CN118937349A - Pallet inspection equipment and inspection process based on 2.5D optical image recognition - Google Patents
Pallet inspection equipment and inspection process based on 2.5D optical image recognition Download PDFInfo
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- CN118937349A CN118937349A CN202411422316.XA CN202411422316A CN118937349A CN 118937349 A CN118937349 A CN 118937349A CN 202411422316 A CN202411422316 A CN 202411422316A CN 118937349 A CN118937349 A CN 118937349A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 72
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000008569 process Effects 0.000 title claims abstract description 13
- 238000007689 inspection Methods 0.000 title claims description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 238000001514 detection method Methods 0.000 claims abstract description 70
- 238000012937 correction Methods 0.000 claims description 19
- 239000000463 material Substances 0.000 claims description 19
- 238000007599 discharging Methods 0.000 claims description 16
- 230000007547 defect Effects 0.000 claims description 12
- 230000007723 transport mechanism Effects 0.000 claims description 4
- 238000012797 qualification Methods 0.000 claims description 2
- 239000000243 solution Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000750 progressive effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/023—De-stacking from the top of the stack by means insertable between the stacked articles or layers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
- G01N21/892—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles characterised by the flaw, defect or object feature examined
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
本发明属于检测领域，具体提供了一种基于2.5D光学图像识别的托盘检测设备及检测工艺，其中，基于2.5D光学图像识别的托盘检测设备包括：控制模块、上料机构、下料机构、顺次输送机构以及光学检测机构；所述控制模块被配置为依据同一组承托位的图像信息的重合度对托盘进行判断。通过光学检测机构贴近承托位，对托盘的每个承托位进行拍摄，从而降低了对光学检测机构的精度需求，降低了硬件成本。同时，采用了横向对比的方式，不设置预设图像，从而避免由于拍摄角度不同的问题造成的误判，提高了检测精度。控制模块在判断时，通过简单的重合度比对即可完成比对，降低了软件成本，从而降低了托盘检测设备的整体成本。
The present invention belongs to the field of detection, and specifically provides a pallet detection device and detection process based on 2.5D optical image recognition, wherein the pallet detection device based on 2.5D optical image recognition includes: a control module, a loading mechanism, a unloading mechanism, a sequential conveying mechanism and an optical detection mechanism; the control module is configured to judge the pallet based on the overlap of image information of the same group of supporting positions. By bringing the optical detection mechanism close to the supporting position, each supporting position of the pallet is photographed, thereby reducing the accuracy requirements for the optical detection mechanism and reducing the hardware cost. At the same time, a horizontal comparison method is adopted, and no preset image is set, thereby avoiding misjudgment caused by different shooting angles and improving the detection accuracy. When making a judgment, the control module can complete the comparison through a simple overlap comparison, which reduces the software cost and thus reduces the overall cost of the pallet detection equipment.
Description
Technical Field
The invention belongs to the technical field of detection, and particularly relates to tray detection equipment and detection technology based on 2.5D optical image recognition.
Background
In the chip transfer process, a tray is required to support the chip.
In the related art, the tray is manufactured by injection molding, and defects such as bubbles, sharp points and the like are generated on the bearing surface of the tray. In order to avoid the chips being scratched by defects on the tray during transportation, it is necessary to detect defects on the tray.
In the related art, a camera is adopted to directly shoot the whole tray, and then the whole tray is compared with a preset image to finish detection. Because the angles of the trays photographed each time are different, and the photographing angles of the cameras also have some errors, the image information of the photographed trays and the preset image information are too large in phase difference, so that erroneous judgment is caused, and on the other hand, the size of the defects is very small relative to the whole tray, so that the requirements on the precision of the cameras are very high.
How to reduce the misjudgment and cost of tray detection is currently in need of solving.
It should be noted that the above information disclosed in this background section is only for understanding the background of the inventive concept and therefore the above description is not to be construed as constituting prior art information.
Disclosure of Invention
The embodiment of the disclosure at least provides tray detection equipment and detection technology based on 2.5D optical image recognition.
