CN116673232A - Composite nondestructive testing method and system for sorting complex workpieces and storage medium - Google Patents
Composite nondestructive testing method and system for sorting complex workpieces and storage medium Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application relates to the technical field of nondestructive testing, in particular to a composite nondestructive testing method and system for sorting complex workpieces and a storage medium. The method comprises the following steps: collecting a workpiece image of a workpiece entering a detection area, and carrying out image recognition on the workpiece image to judge whether surface damage exists on the workpiece to be detected; when the surface damage of the workpiece does not exist, the internal detection device is utilized to detect the inside of the workpiece so as to judge whether the internal damage exists in the workpiece; and when the fact that the workpiece is not damaged is identified, a good product mark is configured for the workpiece, and the mechanical arm is subjected to motion planning according to the pose of the workpiece so as to control the mechanical arm to sort the workpiece. According to the scheme, the accuracy of nondestructive testing of complex workpieces can be improved, and then the sorting efficiency of a sorting system is improved.
Description
Technical Field
The application relates to the technical field of nondestructive testing, in particular to a composite nondestructive testing method for sorting complex workpieces, a composite nondestructive testing system for sorting complex workpieces and a storage medium.
Background
Nondestructive testing (Non Destructive Testing, NDT) refers to checking the surface and internal structure, physicochemical properties and states of a test piece by physical or chemical methods with the aid of precision instruments and advanced techniques without damaging the test piece. Therefore, the method has important roles in industry, such as distinguishing and removing defective products in sorting, improving the product quality rate and the like. Statistics and forecast data are shown according to the market report of nondestructive testing equipment, and the global and Chinese nondestructive testing equipment market scale reaches 187.99 hundred million yuan and 52.17 hundred million yuan in 2021. Within the 2021-2027 prediction period, the global nondestructive testing equipment market is expected to grow at a composite annual growth rate of 9.1%, and the total size of the 2027 global nondestructive testing equipment market is expected to reach 318.51 hundred million yuan, so that the method has a wide market prospect.
Existing nondestructive testing schemes, such as traditional ultrasonic nondestructive testing techniques, still suffer from the following disadvantages when testing complex workpieces: 1. most of the traditional ultrasonic nondestructive detection technologies need coupling liquid as a medium to detect an object to be detected, and the coupling liquid may damage the material of a workpiece; 2. most of traditional ultrasonic nondestructive testing technologies are contact probes, and the objects to be tested need to be closely attached, so that sorting efficiency is reduced in industrial application; 3. the traditional ultrasonic nondestructive testing technology is mostly a single testing method, and when facing to the testing of complex workpieces, the traditional ultrasonic nondestructive testing technology can cause testing errors and influence testing accuracy.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The present disclosure provides a composite nondestructive testing method for complex workpiece sorting, a composite nondestructive testing system for complex workpiece sorting, and a storage medium, which can realize effective detection of complex workpieces and improve the efficiency of the sorting system.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
According to a first aspect of the present disclosure, there is provided a composite non-destructive inspection method for complex workpiece sorting, the method comprising:
collecting a workpiece image of a workpiece entering a detection area, and carrying out image recognition on the workpiece image to judge whether surface damage exists on the workpiece to be detected;
when the surface damage of the workpiece does not exist, the internal detection device is utilized to detect the inside of the workpiece so as to judge whether the internal damage exists in the workpiece;
and when the fact that the workpiece is not damaged is identified, a good product mark is configured for the workpiece, and the mechanical arm is subjected to motion planning according to the pose of the workpiece so as to control the mechanical arm to sort the workpiece.
According to a second aspect of the present disclosure, there is provided a composite non-destructive inspection system for complex workpiece sorting, comprising:
the image acquisition component is used for acquiring a workpiece image of the workpiece entering the detection area, carrying out image recognition on the workpiece image to judge whether surface damage exists on the workpiece to be detected, and uploading a workpiece marking result to the upper computer;
the internal detection device is arranged outside the detection area and is used for detecting the inside of the workpiece so as to judge whether the workpiece is damaged internally or not, and uploading a workpiece marking result to the upper computer;
the mechanical arm is arranged at the outer side of the detection area and is used for sorting workpieces in the detection area;
the controller is connected with the internal detection device and the mechanical arm and is used for sending control instructions to the image acquisition assembly, the internal detection device and the mechanical arm;
and the upper computer is connected with the controller and the image acquisition component and is used for receiving the image data uploaded by the image acquisition component and sending instruction information to the controller.
