Welding head parallel state detection method and device and leveling method

Abstract

The invention discloses a detection method and device for the parallel state of a welding head and a leveling method. The detection method for the parallel state of the welding head comprises the steps that an imprinting detection image is obtained; wherein the imprint detection image comprises an imprint pattern of an imprint formed on the pressure-sensitive paper by the welding head to be detected; determining the area of the imprinting pattern, and determining the position of the imprinting gravity center according to the imprinting pattern; calculating the distance from the imprinting gravity center to the welding head center of the to-be-detected welding head; and determining the parallel state of the welding head to be detected according to the area of the imprint pattern and the distance from the imprint gravity center to the center of the welding head. According to the technical scheme, the detection efficiency and accuracy of the parallel state of the welding head are improved, and spot inspection data can be conveniently recorded.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of welding, and in particular to a detection method, device and leveling method for the parallel state of a welding head. Background Art

[0002] Hot pressure welding is a method of welding by heating and applying pressure. During the hot pressure welding process, the welding part is heated to a certain temperature to soften or melt the material, and then pressure is applied to make the welding surface tightly bonded, and a strong joint is formed after cooling.

[0003] During the hot press welding process, hot press welding equipment needs to meet the conditions of temperature, pressure, level and position, so it is necessary to inspect the hot press welding equipment. Among them, the parallelism of the hot press welding head of the hot press welding equipment relative to the welding part is very important, which determines the crimping shape and crimping performance of the welding part; in related technologies, pressure-sensitive paper is usually used to present the pressure distribution of the welding head, and the imprint on the pressure-sensitive paper is manually inspected to determine whether the welding head is in a parallel state relative to the welding part. However, manual visual inspection is highly subjective, prone to misjudgment, and inefficient, and it is also impossible to record inspection data. Summary of the invention

[0004] The embodiments of the present invention provide a method, device and leveling method for detecting the parallel state of a welding head, so as to improve the detection efficiency and accuracy of the parallel state of the welding head and facilitate the recording of spot inspection data.

[0005] According to one aspect of the present invention, a method for detecting a parallel state of a welding head is provided, comprising:

[0006] Acquire an embossing detection image; wherein the embossing detection image includes an embossing pattern formed by the welding head to be inspected on the pressure-sensitive paper;

[0007] Determining the area of ​​the embossed pattern, and determining the position of the embossed center of gravity according to the embossed pattern;

[0008] Calculating the distance from the center of gravity of the stamping to the center of the welding head of the welding head to be inspected;

[0009] The parallel state of the welding head to be inspected is determined according to the area of ​​the embossing pattern and the distance from the embossing center of gravity to the center of the welding head.

[0010] Optionally, determining the position of the embossing center of gravity according to the embossing pattern includes:

[0011] Determine the centroid coordinate value of the closed area in the embossed pattern; wherein the embossed pattern includes at least one closed area fitted by a plurality of boundary points; different closed areas do not overlap;

[0012] According to the coordinate value of the center of gravity of the closed area in the imprint pattern, the position of the mapping point of the imprint center of gravity in the imprint detection image is determined.

[0013] Optionally, in the case where the embossed pattern includes a closed area, determining the position of a mapping point of the embossed center of gravity of the embossed image in the embossed detection image according to the coordinate value of the center of gravity of the closed area in the embossed pattern includes:

[0014] Determine the coordinate value of the center of gravity of the closed area as the coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image;

[0015] In the case where the embossed pattern includes two or more closed areas, determining the position of a mapping point of the embossed center of gravity of the embossed image in the embossed detection image according to the coordinate values ​​of the centers of gravity of the closed areas in the embossed pattern includes:

[0016] Determining the area of ​​each enclosed region in the embossed pattern;

[0017] The coordinate value of the mapping point of the imprint gravity center of the imprint in the imprint detection image is calculated according to the coordinate value of the center of gravity of each closed area, the area of ​​each closed area and the total area of ​​all closed areas.

[0018] Optionally, determining the centroid coordinate value of the closed area in the embossed pattern includes:

[0019] Obtaining the coordinate value of each boundary point of the closed area in the same coordinate system; wherein the coordinate system includes a first coordinate axis and a second coordinate axis, and the coordinate value of each boundary point includes a first coordinate value corresponding to the first coordinate axis and a second coordinate value corresponding to the second coordinate axis;

[0020] Determine a first centroid coordinate value of the closed area according to a ratio of a sum of first coordinate values ​​of the boundary points of the closed area to the number of the boundary points of the closed area;

[0021] The second barycentric coordinate value of the closed area is determined based on the ratio of the sum of the second coordinate values ​​of the boundary points of the closed area to the number of the boundary points of the closed area; wherein the barycentric coordinate value of the closed area includes the first barycentric coordinate value and the second barycentric coordinate value.

[0022] Optionally, the calculating the coordinate value of a mapping point of the center of gravity of the imprint on the imprint detection image according to the coordinate value of the center of gravity of each closed area, the area of ​​each closed area and the total area of ​​all closed areas includes:

[0023] Calculate the first coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image according to the first centroid coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas;

[0024] Calculate the second coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image according to the second center of gravity coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas;

[0025] The calculation of the first coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image according to the first center of gravity coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas is based on the following determination:

[0026]

[0027] The second coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image is calculated based on the second center of gravity coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas, and is determined based on the following:

[0028]

[0029] Wherein, X is the first coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image, and Y is the second coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image; i is the first centroid coordinate value of the i-th closed area, y i is the coordinate value of the second center of gravity of the i-th closed area; S i is the area of ​​the i-th closed region, S 总 is the sum of the areas of all closed areas, and n is the number of closed areas in the embossed pattern.

