A heat pipe marking recognition device and method based on machine vision

Abstract

The present invention provides a heat pipe marking and identification device and method based on machine vision, the device comprises a base plate, a visual recognition mechanism, a heat pipe lifting mechanism, a heat pipe conveying and clamping mechanism and a controller. The visual recognition mechanism comprises a visual processing module: a camera, a lens, a light source and a light source controller; the visual recognition mechanism, the heat pipe lifting mechanism and the heat pipe conveying and clamping mechanism are all installed on the base plate and connected to the controller; the visual recognition mechanism is installed vertically; the heat pipe lifting mechanism is installed between the visual recognition mechanism and the heat pipe conveying and clamping mechanism. The present invention has the advantages of simple principle, convenient use and strong adaptability.

Description

Technical Field

[0001] The present application relates to the field of heat pipe production and manufacturing, and specifically to a heat pipe marking and identification device and method based on machine vision. Background Art

[0002] Machine vision technology is an interdisciplinary subject involving many fields such as mechanics, optics, artificial intelligence, image processing, and computer science. Machine vision mainly uses computers to simulate human eyes, extract target information from objective things, and perform relevant processing; that is, machines are used to measure and judge instead of human eyes. Machine vision also applies computer vision to industrial automation.

[0003] Heat pipes are highly efficient heat-conducting components, mainly used in the electronics industry and many industrial fields. During the manufacturing process, the heat pipes are already sealed during the secondary degassing and flattening process, and the operator cannot judge the direction of the internal wick from the appearance. Therefore, marking is a process of adding marks after the heat pipe sintering process in order to identify the position and direction of the sintered wick inside the heat pipe. At the same time, when the operator is performing the secondary degassing and flattening process, the operator needs to observe the marking position to perform related operations. This device and method can effectively solve this problem. In order to replace the human eye's observation of marking, a device based on machine vision to judge the marking direction is designed, which effectively solves the problem of operator eye fatigue during manual operation, and can also realize automatic identification of marking positioning. Summary of the invention

[0004] Based on this, the purpose of this application is to propose a heat pipe marking recognition device and method based on machine vision, which can automatically complete the heat pipe marking direction recognition process and improve production efficiency.

[0005] A heat pipe marking and recognition method based on machine vision, comprising a base plate, a visual recognition mechanism, a heat pipe lifting mechanism, a heat pipe conveying and clamping mechanism, and a controller;

[0006] The visual recognition mechanism, the heat pipe lifting mechanism and the heat pipe conveying and clamping mechanism are all mounted on the bottom plate and connected to the controller;

[0007] The visual recognition mechanism is installed vertically;

[0008] The heat pipe lifting mechanism is installed between the visual recognition mechanism and the heat pipe conveying and clamping mechanism.

[0009] The visual recognition mechanism includes a vertical mounting plate, a camera, a lens, a light source and a background base plate;

[0010] The camera is connected to the lens and is installed vertically. The camera is installed on a camera mounting plate, and the camera mounting plate is installed on a Z-axis slide. The Z-axis slide is installed on the vertical mounting plate via two short plates, and the short plate and the vertical mounting plate are further connected via a connecting plate.

[0011] The light source is an annular light source and is mounted on two light source mounting bars, the two light source sliding mounting bars are mounted on the sliding bars, the sliding bars and the background bottom plate are both slidably mounted on the vertical mounting plate, and the background bottom plate is mounted below the light source;

[0012] The two light source installation bars can slide left and right within a certain range on the sliding bar, the sliding bar can slide up and down within a certain range on the vertical installation plate, and the background bottom plate can also slide up and down within a certain range on the vertical installation plate.

[0013] The camera, the lens, the light source and the background base plate are all mounted on the same side of the vertical mounting plate.

[0014] The visual recognition mechanism is installed on the base plate through a visual mounting base plate, the visual mounting base plate and the vertical mounting plate are connected by two reinforcing ribs, and the visual mounting base plate, the reinforcing ribs and the camera are respectively installed on both sides of the vertical mounting plate.

[0015] The heat pipe lifting mechanism comprises a lifting cylinder, a cylinder mounting plate, a base, a mounting seat, a heat pipe and a front positioning sheet metal;

[0016] The lifting cylinder is installed on the base plate through positioning pins and is installed vertically; the cylinder mounting plate is installed on the cylinder mounting plate through positioning pins; the base is installed on the cylinder mounting plate through the groove below, and the mounting seat is installed on the base. At the same time, the mounting seat can be replaced according to the different diameters of the heat pipe, and the base can be installed at different positions on the cylinder mounting plate according to the different lengths of the heat pipe; the positioning sheet metal is installed at one end of the cylinder mounting plate for positioning.

