CN117282718B - Ultrasonic degreasing device for electroplated part before plating - Google Patents
Ultrasonic degreasing device for electroplated part before plating Download PDFInfo
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- 238000005238 degreasing Methods 0.000 title claims abstract description 104
- 238000007747 plating Methods 0.000 title claims abstract description 23
- 239000002184 metal Substances 0.000 claims abstract description 219
- 238000012544 monitoring process Methods 0.000 claims abstract description 40
- 238000004458 analytical method Methods 0.000 claims abstract description 36
- 230000000007 visual effect Effects 0.000 claims description 120
- 238000010586 diagram Methods 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 11
- 230000005856 abnormality Effects 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000011109 contamination Methods 0.000 claims description 6
- 239000013527 degreasing agent Substances 0.000 claims description 6
- 238000003708 edge detection Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 9
- 238000004140 cleaning Methods 0.000 abstract description 5
- 238000012545 processing Methods 0.000 abstract description 5
- 238000010438 heat treatment Methods 0.000 description 6
- 238000001816 cooling Methods 0.000 description 5
- 239000004519 grease Substances 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000007605 air drying Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000003670 easy-to-clean Effects 0.000 description 1
- 238000009713 electroplating Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000004506 ultrasonic cleaning Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
- B08B3/12—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration by sonic or ultrasonic vibrations
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/757—Matching configurations of points or features
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/762—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- 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
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- 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
- G06T2207/20—Special algorithmic details
- G06T2207/20112—Image segmentation details
- G06T2207/20164—Salient point detection; Corner detection
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Cleaning And De-Greasing Of Metallic Materials By Chemical Methods (AREA)
Abstract
The invention relates to the technical field of ultrasonic degreasing, in particular to an ultrasonic degreasing device for an electroplated part before plating. The device comprises an ultrasonic degreasing device body and a degreasing monitoring and analyzing module, wherein the degreasing monitoring and analyzing module comprises a camera module, a pose control mechanism and a degreasing monitoring and analyzing controller. The oil removal monitoring analysis controller obtains oil stain areas on the metal workpiece, corresponding oil stain degrees and corresponding area rotation angles through analysis processing on the metal workpiece pictures, and changes the gesture of the metal workpiece through the gesture control mechanism by rotating the metal workpiece by corresponding angles, so that the ultrasonic oil removal cleaning is convenient to further carry out on the areas with serious oil stains through ultrasonic waves, and the oil removal effect of the ultrasonic oil removal device is enhanced.
Description
Technical Field
The invention relates to the technical field of ultrasonic degreasing, in particular to an ultrasonic degreasing device for an electroplated part before plating.
Background
The ultrasonic degreasing device is a common pre-plating treatment device. The ultrasonic degreasing device has the main effects that sundries such as greasy dirt and stains on the surface of a piece to be electroplated are cleaned, so that a better effect can be obtained in a subsequent electroplating process, and the greasy dirt on the surface of the piece to be electroplated can be shaken off by the ultrasonic degreasing device in a high-frequency oscillation mode, so that removal is realized.
In the existing ultrasonic degreasing device, a metal workpiece is degreased through ultrasonic degreasing in a first degreasing groove and then through a second degreasing groove and a third degreasing groove, wherein the metal workpiece is simply degreased in the ultrasonic degreasing process, but the workpiece is various in type, the surface of the workpiece is more in gully, oil stains in certain areas are difficult to clear easily, the ultrasonic strength in the first degreasing groove is not uniform, and the greasy dirt in certain areas is easy to clean thoroughly in the process. Therefore, the oil removal condition of the metal workpiece needs to be monitored in real time so as to repeatedly clean the metal workpiece when oil stains in certain areas of the metal workpiece are not cleaned. The conventional method for detecting the oil stain on the metal workpiece is to detect the edge of the collected image to realize the aim of positioning the impurity, but a specific scheme for adjusting the metal workpiece is not provided to realize secondary cleaning of the metal workpiece, and if the pose of the metal workpiece is not adjusted, only the same pose of the metal workpiece is repeatedly cleaned, so that the problem of weaker oil stain removing capability exists.