[0030] Optionally, the acquiring of the imprint detection image includes:

[0031] Adjust the position of the camera center so that the vertical projection of the camera center on the pressure-sensitive paper coincides with the vertical projection of the welding head center of the welding head to be inspected on the pressure-sensitive paper;

[0032] Controlling the camera to obtain the imprint detection image;

[0033] Before calculating the distance from the center of gravity of the stamping to the welding head center of the welding head to be inspected, the method further includes:

[0034] According to the image center position of the indentation detection image, the position of the mapping point of the welding head center in the indentation detection image is determined.

[0035] Optionally, before acquiring the imprint detection image, the method further includes:

[0036] Calibrate the target position of the camera and the target position of the welding head to be inspected so that the center of the camera corresponds to the welding head center of the welding head to be inspected;

[0037] The calibrating the target position of the camera and the target position of the welding head to be inspected includes:

[0038] Acquire a standard imprint detection image through the camera; wherein the standard imprint detection image includes a standard imprint pattern of a standard imprint, and the standard imprint is an imprint formed when the welding surface of the welding head is parallel to the pressure-sensitive paper;

[0039] Sending the standard imprint detection image to a terminal, and displaying the standard imprint detection image and the position of the camera center in the standard imprint detection image through a camera image acquisition interface of the terminal;

[0040] Adjusting the position of the camera until the center of the camera coincides with the center of gravity of the standard imprint in the standard imprint detection image;

[0041] According to the current position of the camera, the target position of the camera and the target position of the welding head to be inspected are calibrated.

[0042] Optionally, determining the parallel state of the welding head to be inspected according to the area of ​​the embossing pattern and the distance from the embossing center of gravity to the center of the welding head includes:

[0043] Determine whether the area of ​​the embossing pattern meets a preset area condition and whether the distance between the embossing center of gravity and the welding head center in the embossing detection image meets a preset distance condition;

[0044] If all of them are satisfied, it is determined that the parallel state of the welding head to be inspected is qualified; if any one of them is not satisfied or both of them are not satisfied, it is determined that the parallel state of the welding head to be inspected is unqualified.

[0045] According to another aspect of the present invention, there is provided a device for detecting a parallel state of a welding head, comprising:

[0046] An acquisition module is used to acquire an embossing detection image; wherein the embossing detection image includes an embossing pattern formed by the welding head to be inspected on the pressure-sensitive paper;

[0047] A determination module, used to determine the area of ​​the embossed pattern and determine the position of the embossed center of gravity according to the embossed pattern;

[0048] A distance calculation module, used to calculate the distance between the position of the center of gravity of the stamping and the position of the welding head center of the welding head to be inspected;

[0049] The judgment module is used to determine the parallel state of the welding head to be inspected according to the area of ​​the embossing pattern and the distance from the embossing center of gravity to the welding head.

[0050] According to another aspect of the present invention, a method for leveling a welding head is provided, comprising:

[0051] Determining the parallel state of the welding head to be adjusted by the method for detecting the parallel state of the welding head described in any embodiment of the present invention;

[0052] When the parallel state of the welding head to be adjusted is unqualified, the welding head adjustment structure in the automatic spot inspection device is reversely adjusted according to the deviation direction of the imprinted pattern and the imprinted center of gravity relative to the welding head center.

[0053] The embodiment of the present invention provides a detection method, device and leveling method for the parallel state of a welding head, wherein the detection method for the parallel state of a welding head comprises: obtaining an imprint detection image; determining the area of ​​an imprint pattern in the imprint detection image, and determining the position of the imprint center of gravity of the imprint according to the imprint pattern; calculating the distance between the position of the imprint center of gravity and the position of the welding head center of the welding head to be inspected; and determining the parallel state of the welding head to be inspected according to the area of ​​the imprint pattern and the distance between the imprint center of gravity and the welding head center. The technical solution provided by the embodiment of the present invention recognizes the imprint detection image through software, calculates the area of ​​the imprint pattern and the distance between the imprint center of gravity and the welding head center, determines whether the imprint is qualified according to the judgment conditions, and then determines whether the parallel state of the welding head to be tested meets the requirements, thereby realizing automatic spot inspection of the pressure holding level of the welding pressure equipment, avoiding tedious operations during manual spot inspection, improving the detection efficiency and accuracy of the parallel state of the welding head, and facilitating the recording of spot inspection data.

[0054] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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.

[0056] Figure 1 It is a flow chart of a method for detecting a parallel state of a welding head provided by an embodiment of the present invention;

[0057] Figure 2It is a structural schematic diagram of a hot pressing welding device and an automatic spot inspection device provided by an embodiment of the present invention;

[0058] Figure 3 It is a structural schematic diagram of an image acquisition device and an automatic spot inspection device provided by an embodiment of the present invention;

[0059] Figure 4 yes Figure 2 Schematic diagram of the structure shown where the welding head is pressed down onto the pressure-sensitive paper;

[0060] Figure 5 yes Figure 4 a front view of the structure shown;

[0061] Figure 6 is a schematic diagram of an imprint detection image provided by an embodiment of the present invention;

[0062] Figure 7 is a schematic diagram of another imprint detection image provided by an embodiment of the present invention;

[0063] Figure 8 It is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention;

