A gantry type fishing rod straightness detection device based on machine vision and a method thereof

Abstract

The application discloses a gantry type fishing rod straightness detection device and method based on machine vision, wherein the gantry type fishing rod straightness detection device based on machine vision comprises at least a central processing device, a gantry loading and unloading device, a camera device, a fishing rod clamping device, a reference mark device, a light source device and an anti-shake device for eliminating fishing rod shaking; the central processing device is in communication with the gantry loading and unloading device, the camera device, the fishing rod clamping device, the reference mark device, the light source device and the anti-shake device respectively. The application has the advantages of high precision and high efficiency by using a machine to replace human eyes to measure and judge the fishing rod straightness.

Description

Technical Field

[0001] This application relates to the field of fishing rod straightness detection technology, and in particular to a gantry-type fishing rod straightness detection device and method based on machine vision. Background Technology

[0002] Most fishing rods on the market are made using a fabric rolling process. During production, the straightness of the rods needs to be judged to screen out those that do not meet the standards. When the straightness of a fishing rod exceeds a preset maximum value, it means that the fishing rod does not meet the standards and is directly scrapped. When the straightness of a fishing rod is between the maximum value and the critical value, the fishing rod is manually straightened.

[0003] Currently, the straightness of fishing rods is usually determined by visually aiming at each rod individually. However, this method only provides a rough estimate of the rod's straightness, is labor-intensive, inefficient, and prone to human error. This increases the defect rate for manufacturers, impacts sales, and ultimately leads to economic losses.

[0004] In addition, commonly used straightness testing methods include photoelectric measurement and self-calibration straightness testing. Although photoelectric measurement is highly accurate, it is not suitable for fishing rods with textured surfaces due to the fabric rolling process, and it is also costly and inefficient, which is not conducive to mass production in factories. Self-calibration straightness testing is suitable for long tubes with large apertures, such as fishing rods with apertures ranging from 1 to 15 mm, so it is also unsuitable for testing the straightness of fishing rods. Summary of the Invention

[0005] The purpose of this application is to provide a machine vision-based device and method for detecting the straightness of a gantry fishing rod. By using a machine to replace the human eye to measure and judge the straightness of the fishing rod, it has the advantages of high precision and high efficiency.

[0006] To achieve the above objectives, this application provides a machine vision-based gantry fishing rod straightness detection device, comprising at least: a central processing unit, a gantry loading and unloading device, a camera device, a fishing rod clamping device, a reference marking device, a light source device, and a shake-stabilizing device for eliminating fishing rod vibration; the central processing unit communicates with the gantry loading and unloading device, the camera device, the fishing rod clamping device, the reference marking device, the light source device, and the shake-stabilizing device; wherein, the central processing unit is used to: send clamping instructions and sorting instructions to the gantry loading and unloading device; send a first acquisition instruction to the camera device and receive N first spot images obtained according to the first acquisition instruction; send a second acquisition instruction and receive... Based on the second acquisition command, M second spot images are obtained, and N first spot images and M second spot images are processed to obtain comparison results. A sorting command is generated based on the comparison results. A rotation command is sent to the fishing rod clamping device. The angle θ between the line connecting the center points of the N first spot images and the center points of the M second spot images and the X-axis is calculated. A rotation command is generated based on the angle θ and sent to the fishing rod clamping device. A calibration command is sent to the reference marking device. A light source on / off command is sent to the light source device. A clamping / releasing command is sent to the anti-shake device. The gantry loading and unloading device receives and executes the clamping command, clamps the fishing rod, and secures the fishing rod to the three-jaw clamp of the fishing rod clamping device. The system completes the clamping process, where the fishing rods are either standard fishing rods or fishing rods to be tested. It receives and executes sorting instructions, removing the fishing rods to be tested from the three-jaw chuck and sorting them to the qualified / reject area. A camera device, mounted on the gantry loading and unloading device, receives and executes a first acquisition instruction to acquire N first light spot images of the standard fishing rod and transmits these N images to the central processing unit. It also receives and executes a second acquisition instruction to acquire M second light spot images of the fishing rod to be tested and transmits these images to the central processing unit. A fishing rod clamping device, mounted on the gantry loading and unloading device and located to the left of the camera device, clamps the fishing rods and receives and executes... The system includes a rotation command that drives the fishing rod to rotate via a three-jaw chuck; executing the rotation command rotates the fishing rod to the corresponding angle; a reference marking device, located on the gantry loading and unloading device, receives and executes calibration commands to mark lines on the fishing rod; a light source device, located on the gantry loading and unloading device, receives and executes light source on / off commands to turn the light source on or off; and an anti-shake device, located on the gantry loading and unloading device and between the camera device and the reference marking device, receives and executes gripping / releasing commands sent by the central processing unit to grip / release the tip of the fishing rod; wherein the light source of the light source device, the three-jaw chuck of the fishing rod gripping device, and the camera of the camera device are located on the same axis.

[0007] As described above, the gantry loading and unloading device includes at least: loading and unloading control equipment, a main body, at least one Y-axis sliding truss, an X-axis sliding truss, a Z-axis circumferential end slide cylinder, and a Z-axis circumferential end slide cylinder; wherein, the loading and unloading control equipment is used to receive clamping / sorting instructions and control the working state of the X-axis sliding truss, the Z-axis circumferential end slide cylinder, and the Z-axis circumferential end slide cylinder according to the clamping / sorting instructions; the main body includes at least: a mounting plate, with main support columns for support on both the left and right sides of the mounting plate, the main support columns including at least: a lower support column and an upper support column, the upper end of the lower support column being connected to the mounting plate and the lower end of the lower support column being in contact with the placement surface, the lower end of the upper support column being connected to the mounting plate, and the upper end of the upper support column being connected to the Y-axis sliding truss, and the Y-axis... The sliding truss has a groove located on the Y-axis sliding truss away from the upper support column; a Y-axis sliding slider is installed in the groove of the Y-axis sliding truss, and the Y-axis sliding slider slides along the groove; the X-axis sliding truss is installed on the Y-axis sliding slider, and the side of the X-axis sliding truss with the groove is perpendicular to the placement surface; one end of the Z-axis circumferential end slide cylinder is connected to the XZ truss connecting block, and the XZ truss connecting block is installed in the groove of the X-axis sliding truss; the other end of the Z-axis circumferential end slide cylinder is equipped with a circumferential end gripper; one end of the Z-axis pilot diameter end slide cylinder is connected to the XZ truss connecting block, and the XZ truss connecting block is installed in the groove of the X-axis sliding truss, and the Z-axis pilot diameter end slide cylinder is located to the right of the Z-axis circumferential end slide cylinder; the other end of the Z-axis pilot diameter end slide cylinder is equipped with a pilot diameter end gripper.

