CN116740025A - Visual image identification method of cylinder cover blank error processing prevention device - Google Patents
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Abstract
The application belongs to the technical field of preparation of engine casting cylinder cover blanks, and discloses a visual image identification method of a cylinder cover blank error processing prevention device, which comprises the following steps: photographing and identifying a cylinder cover vehicle type workpiece through a vision system, and displaying images through a touch screen; scanning a two-dimensional code on a cylinder head vehicle type workpiece by a code reader to read a product serial number, and identifying the current cylinder head vehicle type workpiece; and comparing the current cylinder head vehicle type workpiece identified by the vision system with the product serial number of the cylinder head vehicle type workpiece read by the reader, and judging that the current cylinder head vehicle type workpiece is qualified according to the result, otherwise, alarming through NG. The application utilizes the visual image and the two-dimensional code to read and compare, thereby preventing defective products with unmatched marking codes and actual vehicle types from flowing into the post-engineering. The application can prevent the labor intensity of operators from being reduced and the fatigue degree from being checked for a long time.
Description
Technical Field
The application belongs to the technical field of preparation of engine casting cylinder cover blanks, and particularly relates to a visual image identification method of a cylinder cover blank error processing prevention device.
Background
The TNGA3# casting cylinder cover line mixed flow production TNGA2.0L fuel oil plate and 2.0L mixed dynamic plate have small differences in sand core shape during production of two cylinder covers, and the serial numbers of the two cylinder covers can flow in the backward engineering only by manually checking the serial numbers of the two cylinder covers with blanks.
Through the above analysis, the problems and defects existing in the prior art are as follows: because the blank appearance difference is little, the unmatched serial number of the produced cylinder cover and the real object are difficult to be found. In the prior art, manual checking is needed, so that the labor intensity of operators is increased, and the fatigue degree is checked for a long time.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiments of the application provide a cylinder cover blank anti-misoperation device and a visual image recognition method, in particular to a TNGA2.0 or 2.0HV cylinder cover blank anti-misoperation device.
The technical scheme is as follows: a visual image identification method of a cylinder cover blank anti-misoperation device comprises the following steps:
s1, photographing and identifying a cylinder cover vehicle type workpiece through a vision system, and displaying images through a touch screen;
s2, scanning a two-dimensional code on a cylinder head vehicle type workpiece through a code reader to read a product serial number, and identifying the current cylinder head vehicle type workpiece;
and S3, comparing the current cylinder head vehicle type workpiece identified by the vision system with the product serial number of the cylinder head vehicle type workpiece read by the reader, and judging that the current cylinder head vehicle type workpiece is qualified according to the result, otherwise, alarming through NG.
In step S3, comparing the product serial number of the current cylinder head vehicle type workpiece identified by the vision system with the product serial number of the cylinder head vehicle type workpiece read by the reader includes:
firstly, acquiring a group of cylinder head vehicle type workpiece surrounding shooting image sets through a visual system by utilizing a visual image unit, extracting the contour of the cylinder head vehicle type workpiece from each frame of surrounding shooting image, setting the pixel value in a contour area to be 128, setting the pixel value outside the contour to be 0, and obtaining a frame of binary image to obtain cylinder head vehicle type workpiece visual image detection contour data to be detected;
pre-eliminating pseudo image parts in the contours by the image elimination unit, establishing a mathematical model of the contours, establishing a sand core feature matrix corresponding to the contours by a complete vector group describing the contours, and calculating included angles of two adjacent sides of the sand core features; calculating the nearest distance between the profile and the sand core; the enhanced preprocessing of the calculation result is then sent to a contour processing module for analyzing the visual image detection contour data of the cylinder head vehicle type workpiece to be detected;
inputting the analyzed data into a touch screen to carry out programming of a detection program; transmitting the programmed instruction to a central processing unit, and enabling an instruction roller way to drive a workpiece detection platform to slide back and forth to finish detection of the profile of the workpiece of the whole cylinder cover lathe;
traversing each path in the two-dimensional codes on the cylinder head vehicle type workpiece by using a code reader to obtain the maximum value and the minimum value of all paths in the two-dimensional codes on the cylinder head vehicle type workpiece in the directions of X, Y and the center position, calculating the distance difference between the maximum value and the minimum value in each direction, respectively marking as x_dis, y_dis and z_dis, dividing the three distance differences by 10 to obtain three quantities, namely marking as x_scale, y_scale and z_scale;
step five, taking one path in the two-dimensional codes on the cylinder head truck type workpiece as a source path, respectively expanding the derivative scale calculated in the corresponding step four along the positive and negative directions of X, Y and the central position to obtain a rectangle taking the source path as the center, wherein the length and the width of the rectangle and the distance between the rectangle and the center are respectively 2 x_scale, 2 x y_scale and 2 x z_scale, the center of the source path extends a plurality of directions towards the periphery of the rectangle, a new path is derived in each direction, the normal vector of the new path is the same as the normal vector of the source path, and each derivative path records the source path;
and step six, comparing the obtained normal vector passing through the new path with visual image detection contour data of the cylinder head vehicle type workpiece to be detected, and judging that the current cylinder head vehicle type workpiece is qualified according to the result, otherwise, alarming through NG.
