Full-automatic feedback piston cleaning device based on sensor and machine vision

Abstract

The invention discloses a full-automatic feedback piston cleaning device based on a sensor and machine vision. The full-automatic feedback piston cleaning device comprises a transmission system, a feeding device, an intelligent cleaning system, a cleaning result judging system, a drying and gas washing system and a storage system. The transmission system is provided with a tray, a piston is placed on the tray through the feeding device, and the tray is lifted to the intelligent cleaning system to be cleaned; the cleaning result judgment system collects a piston image, and if stains exist on the surface of the piston, the piston is cleaned again; on the contrary, the piston is conveyed to the drying gas washing system to be subjected to low-pressure gas washing and air drying, the material storage system comprises a mechanical arm with an image sensor, and when it is detected that no uncleaned stains exist on the surface of the piston, the mechanical arm can convey the piston into an external material storage bin; on the contrary, the mechanical arm can convey the piston into an external cleaning bin. The piston cleaning device is beneficial to realizing large-scale cleaning work of dirty pistons, and is a working device which is intelligent, automatic, high in efficiency and low in cost in the whole process.

Description

Technical Field

[0001] The invention belongs to the field of machine vision, and in particular relates to a full-automatic feedback piston cleaning device based on sensors and machine vision. Background Art

[0002] The piston surface will have stains such as oil, floating particles, and adhesives after molding, transportation, and use. This situation greatly reduces the efficiency of the piston during use and increases the fatigue damage of the piston surface, thereby reducing the service life. Especially when printing on the piston surface, it reduces the printing accuracy and increases the difficulty of printing. Because there is a great demand for pistons in daily life, efficient cleaning of pistons has become a difficult problem.

[0003] At present, the main cleaning methods include manual scrubbing, boiling cleaning, spray cleaning, vibration cleaning and ultrasonic cleaning. Among them, manual scrubbing has the best effect, but in today's new era of high efficiency and full automation, the disadvantage is that it consumes a lot of human resources and has low cleaning efficiency; boiling cleaning and spray cleaning are prone to problems of unclean cleaning; vibration cleaning and ultrasonic cleaning have good effects, but the cleaning time is long and targeted cleaning cannot be performed, resulting in a waste of resources. Summary of the invention

[0004] In order to solve the problems in the prior art, the present invention proposes a fully automatic feedback system cleaning piston device based on sensors and machine vision. The main purpose of the present invention is to combine the data obtained by the sensor with deep algorithm learning, on the one hand to make up for the shortcomings of traditional cleaning pistons, and on the other hand to make the cleaning pistons achieve high-efficiency and intelligent cleaning through new technologies. In this way, a device can automatically identify different types of dirt, combine the feedback system to clean repeatedly, and intelligently provide cleaning methods.

[0005] The technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention discloses a fully automatic feedback piston cleaning device based on sensors and machine vision, comprising a transmission system, a feeding device, an intelligent cleaning system, a cleaning result judgment system, a drying and air washing system, and a material storage system;

[0007] The transmission system includes a terminal processor, a servo motor, a lifting controller and a tray, the terminal processor is used to control the servo motor and the lifting controller, the servo motor is used to control the rotation of the tray, and the lifting controller is used to control the lifting of the tray;

[0008] The feeding device includes a piston clamp, which is used to clamp the piston. The piston clamp clamping the piston will fall on the tray, and the lifting controller will control the tray with the piston to rise to the intelligent cleaning system for cleaning. The intelligent cleaning system is used to clean the piston;

[0009] The cleaning result judgment system includes an image sensor, which is used to collect images of the piston surface after cleaning, and input the collected images to the terminal processor, which processes the collected images to determine whether the piston surface contains uncleaned stains. If so, the tray is controlled to descend and the piston is cleaned again; otherwise, the piston will be sent to the drying and air washing system;

[0010] The drying and air washing system is used to perform low-pressure air washing and air drying on the piston. After low-pressure air washing and air drying, the piston is sent to a storage system. The storage system includes a robotic arm with an image sensor. The robotic arm includes a detection function and a positioning and placement function. When it is detected that there is no uncleaned stain on the surface of the piston, the robotic arm will send the piston to an external storage bin; otherwise, the robotic arm will send the piston to an external cleaning bin.

