A vibration plate control system and method based on visual judgment

Abstract

The present invention discloses a vibration disk control system and method based on visual judgment, which relates to the field of mechanical control technology, and comprises: a vibration disk module, wherein the vibration disk module comprises a vibration disk unit and a driving unit; a visual module, wherein the visual module is used to obtain image information of the vibration disk unit; an image processing module, wherein the image processing unit is used to process the image information obtained by the visual module; an analysis module; and a control module, wherein the control module is used to control parameters of the vibration disk module according to an analysis result of the analysis module; by providing the visual module, the image acquisition unit can be adjusted in real time according to a deflection position of the vibration disk unit to keep the image acquisition unit and the vibration disk unit parallel to each other as much as possible in a processing state, and the stroboscopic effect caused by the frequency of ambient light being close to or the same as the frequency of a stroboscopic light source can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of mechanical control technology, and more specifically, to a vibration plate control system and method based on visual judgment. Background Art

[0002] The vibration plate is an auxiliary feeding device for automatic assembly or automatic processing machinery. It can arrange various products in an orderly manner. This function is achieved by driving the vibration plate to vibrate through the driving device.

[0003] The vibration plate control system is a device widely used in the field of automated assembly and production. It arranges disordered workpieces into an orderly arrangement by vibration to facilitate subsequent automated assembly or processing. The vibration plate control system based on visual judgment combines machine vision technology with the vibration plate, and recognizes and judges the workpiece through the visual system, thereby achieving more accurate and intelligent control.

[0004] However, due to the diversity and complexity of workpieces, the visual system may have recognition errors, resulting in inaccurate sorting; environmental adaptability, sensitivity to ambient light and workpiece reflections, may lead to a decrease in image acquisition quality; processing speed, in high-speed production processes, the real-time nature of image processing and judgment may not keep up with the production pace. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a vibration plate control system and method based on visual judgment.

[0006] In order to achieve the above object, on the one hand, the present invention adopts the following technical solutions:

[0007] A vibration plate control system based on visual judgment, comprising:

[0008] A vibration disk module, the vibration disk module comprising a vibration disk unit and a driving unit; a visual module, the visual module is used to obtain image information of the vibration disk unit;

[0009] An image processing module, wherein the image processing unit is used to process the image information obtained by the visual module;

[0010] The analysis module is used to generate a judgment result based on the image information processed by the image processing module, specifically:

[0011] Establishing a plane coordinate system with the center of the vibrating disk unit as the origin;

[0012] Obtain the coordinates of the workpiece before and after the predetermined time, marked as (x1, y1) and x2, y2) respectively;

[0013] According to the formula Calculate and obtain a trajectory motion analysis value D of the workpiece;

[0014] Obtain the vibration frequency analysis value within a predetermined time and mark it as F;

[0015] The amplitude within a predetermined time is obtained by measuring the maximum effective value of F and marked as A;

[0016] The vibration performance value S of the vibration plate is calculated and obtained according to the formula S=(a1×D)+(a2×F)+(a3×A), wherein a1, a2 and a3 are preset weight coefficients;

[0017] A threshold value of the vibration performance value S is set in advance and marked as K, and it is judged whether the vibration performance value S is greater than K. If so, it means that the output of the vibration disk unit does not meet the standard and needs further adjustment. If not, it means that the vibration disk unit meets the working requirements;

[0018] A control module, wherein the control module is used to control the parameters of the vibration disk module according to the analysis result of the analysis module.

[0019] Preferably, the specific working mode of the visual module is as follows, specifically:

[0020] The visual module also includes a control unit for controlling the image acquisition unit;

[0021] The control unit includes a driving member for driving the image acquisition unit, and the control unit is used to adjust the image acquisition unit in real time according to the position of the workpiece;

[0022] Obtain the current angle of the camera in the image acquisition unit and mark it as θ1;

[0023] Obtaining a measured angle of the vibration disk unit and marking it as θ2;

[0024] According to the formula θ3=θ1+θ2, the desired orientation angle θ3 of the workpiece is calculated and obtained; the desired orientation angle θ3 is output to the driving member, and the orientation angle of the image acquisition unit is adjusted accordingly.