In the first step, a group of cylinder head type workpiece surrounding shooting image sets are obtained through a vision system, the contour of the cylinder head type workpiece is extracted for each frame of surrounding shooting image, the pixel value in the contour area is set to 128, the pixel value outside the contour is set to 0, and a frame of binary image is obtained and is called an effective area diagram.
In the first step, in the step of reconstructing the visual image of the cylinder head vehicle type workpiece around the shot image set, a path cloud with very low density is obtained, which is called a two-dimensional code on the cylinder head vehicle type workpiece, and a rotation matrix R and a translation vector t of each frame of visual system relative to a world coordinate system are also obtained, and the rotation matrix and the translation vector are combined to form a transformation matrix M.
Further, taking out the calculated transformation matrix M of the ith frame image in the cylinder head vehicle type workpiece winding image set i The derived path cloud is obtained according to the transformation matrix M i Transforming to a corresponding camera coordinate system, and back projecting each path in the derived path cloud to an obtained effective area diagram of the ith frame according to a projection principle;
deleting paths projected into an invalid region in an effective region diagram of an ith frame from a derived path cloud, and reserving paths projected into an effective region in the effective region diagram of the ith frame;
and (3) carrying out surrounding projection and deletion on the derived path cloud, and reconstructing the visual image to obtain the derived path cloud containing the internal path.
In the second step, a proper threshold value is set according to the aspect ratio of the minimum inclusion rectangle of the outline, and filtering is carried out;
setting a threshold value according to the minimum value of the ratio of each side length to the perimeter in the source contour, and removing the pseudo image part in the target contour;
simplifying the edge number of the target contour to enable the edge number of the target contour to be the same as that of the source contour;
and acquiring Euclidean distance and maximum phase sum coefficient of the most similar vector in the source profile and target profile sand core characteristic matrix.
Further, obtaining the Euclidean distance and the maximum phase sum coefficient of the most similar vector in the source profile and the target profile sand core characteristic matrix specifically comprises the following steps:
respectively establishing a sand core characteristic matrix P of a source contour P and a target contour Q according to a counterclockwise direction E And Q E ：
The Euclidean distance formula d (x, y) and the angle cosine formula sim (x, y) are as follows:
redefining two matrices D and S on the basis of D (x, y) and sim (x, y), so that:
the minimum value of D and S is found.
In the fifth step, carrying out one-time deriving operation on each path in the two-dimension codes on the cylinder head vehicle type workpiece to obtain a derived path cloud, wherein the number of paths in the path cloud is multiple times that of the two-dimension codes on the cylinder head vehicle type workpiece;
in the fifth step, one path in the two-dimensional codes on the cylinder head vehicle type workpiece is used as a source path to derive a new path in a plurality of directions of the rectangle, wherein the calculation formula of the new path is as follows:
wherein x_org, y_org and z_org are the coordinates of a certain path in the two-dimensional code on the cylinder head vehicle type workpiece in the direction of X, Y and the central position, x_scale, y_scale and z_scale are derived scales in the three directions of x, y and z obtained by calculation,
the 3 x 3 new path coordinates calculated by the above formula, except for the case where the source path coordinate increment is (0, 0), multiple new path clouds will be derived for the description.