[0064] Fig. 9 is a schematic diagram of another imprint detection image provided by an embodiment of the present invention;

[0065] Fig.10 yes Fig. 9 Schematic diagram of boundary points of closed area Q1 in the image shown;

[0066] Fig.11 It is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention;

[0067] Fig.12 It is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention;

[0068] Fig.13 It is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention;

[0069] Fig.14 is a schematic diagram of a camera image acquisition interface provided by an embodiment of the present invention;

[0070] Fig.15 It is a schematic diagram of another camera image capture interface provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0071] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0072] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0073] The embodiment of the present invention provides a method for detecting the parallel state of a welding head. Figure 1 is a flow chart of a method for detecting a parallel state of a welding head provided by an embodiment of the present invention, with reference to Figure 1 , the detection methods of the parallel state of the welding head include:

[0074] S110, obtaining an embossing detection image; wherein the embossing detection image includes an embossing pattern formed by the welding head to be inspected on the pressure-sensitive paper.

[0075] Specifically, Figure 2 is a schematic structural diagram of a hot pressing welding device and an automatic spot inspection device provided by an embodiment of the present invention. Figure 3 is a schematic diagram of the structure of an image acquisition device and an automatic spot inspection device provided by an embodiment of the present invention, with reference to Figure 2 and Figure 3, after the pressure-sensitive paper 400 is installed on the automatic inspection device 100, the hot pressure welding device 200 is moved to the top of the pressure-sensitive paper 400, and the welding head 203 to be inspected in the hot pressure welding device 200 is controlled to be pressed down to form an imprint on the pressure-sensitive paper 400; then the image acquisition device 300, such as a camera, is controlled to move to the imprinting position to take a picture of the imprint on the pressure-sensitive paper 400, so as to obtain an imprint detection image. The imprint detection image includes the imprinted pattern formed on the pressure-sensitive paper 400, and the non-imprinted area around the imprint. Pressure-sensitive paper 400 (pressure-sensitive paper) is a special type of paper, which is characterized in that when subjected to external force, visible changes will occur on the surface of the paper, usually manifested as changes in color.

[0076] Figure 4 yes Figure 2 Schematic diagram of the structure shown, where the welding head is pressed down onto the pressure-sensitive paper. Figure 5 yes Figure 4 Front view of the structure shown, refer to Figure 4 and Figure 5 The automatic spot inspection device 100 may include a pressure-sensitive paper feed port and a pressure-sensitive paper transmission structure 03. After the pressure-sensitive paper 400 is inserted into the pressure-sensitive paper feed port, the pressure-sensitive paper transmission structure 03 may automatically transmit the pressure-sensitive paper 400 to the spot inspection window 01 of the automatic spot inspection device. The pressure-sensitive paper transmission structure 03 may include a driving wheel 31 and a driven wheel 32. The driving wheel 31 drives the driven wheel 32, and then the driven wheel 32 drives the pressure-sensitive paper 400 to move in the automatic spot inspection device 100. The operation is simple and convenient for controlling the position of the pressure-sensitive paper 400. After the pressure-sensitive paper 400 is transmitted to the spot inspection window 01 of the automatic spot inspection device 100, the welding head 203 to be inspected is controlled to move to the spot inspection window 01, and the welding head 203 to be inspected is pressed down, so as to form an imprint on the pressure-sensitive paper 400 exposed in the spot inspection window 01. Furthermore, the automatic spot inspection device 100 may also include a feeding detection probe 02 , and the feeding detection probe 02 is used to detect whether the pressure-sensitive paper 400 is installed in the automatic spot inspection device 100 .

[0077] S120, determining the area of ​​the embossing pattern, and determining the position of the embossing center of gravity according to the embossing pattern.

[0078] Specifically, after acquiring the imprint detection image, the area of ​​the imprint pattern in the imprint detection image can be identified, thereby determining the area of ​​the imprint. The smaller the angle between the welding surface of the welding head 203 to be inspected and the plane where the pressure-sensitive paper 400 is located, the higher the parallelism of the welding surface of the welding head 203 to be inspected relative to the pressure-sensitive paper 400, and the closer the imprint area is to the area of ​​the welding surface of the welding head 203 to be inspected, or even equal to it. Therefore, the area of ​​the imprint pattern can be used as a judgment condition for judging whether the welding surface of the welding head 203 to be inspected is tilted relative to the pressure-sensitive paper 400.

[0079] The center of gravity of the embossing can be understood as the point of action of the resultant force of the pressure of the welding head 203 to be inspected on the pressure-sensitive paper 400 during the process of the welding head 203 to be inspected pressing down on the pressure-sensitive paper 400 to form an embossing. The higher the parallelism of the welding surface of the welding head 203 to be inspected relative to the pressure-sensitive paper 400, the closer the center of gravity of the embossing is to the welding head center of the welding head 203 to be inspected, the more uniform the embossing of the welding head 203 to be inspected on the pressure-sensitive paper 400, and the closer the embossing pattern is to the shape of the welding head 203 to be inspected. Therefore, according to the embossing pattern, the position of the center of gravity of the embossing in the embossing detection image can be determined, thereby determining the position of the center of gravity of the embossing.

[0080] S130, calculating the distance from the center of gravity of the stamping to the center of the welding head to be inspected.