[0025] Preferably, the visual module further includes a response unit, and the response unit is used to reduce the impact of ambient light changes on image quality, specifically:

[0026] Acquire the frequency of the ambient light; select a stroboscopic light source frequency of the illumination unit that is not synchronized with the ambient light frequency;

[0027] A stroboscopic number of the image acquisition unit is set in advance and marked as P;

[0028] Obtain the time required for the vibration disk unit to complete one vibration, and mark it as Y;

[0029] According to the formula Calculate and obtain the stroboscopic spacing L of the illumination unit;

[0030] The strobe interval L is transmitted to the lighting unit via a signal.

[0031] Preferably, the response unit is also used to adapt to the response time of the light source in actual use, specifically:

[0032] Get the time from when the light source is turned on to when it reaches maximum brightness and the time from when it is maximum brightness to when it is turned off, and mark them as

[0033] pass To calculate the strobe spacing L1 after adapting to the response time.

[0034] Preferably, the control module is used to generate adjustment parameters of the vibration disk unit when the performance of the vibration disk unit does not meet the standard and needs further adjustment. The specific working method is:

[0035] According to the formula ΔA=τ(KS), the amplitude adjustment value ΔA of the vibration disk unit is calculated and obtained, wherein τ is a preset proportionality coefficient;

[0036] According to the formula Δf=σ(f d -f), calculate and obtain the frequency adjustment value Δf of the vibration disk unit, where σ is a preset proportional coefficient, f d The desired vibration frequency is preset;

[0037] According to the formula Δθ=δ(ρ-M), the inclination angle adjustment value Δθ of the vibration plate unit is calculated and obtained, wherein δ is a preset proportional coefficient, ρ is the actual workpiece filling density, and M is a preset ideal workpiece filling density;

[0038] The calculated amplitude adjustment value ΔA, frequency adjustment value Δf and tilt angle adjustment value Δθ are transmitted to the driving unit of the equipment module to adjust the parameters of the vibration disk unit.

[0039] Preferably, the control module further includes a stepwise adjustment unit for performing stepwise adjustment when adjusting the parameters, specifically in the following manner:

[0040] After the driving unit receives the amplitude adjustment value ΔA, the frequency adjustment value Δf and the tilt angle adjustment value Δθ, it first adjusts half of the amplitude adjustment value ΔA, the frequency adjustment value Δf and the tilt angle adjustment value Δθ, and then determines again whether the output of the vibration disk unit meets the standard. If it does not meet the standard, it will be evaluated again to obtain new amplitude adjustment value ΔA, frequency adjustment value Δf and tilt angle adjustment value Δθ, and then adjust again until the output of the vibration disk unit meets the standard.

[0041] Preferably, the control module further includes an environment adaptation unit, and the environment adaptation unit is used to further improve the adjustment parameters generated by the control module according to the actual data of the vibration disk unit, specifically:

[0042] Obtain the average temperature of the day before the current time period, obtain the current ambient temperature value of the vibration disk unit, calculate the temperature change value of the environment, and mark it as ΔN;

[0043] Obtain the average humidity of the day before the current time period, obtain the current environmental humidity value of the vibration disk unit, calculate the humidity change value of the environment, and mark it as ΔZ;

[0044] Obtain the average wind speed of the day before the current time period, obtain the current environmental wind speed value of the vibration disk unit, calculate the environmental wind speed change value, and mark it as ΔG;

[0045] According to the formula ΔS=S+(g1×ΔN)+(g2×ΔZ)+(g3×ΔG), the vibration performance value ΔS of the vibration disk unit after being affected by the environment is calculated, where g1, g2 and g3 are preset proportional coefficients;

[0046] The obtained vibration performance value ΔS affected by the environment is transmitted to the control unit to further improve the generated adjustment parameters.

