A visual inspection sizing compensation method

Abstract

The present invention discloses a method for visual inspection of battering compensation, comprising: a visual system capturing image information of a baking tray and transmitting it to an image processing system; the image processing system extracting the image information and converting it into 3D point cloud data, and the image processing system performing position adjustment on the 3D point cloud data; extracting 3D point cloud data based on the minimum and maximum distances between the baking tray battering area and the 3D camera; splitting the extracted 3D point cloud data and extracting the center point and area of ​​the 3D point cloud data area, converting the 3D point cloud data into manipulator coordinates and area data, and transmitting the data to the battering system; the battering system controlling its batter pipe to calculate the compensation battering time for each area in proportion to the area to compensate for battering. The present invention uses the visual system to capture image information of the baking tray, determine whether battering is evenly applied on the baking tray, and compensate battering in areas with insufficient battering, thereby ensuring even battering in the baking tray area.

Description

Technical Field

[0001] The invention relates to the technical field of wafer preparation, in particular to a visual detection slurry compensation method. Background Art

[0002] Wafers are made by heating and baking. The noodle sauce on the baking tray is baked and the wafer sheets are left after the water evaporates. The wafer sheets are then coated with cream, stacked, and cut into pieces to obtain the required wafers. Figure 1 As shown, existing battering systems apply batter based on user-defined starting and ending positions. When the baking tray reaches starting point A, the batter pump starts, applying batter to the tray at a fixed position. When the tray reaches ending point B, the batter pump stops. Applying batter at a fixed position requires the batter to flow freely within the baking tray and mold. This is affected by factors such as oven temperature and batter recipe, making it difficult to evenly distribute the batter across the baking tray and mold, resulting in chipped corners or uneven thickness in the product. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for visual detection of battering compensation, in which the image information of the baking tray is collected by a visual system, and the image processing system analyzes the image information to determine whether the batter is evenly applied on the baking tray, and to compensate for the area with insufficient batter to ensure uniform battering in the baking tray area.

[0004] To achieve the above-mentioned purpose, the present invention provides a technical solution: a visual detection sizing compensation method, the sizing compensation method comprising:

[0005] The visual system captures the image information of the baking tray and sends it to the image processing system;

[0006] The image processing system extracts the contour and coordinate data from the image information and converts it into 3D point cloud data. The image processing system adjusts the position of the 3D point cloud data and deletes the 3D point cloud data outside the baking pan batter area.

[0007] According to the minimum distance Dmin+N (N is a correction value) and the maximum distance Dmax from the baking tray's battering area to the 3D camera, extract the 3D point cloud data with Dmin+N≤P≤Dmax;

[0008] Split the extracted 3D point cloud data into multiple unconnected 3D point cloud data, extract the center point and area of ​​the 3D point cloud data area, convert the center point of the 3D point cloud data area into robot coordinates and area data and send it to the slurry feeding system;

[0009] After receiving the regional center point and area data, the slurry feeding system controls its slurry pipe to move along the X-axis and Y-axis directions. The slurry feeding system calculates the compensation slurry feeding time for each area in proportion to the area and controls the slurry pipe to perform compensation slurry feeding.

[0010] The present invention adopts the above-mentioned technical solution, and uses a visual system to capture image information of the baking tray, and sends it to an image processing system to determine whether the noodle sauce on the baking tray is evenly battered. If the battering is uneven, the image processing system extracts the image information and converts it into 3D point cloud data, and further processes the data, converting it into robot coordinates and area data and sending it to the battering system. The battering system controls the batter pipe to move along the X-axis and Y-axis on the baking tray, compensates the battering time of each area in proportion to the area, controls the batter pipe to compensate for the battering, and realizes battering compensation for areas with insufficient batter, ensuring uniform battering in the baking tray area.

[0011] In the above-mentioned visual inspection sizing compensation method, the image processing system includes an industrial computer and a display. The industrial computer receives and processes image signals from the visual system and outputs control instructions to the controller. The display is connected to the industrial computer to display image processing information.

[0012] In the above-mentioned visual inspection battering compensation method, the visual system includes a 3D camera for collecting image information of the baking tray.