[0017] The heat pipe conveying and clamping mechanism comprises a linear module, an XZ axis slide table, a stepper motor, a slip ring, a pneumatic clamp and a clamp;

[0018] The linear module is installed on the base plate, the XZ-axis slide is installed on the linear module, and the XZ-axis slide is connected to the linear module through a module mounting plate; the slide mounting plate is installed on the XZ-axis slide, and the motor mounting bracket is installed on the slide mounting plate; the stepper motor and the slip ring are respectively installed on both sides of the motor mounting bracket; the slip ring shaft is connected to the slip ring and passes through a bearing; the bearing is installed inside the motor mounting bracket; the slip ring shaft is connected to the motor through a coupling; the slip ring output flange is installed on the other side of the slip ring; the clamp mounting plate 1 and the clamp mounting plate 2 connect the slip ring output flange with the pneumatic clamp; the pneumatic clamp is installed above the pneumatic clamp; the clamp mounting plate 2 is installed above the pneumatic clamp and the clamp mounting plate 1; there are two clamps, both of which are installed on the pneumatic clamp; there are two heat pipe clamps, which are respectively installed on the clamps.

[0019] The controller is a Rasai motion controller.

[0020] Using the above device, a heat pipe marking recognition method based on machine vision is carried out, which includes the following steps:

[0021] First, adjust the position of the light source on the slider so that the center of the light source coincides with the center of the camera and lens; place a white board on the background base as the image background; then raise the lifting cylinder, place the heat pipe on it, and position it at the same time, drive the linear module forward, and stop when the clamp can clamp the tail of the heat pipe, and keep the heat pipe stably clamped; if the center of the clamp does not coincide with the center of the heat pipe, fine-tune the center point by adjusting the XZ-axis slide to make the center of the clamp coincide with the center of the heat pipe; after the clamp clamps the heat pipe, the lifting cylinder descends, driving the linear module to continue moving forward, The tube marking position is transferred to the bottom of the light source, and the brightness of the light source, the aperture size of the lens, the focal length of the lens, the height of the camera, the height of the light source and the height of the background base are adjusted. Then, they are fixed by bolts through the Z-axis slide and behind the vertical mounting plate respectively, so that the heat pipe marking position is clearly imaged in the image; the heat pipe is rotated, and the marking mark can be clearly seen in the image during the rotation process. The heat pipe is overexposed under the background and the ring light source, showing the same grayscale as the background, and only the marked part can be seen in black. Reset all components, and the preliminary preparations are completed;

[0022] In the preparation work before saving, the positions of various components remain unchanged. First, return the linear module to the origin position at the right end, open the pneumatic clamp, raise the lifting cylinder, and place the heat pipe on two mounting seats. The specifications of the mounting seats are replaced according to the diameter of the heat pipe. At the same time, according to the length of the heat pipe, a suitable installation position can be selected on the cylinder mounting plate. The heat pipe is placed by positioning the sheet metal as the front end positioning;

[0023] Drive the linear module forward until the clamp can reach a certain distance to clamp the tail of the heat pipe, then stop and keep the heat pipe stably clamped; after ensuring that the clamp has clamped the heat pipe, lower the lifting cylinder, and then drive the linear module forward again until the marking part of the heat pipe is roughly in the center of the camera's field of view and stop, then trigger the camera's real-time acquisition command and the stepper motor's rotation command at the same time; while the stepper motor is rotating, the camera collects and processes images in real time. When processing the image, draw ROI for the marking position in the image. The ROI size can be expanded relative to the size of the marking mark, and binarization is performed inside the ROI to display it. The grayscale of the marking, while the color of the non-marking position of the heat pipe is the same as the background color, and the grayscale is 255. The size of the area after binarization inside the ROI is calculated in real time. If the marking position is completely facing upward, the area at this time is the maximum value; the stepper motor is controlled to rotate one circle and then stop, and the real-time acquisition instruction of the camera is terminated at the same time; the image number corresponding to the maximum area obtained when the camera processes the image in real time is combined with the size of the frame rate, that is, the angle that the stepper motor needs to continue to rotate is calculated, and the number of pulses that need to be sent is further calculated through the number of single-circle pulses of the stepper motor; then the stepper motor is driven to rotate to the required rotation angle again and then it can stop;

[0024] After the stepper motor has finished rotating, the linear module is controlled to return to the original position of the heat pipe.