[0047] Preferably, the visual module further includes a maintenance unit, which is used to assign professionals to maintain and debug the image acquisition unit, specifically:

[0048] A maintenance time is set in advance, and when the maintenance time countdown ends, the image acquisition unit is marked as a device to be maintained;

[0049] The position of the image acquisition unit is obtained, a circle is drawn with a preset radius with the image acquisition unit as the center to obtain a maintenance range, and personnel within the maintenance range are marked as personnel to be deployed;

[0050] Obtaining a distance difference between the person to be deployed and the image acquisition unit, and marking it as a maintenance distance ε;

[0051] Get the capability value of the deployed personnel and mark it as μ;

[0052] According to the formula The priority value β of the personnel to be deployed is obtained, the location information of the image acquisition unit is sent to the mobile phone terminal of the personnel to be deployed with the largest priority value β, and the countdown of the maintenance time is refreshed.

[0053] Preferably, the ability value μ of the deployment personnel is obtained as follows:

[0054] Obtain the average operation and maintenance duration of the deployment personnel, obtain the number of deployments of the deployment personnel, sum up all maintenance intervals of the deployment personnel before the current time period, and obtain the total maintenance interval;

[0055] According to the formula The capability value μ of the deployment personnel is obtained by calculation.

[0056] On the other hand, the present invention also proposes a vibration plate control method based on visual judgment, comprising the following steps:

[0057] Step 1: Obtain image information of the vibration disk unit and process the acquired image information;

[0058] Step 2: Based on the processed data, determine whether the vibration plate unit meets the working requirements during operation;

[0059] Step 3: Adjust parameters of the vibration disk unit that is judged not to meet the working requirements.

[0060] Beneficial effects: By providing a visual module, the image acquisition unit can be adjusted in real time according to the deflection position of the vibration disk unit, and the image acquisition unit and the vibration disk unit can be kept parallel to each other in the processing state as much as possible, thereby reducing the error of image information and avoiding the stroboscopic effect caused by the frequency of the ambient light being close to or the same as the frequency of the stroboscopic light source;

[0061] By setting up an analysis module, if there is a problem with the vibration plate during operation, it can be adjusted in real time, which will affect the quality of subsequent workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a system block diagram of the present invention.

[0063] Figure 2 is a flow chart of the method of the present invention;

[0064] Figure 3 It is a schematic structural diagram of the vibration plate of the present invention. DETAILED DESCRIPTION

[0065] It should be noted that the vibration plate is composed of a vibration plate unit, a driving unit below that drives it to vibrate, and a visual module above the vibration plate unit that collects vibration plate information, and arranges the disordered workpieces into an orderly arrangement by vibration;

[0066] It should also be noted that the driving unit is installed below the vibration disk unit, and the driving unit is used to drive the vibration disk unit to vibrate, and the visual module is located above the vibration disk unit, and the visual module is used to obtain image information of the vibration disk unit;

[0067] However, when the vibration plate fails during operation, it is difficult to adjust it in real time, which will affect the quality of subsequent workpieces. This technical solution can solve the above problems by monitoring the working performance of the vibration plate in real time and handling it in time when the working performance is abnormal. Specifically:

[0068] like Figure 1-3 As shown, an embodiment of the present invention provides a vibration plate control system based on visual judgment, including a vibration plate module, a visual module, an image processing module, an analysis module and a control module;

[0069] Wherein, the vibration plate module includes a vibration plate unit and a driving unit; it should be noted that the vibration plate unit is used to load the workpiece, and the driving unit is used to make the vibration plate unit vibrate;

[0070] The visual module is used to obtain image information of the vibration disk unit; it should be noted that the visual module includes an image acquisition unit and an illumination unit, the image acquisition unit is used to obtain image information of the vibration disk unit, and the illumination unit is used to provide illumination when acquiring image information;

[0071] The image processing unit is used to process the image information obtained by the visual module; it should be noted that the collected image information may contain noise and reflective light factors, and it is necessary to perform filtering, denoising and contrast enhancement to improve the image quality;

[0072] The analysis module is used to generate a judgment result according to the image information processed by the image processing module, specifically:

[0073] Establishing a plane coordinate system with the center of the vibrating disk unit as the origin;

[0074] The coordinates of the workpiece before and after the predetermined time are obtained, which are marked as (x1, y1) and x2, y2) respectively; it should be noted that the predetermined time is set according to the processing time. In this embodiment, the predetermined time can be one hour;

[0075] According to the formula The trajectory motion analysis value D of the workpiece is obtained by calculation; it should be noted that it is determined by analyzing the position change of the workpiece in the continuous images, and is used to quantify the trajectory motion phenomenon of the workpiece;

[0076] The vibration frequency analysis value within the predetermined time is obtained and marked as F; it should be noted that the vibration frequency is one of the key parameters of the vibration disk performance. The time domain signal is converted to the frequency domain by using Fourier transform for analyzing the vibration frequency. In this embodiment, the acquisition method can be:

[0077] Where x(t) is the vibration signal within a predetermined time, and the corresponding frequency domain signal of F represents the spectrum density of x(t) at frequency f, where f is the frequency and j is the imaginary unit. In this embodiment, j 2 =1, by calculating F, we can get the frequency spectrum of the vibration signal, which helps us analyze the vibration characteristics of the vibration plate; Dt represents the displacement of the workpiece within a predetermined time;

[0078] The amplitude within a predetermined time is obtained by measuring the maximum effective value of F and is marked as A. It should be noted that the amplitude A can represent a measure of the vibration intensity;

[0079] According to the formula S=(a1×D)+(a2×F)+(a3×A), the vibration performance value S of the vibration disk is calculated, wherein a1, a2 and a3 are preset weight coefficients; it should be noted that a1, a2 and a3 are set in advance by the staff according to historical data and experience. In the present embodiment, a1, a2 and a3 are 0.298, 0.317 and 0.385 respectively; it should be noted that according to the experience of the staff, the vibration performance of the vibration disk is directly proportional to the amplitude, vibration frequency and trajectory change value of the workpiece on the vibration disk. Therefore, the vibration performance value S of the vibration disk can be obtained by calculating the amplitude, vibration frequency and trajectory change value of the workpiece on the vibration disk. Because the purpose of the vibration disk unit is to arrange disordered workpieces into an orderly arrangement by vibration, the vibration performance value S of the vibration disk can be used to measure whether the vibration disk unit can meet the need for sorting workpieces.

[0080] A threshold value of the vibration performance value S is set in advance and marked as K, and it is judged whether the vibration performance value S is greater than K. If so, it means that the output of the vibration disk unit does not meet the standard and needs further adjustment. If not, it means that the vibration disk unit meets the working requirements. It should be noted that through quantitative calculation, the performance of the vibration disk unit can be accurately evaluated to help optimize the production process.

[0081] The control module is used to control the parameters of the vibration disk module according to the analysis result of the analysis module. It should be noted that, in this embodiment, the parameters include the vibration frequency of the vibration disk and the tilt angle of the vibration disk;

[0082] Combined with historical data, by obtaining the vibration performance value S of the vibration disk to determine whether the vibration disk unit meets the working needs, full consideration is given to the impact of various influencing factors of the vibration disk on the vibration performance value S to achieve corresponding parameter adjustments of the vibration disk unit, solving the problem of not being able to make real-time adjustments when the vibration disk fails.

[0083] like Figure 1-3 As shown in the figure, as an optional embodiment, it should be noted that, since the angle of the vibration disk unit will change when it is working, if the angle of image acquisition is fixed, there will be deviation when obtaining the workpiece position, which will affect the subsequent judgment results. This technical solution can solve the above problem. The specific solution is as follows:

[0084] The visual module also includes a control unit for controlling the image acquisition unit;

[0085] The control unit includes a driving member for driving the image acquisition unit, and the control unit is used to adjust the image acquisition unit in real time according to the position of the workpiece;

[0086] Obtain the current angle of the camera in the image acquisition unit and mark it as θ1;

[0087] Obtaining a measured angle of the vibration disk unit and marking it as θ2;