Disclosure of Invention
In order to solve the technical problem that oil stain removal capacity is weak because an adjustment scheme of a metal workpiece is not provided for oil stain detection only on the metal workpiece, the invention aims to provide an ultrasonic oil removal device for an electroplated part before plating, and the adopted technical scheme is as follows:
the invention provides an ultrasonic degreasing device before plating of an electroplated part, which comprises an ultrasonic degreasing device body, wherein the ultrasonic degreasing device body comprises an ultrasonic degreaser, the ultrasonic degreasing device further comprises a degreasing monitoring and analyzing module, the degreasing monitoring and analyzing module is arranged on the ultrasonic degreasing device body, and the ultrasonic degreasing device analyzing module comprises: the device comprises a camera module, a pose control mechanism and an oil removal monitoring analysis controller;
the signal output end of the camera module is connected with the signal input end of the oil removal monitoring analysis controller, the signal output end of the oil removal monitoring analysis controller is connected with the signal input end of the pose control mechanism, and the pose control mechanism is used for being assembled and connected with the metal workpiece 1 to be degreased and adjusting the pose state of the metal workpiece 1 to be degreased;
the camera module is used for respectively acquiring metal workpiece pictures with different vision to be deoiled, and outputting the metal workpiece pictures to the deoiling monitoring analysis controller, wherein the metal workpiece pictures comprise a first visual angle metal workpiece picture and a second visual angle metal workpiece picture; the oil removal monitoring analysis controller clusters visual feature points in the metal workpiece picture to obtain visual categories; obtaining convex hull areas of each visual category; matching convex hull areas corresponding to the first visual angle metal workpiece picture and the second visual angle metal workpiece picture to obtain an area matching pair; the average distance between the pixel points belonging to the visual category in the same metal workpiece picture in the region matching pair and the corresponding center point is recorded as the distance to be adjusted; comparing and analyzing the metal workpiece picture and the oil removal workpiece picture after oil removal of the metal workpiece in an HSI color space to obtain an oil pollution area; analyzing the oil pollution area to obtain the oil pollution degree of the oil pollution area; according to the order of the oil contamination degree, comparing the distance to be adjusted and the distance between the center of the oil contamination area and the pixel points in the visual category, and determining the rotation angle of the area; outputting a control instruction to the pose control mechanism according to the region rotation angle, and controlling the pose control mechanism to act so as to adjust the oil stain region to face the ultrasonic degreaser and carry out ultrasonic degreasing on the oil stain region;
the method for determining the region rotation angle comprises the steps of comparing the distance to be adjusted, the distance between the center of the oil stain region and the pixel points in the vision category according to the sequence of the oil stain degree, and comprises the following steps:
for the first visual metal workpiece picture, taking an oil stain area with the largest oil stain degree as a first communication area, and calculating the distance average value of each pixel point in the visual category in the first visual metal workpiece picture and the center point of the first communication area as an adjustment distance; when the adjustment distance is smaller than the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as a first preset rotation angle; when the adjustment distance is greater than or equal to the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as the product of the reciprocal of the adjustment distance and the first preset rotation angle.
Preferably, the clustering the visual feature points in the metal workpiece picture to obtain visual categories further includes:
for the second visual metal workpiece picture, taking the oil stain area with the largest oil stain degree as a second connected area, and calculating the distance average value of each pixel point in the visual category in the second connected area and the visual category in the second visual metal workpiece picture as an adjustment distance; when the adjustment distance is smaller than the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as a second preset rotation angle; when the adjustment distance is greater than or equal to the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as the product of the reciprocal of the adjustment distance and the second preset rotation angle.
Preferably, the outputting a control instruction to the pose control mechanism according to the region rotation angle is used for controlling the pose control mechanism to act so as to adjust the oil stain region to face the ultrasonic degreaser, and the ultrasonic degreasing is performed on the oil stain region, including:
according to the rotation angle of the region, controlling the pose control mechanism to act so as to drive the metal workpiece 1 to be placed in the oil removal groove where the ultrasonic oil remover is positioned, and carrying out ultrasonic oil removal on the first communication region; and sequentially carrying out ultrasonic degreasing on the oil stain area according to the oil stain degree.
Preferably, the outputting a control instruction to the pose control mechanism according to the region rotation angle is used for controlling the pose control mechanism to act so as to adjust the oil stain region to face the ultrasonic degreaser, and after the ultrasonic degreasing is performed on the oil stain region, the method includes:
the metal workpiece 1 is lifted to an initial height by the lifting machine 12 of the ultrasonic degreasing device body, and the pose of the metal workpiece 1 is adjusted to the initial pose.
Preferably, the matching of the convex hull regions corresponding to the first view metal workpiece picture and the second view metal workpiece picture to obtain region matching pairs includes:
performing edge detection on the image containing the convex hull region to obtain an edge map; connecting characteristic points positioned on the same edge in the edge graph to obtain a characteristic connection graph;
and taking the characteristic connection diagram corresponding to the first visual metal workpiece picture as a left node, taking the characteristic connection diagram corresponding to the second visual metal workpiece picture as a right node, taking the edge value between the nodes as the similarity of the two characteristic connection diagrams, matching the characteristic connection diagrams corresponding to the first visual metal workpiece picture and the second visual metal workpiece picture by using a KM matching algorithm to obtain a matching characteristic diagram pair, and taking the convex hull region pair corresponding to the matching characteristic diagram pair as a region matching pair.
Preferably, the comparing and analyzing the metal workpiece picture and the deoiled workpiece picture after deoiling the metal workpiece in the HSI color space to obtain the greasy dirt region includes:
taking the absolute value of the difference between the hue value of each pixel point in the H channel of the HSI color space in the metal workpiece picture and the hue value of each pixel point in the H channel of the HSI color space in the deoiling workpiece picture after deoiling the metal workpiece as the abnormality of each pixel point; taking pixel points with abnormality greater than a preset abnormal threshold value in the metal workpiece picture as greasy dirt pixel points; carrying out connected domain analysis on the greasy dirt pixel points, and taking the obtained connected domain area as a greasy dirt area; wherein the preset anomaly threshold is a positive integer.
Preferably, the analyzing the oil stain area to obtain the oil stain degree of the oil stain area includes:
and taking the ratio of the average value of the abnormality of all the greasy dirt pixel points in each greasy dirt area to the number of the greasy dirt pixel points as the greasy dirt degree of each greasy dirt area.
Preferably, the method for obtaining the visual feature points in the metal workpiece picture comprises the following steps:
and (3) respectively carrying out corner detection on each metal workpiece picture, and taking the obtained corner as a visual characteristic point of each metal workpiece picture.