In a first aspect, embodiments of the present disclosure provide a tray detection apparatus based on 2.5D optical image recognition, including:
The device comprises a control module, a feeding mechanism, a discharging mechanism, a sequential conveying mechanism and an optical detection mechanism;
The feeding mechanism and the discharging mechanism are arranged in parallel;
the sequential conveying mechanism is arranged above the feeding mechanism and the discharging mechanism and is suitable for clamping and then conveying the trays on the feeding mechanism to the discharging mechanism for storage;
The optical detection mechanism is arranged above the sequential conveying mechanism, is suitable for shooting a plurality of bearing positions on the tray conveyed by the sequential conveying mechanism in sequence, and sends the image information of each bearing position to the control module;
The control module is configured to judge whether the tray has defects according to the coincidence degree of the image information of the same group of bearing bits.
In an alternative embodiment, the sequential transport mechanism includes a first transport rail, a second transport rail, and a gripper assembly;
the first conveying track and the second conveying track are oppositely arranged;
The clamping assembly is arranged on the first conveying track and the second conveying track in a sliding manner;
The first conveyor track is adapted to drive the gripper assembly to slide on the first conveyor track and the second conveyor track.
In an alternative embodiment, the optical detection mechanism includes:
A drive rack and an optical camera;
The optical camera is arranged on the driving frame in a sliding way;
the driving frame is suitable for driving the optical camera to move along a sliding rail of the driving frame;
the moving direction of the optical camera is perpendicular to the conveying direction of the sequential conveying mechanism.
In an alternative embodiment, the control module is configured to control the movement of the sequential transport mechanism in dependence on a first spacing between each set of holding positions of the tray.
In an alternative embodiment, the control module is further configured to control the optical detection mechanism to take a photograph of each of the plurality of support bits in accordance with a second spacing between adjacent support bits in the plurality of support bits.
In an alternative embodiment, the control module is configured to determine whether the tray has a defect according to the coincidence ratio of the image information of the same group of bearing bits, that is:
Overlapping the acquired image information of all bearing bits in each group of bearing bits, changing the transparency of the image information, acquiring lines of the overlapped images of the bearing bits, judging the contact ratio, if the contact ratio is lower than a preset value, generating defects on the tray, and if the contact ratio is lower than the preset value, generating disqualification on the tray, otherwise, generating qualification on the tray.
In an alternative embodiment, the clamping assembly comprises:
a clamping frame and two clamping pieces which are oppositely arranged;
the clamping member includes: a driving cylinder and a clamping plate;
the driving cylinder is fixedly arranged on the clamping frame;
The clamping plate is arranged in the clamping frame in a sliding manner and is suitable for sliding in the clamping area of the clamping frame under the driving of the driving cylinder.
In an alternative embodiment, the clamping member further comprises a material separating plate, a correcting member and a micro cylinder;
the micro cylinder is arranged on the clamping plate in a sliding manner;
the material distributing plate is fixedly arranged on a piston rod of the micro cylinder and is arranged on the bottom surface of the clamping plate;
The material distributing plate is suitable for extending into between adjacent trays under the drive of the driving cylinder and is suitable for being pressed down under the drive of the micro cylinder so as to separate the trays stacked on the feeding mechanism;
The correcting piece is arranged between the clamping plate and the distributing plate and at the bottom of the clamping plate, and is suitable for correcting the distributing plate when the distributing plate retreats;
the material dividing plate is Z-shaped and comprises a first horizontal part, a vertical part and a second horizontal part;
The first horizontal part and the second horizontal part are respectively and fixedly arranged at the bottom and the top of the vertical part, and the first horizontal part and the second horizontal part are respectively and vertically arranged with the vertical part.
In an alternative embodiment, the correction element includes: the device comprises a sliding rod, a first reset spring, a correction plate, a transverse touch piece and a longitudinal bolt;
one end of the sliding rod extends into the clamping frame, and the other end of the sliding rod penetrates through the first reset spring and is fixedly connected with the correction plate;
The correction plate is provided with a transverse sliding groove and a longitudinal sliding groove, and the transverse sliding groove is communicated with the longitudinal sliding groove;
One end of the longitudinal bolt is elastically connected to the bottom of the longitudinal sliding groove through a second reset spring, and the other end of the longitudinal bolt is inserted into the bottom surface of the clamping plate;
One end of the transverse touch piece extends out of the correction plate, and the other end of the transverse touch piece is inserted into the transverse sliding groove and is propped against the bottom of the longitudinal bolt, and the propping surface is obliquely arranged;
the clamping surface of the clamping plate and the correcting surface of the correcting piece are positioned on the same plane;
the miniature cylinder is suitable for when pulling the knockout plate to roll back, will first pass through the correction board with the contained angle between the vertical portion is rectified to 90, then vertical portion extrusion horizontal touch piece makes vertical bolt down motion, at this moment, knockout plate continues to roll back, drives the correction board is rolled back, compresses first reset spring, the second horizontal portion of knockout plate with the bottom surface of grip block supports, and when knockout plate continues to roll back, will the contained angle between second horizontal portion with vertical portion is rectified to 90.