[0025] The heat pipe marking recognition method and device based on machine vision of the present invention have the advantage of automatically recognizing the heat pipe marking direction through machine vision. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of a heat pipe marking and identification device based on machine vision of the present invention;

[0027] Figure 2 It is a schematic diagram of the three-dimensional structure of the visual recognition mechanism of the present invention;

[0028] Figure 3 It is a three-dimensional structural schematic diagram of the heat pipe lifting mechanism of the present invention;

[0029] Figure 4 It is a three-dimensional structural schematic diagram of the heat pipe conveying and clamping mechanism of the present invention;

[0030] Figure 5 This is a schematic diagram of the installation of the motor mounting bracket, the slip ring shaft and the bearing of the present invention;

[0031] Figure 6 It is an operation flow chart of the preliminary preparation work of the present invention;

[0032] Figure 7 This is an operational flow chart for a specific technical implementation of the present invention. Specific implementation plan

[0033] The specific technical solution of the present invention is described in conjunction with the accompanying drawings.

[0034] See also Figure 1 , a heat pipe marking and identification device based on machine vision of the present invention comprises a base plate 1, a visual identification mechanism 2, a heat pipe lifting mechanism 3, a heat pipe conveying and clamping mechanism 4 and a controller;

[0035] The visual recognition mechanism 2, the heat pipe lifting mechanism 3 and the heat pipe conveying and clamping mechanism 4 are all installed on the bottom plate 1 and connected to the controller;

[0036] The visual recognition mechanism 2 is installed vertically;

[0037] The heat pipe lifting mechanism 3 is installed between the visual recognition mechanism 2 and the heat pipe conveying and clamping mechanism 4 .

[0038] like Figure 2 As shown, the visual recognition mechanism 2 includes a vertical mounting plate 15, a camera 10, a lens 11, a light source 13 and a background base plate 14;

[0039] The camera 10 is connected to the lens 11 and is installed vertically. The camera 10 is installed on a camera mounting plate 20, and the camera mounting plate 20 is installed on a Z-axis slide 19. The Z-axis slide 19 is installed on the vertical mounting plate 15 through two short plates 21. The short plate 21 and the vertical mounting plate 15 are further connected through a connecting plate 22.

[0040] The light source 13 is a ring-shaped light source and is mounted on two light source mounting bars 12. The two light source mounting bars 12 are mounted on a sliding bar 18. The sliding bar 18 and the background bottom plate 14 are both mounted on the vertical mounting plate 15. The background bottom plate 14 is mounted below the light source 13.

[0041] The two light source mounting bars 12 can slide left and right within a certain range on the sliding bar 18 , the sliding bar 18 can slide up and down within a certain range on the vertical mounting plate 15 , and the background bottom plate 14 can also slide up and down within a certain range on the vertical mounting plate 15 .

[0042] The camera 10 , the lens 11 , the light source 13 and the background base plate 14 are all installed on the same side of the vertical installation plate 15 .

[0043] The visual recognition mechanism 2 is installed on the base plate 1 through the visual mounting base plate 16. The visual mounting base plate 16 and the vertical mounting plate 15 are connected by two reinforcing ribs 17. At the same time, the visual mounting base plate 16 and the reinforcing ribs 17 and the camera 10 are respectively installed on both sides of the vertical mounting plate 15.

[0044] like Figure 3 As shown, the heat pipe lifting mechanism 3 includes a lifting cylinder 30, a cylinder mounting plate 31, a base 32, a mounting seat 33, a heat pipe 34 and a front positioning sheet metal 35;

[0045] The lifting cylinder 30 is installed on the base plate 1 through positioning pins and is installed vertically; the cylinder mounting plate 31 is installed on the cylinder mounting plate 31 through positioning pins; the base 32 is installed on the cylinder mounting plate 31 through the groove below, and the mounting seat 33 is installed on the base 32. At the same time, the mounting seat 33 can be replaced according to the different diameters of the heat pipe, and the base 32 can be installed at different positions on the cylinder mounting plate 31 according to the different lengths of the heat pipe; the positioning sheet metal 35 is installed at one end of the cylinder mounting plate 31 for positioning.

