Refrigerator U-shell adaptive sorting and transportation device and sorting system based on visual recognition
By introducing deviation correction components and visual identification technology into the U-shell sorting and transportation device of the refrigerator, the problems of sorting errors and inaccurate quality detection caused by elastic deformation during U-shell transportation are solved, and efficient and accurate sorting of U-shells are achieved. Quality inspection ensures the normal assembly of refrigerators.
Patent Information
- Application Number
- CN202411455812.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-18
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2044-10-18
AI Technical Summary
During the transportation process, the existing refrigerator U-shell sorting and transportation device has elastic deformation due to the large body volume of the U-shell, resulting in identification errors during visual sorting, which affects the defective rate. Moreover, ordinary visual recognition cannot accurately detect the quality of the U-shell.
Adaptive sorting and transportation device of U-shell refrigerator based on visual recognition, including deviation correction components and a variety of scanning and shooting modules. The bending and paint quality of the U-shell is detected through the deviation correction components, and the qualification of the U-shell is judged through the decision module. , ensure accurate sorting.
It effectively solves the sorting errors caused by elastic deformation of U shell during transportation, realizes accurate detection and sorting of U shell quality, reduces the defective rate, and ensures the correct assembly of U shell.
Smart Images
Figure CN118988756B_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of refrigerator parts sorting and transportation, and in particular relates to a refrigerator U-shell adaptive sorting and transportation device and a sorting system based on visual recognition. Background Art
[0002] Refrigerator U-shell refers to the outer shell structure of the refrigerator, especially its "U"-shaped design. This design usually includes one or more horizontal parts (similar to the bottom of the U) and two vertical parts (similar to the sides of the U), forming a shape similar to the English letter "U". This design is not only beautiful, but also has a certain structural strength and stability, which can effectively protect the components inside the refrigerator, and also helps to improve the overall aesthetics of the refrigerator. The material and quality of the refrigerator U-shell have a direct impact on the appearance, durability and thermal insulation performance of the refrigerator. Therefore, designing and manufacturing high-quality refrigerator U-shells is an important link in the refrigerator manufacturing process.
[0003] At present, the U-shell of a refrigerator is usually formed by bending a whole piece of metal plate. The bent U-shell needs to be transported to a sorting mechanism for inspection of the bending quality and surface of the U-shell. The U-shell that meets the quality requirements will be transported to other production lines for refrigerator assembly, while the U-shell that does not meet the quality requirements needs to be reworked until it meets the sorting requirements before it can be transported further. Most sorting equipment can only manually inspect the appearance of the refrigerator U-shell, and cannot quickly and accurately sort and inspect the bending degree, shell spraying and bending effect of the refrigerator U-shell, resulting in the subsequent refrigerator assembly cannot proceed normally. At the same time, during the transportation process of the refrigerator U-shell after bending, since the refrigerator U-shell is made of metal and has a large volume, it has a certain elastic deformation. In this way, when it is transported to the sorting equipment for sorting, sorting errors are prone to occur, affecting the defective rate.
[0004] The existing refrigerator U-shell sorting and transportation device is prone to elastic deformation during transportation due to the large volume of the U-shell itself, which leads to visual recognition errors during visual sorting and affects the defective rate. At the same time, ordinary visual recognition cannot accurately detect and sort the quality of the refrigerator U-shell. For this reason, we propose a refrigerator U-shell adaptive sorting and transportation device and sorting system based on visual recognition. Summary of the invention
[0005] The purpose of the present invention is to provide a refrigerator U-shell adaptive sorting and transportation device and a sorting system based on visual recognition, so as to solve the problem that the existing refrigerator U-shell sorting and transportation device is prone to elastic deformation during transportation due to the large volume of the U-shell itself, resulting in visual recognition errors during visual sorting, affecting the defective rate, and at the same time, ordinary visual recognition cannot accurately detect and sort the quality of the refrigerator U-shell.