[0081] Specifically, when the welding surface of the welding head 203 to be inspected is parallel to the pressure-sensitive paper 400, the embossing center of gravity should correspond to the welding head center of the welding head 203 to be inspected; when the welding surface of the welding head 203 to be inspected is tilted relative to the pressure-sensitive paper 400, the embossing center of gravity will deviate from the center position of the welding head 203 of the welding head to be inspected. Therefore, the distance from the embossing center of gravity to the welding head center of the welding head to be inspected can be used as a judgment condition for judging whether the welding surface of the welding head 203 to be inspected is tilted relative to the pressure-sensitive paper 400. After determining the position of the embossing center of gravity of the embossing and the position of the welding head center of the welding head to be inspected, the distance from the embossing center of gravity to the welding head center of the welding head to be inspected can be calculated according to the distance formula between the two points.

[0082] S140, determining the parallel state of the welding head to be inspected according to the area of ​​the imprinted pattern and the distance from the center of gravity of the imprinted pattern to the center of the welding head.

[0083] Specifically, the parallel state of the welding head 203 to be tested is determined according to the area of ​​the imprinted pattern and the distance between the imprinted center of gravity and the welding head center, including: judging whether the area of ​​the imprinted pattern in the imprint detection image meets the preset area condition, and whether the distance between the imprinted center of gravity and the welding head center meets the preset distance condition; if both are satisfied, it is determined that the parallel state of the welding head 203 to be tested is qualified; if any one of them is not satisfied or both are not satisfied, it is determined that the parallel state of the welding head 203 to be tested is unqualified.

[0084] The area preset condition and the distance preset condition can be determined according to the actual situation. The area preset condition and the distance preset condition can be determined according to the area and shape of the welding surface of the welding head 203 to be tested. For example, the area range corresponding to the area preset condition is greater than or equal to 2.50 mm 2 And less than or equal to 4.00mm 2 , the distance range corresponding to the preset condition is less than or equal to 0.20mm. Figure 6 is a schematic diagram of an imprint detection image provided by an embodiment of the present invention, with reference to Figure 6, the area of ​​the embossed pattern is 3.461mm 2 , the distance between the stamping center of gravity A and the welding head center B is 0.098 mm, both of which meet the conditions, and it can be determined that the parallel state of the welding head 203 to be inspected is qualified. Figure 7 is a schematic diagram of another imprint detection image provided by an embodiment of the present invention, with reference to Figure 7 , the area of ​​the embossed pattern is 2.135mm 2 , the distance between the stamping center of gravity A and the welding head center B is 0.832 mm, both of which do not meet the conditions, and it can be determined that the parallel state of the welding head 203 to be inspected is unqualified.

[0085] In the case where the distance between the center of gravity of the embossing and the center of the welding head meets the preset distance condition, if the pressure of the welding head 203 to be inspected is small, there will be a problem that the area of ​​the embossing pattern is small, so that the difference between the area of ​​the embossing pattern and the area of ​​the welding surface of the welding head 203 to be inspected is large. Therefore, by double judgment of the area of ​​the embossing pattern and the distance between the center of gravity of the embossing and the center of the welding head 203, the accuracy of the parallel state detection of the welding head 203 to be inspected can be improved. In addition, in the case where the distance between the center of gravity of the embossing and the center of the welding head 203 in the embossing detection image meets the preset distance condition, if the pressure of the welding head 203 to be inspected is small, the area of ​​the embossing pattern is small, and the difference between the area of ​​the embossing pattern and the area of ​​the welding surface of the welding head 203 to be inspected is large, there is a situation where the pressure of the welding head 203 to be inspected does not meet the welding requirements. Therefore, in the case where the distance between the center of gravity of the embossing and the center of the welding head 203 in the embossing detection image meets the preset distance condition, it is also possible to judge whether the pressure of the welding head 203 to be inspected meets the welding requirements in combination with the area of ​​the embossing pattern.

[0086] The method for detecting the parallel state of the welding head provided in the embodiment of the present invention includes: acquiring an imprint detection image; determining the area of ​​the imprint pattern in the imprint detection image, and determining the position of the imprint center of gravity of the imprint according to the imprint pattern; calculating the distance between the position of the imprint center of gravity and the position of the welding head center of the welding head to be inspected; and determining the parallel state of the welding head to be inspected according to the area of ​​the imprint pattern and the distance between the imprint center of gravity and the welding head center. The technical solution provided in the embodiment of the present invention recognizes the imprint detection image through software, calculates the area of ​​the imprint pattern and the distance between the imprint center of gravity and the welding head center, determines whether the imprint is qualified according to the judgment conditions, and then determines whether the parallel state of the welding head to be tested meets the requirements, thereby realizing automatic spot inspection of the pressure holding level of the hot pressing welding equipment, avoiding tedious operations during manual spot inspection, improving the detection efficiency and accuracy of the parallel state of the welding head, and facilitating the recording of spot inspection data.

[0087] Figure 8 is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention, with reference to Figure 8 , the detection method of the parallel state of the welding head includes:

[0088] S210, obtaining an imprint detection image; wherein the imprint detection image includes an imprint pattern formed by the welding head to be inspected on the pressure-sensitive paper.

[0089] S220, determining the area of ​​the embossed pattern, and determining the centroid coordinate value of the closed area in the embossed pattern; wherein the embossed pattern includes at least one closed area fitted by a plurality of boundary points; and different closed areas do not overlap.

[0090] S230, determining the mapping point position of the imprint gravity center of the imprint on the imprint detection image according to the coordinate value of the gravity center of the closed area in the imprint pattern.