[0011] Furthermore, the terminal processor processes the collected image, including:

[0012] First, the collected image is enhanced, and then the enhanced image is denoised to remove noise in the image and ensure image clarity; the threshold is adjusted using threshold segmentation technology to separate the stains and background in the denoised image; then the edge detection algorithm is used to identify the edge of the stain; finally, opening and closing operations are applied to remove water stains and highlight the stains.

[0013] Furthermore, the image sensor on the robot arm will collect images of the piston surface and input the collected images to the terminal processor, which performs stain detection and damage detection on the collected images;

[0014] The stain detection is as follows: the terminal processor performs image enhancement processing on the collected image, and then performs denoising processing on the enhanced image to remove noise in the image and ensure image clarity; the threshold is adjusted by using threshold segmentation technology to separate the stain and background in the denoised image; then the edge detection algorithm is used to identify the edge of the stain; finally, the opening and closing operations are applied to remove water stains and highlight the stains;

[0015] The damage detection is as follows: the terminal processor performs grayscale conversion on the collected image to obtain a grayscale image, performs denoising on the grayscale image, and then uses histogram equalization to improve the contrast of the denoised image to obtain a first image, uses edge detection technology to extract edge information in the first image, and then uses morphological image processing morphological operation technology to enhance features in the image and remove small noise points;

[0016] The denoised color image is segmented, and then the threshold segmentation technology is used to divide the color segmented image into damaged area and non-damaged area. At the same time, the edge information is used to extract the contour, detect the shape and size of the damaged area, and then the area, perimeter and roundness of the damaged area contour are analyzed to determine the type of damage and classify the damage.

[0017] In a second aspect, the present invention discloses a piston cleaning method of the piston cleaning device, comprising the following steps:

[0018] The terminal processor sends an ascending signal to the lifting controller, and the lifting controller controls the tray to rise at a uniform speed. At the same time, the lifting controller sends a transmission signal to the transmission mechanism, and the transmission mechanism starts to transmit the piston clamp. When the transmission mechanism transmits the piston clamp to the position of the tray, the transmission mechanism releases the piston clamp, and the piston clamp falls onto the tray.

[0019] At the same time, the tray with the piston continues to rise at a uniform speed to the intelligent cleaning system. When the piston contacts the brush, the pressure sensor outputs a brushing signal to the terminal processor, and the terminal processor outputs a rotation signal to the servo motor. The servo motor controls the tray to start rotating, so that the brush cleans the piston, and the tray with the piston continues to rise at a uniform speed.

[0020] When the tray with the piston rises to the cleaning result judgment system, the image sensor collects the image of the cleaned piston surface and inputs the collected image to the terminal processor, which processes the collected image to determine whether the piston surface contains uncleaned stains. If so, the tray is controlled to descend and the piston is cleaned again; otherwise, the tray with the piston continues to rise at a uniform speed, and the piston is sent to the drying and air washing system;

[0021] When the piston enters the drying and air washing system, the terminal processor drives the low-pressure nozzle and the fan to work, performs low-pressure air washing and air drying on the piston, and at the same time, the tray with the piston continues to rise at a uniform speed, and the piston after low-pressure air washing and air drying is sent to the storage system, and the image sensor on the robotic arm will capture the image of the piston surface, and input the captured image to the terminal processor, and the terminal processor will perform stain detection on the captured image, and when it is detected that there is no uncleaned stain on the piston surface, the robotic arm will send the piston to an external storage bin; otherwise, the robotic arm will send the piston to an external cleaning bin, and the terminal processor will perform damage detection on the image of the piston transported to the external cleaning bin, and if the piston is damaged, it will no longer be cleaned; if the piston is not damaged, it will continue to be cleaned.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The cleaning process is fully automatic, which can greatly reduce human resources and reduce the accident rate;

[0024] (2) The present invention includes automatic feedback technology and machine vision detection technology, which can ensure that a qualified and clean piston is cleaned repeatedly to achieve high-quality cleaning effect. It also has a function of detecting piston surface damage to avoid accidents caused by damage in later applications.

[0025] (3) The present invention has multiple designs that achieve resource conservation and energy reuse, ensuring both high efficiency and low consumption.