According to a third aspect of the present disclosure, there is provided a storage medium having stored thereon a computer program which when executed by a processor implements a composite non-destructive inspection method for complex workpiece sorting as described in the above embodiments.
According to the composite nondestructive testing method for sorting complex workpieces, which is provided by the embodiment of the disclosure, firstly, image recognition is carried out on the workpieces entering a graph detection area to judge whether surface damage exists or not; when judging that the surface damage does not exist, utilizing an internal detection device to detect the inside of the workpiece so as to judge whether the internal damage exists or not; marking the workpiece as a good product when judging that the workpiece is free from surface damage and internal damage; and planning a motion path of the mechanical arm according to the pose of the workpiece, and sorting the workpiece by using the mechanical arm. The surface damage and the internal damage of the workpiece are detected respectively, so that the accuracy of nondestructive detection of the complex workpiece can be improved, and the sorting efficiency of the sorting system is further improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 schematically illustrates a schematic diagram of an automated intelligent sorting system architecture in an exemplary embodiment of the present disclosure;
a schematic block diagram of an automated intelligent sorting system in an exemplary embodiment of the present disclosure is schematically illustrated in fig. 2;
a schematic composition diagram of an air-coupled ultrasonic detection model in an exemplary embodiment of the present disclosure is schematically shown in fig. 3;
a schematic diagram of the workflow of an air-coupled ultrasonic detection module in an exemplary embodiment of the present disclosure is schematically shown in fig. 4;
a schematic composition diagram of a laser ultrasonic detection module in an exemplary embodiment of the present disclosure is schematically shown in fig. 5;
a schematic diagram of the workflow of a laser ultrasonic detection module in an exemplary embodiment of the present disclosure is schematically shown in fig. 6;
a schematic diagram of a composite non-destructive inspection method for complex workpiece sorting in an exemplary embodiment of the present disclosure is schematically illustrated in fig. 7;
a schematic distribution diagram of a detection area in an exemplary embodiment of the present disclosure is schematically shown in fig. 8;
a schematic diagram of one detection flow in an exemplary embodiment of the present disclosure is schematically shown in fig. 9;
a schematic flow diagram of a composite non-destructive inspection method for complex workpiece sorting in an exemplary embodiment of the present disclosure is schematically illustrated in fig. 10.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
In the related art, the conventional ultrasonic nondestructive testing technology still has the following disadvantages when testing complex workpieces: 1. most of the traditional ultrasonic nondestructive detection technologies need coupling liquid as a medium to detect an object to be detected, and the coupling liquid may damage the material of a workpiece; 2. most of traditional ultrasonic nondestructive testing technologies are contact probes, and the objects to be tested need to be closely attached, so that sorting efficiency is reduced in industrial application; 3. the traditional ultrasonic nondestructive testing technology is mostly a single testing method, and when facing to the testing of complex workpieces, the traditional ultrasonic nondestructive testing technology can cause testing errors and influence testing accuracy.
In response to the shortcomings and drawbacks of the prior art, a composite non-destructive inspection system for complex workpiece sorting is provided in the present exemplary embodiment. Referring to fig. 2, the detection system may include: the device comprises a detection module 21, a conveyor belt module 22, a sorting grabbing module 23 and a control module 24. Specifically, the detection module 21 may include: an image acquisition assembly, an internal detection device; wherein the image acquisition component may be a camera 211, the internal detection means may comprise: detection device a212, detection device B213. The control module 24 includes an upper computer 241 and a controller 242. The sort grab module 23 may include robotic arms 231 (robotic arm a, robotic arm B). The conveyor belt module 22 may include: a feeding conveyor 221, a discharging conveyor 222, a detecting conveyor 223, and a waste conveyor 224.