[0091] S240, calculating the distance between the mapping point of the imprint gravity center on the imprint detection image and the mapping point of the welding head center of the welding head to be inspected on the imprint detection image.

[0092] Specifically, determining the position of the center of gravity of the imprint according to the imprint pattern includes: determining the coordinate value of the center of gravity of the closed area in the imprint pattern; determining the mapping point position of the center of gravity of the imprint on the imprint detection image according to the coordinate value of the center of gravity of the closed area in the imprint pattern. The imprint pattern includes at least one closed area fitted by multiple boundary points. The number of closed areas in the imprint pattern is determined based on the actual situation of the imprint pattern. As long as they are continuous areas, they belong to the same closed area, and different closed areas do not overlap.

[0093] For example, Fig. 9 is a schematic diagram of another imprint detection image provided by an embodiment of the present invention, with reference to Fig. 9 In the embossing detection image, the embossing pattern is composed of multiple closed areas, and the patterns and / or areas of different closed areas are different. The pattern of the closed area Q1 is circular, and the pattern of the closed area Q2 is irregular. The area of ​​the closed area Q2 is larger than that of the closed area Q1. Each closed area is formed by fitting multiple boundary points. Fig.10 yes Fig. 9 Schematic diagram of the boundary points of the closed area Q1 in the image shown, refer to Fig.10 The closed area Q1 is formed by fitting eight boundary points from boundary point 1 to boundary point 8.

[0094] In the case where the imprint pattern includes a closed area, the position of the imprint center of gravity of the imprint on the imprint detection image is determined based on the center of gravity coordinate value of the closed area in the imprint pattern, including: determining the center of gravity coordinate value of the closed area as the coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image.

[0095] In the case where the imprint pattern includes two or more closed areas, the position of the imprint center of gravity of the imprint on the imprint detection image is determined based on the coordinate values ​​of the center of gravity of the closed areas in the imprint pattern, including: determining the area of ​​each closed area in the imprint pattern; calculating the coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image based on the coordinate values ​​of the center of gravity of each closed area, the area of ​​each closed area and the total area of ​​all closed areas.

[0096] S250, determining the parallel state of the welding head to be inspected according to the area of ​​the stamping pattern and the distance between the stamping center of gravity and the welding head center on the stamping inspection image.

[0097] Specifically, the distance from the mapping point of the imprint gravity center on the imprint detection image to the mapping point of the welding head center of the welding head to be inspected on the imprint detection image is the distance between the imprint gravity center and the welding head center.

[0098] The method for detecting the parallel state of the welding head provided in the embodiment of the present invention processes the imprint detection image, divides the imprint pattern into one or more closed loop closed areas, calculates the center of gravity position of each closed area, and then determines the position of the imprint center of gravity of the entire imprint according to the center of gravity position of the closed area in the imprint pattern. The position of the imprint center of gravity of the entire imprint is determined in combination with the center of gravity position of each closed area, which can improve the accuracy of the position of the imprint center of gravity of the entire imprint.

[0099] Fig.11 is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention, with reference to Fig.11 , the detection methods of the parallel state of the welding head include:

[0100] S310, obtaining an imprint detection image; wherein the imprint detection image includes an imprint pattern formed by the welding head to be inspected on the pressure-sensitive paper.

[0101] S320, determining the area of ​​the embossed pattern.

[0102] S330, obtaining the coordinate values ​​of each boundary point of each closed area in the imprinted pattern in the same coordinate system.

[0103] Among them, the coordinate system includes a first coordinate axis and a second coordinate axis, the coordinate value of each boundary point includes a first coordinate value corresponding to the first coordinate axis and a second coordinate value corresponding to the second coordinate axis; the centroid coordinate value of the closed area includes a first centroid coordinate value and a second centroid coordinate value.

[0104] S340. Determine the first centroid coordinate value of each closed area based on the ratio of the sum of the first coordinate values ​​of each boundary point of each closed area to the number of boundary points, and determine the second centroid coordinate value of each closed area based on the ratio of the sum of the second coordinate values ​​of each boundary point of each closed area to the number of boundary points.

[0105] Exemplary, reference Fig.10 , the closed area Q1 is a closed area fitted by 8 boundary points, and each boundary point has a corresponding first coordinate value and a second coordinate value in the coordinate system. Among them, the coordinates of boundary point 1 are (x a1 ,y a1 ), the coordinates of boundary point 2 are (x a2 ,y a2 ), the coordinates of boundary point 3 are (x a3 ,y a3 ), the coordinates of boundary point 4 are (x a4 ,y a4 ), the coordinates of boundary point 5 are (x a5 ,y a5 ), the coordinates of boundary point 6 are (x a6 ,y a6 ), the coordinates of boundary point 7 are (x a7 ,y a7 ), the coordinates of boundary point 8 are (x a8 ,y a8 ).

[0106] Then the first centroid coordinate value of the closed area Q1 is determined based on the following:

[0107] x=(x a1 +x a2 +x a3 +x a4+ x a5 +x a6 +x a7 +x a8 ) / 8;

[0108] The second centroid coordinate value of the closed area Q1 is determined based on the following:

[0109] y=(y a1 +y a2 +y a3 +y a4+ y a5 +y a6 +y a7 +y a8 ) / 8.

[0110] By analogy, the centroid coordinates of each closed area in the embossed pattern are calculated.

[0111] S350, calculate the first coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image according to the first centroid coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas; and calculate the second coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image according to the second centroid coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas.

