Pallet inspection equipment and inspection process based on 2.5D optical image recognition

Abstract

The present invention belongs to the field of detection, and specifically provides a pallet detection device and detection process based on 2.5D optical image recognition, wherein the pallet detection device based on 2.5D optical image recognition includes: a control module, a loading mechanism, a unloading mechanism, a sequential conveying mechanism and an optical detection mechanism; the control module is configured to judge the pallet based on the overlap of image information of the same group of supporting positions. By bringing the optical detection mechanism close to the supporting position, each supporting position of the pallet is photographed, thereby reducing the accuracy requirements for the optical detection mechanism and reducing the hardware cost. At the same time, a horizontal comparison method is adopted, and no preset image is set, thereby avoiding misjudgment caused by different shooting angles and improving the detection accuracy. When making a judgment, the control module can complete the comparison through a simple overlap comparison, which reduces the software cost and thus reduces the overall cost of the pallet detection equipment.

Description

Technical Field

[0001] The present invention belongs to the field of detection technology, and in particular relates to a pallet detection device and a detection process based on 2.5D optical image recognition. Background Art

[0002] During the chip transportation process, a tray is required to support the chips.

[0003] In the related art, the pallet is made by injection molding, and some defects may be produced on the supporting surface of the pallet, such as air bubbles, sharp points, etc. In order to prevent the chip from being scratched by the defects on the pallet during transportation, it is necessary to detect the defects of the pallet.

[0004] In the related art, a camera is used to directly shoot the whole pallet, and then the image is compared with the preset image to complete the detection. Since the angle of the pallet is different each time, and there are some errors in the shooting angle of the camera, the image information of the pallet taken is too different from the preset image information, resulting in misjudgment. On the other hand, since the size of the defect is very small compared to the whole pallet, the accuracy of the camera is very high.

[0005] How to reduce the misjudgment and cost of pallet detection is an urgent problem to be solved.

[0006] It should be noted that the above information disclosed in this background technology section is only used to understand the background technology of the present application concept, and therefore, the above description is not considered to constitute information of the prior art. Summary of the invention

[0007] The embodiments of the present disclosure at least provide a pallet detection device and a detection process based on 2.5D optical image recognition.

[0008] In a first aspect, an embodiment of the present disclosure provides a pallet detection device based on 2.5D optical image recognition, comprising:

[0009] Control module, loading mechanism, unloading mechanism, sequential conveying mechanism and optical detection mechanism;

[0010] The feeding mechanism and the unloading mechanism are arranged in parallel;

[0011] The sequential conveying mechanism is arranged above the loading mechanism and the unloading mechanism, and is suitable for clamping the tray on the loading mechanism and transporting it to the unloading mechanism for storage;

[0012] The optical detection mechanism is arranged above the sequential conveying mechanism and is suitable for sequentially photographing a plurality of supporting positions on the tray conveyed by the sequential conveying mechanism, and sending image information of each supporting position to the control module;

[0013] The control module is configured to determine whether the pallet has defects based on the overlap of image information of the same group of supporting positions.

[0014] In an optional embodiment, the sequential conveying mechanism includes a first conveying track, a second conveying track and a clamping assembly;

[0015] The first conveying track and the second conveying track are arranged opposite to each other;

[0016] The clamping assembly is slidably disposed on the first conveying track and the second conveying track;

[0017] The first conveying track is suitable for driving the clamping assembly to slide on the first conveying track and the second conveying track.

[0018] In an optional embodiment, the optical detection mechanism includes:

[0019] Drive frame and optical camera;

[0020] The optical camera is slidably arranged on the driving frame;

[0021] The driving frame is suitable for driving the optical camera to move along the slide rail of the driving frame;

[0022] Wherein, the moving direction of the optical camera is arranged perpendicular to the conveying direction of the sequential conveying mechanism.

[0023] In an optional embodiment, the control module is configured to control the sequential conveying mechanism to move according to a first spacing between each group of supporting positions of the tray.

[0024] In an optional embodiment, the control module is further configured to control the optical detection mechanism to photograph each supporting position according to a second spacing between adjacent supporting positions in each group of supporting positions.