The image acquisition component can be used for acquiring a workpiece image of a workpiece entering the detection area, carrying out image recognition on the workpiece image to judge whether surface damage exists on the workpiece to be detected, and uploading a workpiece marking result to the upper computer. The internal detection device is arranged outside the detection area and can be used for detecting the inside of the workpiece so as to judge whether the workpiece is damaged internally or not, and the marking result of the workpiece is uploaded to the upper computer. The mechanical arm is arranged on the outer side of the detection area and can be used for sorting workpieces in the detection area. And the controller is connected with the internal detection device and the mechanical arm and is used for sending control instructions to the image acquisition assembly, the internal detection device and the mechanical arm. And the upper computer is connected with the controller and the image acquisition component and is used for receiving the image data uploaded by the image acquisition component and sending instruction information to the controller.
Specifically, referring to fig. 1, a composite nondestructive inspection system for complex workpiece sorting includes an infeed conveyor 221, the infeed conveyor 221 being configured to transfer a workpiece 11 to be inspected to an inspection conveyor 223. Downstream of the infeed conveyor 221 is provided a detection conveyor 223, the detection conveyor 223 being adapted to transport the work pieces 11 to the detection zone 12. The detection zone 12 may be a sized zone on the detection conveyor 223. The robot arm a and the robot arm B are provided on both sides of the detection area 12. Detection devices a212 and B213 are provided on both sides of the detection region 12. A discharge conveyor 222 is provided downstream of the detection conveyor 223 for conveying the work pieces provided with good product marks. At one end of the inspection conveyor 223, e.g. the other side opposite to the infeed conveyor, a reject conveyor 224 may be provided for transporting the workpieces provided with reject marks. Above the detection area, a camera 211 may be provided for capturing an image of the workpiece.
Wherein, inside detection device includes: and the air coupling ultrasonic nondestructive detection module and the laser ultrasonic nondestructive detection module.
In this exemplary embodiment, referring to fig. 3, the air-coupled ultrasonic nondestructive testing module includes: the first module upper computer, namely the upper computer 31; the first modular industrial personal computer, i.e., industrial personal computer 32; an optimization module 33; a detection module 34. The first module upper computer can be used for receiving and transmitting control commands to the first module industrial personal computer. The first module industrial personal computer can be used for sending a control command to the detection module; the first module industrial personal computer comprises: a first sub-controller (i.e., controller 321), an excitation transmitter 322, a data collector 323, and a signal processor 324; the first sub-controller is used for controlling the motion of the detection module 34; the excitation transmitter 322 is configured to transmit a pulse signal to the detection module 34; the data collector 323 is used for realizing A/D sampling; the signal processor 324 is configured to receive signals from the transducer. The optimizing module 33 may be configured to optimize the data of the detecting module 34, including the filter 331 and the amplifier 332; the filter 331 filters the signal from the excitation transmitter 322 and transmits the filtered signal to the excitation transducer 341; the amplifier 332 amplifies the received data to the signal processor 324. The detection module 34 may be used to detect internal damage to the workpiece, including an excitation transducer 341 and a receiving transducer 342; the excitation transducer 341 is used for emitting sound waves to the detected workpiece; the receiving transducer 342 is used for receiving sound waves of the workpiece to be inspected. Referring to fig. 4, the workflow of the air-coupled ultrasonic nondestructive testing module includes: s40, starting; s41, exciting the generator to generate high-frequency pulses; s42, filtering the high-frequency pulse by using a filter and then sending the high-frequency pulse to an excitation transducer; s43, exciting the transducer to emit ultrasonic waves; s44, receiving ultrasonic waves penetrating through the workpiece by the receiving transducer; s45, amplifying the ultrasonic wave by using an amplifier; s46, the signal processor receives the amplified signal; s47, ending.