[0088] According to the formula θ3=θ1+θ2, the desired orientation angle θ3 of the workpiece is calculated and obtained; the desired orientation angle θ3 is output to the driving member, and the orientation angle of the image acquisition unit is adjusted accordingly; it should be noted that the image acquisition unit is installed directly above the center of the vibration disk unit. When the initial vibration disk unit is not started, the image acquisition unit can capture photos of the upper surface of the vibration disk unit, and at this time the image acquisition unit and the vibration disk unit are parallel to each other, but when the vibration disk unit vibrates, deflection will occur, and at this time the image acquisition unit and the vibration disk unit are no longer parallel, and the workpiece position captured by the image acquisition unit on the image will also deviate from the actual position, affecting subsequent calculations. The control unit can adjust the corresponding angle of the image acquisition unit in real time according to the deflection position of the vibration disk unit, and try to maintain the image acquisition unit and the vibration disk unit in parallel under the processing state, thereby reducing the error of image information.

[0089] like Figure 1-3As shown in the figure, as an optional embodiment, it should be noted that the collected image information will also be affected by the ambient light. The visual module also includes a response unit, which is used to reduce the impact of ambient light changes on image quality, specifically:

[0090] Obtain the frequency of ambient light; it should be noted that this is accomplished by a photometer or a stroboscope meter;

[0091] Selecting a stroboscopic light source frequency of the illumination unit that is not synchronized with the ambient light frequency, it should be noted that synchronization effect with the fluctuation of the ambient light is avoided;

[0092] A stroboscopic number of the image acquisition unit is set in advance and marked as P; it should be noted that the stroboscopic number is the acquisition number of the camera in the image acquisition unit;

[0093] Obtain the time required for the vibration disk unit to complete one vibration, and mark it as Y;

[0094] According to the formula Calculate and obtain the stroboscopic spacing L of the illumination unit;

[0095] Transmitting the strobe interval L to the lighting unit via a signal;

[0096] It should be noted that if the frequency of the ambient light is close to or the same as the frequency of the stroboscopic light source, a stroboscopic effect may occur, causing stripes or unclear images. Therefore, it is necessary to select a stroboscopic light source frequency that will not produce a harmonious effect with the ambient light. By calculating the appropriate stroboscopic spacing L, the possibility of unclear images can be reduced.

[0097] like Figure 1-3 As shown, as an optional embodiment, it is also necessary to explain that, since the ambient light source will change over time, if the image acquisition does not adapt to the change, it will also affect the acquired information. The response unit is also used to adapt to the response time of the light source in actual use, specifically:

[0098] Get the time from when the light source is turned on to when it reaches maximum brightness and the time from when it is maximum brightness to when it is turned off, and mark them as

[0099] pass To calculate the strobe spacing L1 after adapting to the response time.

[0100] As an optional embodiment, the control module is used to generate adjustment parameters of the vibration disk unit when the performance of the vibration disk unit does not meet the standard and needs further adjustment. The specific working method is:

[0101] According to the formula ΔA=τ(KS), the amplitude adjustment value ΔA of the vibration disk unit is calculated and obtained, wherein τ is a preset proportional coefficient; it should be noted that the amplitude adjustment value ΔA can be obtained by matching the difference between the preset vibration performance threshold F and the vibration performance value S with the adjustment coefficient, and τ is obtained by the staff based on historical data. In this embodiment, τ is 0.659;

[0102] According to the formula Δf=σ(f d -f), calculate and obtain the frequency adjustment value Δf of the vibration disk unit, where σ is a preset proportional coefficient, f d is the preset required vibration frequency; it should be noted that f d To meet the preset vibration frequency under the use conditions, the staff obtains it in combination with historical data, σ is obtained by the staff based on historical data, and in this embodiment, τ is 1.052;

[0103] According to the formula Δθ=δ(ρ-M), the inclination angle adjustment value Δθ of the vibration disk unit is calculated and obtained, wherein δ is a preset proportional coefficient, ρ is the actual workpiece filling density, and M is a preset ideal workpiece filling density; it should be noted that ρ is the actual workpiece filling density, which is obtained by calculating the average spacing between the workpieces, M is the preset ideal workpiece filling density, which is obtained by the staff in combination with historical data, δ is obtained by the staff based on the historical data, and in this embodiment, τ is 0.827;

[0104] The calculated amplitude adjustment value ΔA, frequency adjustment value Δf and tilt angle adjustment value Δθ are transmitted to the driving unit of the equipment module to adjust the parameters of the vibration disk unit.