In a second aspect, the embodiments of the present disclosure further provide a detection process adapted to detect a tray by a tray detection device based on 2.5D optical image recognition as described above, the process comprising:
placing the stacked trays into a loading mechanism;
Driving the sequential conveying mechanism to sequentially convey the trays on the feeding mechanism, and simultaneously driving the optical detection mechanism to sequentially shoot a plurality of bearing positions on the trays conveyed by the sequential conveying mechanism to acquire image information of each bearing position;
Judging whether the tray has defects according to the coincidence ratio of the image information of the same group of bearing bits.
The tray detection device and the tray detection process based on 2.5D optical image recognition have the advantages that the optical detection mechanism is close to the bearing position to shoot each bearing position of the tray, so that the precision requirement on the optical detection mechanism is reduced, the hardware cost is reduced, meanwhile, a transverse comparison mode is adopted, a preset image is not arranged, misjudgment caused by different shooting angles is avoided, and the detection precision is improved. When the control module judges, the comparison can be completed through simple coincidence comparison, and the software cost is reduced, so that the overall cost of the tray detection equipment is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present 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 perspective view of a tray detection device based on 2.5D optical image recognition provided by an embodiment of the present disclosure;
Fig. 2 is a schematic diagram of a part of a tray detection device based on 2.5D optical image recognition according to an embodiment of the present disclosure;
Fig. 3 is a schematic structural view of a sequential conveying mechanism provided in an embodiment of the present disclosure;
FIG. 4 is a schematic structural view of an optical detection mechanism according to an embodiment of the present disclosure;
FIG. 5 is a flow chart of a detection process provided by an embodiment of the present disclosure;
FIG. 6 is a schematic structural view of a clamping assembly provided by an embodiment of the present disclosure;
FIG. 7 is a schematic structural view of a clamping member according to an embodiment of the present disclosure;
FIG. 8 is a schematic cross-sectional view of a clamping assembly provided by an embodiment of the present disclosure;
FIG. 9 is an enlarged view of a portion of FIG. 8A;
FIG. 10 is a schematic structural view of a calibration element according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of a material separating plate and various bending states thereof according to an embodiment of the present disclosure.
In the figure: 100. a feeding mechanism; 110. a first lifting frame; 120. a first carrier; 200. a blanking mechanism; 300. a sequential conveying mechanism; 310. a first conveying track; 320. a second conveying track; 330. a clamping assembly; 331. a clamping frame; 332. a clamping member; 3321. a driving cylinder; 3322. a clamping plate; 3323. a material dividing plate; 33231. a first horizontal portion; 33232. a vertical portion; 33233. a second horizontal portion; 3324. a correction member; 33241. a slide bar; 33242. a first return spring; 33243. a correction plate; 33244. a lateral touch member; 33245. a longitudinal bolt; 33246. a lateral sliding groove; 33247. a longitudinal sliding groove; 33248-a second return spring; 3325. a micro cylinder; 3326. a horizontal cylinder; 400. an optical detection mechanism; 410. a drive rack; 420. an optical camera; 500. and a tray.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1 and 2, at least one embodiment provides a tray detection device based on 2.5D optical image recognition, including: the device comprises a control module, a feeding mechanism 100, a discharging mechanism 200, a sequential conveying mechanism 300 and an optical detection mechanism 400; the feeding mechanism 100 and the discharging mechanism 200 are arranged in parallel; the sequential conveying mechanism 300 is arranged above the feeding mechanism 100 and the discharging mechanism 200, and is suitable for clamping and then conveying the tray 500 on the feeding mechanism 100 to the discharging mechanism 200 for storage; the optical detection mechanism 400 is disposed above the sequential conveying mechanism 300, and is adapted to sequentially photograph a plurality of bearing positions on the tray 500 conveyed by the sequential conveying mechanism 300, and send image information of each bearing position to the control module; the control module is configured to determine the tray 500 according to the overlapping degree of the image information of the same group of bearing bits. The optical detection mechanism 400 is pressed close to the bearing position, and each bearing position of the tray 500 is shot, so that the precision requirement of the optical detection mechanism 400 is reduced, the hardware cost is reduced, meanwhile, a transverse comparison mode is adopted, a preset image is not arranged, misjudgment caused by different shooting angles is avoided, and the detection precision is improved. When the control module judges, the comparison can be completed through simple coincidence comparison, and the software cost is reduced, so that the overall cost of the tray detection equipment is reduced.
Referring to fig. 3, in some embodiments, the sequential transport mechanism 300 includes a first transport track 310, a second transport track 320, and a gripper assembly 330; the first conveying track 310 and the second conveying track 320 are disposed opposite to each other; the clamping assembly 330 is slidably disposed on the first conveying track 310 and the second conveying track 320; the first conveyor track 310 is adapted to drive the gripper assembly 330 to slide on the first conveyor track 310 and the second conveyor track 320.
Referring to fig. 4, in some embodiments, the optical detection mechanism 400 includes: a drive rack 410 and an optical camera 420; the optical camera 420 is slidably disposed on the driving frame 410; the driving frame 410 is adapted to drive the optical camera 420 to move along a sliding rail of the driving frame 410; the moving direction of the optical camera 420 is perpendicular to the conveying direction of the sequential conveying mechanism 300.
In some embodiments, the control module is configured to control movement of the progressive conveyor 300 in accordance with a first spacing between each set of racking positions of the pallet 500.
In some embodiments, the control module is further configured to control the optical detection mechanism 400 to capture each of the plurality of support bits based on a second spacing between adjacent support bits in each of the plurality of support bits.
In some embodiments, the control module is configured to determine the tray 500 according to the coincidence of the image information of the same set of holding bits, that is: overlapping the acquired image information of all bearing bits in each group of bearing bits, changing the transparency of the image information, acquiring lines of the overlapped images of the bearing bits, judging the contact ratio, and if the contact ratio is lower than a preset value, failing the tray 500, otherwise, failing the tray 500.
As shown in fig. 6, to improve the accuracy of the tray 500 when fed under the optical inspection mechanism, in some embodiments, the clamping assembly 330 includes: a clamping frame 331 and two oppositely disposed clamping members 332; the clamp 332 includes: a driving cylinder 3321 and a clamping plate 3322; the driving cylinder 3321 is fixedly arranged on the clamping frame 331; the clamping plate 3322 is slidably disposed in the clamping frame 331 and is adapted to slide in a clamping area of the clamping frame 331 under the driving of the driving cylinder 3321. The clamping plates 3322 are driven to move synchronously by the two driving cylinders 3321 so as to fix the tray 500 at the same position, thereby facilitating the detection of the tray 500 by the optical detection structure.
Referring to fig. 7, in a preferred embodiment, the clamping member 332 further includes a distributing plate 3323, a correcting member 3324, and a micro cylinder 3325; the micro cylinder 3325 is slidably disposed on the clamping plate 3322, specifically, a horizontal cylinder 3326 is fixedly disposed on the clamping plate 3322, the horizontal cylinder 3326 is adapted to drive the micro cylinder 3325 to slide horizontally, meanwhile, a distributing plate 3323 is fixed on a piston of the micro cylinder 3325, and further, the distributing plate 3323 slides horizontally along with the micro cylinder 3325, the distributing plate 3323 is slidably disposed on the bottom surface of the clamping plate 3322, the distributing plate 3323 is adapted to extend between adjacent trays 500 under the driving of the driving cylinder 3321, and is adapted to press the distributing plate 3323 under the driving of the micro cylinder 3325, so as to separate the stacked trays 500 on the feeding mechanism 100; the correcting member 3324 is disposed between the clamping plate 3322 and the distributing plate 3323 and at the bottom of the clamping plate 3322, and the correcting member 3324 is adapted to correct the distributing plate 3323 when the distributing plate 3323 is retracted; the distributing plate 3323 is zigzag and comprises a first horizontal part 33231, a vertical part 33232 and a second horizontal part 33233; the first horizontal portion 33231 and the second horizontal portion 33233 are respectively and fixedly disposed at the bottom and the top of the vertical portion 33232, and the first horizontal portion 33231 and the second horizontal portion 33233 are respectively and vertically disposed with the vertical portion 33232.
Because the gap between adjacent trays 500 is small, the thickness of the distributing plate 3323 is thinner, when the distributing plate 3323 is pressed down along with the micro cylinder 3325, the second horizontal part 33233 may tilt, so that the distributing plate 3323 is deformed, the position of the tray 500 is changed when the next feeding is caused, and the detection precision is affected when the subsequent optical detection is caused.
Referring to fig. 8-10, specifically, the calibration element 3324 includes: slide bar 33241, first return spring 33242, calibration plate 33243, lateral trigger 33244, and longitudinal latch 33245; one end of the sliding rod 33241 extends into the clamping frame 331, and the other end passes through the first return spring 33242 and is fixedly connected with the correction plate 33243; the calibration plate 33243 is provided with a transverse sliding groove 33246 and a longitudinal sliding groove 33247, and the transverse sliding groove 33246 is communicated with the longitudinal sliding groove 33247; one end of the longitudinal bolt 33245 is elastically connected to the bottom of the longitudinal sliding groove 33247 through a second return spring 33248, and the other end is inserted into the bottom surface of the clamping plate 3322; one end of the transverse touch member 33244 extends out of the correction plate 33243, and the other end is inserted into the transverse sliding groove 33246 and is abutted against the bottom of the longitudinal bolt 33245, and the abutting surface is obliquely arranged; the clamping surface of the clamping plate 3322 and the calibration surface of the calibration member 3324 are in the same plane.
When the calibration member 3324 is inserted into the bottom surface of the holding plate 3322 by the longitudinal pin 33245, the first return spring 33242 is in a natural state and the second return spring 33248 is in a compressed state.
As shown in fig. 11, since the position where the material dividing plate 3323 is deformed is generally at the corner, when the horizontal cylinder 3326 pulls the material dividing plate 3323 to retract, the correcting plate 33243 corrects the included angle between the first horizontal portion 33231 and the vertical portion 33232 to 90 ° firstly, then the vertical portion 33232 presses the transverse touch member 33244 to move the longitudinal bolt 33245 downward, so as to release the fixation of the correcting plate 33243 and the clamping plate 3322, at this time, the material dividing plate 3323 continuously retracts to drive the correcting plate 33243 to retract, the first return spring 33242 is compressed, the second horizontal portion 33233 of the material dividing plate 3323 abuts against the bottom surface of the clamping plate 3322, and when the material dividing plate 3323 continuously retracts, the included angle between the second horizontal portion 33233 and the vertical portion 33232 is corrected to 90 °.
In this embodiment, the contact surface between the correction plate 33243 and the vertical portion 33232 is provided with an electromagnet layer, when the material separating plate 3323 retreats, the electromagnet layer is electrified to adsorb the vertical portion 33232, so as to ensure that when the included angle between the second horizontal portion 33233 and the vertical portion 33232 is corrected, the included angle between the first horizontal portion 33231 and the vertical portion 33232 is kept at a corrected angle, that is, the vertical portion 33232 is kept.
After the correction is completed, the horizontal cylinder 3326 pushes the distributing plate 3323 to slowly extend out of the bottom of the clamping plate 3322, at this time, the correcting plate 33243 is retracted under the action of the first reset spring 33242 until the longitudinal bolt 33245 is inserted into the bottom of the clamping plate 3322 under the action of the second reset spring 33248, and the correcting plate 33243 and the clamping plate 3322 are fixed and wait for the next correction.
In some embodiments, the loading mechanism 100 includes a first lifting frame 110 and a first carrying frame 120; the first carrier 120 is fixedly disposed on top of the first lifting frame 110.
In some embodiments, the control module is adapted to control the lift to perform a stepped elevation depending on the thickness of the pallet 500, thereby conveying the pallet 500 on the carrier into the progressive conveyor 300.
In some embodiments, the blanking mechanism 200 includes a second lifting frame and a second carrier; the second bearing frame is fixedly arranged at the top of the second lifting frame.
Referring to fig. 5, at least one embodiment also provides a detection process adapted to detect a tray 500 by a tray detection apparatus based on 2.5D optical image recognition as described above, the process comprising:
s110: the stacked trays 500 are placed into the loading mechanism 100.
S120: the sequential conveying mechanism 300 is driven to sequentially convey the trays 500 on the feeding mechanism 100, and meanwhile, the optical detection mechanism 400 is driven to sequentially shoot a plurality of bearing positions on the trays 500 conveyed by the sequential conveying mechanism 300, so that image information of each bearing position is obtained.
Specifically, a first interval between each group of bearing positions of the tray 500 and a second interval between adjacent bearing positions in each group of bearing positions are obtained, the sequential conveying mechanism 300 is controlled to move according to the first interval, and the optical detection mechanism 400 is controlled to shoot each bearing position according to the second interval.
S130: the tray 500 is judged according to the overlapping degree of the image information of the same group of bearing positions.
Specifically, the acquired image information of all bearing bits in each group of bearing bits is overlapped, the transparency of the image information is changed, the lines of the overlapped images of the bearing bits are acquired, the contact ratio is judged, if the contact ratio is lower than a preset value, the tray 500 is not qualified, otherwise, the tray is qualified.
Each bearing position of the tray 500 is photographed by the optical detection mechanism 400 proximate to the bearing position, thereby reducing the precision requirement of the optical detection mechanism 400 and reducing the hardware cost. When the control module judges, the comparison can be completed through simple coincidence comparison, and the software cost is reduced, so that the overall cost of the tray detection equipment is reduced.
In summary, the present invention provides a tray detection device and a detection process based on 2.5D optical image recognition, where the tray detection device based on 2.5D optical image recognition includes: the device comprises a control module, a feeding mechanism 100, a discharging mechanism 200, a sequential conveying mechanism 300 and an optical detection mechanism 400; the feeding mechanism 100 and the discharging mechanism 200 are arranged in parallel; the sequential conveying mechanism 300 is arranged above the feeding mechanism 100 and the discharging mechanism 200, and is suitable for clamping and then conveying the tray 500 on the feeding mechanism 100 to the discharging mechanism 200 for storage; the optical detection mechanism 400 is disposed above the sequential conveying mechanism 300, and is adapted to sequentially photograph a plurality of bearing positions on the tray 500 conveyed by the sequential conveying mechanism 300, and send image information of each bearing position to the control module; the control module is configured to determine the tray 500 according to the overlapping degree of the image information of the same group of bearing bits. Each bearing position of the tray 500 is photographed by the optical detection mechanism 400 proximate to the bearing position, thereby reducing the precision requirement of the optical detection mechanism 400 and reducing the hardware cost. When the control module judges, the comparison can be completed through simple coincidence comparison, and the software cost is reduced, so that the overall cost of the tray detection equipment is reduced.
Spatially relative terms, such as "inner," "outer," "lower," "upper," and the like, may be used herein to facilitate the description of one element or feature's relationship to another element or feature as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the example term "below" may encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In the discussion above, the terms "about," "approximately," "substantially," and the like, when used to describe a value, mean a variation of +/-10% of the value, unless otherwise indicated.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (10)
1. A tray inspection apparatus based on 2.5D optical image recognition, comprising:
The device comprises a control module, a feeding mechanism, a discharging mechanism, a sequential conveying mechanism and an optical detection mechanism;
The feeding mechanism and the discharging mechanism are arranged in parallel;
the sequential conveying mechanism is arranged above the feeding mechanism and the discharging mechanism and is suitable for clamping and then conveying the trays on the feeding mechanism to the discharging mechanism for storage;
The optical detection mechanism is arranged above the sequential conveying mechanism, is suitable for shooting a plurality of bearing positions on the tray conveyed by the sequential conveying mechanism in sequence, and sends the image information of each bearing position to the control module;
The control module is configured to judge whether the tray has defects according to the coincidence degree of the image information of the same group of bearing bits.
2. The tray inspection apparatus based on 2.5D optical image recognition according to claim 1,
The sequential conveying mechanism comprises a first conveying track, a second conveying track and a clamping assembly;
the first conveying track and the second conveying track are oppositely arranged;
The clamping assembly is arranged on the first conveying track and the second conveying track in a sliding manner;
The first conveyor track is adapted to drive the gripper assembly to slide on the first conveyor track and the second conveyor track.
3. The tray inspection apparatus based on 2.5D optical image recognition according to claim 2, wherein the optical inspection mechanism comprises:
A drive rack and an optical camera;
The optical camera is arranged on the driving frame in a sliding way;
the driving frame is suitable for driving the optical camera to move along a sliding rail of the driving frame;
the moving direction of the optical camera is perpendicular to the conveying direction of the sequential conveying mechanism.
4. The 2.5D optical image recognition based tray inspection apparatus of claim 1, wherein the control module is configured to control movement of the sequential transport mechanism in accordance with a first spacing between each set of holding bits of the tray.
5. The tray inspection device based on 2.5D optical image recognition of claim 4, wherein the control module is further configured to control the optical inspection mechanism to capture each of the plurality of racking bits in accordance with a second spacing between adjacent racking bits in each of the plurality of racking bits.
6. The tray inspection apparatus based on 2.5D optical image recognition according to claim 5, wherein the control module is configured to determine whether the tray has a defect according to the coincidence ratio of the image information of the same group of holding bits, that is:
Overlapping the acquired image information of all bearing bits in each group of bearing bits, changing the transparency of the image information, acquiring lines of the overlapped images of the bearing bits, judging the contact ratio, if the contact ratio is lower than a preset value, generating defects on the tray, and if the contact ratio is lower than the preset value, generating disqualification on the tray, otherwise, generating qualification on the tray.
7. The 2.5D optical image recognition based tray inspection apparatus of claim 2, wherein the clamping assembly comprises:
a clamping frame and two clamping pieces which are oppositely arranged;
the clamping member includes: a driving cylinder and a clamping plate;
the driving cylinder is fixedly arranged on the clamping frame;
The clamping plate is arranged in the clamping frame in a sliding manner and is suitable for sliding in the clamping area of the clamping frame under the driving of the driving cylinder.
8. The tray inspection apparatus based on 2.5D optical image recognition of claim 7, wherein the clamping member further comprises a distributing plate, a correcting member, and a micro cylinder;
the micro cylinder is arranged on the clamping plate in a sliding manner;
the material distributing plate is fixedly arranged on a piston rod of the micro cylinder and is arranged on the bottom surface of the clamping plate;
The material distributing plate is suitable for extending into between adjacent trays under the drive of the driving cylinder and is suitable for being pressed down under the drive of the micro cylinder so as to separate the trays stacked on the feeding mechanism;
The correcting piece is arranged between the clamping plate and the distributing plate and at the bottom of the clamping plate, and is suitable for correcting the distributing plate when the distributing plate retreats;
the material dividing plate is Z-shaped and comprises a first horizontal part, a vertical part and a second horizontal part;
The first horizontal part and the second horizontal part are respectively and fixedly arranged at the bottom and the top of the vertical part, and the first horizontal part and the second horizontal part are respectively and vertically arranged with the vertical part.
9. The tray inspection apparatus based on 2.5D optical image recognition according to claim 8, wherein the correction member comprises: the device comprises a sliding rod, a first reset spring, a correction plate, a transverse touch piece and a longitudinal bolt;
one end of the sliding rod extends into the clamping frame, and the other end of the sliding rod penetrates through the first reset spring and is fixedly connected with the correction plate;
The correction plate is provided with a transverse sliding groove and a longitudinal sliding groove, and the transverse sliding groove is communicated with the longitudinal sliding groove;
One end of the longitudinal bolt is elastically connected to the bottom of the longitudinal sliding groove through a second reset spring, and the other end of the longitudinal bolt is inserted into the bottom surface of the clamping plate;
One end of the transverse touch piece extends out of the correction plate, and the other end of the transverse touch piece is inserted into the transverse sliding groove and is propped against the bottom of the longitudinal bolt, and the propping surface is obliquely arranged;
the clamping surface of the clamping plate and the correcting surface of the correcting piece are positioned on the same plane;
When the material distributing plate retreats, the included angle between the first horizontal part and the vertical part is corrected to 90 degrees through the correcting plate, then the vertical part extrudes the transverse touch piece to enable the longitudinal bolt to move downwards, at the moment, the material distributing plate continuously retreats to drive the correcting plate to retreat, the first reset spring is compressed, the second horizontal part of the material distributing plate is abutted to the bottom surface of the clamping plate, and when the material distributing plate continuously retreats, the included angle between the second horizontal part and the vertical part is corrected to 90 degrees.
10. A detection process adapted to detect a tray by a tray detection device based on 2.5D optical image recognition according to any one of claims 1-9, the process comprising:
placing the stacked trays into a loading mechanism;
Driving the sequential conveying mechanism to sequentially convey the trays on the feeding mechanism, and simultaneously driving the optical detection mechanism to sequentially shoot a plurality of bearing positions on the trays conveyed by the sequential conveying mechanism to acquire image information of each bearing position;
Judging whether the tray has defects according to the coincidence ratio of the image information of the same group of bearing bits.
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