[0112] Wherein, according to the first centroid coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas, the first coordinate value of the mapping point of the imprint centroid of the imprint in the imprint detection image is calculated, and is determined based on the following:

[0113]

[0114] According to the coordinate value of the second center of gravity of each closed area, the area of ​​each closed area and the total area of ​​all closed areas, the second coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image is calculated, based on the following determination:

[0115]

[0116] Wherein, X is the first coordinate value of the mapping point of the imprint gravity center in the imprint detection image, and Y is the second coordinate value of the mapping point of the imprint gravity center in the imprint detection image; i is the first centroid coordinate value of the i-th closed area, y i is the coordinate value of the second center of gravity of the i-th closed area; S i is the area of ​​the i-th closed region, S 总 is the sum of the areas of all closed regions, and n is the number of closed regions in the embossed pattern.

[0117] S360, calculating the distance between the mapping point of the imprint gravity center on the imprint detection image and the mapping point of the welding head center of the welding head to be inspected on the imprint detection image.

[0118] S370, determining the parallel state of the welding head to be inspected according to the area of ​​the stamping pattern and the distance between the stamping center of gravity and the welding head center on the stamping inspection image.

[0119] The detection method of the parallel state of the welding head provided in the embodiment of the present invention further refines and supplements the step of determining the coordinate value of the center of gravity of each closed area in the imprint pattern, and the step of determining the mapping point position of the center of gravity of the imprint on the imprint detection image according to the coordinate value of the center of gravity of the closed area in the imprint pattern. By calculating the coordinate value of the center of gravity of each closed area according to the coordinates of the boundary points of each closed area and the number of boundary points; and then according to the coordinate value of the center of gravity of each closed area, taking the area of ​​the closed area as the weight ratio, the position of the center of gravity of the entire imprint is obtained by accumulating the weight ratio, which can further improve the accuracy of the position of the center of gravity of the entire imprint.

[0120] Fig.12 is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention, with reference to Fig.12 , the detection methods of the parallel state of the welding head include:

[0121] S410, adjusting the position of the camera center so that the vertical projection of the camera center on the pressure-sensitive paper coincides with the vertical projection of the welding head center of the welding head to be inspected on the pressure-sensitive paper.

[0122] S420, controlling the camera to obtain an imprint detection image, wherein the imprint detection image includes an imprint pattern formed by the welding head to be inspected on the pressure-sensitive paper.

[0123] S430, determining the area of ​​the embossing pattern, and determining the position of the mapping point of the embossing center of gravity on the embossing detection image according to the embossing pattern.

[0124] S440, determining the mapping point position of the welding head center on the imprint detection image according to the image center position of the imprint detection image.

[0125] S450, calculating the distance between the mapping point of the imprint gravity center on the imprint detection image and the mapping point of the welding head center of the welding head to be inspected on the imprint detection image.

[0126] S460, determining the parallel state of the welding head to be inspected according to the area of ​​the imprint pattern and the distance from the mapping point of the imprint center of gravity on the imprint detection image to the mapping point of the welding head center on the imprint detection image.

[0127] The method for detecting the parallel state of the welding head provided by the embodiment of the present invention supplements and refines the position of the mapping point of the welding head center on the imprint detection image; wherein obtaining the imprint detection image includes: adjusting the position of the camera center so that the vertical projection of the camera center on the pressure-sensitive paper coincides with the vertical projection of the welding head center of the welding head to be inspected on the pressure-sensitive paper; controlling the camera to obtain the imprint detection image; before the distance between the position of the imprint center of gravity on the imprint detection image and the position of the welding head center of the welding head to be inspected on the imprint detection image, it also includes: determining the mapping point position of the welding head center on the imprint detection image according to the image center position of the imprint detection image. The technical solution provided by the embodiment of the present invention makes the vertical projection of the camera center on the pressure-sensitive paper coincide with the vertical projection of the welding head center of the welding head to be inspected on the pressure-sensitive paper, so that the mapping point position of the welding head center on the imprint detection image can be determined according to the image center position of the imprint detection image. And the image center position of the imprint detection image can be determined by the image center mark limit in the camera image acquisition interface, so that the determination process of the mapping point position of the welding head center on the imprint detection image can be simplified.

[0128] Fig.13 is a flow chart of another method for detecting the parallel state of a welding head provided by an embodiment of the present invention, with reference to Fig.13 , the detection methods of the parallel state of the welding head include:

[0129] S510, calibrating the target position of the camera during the welding head parallel state detection process and the target position of the welding head to be inspected during the welding head parallel state detection process.

[0130] Among them, the target position of the camera and the target position of the welding head to be inspected need to satisfy that the vertical projection of the center of the camera on the pressure-sensitive paper coincides with the vertical projection of the welding head center of the welding head to be inspected on the pressure-sensitive paper.

[0131] Specifically, calibrating the target position of the camera and the target position of the welding head to be inspected includes:

[0132] S5101. Acquire a standard imprint detection image through a camera; wherein the standard imprint detection image includes a standard imprint pattern of a standard imprint, and the standard imprint is an imprint formed when the welding surface of the welding head is parallel to the pressure-sensitive paper.

[0133] S5102: Send the standard imprint detection image to the terminal, and display the standard imprint detection image and the position of the camera center in the standard imprint detection image through the camera image acquisition interface of the terminal. Fig.14 is a schematic diagram of a camera image acquisition interface provided by an embodiment of the present invention, with reference to Fig.14 In the camera image acquisition interface, the intersection of the camera center mark lines is the position of the mapping point of the camera center in the standard imprint detection image.