Preferably, the obtaining the convex hull region of each visual category includes:
and carrying out convex hull detection on the characteristic points in each visual category to obtain convex hull areas of each visual category.
The embodiment of the invention has at least the following beneficial effects:
according to the ultrasonic degreasing device, the degreasing monitoring analysis module is arranged on the ultrasonic degreasing device body, the metal workpiece pictures with different angles can be captured through the camera module in the degreasing monitoring analysis module, further analysis processing is carried out on the metal workpiece pictures, oil stain areas on the metal workpiece, corresponding oil stain degrees and corresponding area rotation angles are obtained, the metal workpiece is rotated by corresponding angles through the pose control mechanism, the pose of the metal workpiece is changed, further ultrasonic degreasing cleaning is conveniently carried out on areas with severe oil stains through ultrasonic waves, and the degreasing effect is enhanced. In order to solve the problem that an adjustment scheme of a metal workpiece is not given, the visual matching is realized through special features of pictures of the metal workpiece at different angles, and the problem that pictures shot by cameras at different angles are difficult to match accurately due to different brightness distribution is avoided; further, for each oil stain area, according to the distance between the oil stain area and the metal workpiece, the pose of the metal workpiece is changed by rotating the pose control mechanism by a corresponding angle, so that the pose adjustment of the metal workpiece is realized, the oil stain area on the metal workpiece can be cleaned by ultrasonic waves with higher intensity, and the ultrasonic oil removal effect is greatly enhanced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an ultrasonic degreasing device for a plated article before plating according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for providing an ultrasonic degreasing device for a plated article before plating according to an embodiment of the present invention;
the reference numerals in fig. 1 are: 1. a metal workpiece; 2. a first oil removal groove; 3. a second oil removal groove; 4. a third oil removal groove; 5. a first heating device; 6. a second heating device; 7. a cooling tube; 8. an ultrasonic oil remover; 9. a spray device; 10. a cooling device; 11. an air dryer workbench; 12. a hoist; 13. a first camera; 14. a second camera; 15. a motor assembly; 16. fixing the rope;
the reference numerals in fig. 2 are: s100, a step S100; s200, step S200; s300, step S300.
Detailed Description
In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following detailed description refers to the specific implementation, structure, characteristics and effects of an ultrasonic degreasing device before plating of an electroplated part according to the invention by combining the attached drawings and the preferred embodiment. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The ultrasonic degreasing device before plating of the electroplated part comprises an ultrasonic degreasing device body, wherein a degreasing monitoring and analyzing module is further arranged on the ultrasonic degreasing device body and used for detecting and analyzing the degreasing condition of the ultrasonic degreasing device body after degreasing a metal workpiece, and therefore the degreasing monitoring and analyzing module comprises a camera module, a pose control mechanism and a degreasing monitoring and analyzing controller, the camera module is connected with the degreasing monitoring and analyzing controller, the degreasing monitoring and analyzing controller is used for data processing and machine control, a chip type is an FPGA (field programmable gate array) and used for receiving information of the camera module and controlling the pose control mechanism.
The invention provides a specific scheme of an ultrasonic degreasing device for an electroplated part before plating, which is specifically described below with reference to the accompanying drawings.
Referring to fig. 1, a block diagram of an ultrasonic degreasing device for a plating workpiece before plating according to an embodiment of the invention is shown, where the ultrasonic degreasing device body includes: the metal workpiece 1, the first oil removal tank 2, the second oil removal tank 3, the third oil removal tank 4, the first heating device 5, the second heating device 6, the cooling pipe 7, the ultrasonic oil remover 8, the spraying device 9, the cooling device 10, the air dryer workbench 11, the elevator 12, the first camera 13, the second camera 14, the motor assembly 15 and the fixed rope 16.
The signal output end of the camera shooting module is connected with the signal input end of the oil removal monitoring analysis controller, the signal output end of the oil removal monitoring analysis controller is connected with the signal input end of the pose control mechanism, and the pose control mechanism is used for being assembled and connected with the metal workpiece 1 to be degreased and adjusting the pose state of the metal workpiece 1 to be degreased. The camera module is used for respectively acquiring metal workpiece pictures with different vision to be deoiled, and outputting the metal workpiece pictures to the deoiling monitoring analysis controller, wherein the metal workpiece pictures comprise a first visual angle metal workpiece picture and a second visual angle metal workpiece picture.
In the embodiment of the invention, the first camera 13 and the second camera 14 form a camera module, and in other embodiments, more cameras can form a camera module, or the camera module comprises a slidable device, so that the cameras can move to different positions to acquire metal workpiece pictures at different angles; in the embodiment of the invention, the motor assembly 15 and the fixed rope 16 form a pose control mechanism, and in other embodiments, a manipulator can be used as the pose control mechanism, so that the angle and the height of the metal workpiece can be adjusted through the manipulator. The ultrasonic degreasing device analysis module is composed of a camera module, a pose control mechanism and a degreasing monitoring analysis controller. In the embodiment of the invention, the ultrasonic oil remover is an ultrasonic device.
