A machine vision-based material detection device and method

Abstract

The application discloses a kind of based on machine vision's material detection device, for detecting the position of material, comprising: first pressure sensing module, first pressure sensing module is placed material to sense the pressure of material and output first signal;Visual detection module, be located above first pressure sensing module, for shooting material and output second signal;Control device, with first pressure sensing module and visual detection module connection, control device is used to receive first signal and second signal, and according to received first signal and second signal determine the actual position of material.The application can accurately determine the position of material, improve detection accuracy.The application also provides based on machine vision's material detection method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine vision, in particular to a material detection device and method based on machine vision. BACKGROUND

[0002] Flexible circuit board is a kind of highly reliable and excellent flexible printed circuit board made of polyimide or polyester film as base material. It is called soft board or FPC. During the production of flexible circuit board, various fine operations such as etching, electroplating, hole opening, etc. are needed. In this operation process, the visual position detection device is particularly important. Visual detection is to replace the human eye with a machine to measure and judge, so that the fine operation in the production process can be automatically carried out.

[0003] At present, the machine vision position detection device used in the production of flexible circuit board generally uses a visual camera for detection during the detection process, and calculates the position of the detection piece through a logical algorithm. However, this position detection device relies solely on the detection result of the visual camera, and the detection precision is poor, which can easily cause damage to the entire flexible circuit board. SUMMARY

[0004] In view of the above shortcomings of the prior art, the technical problem to be solved by the present application is to provide a material detection device and method based on machine vision.

[0005] To achieve the above-mentioned purpose, the present application provides a material detection device based on machine vision for detecting the position of the material, comprising:

[0006] A first pressure sensing module, the material is placed on the first pressure sensing module to sense the pressure of the material and output a first signal;

[0007] A visual detection module is arranged above the first pressure sensing module, which is used for shooting the material and outputting a second signal;

[0008] A control device connected with the first pressure sensing module and the visual detection module, the control device is used for receiving the first signal and the second signal, and determining the actual position of the material according to the received first signal and second signal.

[0009] According to another specific embodiment of the present application, it further comprises a first distance measuring device arranged above the first pressure sensing module and connected with the control device, the first distance measuring device is used for detecting the height of the material and outputting a third signal to the control device.

[0010] According to another specific embodiment of the present application, it further comprises a telescopic mechanism arranged on one side of the first pressure sensing module and connected with the control device, the telescopic mechanism is used for contacting with the material during the detection process to detect the length of the telescopic mechanism and output a fourth signal to the control device.

[0011] According to another specific embodiment of the present invention, the telescopic mechanism includes:

[0012] The first drive unit is connected to the control unit;

[0013] The second pressure sensing module is connected to the control device and is located at the drive end of the first drive device.

[0014] The second ranging device is connected to the control device and is located at the driving end of the first driving device. The second ranging device is used to measure the length of the extension of the driving end and output a fourth signal to the control device.

[0015] A sliding device is connected to the fixed end of the first driving device and is used to rotate and slide the first driving device.

[0016] According to another specific embodiment of the present invention, the sliding device includes:

[0017] A first slide groove is provided, extending along a first direction;

[0018] The first slider is slidably connected to the first slide groove, and the fixed end of the first driving device is rotatably connected to the first slider.

[0019] The second drive unit is connected to the control unit and the first slider.

[0020] According to another specific embodiment of the present invention, the visual detection module includes:

[0021] Fixture;

[0022] A lifting device is located below the fixed device and connected to the control device;

[0023] The camera device is located below the lifting device. The camera device is equipped with an image acquisition unit and a mounting part for connecting the image acquisition unit and the lifting device.

[0024] According to another specific embodiment of the present invention, the external shape of the mounting part is cuboid.

[0025] According to another specific embodiment of the present invention, a tilt angle detection device is also included, which is disposed at one end of the mounting part and connected to the control device, for detecting whether the mounting part is tilted and outputting a fifth signal to the control device.

