooth surface and high reflectivity, and the surface elements 11 such as foam, viscose, etc. have rough surface, low reflectivity, and high brightness, and the surface elements 11 in the surface image can be distinguished from the insulating sheet 1 by the difference in reflectivity; the color difference is similar to the principle of recognition of the difference in reflectivity, the former distinguishing the individual surface elements 11 from the insulating sheet 1 by colorimetric analysis and the latter distinguishing the individual surface elements 11 from the insulating sheet 1 by luminance analysis.
Still alternatively, each surface element 11 may be provided with a dedicated logo, which may be a logo pattern, label, colored dot, etc., each surface element 11 being identified by identifying the logo in the surface image.
After identification of the individual surface elements 11 in the surface image, it is possible to count the number of individual surface elements 11 and to calculate the image position of the individual surface elements 11 in the surface image by means of a coordinate method.
Step 302: the position of the surface elements 11 on the insulating sheet 1 is calculated from the outer shape of the insulating sheet 1 and the image position of the surface elements 11.
In step 302, the assembly position of each surface element 11 on the insulating sheet 1 can be calculated from the coordinates of the outer shape of the insulating sheet 1 and the coordinates of each surface element 11.
When the outline of the insulating sheet 1 is recognized in step 301, the coordinates corresponding to the edges of the outline of the insulating sheet 1 are actually extracted, that is, the image position of the insulating sheet 1 in the surface image is essentially calculated.
Step 303: and if the calculated number of the surface elements 11 is consistent with the preset number and the calculated assembly positions of the surface elements 11 on the insulating sheet 1 are in the preset assembly range, judging that the surface elements 11 of the insulating sheet 1 are qualified for detection.
Step 400: and sorting the insulation sheets 1 on the first detection station according to the detection judgment result of the surface image.
In this step 400, the insulating sheets 1 that have been tested as defective by the surface elements 11 are sorted out and placed in a first reject basket, while the insulating sheets 1 that have been tested as defective by the surface elements 11 are transported further to the next station.
Step 500: and (4) continuously conveying the insulation sheet 1 qualified by the surface element 11 to a second detection station.
In step 500, the conveying device used to convey the insulating sheet 1 to the second inspection station may be the same conveying device as or different from the conveying device used to convey the insulating sheet 1 to the first inspection station in step 100, and in step 400, the insulating sheet 1 that has been inspected for the surface elements 11 is conveyed to the second inspection station by the conveying device without sorting, and in step 400, the insulating sheet 1 that has been inspected for the surface elements 11 is sorted to the conveying device used in step 500 and conveyed to the second inspection station by the conveying device used in step 500 if the conveying device is different from the conveying device.
Step 600: adopt two second cameras to shoot and be located insulating piece 1's on the second detection station bent angle alpha both ends to obtain first bent angle image and second bent angle image.
In step 600, when the insulating sheet 1 is conveyed to the second inspection station, both ends of the bent angle α are on the same horizontal line, and two second cameras disposed on the same horizontal line capture images of the insulating sheet.
Step 700: and detecting and judging whether the bending angle alpha of the insulating sheet 1 is qualified or not according to the obtained first bending angle image and the second bending angle image.
In this step 700, as shown in fig. 5, the step of detecting whether or not the corner angle α of the insulating sheet 1 is acceptable based on the obtained first corner angle image and second corner angle image is as follows:
step 701: converting the first and second bend angle images into first and second bend angle grayscale images.
In this step 701, when converting into the first corner-angle gray scale image and the second corner-angle gray scale image, each pixel is converted into a corresponding gray scale value according to a luminance value of each pixel in the first corner-angle image and the second corner-angle image, and a gray scale value corresponding to a pixel with a larger luminance value is larger, and a gray scale value corresponding to a pixel with a smaller luminance value is smaller.
Step 702: and carrying out binarization processing on the first corner angle grayscale image and the second corner angle grayscale image to obtain a first corner angle binarization image and a second corner angle binarization image.