[0025] In an optional implementation, the control module is configured to determine whether the pallet has defects based on the overlap of image information of the same group of supporting positions, that is:

[0026] Overlap the image information of all the supporting positions in each group of supporting positions, change the transparency of the image information, obtain the lines of the overlapping supporting position images, and determine the overlap. If the overlap is lower than a preset value, the pallet is defective and unqualified, otherwise it is qualified.

[0027] In an optional embodiment, the clamping assembly includes:

[0028] A clamping frame and two clamping members arranged opposite to each other;

[0029] The clamping member comprises: a driving cylinder and a clamping plate;

[0030] The driving cylinder is fixedly arranged on the clamping frame;

[0031] The clamping plate is slidably disposed in the clamping frame and is suitable for sliding in the clamping area of ​​the clamping frame under the drive of the driving cylinder.

[0032] In an optional embodiment, the clamping member further includes a material dividing plate, a correction member and a micro cylinder;

[0033] The micro cylinder is slidably arranged on the clamping plate;

[0034] The material dividing plate is fixedly arranged on the piston rod of the micro cylinder and arranged on the bottom surface of the clamping plate;

[0035] The material separation plate is suitable for extending into between adjacent trays under the drive of the driving cylinder, and is suitable for pressing the material separation plate downward under the drive of the micro cylinder, so as to separate the stacked trays on the feeding mechanism;

[0036] The correction member is arranged between the clamping plate and the material dividing plate and at the bottom of the clamping plate, and the correction member is suitable for correcting the material dividing plate when the material dividing plate retreats;

[0037] The dividing plate is Z-shaped and includes a first horizontal portion, a vertical portion and a second horizontal portion;

[0038] The first horizontal portion and the second horizontal portion are fixedly disposed at the bottom and the top of the vertical portion, respectively, and the first horizontal portion and the second horizontal portion are respectively disposed perpendicularly to the vertical portion.

[0039] In an optional embodiment, the correction member includes: a slide bar, a first return spring, a correction plate, a transverse trigger member and a longitudinal latch;

[0040] One end of the slide rod extends into the clamping frame, and the other end passes through the first return spring and is fixedly connected to the correction plate;

[0041] The correction plate is provided with a transverse sliding groove and a longitudinal sliding groove, and the transverse sliding groove is communicated with the longitudinal sliding groove;

[0042] One end of the longitudinal latch is elastically connected to the bottom of the longitudinal sliding groove through a second return spring, and the other end is inserted into the bottom surface of the clamping plate;

[0043] One end of the transverse trigger extends from the correction plate, and the other end is inserted into the transverse sliding groove and abuts against the bottom of the longitudinal latch, and the abutting surface is inclined;

[0044] The clamping surface of the clamping plate and the correction surface of the correction piece are in the same plane;

[0045] The micro-cylinder is suitable for first correcting the angle between the first horizontal part and the vertical part to 90° through the correction plate when pulling the dividing plate back, and then the vertical part squeezes the transverse trigger to make the longitudinal pin move downward. At this time, the dividing plate continues to retreat, driving the correction plate to retreat, compressing the first return spring, and the second horizontal part of the dividing plate is abutted against the bottom surface of the clamping plate. When the dividing plate continues to retreat, the angle between the second horizontal part and the vertical part is corrected to 90°.

[0046] In a second aspect, the embodiments of the present disclosure further provide a detection process, which is suitable for detecting a pallet by using the pallet detection device based on 2.5D optical image recognition as described above, and the process includes:

[0047] Place the stacked trays into the loading mechanism;

[0048] The sequential conveying mechanism is driven to convey the pallets on the feeding mechanism one by one, and at the same time, the optical detection mechanism is driven to sequentially photograph the multiple supporting positions on the pallets conveyed by the sequential conveying mechanism to obtain image information of each supporting position;

[0049] Whether the pallet has defects is judged based on the overlap of image information of the same group of supporting positions.

[0050] The beneficial effect of the present invention is that the pallet detection equipment and detection process based on 2.5D optical image recognition uses an optical detection mechanism to approach the support position and shoot each support position of the pallet, thereby reducing the accuracy requirements of the optical detection mechanism and reducing the hardware cost. At the same time, a horizontal comparison method is adopted without setting a preset image, thereby avoiding misjudgment caused by different shooting angles and improving the detection accuracy. When making a judgment, the control module can complete the comparison through a simple overlap comparison, reducing the software cost, thereby reducing the overall cost of the pallet detection equipment.

