Intelligent industrial high-precision mobile visual inspection robot

Abstract

The invention discloses an intelligent industrial high-precision mobile visual inspection robot, and belongs to the technical field of inspection robots, the intelligent industrial high-precision mobile visual inspection robot comprises a fixed seat, an electric sliding rail is fixedly mounted on the periphery of the fixed seat, an annular sliding block is mounted in the electric sliding rail, a mechanical arm is mounted on the annular sliding block, and a mounting seat is fixedly mounted on the mechanical arm; a driving motor for driving is embedded in the mounting seat, a rotating block is arranged at the output end of the driving motor, wiping cotton is mounted on the rotating block, an image acquisition module is arranged on the lower side of the mounting seat, a data processing module is mounted on the fixed seat, a control module is further mounted on the fixed seat, and the control module is used for controlling the mechanical arm and the driving motor. According to the device, the wiping cotton and the image acquisition module are matched with the data processing module, so that whether stains exist on workpieces or not can be judged, whether the stains are stuck in the carrying process or not can be judged, whether the stains are embedded in the workpieces or not during machining or not can be judged, and the workpieces can be effectively screened.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and more specifically, to a high-precision mobile vision inspection robot for intelligent industrial applications. Background Technology

[0002] A visual inspection robot is an automated system that integrates computer vision systems and robotics to automatically perform visual inspection tasks. It combines the flexibility and accuracy of robots with the image analysis capabilities of computer vision and makes corresponding judgments and operations based on the inspection results.

[0003] Traditional vision inspection robots often struggle to determine whether stains on workpieces were left behind during transport or fell into the mold during processing. This leads to misjudgments. Therefore, this invention provides an intelligent, high-precision mobile vision inspection robot to address these issues. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of this invention is to provide an intelligent industrial high-precision mobile vision inspection robot.

[0005] To solve the above problems, the present invention adopts the following technical solution.

[0006] A high-precision mobile vision inspection robot for intelligent industrial use includes a fixed base, an electric slide rail fixedly installed on the periphery of the fixed base, an annular slider slidably installed inside the electric slide rail, a robotic arm installed on the upper end of the annular slider, and a mounting base fixedly installed on the end of the robotic arm away from the annular slider. The mounting base is equipped with a drive motor for driving, and a rotating block is provided at the output end of the drive motor. A wiping cotton for wiping the workpiece is installed on the side of the rotating block away from the drive motor. An image acquisition module is provided on the lower side of the mounting base. A data processing module is installed on the fixed base. The image acquisition module transmits the acquired image information to the data processing module, and the data processing module compares the data acquired by the image acquisition module with the data in the database. The fixed base is also equipped with a control module, which is used to control the robotic arm and the drive motor.

[0007] Furthermore, the rotating block has a hollow internal structure, and both the rotating block and the wiping cotton have multiple water outlets. An electronic valve is installed inside the water outlet on the rotating block, and the electronic valve is controlled by the control module to open and close.

[0008] Furthermore, a fixing frame is fixedly installed at one end of the mounting base near the rotating block. The fixing frame is rotatably connected to the rotating block, and a water channel is opened inside the fixing frame on the side near the rotating block. Multiple water inlets communicating with the water channel are opened on the outer wall of the rotating block.

[0009] Furthermore, a water inlet pipe for introducing cleaning agent is provided through the fixing frame. The water inlet pipe is connected to an external water supply device, and the working time of the external water supply device is controlled by a control module.

[0010] Furthermore, a sleeve rod is fixedly installed at one end of the rotating block near the drive motor, and a fixed rod is slidably installed inside the sleeve rod. A pressure sensor is embedded at the end of the sleeve rod away from the fixed rod, and a pressure spring is fixedly installed at the end of the pressure sensor near the fixed rod. The end of the fixed rod away from the sleeve rod is fixedly connected to the output end of the drive motor.

[0011] Furthermore, a convolutional neural network model is trained within the data processing module to find workpieces with the same shape as those acquired by the image acquisition module.

[0012] Furthermore, the data processing module compares the image information acquired by the image acquisition module with the workpiece graphic information and material information found by the convolutional neural network model, finds the corresponding workpiece information in the database, and determines whether there is a difference between the workpiece surface information acquired by the image acquisition module and the corresponding workpiece surface in the database.