[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:
[0007] The present invention is a refrigerator U-shell adaptive sorting and transportation device based on visual recognition, comprising a conveying component, a sorting rack fixedly installed between two groups of conveying components, two groups of deviation correction components installed inside the sorting rack, a U-shell movably arranged between the two groups of deviation correction components, and the U-shell is transported from left to right on the conveying component;
[0008] The deviation correction component includes a sleeve, the sleeve is fixedly connected to the surface of the sorting rack, one end of the inner wall of the sleeve is fixedly connected to a pressure sensor, and the inner cavity of the sleeve is slidably connected to a barrel plug, one side of the barrel plug is fixedly connected to one end of a barrel column, the other end of the barrel column penetrates the inner wall of the sleeve to the outside thereof, and is fixedly connected to a movable part, the other movable end of the movable part is fixedly connected to a deviation correction plate, a torsion spring is installed inside the movable part, the torsion spring is sleeved on the outer surface of a pin shaft inside the movable part, and the installation of the torsion spring limits the horizontal rotation angle of the movable end of the movable part to no more than 30° left and right;
[0009] The sorting rack is also equipped with a first scanning element, a second scanning element and a shooting camera.
[0010] Preferably, the conveying assembly includes a conveying frame, an outer wall of one side of the conveying frame is fixedly connected to a driving motor, the output end of the driving motor passes through the outer wall of the conveying frame to the interior thereof, and is fixedly connected to one end of a rotating shaft, the other end of the rotating shaft is movably connected to the inner wall of the other side of the conveying frame, a driving gear is fixedly sleeved on the peripheral side of the rotating shaft, a plurality of clips are meshed on the peripheral side of the driving gear, a plurality of the clips are mutually clamped to form a closed loop, a conveying plate is fixedly connected to the outside of each clip, and the conveying plate is in contact with the U-shell.
[0011] Preferably, the correction assembly also includes a spring, which is movably arranged inside the sleeve and sleeved on the peripheral side of the cylinder, one end of the spring is fixedly connected to a side of the barrel plug, and the other end of the spring is fixedly connected to the inner wall of one end of the sleeve.
[0012] Preferably, the first scanning elements are fixedly connected to both sides of the sorting rack, a rotating part is fixedly connected to one side of the top of the sorting rack, and a second scanning element is fixedly connected to the bottom of the rotating part; a cross bar is fixedly installed on the top of the sorting rack, and a shooting camera is movably arranged at the bottom of the cross bar.
[0013] The refrigerator U-shell adaptive sorting system based on visual recognition includes a main control module, and a scanning module, a shooting module, a detection module, an analysis module and a decision module that establish communication connections with the main control module;
[0014] Main control module: used to control the various components in the sorting and transporting device to complete the scanning and shooting of the U shell, and output the obtained data to the various modules of the sorting system for sorting and detection;
[0015] Scanning module: used to scan the outer surface of the U shell through two first scanning elements and one second scanning element, and to splice and process the scanned images, and output them to the detection module after processing;
[0016] Shooting module: used to shoot the U shell from top to bottom through the shooting camera, obtain the U shell orthographic projection top view and output it to the detection module;
[0017] Detection module: used to detect the U-shell external side photo scanned by the scanning module, detect the percentage of the U-shell external side paint defect area to the total U-shell external side paint area, and output the detection result to the decision module;
[0018] Used to detect the U-shell orthographic projection top view obtained by the shooting module, select the four corners of the U-shell in the orthographic projection view, and a total of detection points on the three sides, connect them into lines in sequence to form a U-shell line graph to be detected, and select the four corners of the U-shell in the orthographic projection view to be connected into lines to form a standard U-shell line graph, overlap the four corners of the standard U-shell line graph and the U-shell line graph to be detected, and compare the overlap rate of the two; and output the detection result to the decision module;
[0019] It is used to detect whether the press sensors in the two groups of correcting components on both sides of the sorting rack are triggered and the triggering time ratio from when the correcting plate contacts the U shell to when the correcting plate and the U shell separate, and output the detection results to the decision module;
[0020] Decision-making module: used to determine whether the paint defect area on the outer side of the U shell exceeds 1% of the total paint area on the outer side of the U shell. If it exceeds 1%, the paint surface of the U shell is judged to be unqualified; if it does not exceed 1%, the paint surface is judged to be qualified;
[0021] It is used to determine the overlap rate between the standard U-shell line graph and the U-shell line graph to be tested. If the overlap rate is lower than 95%, the U-shell bending is judged to be unqualified; if it is higher than 95%, the U-shell bending is judged to be qualified.