[0026] (4) The present invention takes into account the requirements of later processing, transportation, assembly, cleaning, maintenance, and updating and upgrading, and designs a mosaic assembly structure to enhance its convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of a fully automatic feedback piston cleaning device based on sensor and machine vision technology of the present invention;

[0028] Figure 2 It is a working flow chart of a fully automatic feedback piston cleaning device based on sensor and machine vision technology;

[0029] Figure 3 Workflow diagram of pressure sensor;

[0030] Figure 4 Fully automatic feedback flow chart of the cleaning result judgment system. DETAILED DESCRIPTION

[0031] The present invention is further described and illustrated below in conjunction with specific embodiments. The embodiments are merely exemplary of the present disclosure and do not define the scope of limitation. The technical features of each embodiment of the present invention may be combined accordingly without conflicting with each other.

[0032] The present invention uses a pressure sensor and an image sensor, and can use deep algorithm learning technology to perform cleaning work at corresponding times and methods for different degrees of stains on the surface of the piston, and can detect feedback to the terminal for repeated cleaning until the cleanest piston is cleaned in the shortest time. The two functions of the pressure sensor can be brought into play here. One is to send a signal to rotate the piston after sensing the pressure, and the other is to record the different dirt on the surface of each piston and calculate the corresponding cleaning mode through a deep learning algorithm. After the image sensor collects data, the image processing technology is used to judge the cleanliness of the piston and whether there is any damage. The present invention makes full use of the function of the sensor and then uses a fully automatic feedback system to clean the piston, which can achieve high-quality cleaning, high-efficiency cleaning, low power loss and save human resources.

[0033] like Figure 1 As shown, it is a schematic diagram of the fully automatic feedback piston cleaning device based on sensors and machine vision in this example, as shown Figure 2 As shown, the working process of the device of the present invention, the specific operation steps are as follows:

[0034] First, the fully automatic feedback system cleaning piston device based on sensors and machine vision of the present invention includes a transmission system, a feeding device, an intelligent cleaning system, a cleaning result judgment system, a drying air washing system and a storage system, and the device also includes a sewage discharge device, which is used to collect sewage generated by the intelligent cleaning system. The processing, transportation, assembly, cleaning and maintenance of the device of the present invention are very convenient, and considering the update and upgrade of the later equipment, the device of the present invention is also portable and simple. The specific functions and working methods of the piston cleaning transposition will be further explained below.

[0035] like Figure 1 As shown in the device, the bottom layer is the transmission system, which is the key output layer of the piston movement. The transmission system includes a terminal processor, a servo motor, a lifting controller and a tray. The terminal processor is used to control the servo motor and the lifting controller. The servo motor is used to control the rotation of the tray, and the lifting controller is used to control the lifting of the tray.

[0036] The tray is provided with a piston clamp fixing device, and the piston clamp fixing device is used to fix the piston clamp on the tray. In a specific embodiment of the present invention, the tray is provided with two springs arranged opposite to each other, and the two springs interact with each other to place the piston clamp firmly on the tray; the tray is designed to be retractable so as to meet the requirements of piston assembly clamps of different sizes.

[0037] like Figure 1 As shown in the device in, the second layer from the bottom to the top is the feeding device, which includes a piston clamp and a conveying mechanism for conveying the piston clamp. The piston clamp is used to clamp the piston, and the piston clamp clamping the piston will be placed on the pallet; the conveying mechanism clamps the piston clamp and conveys it. When the conveying mechanism conveys the piston clamp to the location of the pallet, the conveying mechanism releases the piston clamp, and the piston clamp falls onto the pallet.

[0038] In a specific embodiment of the present invention, the piston clamp is clamped on a conveying mechanism, and a position sensor is also provided on the piston clamp. When the position sensor detects that the position of the pallet is in a suitable position, the position sensor sends a placement signal to the conveying mechanism, the conveying mechanism releases the piston clamp, and the piston clamp is placed on the pallet.

[0039] When the piston cleaning starts, the terminal processor sends an ascending signal to the lifting controller, which controls the tray to rise at a uniform speed. At the same time, the lifting controller sends a transmission signal to the conveying mechanism, which starts to convey the piston clamp. When the conveying mechanism conveys the piston clamp to the position of the tray, the conveying mechanism releases the piston clamp, and the piston clamp falls onto the tray. At the same time, the tray with the piston continues to rise at a uniform speed to the intelligent cleaning system.