In the embodiment of the invention, the first camera 13 is arranged on the upright post between the second oil removing groove 3 and the first heating device 5 of the ultrasonic oil removing device body and is used for monitoring the position of the metal workpiece close to the lower part; the second camera 14 is arranged on a pull rod of the lifting machine 12 of the ultrasonic degreasing device body and is used for monitoring the position of the metal workpiece close to the upper part; the motor assembly 15 is arranged at the movable end of the pull rod of the lifting machine 12 of the ultrasonic degreasing device body and is used for rotating the metal workpiece, so that the first camera 13 and the second camera 14 can monitor different sides of the metal workpiece, and a signal receiver is arranged in the motor assembly 15 and is used for receiving an instruction sent by the degreasing monitoring analysis controller so as to adjust the rotation angle of the metal workpiece according to the instruction; one end of a fixed rope 16 is connected to the motor assembly 15, the other end of the fixed rope 16 is connected to each surface of the metal workpiece 1 to be degreased, a rope is arranged between the rotating device and the metal workpiece, each rope is connected to one surface of the metal workpiece, horizontal rotation of the metal workpiece can be achieved through rotation of the rotating device, and rotation of the metal workpiece in the vertical direction can be achieved through stretching of each rope on the rotating device to different degrees.
Wherein, the operation process of the ultrasonic degreasing device body comprises the following steps:
(1) The metal workpiece to be processed is placed in the first oil removal groove 2 by using a lifting machine 12 and is heated and soaked by the first heating device 5, meanwhile, the separation of grease and dirt is accelerated by using ultrasonic waves emitted by the ultrasonic oil remover 8, and large-particle dust and powder are washed out by using the spraying device 9.
(2) The elevator drives the metal workpiece 1 to be degreased to a certain distance from the water surface of the degreasing tank, the distance is defaulted to 20cm in the embodiment of the invention, and in other embodiments, the distance can be adjusted by an implementer according to actual conditions. The metal workpiece picture corresponding to the metal workpiece observation surface is obtained through the first camera 13 and the second camera 14, the obtained metal workpiece picture is further input into the oil removal monitoring analysis controller connected with the camera module, the metal workpiece 1 rotates 45 degrees each time, the oil removal monitoring analysis controller sends a calculation result to the motor component 15 after rotating for one circle, the motor component 15 rotates according to the received instruction so as to control the angle of the metal workpiece 1, then the angle is kept to be placed into the first oil removal groove 2 for carrying out the step (1), and the operation of the step (2) and the step (1) are repeated for a plurality of times until the stop instruction is received.
(3) The elevator 12 drives the metal workpiece 1 to the air dryer workbench 11 for air drying.
(4) The metal workpiece 1 is cooled down to a temperature in the range of 18-22 ℃ using the cooling device 10.
(5) The lifting machine 12 drives the metal workpiece 1 to the second oil removal groove 3 to remove the grease and dirt remained on the metal workpiece 1.
(6) The elevator 12 drives the metal workpiece 1 to the air dryer workbench 11 for air drying.
(7) The lifting machine 12 drives the metal workpieces 1 to the third oil removal groove 4 to remove oil by steam.
Referring to fig. 2, a flowchart of a method for analyzing and processing oil removal conditions of a metal workpiece picture by an oil removal monitoring and analysis controller in an ultrasonic oil removal device before plating an electroplated part according to an embodiment of the invention is shown, and the method includes the following steps:
step S100, clustering visual feature points in the metal workpiece picture to obtain visual categories; obtaining convex hull areas of each visual category; and matching convex hull areas corresponding to the first visual angle metal workpiece picture and the second visual angle metal workpiece picture to obtain an area matching pair.
The invention aims to realize better improvement on an ultrasonic degreasing process through a newly-added analysis module of an ultrasonic degreasing device, the conventional degreasing process is carried out according to a working procedure, and a metal workpiece 1 is degreased by ultrasonic in a first degreasing tank 2 and then is degreased by a second degreasing tank 3 and a third degreasing tank 4, wherein in the ultrasonic degreasing process, the workpiece is simply degreased, but the workpiece is various in type, the surface of the workpiece is more in ravines, oil stains in certain areas are easy to be difficult to clear, and the ultrasonic intensity in the first degreasing tank 2 is not uniform.
It should be noted that, in order to better control the gesture of the metal workpiece 1, a region with more oil stains on the metal workpiece 1 needs to be obtained through the first camera 13 and the second camera 14, but because the first camera 13 and the second camera 14 belong to two different cameras, the metal workpiece pictures obtained by the two cameras need to be subjected to higher-precision feature matching, so that the accurate position of the region with more stains can be obtained, further, the more accurate gesture parameters of the adjusted metal workpiece 1 are obtained, the angle of the gesture can be adjusted by rotating the metal workpiece 1 through the motor assembly 15 and the fixed rope 16, and further, ultrasonic cleaning is performed, so that a better cleaning effect is obtained.
The oil stain severity of different areas on the metal workpiece 1 before oil removal is different, and the brightness distribution of the shooting areas of the first camera 13 and the second camera 14 is different, so that the matching error is large when the metal workpiece picture obtained by the first camera 13 is directly calculated and the metal workpiece picture obtained by the second camera 14 is matched, therefore, the characteristic points are detected and obtained by a characteristic point extraction method, then the characteristic points are matched, and the metal workpiece picture obtained by the first camera 13 and the metal workpiece picture obtained by the second camera 14 are matched.