[0013] The visual inspection slurry compensation method described above involves a slurry system comprising a slurry pump, a slurry pipe, a manipulator, and a controller. The slurry pump is connected to the slurry pipe, which is then connected to the manipulator. The controller receives control instructions from the image processing system and controls the manipulator to move the slurry pipe to apply slurry to the baking tray. After receiving the area center point and area data, the controller controls the manipulator to reach the designated position, driving the slurry pipe to move along the X and Y axes. The controller calculates the compensation slurry application time for each area proportionally based on the area, starts the slurry pump, and opens the solenoid valve to apply slurry compensation. After the compensation slurry application is complete, the slurry pump and solenoid valve are closed, completing the slurry application compensation.

[0014] In the above-mentioned visual detection battering compensation method, the battering system includes a sensor located below the baking tray, which is used to trigger the start and end signals of the 3D camera to collect image data of the baking tray.

[0015] In the aforementioned visual inspection battering compensation method, the battering system also includes an encoder for detecting the position of the baking pan. When the baking pan moves to a specified position, a 3D camera captures the image of the pan. Simultaneously, the encoder generates pulse signals that divide the pan into multiple zones and provide them to the image processing system.

[0016] In the above-mentioned visual detection slurry compensation method, a solenoid valve is provided on the slurry pipe. The solenoid valve is used to open and close the slurry pipe. When slurry is being added, the solenoid valve is opened, and when slurry is stopped, the solenoid valve is closed.

[0017] The beneficial effects achieved by the present invention are: visually detecting the contour of the battering area of ​​the baking tray, judging whether battering is uniform, and compensating battering for areas with insufficient battering, thereby ensuring uniform battering of the baking tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of a sizing method of a sizing system in the prior art;

[0019] Figure 2 It is a structural schematic diagram of the visual detection sizing compensation system of the present invention;

[0020] Figure 3 2. It is a structural diagram of the visual system of the visual detection sizing compensation system of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the image processing system of the visual detection sizing compensation system of the present invention;

[0022] Figure 5 It is a schematic diagram of the visual system of the visual inspection batter compensation system of the present invention capturing an image of a baking tray.

[0023] Explanation of the accompanying symbols: visual system 1, 3D camera 11, image processing system 2, industrial computer 21, display 22, slurry feeding system 3, slurry pump 31, slurry pipe 32, manipulator 33, controller 34, sensor 35, encoder 36, solenoid valve 37, baking tray 4. DETAILED DESCRIPTION

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] Figure 1 The figure shows a schematic diagram of battering in a conventional system. During battering, the system applies batter according to user-defined start and end positions. When baking tray 4 reaches starting point A, the batter pump activates, applying batter to the baking tray at a fixed position. When baking tray 4 reaches end point B, the batter pump stops. Batting at a fixed position requires the batter to flow freely within the baking tray mold. This can be affected by factors such as oven temperature and batter recipe, making it difficult to evenly distribute the batter within the baking tray mold. This can result in missing corners or uneven thickness in the product.

[0026] like Figures 2 to 5 As shown, a visual inspection sizing compensation method of the present invention includes:

[0027] The visual system 1 captures the image information of the baking tray 4 and sends it to the image processing system 2;

[0028] The image processing system 2 extracts the contour and coordinate data from the image information and converts it into 3D point cloud data. The image processing system 2 adjusts the position of the 3D point cloud data and deletes the 3D point cloud data outside the baking pan batter area.

[0029] According to the minimum distance Dmin+N (N is a correction value) and the maximum distance Dmax from the baking tray bottom batter area to the 3D camera (11), 3D point cloud data with Dmin+N≤P≤Dmax is extracted;

[0030] Split the extracted 3D point cloud data into multiple unconnected 3D point cloud data, extract the center point and area of ​​the 3D point cloud data area, convert the center point of the 3D point cloud data area into manipulator coordinates and area data and send them to the slurry feeding system 3;

[0031] After receiving the area center point and area data, the slurry feeding system 3 controls its slurry pipe 32 to move along the X-axis and Y-axis directions. The slurry feeding system 3 calculates the compensation slurry feeding time of each area in proportion to the area and controls the slurry pipe 32 to perform compensation slurry feeding.

[0032] 3D camera 11 is a 3D line scan camera. Its operating principle is as follows: First, the laser source on the 3D camera generates a precise laser line. This laser line is then scanned onto the baking tray. The reflected signal from the laser line is received by a laser detector and converted into a digital signal. The data processor processes the digital signal received by the laser detector to obtain the three-dimensional shape of the baking tray, and this digital signal is sent to the image processing system 2.