[0051] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0052] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, this article specifically cites preferred embodiments and provides detailed descriptions as follows in conjunction with the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0054] Figure 1 A three-dimensional diagram of a pallet detection device based on 2.5D optical image recognition provided by an embodiment of the present disclosure;

[0055] Figure 2 A partial structural schematic diagram of a pallet detection device based on 2.5D optical image recognition provided by an embodiment of the present disclosure;

[0056] Figure 3 A schematic diagram of the structure of a sequential conveying mechanism provided in an embodiment of the present disclosure;

[0057] Figure 4 A schematic diagram of the structure of an optical detection mechanism provided in an embodiment of the present disclosure;

[0058] Figure 5 A flow chart of a detection process provided for an embodiment of the present disclosure;

[0059] Figure 6 A schematic diagram of the structure of a clamping assembly provided in an embodiment of the present disclosure;

[0060] Figure 7 A schematic diagram of the structure of a clamping member provided in an embodiment of the present disclosure;

[0061] Figure 8 A cross-sectional schematic diagram of a clamping assembly provided in an embodiment of the present disclosure;

[0062] Fig. 9 for Figure 8 A partial enlarged view of middle A;

[0063] Fig.10 A schematic diagram of the structure of a calibration component provided in an embodiment of the present disclosure;

[0064] Fig.11 A schematic structural diagram of a material dividing plate and its various bending states provided in an embodiment of the present disclosure.

[0065] In the figure: 100, feeding mechanism; 110, first lifting frame; 120, first bearing frame; 200, unloading mechanism; 300, sequential conveying mechanism; 310, first conveying track; 320, second conveying track; 330, clamping assembly; 331, clamping frame; 332, clamping member; 3321, driving cylinder; 3322, clamping plate; 3323, material dividing plate; 33231, first horizontal part; 33232, vertical part; 33233, second horizontal 3324, correction part; 33241, slide bar; 33242, first return spring; 33243, correction plate; 33244, horizontal trigger; 33245, longitudinal latch; 33246, horizontal sliding groove; 33247, longitudinal sliding groove; 33248-second return spring; 3325, micro cylinder; 3326, horizontal cylinder; 400, optical detection mechanism; 410, drive frame; 420, optical camera; 500, tray. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0068] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0069] See also Figure 1 and Figure 2At least one embodiment provides a pallet detection device based on 2.5D optical image recognition, including: a control module, a loading mechanism 100, a unloading mechanism 200, a sequential conveying mechanism 300 and an optical detection mechanism 400; the loading mechanism 100 and the unloading mechanism 200 are arranged in parallel; the sequential conveying mechanism 300 is arranged above the loading mechanism 100 and the unloading mechanism 200, and is suitable for clamping the pallet 500 on the loading mechanism 100 and transporting it to the unloading mechanism 200 for storage; the optical detection mechanism 400 is arranged above the sequential conveying mechanism 300, and is suitable for sequentially photographing multiple supporting positions on the pallet 500 transported by the sequential conveying mechanism 300, and sending the image information of each supporting position to the control module; the control module is configured to judge the pallet 500 according to the overlap of the image information of the same group of supporting positions. By placing the optical detection mechanism 400 close to the supporting position, each supporting position of the pallet 500 is photographed, thereby reducing the accuracy requirements of the optical detection mechanism 400 and reducing the hardware cost. At the same time, a horizontal comparison method is adopted without setting a preset image, thereby avoiding misjudgment caused by different shooting angles and improving the detection accuracy. When making a judgment, the control module can complete the comparison through a simple overlap comparison, reducing the software cost and thus reducing the overall cost of the pallet detection equipment.

[0070] See also Figure 3 In some embodiments, the sequential conveying mechanism 300 includes a first conveying track 310, a second conveying track 320 and a clamping assembly 330; the first conveying track 310 and the second conveying track 320 are arranged relative to each other; the clamping assembly 330 is slidably arranged on the first conveying track 310 and the second conveying track 320; the first conveying track 310 is suitable for driving the clamping assembly 330 to slide on the first conveying track 310 and the second conveying track 320.