[0013] Furthermore, a semantic segmentation model is trained within the data processing module to determine the area of ​​stains on the workpiece surface. Based on the stain area information, the spray volume of cleaning agent is controlled. The data processing module controls the opening time of the electronic valve and the control module controls the delivery time of the cleaning agent by the water supply equipment using the following formulas: ; Where T represents the time the control module needs to control the water supply equipment to deliver cleaning agent and the time the electronic valve opens, Area1 represents the detected stain area on the workpiece, Area0 represents the stain area per unit square centimeter, and T0 represents the time required to provide cleaning agent to clean each unit square centimeter of stain area.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention can determine whether there are stains on the workpiece by setting up a wiping cotton and an image acquisition module in conjunction with a data processing module, and can determine whether the stains are stains that were stuck on during the handling process, and can determine whether the stains were embedded in the workpiece during processing, thus effectively screening the workpiece.

[0015] (2) The present invention can reasonably add cleaning agent to the surface of the workpiece according to the area of ​​the stain by setting the image acquisition module and the data processing module, so as to ensure that an appropriate amount of cleaning agent is sprayed onto the surface of the workpiece to help clean the stains on the workpiece without wasting the cleaning agent.

[0016] (3) The present invention, by setting a pressure sensor in conjunction with a data processing module and an image acquisition module, can ensure that the pressure of the wiping cotton on the surface of the workpiece is in a reasonable state, avoiding excessive pressure that could damage the workpiece, and also avoiding insufficient pressure that could make it difficult to wipe the stains clean. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the fixing frame of the present invention; Figure 3 This is a schematic diagram of the internal structure of the rotating block of the present invention; Figure 4 This is a schematic diagram of the internal structure of the sleeve rod of the present invention; Figure 5 This is a frame diagram of the image acquisition module to the drive motor and electric slide rail of the present invention; Figure 6 This is a partial framework diagram of the image acquisition module, control module, and water supply equipment of the present invention; Figure 7 This is a frame diagram of the pressure sensor and robotic arm components of the present invention; Figure 8 This is a flowchart of the present invention.

[0018] Explanation of the labels in the diagram: 1. Fixed base; 101. Electric slide rail; 102. Circular slider; 103. Robotic arm; 104. Mounting base; 105. Image acquisition module; 106. Data processing module; 107. Control module; 2. Drive motor; 201. Sleeve rod; 202. Fixing rod; 203. Pressure sensor; 204. Pressure spring; 3. Rotating block; 301. Wiping cotton; 302. Water outlet; 303. Electronic valve; 304. Water inlet; 4. Fixture; 401. Water channel; 402. Water inlet pipe. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1 to 8 The intelligent industrial high-precision mobile vision inspection robot includes a fixed base 1, an electric slide rail 101 fixedly installed on the periphery of the fixed base 1, an annular slider 102 slidably installed inside the electric slide rail 101, the electric slide rail 101 can control the rotation of the annular slider 102 on the electric slide rail 101, a robotic arm 103 is installed on the upper end of the annular slider 102, a mounting base 104 is fixedly installed on the end of the robotic arm 103 away from the annular slider 102, and an image acquisition module 105 is provided on the lower side of the mounting base 104; A data processing module 106 is installed on the fixed base 1. The image acquisition module 105 transmits the acquired image information to the data processing module 106. The data processing module 106 compares the data acquired by the image acquisition module 105 with the data in the database.

[0021] A control module 107 is also installed on the fixed base 1. The mounting base 104 is embedded with a drive motor 2 for driving. The control module 107 is used to control the robotic arm 103 and the drive motor 2. The output end of the drive motor 2 is provided with a rotating block 3. A wiping cotton 301 for wiping the workpiece is installed on the side of the rotating block 3 away from the drive motor 2. A sleeve rod 201 is fixedly installed on the end of the rotating block 3 close to the drive motor 2. A fixed rod 202 is slidably installed inside the sleeve rod 201. The fixed rod 202 can only move relative to the sleeve rod 201 and cannot rotate relative to the sleeve rod 201.