[0008] As described above, the fishing rod clamping device includes at least: a three-jaw chuck, a chuck bracket, and a clamping control device; the three-jaw chuck is mounted on the chuck bracket, which is mounted on the mounting plate and located on the left side of the mounting plate; the clamping control device receives and executes rotation commands to control the rotation state of the three-jaw chuck.

[0009] As described above, the camera device includes at least: a camera, a ring light, and a camera control device. The camera is connected to a central processing unit, the ring light is mounted on the camera, the camera is mounted on the right side of the mounting plate, and the ring light faces the fishing rod clamping device. The camera control device is used to receive and execute a first acquisition command, control the ring light to turn on / off according to the first acquisition command, control the camera to acquire a first light spot image according to the first acquisition command, and send the first light spot image to the central processing unit; receive and execute a second acquisition command, control the ring light to turn on / off according to the second acquisition command, control the camera to acquire a second light spot image according to the second acquisition command, and send the second light spot image to the central processing unit.

[0010] As described above, the light source device includes at least: a dark box, a light source, and a light source control device. The dark box is set on the mounting plate and located on the left side of the fishing rod clamping device. The light source is set inside the dark box, and the diameter of the light source is smaller than the diameter of the end of the fishing rod. The light source control device receives and executes the light source opening and closing command to open or close the light source.

[0011] As described above, the anti-shake device includes at least: an anti-shake bracket, an anti-shake gripper for eliminating fishing rod vibration, and an anti-shake control device. The anti-shake bracket is mounted on the mounting plate and located between the camera device and the reference marking device. The anti-shake gripper is mounted on the anti-shake bracket. The anti-shake control device is connected to the anti-shake gripper and communicates with the central processing unit. The anti-shake control device receives and executes the gripping / releasing commands sent by the central processing unit and controls the anti-shake gripper to grip / release the tip of the fishing rod.

[0012] As shown above, the camera is an industrial video camera.

[0013] As shown above, the light source is an LED light source.

[0014] This application also provides a machine vision-based method for detecting the straightness of a gantry fishing rod, comprising the following steps: S1: The gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the standard fishing rod so that the standard fishing rod and the three-jaw chuck of the fishing rod clamping device are in a coaxial position. First, the tip diameter end of the standard fishing rod is clamped by the three-jaw chuck, and then the anti-shake device is adjusted. After the gantry loading and unloading device releases the standard fishing rod, the tip diameter end of the standard fishing rod is clamped by the anti-shake device to eliminate fishing rod vibration; S2: The light source device receives and executes the light source on / off command sent by the central processing unit, turns on the light source device, and performs imaging on the camera device. After adjustment, the fishing rod clamping device receives and executes the rotation command sent by the central processing unit, driving the standard fishing rod to rotate via the three-jaw chuck. The camera device receives and executes the first acquisition command sent by the central processing unit, acquiring N first light spot images and sending them to the central processing unit. The central processing unit calculates the center points of the N first light spot images. S3: The fishing rod clamping device receives and executes the fishing rod replacement command sent by the central processing unit, and the gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamping and adjusting the position of the fishing rod to be tested. The process involves: S1) positioning the fishing rod under test coaxially with the three-jaw chuck of the rod clamping device; S2) clamping the tip diameter end of the fishing rod under test using the three-jaw chuck; S3) adjusting the anti-shake device; S4) releasing the fishing rod under test using the gantry loading and unloading device; S5) receiving and executing the rotation command sent by the central processing unit, rotating the fishing rod under test via the three-jaw chuck; S6) receiving and executing the second acquisition command, acquiring M second spot images, and sending the M second spot images to the central processing unit, which calculates the M second spot images to obtain the M second... Center point of the light spot image; S5: The central processing unit calculates the distance between the center points of N first light spot images and M second light spot images, and compares the distance with a pre-set threshold. If the distance is greater than the threshold, the comparison result is unqualified, and S6 is executed; if the distance is less than or equal to the threshold, the comparison result is qualified, and S7 is executed; S6: The central processing unit generates a sorting instruction based on the comparison result and sends the sorting instruction to the gantry loading and unloading device. The gantry loading and unloading device executes the sorting instruction and sorts the fishing rod to be tested to the scrap area. The current inspection ends, and S3 is executed again to inspect the next fishing rod to be tested or the inspection ends.S7: The central processing unit calculates the angle θ between the line connecting the center points of N first spot images and M second spot images and the X-axis. Based on angle θ, the central processing unit generates a rotation command and sends it to the fishing rod clamping device. The fishing rod clamping device rotates the fishing rod to be tested to the corresponding angle. The reference calibration device executes the calibration command sent by the central processing unit to scribble lines on the fishing rod. After scribing, the gantry loading and unloading device executes the sorting command sent by the central processing unit to sort the fishing rod to be tested into the qualified product area. The current inspection ends, and S3 is executed again to inspect the next fishing rod to be tested, or the inspection ends.