[0071] See also Figure 4 In some embodiments, the optical detection mechanism 400 includes: a driving frame 410 and an optical camera 420; the optical camera 420 is slidably set on the driving frame 410; the driving frame 410 is suitable for driving the optical camera 420 to move along the slide rail of the driving frame 410; wherein the moving direction of the optical camera 420 is perpendicular to the conveying direction of the sequential conveying mechanism 300.

[0072] In some embodiments, the control module is configured to control the sequential conveying mechanism 300 to move according to a first spacing between each group of supporting positions of the tray 500 .

[0073] In some embodiments, the control module is further configured to control the optical detection mechanism 400 to photograph each supporting position according to a second spacing between adjacent supporting positions in each group of supporting positions.

[0074] In some embodiments, the control module is configured to judge the tray 500 based on the overlap of image information of the same group of supporting positions, that is: overlap the image information of all supporting positions in each group of supporting positions, change the transparency of the image information, obtain the lines of the images of the overlapping supporting positions, and judge the overlap. If the overlap is lower than a preset value, the tray 500 is unqualified, otherwise it is qualified.

[0075] like Figure 6 As shown, in order to improve the accuracy of the inspection when the tray 500 is sent to the bottom of the optical inspection mechanism, in some embodiments, the clamping assembly 330 includes: a clamping frame 331 and two clamping members 332 arranged opposite to each other; the clamping member 332 includes: a driving cylinder 3321 and a clamping plate 3322; the driving cylinder 3321 is fixedly arranged on the clamping frame 331; the clamping plate 3322 is slidably arranged in the clamping frame 331, and is suitable for sliding in the clamping area of ​​the clamping frame 331 under the drive of the driving cylinder 3321. The two driving cylinders 3321 drive the clamping plates 3322 to move synchronously, thereby fixing the tray 500 in the same position, so as to facilitate the optical inspection structure to inspect the tray 500.

[0076] See also Figure 7In a preferred embodiment, the clamping member 332 also includes a material dividing plate 3323, a correction member 3324 and a micro cylinder 3325; the micro cylinder 3325 is slidably arranged on the clamping plate 3322. Specifically, a horizontal cylinder 3326 is fixedly arranged on the clamping plate 3322, and the horizontal cylinder 3326 is suitable for driving the micro cylinder 3325 to slide horizontally. At the same time, the material dividing plate 3323 is fixed on the piston of the micro cylinder 3325, and then the material dividing plate 3323 slides horizontally with the micro cylinder 3325. The material dividing plate 3323 is slidably arranged on the bottom surface of the clamping plate 3322. The material dividing plate 3323 is suitable for extending into between adjacent trays 500 under the drive of the driving cylinder 3321, and is suitable for moving the material dividing plate 3323 under the drive of the micro cylinder 3325. 23 is pressed down, thereby separating the stacked trays 500 on the loading mechanism 100; the correction piece 3324 is arranged between the clamping plate 3322 and the dividing plate 3323, and is arranged at the bottom of the clamping plate 3322, and the correction piece 3324 is suitable for correcting the dividing plate 3323 when the dividing plate 3323 retreats; the dividing plate 3323 is Z-shaped, and includes a first horizontal portion 33231, a vertical portion 33232 and a second horizontal portion 33233; the first horizontal portion 33231 and the second horizontal portion 33233 are respectively fixedly arranged at the bottom and the top of the vertical portion 33232, and the first horizontal portion 33231 and the second horizontal portion 33233 are respectively perpendicular to the vertical portion 33232.

[0077] Since the gap between adjacent trays 500 is very small, the thickness of the dividing plate 3323 is relatively thin. When the dividing plate 3323 follows the downward pressure of the micro cylinder 3325, the second horizontal portion 33233 may be lifted up, causing the dividing plate 3323 to deform, thereby causing the position of the tray 500 to change during the next loading, thereby affecting the detection accuracy during subsequent optical detection. Therefore, by setting the correction part 3324, the dividing plate 3323 is corrected after each material division is completed to ensure that the position of the tray 500 will not change during the next loading, thereby ensuring the detection accuracy of the optical detection mechanism.