[0022] By adopting the above technical solution, the drive motor 2 can drive the fixed rod 202 to rotate under the control of the control module 107, thereby driving the sleeve rod 201 to rotate. When the sleeve rod 201 rotates, it can drive the rotating block 3 to rotate. When the rotating block 3 rotates, it can drive the wiping cotton 301 outside it to rotate. After the wiping cotton 301 rotates, it can wipe the stains on the surface of the workpiece.

[0023] The rotating block 3 has a hollow internal structure, and both the rotating block 3 and the wiping cotton 301 have multiple water outlets 302. An electronic valve 303 is installed inside the water outlet 302 on the rotating block 3. The electronic valve 303 is controlled to open and close by the control module 107. A fixing frame 4 is fixedly installed on one end of the mounting base 104 near the rotating block 3. The fixing frame 4 is rotatably connected to the rotating block 3. A water channel 401 is opened inside the side of the fixing frame 4 near the rotating block 3. Multiple water inlets 304 communicating with the water channel 401 are opened on the outer wall of the rotating block 3. A water inlet pipe 402 for introducing cleaning agent is passed through the fixing frame 4. The water inlet pipe 402 is connected to an external water supply device. The working time of the external water supply device is controlled by the control module 107.

[0024] By adopting the above technical solution, the control module 107 can control the water supply equipment to inject cleaning agent into the water tank 401 through the water inlet pipe 402. At the same time, the control module 107 controls the electronic valve 303 to open, and the cleaning agent can enter the hollow rotating block 3 through the water inlet 304, and then be sprayed out through the water outlet 302.

[0025] The workpiece image information, thickness parameters, and material of the workpiece that meet the standards are input into the data processing module 106. A convolutional neural network model is trained in the data processing module 106. The convolutional neural network model finds workpieces with the same shape as the workpieces acquired by the image acquisition module 105. At the same time, the model is trained by adding feature extraction to the convolutional neural network model to determine the material of the workpiece. The data processing module 106 compares the image information acquired by the image acquisition module 105 with the workpiece graphic information and material information found by the convolutional neural network model to find the corresponding workpiece information in the database and determines whether there is a difference between the workpiece surface information acquired by the image acquisition module 105 and the corresponding workpiece surface in the database. By adopting the above technical solution, when there are differences on the surface, the control module 107 controls the robotic arm 103 to move and align the wiping cotton 301 with the stain position, thereby using the wiping cotton 301 to wipe the stain position.

[0026] A semantic segmentation model is trained in the data processing module 106 to determine the area of ​​stains on the workpiece surface. Based on the stain area information, the amount of cleaning agent sprayed is controlled. The data processing module 106 controls the opening time of the electronic valve 303 and the control module 107 controls the time for the water supply equipment to deliver the cleaning agent using the following formula: ; Where T represents the time that the control module 107 needs to control to deliver cleaning agent to the water supply equipment and the opening time of the electronic valve 303, Area1 represents the detected stain area on the workpiece, Area0 represents the stain area per unit square centimeter, and T0 represents the time required to provide cleaning agent to clean each unit square centimeter of stain area.

[0027] A pressure sensor 203 is embedded in the end of the sleeve rod 201 away from the fixed rod 202. A pressure spring 204 is fixedly installed at the end of the pressure sensor 203 near the fixed rod 202. The end of the fixed rod 202 away from the sleeve rod 201 is fixedly connected to the output end of the drive motor 2.

[0028] By adopting the above technical solution, the pressure sensor 203 can detect the pressure between the wiping cotton 301 and the workpiece. When the workpiece material acquired by the image acquisition module 105 is different, the pressure between the wiping cotton 301 and the workpiece will change accordingly. Furthermore, the pressure can be reasonably adjusted according to the input workpiece thickness information to avoid excessive pressure causing damage to the workpiece. When the workpiece can withstand greater pressure, the pressure between the wiping cotton 301 and the workpiece can be increased, making cleaning faster and cleaner. After wiping and cleaning the surface of the workpiece, the image acquisition module 105 acquires an image of the workpiece surface again, and the data processing module 106 determines whether the stain area has decreased. If the stain area decreases, it means that the stain was stuck to the workpiece during subsequent handling. Conversely, if the stain area increases, it means that the stain was stuck to the workpiece and integrated with the workpiece during the processing.