[0015] As described above, the gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the fishing rod, so that the fishing rod and the three-jaw chuck of the fishing rod clamping device are in a coaxial position. The sub-step of clamping the end of the fishing rod with the three-jaw chuck is as follows: The gantry loading and unloading device receives and executes the clamping command, causing the X-axis sliding truss of the gantry loading and unloading device to move along the Y-axis sliding truss of the gantry loading and unloading device to the loading side; after the X-axis sliding truss moves to the loading side, the Z-axis end slide cylinder of the gantry loading and unloading device and the Z-axis tip slide cylinder of the gantry loading and unloading device slide downwards simultaneously, and extend the cylinder push rods of the Z-axis end slide cylinder and the Z-axis tip slide cylinder. The circumference end gripper on the cylinder push rod of the Z-axis circumference end slide cylinder and the tip diameter end gripper on the cylinder push rod of the Z-axis tip diameter end slide cylinder simultaneously clamp the fishing rod in the float. After the tip diameter end gripper and the circumference end gripper clamp the fishing rod, the Z-axis circumference end slide cylinder and the Z-axis tip diameter end slide cylinder slide upwards simultaneously and retract the cylinder push rod. When the fishing rod and the three-jaw chuck are at the same height, the Z-axis circumference end slide cylinder and the Z-axis tip diameter end slide cylinder move along the Y-axis sliding truss. After the fishing rod and the three-jaw chuck are on the same axis, the Z-axis circumference end slide cylinder and the Z-axis tip diameter end slide cylinder move along the X-axis sliding truss toward the center of the three-jaw chuck, and the three-jaw chuck clamps the circumference end of the fishing rod.

[0016] The beneficial effects achieved by this application are as follows:

[0017] (1) The gantry-type fishing rod straightness detection device and method based on machine vision in this application can fill the gap in the current market for the detection of bent fishing rods and the determination of the guide wire reference device, that is, it solves the problem of the existing hollow fishing rod straightness calibration.

[0018] (2) The gantry-type fishing rod straightness detection device and method based on machine vision of this application measure and judge the straightness of the fishing rod by replacing the human eye with a machine, which has the advantages of high precision and high efficiency.

[0019] (3) The gantry fishing rod straightness detection device and method based on machine vision of this application have a stable detection environment and are easy to operate. They can effectively improve the accuracy and efficiency of detection and reduce the intensity of manual labor and labor costs. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 A schematic diagram of one embodiment of a gantry fishing rod straightness detection device based on machine vision;

[0022] Figure 2 A cross-sectional view of a fishing rod:

[0023] Figure 3 This is a schematic diagram showing the distance between the center points of N first spot images and M second spot images, and the angle θ between the line connecting the two points and the X-axis (horizontal line).

[0024] Figure 4 This is a flowchart of one embodiment of a machine vision-based method for detecting the straightness of a gantry fishing rod. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figure 1-3 As shown, this application provides a machine vision-based gantry fishing rod straightness detection device, which includes at least: a central processing unit 1, a gantry loading and unloading device 2, a camera device 3, a fishing rod clamping device 4, a reference marking device 5, a light source device 6, and a shake-proof device 8 for eliminating fishing rod vibration; the central processing unit 1 communicates with the gantry loading and unloading device 2, the camera device 3, the fishing rod clamping device 4, the reference marking device 5, the light source device 6, and the shake-proof device 8.

[0027] The central processing unit 1 is used to send gripping and sorting instructions to the gantry loading and unloading device 2; send a first acquisition instruction to the camera device 3 and receive N first spot images obtained according to the first acquisition instruction; send a second acquisition instruction and receive M second spot images obtained according to the second acquisition instruction; process the N first spot images and M second spot images to obtain comparison results and generate sorting instructions based on the comparison results; send a rotation instruction to the fishing rod clamping device 4; calculate the angle θ between the line connecting the center points of the N first spot images and the center points of the M second spot images and the X-axis; generate a rotation instruction based on the angle θ and send it to the fishing rod clamping device 4; send a calibration instruction to the reference marking device 5; send a light source on / off instruction to the light source device 6; and send gripping / releasing instructions to the anti-shake device 8.

[0028] Gantry loading and unloading device 2: used to receive and execute clamping instructions, clamp the fishing rod 7, and clamp the fishing rod 7 with the three-jaw chuck 41 of the fishing rod clamping device 4, wherein the fishing rod 7 is a standard fishing rod or a fishing rod to be tested; receive and execute sorting instructions, remove the fishing rod to be tested from the three-jaw chuck 41, and sort the fishing rod to be tested to the qualified product area / scrap product area.

[0029] Camera device 3: installed on the gantry loading and unloading device 2; used to receive and execute the first acquisition command, acquire N first light spot images of the standard fishing rod, and transmit the N first light spot images to the central processing device 1; receive and execute the second acquisition command, acquire M second light spot images of the fishing rod to be tested, and transmit the M second light spot images to the central processing device 1.

[0030] Fishing rod clamping device 4: It is set on the gantry loading and unloading device 2 and located to the left of the camera device 3; it is used to clamp the fishing rod 7, receive and execute rotation commands, drive the fishing rod 7 to rotate through the three-jaw chuck 41; execute rotation commands to rotate the fishing rod 7 to the corresponding angle.

[0031] Reference marking device 5: set on the gantry loading and unloading device 2; used to receive and execute calibration instructions to mark the fishing rod 7.

[0032] Light source device 6: installed on the gantry loading and unloading device 2; used to receive and execute light source opening and closing commands, and to open or close the light source 61.

[0033] Anti-shake device 8: It is installed on the gantry loading and unloading device 2 and located between the camera device 3 and the reference marking device 5. It is used to receive and execute the clamping / releasing command sent by the central processing device 1 to clamp / release the tip of the fishing rod 7.

[0034] Among them, the light source of the light source device 6, the three-jaw chuck 41 of the fishing rod clamping device 4, and the camera 31 of the imaging device 3 are located on the same axis.

[0035] Specifically, the central processing unit 1 is a computer, but not limited to a computer; in this application, a computer is preferred.

[0036] Furthermore, the gantry loading and unloading device 2 includes at least: loading and unloading control equipment (not shown in the figure), main body 21, at least one Y-axis sliding truss 22, X-axis sliding truss 23, Z-axis radii end slide cylinder 24 and Z-axis radii end slide cylinder 25.