[0026] According to another specific embodiment of the present invention, the first ranging device is disposed at the other end of the mounting portion.

[0027] According to another specific embodiment of the present invention, the fixing device includes:

[0028] roof;

[0029] The second chute is fixed below the top plate;

[0030] The second slider is slidably connected to the second slide groove, and the second slider is also connected to the lifting device;

[0031] The third driving device is connected to the control device and the second slider, and is used to drive the second slider to slide along the second slide groove.

[0032] According to another specific embodiment of the present invention, the second groove is an annular groove.

[0033] According to another specific embodiment of the present invention, the lifting device includes at least two drive components, and the drive end of the drive component is connected to the mounting part.

[0034] According to another specific embodiment of the present invention, the first pressure sensing module includes a plurality of pressure sensors.

[0035] According to another specific embodiment of the present invention, the first ranging device is an infrared ranging sensor.

[0036] According to another specific embodiment of the present invention, it further includes a detection box, a first pressure sensing module is disposed at the bottom of the detection box, and a vision detection module is disposed at the top of the detection box; the detection box is provided with an inlet and an outlet, and the inlet and / or outlet is provided with a displacement detection device, the displacement detection device being connected to a control device for detecting whether material enters or exits the detection box.

[0037] According to another specific embodiment of the present invention, the lower part of the testing box is provided with a support base.

[0038] According to another specific embodiment of the present invention, a display device is also included, disposed outside the detection box and connected to the control device, for displaying the detection results.

[0039] The present invention also provides a detection method for detecting the position of materials using the above-mentioned machine vision-based material detection device, comprising the following steps:

[0040] The material to be tested is placed on the first pressure sensing module, and the position of the material in the area where the first pressure sensing module is located is marked.

[0041] The first data of the material is obtained by using a vision inspection module to photograph the material.

[0042] The height of the material is measured using the first ranging device to obtain the second data of the material.

[0043] Based on the position of the material marked on the first pressure sensing module, the telescopic mechanism is driven to move to the initial position. After the telescopic mechanism extends, it contacts the material, and the third data of the material is obtained by measuring the length of the telescopic mechanism's extension.

[0044] The first, second, and third data are compared with the positions marked on the first pressure sensing module to determine the actual position of the material.

[0045] According to the material detection device and method based on machine vision provided by the present invention, the position of the material in the area is marked by the first pressure sensing module and the bottom size of the material is obtained. The material is photographed by the vision detection module and the three-dimensional data of the material is obtained. The image algorithm built into the control device is used to identify, analyze and calculate the acquired image to obtain the bottom area and height of the material. The bottom area obtained by the vision detection module is compared with the bottom size measured by the first pressure sensing module to accurately obtain the position data of the material and improve the detection accuracy. Attached Figure Description

[0046] Figure 1 A schematic diagram of the structure of a machine vision-based material detection device provided in an embodiment of the present invention is shown.

[0047] Figure 2 This diagram illustrates the structure of a visual inspection module according to an embodiment of the present invention.

[0048] Figure 3 A partial structural schematic diagram of a telescopic mechanism provided in an embodiment of the present invention is shown.

[0049] Figure label:

[0050] 10. First pressure sensing module; 11. Pressure sensing block; 20. Vision inspection module; 21. Top plate; 22. Second slide rail; 23. Second slider; 24. Lifting device; 241. Fixed part; 242. Telescopic part; 25. Camera device; 251. Mounting part; 252. Tilt angle detection device; 30. First ranging device; 40. Telescopic mechanism; 41. Fixed end of first driving device; 42. Driving end of first driving device; 43. Second pressure sensor. 44. Sensing module, 45. Second ranging device, 46. Mounting component, 47. Sliding device, 48. First sliding groove, 49. First slider, 40. Rotating block, 410. Drive shaft, 52. Control device, 103. Detection box, 104. Support base, 105. Box door, 106. Conveying equipment, 107. Support frame, 108. Displacement detection device, 109. Display device, 1000. Connecting rod, 1011. Feed inlet, 1012. Discharge outlet. Detailed Implementation

[0051] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0052] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0053] In the description of this embodiment, it should be noted that the terms "top", "low", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0054] The terms “first,” “second,” “third,” “fourth,” etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0055] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0057] The applicant discovered that in existing visual inspection devices, if a minor fault occurs in the machine vision or a problem arises in the logic algorithm, the positional accuracy of the entire visual inspection will deviate significantly, which will lead to damage to the entire flexible circuit board.