In this exemplary embodiment, referring to fig. 5, the laser ultrasonic detection module includes: the second module upper computer (i.e. the upper computer 51) can be used for receiving and transmitting control commands to the second module industrial personal computer; the second module industrial personal computer (i.e. industrial personal computer 52) comprises a second sub-controller (i.e. controller 521) and a data collector 522; the second sub-controller is used for controlling the pulse laser to emit pulses and controlling the movement of the matrix mirror deflector; a data collector 522 for a/D sampling the collected signals; a synchronous generator 53 for controlling the pulse emitted by the pulse laser to be synchronous with the signal received by the data collector; a pulse laser 54 for emitting laser pulses; the detection module 56 may include an array mirror deflector 561 and an ultrasonic sensor 562, wherein the array mirror deflector 561 may be used to deflect laser pulses; an ultrasonic sensor may be used to receive thermally excited ultrasonic waves on the workpiece being inspected; an amplifier/filter 55 may be used to optimize the signal received by the ultrasonic sensor. Referring to fig. 6, the workflow of the laser ultrasonic detection module includes: s60, starting; s61, a pulse laser emits laser pulses; s62, refracting laser by an array mirror deflector; s63, an ultrasonic sensor receives thermal laser ultrasonic waves; s64, filtering and amplifying the received signals; s65, a data acquisition device is used for acquiring signals and completing a laser ultrasonic nondestructive testing process.
In this example embodiment, a composite non-destructive inspection method for complex workpiece sorting is provided, as shown with reference to fig. 7, the method may include:
step S71, collecting a workpiece image of a workpiece entering a detection area, and carrying out image recognition on the workpiece image to judge whether surface damage exists on the workpiece to be detected;
step S72, when the surface damage of the workpiece does not exist, detecting the inside of the workpiece by using an internal detection device so as to judge whether the inside damage exists on the workpiece;
and step 73, when the fact that the workpiece is not damaged internally is identified, a good product mark is configured for the workpiece, and the mechanical arm is subjected to motion planning according to the pose of the workpiece so as to control the mechanical arm to sort the workpiece.
In this example embodiment, the method further includes: image acquisition is carried out on the detection area and/or the detection conveyor belt, and the acquired images are identified; when a detection area or a detection conveyor belt is determined to be free of workpieces according to an image recognition result, a first feeding conveyor belt control instruction is generated to control the feeding conveyor belt to throw the workpieces to be detected into the detection conveyor belt;
and after the workpiece is identified to fall into the detection conveyor belt, generating a second feeding belt control instruction to control the feeding conveyor belt to stop.
In this example embodiment, the method further includes: and generating a detection conveyor belt control instruction to control the detection conveyor belt to stop when the workpiece in the detection area is identified.
In particular, the nondestructive testing method can be applied to the system described above. Referring to fig. 1 and 8, the detection devices may be disposed at both sides of the detection area, respectively. The image can be collected through scanning by the camera and uploaded to the upper computer, the upper computer can convert the collected image into point cloud data, and then the three-dimensional reconstruction is carried out by utilizing the point cloud data, so that the upper computer can obtain the three-dimensional visual information of the whole sorting system, and further the map of the whole sorting system is built. The camera can be used for collecting and detecting the image of the conveyor belt and uploading the image to the upper computer; if no workpiece is detected on the detection conveyor belt, the upper computer sends an instruction to the controller, and the controller sends an instruction to the feeding conveyor belt, so that the feeding conveyor belt inputs the workpiece on the detection conveyor belt. After the images acquired by the camera in real time are used for identifying that the workpiece falls into the detection conveyor belt, the upper computer sends an instruction to the controller, the controller sends the instruction to the feeding conveyor belt, and the feeding conveyor belt stops moving. After the feeding conveyor belt stops feeding, the controller sends an instruction to the detection conveyor belt, so that the detection conveyor belt moves the workpiece to the detection area. After the workpiece in the detection area is identified, the upper computer sends an instruction to the controller, the controller sends an instruction to the detection conveyor belt, and the detection conveyor belt stops moving.
In the present exemplary embodiment, in step S71 described above, first, a workpiece in a detection area is detected by a camera; the camera obtains the pose of the workpiece, judges whether the appearance of the workpiece is defective, marks the workpiece as waste if the surface of the workpiece is defective, and sends data to the upper computer;
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the function of the detection result of the camera, if detectedIf injury is detected->If no damage is detected +.>。
In this example embodiment, the method further includes: and when the surface damage of the workpiece is identified, disposing a waste mark for the workpiece.
In this example embodiment, the internal detection device includes: and the air coupling ultrasonic nondestructive detection module and the laser ultrasonic nondestructive detection module.