[0105] like Figure 1-3 As shown, as an optional embodiment, the control module further includes a stepwise adjustment unit, which is used to perform stepwise adjustment when adjusting the parameters, and the specific method is as follows:

[0106] After the driving unit receives the amplitude adjustment value ΔA, the frequency adjustment value Δf and the tilt angle adjustment value Δθ, it first adjusts half of the amplitude adjustment value ΔA, the frequency adjustment value Δf and the tilt angle adjustment value Δθ, and after the adjustment, it determines again whether the output of the vibration disk unit meets the standard. If it does not meet the standard, it will be evaluated again to obtain new amplitude adjustment value ΔA, frequency adjustment value Δf and tilt angle adjustment value Δθ, and then adjust again until the output of the vibration disk unit meets the standard. It should be noted that the conventional one-time adjustment method may cause errors when the staff operates due to the large adjustment value of the parameters. At the same time, errors may also occur because the information obtained, which makes the calculated adjustment parameters also have errors and over-adjustment, which will affect the performance of the overall vibration disk. By adopting a step-by-step adjustment method, possible errors can be reduced through multiple adjustments to avoid over-adjustment.

[0107] like Figure 1-3 As shown in the figure, as an optional embodiment, it should be noted that the working efficiency of the vibration disk unit will also be affected by the environment. If the environmental impact is not considered during monitoring, it will also affect the judgment result;

[0108] The control module further includes an environment adaptation unit, which is used to further improve the adjustment parameters generated by the control module according to the actual data of the vibration disk unit, specifically:

[0109] Obtain the average temperature of the day before the current time period, obtain the current ambient temperature value of the vibration disk unit, calculate the temperature change value of the environment, and mark it as ΔN;

[0110] Obtain the average humidity of the day before the current time period, obtain the current environmental humidity value of the vibration disk unit, calculate the humidity change value of the environment, and mark it as ΔZ;

[0111] The average wind speed of the previous day in the current time period is obtained, the ambient wind speed value of the current vibration disk unit is obtained, and the ambient wind speed change value is calculated and marked as ΔG; it should be noted that although the working environment of the vibration disk is indoors, it will also be affected by the ambient wind speed because the factory is not a sealed environment;

[0112] According to the formula ΔS=S+(g1×ΔN)+(g2×ΔZ)+(g3×ΔG), the vibration performance value ΔS of the vibration disk unit after being affected by the environment is calculated, wherein g1, g2 and g3 are preset proportional coefficients; it should be noted that, in this embodiment, the values ​​of g1, g2 and g3 are obtained by changing an environmental factor (such as temperature) under control conditions while keeping other conditions unchanged and recording the performance indicators of the vibration disk;

[0113] Then for each change in environmental factor, the corresponding change in the performance of the vibration disk is recorded, and enough data points are collected for statistical analysis to obtain, in this embodiment, 0.293, 0.287 and 0.42;

[0114] The obtained vibration performance value ΔS affected by the environment is transmitted to the control unit to further improve the generated adjustment parameters. It should be noted that the vibration performance of the vibration plate will be affected by environmental factors, including but not limited to temperature, humidity and air flow, which may affect the performance of the driving motor of the vibration plate, the stability of the structural components and the overall vibration control accuracy. Therefore, when calculating the performance of the vibration plate, adding the influence of the environment can further increase the accuracy of the data and reduce the generation of errors.