[0037] Among them, the loading and unloading control equipment is used to receive clamping instructions / sorting instructions and control the working status of the X-axis sliding truss 23, the Z-axis circumferential end slide cylinder 24 and the Z-axis circumferential end slide cylinder 25 according to the clamping instructions / sorting instructions.

[0038] The main body 21 includes at least one mounting plate 211. The left and right sides of the mounting plate 211 are provided with main support columns for supporting the main body columns. The main support columns include at least one lower support column 212 and one upper support column 213. The upper end of the lower support column 212 is connected to the mounting plate 211 and the lower end of the lower support column 212 is in contact with the placement surface. The lower end of the upper support column 212 is connected to the mounting plate 211. The upper end of the upper support column 213 is connected to the Y-axis sliding truss 22, and the sliding groove of the Y-axis sliding truss 22 is located on the side of the Y-axis sliding truss 22 away from the upper support column 212.

[0039] The Y-axis sliding truss 22 has a Y-axis sliding slider 221 installed in the groove, and the Y-axis sliding slider 221 slides along the groove.

[0040] The X-axis sliding truss 23 is mounted on the Y-axis sliding slider 221, and the side of the X-axis sliding truss 23 with the groove 231 is perpendicular to the placement surface.

[0041] One end of the Z-axis circumferential end slide cylinder 24 is connected to the XZ truss connecting block, which is located in the slide groove 231 of the X-axis sliding truss 23; the other end of the Z-axis circumferential end slide cylinder 24 is provided with a circumferential end gripper 241.

[0042] One end of the Z-axis leading diameter end slide cylinder 25 is connected to the XZ truss connecting block, which is located in the slide groove of the X-axis sliding truss 23. The Z-axis leading diameter end slide cylinder 25 is located to the right of the Z-axis non-leading diameter end slide cylinder 24. The other end of the Z-axis leading diameter end slide cylinder 25 is provided with a leading diameter end gripper 251.

[0043] Specifically, the placement surface can be the ground, but is not limited to the ground; the ground is preferred in this application. When it is necessary to grip / release the fishing rod 7, the fore-diameter end gripper 241 and the tip-diameter end gripper 251 grip / release the fore-diameter end and the tip-diameter end of the fishing rod 7 simultaneously, respectively.

[0044] Furthermore, the fishing rod clamping device 4 includes at least: a three-jaw chuck 41, a chuck bracket 42, and a clamping control device; the three-jaw chuck 41 is disposed on the chuck bracket 42, the chuck bracket 42 is disposed on the mounting plate 211, and is located on the left side of the mounting plate; the clamping control device receives and executes rotation commands to control the rotation state of the three-jaw chuck 41.

[0045] Specifically, the chuck support 42 supports the three-jaw chuck 41. Both the rotation command and the rotation angle include: the number of rotations.

[0046] The three-claw chuck 41 is a hollow chuck, but it is not limited to hollow chucks. In this application, a hollow chuck is preferred to provide conditions for the fishing rod 7 to be illuminated.

[0047] Furthermore, the camera device 3 includes at least: a camera 31, a ring light 32, and a camera control device. The camera is connected to the central processing unit 1, the ring light 32 is disposed on the camera 31, the camera 31 is disposed on the right side of the mounting plate 211, and the ring light 32 faces the fishing rod clamping device 4. The camera control device is used to receive and execute a first acquisition command, control the ring light 32 to turn on / off according to the first acquisition command, control the camera 31 to acquire a first light spot image according to the first acquisition command, and send the first light spot image to the central processing unit; receive and execute a second acquisition command, control the ring light 32 to turn on / off according to the second acquisition command, control the camera 31 to acquire a second light spot image according to the second acquisition command, and send the second light spot image to the central processing unit 1.

[0048] Specifically, the lens of camera 31 is aimed at fishing rod 7.

[0049] Furthermore, the camera 31 is connected to the central processing unit 1 via a data cable 311.

[0050] Furthermore, camera 31 is an industrial camera, but not limited to industrial cameras.

[0051] Specifically, after the ring light 32 is turned on and the industrial camera completes focusing, it captures the light spot image emitted from the tip of the fishing rod 7 and transmits the light spot image to the central processing unit 1.

[0052] Furthermore, the light source device 6 includes at least: a light source 61, a dark box 62, and a light source control device. The dark box 62 is disposed on the mounting plate 211 and located on the left side of the fishing rod clamping device 4. The light source 61 is disposed inside the dark box 62, and the diameter of the light source 61 is smaller than the diameter of the circumferential end of the fishing rod 7. The light source control device receives and executes the light source opening and closing command to open or close the light source 61.

[0053] Specifically, by placing the light source 61 inside the dark box 62, the dark box 62 blocks external light from interfering with the detection system, thus providing a stable detection environment for the machine vision-based gantry fishing rod straightness detection device.

[0054] Furthermore, the light source 61 is an LED light source, but not limited to LED light sources. LED light sources can provide uniform and stable illumination. Since the fishing rod 7 is hollow, lighting inside one end of the fishing rod 7 can create an image at the other end.

[0055] Furthermore, the reference marking device 5 is disposed on the mounting plate 211, located between the camera device 3 and the fishing rod clamping device 4, and located on the front right side of the fishing rod clamping device 4. The center of the reference marking device 5 is on the same horizontal plane as the center of the three-jaw chuck 41; it is used to receive and execute calibration instructions to mark lines on the fishing rod 7.

[0056] Specifically, the reference marking device 5 is used to draw lines after a reference is found. The reference marking device contains a spring, which is connected to a marker pen 51, and the marker pen is used to mark the fishing rod with a variable cross-section.

[0057] Furthermore, as an embodiment, the anti-shake device 8 includes at least: an anti-shake bracket 81 and an anti-shake gripper 82 for eliminating the shaking of the fishing rod 7. The anti-shake bracket 81 is disposed on the mounting plate 211 and located between the camera device 3 and the reference marker device 5, and the anti-shake gripper 82 is disposed on the anti-shake bracket 81.