In step six, back projecting the path cloud in the visual system coordinate system, and projecting each path into the effective area diagram of the ith frame, wherein the calculation formula of the projection position is as follows:
wherein f is the focal length of the camera, C x ,C y The calculated u and v are the positions of the path projected on the image, namely the pixel positions corresponding to the u th row and the v th column on the image, which are respectively 2 times of the resolution of the image.
Another object of the present application is to provide a device for preventing a cylinder head blank from being wrongly processed, and a visual image recognition method for implementing the device for preventing a cylinder head blank from being wrongly processed, the device comprising:
the workpiece detection platform is used for bearing a cylinder cover seed workpiece;
the workpiece detection platform is placed on the roller way;
the upper part of the roller way is provided with a vision system for photographing and identifying the cylinder cover vehicle type workpiece and displaying images through a touch screen connected with the vision system;
a code reader is arranged on one side of the roller way and used for scanning a two-dimensional code on a cylinder head vehicle type workpiece to read a product serial number and identifying the current cylinder head vehicle type workpiece;
and comparing the current cylinder head vehicle type workpiece identified by the vision system with the product serial number of the cylinder head vehicle type workpiece read by the reader, judging that the current cylinder head vehicle type workpiece is qualified according to the result, otherwise, alarming through NG, and carrying out alarm prompt on the operation box.
By combining all the technical schemes, the application has the following advantages: the application utilizes the visual image and the two-dimensional code to read and compare, thereby preventing defective products with unmatched marking codes and actual vehicle types from flowing into the post-engineering. Defective products caused by misoperation of the sand core are prevented from flowing into the post-process; the application prevents defective products with the code printing and the mismatch with the actual vehicle type from flowing into the post-engineering; reduces the labor intensity of operators and the fatigue degree of long-time inspection.
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;
fig. 1 is a diagram of a visual image recognition method of a cylinder head blank error processing prevention device provided by an embodiment of the application;
FIG. 2 is a flow chart of comparing a current cylinder head truck type workpiece identified by a vision system with a product serial number of the cylinder head truck type workpiece read by a reader according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a cylinder head blank error-preventing processing device provided by an embodiment of the application;
in the figure: 1. a workpiece detection platform; 2. a roller way; 3. a vision system; 4. a touch screen; 5. a reader; 6. turning a cylinder cover into a workpiece; 7. and (3) operating the box.
Detailed Description
In order to make the above objects, features and preferred paths of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the application, which is therefore not limited to the specific embodiments disclosed below.
In embodiment 1, as shown in fig. 1, the visual image recognition method of the error processing prevention device for the cylinder cover blank provided by the embodiment of the application comprises the following steps:
s1, photographing and identifying a cylinder cover vehicle type workpiece 6 through a vision system 3, and displaying images through a touch screen 4;
s2, scanning a two-dimensional code on the cylinder head vehicle type workpiece 6 through a code reader 5 to read a product serial number, and identifying the current cylinder head vehicle type workpiece 6;
s3, comparing the current cylinder head vehicle type workpiece 6 identified by the vision system 3 with the product serial number of the cylinder head vehicle type workpiece 6 read by the reader 5, and judging that the current cylinder head vehicle type workpiece 6 is qualified according to the result, otherwise, alarming through NG.