[0078] See also Figure 8-Figure 10Specifically, the correction member 3324 includes: a slide bar 33241, a first return spring 33242, a correction plate 33243, a transverse trigger 33244 and a longitudinal latch 33245; one end of the slide bar 33241 extends into the clamping frame 331, and the other end passes through the first return spring 33242 and is fixedly connected to the correction plate 33243; the correction plate 33243 is provided with a transverse sliding groove 33246 and a longitudinal sliding groove 33247, and the transverse sliding groove 33246 and the longitudinal sliding groove 33 247 is connected; one end of the longitudinal pin 33245 is elastically connected to the bottom of the longitudinal sliding groove 33247 through a second return spring 33248, and the other end is inserted into the bottom surface of the clamping plate 3322; one end of the transverse triggering member 33244 extends out from the correction plate 33243, and the other end is inserted into the transverse sliding groove 33246, and is abutted against the bottom of the longitudinal pin 33245, and the abutting surface is inclined; the clamping surface of the clamping plate 3322 and the correction surface of the correction member 3324 are in the same plane.

[0079] It should be noted that when the correction piece 3324 is inserted into the bottom surface of the clamping plate 3322 through the longitudinal pin 33245, the first return spring 33242 is in a natural state and the second return spring 33248 is in a compressed state.

[0080] like Fig.11 As shown, since the position where the dividing plate 3323 is generally deformed is at the corner, when the horizontal cylinder 3326 pulls the dividing plate 3323 back, the angle between the first horizontal portion 33231 and the vertical portion 33232 is first corrected to 90° through the correction plate 33243, and then the vertical portion 33232 squeezes the horizontal trigger 33244 to make the longitudinal pin 33245 move downward, thereby releasing the fixation of the correction plate 33243 and the clamping plate 3322. At this time, the dividing plate 3323 continues to retreat, driving the correction plate 33243 to retreat, compressing the first return spring 33242, and the second horizontal portion 33233 of the dividing plate 3323 abuts against the bottom surface of the clamping plate 3322. When the dividing plate 3323 continues to retreat, the angle between the second horizontal portion 33233 and the vertical portion 33232 is corrected to 90°.

[0081] In this embodiment, an electromagnet layer is provided on the contact surface between the correction plate 33243 and the vertical portion 33232. When the dividing plate 3323 retracts, the electromagnet layer is energized to adsorb the vertical portion 33232, thereby ensuring that when the angle between the second horizontal portion 33233 and the vertical portion 33232 is corrected, the angle between the first horizontal portion 33231 and the vertical portion 33232 maintains the corrected angle, that is, the vertical portion 33232 is kept vertical.

[0082] After the calibration is completed, the horizontal cylinder 3326 pushes the dividing plate 3323 to slowly extend from the bottom of the clamping plate 3322. At this time, the correction plate 33243 retreats under the action of the first return spring 33242 until the longitudinal pin 33245 is inserted into the bottom of the clamping plate 3322 under the action of the second return spring 33248. The correction plate 33243 and the clamping plate 3322 are fixed and wait for the next calibration.

[0083] In some embodiments, the loading mechanism 100 includes a first lifting frame 110 and a first supporting frame 120 ; the first supporting frame 120 is fixedly disposed on the top of the first lifting frame 110 .

[0084] In some embodiments, the control module is suitable for controlling the lifting frame to rise step by step according to the thickness of the tray 500 , so as to transport the tray 500 on the carrier to the sequential transport mechanism 300 .

[0085] In some embodiments, the unloading mechanism 200 includes a second lifting frame and a second supporting frame; the second supporting frame is fixedly arranged on the top of the second lifting frame.

[0086] See also Figure 5 At least one embodiment further provides a detection process, which is suitable for detecting the pallet 500 by using the pallet detection device based on 2.5D optical image recognition as described above, and the process includes:

[0087] S110 : placing the stacked trays 500 into the loading mechanism 100 .

[0088] S120: Drive the sequential conveying mechanism 300 to convey the tray 500 on the loading mechanism 100 one by one, and at the same time, drive the optical detection mechanism 400 to sequentially photograph the multiple supporting positions on the tray 500 conveyed by the sequential conveying mechanism 300 to obtain image information of each supporting position.