[0022] Used to determine whether the press sensor is triggered. If the trigger time accounts for more than 50%, the correction is invalid. If the trigger time accounts for less than 50%, the correction is valid.
[0023] Among them, when the U-shell inspection results determine that the paint surface is qualified, the bending is qualified, and the correction is effective, the U-shell is decided to enter the assembly line for assembly.
[0024] Preferably, when the shooting module performs orthographic projection shooting of the U-shell from top to bottom, the shooting frequency is 24 times per second, and the shooting starts from one end of the U-shell moving to the shooting range directly below the shooting camera until the other end of the U-shell leaves the shooting range directly below the shooting camera. Several pictures taken are processed and spliced to obtain an orthographic projection top view of the U-shell.
[0025] Preferably, in the detection module, detection points are selected for the U-shell in the top view of the orthographic projection of the U-shell, specifically by extracting detection points at equal intervals from the edge line of the U-shell; at the same time, the angles of the two corners in the standard U-shell line diagram are measured to see if they are 90°. If not, it is directly determined that the U-shell bending is unqualified.
[0026] Preferably, the decision module sets a decision priority for each test result, the first priority being the two corner angles of the U shell, the second priority being the correction effect of the U shell, and the U shell bending pass rate and the U shell paint pass rate being tied for the third priority.
[0027] Preferably, the sorting system also includes a storage system, which is used to store the sorted U-shell detection data and display the detection data in the main control module for the system administrator to review the U-shell data when repairing the U-shell.
[0028] Preferably, the image processing in the scanning module includes the following contents: first, the color model of the U-shell side image is converted, then the image is converted into a grayscale image, and then the image is converted into a binary image according to the shooting environment, and noise is eliminated by image filtering; finally, a processed image is obtained, and the white part in the image is the location of the paint defect.
[0029] The present invention has the following beneficial effects:
[0030] The present invention sets a deviation correction component. When the U-shell is conveyed to the bottom of the sorting rack, one end of the U-shell contacts the left and right groups of deviation correction components. The distance between the two groups of deviation correction components is just the width of the U-shell. Therefore, when the U-shell that is bent normally and has no deviation contacts the deviation correction component, the internal spring of the deviation correction component will not be elastically deformed, and the deviation correction plate will not rotate as a result. When the U-shell deviates, no matter which of the two corners of the U-shell is an obtuse angle, the U-shell will squeeze the deviation correction component outward, so that the barrel plug will continuously move toward the press sensor. When the angle of the corner is too large, the more the U-shell moves to the right, the greater the squeezing force on the deviation correction component, until the barrel plug contacts the press sensor, until the U-shell leaves the two groups of deviation correction components. On the contrary, the smaller the angle of the corner is and the closer it is to 90°, the smaller the opening range of the two sides of the U-shell is, the closer the distance between the two sides of the same end is, the smaller the squeezing force on the correction component is, the shorter the contact time between the plug and the press sensor is, and there is a possibility that the plug will not contact the press sensor. By calculating the proportion of the contact time between the press sensor and the plug in the total time that the U-shell passes through the correction component, the expansion range of the two sides of the U-shell is obtained. The smaller the expansion range, the better the correction effect. The larger the expansion range, the contact between the plug and the press sensor, indicating that the correction effect is poor. If the time proportion is less than 50%, it means that the correction effect can no longer meet the subsequent shooting camera for accurate orthographic projection top view shooting of the U-shell.