[0058] This invention provides a machine vision-based material detection device for detecting the position of materials. For example... Figure 1 As shown, Figure 1 This is a schematic diagram of a machine vision-based material detection device according to an embodiment of the present invention. In this embodiment, the machine vision-based material detection device includes:

[0059] The first pressure sensing module 10 is used to place the material to be detected to sense the pressure of the material and output a first signal.

[0060] The visual inspection module 20 is located above the first pressure sensing module 10 and is used to photograph the material and output a second signal.

[0061] The control device 50 is connected to the first pressure sensing module 10 and the vision detection module 20. The control device 50 is used to receive the first signal and the second signal, and to determine the actual position of the material based on the received first signal and the second signal.

[0062] As used herein, the term “position” refers to the position (X, Y physical coordinates) of the material relative to the first pressure sensing module.

[0063] As used herein, the term "angle" refers to the placement angle of the material relative to the first pressure sensing module. The placement angle refers to the angle at which the material is placed on the first pressure sensing module. The visual inspection module captures an image of the first pressure sensing module, using the angle of one side or the entire first pressure sensing module as a reference angle. Then, the angle of the material to be detected is captured. The angle of the material in the image coordinate system is obtained by subtracting the reference angle from the measured angle of the material. Specifically, the angle refers to the angle on the horizontal plane. The angle of the first pressure sensing module is consistent in both the image and physical coordinate systems. The first pressure sensing module has an angle in the actual coordinate system, which is defined by two sides of the first sensing module (one side in the length direction and one side in the width direction). This is called the simulated coordinate system, and the angle of the material refers to the relative angle in the simulated coordinate system.

[0064] Using the above technical solution, during the detection process, when the material is placed on the first pressure sensing module 10, the first pressure sensing module 10 senses the pressure change under the pressure of the material and sends a first signal of the pressure change to the control device 50. The control device 50 obtains a pixel map of the material's location based on the received first signal, thus determining the material's position and bottom size. The vision inspection module 20 captures an image of the material and sends the image to the control device 50 as a second signal. The control device 50 uses a built-in image algorithm to recognize, analyze, and calculate the captured image, obtaining the material's bottom area and height data, thus determining the material's bottom area. By comparing the bottom area obtained by the vision inspection module 20 with the pixel map of the material's location obtained by the first pressure sensing module 10, the actual location of the material can be accurately determined, avoiding the problem of detection accuracy deviation caused by vision inspection module malfunctions or algorithm errors during detection.

[0065] Optionally, the vision inspection module 20 includes a 3D camera device with an infrared ranging sensor, capable of detecting the area and height of the material, thereby obtaining three-dimensional spatial data of the material. Additionally, the vision inspection module 20 can also detect the angle of the material.

[0066] Furthermore, the first pressure sensing module 10 includes a plurality of pressure sensors to sense the pressure of the material. Optionally, such as Figure 1 As shown, the pressure sensor is a 0.5cm pressure sensing block 11.

[0067] Optionally, the control device 50 can be a microcontroller or a PLC controller.

[0068] Furthermore, the machine vision-based material inspection device also includes an inspection box 101, which optionally has a box-like shape. A first pressure sensing module 10 is located at the bottom of the inspection box 101, and a vision inspection module 20 is located at the top of the inspection box 101. Placing each device inside the inspection box 101 provides dust and light protection, and prevents external interference during the inspection process, thereby improving inspection accuracy.