[0040] like Figure 1 As shown in the device in FIG. 1 , the third layer from the bottom to the top is an intelligent cleaning system, which is used to clean the piston; the intelligent cleaning system includes a pressure sensor, a brush fixed on the pressure sensor, a plurality of nozzles capable of spraying detergent, and a plurality of nozzles capable of spraying clean water, wherein one nozzle sprays one detergent, and different nozzles spray different detergents;

[0041] like Figure 3 As shown, when the piston contacts the brush, the pressure sensor will output a brushing signal to the terminal processor, and the terminal processor will output a rotation signal to the servo motor. The servo motor controls the tray to start rotating and can control the rotation speed of the tray to reduce energy consumption.

[0042] When the brush contacts the rotating piston, the pressure sensor generates an electronic signal indicating the stain on the piston surface and inputs the electronic signal to the terminal processor. The terminal processor compares the received electronic signal with the preset electronic signal, and determines the type of stain on the current piston surface through deep algorithm learning. The terminal processor controls the nozzle that can spray detergent to clean the corresponding stain to spray detergent to the piston. At the same time, the terminal processor controls the rotation speed of the tray (the terminal processor determines the type of stain and proposes a cleaning plan, which includes issuing instructions to the servo motor to control the rotation speed of the servo motor). When the detergent is washed, the terminal processor controls the nozzle that can spray clean water to spray clean water to the piston to complete a cleaning of the piston.

[0043] And when the piston is no longer in contact with the brush, the pressure sensor will output a first signal to the terminal processor, and the terminal processor will output a rotation stop signal to the servo motor, and the servo motor will control the tray to stop rotating.

[0044] The piston completes cleaning in the intelligent cleaning system, and the tray with the piston continues to rise at a uniform speed to the cleaning result judgment system.

[0045] like Figure 1 As shown in the device in FIG. 1 , the fourth layer from bottom to top is a cleaning result judgment system, and the cleaning result judgment system includes an image sensor, such as Figure 4As shown, the image sensor is used to collect images of the piston surface after cleaning, and input the collected images to the terminal processor. The terminal processor processes the collected images to determine whether the piston surface contains uncleaned stains. If so, the tray is controlled to descend and the piston is cleaned again; otherwise, the piston will be sent to the drying air washing system.

[0046] In a specific embodiment of the present invention, image data acquisition is performed through a high-resolution CMOS sensor, which can ensure that tiny dirt can be identified and avoid the problem of poor cleaning effect due to some small dirt not being detected. The terminal processor uses image enhancement technology to perform basic processing on the collected image, including adjusting brightness, contrast, sharpness, etc. Then a filter is applied to perform denoising to remove noise in the image to ensure clarity. At the same time, stain detection is performed and stains are detected using image processing algorithms. Among them, the key technologies involved are: using threshold segmentation technology to adjust the threshold to separate stains and background. Using Sobel and Canny algorithms for edge detection to identify the edges of stains. Finally, morphological image processing technology is used to apply open and closed operations to remove water stains and highlight stains.

[0047] In a specific embodiment of the present invention, if there are stains on the surface of the piston that have not been cleaned, the terminal processor sends a signal for cleaning again to the lifting controller, and the lifting controller first controls the tray to descend to a height where the piston and the brush can initially contact, and then controls the tray to rise at a uniform speed, and the intelligent cleaning system cleans the piston again;

[0048] When the tray with the piston rises to the cleaning result judgment system again, the cleaning result judgment system judges whether there are uncleaned stains on the surface of the piston. If so, the piston is cleaned again;

[0049] If the same piston is still stained after being cleaned three times, the piston will no longer be cleaned, but sent to the drying air washing system for low-pressure air washing and air drying.

[0050] like Figure 1 As shown in the device, the fifth layer from the bottom to the top is the drying air washing system, which is used to perform low-pressure air washing and air drying on the piston. The drying air washing system includes multiple fans for air drying the piston and multiple low-pressure nozzles and compressors for low-pressure air washing on the piston. The low-pressure nozzles can perform low-pressure air washing over a large area, and together with the fans can process water vapor, small particles and dust on the surface of the piston, completing the final cleaning of the piston.

[0051] In a specific embodiment of the present invention, the low-pressure nozzle of the present invention is in a duckbill shape, so that low-pressure air washing can be carried out over a large area, wherein the ejected gas is the heat produced by the motor of the compressor itself (to make full use of energy), and the low-pressure nozzle ejects a low-pressure hot air flow mainly for the purpose of drying the moisture on the surface of the piston.