The metal workpiece pictures obtained by the first camera 13 and the second camera 14 comprise a first visual metal workpiece picture and a second visual metal workpiece picture, wherein the metal workpiece picture obtained by the first camera 13 is recorded as a first visual metal workpiece picture; the metal workpiece picture obtained by the second camera 14 is referred to as a second visual angle metal workpiece picture, that is, the first visual metal workpiece picture and the second visual angle metal workpiece picture are collectively referred to as a metal workpiece picture.
Firstly, clustering visual feature points in a metal workpiece picture to obtain visual categories, and specifically: clustering the visual feature points in each metal workpiece picture by a density clustering method to obtain visual categories.
The method for acquiring the visual characteristic points in the metal workpiece picture comprises the following steps: and (3) respectively carrying out corner detection on each metal workpiece picture, and taking the obtained corner as a visual characteristic point of each metal workpiece picture. The corner detection method used in the embodiment of the invention is Harris corner detection algorithm, and other corner detection algorithms can be used for corner detection of the metal workpiece picture in other embodiments.
Even if the two metal workpiece pictures belong to the same region, the region is not completely the same in the actual region display of the two metal workpiece pictures due to the difference in luminance distribution. However, as the concave-convex structure of the surface of the part is often obvious, gaps with large and small sizes can be formed, and matching of the metal workpiece pictures can be realized through texture features among the visual feature points.
The convex hull region of each visual category is acquired, and the method is specifically as follows: and carrying out convex hull detection on the characteristic points in each visual category to obtain convex hull areas of each visual category.
Further, the convex hull areas corresponding to the first visual angle metal workpiece picture and the second visual angle metal workpiece picture are matched, so that an area matching pair is obtained, and the method is specific:
performing edge detection on the image containing the convex hull region to obtain an edge map; and connecting the characteristic points positioned on the same edge in the edge graph to obtain a characteristic connection graph.
In the embodiment of the invention, a canny edge detection algorithm is used for edge detection of the image containing the convex hull region. The image containing the convex hull region is an image in which the convex hull region is mapped into a blank image, and the regions except the convex hull region are all background regions with the pixel value of 255.
After the feature connection diagram corresponding to each visual category in each metal workpiece picture is obtained, the feature connection diagram corresponding to the visual category in the first visual metal workpiece picture is matched with the feature connection diagram corresponding to the visual category in the second visual metal workpiece picture. In the embodiment of the invention, the characteristic connection diagram is matched by utilizing a KM matching algorithm, the existing KM matching algorithm is bipartite diagram matching, and the left node and the right node are matched, so that the successfully matched left node and right node become a pair of matching pairs.
In the embodiment of the invention, a characteristic connection diagram corresponding to a first visual metal workpiece picture is taken as a left node, a characteristic connection diagram corresponding to a second visual metal workpiece picture is taken as a right node, the edge value between the nodes is the similarity of the two characteristic connection diagrams, a KM matching algorithm is utilized to match the characteristic connection diagrams corresponding to the first visual metal workpiece picture and the second visual metal workpiece picture, a matched characteristic diagram pair is obtained, and a convex hull region pair corresponding to the matched characteristic diagram pair is taken as a region matching pair.
The method for obtaining the matched feature map pair comprises the following steps of: firstly, obtaining similarity through a graph matching method, and marking two types in each one-to-one relation as matching type pairs, wherein the visual types of which the edge values between nodes in the one-to-one matching relation are larger than a preset edge value threshold value. And taking the convex hull region pairs corresponding to the matched feature map pairs as region matching pairs. In the embodiment of the present invention, the preset edge threshold value is 0.7, and in other embodiments, the value can be adjusted by an implementer according to actual situations.
The pairing of specific areas in the first visual metal workpiece picture and the second visual metal workpiece picture is achieved by matching the characteristic connection pictures corresponding to each visual category in the first visual metal workpiece picture and the second visual metal workpiece picture.
And step S200, marking the average distance between the pixel points belonging to the visual category in the same metal workpiece picture in the region matching pair and the corresponding center point as the distance to be adjusted.
Taking a first visual metal workpiece picture as an example, marking visual categories belonging to the same first visual metal workpiece picture in the region matching pair as first visual categories, taking pixel points of all the first visual categories as first coordinate points, taking center points of all the first coordinate points as first data points, and marking average distances between the first data points and all the first coordinate points as to-be-adjusted distances corresponding to the first visual metal workpiece picture.
And for the second visual metal workpiece picture, marking the visual category belonging to the same second visual metal workpiece picture in the region matching pair as a second visual category, taking all pixel points of the second visual category as second coordinate points, taking the center point of all the second coordinate points as second data points, and marking the average distance between the second data points and all the second coordinate points as the distance to be adjusted corresponding to the second visual metal workpiece picture.
Step S300, comparing and analyzing the metal workpiece picture and the oil removal workpiece picture after oil removal of the metal workpiece in an HSI color space to obtain an oil pollution area; analyzing the oil pollution area to obtain the oil pollution degree of the oil pollution area; according to the order of the oil contamination degree, comparing the distance to be adjusted and the distance between the center of the oil contamination area and the pixel points in the visual category, and determining the rotation angle of the area; and outputting a control instruction to the pose control mechanism according to the region rotation angle, and controlling the pose control mechanism to act so as to adjust the oil stain region to face the ultrasonic degreasing device and ultrasonically degrease the oil stain region.
When oil stains exist on the metal workpiece, the color tone of the oil stain area is abnormal, and the oil stain area on the metal workpiece picture can be directly determined through the color tone.