[0031] The present invention can solve the problem of elastic deformation of the U-shell body during transportation by arranging a deflection correction component. At the same time, a magnet is attached to the surface of the deflection correction plate to adsorb the U-shell. The contact area between the U-shell and the deflection correction plate is small. Therefore, even if a part of the U-shell is adsorbed by the deflection correction plate, it can still be normally transported to the right under the transmission of the left transmission component; the inward deviation of the side plate of the U-shell is avoided. If the inward deviation of the U-shell is too large, the bending effect of the U-shell can be obtained by subsequently detecting the angles of the two corners of the U-shell, thereby ensuring the detection accuracy of the U-shell.
[0032] The present invention can quickly sort the production quality of the U shell by setting the detection priority, and at the same time set a variety of detections, including paint surface and bending effect, so as to accurately sort the U shell and ensure that defective U shells can be well sorted.
[0033] The present invention corrects the U-shell in the transmission process by setting a correction component, so that the U-shell is not affected by the transmission process and can be smoothly sorted and detected by the sorting component. The shooting module is set to shoot the top view of the orthographic projection of the U-shell, and after shooting, the four corners of the U-shell in the orthographic projection view and a total of 100 detection points on the three sides are extracted, and are connected into lines in sequence to form a line diagram of the U-shell to be detected, and the four corners of the U-shell in the orthographic projection view are selected to be connected into lines to form a standard U-shell line diagram, and the standard U-shell line diagram and the U-shell line diagram to be detected are overlapped at four corners, and the overlap rates of the two are compared, so that the bending effect of the U-shell in the identification area can be accurately identified, and whether the side panel of the U-shell is bent can be identified. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0035] Figure 1 This is one of the overall structural schematic diagrams of the refrigerator U-shell adaptive sorting and transportation device based on visual recognition provided by the present invention;
[0036] Figure 2 The second schematic diagram of the overall structure of the refrigerator U-shell adaptive sorting and transportation device based on visual recognition provided by the present invention;
[0037] Figure 3 An enlarged schematic diagram of the deviation-correcting component of the refrigerator U-shell adaptive sorting and transportation device based on visual recognition provided by the present invention.
[0038] In the accompanying drawings, the components represented by the reference numerals are listed as follows:
[0039] 1. Conveyor rack; 2. Driving motor; 3. Rotating shaft; 4. Driving gear; 5. Card; 6. Conveyor plate; 7. Sorting rack; 8. Sleeve; 9. Press sensor; 10. Plug; 11. Spring; 12. Column; 13. Movable part; 14. Torsion spring; 15. Correction plate; 16. First scanning element; 17. Rotating part; 18. Second scanning element; 19. Cross bar; 20. Shooting camera; 21. U shell. DETAILED DESCRIPTION
[0040] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.
[0041] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.
[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0043] See also Figure 1-3 The present invention is a refrigerator U-shell adaptive sorting and transportation device based on visual recognition, comprising a conveying component, a sorting rack 7 is fixedly installed between two groups of conveying components, two groups of correcting components are installed inside the sorting rack 7, a U-shell is movably arranged between the two groups of correcting components, the U-shell is transported from left to right on the conveying component, the sorting rack 7 is used to fix the correcting components, and serves as a sorting place for the U-shell 21;
[0044] The deviation correction component includes a sleeve 8, which is fixedly connected to the surface of the sorting rack 7, one end of the inner wall of the sleeve 8 is fixedly connected to a pressure sensor 9, and a plug 10 is slidably connected to the inner cavity of the sleeve 8, one side of the plug 10 is fixedly connected to one end of a cylinder 12, the other end of the cylinder 12 penetrates the inner wall of the sleeve 8 to the outside thereof, and is fixedly connected to a movable part 13, the other movable end of the movable part 13 is fixedly connected to a deviation correction plate 15, a torsion spring 14 is installed inside the movable part 13, the torsion spring 14 is sleeved on the outer surface of the pin shaft inside the movable part 13, and the installation of the torsion spring 14 limits the horizontal rotation angle of the movable end of the movable part 13 to no more than 30° left and right;
[0045] A first scanning element 16 , a second scanning element 18 and a photographing camera 20 are also installed on the sorting rack 7 .