[0058] Specifically, the image stabilization device 8 fixes the tip of the fishing rod 7 with the image stabilization clamp 82, thereby eliminating the shaking of the fishing rod 7 during the clamping process, which is beneficial to the image stabilization of the camera 31.

[0059] Furthermore, as another embodiment, the anti-shake device 8 includes at least: an anti-shake bracket 81, an anti-shake gripper 82 for eliminating the shaking of the fishing rod 7, and an anti-shake control device. The anti-shake bracket 81 is disposed on the mounting plate 211 and located between the camera device 3 and the reference marking device 5. The anti-shake gripper 82 is disposed on the anti-shake bracket 81. The anti-shake control device is connected to the anti-shake gripper 82 and communicates with the central processing unit 1. The anti-shake control device receives and executes the gripping / releasing command sent by the central processing unit 1 and controls the anti-shake gripper 82 to grip / release the circumferential end of the fishing rod 7.

[0060] like Figure 4 As shown, this application provides a machine vision-based method for detecting the straightness of a gantry fishing rod, comprising the following steps:

[0061] S1: The gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the standard fishing rod, so that the standard fishing rod and the three-jaw chuck of the fishing rod clamping device are in a coaxial position. First, the chuck clamps the tip of the standard fishing rod, and then the anti-shake device is adjusted. After the gantry loading and unloading device releases the standard fishing rod, the anti-shake device clamps the tip of the standard fishing rod to eliminate the shaking of the fishing rod.

[0062] Specifically, after the three-jaw chuck picks up the rod's circumference, it adjusts the position of the anti-shake device to ensure it's in a suitable position for vibration control. This suitable position can be preset according to actual needs. After the gantry loading and unloading device releases the rod, the anti-shake jaws quickly clamp and release the rod, thus eliminating rod vibration.

[0063] Specifically, the gantry loading and unloading device receives and executes the clamping command, clamps the fishing rod simultaneously with the tip-end jaws and the circumference-end jaws, and then, with the help of the three-jaw chuck, clamps the circumference-end of the fishing rod. After adjusting the anti-shake device, the tip-end jaws and the circumference-end jaws of the gantry loading and unloading device release the fishing rod simultaneously, and the anti-shake device clamps the tip-end of the fishing rod to eliminate the shaking of the fishing rod.

[0064] Furthermore, the gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the fishing rod so that the fishing rod and the three-jaw chuck of the fishing rod clamping device are in a coaxial position, and the sub-step of clamping the end of the fishing rod by the three-jaw chuck is as follows:

[0065] S11: The gantry loading and unloading device receives and executes the clamping command, causing the X-axis sliding truss of the gantry loading and unloading device to move upward to the material side along the Y-axis sliding truss of the gantry loading and unloading device.

[0066] Specifically, the feeding side is the location where the fishing rod that needs to be tested for straightness is placed.

[0067] S12: After the X-axis sliding truss moves to the loading side, the Z-axis circumferential end slide cylinder of the gantry loading and unloading device and the Z-axis leading end slide cylinder of the gantry loading and unloading device slide downwards simultaneously, and extend the cylinder push rod of the Z-axis circumferential end slide cylinder and the cylinder push rod of the Z-axis leading end slide cylinder. The circumferential end gripper of the Z-axis circumferential end slide cylinder and the leading end gripper of the Z-axis leading end slide cylinder clamp the fishing rod in the target simultaneously.

[0068] S13: After the lead diameter end clamp and the circumference end clamp clamp the fishing rod, the Z-axis circumference end slide cylinder and the Z-axis lead diameter end slide cylinder slide upwards simultaneously, and the cylinder push rod retracts, so that the fishing rod and the three-jaw chuck are at the same height.

[0069] S14: After the fishing rod and the three-jaw chuck are at the same height, the Z-axis circumferential end slide cylinder and the Z-axis leading end slide cylinder move along the Y-axis sliding truss to make the fishing rod and the three-jaw chuck be on the same axis. Then, the Z-axis circumferential end slide cylinder and the Z-axis leading end slide cylinder move along the X-axis sliding truss toward the center of the three-jaw chuck and make the three-jaw chuck clamp the circumferential end of the fishing rod.

[0070] Specifically, after the three-jaw chuck clamps the end of the fishing rod, the three-jaw chuck is coaxial with the fishing rod.

[0071] S2: The light source device receives and executes the light source on / off command sent by the central processing unit, turns on the light source device, adjusts the camera device, and after the adjustment is completed, the fishing rod clamping device receives and executes the rotation command sent by the central processing unit, drives the standard fishing rod to rotate through the three-jaw chuck, and the camera device receives and executes the first acquisition command sent by the central processing unit, acquires N first light spot images, and sends the N first light spot images to the central processing unit, which calculates the center point of the N first light spot images.

[0072] Furthermore, the camera device is adjusted, and the adjustment steps are as follows:

[0073] S21: Adjust the position of the camera device so that it is positioned at the imaging location.

[0074] Specifically, the imaging position can be set in advance according to actual needs. The imaging position is the position on the mounting plate that can ensure the imaging of the camera device.

[0075] S22: Turn on the ring light of the camera device.

[0076] S23: Turn on the camera of the video recording device, focus the camera, and project the ring light onto the end of the fishing rod. The light reflected from the end of the fishing rod enters the camera and appears as a light spot on the camera, thus completing the adjustment.

[0077] Specifically, after the camera device has captured N images of the first light spot, the ring light is turned off. The first light spot image is the image of the light spot captured by the camera.

[0078] The central processing unit calculates the centroid of the N first spot images, obtains the centroid of the spot in each spot image, fits the centroids of the N spots into a fitted circle, and obtains the center of the fitted circle as the center point of the N first spot images. The center point of the N first spot images is the ideal center point of the fishing rod.