And comparing and analyzing the metal workpiece picture and the oil-removed workpiece picture after oil removal of the metal workpiece in an HSI color space to obtain an oil stain area, wherein the oil stain area is the oil stain area. Specific:
and extracting the tone value of an H channel, namely a tone channel, of each pixel point in the HSI color space in the metal workpiece picture. Taking the absolute value of the difference between the color tone value of each pixel point in the H channel of the HSI color space in the metal workpiece picture and the color tone value of each pixel point in the H channel of the HSI color space in the oil removed workpiece picture without oil stain area after oil removal of the metal workpiece as the abnormality of each pixel point in the metal workpiece picture; taking pixel points with abnormality greater than a preset abnormal threshold value in the metal workpiece picture as greasy dirt pixel points; carrying out connected domain analysis on the greasy dirt pixel points, and taking the obtained connected domain area as a greasy dirt area; wherein the preset abnormal threshold is a positive integer. In the embodiment of the present invention, the preset abnormal threshold is set to be 10, and in other embodiments, the value is adjusted by the practitioner according to the actual situation.
Analyzing the oil pollution area to obtain the oil pollution degree of the oil pollution area, and specifically: and taking the ratio of the average value of the abnormality of all the greasy dirt pixel points in each greasy dirt area to the number of the greasy dirt pixel points as the greasy dirt degree of each greasy dirt area.
After the oil stain degree of each oil stain area is obtained, comparing the distance to be adjusted and the distance between the center of the oil stain area and the pixel points in the vision category according to the order of the oil stain degree, and determining the rotation angle of the area, and specifically: for the first visual metal workpiece picture, taking an oil stain area with the largest oil stain degree as a first communication area, and calculating the distance average value of each pixel point in the visual category in the first visual metal workpiece picture and the center point of the first communication area as an adjustment distance; when the adjustment distance is smaller than the distance to be adjusted, setting the corresponding region rotation angle as a first preset rotation angle; when the adjustment distance is greater than or equal to the distance to be adjusted, setting the corresponding region rotation angle as the product of the reciprocal of the adjustment distance and the first preset rotation angle.
Outputting a control instruction to the pose control mechanism according to the region rotation angle, wherein the control instruction is used for controlling the pose control mechanism to act so as to adjust the oil stain region to face the ultrasonic degreaser and carry out ultrasonic degreasing on the oil stain region, and the control instruction is specifically: according to the rotation angle of the region, controlling a pose control mechanism to adjust, placing the metal workpiece 1 into an oil removal groove where an ultrasonic oil remover of an ultrasonic oil removal device body is positioned, and carrying out ultrasonic oil removal on a first communication region; and sequentially carrying out ultrasonic degreasing on the oil stain area according to the oil stain degree.
According to the region rotation angle, the pose control mechanism is controlled to adjust, and in the embodiment of the invention, the pose control mechanism comprises a fixed rope 16 and a motor assembly 15, so further, according to the region rotation angle, the fixed rope 16 is adjusted, the metal workpiece 1 is placed in a first oil removal groove 2 of the ultrasonic oil removal device body, ultrasonic oil removal is performed on a first communication domain, and specifically: the rope closest to the first communication domain is denoted as the first closest rope; the rope farthest from the first communicating region is marked as a first farthest rope; and shortening the length of the first farthest rope, fixing the length of the rope until the rotation angle of the first communicating region reaches the region rotation angle, and placing the metal workpiece 1 into the first oil removing groove 2 of the ultrasonic oil removing device body by using the lifting machine 12 of the ultrasonic oil removing device body to remove the oil from the first communicating region by ultrasonic waves. Simultaneously, ultrasonic waves are used for accelerating the separation of grease and dirt. In another embodiment of the invention, the manipulator can be directly used as a pose control mechanism, the region rotation angle is output to the manipulator, and the manipulator is controlled to rotate by a corresponding angle and to lift the position corresponding to the metal workpiece. The purpose of adjusting the oil pollution area to face the ultrasonic degreasing device is achieved through the pose control mechanism.
Namely, according to the order of the oil pollution degree from large to small, carrying out ultrasonic degreasing again on each oil pollution area, wherein the ultrasonic degreasing comprises the following specific steps: taking the connected domain with the largest greasy dirt degree as a first connected domain, calculating the average distance between the first connected domain and pixel points in all first vision categories, recording as an adjustment distance n1, and when n1 is less than m1, wherein m1 is the distance to be adjusted, considering that the current distance between the first connected domain and the first vision category is relatively close, setting the rotation angle of the corresponding region in the vertical direction as a first preset rotation angle, wherein the first preset rotation angle is 90 degrees in the embodiment of the invention, and adjusting the angle by an implementer according to actual conditions in other embodiments. When n1 is larger than or equal to m1, the current first communication domain is considered to be far from the first visual category, the current first communication domain is located on different side surfaces with high probability, at the moment, the larger the distance is, the smaller the angle difference between the first communication domain and the bottom surface of the metal workpiece 1 is reflected, the bottom surface of the metal workpiece 1 is the surface opposite to the ultrasonic device, and the smaller the region rotation angle a is, so that the region rotation angle corresponding to the vertical direction is set to be the product of the reciprocal of the adjustment distance and 90 degrees.