[0046] Among them, the conveying assembly includes a conveying frame 1, and a driving motor 2 is fixedly connected to the outer wall of one side of the conveying frame 1. The output end of the driving motor 2 passes through the outer wall of the conveying frame 1 to the inside thereof, and is fixedly connected to one end of a rotating shaft 3. The other end of the rotating shaft 3 is movably connected to the inner wall of the other side of the conveying frame 1. A driving gear 4 is fixedly sleeved on the side surface of the rotating shaft 3. A plurality of clamps 5 are meshed on the side surface of the driving gear 4. The plurality of clamps 5 are clamped with each other to form a closed loop. A conveying plate 6 is fixedly connected to the outside of each clamp 5, and the conveying plate 6 is in contact with the U shell.
[0047] Among them, the correction component also includes a spring 11, which is movably arranged inside the sleeve 8 and sleeved on the side surface of the cylinder 12. One end of the spring 11 is fixedly connected to a side surface of the barrel plug 10, and the other end of the spring 11 is fixedly connected to the inner wall of one end of the sleeve 8.
[0048] Among them, the first scanning elements 16 are fixedly connected to the two sides inside the sorting rack 7, the rotating part 17 is fixedly connected to one side of the top of the sorting rack 7, and the second scanning element 18 is fixedly connected to the bottom of the rotating part 17; a cross bar 19 is fixedly installed on the top of the sorting rack 7, and a shooting camera 20 is movably arranged at the bottom of the cross bar 19.
[0049] The refrigerator U-shell adaptive sorting system based on visual recognition includes a main control module, and a scanning module, a shooting module, a detection module, an analysis module and a decision module that establish communication connections with the main control module;
[0050] Main control module: used to control the various components in the sorting and transporting device to complete the scanning and shooting of the U shell 21, and output the obtained data to the various modules of the sorting system for sorting detection;
[0051] Scanning module: used to scan the outer surface of the U shell 21 through two first scanning elements 16 and one second scanning element 18, and to splice and process the scanned images, and output them to the detection module after processing;
[0052] Shooting module: used to shoot the U shell 21 from top to bottom by using the shooting camera 20 to obtain the orthographic projection top view of the U shell 21 and output it to the detection module;
[0053] Detection module: used to detect the external side photo of the U shell 21 scanned by the scanning module, detect the percentage of the paint defect area on the external side of the U shell 21 to the total paint area on the external side of the U shell 21, and output the detection result to the decision module;
[0054] Used to detect the orthographic top view of the U shell 21 captured by the shooting module, select the four corners of the U shell 21 in the orthographic view, and a total of 100 detection points on the three sides, connect them into lines in sequence to form a U shell line graph to be detected, and select the four corners of the U shell 21 in the orthographic view to connect them into lines to form a standard U shell line graph, overlap the four corners of the standard U shell line graph and the U shell line graph to be detected, and compare the overlap rate of the two; and output the detection result to the decision module;
[0055] Used to detect whether the press sensors 9 in the two groups of deflection correction components on both sides of the sorting frame 7 are triggered and the triggering time ratio from when the deflection correction plate 15 contacts the U shell 21 to when the deflection correction plate 15 and the U shell 21 separate, and output the detection results to the decision module;
[0056] Decision module: used to determine whether the paint defect area on the outer side of the U shell 21 exceeds 1% of the total paint area on the outer side of the U shell 21. If it exceeds 1%, the paint surface of the U shell is judged to be unqualified; if it does not exceed 1%, the paint surface is judged to be qualified;
[0057] It is used to determine the overlap rate between the standard U-shell line graph and the U-shell line graph to be tested. If the overlap rate is lower than 95%, the U-shell bending is judged to be unqualified; if it is higher than 95%, the U-shell bending is judged to be qualified.