[0069] Specifically, the detection box 101 is provided with an inlet 1011 and an outlet 1012. The inlet 1011 and / or the outlet 1012 are equipped with displacement detection devices, which are connected to the control device and used to detect whether material is entering or leaving the detection box 101. By adopting the above technical solution, it is convenient to determine whether material is entering or leaving the detection box 101.

[0070] Furthermore, in this embodiment, the machine vision-based material detection device also includes a first ranging device 30, which is disposed above the first pressure sensing module 10 and connected to the control device 50. The first ranging device 30 is used to detect the height of the material and output a third signal to the control device 50.

[0071] Optionally, the first ranging device 30 is an infrared ranging sensor.

[0072] Specifically, the height of the material can be obtained by detecting its spatial coordinates (X, Y, Z) using the first ranging device 30. A height change is determined by the vision inspection module 20. The vision inspection module 20 takes a picture of the material and uses an internal logic algorithm to obtain the material's spatial coordinates (X, Y, Z), thereby obtaining the material's height and bottom size data. The first ranging device 30 detects the material's height and sends this height as a third signal to the control device 50. The control device 50 compares the received material height signal with the height information in the three-dimensional data of the material obtained by the vision inspection module 20 to determine the height detection accuracy of the vision inspection module 20.

[0073] Furthermore, the machine vision-based material detection device also includes a telescopic mechanism 40, which is located on one side of the first pressure sensing module 10 and connected to the control device 50. The telescopic mechanism 40 is used to contact the material during the detection process to detect the length of the telescopic mechanism 40 extending and output a third signal to the control device 50.

[0074] Specifically, the telescopic mechanism 40 is located on one side of the material. After the first pressure sensing module 10 and the vision detection module 20 obtain the position and angle of the material, the control device 50 controls the telescopic mechanism 40 to step to one side of the material, and from that side, it steps one pressure sensing block 11 distance at a time until it reaches the other side of the material. The length of the material can be measured by the number of steps, and the extension length of the telescopic mechanism 40 can be obtained when the telescopic mechanism 40 is in the extended state. Based on the measured length of the material and the extension length of the telescopic mechanism 40, as well as the size of a single pixel of the first pressure sensing module 10, the number of pixels on that side can be obtained. The number of pixels along the straight line of the material edge is obtained through a vision algorithm to obtain the total number of pixels. By subtracting the number of pixels on that side from the total number of pixels, the actual number of pixels occupied by the material can be obtained, that is, the size of the bottom of the material.

[0075] By adopting the above technical solution, after obtaining the size of the bottom of the material through the telescopic mechanism 40, it is compared with the pixel map of the material's location obtained through the first pressure sensing module 10, which can further improve the detection accuracy.

[0076] Furthermore, such as Figure 2 As shown,Figure 2 This is a partial structural schematic diagram of a telescopic mechanism 40 provided in an embodiment of the present invention. In this embodiment, the telescopic mechanism 40 includes:

[0077] The first drive unit is connected to the control unit 50;

[0078] The second pressure sensing module 43 is connected to the control device 50 and is located at the drive end 42 of the first drive device.

[0079] The second ranging device 44 is connected to the control device 50 and is located at the driving end 42 of the first driving device. The second ranging device 44 is used to measure the length of the extension of the driving end 42 and output a fourth signal to the control device 50.

[0080] The sliding device 46 is connected to the fixed end of the first driving device and is used to rotate and slide the first driving device.

[0081] In this embodiment, before the telescopic mechanism 40 is activated, it is located on one side of the first sensing module 10, for example, at one of the four corners of the detection box 101. After the visual detection module 20 captures an image of the material and obtains its position and angle, the control device 50 controls the sliding device 46 to drive the first driving device to its initial position, which is the position and angle of the material obtained by the visual detection module 20. More specifically, the control device 50 controls the driving end 42 of the first driving device to extend. When the second pressure sensing module 43 contacts one side of the material, the second pressure sensing module 43 sends a pressure signal to the control device 50. After receiving the pressure signal, the control device 50 controls the second ranging device 44 to measure the distance the driving end 42 extends and outputs a fourth signal to the control device 50. The control device 50 can obtain the length of one side of the material through the fourth signal. After obtaining the length of one side of the material, the size of the bottom of the material can be obtained from this length and compared with the pixel image of the material's location obtained by the first pressure sensing module 10 to further improve the detection accuracy.