In the embodiment of the present application, as shown in fig. 2, in step S3, comparing the product serial number of the current cylinder head truck type workpiece 6 identified by the vision system 3 with the cylinder head truck type workpiece 6 read by the reader 5 includes:
s201, acquiring a group of surrounding shooting image sets of the cylinder head vehicle type workpiece 6 through a vision system 3 by utilizing a vision image unit, extracting the contour of the cylinder head vehicle type workpiece 6 from each frame of surrounding shooting image, setting the pixel value in a contour area to be 128, setting the pixel value outside the contour to be 0, and obtaining a frame of binary image to obtain vision image detection contour data of the cylinder head vehicle type workpiece 6 to be detected;
s202, pre-eliminating pseudo image parts in the outline by an image elimination unit, establishing a mathematical model of the outline, establishing a sand core feature matrix corresponding to the outline by a complete vector group describing the outline, and calculating included angles of two adjacent sides of the sand core feature; calculating the nearest distance between the profile and the sand core; the enhanced preprocessing of the calculation result is then sent to a contour processing module for analyzing the visual image detection contour data of the cylinder head vehicle type workpiece 6 to be detected;
s203, inputting the analyzed data into a touch screen to carry out programming of a detection program; transmitting the programmed instruction to a central processing unit, and enabling the instruction roller way 2 to drive the workpiece detection platform 1 to slide back and forth to finish the detection of the contour of the workpiece 6 of the whole cylinder cover lathe;
s204, traversing each path in the two-dimensional codes on the cylinder head type workpiece 6 by using the code reader 5, obtaining the maximum value and the minimum value of all paths in the two-dimensional codes on the cylinder head type workpiece 6 in the directions of X, Y and the central position, calculating the distance difference between the maximum value and the minimum value in each direction, respectively marking as x_dis, y_dis and z_dis, respectively dividing the three distance differences by 10, and marking as x_scale, y_scale and z_scale according to the obtained three quantities;
s205, taking one path in the two-dimensional code on the cylinder head truck type workpiece 6 as a source path, respectively expanding the derivative scale calculated in the corresponding step four along the positive and negative directions of X, Y and the center position to obtain a rectangle taking the source path as the center, wherein the length and the width of the rectangle and the distance between the rectangle and the center are respectively 2 x_scale, 2 x y_scale and 2 x z_scale, the center of the source path is expanded to a plurality of directions altogether towards the periphery of the rectangle, a new path is derived in each direction, the normal vector of the new path is the same as the normal vector of the source path, and each derivative path records the source path;
s206, comparing the obtained normal vector through the new path with visual image detection contour data of the cylinder head vehicle type workpiece 6 to be detected, and judging that the current cylinder head vehicle type workpiece 6 is qualified according to the result, otherwise, alarming through NG.
In step S201, a set of surrounding captured images of the cylinder head truck type workpiece 6 is acquired by the vision system 3, the contour of the cylinder head truck type workpiece 6 is extracted for each frame of surrounding captured image, the pixel value in the contour area is set to 128, the pixel value outside the contour is set to 0, and a frame of binary image, called an effective area map, is obtained.
In step S201, in the step of reconstructing the visual image of the cylinder head vehicle type workpiece 6 around the captured image set, a path cloud with very low density, called a two-dimensional code on the cylinder head vehicle type workpiece 6, is obtained, and a rotation matrix R and a translation vector t of each frame of the visual system 3 relative to the world coordinate system are also obtained, and the rotation matrix and the translation vector are combined to form a transformation matrix M.
Taking out the calculated transformation matrix M of the ith frame image in the winding image set of the cylinder head type workpiece 6 i The derived path cloud is obtained according to the transformation matrix M i Transforming to a corresponding camera coordinate system, and back projecting each path in the derived path cloud to an obtained effective area diagram of the ith frame according to a projection principle;
deleting paths projected into an invalid region in an effective region diagram of an ith frame from a derived path cloud, and reserving paths projected into an effective region in the effective region diagram of the ith frame;
and (3) carrying out surrounding projection and deletion on the derived path cloud, and reconstructing the visual image to obtain the derived path cloud containing the internal path.
In the embodiment of the present application, in step S202, an appropriate threshold is set according to the aspect ratio of the minimum inclusion rectangle of the contour, and filtering is performed;
setting a threshold value according to the minimum value of the ratio of each side length to the perimeter in the source contour, and removing the pseudo image part in the target contour;
simplifying the edge number of the target contour to enable the edge number of the target contour to be the same as that of the source contour;
and acquiring Euclidean distance and maximum phase sum coefficient of the most similar vector in the source profile and target profile sand core characteristic matrix.
The obtaining the Euclidean distance and the maximum phase sum coefficient of the most similar vector in the source contour and the target contour sand core characteristic matrix specifically comprises the following steps:
respectively establishing a sand core characteristic matrix P of a source contour P and a target contour Q according to a counterclockwise direction E And Q E ：
The Euclidean distance formula d (x, y) and the angle cosine formula sim (x, y) are as follows:
redefining two matrices D and S on the basis of D (x, y) and sim (x, y), so that:
the minimum value of D and S is found.