[0134] S5103, adjusting the position of the camera until the center of the camera coincides with the center of gravity of the standard imprint in the standard imprint detection image. Fig.15 is a schematic diagram of another camera image acquisition interface provided by an embodiment of the present invention, with reference to Fig.15 , the camera center and the center of gravity of the standard imprint coincide in the standard imprint detection image.

[0135] S5104. Calibrate the target position of the camera and the target position of the welding head to be inspected according to the current position of the camera.

[0136] S520, controlling the welding head to be inspected to a target position of the welding head to be inspected, and pressing down the welding head to be inspected to form an imprint on the pressure-sensitive paper.

[0137] S530, controlling the camera to the target position of the camera to obtain an imprint detection image; wherein the imprint detection image includes an imprint pattern formed by the welding head to be inspected on the pressure-sensitive paper.

[0138] S540: Determine the area of ​​the embossing pattern, and determine the position of the mapping point of the embossing center of gravity on the embossing detection image according to the embossing pattern.

[0139] S550: Determine the mapping point position of the welding head center on the imprint detection image according to the image center position of the imprint detection image.

[0140] S560, calculating the distance between the mapping point of the imprint gravity center on the imprint detection image and the mapping point of the welding head center of the welding head to be inspected on the imprint detection image.

[0141] S570, determining the parallel state of the welding head to be inspected according to the area of ​​the imprint pattern and the distance from the mapping point of the imprint center of gravity on the imprint detection image to the mapping point of the welding head center on the imprint detection image.

[0142] The method for detecting the parallel state of the welding head provided in the embodiment of the present invention, before acquiring the imprint detection image, further includes: calibrating the target position of the camera and the target position of the welding head to be detected, so that the center of the camera corresponds to the welding head center of the welding head to be detected. Calibrating the positions of the camera and the welding head to be detected can simplify the control of the camera and the welding head to be detected, and facilitates the determination of the mapping point position of the welding head center on the imprint detection image according to the image center position of the imprint detection image, thereby facilitating the determination of the distance from the imprint center of gravity to the welding head center of the welding head to be detected.

[0143] An embodiment of the present invention further provides a device for detecting a parallel state of a welding head, which is used to execute the method for detecting a parallel state of a welding head described in any of the above embodiments. The device for detecting a parallel state of a welding head comprises:

[0144] An acquisition module is used to acquire an embossing detection image; wherein the embossing detection image includes an embossing pattern formed by the welding head to be inspected on the pressure-sensitive paper;

[0145] A determination module, used to determine the area of ​​the embossed pattern and determine the position of the embossed center of gravity according to the embossed pattern;

[0146] A distance calculation module, used to calculate the distance between the position of the center of gravity of the stamping and the position of the welding head center of the welding head to be inspected;

[0147] The judgment module is used to determine the parallel state of the welding head to be inspected according to the area of ​​the imprinted pattern and the distance from the center of gravity of the imprinted pattern to the welding head.

[0148] The embodiment of the present invention also provides a welding head leveling method, comprising:

[0149] Determining the parallel state of the welding head to be adjusted by the method for detecting the parallel state of the welding head described in any embodiment of the present invention;

[0150] When the parallel state of the welding head to be adjusted is unqualified, the welding head adjustment structure in the automatic spot inspection device is reversely adjusted according to the deviation direction of the imprinted pattern and the imprinted center of gravity relative to the welding head center.

[0151] Exemplary, reference Figure 7 , the center of gravity of the embossing deviates to the right relative to the center of the welding head, and the embossing pattern shows an effect of heavy right and light left. The height of the left area of ​​the welding head to be adjusted relative to the pressure-sensitive paper is higher than the height of the right area relative to the pressure-sensitive paper. Figure 2 In the structure shown, the left welding head adjusting screw 202 is tightened and / or the right welding head adjusting screw 201 is loosened to level the welding head.

[0152] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for detecting the parallel state of a welding head, characterized in that: include: Acquire an embossing detection image; wherein the embossing detection image includes an embossing pattern formed by the welding head to be inspected on the pressure-sensitive paper; Determining the area of ​​the embossed pattern, and determining the position of the embossed center of gravity according to the embossed pattern; Calculating the distance from the center of gravity of the stamping to the center of the welding head of the welding head to be inspected; The parallel state of the welding head to be inspected is determined according to the area of ​​the embossing pattern and the distance from the embossing center of gravity to the center of the welding head.

2. The method for detecting the parallel state of the welding head according to claim 1, characterized in that: Determining the position of the center of gravity of the embossing according to the embossing pattern includes: Determine the centroid coordinate value of the closed area in the embossed pattern; wherein the embossed pattern includes at least one closed area fitted by a plurality of boundary points; different closed areas do not overlap; According to the coordinate value of the center of gravity of the closed area in the imprint pattern, the position of the mapping point of the imprint center of gravity in the imprint detection image is determined.

3. The method for detecting the parallel state of the welding head according to claim 2, characterized in that: In the case where the embossed pattern includes one of the closed areas, determining the position of the mapping point of the embossed center of gravity of the embossed image in the embossed detection image according to the coordinate value of the center of gravity of the closed area in the embossed pattern comprises: Determine the coordinate value of the center of gravity of the closed area as the coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image; In the case where the embossed pattern includes two or more closed areas, determining the position of a mapping point of the embossed center of gravity of the embossed image in the embossed detection image according to the coordinate values ​​of the centers of gravity of the closed areas in the embossed pattern includes: Determining the area of ​​each enclosed region in the embossed pattern; The coordinate value of the mapping point of the imprint gravity center of the imprint in the imprint detection image is calculated according to the coordinate value of the center of gravity of each closed area, the area of ​​each closed area and the total area of ​​all closed areas.