Adjusting the fixed rope 16 according to the region rotation angle, placing the metal workpiece 1 into a first oil removing groove 2 of the ultrasonic oil removing device body, and carrying out ultrasonic oil removal on a first communication domain; and sequentially carrying out ultrasonic degreasing on the oil stain area according to the oil stain degree.
For the second visual metal workpiece picture, taking the oil stain area with the largest oil stain degree as a second connected area, and calculating the distance average value of each pixel point in the visual category in the second connected area and the visual category in the second visual metal workpiece picture as an adjustment distance; when the adjustment distance is smaller than the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as a second preset rotation angle; when the adjustment distance is greater than or equal to the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as the product of the reciprocal of the adjustment distance and the second preset rotation angle; adjusting the fixed rope 16 according to the region rotation angle, placing the metal workpiece 1 in a first oil removing groove 2 of the ultrasonic oil removing device body, and carrying out ultrasonic oil removal on a second communication region; and sequentially carrying out ultrasonic degreasing on the oil stain area according to the oil stain degree. In the embodiment of the present invention, the second preset rotation angle is 180 °, and in other embodiments, the angle is adjusted by the practitioner according to the actual situation.
Wherein, adjust fixed rope 16 according to regional rotation angle, place metal work piece 1 in the first oil removal groove 2 of ultrasonic degreasing device body, carry out ultrasonic degreasing to the second intercommunication domain, specifically:
the rope closest to the second communicating region is denoted as a second closest rope; the rope farthest from the second communicating region is marked as a second farthest rope; and shortening the length of the second farthest rope, fixing the length of the rope until the rotation angle of the second communicating region reaches the region rotation angle, and placing the metal workpiece 1 into the first oil removing groove 2 of the ultrasonic oil removing device body by using the lifting machine 12 of the ultrasonic oil removing device body to remove the oil from the second communicating region by ultrasonic waves. Simultaneously, ultrasonic waves are used for accelerating the separation of grease and dirt.
After the oil stain area is subjected to ultrasonic degreasing, the metal workpiece 1 is lifted to an initial height by the lifting machine 12 of the ultrasonic degreasing device body, and the pose of the metal workpiece is adjusted to the initial pose. In the embodiment of the invention, the position of the metal workpiece is adjusted to the initial position, and the length of the farthest rope can be specifically adjusted to the initial length.
Sequentially carrying out ultrasonic degreasing on oil stain areas in the first visual metal workpiece picture; and carrying out ultrasonic degreasing on the greasy dirt region in the second visual metal workpiece picture acquired by the second camera 14.
It should be noted that, the camera module, the pose control mechanism and the oil removal monitoring analysis controller can realize wireless transmission through wireless connection, and can also be connected through a wire.
In summary, the embodiment of the invention provides an ultrasonic degreasing device for a plated part before plating, which comprises an ultrasonic degreasing device body and a degreasing monitoring and analyzing module. The ultrasonic degreasing device analysis module comprises: the device comprises a camera module, a pose control mechanism and an oil removal monitoring analysis controller. The oil removal monitoring analysis controller is used for obtaining oil stain areas, corresponding oil stain degrees and corresponding area rotation angles by analyzing the area information and the tone information in the metal workpiece pictures, rotating the metal workpiece by corresponding angles through the pose control mechanism, changing the pose of the metal workpiece, and achieving the purpose of facilitating further ultrasonic oil removal cleaning on areas with serious oil stains through ultrasonic waves and enhancing the oil removal effect.
It should be noted that: the sequence of the embodiments of the present invention is only for description, and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
Claims (9)
1. The utility model provides an ultrasonic wave deoiling device before plated item plates, includes ultrasonic wave deoiling device body, ultrasonic wave deoiling device body includes ultrasonic wave deoiling device, its characterized in that, ultrasonic wave deoiling device still includes deoiling monitoring analysis module, deoiling monitoring analysis module installs on ultrasonic wave deoiling device body, deoiling monitoring analysis module includes: the device comprises a camera module, a pose control mechanism and an oil removal monitoring analysis controller;
the signal output end of the camera module is connected with the signal input end of the oil removal monitoring analysis controller, the signal output end of the oil removal monitoring analysis controller is connected with the signal input end of the pose control mechanism, and the pose control mechanism is used for being assembled and connected with a metal workpiece (1) to be degreased and adjusting the pose state of the metal workpiece (1) to be degreased;
the camera module is used for respectively acquiring metal workpiece pictures with different vision to be deoiled, and outputting the metal workpiece pictures to the deoiling monitoring analysis controller, wherein the metal workpiece pictures comprise a first visual angle metal workpiece picture and a second visual angle metal workpiece picture; the oil removal monitoring analysis controller clusters visual feature points in the metal workpiece picture to obtain visual categories; obtaining convex hull areas of each visual category; matching convex hull areas corresponding to the first visual angle metal workpiece picture and the second visual angle metal workpiece picture to obtain an area matching pair; the average distance between the pixel points belonging to the visual category in the same metal workpiece picture in the region matching pair and the corresponding center point is recorded as the distance to be adjusted; comparing and analyzing the metal workpiece picture and the oil removal workpiece picture after oil removal of the metal workpiece in an HSI color space to obtain an oil pollution area; analyzing the oil pollution area to obtain the oil pollution degree of the oil pollution area; according to the order of the oil contamination degree, comparing the distance to be adjusted and the distance between the center of the oil contamination area and the pixel points in the visual category, and determining the rotation angle of the area; outputting a control instruction to the pose control mechanism according to the region rotation angle, and controlling the pose control mechanism to act so as to adjust the oil stain region to face the ultrasonic degreaser and carry out ultrasonic degreasing on the oil stain region;
the method for determining the region rotation angle comprises the steps of comparing the distance to be adjusted, the distance between the center of the oil stain region and the pixel points in the vision category according to the sequence of the oil stain degree, and comprises the following steps:
for the first visual angle metal workpiece picture, taking an oil stain area with the largest oil stain degree as a first communication area, and calculating the distance average value of each pixel point in the visual category in the first communication area and the visual category in the first visual angle metal workpiece picture as an adjustment distance; when the adjustment distance is smaller than the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as a first preset rotation angle; when the adjustment distance is greater than or equal to the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as the product of the reciprocal of the adjustment distance and the first preset rotation angle.