[0046] like Figure 4 to Figure 5 As shown, the heat pipe conveying and clamping mechanism 4 includes a linear module 40, an XZ axis slide 411, a stepping motor 41, a slip ring 45, a pneumatic clamp 51 and a clamp 49;

[0047] The linear module 40 is installed on the base plate 1, the XZ axis slide 411 is installed on the linear module 40, and the XZ axis slide 411 and the linear module 40 are connected through the module mounting plate 410; the slide mounting plate 412 is installed on the XZ axis slide 411, and the motor mounting bracket 42 is installed on the slide mounting plate 412; the stepper motor 41 and the slip ring 45 are respectively installed on both sides of the motor mounting bracket 42; the slip ring shaft 44 is connected to the slip ring 45 and passes through the bearing 52; the bearing 52 is installed on the motor mounting bracket 42 inside; the slip ring shaft 44 is connected to the motor through a coupling 43; the slip ring output flange 46 is installed on the other side of the slip ring 45; the clamp mounting plate 1 47 and the clamp mounting plate 2 48 connect the slip ring output flange 46 with the pneumatic clamp 51; the pneumatic clamp 51 is installed above the pneumatic clamp 51; the clamp mounting plate 2 48 is installed above the pneumatic clamp 51 and the clamp mounting plate 1 47; there are two clamps 49, both of which are installed on the pneumatic clamp 51; there are two heat pipe clamps 50, which are respectively installed on the clamps 49.

[0048] The controller is a Rasai motion controller.

[0049] The heat pipe marking and recognition method based on machine vision of the present invention is:

[0050] like Figure 6As shown, first adjust the position of the light source 13 on the slide bar 18 so that the center position of the light source 13 roughly coincides with the center position of the camera 10 and the lens 11. Place a white board on the background base plate 14 as the image background. Then, the lifting cylinder 30 is raised, the heat pipe 34 is placed on it, and it is positioned at the same time, and the linear module 40 is driven forward until the clamp 49 can clamp the tail of the heat 34 and stop, and the heat pipe 34 can be stably clamped; if the center of the clamp 49 does not coincide with the center of the heat pipe 3, the center point is fine-tuned by adjusting the XZ-axis slide 411 to make the center of the clamp 49 coincide with the center of the heat pipe 34; after the clamp 49 clamps the heat pipe, the lifting cylinder 30 descends, driving the linear module 40 to continue to move forward, and the marking position of the heat pipe 34 is transferred to the bottom of the light source 13, and the brightness of the light source 13, the aperture size of the lens 11, the focal length of the lens 11, the height of the camera 10, the height of the light source 13 and the height of the background base plate 14 are adjusted, and then they are fixed by the Z-axis slide 19 and by bolts behind the vertical mounting plate 15 respectively, so that the marking position of the heat pipe 34 is clearly imaged in the image. Rotate the heat pipe 34. During the rotation process, the marked mark can be clearly seen in the image. The heat pipe 34 is overexposed under the background and the ring light source 13, showing the same grayscale as the background, and only the marked part can be seen in black. Reset all components and the preliminary preparations are completed.

[0051] like Figure 7 As shown, the positions of the components remain unchanged during the preparation work before preservation. First, the linear module 40 is returned to the right end origin position, the pneumatic clamp 51 is in the open state, the lifting cylinder 30 is raised, and the heat pipe 34 is placed on two mounting seats 33. The specifications of the mounting seats 33 are replaced according to the diameter of the heat pipe 34. At the same time, a suitable installation position can be selected on the cylinder mounting plate 31 according to the length of the heat pipe 34. The heat pipe 34 is placed by positioning the sheet metal 35 as the front end positioning.

[0052] Drive the linear module 40 forward until the clamp 49 can reach a distance to clamp the tail of the heat pipe 34, then stop and keep the heat pipe 34 stably clamped. After ensuring that the clamp 49 has clamped the heat pipe, lower the lifting cylinder 30, and then drive the linear module 40 forward again until the marking part of the heat pipe 34 is roughly in the center of the camera 10 field of view and stop, and then trigger the camera 10 real-time acquisition instruction and the stepper motor 41 rotation instruction at the same time. While the stepper motor 41 rotates, the camera 10 collects images in real time and processes the images in real time. When processing the image, draw ROI for the marking position in the image. The ROI size can be enlarged relative to the size of the marking mark, and binarization is performed inside the ROI to display the grayscale of the marking. The color of the non-marking position of the heat pipe 34 is the same as the background color, and the grayscale is 255. The size of the binarized area inside the ROI is calculated in real time. If the marking position is completely facing upward, the area at this time is the maximum value. Control the stepper motor 41 to rotate one circle and then stop, and end the camera 10 real-time acquisition instruction at the same time. The image number corresponding to the largest area obtained when the camera 10 processes images in real time can be used to calculate the angle that the stepper motor 41 needs to continue rotating, combined with the frame rate, and the number of pulses that need to be sent can be calculated by the number of single-turn pulses of the stepper motor 41. The stepper motor 41 can then be driven again to rotate to the desired rotation angle and then stopped.