The method further comprises the steps of: the method comprises the steps that an air coupling ultrasonic nondestructive testing module is used for carrying out internal testing on a workpiece, and if internal damage of the workpiece is detected, a waste mark is configured on the workpiece; or alternatively
When the fact that the workpiece is not damaged internally is detected, the laser ultrasonic nondestructive detection module is used for detecting the interior of the workpiece, and if the fact that the workpiece is damaged internally is detected, a waste mark is configured for the workpiece; or when the fact that the workpiece is not damaged is detected, disposing a good product mark on the workpiece.
Specifically, in step S72 described above, after detecting that there is no surface damage to the workpiece using the image acquired by the camera, air-coupled ultrasonic nondestructive inspection may be performed. The air coupling ultrasonic detection modules of the detection device A and the detection device B detect the workpiece in the detection area. If the workpiece is defective, marking the workpiece as waste, and transmitting data to an upper computer;
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the detection result function of the air-coupled ultrasonic detection module, if damage is detectedIf no damage is detected +.>。
And performing laser ultrasonic nondestructive testing when the air coupling ultrasonic nondestructive testing detects that the inside of the workpiece is not damaged. The laser ultrasonic detection modules of the detection device A and the detection device B detect the workpiece in the detection area. If the workpiece is defective, marking the workpiece as waste, and transmitting the data to the upper computer.
Wherein, the liquid crystal display device comprises a liquid crystal display device,representing the detection result function of the laser ultrasonic detection module, if damage is detected, thenIf no damage is detected +.>。
Referring to fig. 9, if the camera, the air-coupled ultrasonic detection module and the laser ultrasonic detection module of the detection device a and the detection device B detect that the inside of the workpiece is not defective, the workpiece is marked as good, and the workpiece data is sent to the upper computer;
wherein, the liquid crystal display device comprises a liquid crystal display device,the result of damage to the workpiece is 1 for good product and 0 for reject.
That is, when the camera inspection, the air-coupled ultrasonic inspection, and the laser ultrasonic inspection are all good products, the work piece may be determined to be good products, and if any one of the inspection is not passed, the work piece may be rejected. Specifically, the camera performs image acquisition on the workpiece in the detection area, and identifies the acquired image so as to realize detection on the appearance of the workpiece. The laser ultrasonic detection can make up for the defect of insufficient detection distance of air coupling ultrasonic waves, and improves the detection efficiency and the detection accuracy.
In this example embodiment, the method further includes: according to the waste mark, controlling a mechanical arm to sort the workpieces to a waste conveying belt; or according to the good product marks, controlling the mechanical arm to sort the workpieces to a discharging conveyor belt.
In this example embodiment, the method further includes:
acquiring system images of the mechanical arm and surrounding environment, and performing three-dimensional reconstruction by utilizing point cloud data corresponding to the system images to acquire a corresponding system environment model;
and planning a mechanical arm movement path of the mechanical arm by combining the pose of the workpiece and the marking information of the workpiece based on the system environment model, so as to control the mechanical arm to sort the workpiece to a waste conveyor belt or a discharge conveyor belt according to a path planning result.
In this example embodiment, the method further includes:
acquiring system images of the mechanical arm and surrounding environment, and performing three-dimensional reconstruction by utilizing point cloud data corresponding to the system images to acquire a corresponding system environment model;
and planning a mechanical arm movement path of the mechanical arm by combining the pose of the workpiece and the marking information of the workpiece based on the system environment model, so as to control the mechanical arm to sort the workpiece to a waste conveyor belt or a discharge conveyor belt according to a path planning result.
Specifically, when the mechanical arm sorts, if the detection area has good workpieces, the mechanical arm A is responsible for sorting the workpieces marked as good workpieces to the discharging conveyor belt; if the detection area has waste workpieces, the mechanical arm B is responsible for sorting the workpieces marked as waste to a waste conveyor belt; and if no waste workpiece exists in the detection area, the mechanical arm B is responsible for sorting the workpiece marked as good product to the discharging conveyor belt.