[0089] Specifically, a first spacing between each group of supporting positions of the tray 500 and a second spacing between adjacent supporting positions in each group of supporting positions are obtained, the sequential conveying mechanism 300 is controlled to move according to the first spacing, and the optical detection mechanism 400 is controlled to photograph each supporting position according to the second spacing.

[0090] S130: judging the tray 500 according to the overlap of the image information of the same group of supporting positions.

[0091] Specifically, the image information of all the supporting positions in each group of supporting positions is overlapped, the transparency of the image information is changed, the lines of the images of the overlapping supporting positions are obtained, and the overlap degree is determined. If the overlap degree is lower than a preset value, the tray 500 is unqualified, otherwise it is qualified.

[0092] By placing the optical detection mechanism 400 close to the supporting position, each supporting position of the pallet 500 is photographed, thereby reducing the accuracy requirements of the optical detection mechanism 400 and reducing the hardware cost. When making a judgment, the control module can complete the comparison through a simple coincidence comparison, reducing the software cost and thus reducing the overall cost of the pallet detection equipment.

[0093] In summary, the present invention provides a pallet detection device and detection process based on 2.5D optical image recognition, wherein the pallet detection device based on 2.5D optical image recognition includes: a control module, a loading mechanism 100, a unloading mechanism 200, a sequential conveying mechanism 300 and an optical detection mechanism 400; the loading mechanism 100 and the unloading mechanism 200 are arranged in parallel; the sequential conveying mechanism 300 is arranged above the loading mechanism 100 and the unloading mechanism 200, and is suitable for clamping the pallet 500 on the loading mechanism 100 and transporting it to the unloading mechanism 200 for storage; the optical detection mechanism 400 is arranged above the sequential conveying mechanism 300, and is suitable for sequentially photographing multiple supporting positions on the pallet 500 transported by the sequential conveying mechanism 300, and sending the image information of each supporting position to the control module; the control module is configured to judge the pallet 500 based on the overlap of image information of the same group of supporting positions. By placing the optical detection mechanism 400 close to the supporting position, each supporting position of the pallet 500 is photographed, thereby reducing the accuracy requirements of the optical detection mechanism 400 and reducing the hardware cost. When making a judgment, the control module can complete the comparison through a simple coincidence comparison, reducing the software cost and thus reducing the overall cost of the pallet detection equipment.

[0094] Spatially relative terms, such as "inside", "outside", "below", "below", "down", "above", "on", etc., may be used herein to facilitate description of the relationship of one element or feature to another element or feature as illustrated in the figure. In addition to the orientation depicted in the figure, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is turned over, the elements described as "below" or "below" other elements or features will be oriented to be "above" other elements or features. Therefore, the example term "below" can cover the orientation above and below. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0095] In the above discussion, unless otherwise stated, the terms "about," "approximately," "substantially," etc., when used to describe a numerical value, mean a variation of + / - 10% of the value.

[0096] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A pallet detection device based on 2.5D optical image recognition, characterized in that: include: Control module, loading mechanism, unloading mechanism, sequential conveying mechanism and optical detection mechanism; The feeding mechanism and the unloading mechanism are arranged in parallel; The sequential conveying mechanism is arranged above the loading mechanism and the unloading mechanism, and is suitable for clamping the tray on the loading mechanism and transporting it to the unloading mechanism for storage; The optical detection mechanism is arranged above the sequential conveying mechanism and is suitable for sequentially photographing a plurality of supporting positions on the tray conveyed by the sequential conveying mechanism, and sending image information of each supporting position to the control module; The control module is configured to determine whether the pallet has defects based on the overlap of image information of the same group of supporting positions; The sequential conveying mechanism comprises a first conveying track, a second conveying track and a clamping assembly; The first conveying track and the second conveying track are arranged opposite to each other; The clamping assembly is slidably disposed on the first conveying track and the second conveying track; The first conveying track is suitable for driving the clamping assembly to slide on the first conveying track and the second conveying track; The clamping assembly comprises: A clamping frame and two clamping members arranged opposite to each other; The clamping member comprises: a driving cylinder and a clamping plate; The driving cylinder is fixedly arranged on the clamping frame; The clamping plate is slidably disposed in the clamping frame and is adapted to slide in the clamping area of ​​the clamping frame under the drive of the driving cylinder; The clamping member also includes a material dividing plate, a correction member and a micro cylinder; The micro cylinder is slidably arranged on the clamping plate; The material dividing plate is fixedly arranged on the piston rod of the micro cylinder and arranged on the bottom surface of the clamping plate; The material separation plate is suitable for extending into between adjacent trays under the drive of the driving cylinder, and is suitable for pressing the material separation plate downward under the drive of the micro cylinder, so as to separate the stacked trays on the feeding mechanism; The correction member is arranged between the clamping plate and the material dividing plate and at the bottom of the clamping plate, and the correction member is suitable for correcting the material dividing plate when the material dividing plate retreats; The dividing plate is Z-shaped and includes a first horizontal portion, a vertical portion and a second horizontal portion; The first horizontal portion and the second horizontal portion are fixedly disposed at the bottom and the top of the vertical portion, respectively, and the first horizontal portion and the second horizontal portion are respectively disposed perpendicular to the vertical portion.