[0052] When the piston enters the drying and air washing system, the terminal processor drives the low-pressure nozzle and the fan to work, performing low-pressure air washing and air drying on the piston. At the same time, the tray with the piston continues to rise at a uniform speed, and the piston after low-pressure air washing and air drying is sent to the storage system.

[0053] like Figure 1 As shown in the device in, the sixth layer from the bottom to the top is a material storage system, which includes a robotic arm with an image sensor. The robotic arm includes a detection function and a positioning and placement function. When it is detected that there is no uncleaned stain on the surface of the piston, the robotic arm will send the piston to an external material storage bin; otherwise, the robotic arm will send the piston to an external cleaning bin.

[0054] In a specific embodiment of the present invention, the image sensor on the robot arm collects an image of the piston surface and inputs the collected image to the terminal processor, which performs stain detection and damage detection on the collected image;

[0055] The stain detection is implemented in the same manner as the stain detection performed by the image sensor in the cleaning result judgment layer.

[0056] The damage detection is:

[0057] First, the color image is converted into a grayscale image through image preprocessing, and then denoising is performed, using filters (such as Gaussian filtering, median filtering, etc.) to reduce image noise, and finally histogram equalization is used to improve image contrast; secondly, feature extraction is performed, and edge detection technology is used according to the application scenario, using algorithms such as Sobel and Canny to extract edge information in the image. Then, morphological operations are performed to enhance the features in the image and remove small noise points through operations such as expansion, corrosion, opening and closing.

[0058] Finally, the denoised color image is segmented. In the color image, the color segmentation technology is used to detect the damage according to the color characteristics. Then, the threshold segmentation technology is used to set the appropriate threshold to divide the image into damaged areas and non-damaged areas. A global threshold or an adaptive threshold can be used. At the same time, contour detection is used to extract the contour in the image using edge information to detect the shape and size of the damaged area. In order to ensure the integrity of the data, shape analysis can be used to determine the type of damage by analyzing the area, perimeter, roundness and other features of the contour. In addition, damage classification is performed. After the above data information is fused, damage classification is performed, and simple classification is performed according to the size, shape, location and other features of the damage. Machine learning or deep learning is used to classify damage using trained models. For example, convolutional neural networks (CNNs) can be used for complex damage detection tasks. Finally, data is output and reports are generated to the terminal for the operator to review and count the damaged pistons. The damaged areas are marked on the image with damage markers to facilitate visual analysis. The data is statistically analyzed to count the number, size, location and other data of the detected damage to provide a basis for quality control and improvement. Finally, a report is generated and the test results are output in the form of a report to record the test process, results and analysis, thereby realizing damage detection and damage marking functions.

[0059] In this embodiment, a piston cleaning method of the device is also provided, comprising the following steps:

[0060] The terminal processor sends an ascending signal to the lifting controller, and the lifting controller controls the tray to rise at a uniform speed. At the same time, the lifting controller sends a transmission signal to the transmission mechanism, and the transmission mechanism starts to transmit the piston clamp. When the transmission mechanism transmits the piston clamp to the position of the tray, the transmission mechanism releases the piston clamp, and the piston clamp falls onto the tray.

[0061] At the same time, the tray with the piston continues to rise at a uniform speed to the intelligent cleaning system. When the piston contacts the brush, the pressure sensor outputs a brushing signal to the terminal processor, and the terminal processor outputs a rotation signal to the servo motor. The servo motor controls the tray to start rotating, so that the brush cleans the piston, and the tray with the piston continues to rise at a uniform speed.

[0062] When the tray with the piston rises to the cleaning result judgment system, the image sensor collects the image of the cleaned piston surface and inputs the collected image to the terminal processor, which processes the collected image to determine whether the piston surface contains uncleaned stains. If so, the tray is controlled to descend and the piston is cleaned again; otherwise, the tray with the piston continues to rise at a uniform speed, and the piston is sent to the drying and air washing system;

[0063] When the piston enters the drying and air washing system, the terminal processor drives the low-pressure nozzle and the fan to work, performs low-pressure air washing and air drying on the piston, and at the same time, the tray with the piston continues to rise at a uniform speed, and the piston after low-pressure air washing and air drying is sent to the storage system, and the image sensor on the robotic arm will capture the image of the piston surface, and input the captured image to the terminal processor, and the terminal processor will perform stain detection on the captured image, and when it is detected that there is no uncleaned stain on the piston surface, the robotic arm will send the piston to an external storage bin; otherwise, the robotic arm will send the piston to an external cleaning bin, and the terminal processor will perform damage detection on the image of the piston transported to the external cleaning bin, and if the piston is damaged, it will no longer be cleaned; if the piston is not damaged, it will continue to be cleaned.