[0115] like Figure 1-3 As shown in the figure, as an optional embodiment, it should be noted that due to the high accuracy requirement of the visual module, it needs to be maintained frequently during use. If the accuracy of the visual module cannot be maintained, the result of information processing will also be affected. The visual module also includes a maintenance unit, which is used to assign professionals to maintain and debug the image acquisition unit, specifically:

[0116] A maintenance time is set in advance, and when the maintenance time countdown ends, the image acquisition unit is marked as a device to be maintained;

[0117] The position of the image acquisition unit is obtained, a circle is drawn with a preset radius with the image acquisition unit as the center to obtain a maintenance range, and personnel within the maintenance range are marked as personnel to be deployed;

[0118] Obtaining a distance difference between the person to be deployed and the image acquisition unit, and marking it as a maintenance distance ε;

[0119] Get the capability value of the deployed personnel and mark it as μ;

[0120] According to the formula The priority value β of the personnel to be deployed is obtained, the location information of the image acquisition unit is sent to the mobile phone terminal of the personnel to be deployed with the largest priority value β, and the countdown of the maintenance time is refreshed. It should be noted that since the image acquisition unit is relatively precise, personnel are required to perform regular maintenance, but the arrangement of maintenance personnel is relatively random, and the image acquisition unit is relatively important, so if inappropriate maintenance personnel are arranged, it will have a greater impact. This technical solution can solve the above problem.

[0121] like Figure 1-3 As shown, as an optional embodiment, the ability value μ of the deployment personnel is obtained as follows:

[0122] Obtain the average operation and maintenance duration of the deployment personnel, obtain the number of deployments of the deployment personnel, sum up all maintenance intervals of the deployment personnel before the current time period, and obtain the total maintenance interval;

[0123] According to the formula The capability value μ of the deployment personnel is obtained by calculation; it should be noted that the capability value μ is used to express the capability of the deployment personnel in a quantitative manner.

[0124] On the other hand, the present invention also proposes a vibration plate control method based on visual judgment, comprising the following steps:

[0125] Step 1: Obtain image information of the vibration disk unit and process the acquired image information;

[0126] Step 2: Based on the processed data, determine whether the vibration plate unit meets the working requirements during operation;

[0127] Step 3: Adjust parameters of the vibration disk unit that is judged not to meet the working requirements.

[0128] Working principle: By providing a visual module, the image acquisition unit can be adjusted in real time according to the deflection position of the vibration disk unit, and the image acquisition unit and the vibration disk unit can be kept parallel to each other in the processing state as much as possible, thereby reducing the error of image information and avoiding the stroboscopic effect caused by the frequency of the ambient light being close to or the same as the frequency of the stroboscopic light source;

[0129] By setting up an analysis module, if there is a problem with the vibration plate during operation, it can be adjusted in real time, which will affect the quality of subsequent workpieces.

[0130] The above are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technical staff in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