[0079] N is a natural number, and the specific number of N depends on the actual needs. For example, N can be 6, 8, or 10 cards.

[0080] M is a natural number, and the specific quantity of M depends on the actual needs. For example, M can be 6, 8, or 10 cards.

[0081] S3: The fishing rod clamping device receives and executes the fishing rod replacement command sent by the central processing unit. The gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the fishing rod to be tested, so that the fishing rod to be tested and the three-jaw chuck of the fishing rod clamping device are in a coaxial position. First, the tip diameter end of the fishing rod to be tested is clamped by the three-jaw chuck. Then, the anti-shake device is adjusted. After the gantry loading and unloading device releases the fishing rod to be tested, the tip diameter end of the fishing rod to be tested is clamped by the anti-shake device to eliminate the fishing rod shaking.

[0082] S4: The fishing rod clamping device receives and executes the rotation command sent by the central processing unit, and drives the fishing rod under test to rotate through the three-jaw chuck. The camera device receives and executes the second acquisition command, acquires M second light spot images, and sends the M second light spot images to the central processing unit. The central processing unit calculates the M second light spot images to obtain the center point of the M second light spot images.

[0083] Specifically, in step S4, the ring light of the camera device is in the off state.

[0084] like Figure 2 As shown, after the fishing rod is clamped onto the three-jaw chuck, the point light source of the light source device enters from the aperture at the tip diameter end of the fishing rod, filling the channel inside the fishing rod, and emits light with a uniform field of view from the small hole at the tip diameter end. The light is coupled to the camera at the tip diameter end, and the camera obtains an image of a light spot showing the inner hole contour at the tip diameter end. The three-jaw chuck drives the fishing rod under test to rotate and acquire M second light spot images, and sends the second light spot images to the central processing unit. The central processing unit processes the second light spot images to obtain the center points of the M second light spot images.

[0085] S5: The central processing unit calculates the distance between the center points of N first spot images and M second spot images, and compares the distance with a pre-set threshold. If the distance is greater than the threshold, the comparison result is unqualified, and S6 is executed; if the distance is less than or equal to the threshold, the comparison result is qualified, and S7 is executed.

[0086] Specifically, such as Figure 3 As shown, the central processing unit calculates the distance between the center point of the fitted ideal fishing rod and the centroid of the end face spot of the currently clamped fishing rod based on the center points of N first spot images and M second spot images (e.g., ...). Figure 3As shown in d), this distance represents the bending radius and the angle θ between the line connecting the two points and the horizontal line, that is, the straightness of the fishing rod is indirectly obtained through the bending direction of the fishing rod. When the distance is within the critical value, the currently clamped fishing rod is a qualified product. The central processing unit calculates the angle θ between the line connecting the center points of N first spot images and M second spot images and the X-axis (horizontal line), and controls the three-jaw chuck to rotate to the marked position (i.e., rotate θ degrees) through the central processing unit. The reference marking device marks the line. After the reference marking device approaches the fishing rod and completes the marking, the reference marking device returns to its original position.

[0087] S6: The central processing unit generates a sorting instruction based on the comparison results and sends the sorting instruction to the gantry loading and unloading device. The gantry loading and unloading device executes the sorting instruction and sorts the fishing rods to be tested to the scrap area. The current test ends, and S3 is executed again to test the next fishing rod to be tested or the test ends.

[0088] Specifically, a sorting instruction must include at least the sorting location. When the comparison result is unqualified, the sorting location in the generated sorting instruction is the scrap area.

[0089] S7: The central processing unit calculates the angle θ between the line connecting the center points of N and M second spot images and the X-axis. The central processing unit generates a rotation command based on the angle θ and sends the rotation command to the fishing rod clamping device. The fishing rod clamping device rotates the fishing rod to be tested to the corresponding angle. The reference calibration device executes the calibration command sent by the central processing unit to scribble a line on the fishing rod to be tested. After scribing, the gantry loading and unloading device executes the sorting command sent by the central processing unit to sort the fishing rod to be tested into the qualified product area. The current test ends, and S3 is executed again to test the next fishing rod to be tested or the test ends.

[0090] Specifically, a sorting instruction must include at least the sorting location. When the comparison result is satisfactory, the sorting location in the generated sorting instruction is the satisfactory product area.

[0091] Furthermore, the sub-steps for sorting the fishing rod to the qualified / reject area using the gantry loading and unloading device are as follows:

[0092] U1: The gantry loading and unloading device clamps the fishing rod simultaneously with the pre-diameter end clamp and the non-diameter end clamp.

[0093] U2: The Z-axis circumferential end slide cylinder and the Z-axis circumferential end slide cylinder of the gantry loading and unloading device slide away from the three-jaw chuck along the X-axis truss.

[0094] U3: The Z-axis circumferential end slide cylinder and the Z-axis circumferential end slide cylinder slide upwards simultaneously, and both fully retract their cylinder push rods.

[0095] U4: The X-axis sliding truss moves qualified / scrap products to the qualified / scrap product bin along the Y-axis sliding truss.

[0096] The beneficial effects achieved by this application are as follows:

[0097] (1) The gantry-type fishing rod straightness detection device and method based on machine vision in this application can fill the gap in the current market for the detection of bent fishing rods and the determination of the guide wire reference device, that is, it solves the problem of the existing hollow fishing rod straightness calibration.

[0098] (2) The gantry-type fishing rod straightness detection device and method based on machine vision of this application measure and judge the straightness of the fishing rod by replacing the human eye with a machine, which has the advantages of high precision and high efficiency.

[0099] (3) The gantry fishing rod straightness detection device and method based on machine vision of this application have a stable detection environment and are easy to operate. They can effectively improve the accuracy and efficiency of detection and reduce the intensity of manual labor and labor costs.

[0100] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the scope of protection of this application is intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application. Obviously, those skilled in the art can make various alterations and variations to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of protection of this application and its equivalents, this application also intends to include these modifications and variations.