In this step 702, when the first corner-angle grayscale image and the second corner-angle grayscale image are binarized, each pixel on the first corner-angle grayscale image and the second corner-angle grayscale image is binarized according to a binarization threshold, the grayscale values of all pixels having grayscale values greater than the binarization threshold are uniformly set to be maximum (i.e. 255), and the grayscale values of all pixels having grayscale values smaller than the binarization threshold are uniformly set to be minimum (i.e. 0), or vice versa. The binarization threshold value can be preset by technicians according to experience, or the maximum gray value in the first corner angle gray image and the second corner angle gray image can be extracted first, and then the preset percentage of the maximum gray value is taken as the binarization threshold value.
In particular, the maximum gray scale value may be a gray scale value corresponding to a pixel having a maximum gray scale value in the first corner-angle gray scale image and the second corner-angle gray scale image, or may be an average value of gray scale values corresponding to a plurality of pixels having relatively large gray scale values; the plurality of pixels having a larger gradation value means a plurality of pixels having gradation values ranked several bits before, after reordering the gradation values of all the pixels from large to small.
Step 703: and carrying out edge detection on the first bend angle binary image and the second bend angle binary image to obtain the edges of two ends of the bend angle alpha of the insulating sheet 1.
In this step 703, when performing edge detection on the surface binarized image, the edge detection algorithm used may be, but is not limited to, canny algorithm.
Step 704: and performing linear fitting on the edges at two ends of the bent angle alpha of the insulating sheet 1, and calculating the angles at two ends of the bent angle alpha of the insulating sheet 1.
In step 704, when performing a straight line fitting on the two end edges of the bending angle α of the insulating sheet 1, the adopted straight line fitting algorithm may be, but is not limited to, hough transformation.
Similarly, before the straight line fitting, pixel filling is performed on the inner area of the pattern described by the edges at the two ends of the bent angle α of the insulating sheet 1, and pixel deletion is performed on the outer area of the pattern described by the edges at the two ends of the bent angle α of the insulating sheet 1, so that noise in the inner and outer areas of the pattern described by the edges at the two ends of the bent angle α of the insulating sheet 1 is eliminated, and the straight line fitting accuracy is improved.
Step 705: and if the calculated angles at the two ends of the bending angle alpha are both in a preset angle range and the difference between the angles at the two ends of the bending angle alpha is also in a preset difference range, judging that the detection of the bending angle alpha of the insulating sheet 1 is qualified.
Step 800: and sorting the insulation sheets 1 on the second detection station according to the detection judgment results of the first bend angle image and the second bend angle image.
In this step 800, the insulating sheets 1 with unqualified bend angle α detection are sorted out and placed in a second waste basket, and the insulating sheets 1 with qualified bend detection are continuously conveyed to the next station.
Example two
As shown in fig. 6 and 7, a thermal compression testing system for an insulation sheet can be used, but not limited to, for implementing the thermal compression testing method described in the first embodiment.
The hot-pressing detection system comprises a first conveying device 2, a first camera 3, a first sorting device 4, a second conveying device 5, two second cameras 6, a second sorting device 7 and a control device, wherein the first conveying device 2, the first sorting device 4, the second conveying device 5 and the second sorting device 7 are sequentially connected, the first camera 3 is positioned above the first conveying device 2, and the two second cameras 6 are respectively positioned at two sides of the second conveying device 5; wherein
The first conveying device 2 is provided with a first detection station for conveying the insulation sheet 1 to the first detection station, the insulation sheet 1 is formed with a bending angle alpha through hot pressing, and a plurality of surface elements 11 are assembled on the surface of the insulation sheet 1;
the first camera 3 is used for shooting each surface element 11 of the insulating sheet 1 positioned on the first detection station to obtain a surface image;
the first sorting device 4 is configured to sort the insulating sheets 1 located on the first detection station according to the detection and determination result of the control device on the surface image;
the second conveying device 5 is provided with a second detection station and is used for continuously conveying the insulation sheet 1 qualified by the surface element 11 to the second detection station;
the two second cameras 6 are used for shooting two ends of a bend angle alpha of the insulating sheet 1 positioned on the second detection station to obtain a first bend angle image and a second bend angle image;
and the second sorting device 7 is used for sorting the insulating sheets 1 positioned on the second detection station according to the detection judgment results of the first bend angle image and the second bend angle image by the control device.