[0064] According to the large amount of damage data information obtained during damage detection, a special damage detection model can be trained to facilitate later damage detection and classification. A quantitative damage detection report will also be output to prepare for later manual detection.

[0065] The above-mentioned embodiments only express several implementation modes of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. For those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A fully automatic feedback piston cleaning device based on sensors and machine vision, characterized in that: It includes a transmission system, a feeding device, an intelligent cleaning system, a cleaning result judgment system, a drying and air washing system and a storage system; The transmission system includes a terminal processor, a servo motor, a lifting controller and a tray, the terminal processor is used to control the servo motor and the lifting controller, the servo motor is used to control the rotation of the tray, and the lifting controller is used to control the lifting of the tray; The feeding device includes a piston clamp, which is used to clamp the piston. The piston clamp clamping the piston will fall on the tray, and the lifting controller will control the tray with the piston to rise to the intelligent cleaning system for cleaning. The intelligent cleaning system is used to clean the piston; The cleaning result judgment system includes an image sensor, which is used to collect images of the piston surface after cleaning, and input the collected images to the terminal processor, which processes the collected images to determine whether the piston surface contains uncleaned stains. If so, the tray is controlled to descend and the piston is cleaned again; Otherwise, the piston will be sent to the drying air washing system; The drying and air washing system is used to perform low-pressure air washing and air drying on the piston. After low-pressure air washing and air drying, the piston is sent to a storage system. The storage system includes a robotic arm with an image sensor. The robotic arm includes a detection function and a positioning and placement function. When it is detected that there is no uncleaned stain on the surface of the piston, the robotic arm will send the piston to an external storage bin; otherwise, the robotic arm will send the piston to an external cleaning bin.

2. The device according to claim 1, characterized in that The pallet is provided with a piston clamp fixing device, and the piston clamp fixing device is used to fix the piston clamp on the pallet.

3. The device according to claim 1, characterized in that The feeding device also includes a conveying mechanism for conveying the piston clamp, which clamps the piston clamp and transports it. When the conveying mechanism conveys the piston clamp to the position of the tray, the conveying mechanism releases the piston clamp and the piston clamp falls onto the tray.

4. The device according to claim 1, characterized in that The intelligent cleaning system comprises a pressure sensor, a brush fixed on the pressure sensor, a plurality of nozzles capable of spraying detergent and a plurality of nozzles capable of spraying clean water, wherein one nozzle sprays one detergent and different nozzles spray different detergents; When the piston contacts the brush, the pressure sensor will output a brushing signal to the terminal processor, and the terminal processor will output a rotation signal to the servo motor. The servo motor controls the tray to start rotating and controls the rotation speed of the tray to reduce energy consumption. When the brush contacts the rotating piston, the pressure sensor generates an electronic signal indicating the stain on the piston surface and inputs the electronic signal to the terminal processor. The terminal processor compares the received electronic signal with the preset electronic signal, and determines the type of stain on the current piston surface through deep algorithm learning. The terminal processor controls the nozzle capable of spraying detergent for cleaning the corresponding stain to spray the detergent to the piston. After the detergent washing is completed, the terminal processor controls the nozzle capable of spraying clean water to spray clean water to the piston, completing one cleaning of the piston. And when the piston is no longer in contact with the brush, the pressure sensor will output a first signal to the terminal processor, and the terminal processor will output a rotation stop signal to the servo motor, and the servo motor will control the tray to stop rotating.

5. The device according to claim 4, characterized in that The terminal processor processes the collected image, including: First, the collected image is enhanced, and then the enhanced image is denoised to remove noise in the image and ensure image clarity; the threshold is adjusted using threshold segmentation technology to separate the stains and background in the denoised image; then the edge detection algorithm is used to identify the edge of the stain; finally, opening and closing operations are applied to remove water stains and highlight the stains.