Claims

1. A machine vision-based device for detecting the straightness of a gantry fishing rod, characterized in that, At least including: Central processing unit, gantry loading and unloading device, camera device, fishing rod clamping device, reference marking device, light source equipment, and anti-shake device for eliminating fishing rod vibration; The central processing unit communicates with the gantry loading and unloading device, the camera device, the fishing rod clamping device, the reference marking device, the light source device, and the image stabilization device. Specifically, the central processing unit: sends clamping and sorting instructions to the gantry loading and unloading device; sends a first acquisition instruction to the camera device and receives N first spot images obtained according to the first acquisition instruction; sends a second acquisition instruction and receives M second spot images obtained according to the second acquisition instruction; processes the N first spot images and M second spot images to obtain comparison results and generates sorting instructions based on the comparison results; sends rotation instructions to the fishing rod clamping device; calculates the angle θ between the line connecting the center points of the N first spot images and the center points of the M second spot images and the X-axis; generates rotation instructions based on the angle θ and sends them to the fishing rod clamping device; sends calibration instructions to the reference marking device; sends light source on / off instructions to the light source device; and sends clamping / releasing instructions to the image stabilization device. Gantry loading and unloading device: Used to receive and execute clamping commands, clamp fishing rods, and clamp the fishing rods to the three-jaw chuck of the fishing rod clamping device, wherein the fishing rods are standard fishing rods or fishing rods to be tested; receive and execute sorting commands, remove the fishing rods to be tested from the three-jaw chuck, and sort the fishing rods to be tested to the qualified product area / reject product area; Camera device: Installed on the gantry loading and unloading device; used to receive and execute a first acquisition command, acquire N first light spot images of the standard fishing rod, and transmit the N first light spot images to the central processing device; receive and execute a second acquisition command, acquire M second light spot images of the fishing rod to be tested, and transmit the M second light spot images to the central processing device; Fishing rod clamping device: It is installed on the gantry loading and unloading device and located to the left of the camera device; it is used to clamp the fishing rod, receive and execute rotation commands, drive the fishing rod to rotate through the three-jaw chuck; execute rotation commands to rotate the fishing rod to the corresponding angle; Reference marking device: installed on the gantry loading and unloading device; used to receive and execute calibration instructions to mark lines on the fishing rod; Light source equipment: installed on the gantry loading and unloading device; used to receive and execute light source opening and closing commands to turn the light source on or off; Anti-shake device: It is installed on the gantry loading and unloading device and is located between the camera device and the reference marking device. It is used to receive and execute the clamping / releasing command sent by the central processing unit to clamp / releasing the tip of the fishing rod. The light source of the light source device, the three-jaw chuck of the fishing rod clamping device, and the camera of the camera device are all located on the same axis.

2. The machine vision-based straightness detection device for gantry fishing rods according to claim 1, characterized in that, The gantry loading and unloading device includes at least: loading and unloading control equipment, a main body, at least one Y-axis sliding truss, an X-axis sliding truss, a Z-axis circumferential end slide cylinder, and a Z-axis circumferential end slide cylinder; wherein, the loading and unloading control equipment is used to receive clamping instructions / sorting instructions and control the working status of the X-axis sliding truss, the Z-axis circumferential end slide cylinder, and the Z-axis circumferential end slide cylinder according to the clamping instructions / sorting instructions; The main body includes at least one mounting plate, and main support columns for supporting the mounting plate are provided on the left and right sides of the mounting plate. The main support columns include at least one lower support column and one upper support column. The upper end of the lower support column is connected to the mounting plate and the lower end of the lower support column is in contact with the placement surface. The lower end of the upper support column is connected to the mounting plate and the upper end of the upper support column is connected to the Y-axis sliding truss. The sliding groove of the Y-axis sliding truss is located on the side of the Y-axis sliding truss away from the upper support column. The Y-axis sliding block is installed in the groove of the Y-axis sliding truss, and the Y-axis sliding block slides along the groove. The X-axis sliding truss is mounted on the Y-axis sliding slider, and the side of the X-axis sliding truss with the groove is perpendicular to the placement surface. One end of the Z-axis circumferential end slide cylinder is connected to the XZ truss connecting block, which is located in the slide groove of the X-axis sliding truss; the other end of the Z-axis circumferential end slide cylinder is equipped with a circumferential end gripper. One end of the Z-axis leading-diameter end slide cylinder is connected to the XZ truss connecting block, which is located in the slide groove of the X-axis sliding truss. The Z-axis leading-diameter end slide cylinder is located to the right of the Z-axis leading-diameter end slide cylinder. The other end of the Z-axis leading-diameter end slide cylinder is equipped with a leading-diameter end gripper.

3. The machine vision-based straightness detection device for gantry fishing rods according to claim 2, characterized in that, The fishing rod clamping device includes at least: a three-jaw chuck, a chuck bracket, and a clamping control device; the three-jaw chuck is mounted on the chuck bracket, which is mounted on the mounting plate and located on the left side of the mounting plate; the clamping control device receives and executes rotation commands to control the rotation state of the three-jaw chuck.

4. The machine vision-based straightness detection device for gantry fishing rods according to claim 3, characterized in that, The camera device includes at least: a camera, a ring light, and a camera control device. The camera is connected to a central processing unit. The ring light is mounted on the camera, which is located on the right side of the mounting plate, with the ring light facing the fishing rod clamping device. The camera control device is used to receive and execute a first acquisition command, control the ring light to turn on / off according to the first acquisition command, control the camera to acquire a first light spot image according to the first acquisition command, and send the first light spot image to the central processing unit. It also receives and executes a second acquisition command, controls the ring light to turn on / off according to the second acquisition command, controls the camera to acquire a second light spot image according to the second acquisition command, and sends the second light spot image to the central processing unit.

5. The machine vision-based straightness detection device for gantry fishing rods according to claim 4, characterized in that, The light source device includes at least: a dark box, a light source, and a light source control device. The dark box is set on the mounting plate and located on the left side of the fishing rod clamping device. The light source is set inside the dark box, and the diameter of the light source is smaller than the diameter of the end of the fishing rod. The light source control device receives and executes the light source opening and closing command to turn the light source on or off.