The control device is connected and controlled with the first conveying device 2, the first camera 3, the first sorting device 4, the second conveying device 5 and the two second cameras 6, and detects and judges whether each surface element 11 of the insulating sheet 1 is qualified or not according to the obtained surface image, and detects and judges whether the bent angle alpha on the insulating sheet 1 is qualified or not according to the obtained first bent angle image and the second bent angle image.
As shown in fig. 8, the second conveying device 5 includes a positioning jig 51 and a turnover mechanism 52, wherein the positioning jig 51 and the turnover mechanism 52 are arranged in parallel
The positioning jig 51 comprises a positioning groove 53 for accommodating the insulating sheet 1, a first positioning push rod 54 and a first positioning driver 55 which are arranged in the positioning groove 53 along one side of the X-axis direction, and a second positioning push rod 56 and a second positioning driver 57 which are arranged in the positioning groove 53 along one side of the Y-axis direction; one end of the first positioning push rod 54 is arranged in the positioning slot 53, and the other end is connected with the first positioning driver 55, and the first positioning driver 55 drives the first positioning push rod to move in the positioning slot 53 along the X-axis direction, so as to push the insulating sheet 1 in the positioning slot 53 to be positioned at the designated position of the X-axis; one end of the second positioning push rod 56 is arranged in the positioning slot 53, and the other end is connected with the second positioning driver 57, and the second positioning driver 57 drives the second positioning push rod to move in the positioning slot 53 along the Y-axis direction, so as to push the insulating sheet 1 in the positioning slot 53 to be positioned at the designated position of the Y-axis;
the turnover mechanism 52 comprises two lifting suction cups 58, a turnover frame 59, a turnover shaft 510 and a turnover driver 511, wherein the turnover frame 59 is arranged on the turnover shaft 510, the turnover shaft 510 is connected with the turnover driver 511, and the turnover driver 511 drives the turnover frame 59 to turn over; the two lifting suction cups 58 are oppositely arranged on the turning frame 59 and are rotationally symmetrical by taking the turning shaft 510 as a center, and when one lifting suction cup 58 is turned onto the positioning jig 51 along with the turning frame 59, the other lifting suction cup 58 is turned onto the second detection station along with the turning frame 59.
When the insulating sheet 1 is qualified by the detection of the surface element 11, the first sorting device 4 sorts and places the insulating sheet 1 located on the first detection station onto the positioning jig 51 of the second conveying device 5, and then the first positioning driver 55 and the second positioning driver 57 on the positioning jig 51 drive the first positioning push rod 54 and the second positioning push rod 56 to move respectively, so as to position the insulating sheet 1 in the positioning groove 53 to the designated positions of the X axis and the Y axis for the suction of the lifting suction cup 58 on the turnover mechanism 52; the X-axis is perpendicular to the Y-axis.
After the positioning is completed, the turnover driver 511 on the turnover mechanism 52 drives the turnover frame 59 to rotate 180 degrees through the turnover shaft 510, so as to turn over one lifting suction cup 58 onto the positioning jig 51, turn over the other lifting suction cup 58 onto the second detection station, lower the lifting suction cup 58 on the positioning jig 51, suck the insulating sheet 1 on the positioning jig 51, and then lift the insulating sheet; then the overturning driver 511 drives the overturning frame 59 to rotate 180 degrees through the overturning shaft 510, and the lifting sucker 58 sucking the insulating sheet 1 is overturned to the second detection station, so that two second cameras can shoot the two bent ends of the insulating sheet 1, and meanwhile, the other lifting sucker 58 is overturned to the positioning jig 51 to suck the next insulating sheet 1.
EXAMPLE III
As an optimization of the second embodiment, as shown in fig. 7, the thermocompression detection system in this embodiment further includes a first reject basket 41 and a second reject basket (not shown), wherein the first reject basket 41 is disposed beside the first sorting device 4, and the second reject basket is disposed beside the second sorting device 7.