[0029] The above are merely preferred embodiments of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concept, should be covered within the scope of protection of the present invention.

Claims

1. A high-precision mobile vision inspection robot for intelligent industrial applications, comprising a fixed base (1), characterized in that: An electric slide rail (101) is fixedly installed on the periphery of the fixed base (1), and an annular slider (102) is slidably installed inside the electric slide rail (101). A robotic arm (103) is installed on the upper end of the annular slider (102), and a mounting base (104) is fixedly installed on the end of the robotic arm (103) away from the annular slider (102). The mounting base (104) is internally equipped with a drive motor (2) for driving, and a rotating block (3) is provided at the output end of the drive motor (2). A wiping cotton (301) for wiping the workpiece is installed on the side of the rotating block (3) away from the drive motor (2). An image acquisition module (105) is provided on the lower side of the mounting base (104). A data processing module (106) is installed on the fixed base (1). The image acquisition module (105) transmits the acquired image information to the data processing module (106). The data processing module (106) compares the data acquired by the image acquisition module (105) with the data in the database. The fixed base (1) is also equipped with a control module (107), which is used to control the robotic arm (103) and the drive motor (2).

2. The intelligent industrial high-precision mobile vision inspection robot according to claim 1, characterized in that: The rotating block (3) has a hollow structure inside, and multiple water outlets (302) are provided on both the rotating block (3) and the wiping cotton (301). An electronic valve (303) is installed inside the water outlet (302) on the rotating block (3), and the electronic valve (303) is controlled to open and close by the control module (107).

3. The intelligent industrial high-precision mobile vision inspection robot according to claim 2, characterized in that: The mounting base (104) is fixedly mounted with a fixing frame (4) at one end near the rotating block (3). The fixing frame (4) is rotatably connected to the rotating block (3), and a water channel (401) is opened inside the fixing frame (4) on the side near the rotating block (3). Multiple water inlets (304) communicating with the water channel (401) are opened on the outer wall of the rotating block (3).

4. The intelligent industrial high-precision mobile vision inspection robot according to claim 3, characterized in that: The fixing frame (4) is provided with a water inlet pipe (402) for introducing cleaning agent. The water inlet pipe (402) is connected to an external water supply device, and the working time of the external water supply device is controlled by the control module (107).

5. The intelligent industrial high-precision mobile vision inspection robot according to claim 4, characterized in that: A sleeve rod (201) is fixedly installed at one end of the rotating block (3) near the drive motor (2). A fixed rod (202) is slidably installed inside the sleeve rod (201). A pressure sensor (203) is embedded at one end of the sleeve rod (201) away from the fixed rod (202). A pressure spring (204) is fixedly installed at one end of the pressure sensor (203) near the fixed rod (202). The end of the fixed rod (202) away from the sleeve rod (201) is fixedly connected to the output end of the drive motor (2).

6. The intelligent industrial high-precision mobile vision inspection robot according to claim 5, characterized in that: A convolutional neural network model is trained in the data processing module (106) to find a workpiece with the same shape as the workpiece acquired by the image acquisition module (105).

7. The intelligent industrial high-precision mobile vision inspection robot according to claim 6, characterized in that: The data processing module (106) compares the image information acquired by the image acquisition module (105) with the workpiece graphic information and material information found by the convolutional neural network model, finds the corresponding workpiece information in the database, and determines whether there is a difference between the workpiece surface information acquired by the image acquisition module (105) and the corresponding workpiece surface in the database.

8. The intelligent industrial high-precision mobile vision inspection robot according to claim 7, characterized in that: A semantic segmentation model is trained in the data processing module (106) to determine the area of ​​stains on the workpiece surface. The amount of cleaning agent sprayed is controlled based on the stain area information. The data processing module (106) controls the opening time of the electronic valve (303) and the control module (107) controls the time of the water supply equipment to deliver the cleaning agent through the following formula: ； Where T represents the time that the control module (107) needs to control to deliver cleaning agent to the water supply equipment and the time that the electronic valve (303) opens, Area1 represents the area of ​​stains detected on the workpiece, Area0 represents the area of ​​stains per unit square centimeter, and T0 represents the time required to provide cleaning agent to clean each unit square centimeter of stain area.

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