[0082] Specifically, the second pressure sensing module 43 is disposed at the top end of the drive end 42 of the first drive device. Optionally, the second pressure sensing module 43 is a thin-film pressure sensor or a force-type pressure sensor. It is worth noting that the present invention does not limit the fixing method of the second pressure sensing module 43; it can be attached to the drive end 42 by means of adhesive, for example.

[0083] The second ranging device 44 is fixed to one end face of the drive end 42 by mounting parts 45 provided on both sides thereon.

[0084] Optionally, the first driving device is a cylinder or an electric actuator. In this embodiment, both the cylinder body and the telescopic rod of the first driving device are rectangular cylindrical to facilitate the installation and fixation of the second pressure sensing module 43 and the second ranging device 44.

[0085] Optionally, the telescopic mechanism 40 is further equipped with a suction cup connected to the first driving device. More preferably, the suction cup is a rotatable suction cup. Specifically, the telescopic mechanism 40 corrects its deviation based on the real-time angle of the material detected by the vision detection module 20. If the angle of the material deviates, the first driving device lowers to pick up the material, thereby rotating the angle of the material to the correct angle.

[0086] Furthermore, the sliding device 46 includes a first sliding groove 461, a first slider 462, and a second driving device. The first sliding groove 461 is along a first direction (e.g., ...). Figure 1 Extending in the X direction, the first slider 462 is disposed within the first slide groove 461 and can reciprocate along the first slide groove 461. The driving end of the second driving device is connected to the first slider 462 and the control device 50 to realize the automatic movement of the first slider 462 within the first slide groove 461. Optionally, a rotating block 463 and a driving shaft 464 are provided on the side of the first slider 462 facing the material. The driving shaft 464 is a shaft driven to rotate by a drive motor or motor. Optionally, two rotating blocks 463 are provided, respectively disposed on both sides of the first driving device along the first direction. The fixed end 41 of the first driving device is rotatably connected to the rotating block 463 through the driving shaft 464, thereby enabling the first driving device to rotate around the end of its fixed end 41, thus allowing adjustment of the angle of the first driving device relative to the horizontal plane.

[0087] Optionally, the second driving device is a stepper motor, which controls the first slider 462 to step a certain distance along the first groove 461 in a first direction. More preferably, the stepping distance of the second driving device is the length of a pressure sensing block 11.

[0088] Specifically, after the first pressure sensing module 10 and the vision detection module 20 obtain the position of the material, the control device 50 controls the telescopic mechanism 40 to step to one side of the material, and from that side, it steps one pressure sensing block 11 distance at a time until it reaches the other side of the material. The length of the material can be measured by the number of steps, and at the same time, the extension length of the drive end 42 of the first driving device can be obtained each time the telescopic mechanism 40 is in the extended state. Based on the measured length of the material, the extension length of the drive end 42 of the first driving device, and the size of a single pixel of the first pressure sensing module 10, the number of pixels on that side can be obtained. By subtracting the number of pixels on that side from the total number of pixels, the actual number of pixels occupied by the material can be obtained, that is, the size of the bottom of the material.

[0089] Using the above technical solution, the control device 50 determines the position of the material to be detected based on the data measured by the first pressure sensing module 10, controls the second driving device to drive the first slider 462 to move to a designated position on one side of the material, and drives the driving shaft 464 to rotate the first driving device to a designated angle. The above movement process can be performed automatically, making the entire position data detection process more intelligent. Optionally, during the above movement process, to avoid the first driving device touching the material and affecting the detection results, the first driving device can first slide vertically on the first slide groove 461 to a designated position before rotating the first driving device to the designated angle.