[0058] Used to determine whether the press sensor 9 is triggered. If the triggering time accounts for more than 50%, the correction is invalid. If the triggering time accounts for less than 50%, the correction is valid;
[0059] Among them, when the U-shell inspection results determine that the paint surface is qualified, the bending is qualified, and the correction is effective, the U-shell is decided to enter the assembly line for assembly.
[0060] Among them, when the shooting module performs orthographic projection shooting of the U-shell 21 from top to bottom, the shooting frequency is 24 times per second, and the shooting starts from one end of the U-shell 21 moving to the shooting range directly below the shooting camera 20 until the other end of the U-shell 21 leaves the shooting range directly below the shooting camera 20. Several pictures taken are processed and spliced to obtain an orthographic projection top view of the U-shell 21.
[0061] Among them, the detection module selects detection points for the U shell 21 in the orthographic top view of the U shell 21, specifically by extracting detection points at equal intervals from the edge line of the U shell 21; at the same time, the angles of the two corners in the standard U shell line diagram are measured to see if they are 90°. If not, it is directly determined that the U shell bending is unqualified.
[0062] Among them, the decision module sets a decision priority for each detection result, the first priority is the two corner angles of the U shell 21, the second priority is the correction effect of the U shell 21, and the U shell bending pass rate and the U shell paint pass rate are tied for the third priority.
[0063] The sorting system further includes a storage system, which is used to store the sorted U-shell detection data and display the detection data in the main control module for the system administrator to access the U-shell data when repairing the U-shell 21.
[0064] Among them, the image processing in the scanning module includes the following: first, the color model of the U-shell side image is converted, then the image is converted into a grayscale image, and then the image is converted into a binary image according to the shooting environment, and the noise is eliminated by image filtering; finally, the processed image is obtained, and the white part in the image is the location of the paint defect.
[0065] The working principle of the present invention includes: when the U-shell is conveyed to the bottom of the sorting rack, one end of the U-shell contacts the left and right groups of correcting components, and the distance between the two groups of correcting components is just the width of the U-shell. Therefore, when the U-shell that is bent normally and has no deviation contacts the correcting component, the internal spring of the correcting component will not be elastically deformed, and the correcting plate will not rotate as a result. When the U-shell deviates, no matter which of the two corners of the U-shell is an obtuse angle, the U-shell will squeeze the correcting component outward, so that the barrel plug will continuously move toward the press sensor. When the angle of the corner is too large, the more the U-shell moves to the right, the greater the squeezing force on the correcting component, until the barrel plug contacts the press sensor, until the U-shell leaves the two groups of correcting components. On the contrary, the smaller the angle of the corner is and the closer it is to 90°, the smaller the opening range of the two side shells of the U-shell is, the closer the distance between the two sides of the same end is, the smaller the squeezing force on the correction component is, the shorter the contact time between the barrel plug and the press sensor is, and there is a possibility that the barrel plug will not contact the press sensor. By calculating the proportion of the contact time between the press sensor and the barrel plug in the total time that the U-shell passes through the correction component, the expansion range of the two sides of the U-shell is obtained. The smaller the expansion range, the better the correction effect. The larger the expansion range, the contact between the barrel plug and the press sensor, indicating that the correction effect is poor. If the time proportion is less than 50%, it means that the correction effect can no longer meet the subsequent shooting camera to accurately shoot the orthographic top view of the U-shell.
[0066] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.