In the embodiment of the present application, in step S205, the deriving operation is performed once on each path of the two-dimensional code on the cylinder head vehicle type workpiece 6, so as to obtain a derived path cloud, where the number of paths in the path cloud is multiple times that of the two-dimensional code on the cylinder head vehicle type workpiece 6;
in the fifth step, a new path is derived from one of the two-dimensional codes on the cylinder head vehicle type workpiece 6 as a source path in a plurality of directions of the rectangle, wherein the calculation formula of the new path is as follows:
wherein x_org, y_org and z_org are the coordinates of a certain path in the two-dimensional code on the cylinder head vehicle type workpiece (6) in the direction of X, Y and the central position, x_scale, y_scale and z_scale are derived scales of three directions of x, y and z obtained by calculation,
the 3 x 3 new path coordinates calculated by the above formula, except for the case where the source path coordinate increment is (0, 0), multiple new path clouds will be derived for the description.
In the sixth step, back projection is carried out on the path cloud in the coordinate system of the vision system (3), each path is projected into the effective area diagram of the ith frame, and the calculation formula of the projection position is as follows:
wherein f is the focal length of the camera, C x ,C y The calculated u and v are the positions of the path projected on the image, namely the pixel positions corresponding to the u th row and the v th column on the image, which are respectively 2 times of the resolution of the image.
Embodiment 2, as shown in fig. 3, the device for preventing error processing of a cylinder cover blank provided by the embodiment of the application includes:
the workpiece detection platform 1 is used for bearing a cylinder cover vehicle seed workpiece 6;
the workpiece detection platform 1 is placed on the roller way 2;
the upper part of the roller way 2 is provided with a vision system 3, a camera can be adopted for photographing and identifying a cylinder cover vehicle type workpiece 6, and an image is displayed through a touch screen 4 connected with the vision system 3;
a code reader 5 is also arranged on one side of the roller way 2 and is used for scanning two-dimensional codes on the cylinder head vehicle type workpieces 6 to read product serial numbers and identifying the current cylinder head vehicle type workpieces 6;
and comparing the current cylinder head vehicle type workpiece 6 identified by the vision system 3 with the product serial number of the cylinder head vehicle type workpiece 6 read by the reader 5, judging that the current cylinder head vehicle type workpiece 6 is qualified according to the result, otherwise, alarming through NG, and carrying out alarm prompt on the operation box 7.
Embodiment 3 the device for preventing the error processing of the cylinder cover blank and the visual image recognition method provided by the embodiment of the application can be applied to TNGA2.0 or 2.0HV cylinder cover blank error processing prevention recognition.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The content of the information interaction and the execution process between the devices/units and the like is based on the same conception as the method embodiment of the present application, and specific functions and technical effects brought by the content can be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. For specific working processes of the units and modules in the system, reference may be made to corresponding processes in the foregoing method embodiments.
Based on the technical solutions described in the embodiments of the present application, the following application examples may be further proposed.
According to an embodiment of the present application, there is also provided a computer apparatus including: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the respective method embodiments described above.
The embodiment of the application also provides an information data processing terminal, which is used for providing a user input interface to implement the steps in the method embodiments when being implemented on an electronic device, and the information data processing terminal is not limited to a mobile phone, a computer and a switch.
The embodiment of the application also provides a server, which is used for realizing the steps in the method embodiments when being executed on the electronic device and providing a user input interface.
Embodiments of the present application also provide a computer program product which, when run on an electronic device, causes the electronic device to perform the steps of the method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
While the application has been described with respect to what is presently considered to be the most practical and preferred embodiments, it is to be understood that the application is not limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the application.
Claims (10)
1. The visual image identification method of the error processing prevention device for the cylinder cover blank is characterized by comprising the following steps of:
s1, photographing and identifying a cylinder head vehicle type workpiece (6) through a vision system (3), and displaying images through a touch screen (4);
s2, scanning a two-dimensional code on a cylinder head vehicle type workpiece (6) through a code reader (5) to read a product serial number, and identifying the current cylinder head vehicle type workpiece (6);
s3, comparing the current cylinder cover vehicle type workpiece (6) identified by the vision system (3) with the product serial number of the cylinder cover vehicle type workpiece (6) read by the reader (5), and judging that the current cylinder cover vehicle type workpiece (6) is qualified according to the result, otherwise, alarming through NG.