2. The pallet detection device based on 2.5D optical image recognition according to claim 1, characterized in that: The optical detection mechanism comprises: Drive frame and optical camera; The optical camera is slidably arranged on the driving frame; The driving frame is suitable for driving the optical camera to move along the slide rail of the driving frame; Wherein, the moving direction of the optical camera is arranged perpendicular to the conveying direction of the sequential conveying mechanism.

3. The pallet detection device based on 2.5D optical image recognition according to claim 1, characterized in that: The control module is configured to control the sequential conveying mechanism to move according to a first spacing between each group of supporting positions of the tray.

4. The pallet detection device based on 2.5D optical image recognition according to claim 3, characterized in that: The control module is further configured to control the optical detection mechanism to photograph each supporting position according to a second spacing between adjacent supporting positions in each group of supporting positions.

5. The pallet detection device based on 2.5D optical image recognition according to claim 4, characterized in that: The control module is configured to determine whether the pallet has defects based on the overlap of the image information of the same group of supporting positions, that is: Overlap the image information of all the supporting positions in each group of supporting positions, change the transparency of the image information, obtain the lines of the overlapping supporting position images, and determine the overlap. If the overlap is lower than a preset value, the pallet is defective and unqualified, otherwise it is qualified.

6. The pallet detection device based on 2.5D optical image recognition according to claim 1, characterized in that: The correction member comprises: a slide bar, a first return spring, a correction plate, a transverse trigger member and a longitudinal latch; One end of the slide rod extends into the clamping frame, and the other end passes through the first return spring and is fixedly connected to the correction plate; The correction plate is provided with a transverse sliding groove and a longitudinal sliding groove, and the transverse sliding groove is communicated with the longitudinal sliding groove; One end of the longitudinal latch is elastically connected to the bottom of the longitudinal sliding groove through a second return spring, and the other end is inserted into the bottom surface of the clamping plate; One end of the transverse trigger extends from the correction plate, and the other end is inserted into the transverse sliding groove and abuts against the bottom of the longitudinal latch, and the abutting surface is inclined; The clamping surface of the clamping plate and the correction surface of the correction piece are in the same plane; When the dividing plate retracts, the angle between the first horizontal portion and the vertical portion is first corrected to 90° through the correction plate, and then the vertical portion squeezes the horizontal trigger to make the longitudinal pin move downward. At this time, the dividing plate continues to retract, driving the correction plate to retract, compressing the first return spring, and the second horizontal portion of the dividing plate is abutted against the bottom surface of the clamping plate. When the dividing plate continues to retract, the angle between the second horizontal portion and the vertical portion is corrected to 90°.

7. A detection process, characterized in that: The detection process is suitable for detecting a pallet by using a pallet detection device based on 2.5D optical image recognition as described in any one of claims 1 to 6, and the process includes: Place the stacked trays into the loading mechanism; The sequential conveying mechanism is driven to convey the pallets on the feeding mechanism one by one, and at the same time, the optical detection mechanism is driven to sequentially photograph the multiple supporting positions on the pallets conveyed by the sequential conveying mechanism to obtain image information of each supporting position; Whether the pallet has defects is judged based on the overlap of image information of the same group of supporting positions.

Images