2. The ultrasonic degreasing device before plating of an electroplated part according to claim 1, wherein the clustering of the visual feature points in the metal workpiece picture to obtain visual categories further comprises:
for the second visual angle metal workpiece picture, taking the oil stain area with the largest oil stain degree as a second communication area, and calculating the distance average value of each pixel point in the visual category in the second communication area and the visual category in the second visual angle metal workpiece picture as an adjustment distance; when the adjustment distance is smaller than the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as a second preset rotation angle; when the adjustment distance is greater than or equal to the distance to be adjusted, setting the rotation angle of the region corresponding to the adjustment distance in the vertical direction as the product of the reciprocal of the adjustment distance and the second preset rotation angle.
3. The ultrasonic degreasing device before plating of an electroplated part according to claim 1, wherein the outputting of a control command to the pose control mechanism according to the region rotation angle is used for controlling the pose control mechanism to act so as to adjust the greasy dirt region to face the ultrasonic degreasing device, and the ultrasonic degreasing of the greasy dirt region comprises:
according to the rotation angle of the region, controlling the pose control mechanism to act so as to drive the metal workpiece (1) to be placed in the oil removal groove where the ultrasonic oil remover is positioned, and carrying out ultrasonic oil removal on the first communication region; and sequentially carrying out ultrasonic degreasing on the oil stain area according to the oil stain degree.
4. The ultrasonic degreasing device for the electroplated part before being plated according to claim 3, wherein the output control command to the pose control mechanism according to the region rotation angle is used for controlling the pose control mechanism to act so as to adjust the greasy dirt region to face the ultrasonic degreasing device, and after ultrasonic degreasing is carried out on the greasy dirt region, the ultrasonic degreasing device comprises the following components:
and lifting the metal workpiece (1) to an initial height through a lifting machine (12) of the ultrasonic oil removing device body, and adjusting the pose of the metal workpiece (1) to the initial pose.
5. The ultrasonic degreasing device before plating of an electroplated part according to claim 1, wherein the matching of convex hull areas corresponding to the first view metal workpiece picture and the second view metal workpiece picture to obtain area matching pairs comprises:
performing edge detection on the image containing the convex hull region to obtain an edge map; connecting characteristic points positioned on the same edge in the edge graph to obtain a characteristic connection graph;
and taking the characteristic connection diagram corresponding to the first visual angle metal workpiece picture as a left node, taking the characteristic connection diagram corresponding to the second visual angle metal workpiece picture as a right node, taking the edge value between the nodes as the similarity of the two characteristic connection diagrams, matching the characteristic connection diagrams corresponding to the first visual angle metal workpiece picture and the second visual angle metal workpiece picture by using a KM matching algorithm to obtain a matching characteristic diagram pair, and taking the convex hull region pair corresponding to the matching characteristic diagram pair as a region matching pair.
6. The ultrasonic degreasing device before plating of an electroplated part according to claim 1, wherein the comparing analysis of the metal workpiece picture and the degreased workpiece picture after degreasing the metal workpiece in the HSI color space to obtain the greasy dirt region comprises:
taking the absolute value of the difference between the hue value of each pixel point in the H channel of the HSI color space in the metal workpiece picture and the hue value of each pixel point in the H channel of the HSI color space in the deoiling workpiece picture after deoiling the metal workpiece as the abnormality of each pixel point; taking pixel points with abnormality greater than a preset abnormal threshold value in the metal workpiece picture as greasy dirt pixel points; carrying out connected domain analysis on the greasy dirt pixel points, and taking the obtained connected domain area as a greasy dirt area; wherein the preset anomaly threshold is a positive integer.
7. The ultrasonic degreasing device for a galvanized part before plating according to claim 6, wherein the analyzing the greasy dirt area to obtain the greasy dirt degree of the greasy dirt area comprises:
and taking the ratio of the average value of the abnormality of all the greasy dirt pixel points in each greasy dirt area to the number of the greasy dirt pixel points as the greasy dirt degree of each greasy dirt area.
8. The ultrasonic degreasing device before plating of an electroplated part according to claim 1, wherein the method for acquiring the visual characteristic points in the metal workpiece picture is as follows:
and (3) respectively carrying out corner detection on each metal workpiece picture, and taking the obtained corner as a visual characteristic point of each metal workpiece picture.
9. The ultrasonic pre-plating oil removal device for an electroplated part according to claim 1, wherein said obtaining convex hull regions for each visual category comprises:
and carrying out convex hull detection on the characteristic points in each visual category to obtain convex hull areas of each visual category.
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