[0053] After the stepper motor 41 has finished rotating, the linear module 40 is controlled to return to the original position of the heat pipe 34, thereby realizing the heat pipe marking recognition based on machine vision and ensuring that the marking direction is in the same direction.

[0054] The above-mentioned embodiments only express the method and several implementation methods of the present application, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A heat pipe marking and recognition device based on machine vision, characterized in that: It comprises a base plate (1), a visual recognition mechanism (2), a heat pipe lifting mechanism (3), a heat pipe conveying and clamping mechanism (4) and a controller; The visual recognition mechanism (2), the heat pipe lifting mechanism (3) and the heat pipe conveying and clamping mechanism (4) are all installed on the bottom plate (1) and are also connected to the controller; The visual recognition mechanism (2) is installed vertically; The heat pipe lifting mechanism (3) is installed between the visual recognition mechanism (2) and the heat pipe conveying and clamping mechanism (4); The visual recognition mechanism (2) comprises a vertical mounting plate (15), a camera (10), a lens (11), a light source (13) and a background base plate (14); The camera (10) is connected to the lens (11) and is installed vertically. The camera (10) is installed on a camera mounting plate (20). Meanwhile, the camera mounting plate (20) is installed on a Z-axis slide (19). The Z-axis slide (19) is installed on two short plates (21). The short plates (21) are connected to the vertical mounting plate (15) via a connecting plate (22). The light source (13) is an annular light source and is mounted on two light source mounting bars (12). The two light source mounting bars (12) are slidably mounted on a sliding bar (18). The sliding bar (18) and the background base plate (14) are both slidably mounted on the vertical mounting plate (15). The background base plate (14) is mounted below the light source (13); The two light source mounting bars (12) can slide left and right within a certain range on the sliding bar (18), the sliding bar (18) can slide up and down within a certain range on the vertical mounting plate (15), and the background bottom plate (14) can also slide up and down within a certain range on the vertical mounting plate (15); The camera (10), the lens (11), the light source (13) and the background base plate (14) are all mounted on the same side of the vertical mounting plate (15); The visual recognition mechanism (2) is mounted on the base plate (1) via a visual mounting base plate (16); the visual mounting base plate (16) and the vertical mounting plate (15) are connected via two reinforcing ribs (17); and the visual mounting base plate (16), the reinforcing ribs (17) and the camera (10) are respectively mounted on both sides of the vertical mounting plate (15); The heat pipe lifting mechanism (3) comprises a lifting cylinder (30), a cylinder mounting plate (31), a base (32), a mounting seat (33), a heat pipe (34) and a front positioning sheet metal (35); The lifting cylinder (30) is mounted on the base plate (1) via positioning pins and is mounted vertically; the cylinder mounting plate (31) is mounted on the cylinder mounting plate (31) via positioning pins; the base (32) is mounted on the cylinder mounting plate (31) via a groove at the bottom, and the mounting seat (33) is mounted on the base (32), and the mounting seat (33) is replaced according to the diameter of the heat pipe, and the base (32) is mounted at different positions on the cylinder mounting plate (31) according to the length of the heat pipe; the positioning sheet metal (35) is mounted on one end of the cylinder mounting plate (31) for positioning; The heat pipe conveying and clamping mechanism (4) comprises a linear module (40), an XZ axis slide table (411), a stepping motor (41), a slip ring (45), a pneumatic clamp (51) and a clamp (49); The linear module (40) is mounted on the base plate (1), the XZ axis slide (411) is mounted on the linear module (40), and the XZ axis slide (411) and the linear module (40) are connected via a module mounting plate (410); a slide mounting plate (412) is mounted on the XZ axis slide (411), and a motor mounting bracket (42) is mounted on the slide mounting plate (412); the stepper motor (41) and the slip ring (45) are respectively mounted on both sides of the motor mounting bracket (42); the slip ring shaft (44) is connected to the slip ring (45) via a bearing (52); the bearing (52) is mounted on the motor mounting bracket (42) inside; the slip ring shaft (44) is connected to the motor through a coupling (43); the slip ring output flange (46) is installed on the other side of the slip ring (45); the clamp mounting plate 1 (47) and the clamp mounting plate 2 (48) connect the slip ring output flange (46) to the pneumatic clamp (51); the pneumatic clamp (51) is installed above the pneumatic clamp (51); the clamp mounting plate 2 (48) is installed above the pneumatic clamp (51) and the clamp mounting plate 1 (47); there are two clamps (49), both of which are installed on the pneumatic clamp (51); there are two heat pipe clamps (50), which are respectively installed on the clamps (49).