6. The machine vision-based straightness detection device for gantry fishing rods according to claim 5, characterized in that, The anti-shake device includes at least: an anti-shake bracket, an anti-shake gripper for eliminating fishing rod vibration, and an anti-shake control device. The anti-shake bracket is mounted on the mounting plate and located between the camera device and the reference marking device. The anti-shake gripper is mounted on the anti-shake bracket. The anti-shake control device is connected to the anti-shake gripper and communicates with the central processing unit. The anti-shake control device receives and executes the gripping / releasing commands sent by the central processing unit and controls the anti-shake gripper to grip / release the tip of the fishing rod.

7. The machine vision-based straightness detection device for gantry fishing rods according to claim 6, characterized in that, The camera is an industrial video camera.

8. The machine vision-based straightness detection device for gantry fishing rods according to claim 5 or 7, characterized in that, The light source is an LED light source.

9. A machine vision-based method for detecting the straightness of a gantry fishing rod, characterized in that, Includes the following steps: S1: The gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the standard fishing rod, so that the standard fishing rod and the three-jaw chuck of the fishing rod clamping device are in a coaxial position. First, the chuck clamps the tip of the standard fishing rod, and then the anti-shake device is adjusted. After the gantry loading and unloading device releases the standard fishing rod, the anti-shake device clamps the tip of the standard fishing rod to eliminate the shaking of the fishing rod. S2: The light source device receives and executes the light source on / off command sent by the central processing unit, turns on the light source device, adjusts the camera device, and after the adjustment is completed, the fishing rod clamping device receives and executes the rotation command sent by the central processing unit, drives the standard fishing rod to rotate through the three-jaw chuck, the camera device receives and executes the first acquisition command sent by the central processing unit, acquires N first light spot images, and sends the N first light spot images to the central processing unit, which calculates the N first light spot images to obtain the center point of the N first light spot images; S3: The fishing rod clamping device receives and executes the fishing rod replacement command sent by the central processing unit. The gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the fishing rod to be tested, so that the fishing rod to be tested and the three-jaw chuck of the fishing rod clamping device are in a coaxial position. First, the tip diameter end of the fishing rod to be tested is clamped by the three-jaw chuck. Then, the anti-shake device is adjusted. After the gantry loading and unloading device releases the fishing rod to be tested, the tip diameter end of the fishing rod to be tested is clamped by the anti-shake device to eliminate the shaking of the fishing rod. S4: The fishing rod clamping device receives and executes the rotation command sent by the central processing unit, and drives the fishing rod under test to rotate through the three-jaw chuck. The camera device receives and executes the second acquisition command, acquires M second light spot images, and sends the M second light spot images to the central processing unit. The central processing unit calculates the M second light spot images to obtain the center point of the M second light spot images. S5: The central processing unit calculates the distance between the center points of N first spot images and the center points of M second spot images, and compares the distance with a pre-set threshold. If the distance is greater than the threshold, the comparison result is unqualified, and S6 is executed; if the distance is less than or equal to the threshold, the comparison result is qualified, and S7 is executed. S6: The central processing unit generates a sorting instruction based on the comparison results and sends the sorting instruction to the gantry loading and unloading device. The gantry loading and unloading device executes the sorting instruction and sorts the fishing rods to be tested to the scrap area. The current test ends and S3 is executed again to test the next fishing rod to be tested or the test ends. S7: The central processing unit calculates the angle θ between the line connecting the center points of N first spot images and M second spot images and the X-axis. The central processing unit generates a rotation command based on the angle θ and sends the rotation command to the fishing rod clamping device. The fishing rod clamping device rotates the fishing rod to be tested to the corresponding angle. The reference calibration device executes the calibration command sent by the central processing unit to scribble a line on the fishing rod to be tested. After scribing, the gantry loading and unloading device executes the sorting command sent by the central processing unit to sort the fishing rod to be tested into the qualified product area. The current test ends, and S3 is executed again to test the next fishing rod to be tested or the test ends.

10. The machine vision-based straightness detection method for gantry fishing rods according to claim 9, characterized in that, The gantry loading and unloading device receives and executes the clamping command sent by the central processing unit, clamps and adjusts the position of the fishing rod so that the fishing rod and the three-jaw chuck of the fishing rod clamping device are in a coaxial position, and the sub-step of clamping the end of the fishing rod by the three-jaw chuck is as follows: The gantry loading and unloading device receives and executes the clamping command, causing the X-axis sliding truss of the gantry loading and unloading device to move upward to the material side along the Y-axis sliding truss of the gantry loading and unloading device; After the X-axis sliding truss moves to the loading side, the Z-axis circumferential end slide cylinder of the gantry loading and unloading device and the Z-axis leading end slide cylinder of the gantry loading and unloading device slide downwards simultaneously, and extend the cylinder push rod of the Z-axis circumferential end slide cylinder and the cylinder push rod of the Z-axis leading end slide cylinder. The circumferential end gripper of the Z-axis circumferential end slide cylinder and the leading end gripper of the Z-axis leading end slide cylinder clamp the fishing rod in the target simultaneously. After the tip-end gripper and the circumference-end gripper clamp the fishing rod, the Z-axis circumference-end slide cylinder and the Z-axis tip-end slide cylinder slide upwards simultaneously and retract the cylinder push rod, so that the fishing rod and the three-jaw chuck are at the same height. After the fishing rod and the three-jaw chuck are at the same height, the Z-axis circumferential end slide cylinder and the Z-axis tractor end slide cylinder move along the Y-axis sliding truss to make the fishing rod and the three-jaw chuck be on the same axis. Then, the Z-axis circumferential end slide cylinder and the Z-axis tractor end slide cylinder move along the X-axis sliding truss toward the center of the three-jaw chuck and make the three-jaw chuck clamp the circumferential end of the fishing rod.

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