The first sorting device 4 sorts and places the insulation sheets 1 qualified in the detection of the surface elements 11 on the second conveying device 5 according to the detection and judgment result of the surface image by the control device, and sorts and places the insulation sheets 1 unqualified in the detection of the surface elements 11 in the first waste basket 41.
And the second sorting device 7 sorts and puts the insulating sheets 1 with qualified corner alpha detection into the next device according to the detection judgment results of the control device on the first corner image and the second corner image, and sorts and puts the insulating sheets 1 with unqualified corner alpha detection into the second waste basket.
In this embodiment, the first sorting device 4 and the second sorting device 7 are four-axis robots, and can grab the insulating sheet 1 to translate along the X-axis, the Y-axis and the Z-axis and rotate around the Z-axis, and two of the X-axis, the Y-axis and the Z-axis are perpendicular to each other.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention and not for limiting the same, and although the embodiments of the present invention are described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the embodiments of the present invention, and these modifications or equivalent substitutions cannot make the modified technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The hot-pressing detection method of the insulation sheet is characterized by comprising the following steps of:
step 100: conveying the insulating sheet subjected to hot pressing bending to a first detection station, wherein a bent angle is formed on the insulating sheet through hot pressing, and a plurality of surface elements are assembled on the surface of the insulating sheet;
step 200: shooting the surface of the insulation sheet positioned on the first detection station by using a first camera to obtain a surface image;
step 300: detecting and judging whether each surface element of the insulating sheet is qualified or not according to the obtained surface image;
step 400: sorting the insulating sheets on the first detection station according to the detection judgment result of the surface image;
step 500: continuously conveying the insulating sheets with qualified surface element detection to a second detection station;
step 600: shooting two bent angle ends of an insulating sheet positioned on the second detection station by adopting two second cameras to obtain a first bent angle image and a second bent angle image;
step 700: detecting and judging whether the bending angle of the insulating sheet is qualified or not according to the obtained first bending angle image and the second bending angle image;
step 800: and sorting the insulating sheets on the second detection station according to the detection judgment results of the first bend angle image and the second bend angle image.
2. The method of claim 1, wherein in step 300, the step of determining whether the surface elements of the insulating sheet are qualified according to the obtained surface image detection comprises the steps of:
step 301: identifying in the surface image the outline of the insulating sheet and the number and image positions of the individual surface elements;
step 302: calculating the assembly position of each surface element on the insulating sheet according to the appearance of the insulating sheet and the image position of each surface element;
step 303: and if the calculated number of the surface elements is consistent with the preset number and the assembly positions of the calculated surface elements on the insulating sheet are in the preset assembly range, judging that the surface elements of the insulating sheet are qualified for detection.
3. The method of claim 2, wherein in step 301, the shape of the insulating sheet is determined by converting the surface image into a surface gray scale image, performing binarization processing on the surface gray scale image to obtain a surface binarized image, performing edge detection on the surface binarized image to obtain a shape edge of the insulating sheet, and finally extracting the shape edge of the insulating sheet as the shape of the insulating sheet.
4. The method according to claim 3, wherein when the outline edge of the insulating sheet is extracted from the surface binary image, pixel filling is performed in an area inside a pattern drawn by the outline edge of the insulating sheet, and pixel deletion is performed in an area outside the pattern drawn by the outline edge of the insulating sheet.
5. The method of claim 2, wherein in step 301, the surface elements are identified according to the reflectivity difference or color difference between the surface elements and the insulating sheet, or the surface elements are identified according to the marks on the surface elements, so as to identify the number and image positions of the surface elements.