Claims
1. A refrigerator U-shell adaptive sorting and transportation device based on visual recognition, characterized in that: It comprises a conveying component, a sorting frame (7) is fixedly installed between two groups of conveying components, two groups of deviation correction components are installed inside the sorting frame (7), a U shell is movably arranged between the two groups of deviation correction components, and the U shell is transported from left to right on the transport component; The deviation correction component comprises a sleeve (8), wherein the sleeve (8) is fixedly connected to the surface of the sorting frame (7), one end of the inner wall of the sleeve (8) is fixedly connected to a pressure sensor (9), and the inner cavity of the sleeve (8) is slidably connected to a barrel plug (10), one side of the barrel plug (10) is fixedly connected to one end of a barrel column (12), the other end of the barrel column (12) penetrates the inner wall of the sleeve (8) to the outside thereof, and is fixedly connected to a movable part (13), the other movable end of the movable part (13) is fixedly connected to a deviation correction plate (15), a torsion spring (14) is installed inside the movable part (13), the torsion spring (14) is sleeved on the outer surface of a pin shaft inside the movable part (13), and the installation of the torsion spring (14) limits the horizontal rotation angle of the movable end of the movable part (13) to not more than 30° left and right; The sorting rack (7) is also equipped with a first scanning element (16), a second scanning element (18) and a shooting camera (20).
2. The refrigerator U-shell adaptive sorting and transportation device based on visual recognition according to claim 1 is characterized in that: The conveying assembly comprises a conveying frame (1), an outer wall of one side of the conveying frame (1) is fixedly connected to a driving motor (2), an output end of the driving motor (2) passes through the outer wall of the conveying frame (1) to the inside thereof, and is fixedly connected to one end of a rotating shaft (3), the other end of the rotating shaft (3) is movably connected to the inner wall of the other side of the conveying frame (1), a driving gear (4) is fixedly sleeved on the peripheral side of the rotating shaft (3), a plurality of clamping members (5) are meshed on the peripheral side of the driving gear (4), the plurality of clamping members (5) are mutually clamped to form a closed loop, and a conveying plate (6) is fixedly connected to the outside of each clamping member (5), and the upper surface of the conveying plate (6) is in contact with the U shell.
3. The refrigerator U-shell adaptive sorting and transportation device based on visual recognition according to claim 2 is characterized in that: The deviation correction component further comprises a spring (11), wherein the spring (11) is movably arranged inside the sleeve (8) and sleeved on the side surface of the cylinder (12), one end of the spring (11) is fixedly connected to a side surface of the cylinder plug (10), and the other end of the spring (11) is fixedly connected to the inner wall of one end of the sleeve (8).
4. The refrigerator U-shell adaptive sorting and transportation device based on visual recognition according to claim 3 is characterized in that: The first scanning elements (16) are fixedly connected to both sides of the interior of the sorting frame (7), a rotating member (17) is fixedly connected to one side of the top of the sorting frame (7), and a second scanning element (18) is fixedly connected to the bottom of the rotating member (17); a cross bar (19) is fixedly mounted on the top of the sorting frame (7), and a shooting camera (20) is movably arranged at the bottom of the cross bar (19).