2. The visual image recognition method of the cylinder head blank anti-misoperation device according to claim 1, characterized in that in step S3, comparing the product serial number of the current cylinder head vehicle type workpiece (6) recognized by the visual system (3) with the cylinder head vehicle type workpiece (6) read by the reader (5) includes:
firstly, acquiring a group of cylinder head vehicle type workpieces (6) around shooting image sets through a vision system (3) by utilizing a vision image unit, extracting the contour of the cylinder head vehicle type workpieces (6) from each frame of around shooting image, setting the pixel value in a contour area to be 128, setting the pixel value outside the contour to be 0, and obtaining a frame of binary image to obtain vision image detection contour data of the cylinder head vehicle type workpieces (6) to be detected;
pre-eliminating pseudo image parts in the contours by the image elimination unit, establishing a mathematical model of the contours, establishing a sand core feature matrix corresponding to the contours by a complete vector group describing the contours, and calculating included angles of two adjacent sides of the sand core features; calculating the nearest distance between the profile and the sand core; the enhanced preprocessing of the calculation result is sent to a contour processing module for analyzing the visual image detection contour data of the cylinder head vehicle type workpiece (6) to be detected;
inputting the analyzed data into a touch screen to carry out programming of a detection program; transmitting the programmed instruction to a central processing unit, and enabling an instruction roller way (2) to drive a workpiece detection platform (1) to slide back and forth to finish the detection of the outline of a whole cylinder cover vehicle type workpiece (6);
traversing each path in the two-dimensional code on the cylinder head vehicle type workpiece (6) by using a code reader (5), obtaining the maximum value and the minimum value of all paths in the two-dimensional code on the cylinder head vehicle type workpiece (6) in the directions of X, Y and the central position, calculating the distance difference between the maximum value and the minimum value in each direction, respectively marking as x_dis, y_dis and z_dis, dividing the three distance differences by 10, and obtaining three quantities, namely the derivative scale of the two-dimensional code on the cylinder head vehicle type workpiece (6), marking as x_scale, y_scale and z_scale;
step five, taking one path in the two-dimensional code on the cylinder head truck-type workpiece (6) as a source path, respectively expanding the derivative scale calculated in the step four along the positive and negative directions of X, Y and the central position to obtain a rectangle taking the source path as the center, wherein the length and the width of the rectangle and the distance between the rectangle and the center are respectively 2 x_scale, 2 x y_scale and 2 x z_scale, the center of the source path extends a plurality of directions towards the periphery of the rectangle, a new path is derived in each direction, the normal vector of the new path is the same as the normal vector of the source path, and each derivative path records the source path;
and step six, comparing the obtained normal vector passing through the new path with visual image detection contour data of the cylinder head vehicle type workpiece (6) to be detected, and judging that the current cylinder head vehicle type workpiece (6) is qualified according to the result, otherwise, alarming through NG.
3. The method for recognizing visual images of the error-processing prevention device for cylinder head blanks according to claim 2, wherein in the first step, a group of cylinder head vehicle type workpieces (6) is acquired by a visual system (3) in a surrounding image set, contours of the cylinder head vehicle type workpieces (6) are extracted for each frame of surrounding image, pixel values in a contour area are set to 128, pixel values outside the contours are set to 0, and a frame of binary image called an effective area map is obtained.
4. The visual image recognition method of the error processing prevention device for the cylinder head blank according to claim 2, wherein in the step one, in the step of performing visual image reconstruction on the cylinder head vehicle type workpiece (6) around the shot image set, a path cloud with very low density is obtained, which is called a two-dimensional code on the cylinder head vehicle type workpiece (6), and a rotation matrix R and a translation vector t of each frame of visual system (3) relative to a world coordinate system are also obtained, and the rotation matrix and the translation vector are combined to form a transformation matrix M.