4. The method for detecting the parallel state of the welding head according to claim 3, characterized in that: The determining of the centroid coordinate value of the closed area in the embossed pattern comprises: Obtaining the coordinate value of each boundary point of the closed area in the same coordinate system; wherein the coordinate system includes a first coordinate axis and a second coordinate axis, and the coordinate value of each boundary point includes a first coordinate value corresponding to the first coordinate axis and a second coordinate value corresponding to the second coordinate axis; Determine a first centroid coordinate value of the closed area according to a ratio of a sum of first coordinate values ​​of the boundary points of the closed area to the number of the boundary points of the closed area; The second barycentric coordinate value of the closed area is determined based on the ratio of the sum of the second coordinate values ​​of the boundary points of the closed area to the number of the boundary points of the closed area; wherein the barycentric coordinate value of the closed area includes the first barycentric coordinate value and the second barycentric coordinate value.

5. The method for detecting the parallel state of the welding head according to claim 4, characterized in that: The calculating the coordinate value of the mapping point of the center of gravity of the imprint on the imprint detection image according to the coordinate value of the center of gravity of each closed area, the area of ​​each closed area and the total area of ​​all closed areas includes: Calculate the first coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image according to the first centroid coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas; Calculate the second coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image according to the second center of gravity coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas; The calculation of the first coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image according to the first center of gravity coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas is based on the following determination: The second coordinate value of the mapping point of the imprint center of gravity of the imprint in the imprint detection image is calculated based on the second center of gravity coordinate value of each closed area, the area of ​​each closed area and the total area of ​​all closed areas, and is determined based on the following: Wherein, X is the first coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image, and Y is the second coordinate value of the mapping point of the center of gravity of the imprint in the imprint detection image; i is the first centroid coordinate value of the i-th closed area, y i is the coordinate value of the second center of gravity of the i-th closed area; S i is the area of ​​the i-th closed region, S 总 is the sum of the areas of all closed areas, and n is the number of closed areas in the embossed pattern.

6. The method for detecting the parallel state of the welding head according to claim 1, characterized in that: The step of acquiring the imprint detection image comprises: Adjust the position of the camera center so that the vertical projection of the camera center on the pressure-sensitive paper coincides with the vertical projection of the welding head center of the welding head to be inspected on the pressure-sensitive paper; Controlling the camera to obtain the imprint detection image; Before calculating the distance from the center of gravity of the stamping to the welding head center of the welding head to be inspected, the method further includes: According to the image center position of the indentation detection image, the position of the mapping point of the welding head center in the indentation detection image is determined.

7. The method for detecting the parallel state of the welding head according to claim 6, characterized in that: Before acquiring the imprint detection image, the method further includes: Calibrate the target position of the camera and the target position of the welding head to be inspected so that the center of the camera corresponds to the welding head center of the welding head to be inspected; The calibrating the target position of the camera and the target position of the welding head to be inspected includes: Acquire a standard imprint detection image through the camera; wherein the standard imprint detection image includes a standard imprint pattern of a standard imprint, and the standard imprint is an imprint formed when the welding surface of the welding head is parallel to the pressure-sensitive paper; Sending the standard imprint detection image to a terminal, and displaying the standard imprint detection image and the position of the camera center in the standard imprint detection image through a camera image acquisition interface of the terminal; Adjusting the position of the camera until the center of the camera coincides with the center of gravity of the standard imprint in the standard imprint detection image; According to the current position of the camera, the target position of the camera and the target position of the welding head to be inspected are calibrated.

8. The method for detecting the parallel state of the welding head according to claim 1, characterized in that: Determining the parallel state of the welding head to be inspected according to the area of ​​the embossing pattern and the distance from the embossing center of gravity to the center of the welding head includes: Determine whether the area of ​​the embossing pattern meets a preset area condition and whether the distance between the embossing center of gravity and the welding head center in the embossing detection image meets a preset distance condition; If all of them are satisfied, it is determined that the parallel state of the welding head to be inspected is qualified; if any one of them is not satisfied or both of them are not satisfied, it is determined that the parallel state of the welding head to be inspected is unqualified.

9. A device for detecting the parallel state of a welding head, characterized in that: include: An acquisition module is used to acquire an embossing detection image; wherein the embossing detection image includes an embossing pattern formed by the welding head to be inspected on the pressure-sensitive paper; A determination module, used to determine the area of ​​the embossed pattern and determine the position of the embossed center of gravity according to the embossed pattern; A distance calculation module, used to calculate the distance between the position of the center of gravity of the stamping and the position of the welding head center of the welding head to be inspected; The judgment module is used to determine the parallel state of the welding head to be inspected according to the area of ​​the embossing pattern and the distance from the embossing center of gravity to the welding head.

10. A method for leveling a welding head, characterized in that: include Determining the parallel state of the welding head to be adjusted by the detection method of the parallel state of the welding head according to any one of claims 1 to 8; When the parallel state of the welding head to be adjusted is unqualified, the welding head adjustment structure in the automatic spot inspection device is reversely adjusted according to the deviation direction of the imprinted pattern and the imprinted center of gravity relative to the welding head center.

Images