[0090] Furthermore, such as Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of a vision detection module 20 provided in an embodiment of the present invention. The vision detection module 20 includes:

[0091] Fixture;

[0092] The lifting device 24 is located below the fixed device and connected to the control device 50;

[0093] The camera device 25 is located below the lifting device 24. The camera device 25 is equipped with an image acquisition unit and a mounting part 251 for connecting the image acquisition unit and the lifting device 24.

[0094] Using the above technical solution, the height of the camera device 25 can be adjusted by the lifting device 24. Specifically, the fixing device is fixed to the top of the detection box 101 to facilitate fixing the camera device 25 below for photographing the material.

[0095] Furthermore, the external shape of the mounting part 251 is cuboid.

[0096] Furthermore, the lifting device 24 includes at least two drive components, the drive ends of which are connected to the mounting portion 251.

[0097] Specifically, in this embodiment, the mounting portion 251 has upper and lower surfaces extending along a first direction. In order to maintain the balance at both ends of the mounting portion 251, the lifting device 24 includes two cylinder assemblies arranged side by side along the first direction, and the drive ends of the two cylinder assemblies are connected to the upper surface of the mounting portion 251.

[0098] Specifically, the lifting device 24 includes a fixed part 241 and a telescopic part 242 connected to the fixed part 241. The fixed part 241 is fixedly connected to the fixed device, and the end of the telescopic part 242 is connected to the upper surface of the mounting part 251. The height of the camera device 25 is adjusted by controlling the extension length of the telescopic part 242. In addition, by adjusting the extension length of the two cylinders, the tilt angle of the mounting part 251 can also be adjusted, enabling material detection at different angles and achieving different detection effects.

[0099] Furthermore, in this embodiment, the machine vision-based material inspection device also includes a tilt detection device 252, which is located at one end of the mounting part 251 and connected to the control device 50, for detecting whether the mounting part 251 is tilted and outputting a fifth signal to the control device 50.

[0100] Specifically, the image acquisition unit of the camera device 25 is mounted at the middle position of the lower surface of the mounting part 251. A tilt angle detection device 252 is mounted on one side of the mounting part 251. The tilt angle detection device 252 is used to detect the tilt angle of the mounting part 251 of the camera device 25 to determine whether the mounting part 251 is in a horizontal or tilted state and to detect the tilt angle. When the mounting part 251 is in a horizontal state, it can be measured whether the material is placed horizontally.

[0101] Furthermore, in this embodiment, the fixing device includes:

[0102] Top plate 21;

[0103] The second slide 22 is fixed below the top plate 21;

[0104] The second slider 23 is slidably connected to the second slide groove 22, and the second slider 23 is also connected to the lifting device 24.

[0105] The third driving device is connected to the control device 50 and the second slider 23, and is used to drive the second slider 23 to slide along the second slide groove 22.

[0106] Optionally, the top plate 21 is rectangular and fixed to the top of the box 101. A second slide 22 is fixed below the top plate 21, and a second slider 23 is disposed within the second slide 22. The second slider 23 is connected to a third drive device and a lifting device 24. The third drive device drives the second slider 23 to reciprocate within the second slide 22, thereby causing the lifting device 24 and the camera device 25 to reciprocate along the direction of the second slide 22. This allows for material detection at different positions, improving detection accuracy.

[0107] It is worth noting that the shape of the second chute 22 is not limited in this invention and can be set according to actual needs. Optionally, in order to enable full-range material detection and allow the second slider 23 to slide smoothly within the second chute 22, in this embodiment, the second chute 22 is an annular groove.

[0108] Furthermore, a first ranging device 30 is installed on the other side of the mounting section 251.

[0109] Using this technical solution, the first ranging device 30 can move along with the camera device 25, achieving linkage detection with the camera device 25's shooting, thus improving detection efficiency.