The method provided by the disclosure can be applied to the system shown in fig. 1, and referring to fig. 10, after initialization, the camera can be used for collecting and detecting the image of the conveyor belt and uploading the image to the upper computer, and identifying the collected image and judging that the conveyor belt is provided with a workpiece; if no workpiece is identified, a control instruction can be generated, and the feeding belt transmits the input material to the detection conveyor belt; the detection conveyor belt moves the workpiece to a detection area, the camera collects images of the workpiece in the detection area and uploads the images to the upper computer, and pose information of the workpiece is calculated; and identifying whether the workpiece has surface damage; if the surface damage exists, judging that the waste is generated, generating a control instruction, and sorting the waste to the waste conveyor belt by the mechanical arm B. Or if the surface damage is identified to be absent, the air coupling ultrasonic detection module is used for carrying out internal detection to judge whether the internal damage exists, if the internal damage exists, the waste is judged to be the waste, a control instruction is generated, and the waste is sorted to the waste conveyor belt by the mechanical arm B. Or if no internal damage exists, detecting whether the internal damage exists again by the laser ultrasonic detection module, if the internal damage exists, judging that the waste exists, generating a control instruction, and sorting the waste to a waste conveyor belt by the mechanical arm B; or when no internal damage exists, judging the product to be good, generating a control instruction, and sorting waste products to the discharging conveyor belt by the mechanical arm A to complete a complete detection process. Realizing automatic sorting and nondestructive detection along with the workpiece. Compared with the traditional sorting system, the automatic intelligent sorting system with the double mechanical arms for collaborative division can greatly improve the sorting efficiency. Meanwhile, compared with the traditional nondestructive testing system, the composite testing method by combining camera vision with air coupling ultrasonic waves and laser ultrasonic waves greatly improves the accuracy of nondestructive testing.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
In some possible embodiments, the various aspects of the application may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the application as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
A program product for implementing the above-described method according to an embodiment of the present application may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
Furthermore, the above-described drawings are only schematic illustrations of processes included in the method according to the exemplary embodiment of the present application, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A composite non-destructive inspection method for sorting complex workpieces, the method comprising:
collecting a workpiece image of a workpiece entering a detection area, and carrying out image recognition on the workpiece image to judge whether surface damage exists on the workpiece to be detected;
when the surface damage of the workpiece does not exist, the internal detection device is utilized to detect the inside of the workpiece so as to judge whether the internal damage exists in the workpiece;
and when the fact that the workpiece is not damaged is identified, a good product mark is configured for the workpiece, and the mechanical arm is subjected to motion planning according to the pose of the workpiece so as to control the mechanical arm to sort the workpiece.
2. The method according to claim 1, wherein the method further comprises:
image acquisition is carried out on the detection area and/or the detection conveyor belt, and the acquired images are identified; when a detection area or a detection conveyor belt is determined to be free of workpieces according to an image recognition result, a first feeding conveyor belt control instruction is generated to control the feeding conveyor belt to throw the workpieces to be detected into the detection conveyor belt;
generating a second feeding belt control instruction after recognizing that the workpiece falls into the detection conveyor belt so as to control the feeding conveyor belt to stop;
wherein the method further comprises:
and generating a detection conveyor belt control instruction to control the detection conveyor belt to stop when the workpiece in the detection area is identified.
3. The method of claim 1, wherein the internal detection device comprises: the air coupling ultrasonic nondestructive testing module and the laser ultrasonic nondestructive testing module;
the method further comprises the steps of:
the method comprises the steps that an air coupling ultrasonic nondestructive testing module is used for carrying out internal testing on a workpiece, and if internal damage of the workpiece is detected, a waste mark is configured on the workpiece; or alternatively
When the fact that the workpiece is not damaged internally is detected, the laser ultrasonic nondestructive detection module is used for detecting the interior of the workpiece, and if the fact that the workpiece is damaged internally is detected, a waste mark is configured for the workpiece; or when the fact that the workpiece is not damaged is detected, disposing a good product mark on the workpiece.
4. The method according to claim 1, wherein the method further comprises:
and when the surface damage of the workpiece is identified, disposing a waste mark for the workpiece.
5. The method according to claim 3 or 4, characterized in that the method further comprises:
according to the waste mark, controlling a mechanical arm to sort the workpieces to a waste conveying belt; or alternatively
And according to the good product marks, controlling the mechanical arm to sort the workpieces to a discharging conveyor belt.