Claims

1. A vibration plate control system based on visual judgment, characterized in that: include: A vibration disk module, the vibration disk module comprising a vibration disk unit and a driving unit for driving the vibration disk unit to vibrate; A visual module, the visual module is used to obtain image information of the vibration disk unit; An image processing module, wherein the image processing unit is used to process the image information obtained by the visual module; The analysis module is used to generate a judgment result based on the image information processed by the image processing module, specifically: Establishing a plane coordinate system with the center of the vibrating disk unit as the origin; The coordinates of the workpiece before and after the predetermined time are obtained and marked as (x1, y1) and (x2, y2) respectively; According to the formula Calculate and obtain a trajectory motion analysis value D of the workpiece; Obtain the vibration frequency analysis value within a predetermined time and mark it as F; Where x(t) is the vibration signal within a predetermined time, f is the frequency, j is the imaginary unit, and j 2 =1, Dt represents the displacement of the workpiece within a predetermined time; The amplitude within a predetermined time is obtained by measuring the maximum effective value of F and marked as A; The vibration performance value S of the vibration plate is calculated and obtained according to the formula S=(a1×D)+(a2×F)+(a3×A), wherein a1, a2 and a3 are preset weight coefficients; A threshold value of the vibration performance value S is set in advance and marked as K, and it is determined whether the vibration performance value S is greater than K. If so, it means that the output of the vibration disk unit does not meet the standard; A control module, the control module is used to control the parameters of the vibration disk module according to the analysis result of the analysis module; The control module is used to generate adjustment parameters of the vibration disk unit when the performance of the vibration disk unit does not meet the standard and needs to be adjusted. The specific working method is: According to the formula ΔA=τ(KS), the amplitude adjustment value ΔA of the vibration disk unit is calculated and obtained, wherein τ is a preset proportionality coefficient; According to the formula Δf=σ(f d -f), calculate and obtain the frequency adjustment value Δf of the vibration disk unit, where σ is a preset proportional coefficient, f d The desired vibration frequency is preset; According to the formula Δθ=δ(ρ-M), the inclination angle adjustment value Δθ of the vibration plate unit is calculated and obtained, wherein δ is a preset proportional coefficient, ρ is the actual workpiece filling density, and M is a preset ideal workpiece filling density; The calculated amplitude adjustment value ΔA, frequency adjustment value Δf and tilt angle adjustment value Δθ are transmitted to the driving unit of the equipment module to adjust the parameters of the vibration disk unit; The control module further includes a stepwise adjustment unit for performing stepwise adjustment when adjusting parameters, specifically in the following manner: After receiving the amplitude adjustment value ΔA, the frequency adjustment value Δf and the tilt angle adjustment value Δθ, the driving unit first adjusts half of the amplitude adjustment value ΔA, the frequency adjustment value Δf and the tilt angle adjustment value Δθ, and after the adjustment, it is judged again whether the output of the vibration disk unit meets the standard. If it does not meet the standard, it is evaluated again to obtain new amplitude adjustment value ΔA, frequency adjustment value Δf and tilt angle adjustment value Δθ and then adjusted again until the output of the vibration disk unit meets the standard; The control module further includes an environment adaptation unit, which is used to improve the adjustment parameters generated by the control module according to the actual data of the vibration disk unit, specifically: Obtain the average temperature of the day before the current time period, obtain the current ambient temperature value of the vibration disk unit, calculate the temperature change value of the environment, and mark it as ΔN; Obtain the average humidity of the day before the current time period, obtain the current environmental humidity value of the vibration disk unit, calculate the humidity change value of the environment, and mark it as ΔZ; Obtain the average wind speed of the day before the current time period, obtain the current environmental wind speed value of the vibration disk unit, calculate the environmental wind speed change value, and mark it as ΔG; According to the formula ΔS=S+(g1×ΔN)+(g2×ΔZ)+(g3×ΔG), the vibration performance value ΔS of the vibration disk unit after being affected by the environment is calculated, where g1, g2 and g3 are preset proportional coefficients; The obtained vibration performance value ΔS affected by the environment is transmitted to the control unit to improve the generated adjustment parameters.

2. A vibration plate control system based on visual judgment according to claim 1, characterized in that: The specific working mode of the visual module is as follows: The visual module also includes a control unit for controlling the image acquisition unit; The control unit includes a driving member for driving the image acquisition unit, and the control unit is used to adjust the image acquisition unit in real time according to the position of the workpiece; Obtain the current angle of the camera in the image acquisition unit and mark it as θ1; Obtaining a measured angle of the vibration disk unit and marking it as θ2; According to the formula θ3=θ1+θ2, the desired orientation angle θ3 of the workpiece is calculated and obtained; the desired orientation angle θ3 is output to the driving member, and the orientation angle of the image acquisition unit is adjusted accordingly, so that the image acquisition unit and the vibration disk unit are parallel to each other.

3. A vibration plate control method based on visual judgment, characterized in that: The use of a vibration plate control system based on visual judgment according to claim 1 or 2 comprises the following steps: Step 1: Obtain image information of the vibration disk unit and process the acquired image information; Step 2: Based on the processed data, determine whether the vibration plate unit meets the working requirements during operation; Step 3: Adjust parameters of the vibration disk unit that is judged not to meet the working requirements.

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