[0110] It is worth noting that the first ranging device 30 can be connected to the visual inspection module 20 and set together above the first pressure sensing module 10, or it can be set independently above the first pressure sensing module 10. Optionally, in order to save costs and improve detection efficiency, the first ranging device 30 can be connected to the visual inspection module 20 to achieve linkage detection.

[0111] Furthermore, the lower part of the testing box 101 is provided with a support base 102.

[0112] Optionally, the support base 102 and the detection box 101 located above it can be integrally formed or separately formed. The support base 102 has a box structure and is equipped with a box door 103. The support base 102 serves to provide support and storage.

[0113] Specifically, material conveying devices 104 are provided on both sides of the testing box 101, respectively located outside the testing box 101 and connected to the first pressure sensing module 10. During testing, the material conveyed by one side of the material conveying device 104 is placed onto the first pressure sensing module 10 inside the testing box 101 by a clamping mechanism. After testing, the material is then placed onto the other side of the material conveying device 104 by the clamping mechanism for delivery to the next process. A support frame 105 is provided below the material conveying device 104, and the support frame 105 is connected to the support base 102 to support the material conveying device 104.

[0114] Furthermore, the machine vision-based material inspection device also includes a display device 107, which is set outside the inspection box 101 and connected to the control device 50 via a connecting rod 108, for displaying the inspection results for the user's convenience.

[0115] This invention also provides a machine vision-based material detection method, which uses the above-mentioned machine vision-based material detection device to detect the position of materials, including the following steps:

[0116] The material to be tested is placed on the first pressure sensing module 10, and the position of the material in the area where the first pressure sensing module 10 is located is marked.

[0117] The visual inspection module 20 is used to capture images of the material to obtain the first data of the material;

[0118] The height of the material is measured using the first ranging device 30 to obtain the second data of the material.

[0119] Based on the position of the material marked on the first pressure sensing module 10, the telescopic mechanism 40 is driven to move to the initial position. After the telescopic mechanism 40 extends, it contacts the material. The third data of the material is obtained by measuring the extension length of the telescopic mechanism 40.

[0120] The first, second, and third data are compared with the positions marked on the first pressure sensing module 10 to determine the actual position of the material.

[0121] According to the machine vision-based material detection device and method provided by the present invention, the position of the material within the area is marked by a first pressure sensing module, and the position or placement angle data of the material is collected by a vision detection module, a first ranging device, and a telescopic mechanism. The position and angle data measured by the vision detection module are compared with the position data marked on the first pressure sensing module; the height data measured by the first ranging device is compared with the height data obtained by the vision detection module; and the position data obtained by the telescopic mechanism by measuring the length of the material is compared with the position data obtained by the first pressure sensing module. Therefore, the position data obtained by the vision detection module can be accurately determined through multiple comparisons. Furthermore, the angle of the material can be corrected by a suction cup on the telescopic mechanism, thus avoiding the problem of detection accuracy deviation caused by malfunctions or algorithm errors in the vision detection module.

[0122] While the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the invention to these descriptions. Various changes in form and detail can be made by those skilled in the art, including several simple deductions or substitutions, without departing from the spirit and scope of the invention.

Claims

1. A machine vision-based material detection device for detecting the position of materials, characterized in that, include: A first pressure sensing module, on which the material is placed to sense the pressure of the material and output a first signal; A visual inspection module is located above the first pressure sensing module and is used to photograph the material and output a second signal; A control device, connected to the first pressure sensing module and the vision detection module, is used to receive the first signal and the second signal, and determine the actual position of the material based on the received first signal and the second signal; It also includes a first ranging device, which is disposed above the first pressure sensing module and connected to the control device. The first ranging device is used to detect the height of the material and output a third signal to the control device. It also includes a telescopic mechanism, which is located on one side of the first pressure sensing module and connected to the control device. The telescopic mechanism is used to contact the material during the detection process to detect the length of the telescopic mechanism extending and output a fourth signal to the control device. During testing, the material to be tested is placed on the first pressure sensing module, and the position of the material within the area of ​​the first pressure sensing module is marked. The material is photographed using a visual inspection module to obtain the first data of the material; The height of the material is measured using a first ranging device to obtain second data of the material; Based on the position of the material marked on the first pressure sensing module, the telescopic mechanism is driven to move to the initial position. After the telescopic mechanism extends, it contacts the material. The third data of the material is obtained by measuring the length of the extension of the telescopic mechanism. The first data, the second data, and the third data are compared with the positions marked on the first pressure sensing module to determine the actual position of the material; The telescopic mechanism is located on one side of the material. After the first pressure sensing module and the vision detection module obtain the position and angle of the material, the control device controls the telescopic mechanism to step to one side of the material and from that side, it steps forward one distance of the pressure sensing block of the first pressure sensing module each time until it steps to the other side of the material. The length of the material can be measured by the number of steps, and at the same time, the extension length of the telescopic mechanism can be obtained each time the telescopic mechanism is in the extended state.