5. The refrigerator U-shell adaptive sorting system based on visual recognition is applied to the refrigerator U-shell adaptive sorting and transportation device based on visual recognition as described in claim 4, characterized in that: It includes a main control module, and a scanning module, a shooting module, a detection module, an analysis module and a decision-making module that establish communication connections with it; Main control module: used to control various components in the sorting and transporting device to complete scanning and photographing of the U shell (21), and output the obtained image data to various modules of the sorting system for sorting detection; Scanning module: used for scanning the outer surface of the U shell (21) through two first scanning elements (16) and one second scanning element (18), splicing and processing the scanned images, and outputting them to the detection module after processing; A shooting module is used to shoot the U shell (21) from top to bottom by means of an orthographic projection camera (20), obtain an orthographic top view image of the U shell (21) and output it to a detection module; A detection module: used to detect the external side image of the U shell (21) scanned by the scanning module, detect the percentage of the paint defect area on the external side of the U shell (21) to the total paint area on the external side of the U shell (21), and output the detection result to the decision module; Used to detect the orthographic top view image of the U shell (21) captured by the shooting module, select four corners of the U shell (21) in the orthographic view and a total of 100 detection points on three sides, connect them in sequence into lines to form a U shell line graph to be detected, select four corners of the U shell (21) in the orthographic view and connect them into lines to form a standard U shell line graph, overlap the four corners of the standard U shell line graph and the U shell line graph to be detected, and compare the overlap rates of the two; and output the detection results to the decision module; Used to detect whether the pressing sensors (9) in the two groups of deflection correction components on both sides of the sorting frame (7) are triggered and the triggering time ratio from when the deflection correction plate (15) contacts the U shell (21) to when the deflection correction plate (15) and the U shell (21) separate, and output the detection results to the decision module; Decision module: used to determine whether the paint defect area of the outer side surface of the U shell (21) exceeds 1% of the total paint surface area of the outer side surface of the U shell (21); if it exceeds 1%, the paint surface of the U shell is judged to be unqualified; if it does not exceed 1%, the paint surface is judged to be qualified; It is used to determine the overlap rate between the standard U-shell line graph and the U-shell line graph to be tested. If the overlap rate is lower than 95%, the U-shell bending is judged to be unqualified; if it is higher than 95%, the U-shell bending is judged to be qualified. Used to determine whether the pressure sensor (9) is triggered, if the triggering time accounts for more than 50%, the deviation correction is invalid, and if the triggering time accounts for less than 50%, the deviation correction is valid; Among them, when the U-shell inspection results determine that the paint surface is qualified, the bending is qualified, and the correction is effective, the U-shell is decided to enter the assembly line for assembly.
6. The refrigerator U-shell adaptive sorting system based on visual recognition according to claim 5 is characterized in that: When the shooting module performs orthographic projection shooting of the U-shell (21) from top to bottom, the shooting frequency is 24 times per second, and shooting starts from when one end of the U-shell (21) moves to the shooting range directly below the shooting camera (20), until the other end of the U-shell (21) leaves the shooting range directly below the shooting camera (20), and the plurality of images shot are processed and spliced to obtain an orthographic projection top view image of the U-shell (21).
7. The refrigerator U-shell adaptive sorting system based on visual recognition according to claim 6 is characterized in that: The detection module selects detection points for the U shell (21) in the orthographic top view of the U shell (21), specifically by extracting detection points at equal intervals from the edge line of the U shell (21); and at the same time, measuring the angles of two corners in the standard U shell line diagram to see whether they are 90°. If not, it is directly determined that the U shell is unqualified for bending.
8. The refrigerator U-shell adaptive sorting system based on visual recognition according to claim 7 is characterized in that: In the decision module, decision priorities are set for each detection result, the first priority being the two corner angles of the U shell (21), the second priority being the deviation correction effect of the U shell (21), and the U shell bending qualified rate and the U shell paint qualified rate being ranked as the third priority.
9. The refrigerator U-shell adaptive sorting system based on visual recognition according to claim 8 is characterized in that: The sorting system further comprises a storage system, wherein the storage system is used to store the sorted U-shell detection data and display the detection data in the main control module so that the system administrator can access the U-shell data when repairing the U-shell (21).
10. The refrigerator U-shell adaptive sorting system based on visual recognition according to claim 9 is characterized in that: The image processing in the scanning module includes the following: first, the color model of the U-shell side image is converted, then the image is converted into a grayscale image, and then the image is converted into a binary image according to the shooting environment, and noise is eliminated by image filtering; finally, a processed image is obtained, and the white part in the image is the location of the paint defect.