5. The visual image recognition method of a cylinder head blank error processing prevention device according to claim 4, wherein the i-th frame image in the image set is taken around the cylinder head vehicle type workpiece (6), and the calculated transformation matrix M is taken out i The derived path cloud is obtained according to the transformation matrix M i Transforming the path cloud into a corresponding camera coordinate system, and reversely projecting each path in the derived path cloud according to a projection principleShadow onto the obtained effective area map of the ith frame;
deleting paths projected into an invalid region in an effective region diagram of an ith frame from a derived path cloud, and reserving paths projected into an effective region in the effective region diagram of the ith frame;
and (3) carrying out surrounding projection and deletion on the derived path cloud, and reconstructing the visual image to obtain the derived path cloud containing the internal path.
6. The visual image recognition method of the cylinder head blank anti-misoperation device according to claim 2, which is characterized in that in the second step, proper threshold value is set according to the aspect ratio of the minimum inclusion rectangle of the outline, and filtering is carried out;
setting a threshold value according to the minimum value of the ratio of each side length to the perimeter in the source contour, and removing the pseudo image part in the target contour;
simplifying the edge number of the target contour to enable the edge number of the target contour to be the same as that of the source contour;
and acquiring Euclidean distance and maximum phase sum coefficient of the most similar vector in the source profile and target profile sand core characteristic matrix.
7. The method for identifying a visual image of a cylinder head blank anti-misoperation device according to claim 6, wherein the step of obtaining the euclidean distance and the maximum sum coefficient of the most similar vectors in the source contour and the target contour sand core feature matrix comprises the following specific steps:
respectively establishing a sand core characteristic matrix P of a source contour P and a target contour Q according to a counterclockwise direction E And Q E ：
The Euclidean distance formula d (x, y) and the angle cosine formula sim (x, y) are as follows:
redefining two matrices D and S on the basis of D (x, y) and sim (x, y), so that:
the minimum value of D and S is found.
8. The visual image recognition method of the cylinder head blank anti-misoperation device according to claim 2 is characterized in that in the fifth step, the deriving operation is carried out once on each path in the two-dimensional codes on the cylinder head vehicle type workpiece (6), a derived path cloud is obtained, and the number of paths in the path cloud is multiple times that of the two-dimensional codes on the cylinder head vehicle type workpiece (6);
in the fifth step, one path in the two-dimensional codes on the cylinder head vehicle type workpiece (6) is used as a source path to derive a new path in a plurality of directions of the rectangle, wherein the calculation formula of the new path is as follows:
wherein x_org, y_org and z_org are the coordinates of a certain path in the two-dimensional code on the cylinder head vehicle type workpiece (6) in the direction of X, Y and the central position, x_scale, y_scale and z_scale are derived scales of three directions of x, y and z obtained by calculation,
the 3 x 3 new path coordinates calculated by the above formula, except for the case where the source path coordinate increment is (0, 0), multiple new path clouds will be derived for the description.
9. The visual image recognition method of the cylinder head blank error processing prevention device according to claim 2, wherein in the sixth step, a path cloud in a coordinate system of a visual system (3) is back projected, each path is projected into an i-th frame effective area diagram, and a calculation formula of a projection position is as follows:
wherein f is the focal length of the camera, C x ,C y The calculated u and v are the positions of the path projected on the image, namely the pixel positions corresponding to the u th row and the v th column on the image, which are respectively 2 times of the resolution of the image.
10. A device for preventing the wrong processing of a cylinder cover blank, characterized in that the device for preventing the wrong processing of the cylinder cover blank according to any one of claims 1 to 9 is implemented by a visual image recognition method, and the device comprises:
the workpiece detection platform (1) is used for bearing a cylinder cover vehicle type workpiece (6);
the workpiece detection platform (1) is arranged on the roller way (2);
a vision system (3) is arranged at the upper part of the roller way (2) and is used for photographing and identifying a cylinder cover vehicle seed workpiece (6) and displaying images through a touch screen (4) connected with the vision system (3);
a code reader (5) is arranged on one side of the roller way (2) and is used for scanning a two-dimensional code on a cylinder head vehicle type workpiece (6) to read a product serial number and identifying the current cylinder head vehicle type workpiece (6);
and comparing the current cylinder head vehicle type workpiece (6) identified by the vision system (3) with the product serial number of the cylinder head vehicle type workpiece (6) read by the reader (5), judging that the current cylinder head vehicle type workpiece (6) is qualified according to the result, otherwise, alarming by NG, and carrying out alarming prompt on the operation box (7).
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