2. The material detection device based on machine vision according to claim 1, characterized in that, The telescopic mechanism includes: A first driving device is connected to the control device; The second pressure sensing module is connected to the control device and is located at the drive end of the first drive device. The second ranging device is connected to the control device and is located at the driving end of the first driving device. The second ranging device is used to measure the length of the extension of the driving end and output the fourth signal to the control device. A sliding device is connected to the fixed end of the first driving device and is used to rotate and slide the first driving device.

3. The material detection device based on machine vision according to claim 2, characterized in that, The sliding device includes: A first slide groove is provided, which extends along a first direction; A first slider is slidably connected to the first slide groove, and the fixed end of the first driving device is rotatably connected to the first slider. The second driving device is connected to the control device and the first slider.

4. The material detection device based on machine vision according to claim 1, characterized in that, The visual detection module includes: Fixture; A lifting device is located below the fixed device and connected to the control device; A camera device is located below the lifting device. The camera device includes an image acquisition unit and a mounting part for connecting the image acquisition unit and the lifting device.

5. The machine vision-based material inspection device according to claim 4, characterized in that, The external shape of the mounting part is rectangular.

6. The material detection device based on machine vision according to claim 5, characterized in that, It also includes a tilt detection device, which is located at one end of the mounting part and connected to the control device, for detecting whether the mounting part is tilted and outputting a fifth signal to the control device.

7. The machine vision-based material detection device according to claim 6, characterized in that, The first ranging device is located at the other end of the mounting portion.

8. The material detection device based on machine vision according to claim 4, characterized in that, The fixing device includes: roof; The second slide is fixed below the top plate; The second slider is slidably connected to the second slide groove, and the second slider is also connected to the lifting device; A third driving device is connected to the control device and the second slider, and is used to drive the second slider to slide along the second groove.

9. The material detection device based on machine vision according to claim 8, characterized in that, The second groove is an annular groove.

10. The machine vision-based material detection device according to claim 4, characterized in that, The lifting device includes at least two drive components, and the drive end of the drive component is connected to the mounting part.

11. The material detection device based on machine vision according to claim 1, characterized in that, The first pressure sensing module includes several pressure sensors.

12. The material detection device based on machine vision according to claim 1, characterized in that, The first ranging device is an infrared ranging sensor.

13. The machine vision-based material inspection device according to any one of claims 1-12, characterized in that, It also includes a detection box, with the first pressure sensing module located at the bottom of the detection box and the vision detection module located at the top of the detection box; the detection box is provided with an inlet and an outlet, and the inlet and / or the outlet is provided with a displacement detection device, which is connected to the control device and is used to detect whether there is material entering or leaving the detection box.

14. The machine vision-based material detection device according to claim 13, characterized in that, The lower part of the testing box is equipped with a support base.

15. The machine vision-based material detection device according to claim 13, characterized in that, It also includes a display device, which is located outside the detection box and connected to the control device, for displaying the detection results.

16. A material inspection method based on machine vision, characterized in that, The position of the material is detected using the machine vision-based material detection device as described in any one of claims 1-15.

Images