6. The method of claim 1, wherein the step of determining whether the corner of the insulating sheet is acceptable according to the first corner image and the second corner image in step 700 comprises:
step 701: converting the first corner image and the second corner image into a first corner grayscale image and a second corner grayscale image;
step 702: performing binarization processing on the first corner angle grayscale image and the second corner angle grayscale image to obtain a first corner angle binarization image and a second corner angle binarization image;
step 703: performing edge detection on the first corner binary image and the second corner binary image to obtain edges at two ends of the corner of the insulating sheet;
step 704: performing linear fitting on the edges of the two ends of the bent angle of the insulating sheet, and calculating the angles of the two ends of the bent angle of the insulating sheet;
step 705: and if the calculated angles at the two ends of the bending angle are both in a preset angle range and the difference between the angles at the two ends of the bending angle is also in a preset difference range, judging that the bending angle detection of the insulating sheet is qualified.
7. The method of claim 1, wherein the step of determining whether the corner of the insulating sheet is acceptable according to the first corner image and the second corner image in step 700 comprises:
step 701: converting the first and second bend angle images into first and second bend angle grayscale images;
step 702: performing binarization processing on the first corner angle grayscale image and the second corner angle grayscale image to obtain a first corner angle binarization image and a second corner angle binarization image;
step 703: performing edge detection on the first corner binary image and the second corner binary image to obtain edges at two ends of the corner of the insulating sheet;
step 704: performing linear fitting on the edges of the two ends of the bent angle of the insulating sheet, and calculating the angles of the two ends of the bent angle of the insulating sheet;
step 705: and if the calculated angles at the two ends of the bending angle are within a preset angle range and the difference between the angles at the two ends of the bending angle is within a preset difference range, judging that the bending angle detection of the insulating sheet is qualified.
8. The hot-pressing detection system of the insulation sheet is characterized by comprising a first conveying device, a first camera, a first sorting device, a second conveying device, two second cameras, a second sorting device and a control device, wherein the first conveying device, the first sorting device, the second conveying device and the second sorting device are sequentially connected, the first camera is positioned above the first conveying device, and the two second cameras are respectively positioned on two sides of the second conveying device; wherein
The first conveying device is provided with a first detection station and is used for conveying the insulation sheet to the first detection station, the insulation sheet is subjected to hot pressing to form a bent angle, and a plurality of surface elements are assembled on the surface of the insulation sheet;
the first camera is used for shooting the surface of the insulation sheet positioned on the first detection station to obtain a surface image;
the first sorting device is used for sorting the insulation sheets positioned on the first detection station according to the detection judgment result of the control device on the surface image;
the second conveying device is provided with a second detection station and is used for continuously conveying the insulation sheet qualified for surface element detection to the second detection station;
the two second cameras are used for shooting two bent angle ends of the insulating sheet on the second detection station to obtain a first bent angle image and a second bent angle image;
and the second sorting device is used for sorting the insulation sheets positioned on the second detection station according to the detection judgment results of the first bend angle image and the second bend angle image by the control device.
Controlling means connection control first conveyor, first camera, first sorting device, second conveyor and two second cameras to detect the judgement according to the surface image that obtains whether each surface element of insulating piece is qualified, and detects the judgement according to the first bent angle image that obtains and second bent angle image whether qualified the bent angle on the insulating piece.
9. The thermal pressing inspection system of the insulation sheet according to claim 8, wherein the second conveying device comprises a positioning jig and a turnover mechanism, wherein the positioning jig and the turnover mechanism are disposed in the second conveying device
The positioning jig comprises a positioning groove for accommodating the insulating sheet, a first positioning push rod and a first positioning driver which are arranged in the positioning groove along one side of the X-axis direction, and a second positioning push rod and a second positioning driver which are arranged in the positioning groove along one side of the Y-axis direction; one end of the first positioning push rod is arranged in the positioning groove, the other end of the first positioning push rod is connected with the first positioning driver, the first positioning driver drives the first positioning push rod to move in the positioning groove along the X-axis direction, and therefore the insulation sheet in the positioning groove is pushed to be positioned to the designated position of the X-axis; one end of the second positioning push rod is arranged in the positioning groove, the other end of the second positioning push rod is connected with the second positioning driver, the second positioning driver drives the second positioning push rod to move in the positioning groove along the Y-axis direction, and therefore the insulating sheet in the positioning groove is pushed to be positioned to the designated position of the Y-axis;
the turnover mechanism comprises two lifting suckers, a turnover frame, a turnover shaft and a turnover driver, wherein the turnover frame is arranged on the turnover shaft, the turnover shaft is connected with the turnover driver, and the turnover shaft is driven by the turnover driver to turn over so as to drive the turnover frame to turn over; the two lifting suckers are oppositely arranged on the turnover frame and are rotationally symmetrical by taking the turnover shaft as a center, and when one lifting sucker is turned over to the positioning jig along with the turnover frame, the other lifting sucker is turned over to the second detection station along with the turnover frame.