6. The method according to claim 1, wherein the method further comprises:
acquiring system images of the mechanical arm and surrounding environment, and performing three-dimensional reconstruction by utilizing point cloud data corresponding to the system images to acquire a corresponding system environment model;
and planning a mechanical arm movement path of the mechanical arm by combining the pose of the workpiece and the marking information of the workpiece based on the system environment model, so as to control the mechanical arm to sort the workpiece to a waste conveyor belt or a discharge conveyor belt according to a path planning result.
7. A composite non-destructive inspection system for sorting complex workpieces, the system comprising:
the image acquisition component is used for acquiring a workpiece image of the workpiece entering the detection area, carrying out image recognition on the workpiece image to judge whether surface damage exists on the workpiece to be detected, and uploading a workpiece marking result to the upper computer;
the internal detection device is arranged outside the detection area and is used for detecting the inside of the workpiece so as to judge whether the workpiece is damaged internally or not, and uploading a workpiece marking result to the upper computer;
the mechanical arm is arranged at the outer side of the detection area and is used for sorting workpieces in the detection area;
the controller is connected with the internal detection device and the mechanical arm and is used for sending control instructions to the image acquisition assembly, the internal detection device and the mechanical arm;
the upper computer is connected with the controller and the image acquisition component and is used for receiving the image data uploaded by the image acquisition component and sending instruction information to the controller;
wherein the system further comprises:
the feeding conveyor belt is used for conveying the workpiece to be detected to the detection conveyor belt;
the detection conveyor belt is arranged at the downstream of the feeding conveyor belt and is used for conveying the workpiece to a detection area;
the discharging conveyor belt is arranged at the downstream of the detection conveyor belt and is used for conveying the workpiece provided with the good product mark;
and the waste conveying belt is arranged at one end of the detection conveying belt and is used for conveying the workpiece provided with the waste mark.
8. The system of claim 7, wherein the internal detection device comprises: the air coupling ultrasonic nondestructive testing module and the laser ultrasonic nondestructive testing module;
wherein, air coupling ultrasonic wave nondestructive test module includes:
the first module upper computer is used for receiving and transmitting control commands to the first module industrial personal computer;
the first module industrial personal computer is used for sending a control command to the detection module;
the first module industrial personal computer comprises: the device comprises a first sub-controller, an excitation transmitter, a data acquisition unit and a signal processor; the first sub-controller is used for controlling the detection module to move; the excitation transmitter is used for transmitting pulse signals to the detection module; the data acquisition device is used for realizing A/D sampling; the signal processor is used for receiving the signals of the transducer;
the optimizing module is used for optimizing the data of the detecting module and comprises a filter and an amplifier; the filter filters signals sent by the excitation transmitter and transmits the signals to the excitation transducer; the amplifier amplifies the received data to a signal processor;
the detection module is used for detecting the internal damage of the workpiece and comprises an excitation transducer and a receiving transducer; the excitation transducer is used for emitting sound waves to the detected workpiece; the receiving transducer is used for receiving sound waves of the detected workpiece.
9. The system of claim 8, wherein the laser ultrasonic non-destructive inspection module comprises:
the second module upper computer is used for receiving and transmitting control commands to the second module industrial personal computer;
the second module industrial personal computer comprises a second sub-controller and a data acquisition unit; the second sub-controller is used for controlling the pulse laser to emit pulses and controlling the movement of the matrix mirror deflector;
the synchronous generator is used for controlling the pulse sent by the pulse laser to be synchronous with the signal received by the data acquisition device;
the pulse laser is used for emitting laser pulses;
the array mirror deflector is used for deflecting laser pulses;
an ultrasonic sensor for receiving thermally excited ultrasonic waves on the workpiece being inspected;
an amplifier/filter for optimizing the signal received by the ultrasonic sensor;
and the data acquisition device is used for carrying out A/D sampling on the acquired signals.
10. A storage medium having stored thereon a computer program which when executed by a processor implements a composite non-destructive inspection method for complex workpiece sorting according to any one of claims 1 to 6.
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