6. The device according to claim 5, characterized in that The method of judging whether there are uncleaned stains on the piston surface, and if so, controlling the tray to descend and re-cleaning the piston, comprises: If there are stains on the surface of the piston that have not been cleaned, the terminal processor sends a signal for cleaning again to the lifting controller. The lifting controller first controls the tray to descend to a height where the piston and the brush can make initial contact, and then controls the tray to rise at a uniform speed. The intelligent cleaning system cleans the piston again. When the tray with the piston rises to the cleaning result judgment system again, the cleaning result judgment system judges whether there are uncleaned stains on the surface of the piston. If so, the piston is cleaned again; If the same piston is still stained after being cleaned three times, the piston will no longer be cleaned, but sent to the drying air washing system for low-pressure air washing and air drying.

7. The device according to claim 1, characterized in that The drying air washing system includes multiple fans for air drying the piston and multiple low-pressure nozzles for low-pressure air washing the piston. The low-pressure nozzles can perform low-pressure air washing over a large area, and together with the fans, they can process water vapor, small particles and dust on the surface of the piston, completing the final cleaning of the piston.

8. The device according to claim 1, characterized in that The image sensor on the robot arm collects images of the piston surface and inputs the collected images to the terminal processor, which performs stain detection and damage detection on the collected images; The stain detection is as follows: the terminal processor performs image enhancement processing on the collected image, and then performs denoising processing on the enhanced image to remove noise in the image and ensure image clarity; the threshold is adjusted by using threshold segmentation technology to separate the stain and background in the denoised image; then the edge detection algorithm is used to identify the edge of the stain; finally, the opening and closing operations are applied to remove water stains and highlight the stains; The damage detection is as follows: the terminal processor performs grayscale conversion on the collected image to obtain a grayscale image, performs denoising on the grayscale image, and then uses histogram equalization to improve the contrast of the denoised image to obtain a first image, uses edge detection technology to extract edge information in the first image, and then uses morphological image processing morphological operation technology to enhance features in the image and remove small noise points; The denoised color image is segmented, and then the threshold segmentation technology is used to divide the color segmented image into damaged area and non-damaged area. At the same time, the edge information is used to extract the contour, detect the shape and size of the damaged area, and then the area, perimeter and roundness of the damaged area contour are analyzed to determine the type of damage and classify the damage.

9. A piston cleaning method for cleaning a piston device according to claim 8, characterized in that: The following steps are involved: The terminal processor sends an ascending signal to the lifting controller, and the lifting controller controls the tray to rise at a uniform speed. At the same time, the lifting controller sends a transmission signal to the transmission mechanism, and the transmission mechanism starts to transmit the piston clamp. When the transmission mechanism transmits the piston clamp to the position of the tray, the transmission mechanism releases the piston clamp, and the piston clamp falls onto the tray. At the same time, the tray with the piston continues to rise at a uniform speed to the intelligent cleaning system. When the piston contacts the brush, the pressure sensor outputs a brushing signal to the terminal processor, and the terminal processor outputs a rotation signal to the servo motor. The servo motor controls the tray to start rotating, so that the brush cleans the piston, and the tray with the piston continues to rise at a uniform speed. When the tray with the piston rises to the cleaning result judgment system, the image sensor collects the image of the cleaned piston surface and inputs the collected image to the terminal processor, which processes the collected image to determine whether the piston surface contains uncleaned stains. If so, the tray is controlled to descend and the piston is cleaned again; otherwise, the tray with the piston continues to rise at a uniform speed, and the piston is sent to the drying and air washing system; When the piston enters the drying and air washing system, the terminal processor drives the low-pressure nozzle and the fan to work, performs low-pressure air washing and air drying on the piston, and at the same time, the tray with the piston continues to rise at a uniform speed, and the piston after low-pressure air washing and air drying is sent to the storage system, and the image sensor on the robotic arm will capture the image of the piston surface, and input the captured image to the terminal processor, and the terminal processor will perform stain detection on the captured image, and when it is detected that there is no uncleaned stain on the piston surface, the robotic arm will send the piston to an external storage bin; otherwise, the robotic arm will send the piston to an external cleaning bin, and the terminal processor will perform damage detection on the image of the piston transported to the external cleaning bin, and if the piston is damaged, it will no longer be cleaned; if the piston is not damaged, it will continue to be cleaned.

Images