[0033] The image processing system 2 includes an industrial computer 21 and a display 22 . The industrial computer 21 receives and processes image signals from the visual system 1 and outputs control instructions to the controller 34 . The display 22 is connected to the industrial computer 21 for displaying image processing information.

[0034] The vision system 1 includes a 3D camera 11 for collecting image information of the baking tray 4 .

[0035] The slurry feeding system 3 includes a slurry pump 31, a slurry pipe 32, a manipulator 33 and a controller 34. The slurry pump 31 is connected to the slurry pipe 32, and the manipulator 33 is connected to the slurry pipe 32. The controller 34 receives the control instructions output by the image processing system 2 and controls the manipulator 33 to move the slurry pipe 32 to feed slurry to the baking tray 4.

[0036] The battering system 3 includes a sensor 35 , which is located below the baking tray 4 and is used to trigger the 3D camera 11 to collect start and end signals of image data of the baking tray 4 .

[0037] The battering system 3 further includes an encoder 36 for detecting the moving position of the baking tray 4 .

[0038] A solenoid valve 37 is provided on the slurry pipe 32 .

[0039] In summary, the present invention has been made into actual samples and tested for multiple uses as described in the specification and the illustrations. From the results of the use tests, it can be proved that the present invention can achieve its intended purpose and its practical value is beyond doubt. The above embodiments are only used to illustrate the present invention and are not intended to limit the present invention in any form. Any person with ordinary knowledge in the technical field can, without departing from the scope of the technical features of the present invention, make equivalent embodiments by making partial changes or modifications to the technical content disclosed by the present invention and without departing from the technical features of the present invention, and all of them still fall within the scope of the technical features of the present invention.

Claims

1. A method for visually inspecting sizing compensation, characterized by: The sizing compensation method includes: The visual system (1) captures image information of the baking tray (4) and sends the image information to the image processing system (2); The image processing system (2) extracts the contour and coordinate data from the image information and converts it into 3D point cloud data. The image processing system (2) adjusts the position of the 3D point cloud data and deletes the 3D point cloud data outside the baking tray batter area. According to the minimum distance Dmin+N and the maximum distance Dmax from the baking tray bottom batter area to the 3D camera (11), the 3D point cloud data with Dmin+N ≤ P ≤ Dmax is extracted, where N is the correction value; Splitting the extracted 3D point cloud data into multiple unconnected 3D point cloud data, extracting the center point and area of ​​the 3D point cloud data area, converting the center point of the 3D point cloud data area into robot coordinates and area data and sending them to the slurry dispensing system (3); After receiving the regional center point and area data, the pulping system (3) controls its pulping pipe (32) to move along the X-axis and Y-axis directions. The pulping system (3) calculates the compensation pulping time of each region in proportion to the area and controls the pulping pipe (32) to perform compensation pulping.

2. The method for compensating for sizing during visual inspection according to claim 1, characterized in that: The image processing system (2) includes an industrial computer (21) and a display (22). The industrial computer (21) receives and processes image signals from the visual system (1) and outputs control instructions to a controller (34). The display (22) is connected to the industrial computer (21) and is used to display image processing information.

3. The visual inspection sizing compensation method according to claim 1, characterized in that: The visual system (1) includes a 3D camera (11) for collecting image information of the baking tray (4).

4. The method for compensating for sizing during visual inspection according to claim 1, wherein: The slurry dispensing system (3) includes a slurry pump (31), a slurry pipe (32), a manipulator (33) and a controller (34). The slurry pump (31) is connected to the slurry pipe (32), the manipulator (33) is connected to the slurry pipe (32), and the controller (34) receives a control instruction output by the image processing system (2) and controls the manipulator (33) to move the slurry pipe (32) to dispense slurry to the baking tray (4).

5. The method for compensating for sizing during visual inspection according to claim 4, characterized in that: The battering system (3) includes a sensor (35) located below the baking tray (4) and configured to trigger a start and end signal of the 3D camera (11) to collect image data of the baking tray (4).

6. The method for compensating for sizing during visual inspection according to claim 4, characterized in that: The battering system (3) further comprises an encoder (36) for detecting the moving position of the baking tray (4).

7. The method for visual inspection sizing compensation according to claim 1, characterized in that: A solenoid valve (37) is provided on the slurry pipe (32).

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