2. The heat pipe marking and identification device based on machine vision according to claim 1, characterized in that: The controller is a Rasai motion controller.

3. A heat pipe marking recognition method based on machine vision, characterized in that: The heat pipe marking and identification device based on machine vision according to claim 1 or 2 comprises the following steps: First, the position of the light source (13) on the slide bar (18) is adjusted so that the center position of the light source (13) coincides with the center position of the camera (10) and the lens (11); a white board is placed on the background base plate (14) as the image background; then the lifting cylinder (30) is raised, the heat pipe (34) is placed, and positioning is performed at the same time, and the linear module (40) is driven forward until the clamp (49) can clamp the tail of the heat pipe (34) and stop, and the heat pipe (34) can be stably clamped; if the center of the clamp (49) does not coincide with the center position of the heat pipe (34), the center point is fine-tuned by adjusting the XZ axis slide (411) so that the center of the clamp (49) coincides with the center of the heat pipe (34); after the clamp (49) clamps the heat pipe, the lifting cylinder (30) is lowered, and the linear module (40) is driven forward. The module (40) continues to move forward, and the marking position of the heat pipe (34) is transferred to the bottom of the light source (13), and the brightness of the light source (13), the aperture size of the lens (11), the focal length of the lens (11), the height of the camera (10), the height of the light source (13) and the height of the background base plate (14) are adjusted. Then, the heat pipe (34) is fixed by bolts through the Z-axis slide (19) and behind the vertical mounting plate (15) respectively, so that the marking position of the heat pipe (34) is clearly imaged in the image; the heat pipe (34) is rotated, and the marking mark can be clearly seen in the image during the rotation process, and the heat pipe (34) is overexposed under the background and the ring light source (13), showing the same grayscale as the background, and only the marked part can be seen in black, and all components are reset, and the preliminary preparation work is completed; During the preparatory work before storage, the positions of the components remain unchanged. First, the linear module (40) is returned to the right end origin position, the pneumatic clamp (51) is in an open state, the lifting cylinder (30) is raised, and the heat pipe (34) is placed on the two mounting seats (33). The specifications of the mounting seats (33) are replaced according to the diameter of the heat pipe (34). At the same time, a suitable mounting position can be selected on the cylinder mounting plate (31) according to the length of the heat pipe (34). The heat pipe (34) is placed by positioning the sheet metal (35) as the front end positioning; The linear module (40) is driven forward until the clamp (49) can reach a certain distance from the tail of the heat pipe (34) and then stops, and the heat pipe (34) is kept stably clamped; after ensuring that the clamp (49) has clamped the heat pipe, the lifting cylinder (30) is lowered, and then the linear module (40) is driven forward again until the marking part of the heat pipe (34) is roughly in the center of the camera (10) field of view and then stops, and then the camera (10) real-time acquisition instructions and the stepper motor (41) rotation instructions are triggered simultaneously; while the stepper motor (41) rotates, the camera (10) collects images in real time and processes the images in real time. When processing the images, an ROI is drawn for the marking position in the image, and the size of the ROI can be enlarged relative to the size of the marking mark. I is binarized inside to display the gray scale of the marking, while the color of the non-marking position of the heat pipe (34) is the same as the background color, and the gray scale is 255. The size of the area after binarization inside the ROI is calculated in real time. If the marking position is completely facing upward, the area at this time is the maximum value; the stepper motor (41) is controlled to rotate one circle and then stop, and the real-time acquisition instruction of the camera (10) is terminated at the same time; the image number corresponding to the maximum area obtained when the camera (10) processes the image in real time is combined with the size of the frame rate, that is, the angle that the stepper motor (41) needs to continue to rotate is calculated, and the number of single-circle pulses of the stepper motor (41) is further calculated, that is, the number of pulses that need to be sent; then the stepper motor (41) is driven again to rotate to the required rotation angle and then stop; After the stepper motor (41) has completed its rotation, the linear module (40) is controlled to return to the original position of the heat pipe (34).

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