10. The system for hot press testing of insulating sheets according to claim 8, further comprising a first waste basket and a second waste basket, said first waste basket being arranged beside said first sorting device and said second waste basket being arranged beside said second sorting device; the first sorting device sorts and places the insulation sheets with qualified surface element detection on the second conveying device and sorts and places the insulation sheets with unqualified surface element detection on the first waste basket according to the detection judgment result of the control device on the surface image; and the second sorting device sorts and puts insulating sheets with qualified corner detection into the next device according to the detection and judgment results of the control device on the first corner image and the second corner image, and sorts and puts insulating sheets with unqualified corner detection into the second waste basket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210660519.7A CN115338130A (en) | 2022-06-10 | 2022-06-10 | Hot-pressing detection method and system for insulating sheet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210660519.7A CN115338130A (en) | 2022-06-10 | 2022-06-10 | Hot-pressing detection method and system for insulating sheet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115338130A true CN115338130A (en) | 2022-11-15 |
Family
ID=83948713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210660519.7A Pending CN115338130A (en) | 2022-06-10 | 2022-06-10 | Hot-pressing detection method and system for insulating sheet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115338130A (en) |
-
2022
- 2022-06-10 CN CN202210660519.7A patent/CN115338130A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11213860B2 (en) | Automatic magnetic core sorting system based on machine vision | |
| CN109374635B (en) | Mask defect detection device and method | |
| CN110246122A (en) | Small size bearing quality determining method, apparatus and system based on machine vision | |
| CN107270841A (en) | A kind of packaging bag coding defects detection mechanism | |
| CN112150439B (en) | Automatic sorting equipment and sorting method for injection molding parts | |
| CN111545483B (en) | Chopstick sorting detection device and detection algorithm thereof | |
| CN111551559A (en) | LCD (liquid Crystal display) liquid crystal screen defect detection method based on multi-view vision system | |
| CN113894055A (en) | Hardware surface defect detection and classification system and method based on machine vision | |
| WO2023134286A1 (en) | Online automatic quality testing and classification method for cathode copper | |
| CN113744247A (en) | PCB welding spot defect identification method and system | |
| CN114252452A (en) | Online detection device and method for appearance defects and contour dimension of small-sized revolving body | |
| CN111693535A (en) | Touch screen defect detection equipment and method based on machine vision analysis | |
| CN116330319B (en) | State monitoring system and method for carrying manipulator | |
| CN219979531U (en) | Switching device and photovoltaic cell manufacturing equipment | |
| CN115338130A (en) | Hot-pressing detection method and system for insulating sheet | |
| CN112881427A (en) | Electronic component defect detection device and method based on visible light and infrared thermal imaging | |
| CN113751332A (en) | Visual inspection system and method of inspecting parts | |
| CN116078704A (en) | Appearance detection equipment based on CCD | |
| US20010004401A1 (en) | Process for inspecting the quality of an article in particular one made of glass | |
| JP2001353341A (en) | Game machine inspecting device | |
| CN115415186A (en) | Artificial intelligent wood chip automatic grading method and system based on deep learning | |
| CN210434894U (en) | Cashew nut sorting equipment | |
| KR100552407B1 (en) | Dimension Inspection Unit of The Midsole | |
| CN116282872A (en) | Automatic connecting system and method for glass deep processing | |
| CN217007026U (en) | Intelligent detection device for defects of bamboo and wood straws |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |