WO2019000118A1 - 工业流程的视觉检测方法、控制设备、系统及存储装置 - Google Patents

工业流程的视觉检测方法、控制设备、系统及存储装置 Download PDF

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Publication number
WO2019000118A1
WO2019000118A1 PCT/CN2017/085021 CN2017085021W WO2019000118A1 WO 2019000118 A1 WO2019000118 A1 WO 2019000118A1 CN 2017085021 W CN2017085021 W CN 2017085021W WO 2019000118 A1 WO2019000118 A1 WO 2019000118A1
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Prior art keywords
image
product
acquired
identification information
area
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PCT/CN2017/085021
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English (en)
French (fr)
Inventor
阳光
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深圳配天智能技术研究院有限公司
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Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to PCT/CN2017/085021 priority Critical patent/WO2019000118A1/zh
Priority to CN201780036291.1A priority patent/CN109642784A/zh
Publication of WO2019000118A1 publication Critical patent/WO2019000118A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques

Definitions

  • the invention relates to the field of industrial control, in particular to a visual inspection method, a control device, a system and a storage device for an industrial process.
  • the technical problem to be solved by the present invention is to provide a visual inspection method, a control device, a system and a storage device for an industrial process, which can solve the communication delay between the external system and the vision system in the prior art, which easily leads to process confusion and detection.
  • the cycle takes more time.
  • a technical solution adopted by the present invention is to provide a visual inspection method for an industrial process, comprising: receiving a trigger signal of a pipeline product in place; and controlling a photographing device to perform photographing in response to the trigger signal to obtain an image region to be acquired in the pipeline An image in which the product is located in an image area to be acquired; an image of the image area to be acquired is processed to implement detection of the product.
  • a visual inspection control device for an industrial process, comprising: a processor, a first interface and a second interface, wherein the first interface and the second interface are respectively coupled a processor, when the processor is in operation, receiving a trigger signal of the pipeline product in place through the first interface, responding to the trigger signal, controlling the photographing device through the second interface to take an image to obtain an image of the image to be acquired, and processing the image area to be collected An image to enable detection of the product; wherein the product is located in the image area to be acquired.
  • another technical solution adopted by the present invention is to provide a device having a storage function, which stores program data, which can be executed to implement the method as described above.
  • another technical solution adopted by the present invention is to provide a visual inspection system for an industrial process, comprising an inter-connected photographing device and a control device, which is a control device as described above.
  • the control device receives the trigger signal of the pipeline product in place, and controls the photographing device to perform shooting in response to the trigger signal to obtain an image of the image region to be acquired in the pipeline. And processing the image of the image to be acquired, so that when the product is in place, the external system is not required to notify the control device in real time, avoiding the process chaos caused by the communication delay between the control device and the external system, and in each detection cycle It is not necessary to reserve communication time with the external system, which effectively reduces the time-consuming of the detection cycle and improves the detection efficiency.
  • FIG. 1 is a schematic flow chart of a first embodiment of a visual inspection method for an industrial process according to the present invention
  • FIG. 2 is a schematic flow chart of a second embodiment of a visual inspection method for an industrial process according to the present invention
  • FIG. 3 is a schematic structural view of an embodiment of a visual inspection control device of an industrial process of the present invention.
  • FIG. 4 is a schematic view showing the working process of the control device and the photographing device shown in FIG. 3;
  • FIG. 5 is a schematic structural diagram of an embodiment of a device having a storage function according to the present invention.
  • Figure 6 is a block diagram showing an embodiment of a visual inspection system of the industrial process of the present invention.
  • FIG. 1 is a schematic flow chart of a first embodiment of a visual inspection method for an industrial process according to the present invention.
  • the visual inspection method of the industrial process of the present invention includes:
  • Step S10 receiving a trigger signal of the pipeline product in place
  • a trigger signal of the product in place is sent to the control device through a trigger provided on the pipeline, wherein the photographing device is fixedly disposed on the arm
  • the shooting device In order to move the shooting device by controlling the movement of the robot arm; of course, in other applications, other hardware can also be used to generate the trigger signal of the product in place, and the shooting device can also be fixedly disposed on a certain fixed device, and the fixed shooting line can be fixed.
  • a certain range of images is not specifically limited here.
  • Step S12 controlling the photographing device to perform photographing in response to the trigger signal to obtain an image of the image to be acquired in the pipeline, wherein the product is located in the image to be acquired region;
  • the control device after receiving the trigger signal, sends a signal for triggering shooting to the photographing device through the hardware interface, and then photographs the image to be acquired in the pipeline through the photographing device, wherein the image is captured by the photographing device.
  • the product is located in the to-be-collected image area, and the control device can obtain the image of the to-be-collected image area by using the shooting device, and the image capturing device can be obtained by the shooting device actively uploading or controlling the device to notify the shooting device to upload the image area to be collected. image.
  • Step S14 processing an image of the image area to be acquired to implement detection of the product.
  • step S14 further comprises:
  • Step S141 Identify identification information in an image of the image area to be acquired to obtain a corresponding visual program
  • the identification information includes at least an identity of the product in the image area to be collected and a corresponding visual program index.
  • the identification information is an identification code, such as a barcode or a two-dimensional code; before an pipeline product reaches an image to be collected area, the identification code is preset, for example, displayed by a display device, and The identification code displays a sub-area of 20% of the edge in the area to be acquired.
  • the control device After acquiring the image of the image to be collected by the photographing device, the control device identifies the identification information in the image, and obtains the identity of each product in the image and the corresponding visual program index; wherein the identity of the same product is the same, but the same product corresponds to the same product.
  • the visual program index can be different, and can be set according to actual conditions, and is not specifically limited herein.
  • the identification information may also be the color of the indicator light and/or the display information of the light and dark; the display device displaying the identification code may be a fixed 15% of the edge of the image to be collected.
  • the display device may be a liquid crystal display or other display device such as a fluorescent screen, and is not specifically limited herein.
  • Step S142 executing the visual program to process an image of the image area to be acquired
  • step S142 includes:
  • Step S1421 executing the visual program, and processing the image of the target area in the image area to be processed by using the detection parameter;
  • the detection parameter is a preset parameter for processing an image of the image to be acquired, and at least includes a threshold parameter for processing an image of the target area;
  • the target area may be an area where the entire product is located in the image area to be collected, or may be A certain detection area of the product;
  • the visual program includes a detection parameter, or an index of the detection parameter including the detection parameter.
  • the control device can apply the detection parameter by running the visual program, or the control device first identifies the identification information, obtains an index of the detection parameter, thereby acquiring the detection parameter, and then applying the detection parameter when the visual program is run.
  • the detection parameter includes a range parameter of the target area and a threshold parameter of the image of the processing target area; of course, in other application examples, the detection parameter may further include other parameters according to specific requirements, and no specific details are used herein. limited.
  • step S1421 specifically includes:
  • Step S14210 Execute the visual program, and obtain a template image of the product by using the identity of the product;
  • control device executes the visual program, and acquires a template image of the product by using an identity of the product, where the template image is pre-stored in the control device; since the visual program corresponding to the same product may be different, the product is utilized
  • the template image obtained by the identity may also be different, and is not specifically limited herein.
  • Step S14212 Select an image of the target area in the image area to be acquired by using the range parameter
  • the range parameter is a preset parameter indicating a position of the target area in the image area to be acquired, for example, a coordinate set indicating a range of the target area.
  • control device executes the visual program, and the image of the target area may be selected from the image to be acquired by using the range parameter, and the image of the target area may be an image of the entire product or an image of a partial area of the product. This is not specifically limited.
  • the range parameter may be a parameter indicating a range of location deviation between the target area and the identification information
  • the control device may refer to the location of the identifier information first, and then use the range parameter from the identifier information.
  • the image of the target area is acquired within a certain deviation range of the position.
  • the detection parameter may not include the range parameter
  • the detection method may not include step S14212, that is, the target area is not selected by using the range parameter, and the acquired image of the image to be acquired is directly used as the target area image. , performing subsequent image processing steps to achieve detection of the product.
  • Step S14214 The image of the target area is processed by using the threshold parameter to match the template image of the product.
  • the threshold parameter is a parameter that is preset to perform template matching on the image of the target area.
  • step S14214 the method includes:
  • Step S14213a comparing the image of the identification information in the image area to be acquired with the template image of the identification information to obtain a shooting angle of the image of the image area to be acquired;
  • the template image of the identification information is an image saved in advance by the control device, and the image may be an image of the identification information selected from the template image of the product, or may be an identifier separately stored and the same as the template image of the product. An image of the information.
  • the template image of the identification information is an image that the photographing device is photographing the identification information, that is, a front view of the photographing device; the control device acquires an image of the identification information from the acquired image to be acquired image, and the identification information is The image is compared with the template image of the identification information, that is, the deviation between the shooting angle between the image of the image to be acquired and the template image can be obtained, so that the image of the image to be acquired can be obtained by referring to the shooting angle of the template image.
  • the angle of shooting may be offset from the front view by a predetermined angle, which is not specifically limited herein.
  • Step S14213b geometrically correcting the image of the target area by using the shooting angle
  • the image processing algorithm is used to perform geometric correction on the image of the target region by using the visual program, thereby making the corrected target
  • the image of the area is the same angle as the product template image.
  • step S14214 specifically includes:
  • Step S14214a The image of the geometrically corrected target area is processed by using the threshold parameter to match the template image of the product.
  • the control device executes the visual program, and uses the threshold matching parameter to process the image of the geometrically corrected target region by using a template matching algorithm; in an application example, the threshold parameter includes at least a maximum grayscale difference and an error tolerance.
  • the control device executes the visual program, respectively calculates the grayscale value of each pixel in the image of the geometrically corrected target area and the template image of the target area, and compares the gray values of the pixel points corresponding to the two positions. The difference between the gray values of all the pixels is smaller than the maximum gray difference, or the ratio of the pixels exceeding the maximum gray difference is smaller than the error tolerance, then the image of the geometrically corrected target area and the template image of the product are determined. match.
  • the threshold parameter may also include other parameters such as an angle, which is not specifically limited herein.
  • the control device receives the trigger signal of the pipeline product in place, controls the photographing device to take a shot in response to the trigger signal to acquire an image of the image to be acquired in the pipeline, and processes the image of the image to be acquired, so that when the product is in place
  • the control device may obtain the identification information from the image of the image to be acquired, and then identify the identification information, obtain the corresponding visual program index and related detection parameters, and do not need the external system to notify the control device in real time, thereby avoiding the control device and the external system.
  • the process confusion caused by the communication delay between the two, and the communication time does not need to be reserved in each detection cycle, which effectively reduces the detection cycle time and improves the detection efficiency.
  • FIG. 2 is a schematic flow chart of a second embodiment of a visual inspection method for an industrial process according to the present invention.
  • the present embodiment is based on the first embodiment of the visual inspection method of the industrial process of the present invention, and another embodiment of step S14 includes:
  • Step S21 Obtain identification information of the product from the pre-stored identification information queue
  • the identification information is stored in the control device in a queue manner according to the order of product movement on the pipeline; the pre-stored identification information may include identification information of all products on the pipeline, and may also include identification information of some products on the pipeline, and The identification information of other products is continuously sent to the control device through the external device within a certain period, and the certain period is less than the moving time of some products that have been saved on the pipeline.
  • the control device after receiving the trigger signal of the pipeline product in place, the control device triggers the shooting device to capture the identification information of the current product from the pre-stored identification information queue, thereby further obtaining the identification information of the current product.
  • the detection period is reduced.
  • the control device may obtain the identification information of the current product from the pre-stored identification information queue after obtaining the image of the image to be collected, which is not specifically limited herein.
  • Step S22 Identify the identification information to obtain a corresponding visual program
  • the identification information includes at least an identity of the product in the image area to be collected and a corresponding visual program index.
  • Step S23 executing the visual program to process an image of the image area to be acquired
  • steps S22 and S23 may refer to the execution processes of steps S141 and S142, respectively, and are not repeated here.
  • the control device may obtain the identification information of the product from the pre-stored identification information queue, and further identify the identification information, and obtain the corresponding visual program index and related detection parameters,
  • the external system is required to notify the control device in real time, avoiding the process chaos caused by the communication delay between the control device and the external system, and does not need to reserve the communication time in each detection cycle, thereby effectively reducing the detection cycle time and improving detection. effectiveness.
  • This embodiment is based on the first embodiment of the visual inspection method of the industrial process of the present invention, and another embodiment of step S14 can be combined with the first embodiment of the visual inspection method of the industrial process of the present invention.
  • FIG. 3 is a schematic structural diagram of an embodiment of a visual inspection control device for an industrial process according to the present invention.
  • the visual inspection control device 30 of the industrial process of the present invention comprises:
  • the processor 301, the first interface 302 and the second interface 303, the first interface 302 and the second interface 303 are respectively coupled to the processor 301;
  • the trigger signal of the pipeline product in place is received through the first interface 302, and in response to the trigger signal, the photographing device 40 is controlled to capture by the second interface 303.
  • the image of the image area 50 is to be acquired, and the image of the image area 50 to be acquired is processed to realize detection of the product; wherein the product is located in the image area 50 to be acquired.
  • the trigger 60 provided on the pipeline is triggered, through the first interface 302 connected thereto, to the processor 301 of the control device 30.
  • the photographing device 40 can also be fixedly disposed on a certain fixing device to fix an image of a certain range of the shooting line, which is not specifically limited herein.
  • the processor 301 After receiving the trigger signal, the processor 301 sends a signal for triggering shooting to the photographing device 40 through the second interface 303 in response to the trigger signal, and then photographs the image to be acquired image 50 in the pipeline through the photographing device 40, and then shoots
  • the device 40 can acquire an image of the image region 50 to be acquired, so that the image of the image region 50 to be acquired can be processed.
  • control device 30 further includes: a memory 304 coupled to the processor 301;
  • the processor 301 identifies the identification information 501 in the image of the image region 50 to be acquired to obtain a corresponding visual program through the memory 304, and executes the visual program to process the image of the image region 50 to be acquired;
  • the identification information 501 includes at least an identity of the product in the image area 50 to be acquired and a corresponding visual program index.
  • the identification information 501 is an identification code, such as a barcode or a two-dimensional code; before a certain pipeline product reaches the image to be collected area 50, the identification code 501 is preset, for example, displayed by a display device, and The identification code 501 displays a sub-area of 20% of the edge in the area to be acquired.
  • the identification information 501 may also be the color of the indicator light and/or the display information of the light and dark; the display device displaying the identification code 501 may be fixedly disposed in the edge 15 of the image to be acquired area 50.
  • the % sub-area may also be moved with the pipeline product.
  • the display device may be a liquid crystal display or other display device such as a fluorescent screen, which is not specifically limited herein.
  • the specific process of the processor 301 executing the visual program to process the image of the image to be acquired 50 may refer to step S142 of the first embodiment of the visual inspection method of the industrial process of the present invention, and is not repeated here.
  • the identification information 501 of the product is stored in the memory 304 in advance.
  • the identification information 501 of the product may be acquired from the memory 304, and the specific process of the processor 301 processing the image of the image area 50 to be acquired. Reference may be made to the steps of the second embodiment of the visual inspection method of the industrial process of the present invention, which will not be repeated here.
  • the control device receives the trigger signal of the pipeline product in place, controls the photographing device to perform photographing in response to the trigger signal to acquire an image of the image region to be acquired in the pipeline, and processes the image of the image region to be acquired, thereby
  • the identification information of the product may be obtained from the pre-stored identification information queue, thereby identifying the identification information, or identifying the identification information from the image of the image area to be acquired, and obtaining the corresponding visual program index and related detection parameters
  • the external system is required to notify the control device in real time, avoiding the process chaos caused by the communication delay between the control device and the external system, and does not need to reserve the communication time in each detection cycle, thereby effectively reducing the detection cycle time and improving detection. effectiveness.
  • FIG. 5 is a schematic structural diagram of an embodiment of a device having a storage function according to the present invention.
  • the device 70 having a storage function of the present invention stores program data that can be executed to implement the first embodiment and/or the second embodiment of the visual inspection method of the industrial process of the present invention.
  • the device 70 having the storage function may be a storage device such as a hard disk or a USB disk, or may be a device having a storage function, such as a server or a computer, and is not specifically limited herein.
  • the control device when the program data stored in the device having the storage function is executed, the control device receives the trigger signal of the pipeline product in place, and controls the photographing device to perform photographing in response to the trigger signal to acquire an image of the image region to be acquired in the pipeline, and processes the image.
  • the image of the image area to be acquired so that when the product is in place, the external system is not required to notify the control device in real time, avoiding the process chaos caused by the communication delay between the control device and the external system, and does not need to be required in each detection cycle.
  • the communication time is reserved, which effectively reduces the time-consuming detection period and improves the detection efficiency.
  • FIG. 6 is a schematic structural diagram of an embodiment of the industrial process visual inspection system of the present invention.
  • the industrial process visual inspection system 80 of the present invention includes: a photographing device 801 and a control device 802 that are connected to each other.
  • the photographing device 801 is configured to capture an image of an image region to be acquired, and transmit an image of the image region to be acquired to the control device 802.
  • the photographing device 801 is fixedly disposed on the robot arm, so that the photographing device 801 can be moved and photographed by controlling the movement of the robot arm; of course, in other embodiments, the photographing device 801 can also be fixedly disposed on a certain fixed device, and the fixed shooting line is fixed. A certain range of images is not specifically limited here.
  • the control device 802 is configured to receive a trigger signal of the pipeline product in place, and in response to the trigger signal, control the photographing device 801 to perform photographing to obtain an image of the image region to be acquired, and process an image of the image region to be acquired to implement detection of the product;
  • the product is located in the image to be acquired area.
  • control device 802 The specific structure of the control device 802 and the specific working process of the components included therein may be referred to an embodiment of the visual inspection control device of the industrial process of the present invention, and will not be repeated here.
  • the industrial process visual inspection system may further include other devices such as a display device, an input device, and a trigger provided on the pipeline, which are not specifically limited herein.
  • the control device when the industrial process visual inspection system is working, receives the trigger signal of the pipeline product in place, controls the photographing device to take a shot in response to the trigger signal to acquire an image of the image to be acquired in the pipeline, and processes the image to be acquired.
  • the image so that when the product is in place, the external system is not required to notify the control device in real time, avoiding the process chaos caused by the communication delay between the control device and the external system, and the communication time does not need to be reserved in each detection cycle. It effectively reduces the time-consuming period of the detection cycle and improves the detection efficiency.

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Abstract

一种工业流程的视觉检测方法、控制设备、系统及存储装置，该方法包括：接收流水线产品到位的触发信号（S10），响应触发信号控制拍摄设备进行拍摄以获取流水线中待采集图像区域的图像，其中，该产品位于待采集图像区域中（S12），处理该待采集图像区域的图像，以实现对产品的检测（S14）。通过上述方式，能够避免由于控制设备与外部系统之间的通信延时导致的流程混乱问题，并且可以有效减少检测周期耗时，提高检测效率。

Description

工业流程的视觉检测方法、控制设备、系统及存储装置
【技术领域】
本发明涉及工业控制领域，特别是涉及一种工业流程的视觉检测方法、控制设备、系统及存储装置。
【背景技术】
在工业流程中，当检测当前产品的工序很多时，需要不同的视觉工序组合，并且可能启用不同的阈值参数。这样复杂的检测需要视觉系统配合完成，每个产品到位时，外部系统实时通知视觉系统当前执行哪个工序的视觉流程及启用预先设定的哪套阈值参数。但是，外部系统和视觉系统之间的通信传输的不是0/1的触发信息，而是指令，两者之间的通信延时容易带来节拍不协调，即容易导致同时存在机械控制、相机控制和工序控制的混合流水的整个流程混乱；并且每个检测周期都需要预留该通信时间，导致每个检测周期耗时更多，效率降低。
【发明内容】
本发明主要解决的技术问题是提供一种工业流程的视觉检测方法、控制设备、系统及存储装置，能够解决现有技术中外部系统和视觉系统之间的通信延时容易导致流程混乱，并且检测周期耗时更多的问题。
为了解决上述问题，本发明采用的一个技术方案是：提供一种工业流程的视觉检测方法，包括：接收流水线产品到位的触发信号；响应触发信号控制拍摄设备进行拍摄以获取流水线中待采集图像区域的图像，其中，该产品位于待采集图像区域中；处理待采集图像区域的图像，以实现对产品的检测。
为解决上述技术问题，本发明采用的另一个技术方案是：提供一种工业流程的视觉检测控制设备，包括：处理器，第一接口和第二接口，第一接口和第二接口分别耦接处理器；处理器在工作时，通过第一接口接收流水线产品到位的触发信号，响应触发信号，通过第二接口控制拍摄设备进行拍摄以获取待采集图像区域的图像，并处理待采集图像区域的图像，以实现对产品的检测；其中，该产品位于待采集图像区域中。
为解决上述技术问题，本发明采用的又一个技术方案是：提供一种具有存储功能的装置，存储有程序数据，该程序数据能够被执行以实现如上所述的方法。
为解决上述技术问题，本发明采用的又一个技术方案是：提供一种工业流程的视觉检测系统，包括相互连接的拍摄设备和控制设备，该控制设备是如上所述的控制设备。
本发明的有益效果是：区别于现有技术的情况，本发明的实施方式中控制设备接收流水线产品到位的触发信号，响应触发信号控制拍摄设备进行拍摄以获取流水线中待采集图像区域的图像，并处理该待采集图像区域的图像，从而在产品到位时，不需要外部系统实时通知控制设备，避免由于控制设备与外部系统之间的通信延时导致的流程混乱问题，并且每个检测周期中不需要预留与外部系统的通信时间，有效减少检测周期耗时，提高检测效率。
【附图说明】
图1是本发明工业流程的视觉检测方法第一实施方式的流程示意图；
图2是本发明工业流程的视觉检测方法第二实施方式的流程示意图；
图3是本发明工业流程的视觉检测控制设备一实施方式的结构示意图；
图4是图3所示的控制设备与拍摄设备工作过程的示意图；
图5是本发明具有存储功能的装置一实施方式的结构示意图；
图6是本发明工业流程的视觉检测系统一实施方式的结构示意图。
【具体实施方式】
为使本领域的技术人员更好地理解本发明的技术方案，下面结合附图和具体实施方式对本发明所提供的工业流程的视觉检测方法、控制设备、系统及存储装置做进一步详细描述。
请参阅图1，图1是本发明工业流程的视觉检测方法第一实施方式的流程示意图。如图1所示，本发明工业流程的视觉检测方法包括：
步骤S10：接收流水线产品到位的触发信号；
具体地，在一个应用例中，流水线上的某一产品移动到拍摄设备拍摄范围时，通过流水线上设置的触发器，向控制设备发送产品到位的触发信号，其中，拍摄设备固定设置于机械臂，以通过控制机械臂移动可以实现拍摄设备移动拍摄；当然，在其他应用例中，也可以采用其他硬件产生产品到位的触发信号，拍摄设备也可以固定设置于某一固定装置上，固定拍摄流水线某一范围的图像，此处不做具体限定。
步骤S12：响应触发信号控制拍摄设备进行拍摄，以获取流水线中待采集图像区域的图像，其中，该产品位于待采集图像区域中；
在上述应用例中，控制设备接收到该触发信号后，响应该触发信号，通过硬件接口向拍摄设备发送触发拍摄的信号，进而通过拍摄设备对流水线中的待采集图像区域进行拍摄，其中，该产品位于该待采集图像区域中，控制设备通过该拍摄设备即可以获取该待采集图像区域的图像，具体可以通过拍摄设备主动上传或者控制设备通知拍摄设备上传的方式，获取该待采集图像区域的图像。
步骤S14：处理待采集图像区域的图像，以实现对产品的检测。
其中，步骤S14进一步包括：
步骤S141：识别待采集图像区域的图像中的标识信息，以获取对应的视觉程序；
其中，标识信息至少包括待采集图像区域中的产品的身份标识和对应的视觉程序索引。
具体地，在一个应用例中，该标识信息是标识码，例如条形码或二维码；在某一流水线产品到达待采集图像区域之前，该标识码被预先设置，例如通过显示装置预先显示，并且该标识码显示在待采集区域中边缘20%的子区域。控制设备通过拍摄设备获取该待采集图像区域的图像后，识别图像中标识信息，获取图像中各产品的身份标识和对应的视觉程序索引；其中，同一产品的身份标识相同，但同一产品对应的视觉程序索引可以不同，可以视实际情况设置，此处不做具体限定。当然，在其他应用例中，该标识信息也可以是指示灯的颜色和/或亮暗的显示信息；显示该标识码的显示装置可以是固定设置于该待采集图像区域中边缘15%的子区域，也可以是随流水线产品移动的，该显示装置可以是液晶显示器，也可以是荧光屏等其他显示装置，此处不做具体限定。
步骤S142：执行该视觉程序以处理待采集图像区域的图像；
进一步地，步骤S142包括：
步骤S1421：执行该视觉程序，利用检测参数对待采集图像区域中目标区域的图像进行处理；
其中，检测参数是预先设置的用于处理该待采集图像区域的图像的参数，至少包括处理目标区域图像的阈值参数；目标区域可以是该待采集图像区域中整个产品所在的区域，也可以是产品某一/些检测区域；该视觉程序中包括检测参数，或标识信息中包括检测参数的索引。控制设备通过运行该视觉程序即可以应用该检测参数，或者控制设备首先识别该标识信息，获取该检测参数的索引，从而获取该检测参数，进而在运行该视觉程序时应用该检测参数。
具体地，在一个应用例中，检测参数包括目标区域的范围参数和处理目标区域图像的阈值参数；当然，在其他应用例中，检测参数还可以视具体需求包括其他参数，此处不做具体限定。
其中，同一产品的身份标识相同，但其对应的视觉程序和检测参数可以相同，也可以不同，可以视实际需求设置，此处不做具体限定。
进一步地，步骤S1421具体包括：
步骤S14210：执行该视觉程序，利用产品的身份标识获取产品的模板图像；
具体地，控制设备执行该视觉程序，利用产品的身份标识获取该产品的模板图像，其中，该模板图像预先保存于该控制设备中；由于同一产品对应的视觉程序可能不同，因此利用该产品的身份标识获取的模板图像也可能不同，此处不做具体限定。
步骤S14212：利用范围参数选取出待采集图像区域中目标区域的图像；
其中，范围参数是预先设置的指示待采集图像区域中目标区域的位置的参数，例如指示目标区域范围的坐标集合。
具体地，控制设备执行该视觉程序，利用范围参数即可以从该待采集图像区域中选取出目标区域的图像，该目标区域的图像可以是整个产品的图像，也可以是产品部分区域的图像，此处不做具体限定。
在另一个应用例中，该范围参数可以是指示该目标区域与标识信息之间的位置偏差范围的参数，控制设备可以先参考该标识信息的位置，再利用该范围参数，从该标识信息的位置某一偏差范围内获取该目标区域的图像。
当然，在其他实施方式中，检测参数也可以不包括范围参数，检测方法也可以不包括步骤S14212，即不需要采用范围参数选取目标区域，直接将获取的待采集图像区域的图像作为目标区域图像，进行后续图像处理步骤，以实现对产品的检测。步骤S14214：利用阈值参数对目标区域的图像进行处理，以匹配产品的模板图像。
其中，阈值参数是预先设置的用于对目标区域的图像进行模板匹配的参数。
具体地，步骤S14214之前，包括：
步骤S14213a：将待采集图像区域中标识信息的图像与标识信息的模板图像进行比较，以获取待采集图像区域的图像的拍摄角度；
其中，标识信息的模板图像是控制设备预先保存的图像，该图像可以是从产品的模板图像中选取出的标识信息的图像，也可以是单独保存、且与产品的模板图像相同拍摄角度的标识信息的图像。
在一个应用例中，标识信息的模板图像是拍摄设备正对标识信息拍摄的图像，即拍摄设备的正视图；控制设备从获取的待采集图像区域中获取标识信息的图像，并将该标识信息的图像与标识信息的模板图像进行比较，即可以获取该待采集图像区域的图像与模板图像之间拍摄角度之间的偏差，从而参考模板图像的拍摄角度，即可以获取待采集图像区域的图像的拍摄角度。当然，在其他应用例中，标识信息的模板图像的拍摄角度可以与正视图存在预定角度偏差，此处不做具体限定。
步骤S14213b：利用拍摄角度对目标区域图像进行几何校正；
具体地，在上述应用例中，控制设备获取该待采集图像区域的图像的拍摄角度后，通过执行该视觉程序，利用图像处理算法，对该目标区域的图像进行几何校正，从而使得校正后目标区域的图像是与产品模板图像同一拍摄角度的图像。
进一步地，步骤S14214具体包括：
步骤S14214a：利用阈值参数对几何校正后的目标区域的图像进行处理，以匹配产品的模板图像。
具体地，控制设备执行该视觉程序，通过模板匹配算法，利用阈值参数，对几何校正后的目标区域的图像进行处理；在一个应用例中，阈值参数至少包括最大灰度差和误差容忍度，控制设备执行该视觉程序，分别计算该几何校正后的目标区域的图像和目标区域的模板图像中每一像素点的灰度值，将两者对应位置的像素点的灰度值进行比较，当所有像素点的灰度值的差值均小于最大灰度差，或者超过最大灰度差的像素点的比例小于误差容忍度时，则判定该几何校正后的目标区域的图像与产品的模板图像匹配。当然，在其他应用例中，阈值参数还可以包括角度等其他参数，此处不做具体限定。
在本实施方式中，控制设备接收流水线产品到位的触发信号，响应触发信号控制拍摄设备进行拍摄以获取流水线中待采集图像区域的图像，并处理该待采集图像区域的图像，从而在产品到位时，控制设备可以从该待采集图像区域的图像中获取标识信息，进而识别该标识信息，获取对应的视觉程序索引和相关检测参数，不需要外部系统实时通知控制设备，避免由于控制设备与外部系统之间的通信延时导致的流程混乱问题，并且每个检测周期中不需要预留该通信时间，有效减少检测周期耗时，提高检测效率。
请参阅图2，图2是本发明工业流程的视觉检测方法第二实施方式的流程示意图。本实施方式是在本发明工业流程的视觉检测方法第一实施方式的基础上，步骤S14的另一实施方式，包括：
步骤S21：从预先保存的标识信息队列中获取产品的标识信息；
其中，标识信息预先按照流水线上产品移动的顺序，以队列的方式保存在控制设备中；预先保存的标识信息可以包括流水线上所有产品的标识信息，也可以包括流水线上部分产品的标识信息，并通过外部设备在一定周期内向控制设备继续发送其他产品的标识信息，该一定周期小于流水线上已经保存的部分产品的移动时间。
具体地，在一个应用例中，控制设备接收到流水线产品到位的触发信号后，响应该触发信号，触发拍摄设备拍摄的同时，从预先保存的标识信息队列中获取当前产品的标识信息，从而进一步减少检测周期；当然，在其他应用例中，控制设备也可以在获取到待采集图像区域的图像后，再从预先保存的标识信息队列中获取当前产品的标识信息，此处不做具体限定。
步骤S22：识别该标识信息以获取对应的视觉程序；
其中，标识信息至少包括待采集图像区域中的产品的身份标识和对应的视觉程序索引。
步骤S23：执行该视觉程序以处理待采集图像区域的图像；
其中，步骤S22和S23的具体执行过程可以分别参考步骤S141和S142的执行过程，此处不再重复。
在本实施方式中，控制设备在流式线产品到位时，可以从预先保存的标识信息队列中获取该产品的标识信息，进而识别该标识信息，获取对应的视觉程序索引和相关检测参数，不需要外部系统实时通知控制设备，避免由于控制设备与外部系统之间的通信延时导致的流程混乱问题，并且每个检测周期中不需要预留该通信时间，有效减少检测周期耗时，提高检测效率。
本实施方式是在本发明工业流程的视觉检测方法第一实施方式的基础上，步骤S14的另一实施方式，可以与本发明工业流程的视觉检测方法第一实施方式相结合。
请参阅图3，图3是本发明工业流程的视觉检测控制设备一实施方式的结构示意图。如图3所示，本发明工业流程的视觉检测控制设备30包括：
处理器301，第一接口302和第二接口303，第一接口302和第二接口303分别耦接处理器301；
具体地，结合图3和图4所示，处理器301在工作时，通过第一接口302接收流水线产品到位的触发信号，响应该触发信号，通过第二接口303控制拍摄设备40进行拍摄以获取待采集图像区域50的图像，并处理待采集图像区域50的图像，以实现对产品的检测；其中，该产品位于待采集图像区域50中。
在一个应用例中，当流水线上的某一产品移动到拍摄设备40的拍摄范围时，流水线上设置的触发器60被触发，通过与其连接的第一接口302，向控制设备30的处理器301发送产品到位的触发信号，其中，拍摄设备固定设置于机械臂，以通过控制机械臂移动可以实现拍摄设备40移动拍摄；当然，在其他应用例中，也可以采用其他硬件产生产品到位的触发信号，拍摄设备40也可以固定设置于某一固定装置上，固定拍摄流水线某一范围的图像，此处不做具体限定。
处理器301接收到该触发信号后，响应该触发信号，通过第二接口303向拍摄设备40发送触发拍摄的信号，进而通过拍摄设备40对流水线中的待采集图像区域50进行拍摄，进而通过拍摄设备40可以获取该待采集图像区域50的图像，从而可以处理待采集图像区域50的图像。
进一步地，在一个应用例中，控制设备30还包括：耦接处理器301的存储器304；
处理器301在工作时，识别待采集图像区域50的图像中的标识信息501，以通过存储器304获取对应的视觉程序，执行该视觉程序以处理待采集图像区域50的图像；
其中，标识信息501至少包括待采集图像区域50中的产品的身份标识和对应的视觉程序索引。
在上述应用例中，该标识信息501是标识码，例如条形码或二维码；在某一流水线产品到达待采集图像区域50之前，该标识码501被预先设置，例如通过显示装置预先显示，并且该标识码501显示在待采集区域中边缘20%的子区域。当然，在其他应用例中，该标识信息501也可以是指示灯的颜色和/或亮暗的显示信息；显示该标识码501的显示装置可以是固定设置于该待采集图像区域50中边缘15%的子区域，也可以是随流水线产品移动的，该显示装置可以是液晶显示器，也可以是荧光屏等其他显示装置，此处不做具体限定。
具体地，处理器301执行该视觉程序，以处理该待采集图像区域50的图像的具体过程可以参考本发明工业流程的视觉检测方法第一实施方式的步骤S142，此处不再重复。
在其他应用例中，产品的标识信息501预先保存在存储器304中，处理器301工作时，从存储器304中可以获取产品的标识信息501，处理器301处理待采集图像区域50的图像的具体过程可以参考本发明工业流程的视觉检测方法第二实施方式的步骤，此处不再重复。
本实施方式中，控制设备接收流水线产品到位的触发信号，响应触发信号控制拍摄设备进行拍摄以获取流水线中待采集图像区域的图像，并处理该待采集图像区域的图像，从而在流式线产品到位时，可以从预先保存的标识信息队列中获取该产品的标识信息，进而识别该标识信息，或者从待采集图像区域的图像中识别标识信息，获取对应的视觉程序索引和相关检测参数，不需要外部系统实时通知控制设备，避免由于控制设备与外部系统之间的通信延时导致的流程混乱问题，并且每个检测周期中不需要预留该通信时间，有效减少检测周期耗时，提高检测效率。
请参阅图5，图5是本发明具有存储功能的装置一实施方式的结构示意图。如图5所示，本发明具有存储功能的装置70存储有程序数据，该程序数据能够被执行以实现本发明工业流程的视觉检测方法第一实施方式和/或第二实施方式的方法。
其中，该具有存储功能的装置70可以是硬盘、U盘等存储装置，也可以是服务器、计算机等具有存储功能的设备，此处不做具体限定。
本实施方式中，具有存储功能的装置中存储的程序数据被执行时，控制设备接收流水线产品到位的触发信号，响应触发信号控制拍摄设备进行拍摄以获取流水线中待采集图像区域的图像，并处理该待采集图像区域的图像，从而在产品到位时，不需要外部系统实时通知控制设备，避免由于控制设备与外部系统之间的通信延时导致的流程混乱问题，并且每个检测周期中不需要预留该通信时间，有效减少检测周期耗时，提高检测效率。
请参阅图6，图6是本发明工业流程视觉检测系统一实施方式的结构示意图。如图6所示，本发明工业流程视觉检测系统80包括：相互连接的拍摄设备801和控制设备802。
拍摄设备801用于拍摄待采集图像区域的图像，并将待采集图像区域的图像传输给控制设备802。
其中，拍摄设备801固定设置于机械臂，以通过控制机械臂移动可以实现拍摄设备801移动拍摄；当然，在其他实施例中，拍摄设备801也可以固定设置于某一固定装置上，固定拍摄流水线某一范围的图像，此处不做具体限定。
控制设备802用于接收流水线产品到位的触发信号，响应该触发信号，控制拍摄设备801进行拍摄以获取待采集图像区域的图像，并处理该待采集图像区域的图像，以实现对产品的检测；其中，产品位于该待采集图像区域中。
其中，控制设备802的具体结构和其包括的各部件的具体工作过程可以参考上述本发明工业流程的视觉检测控制设备一实施方式，此处不再重复。
当然，在其他实施方式中，该工业流程视觉检测系统还可以视具体需求包括显示设备、输入设备和流水线上设置的触发器等其他设备，此处不做具体限定。
本实施方式中，该工业流程视觉检测系统工作时，控制设备接收流水线产品到位的触发信号，响应触发信号控制拍摄设备进行拍摄以获取流水线中待采集图像区域的图像，并处理该待采集图像区域的图像，从而在产品到位时，不需要外部系统实时通知控制设备，避免由于控制设备与外部系统之间的通信延时导致的流程混乱问题，并且每个检测周期中不需要预留该通信时间，有效减少检测周期耗时，提高检测效率。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (21)

  1. 一种工业流程的视觉检测方法，其特征在于，包括：
    接收流水线产品到位的触发信号；
    响应所述触发信号控制拍摄设备进行拍摄以获取所述流水线中待采集图像区域的图像，其中，所述产品位于所述待采集图像区域中；
    处理所述待采集图像区域的图像，以实现对所述产品的检测。
  2. 根据权利要求1所述的方法，其特征在于，所述处理所述待采集图像区域的图像包括：
    识别所述待采集图像区域的图像中的标识信息，以获取对应的视觉程序；
    执行所述视觉程序以处理所述待采集图像区域的图像；
    其中，所述标识信息至少包括所述待采集图像区域中的所述产品的身份标识和对应的视觉程序索引。
  3. 根据权利要求2所述的方法，其特征在于，所述执行所述视觉程序，以处理所述待采集图像区域的图像包括：
    执行所述视觉程序，利用检测参数对所述待采集图像区域中目标区域的图像进行处理；
    其中，所述视觉程序中包括所述检测参数，或所述标识信息中包括所述检测参数的索引；所述检测参数至少包括处理所述目标区域图像的阈值参数。
  4. 根据权利要求3所述的方法，其特征在于，所述检测参数还包括所述目标区域的范围参数；
    所述执行所述视觉程序，利用检测参数对所述待采集图像区域中目标区域的图像进行处理包括:
    执行所述视觉程序，利用所述产品的身份标识获取所述产品的模板图像；
    利用所述范围参数选取出所述待采集图像区域中目标区域的图像；
    利用所述阈值参数对所述目标区域的图像进行处理，以匹配所述产品的模板图像。
  5. 根据权利要求4所述的方法，其特征在于，
    所述利用所述阈值参数对所述目标区域的图像进行处理，以匹配所述产品的模板图像之前，包括：
    将所述待采集图像区域中标识信息的图像与所述标识信息的模板图像进行比较，以获取所述待采集图像区域的图像的拍摄角度；
    利用所述拍摄角度对所述目标区域图像进行几何校正；
    所述利用所述阈值参数对所述目标区域的图像进行处理，以匹配所述产品的模板图像包括：
    利用所述阈值参数对几何校正后的所述目标区域的图像进行处理，以匹配所述产品的模板图像。
  6. 根据权利要求2所述的方法，其特征在于，所述接收流水线产品到位的触发信号之前，所述标识信息通过显示装置被预先设置。
  7. 根据权利要求2所述的方法，其特征在于，所述标识信息是标识码和/或指示灯显示信息。
  8. 根据权利要求2至7中任意一项所述的方法，其特征在于，所述标识信息设置于所述待采集图像区域中边缘20%的子区域。
  9. 根据权利要求1所述的方法，其特征在于，所述处理所述待采集图像区域的图像包括：
    从预先保存的标识信息队列中获取所述产品的标识信息；
    识别所述标识信息以获取对应的视觉程序；
    执行所述视觉程序以处理所述待采集图像区域的图像；
    其中，所述标识信息至少包括所述待采集图像区域中的所述产品的身份标识和对应的视觉程序索引。
  10. 根据权利要求1所述的方法，其特征在于，所述拍摄设备固定设置于机械臂，以使得所述拍摄设备可移动拍摄。
  11. 一种工业流程的视觉检测控制设备，其特征在于，包括：
    处理器，第一接口和第二接口，所述第一接口和所述第二接口分别耦接所述处理器；
    所述处理器在工作时，通过所述第一接口接收流水线产品到位的触发信号，响应所述触发信号，通过所述第二接口控制拍摄设备进行拍摄以获取所述待采集图像区域的图像，并处理所述待采集图像区域的图像，以实现对所述产品的检测；
    其中，所述产品位于所述待采集图像区域中。
  12. 根据权利要求11所述的控制设备，其特征在于，所述控制设备进一步包括：存储器，所述存储器耦接所述处理器；
    所述处理器在工作时，识别所述待采集图像区域的图像中的标识信息，以通过所述存储器获取对应的视觉程序，执行所述视觉程序以处理所述待采集图像区域的图像；
    其中，所述标识信息至少包括所述待采集图像区域中的所述产品的身份标识和对应的视觉程序索引。
  13. 根据权利要求12所述的控制设备，其特征在于，所述执行所述视觉程序，以处理所述待采集图像区域的图像包括：
    执行所述视觉程序，利用检测参数对所述待采集图像区域中目标区域的图像进行处理；
    其中，所述视觉程序中包括所述检测参数，或所述标识信息中包括所述检测参数的索引；所述检测参数至少包括处理所述目标区域图像的阈值参数。
  14. 根据权利要求13所述的控制设备，其特征在于，所述检测参数还包括所述目标区域的范围参数；
    所述执行所述视觉程序，利用检测参数对所述待采集图像区域中目标区域的图像进行处理包括:
    执行所述视觉程序，利用所述产品的身份标识通过所述存储器获取所述产品的模板图像；
    利用所述范围参数选取出所述待采集图像区域中目标区域的图像；
    利用所述阈值参数对所述目标区域的图像进行处理，以匹配所述产品的模板图像。
  15. 根据权利要求14所述的控制设备，其特征在于，
    所述利用所述阈值参数对所述目标区域的图像进行处理，以匹配所述产品的模板图像之前，包括：
    将所述待采集图像区域中标识信息的图像与所述标识信息的模板图像进行比较，以获取所述待采集图像区域的图像的拍摄角度；
    利用所述拍摄角度对所述目标区域图像进行几何校正；
    所述利用所述阈值参数对所述目标区域的图像进行处理，以匹配所述产品的模板图像包括：
    利用所述阈值参数对几何校正后的所述目标区域的图像进行处理，以匹配所述产品的模板图像。
  16. 根据权利要求12所述的控制设备，其特征在于，所述控制设备接收流水线产品到位的触发信号之前，所述标识信息通过显示装置被预先设置。
  17. 根据权利要求12所述的控制设备，其特征在于，所述标识信息是标识码和/或指示灯显示信息。
  18. 根据权利要求12至17任意一项所述的控制设备，其特征在于，所述标识信息设置于所述待采集图像区域中边缘20%的子区域。
  19. 根据权利要求11所述的控制设备，其特征在于，所述控制设备进一步包括：存储器，所述存储器耦接所述处理器；
    所述处理器工作时，通过所述存储器从预先保存的标识信息队列中获取所述产品的标识信息，识别所述标识信息以通过所述存储器获取对应的视觉程序，并执行所述视觉程序以处理所述待采集图像区域的图像；
    其中，所述标识信息至少包括所述待采集图像区域中的所述产品的身份标识和对应的视觉程序索引。
  20. 一种具有存储功能的装置，其特征在于，存储有程序数据，所述程序数据能够被执行以实现如权利要求1至10任一项所述的方法。
  21. 一种工业流程的视觉检测系统，其特征在于，包括相互连接的拍摄设备和控制设备，所述控制设备是如权利要求11至19任一项所述的控制设备。
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