Bumper processing method, equipment and medium

Abstract

The invention discloses a bumper treatment method, equipment and a medium. The method comprises the following steps: transporting the bumper passing surface defect detection into a visual detection area; acquiring an acquisition image of the bumper in the visual detection area; inquiring a standard image corresponding to the bumper; comparing the acquired image of the bumper with a corresponding standard image to obtain a comparison result; and the bumpers are conveyed to the carrying station, so that the carrying robot receives the comparison result of the bumpers, and the bumpers are carried to the corresponding positions from the carrying station according to the comparison result of the bumpers. According to the embodiment of the invention, the accuracy of bumper category detection and the carrying efficiency of the bumper can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of parts detection, and in particular to a bumper processing method, equipment and medium. Background Art

[0002] With the rapid development of automobile parts production, in the process of producing vehicle bumpers, it is necessary to judge the type and configuration information of the vehicle bumpers and transport the vehicle bumpers to the loading trolley.

[0003] Currently, the determination of the type and configuration information of the bumper is achieved through manual inspection.

[0004] However, manual inspection has the problems of low efficiency, insufficient accuracy and high labor costs. Summary of the invention

[0005] The present invention provides a bumper processing method, a device and a medium. The embodiments of the present invention can improve the accuracy of bumper type detection and the bumper handling efficiency.

[0006] In a first aspect, an embodiment of the present invention provides a bumper processing method, the method comprising:

[0007] Transport bumpers that have passed surface defect inspection to the visual inspection area;

[0008] Acquire a captured image of the bumper located in the visual inspection area;

[0009] Query the standard image corresponding to the bumper;

[0010] Compare the collected image of the bumper with the corresponding standard image to obtain a comparison result;

[0011] The bumper is transferred to the transport station so that the transport robot receives the comparison result of the bumper and transports the bumper from the transport station to a corresponding position according to the comparison result of the bumper.

[0012] In a second aspect, an embodiment of the present invention provides a bumper processing method, which is applied to a transport robot, and the method includes:

[0013] When it is detected that the bumper is transferred to the transport station, the bumper is transported to a corresponding position according to the comparison result of the bumper; the bumper is transferred to the transport station by the bumper processing method according to the embodiment of the present invention.

[0014] In a third aspect, an embodiment of the present invention further provides a bumper processing device, the device comprising:

[0015] A surface defect inspection qualified screening module is used to transport the bumpers that have passed the surface defect inspection to the visual inspection area;

[0016] A visual inspection image acquisition module, used to acquire an image of the bumper located in the visual inspection area;

[0017] A standard image query module is used to query the standard image corresponding to the bumper;

[0018] An image comparison and result generation module, used for comparing the collected image of the bumper with the corresponding standard image to obtain a comparison result;

[0019] The transport station transmission module is used to transmit the bumper to the transport station so that the transport robot receives the comparison result of the bumper and transports the bumper from the transport station to a corresponding position according to the comparison result of the bumper.

[0020] In a fourth aspect, an embodiment of the present invention further provides a bumper processing device, which is applied to a transport robot, and the device includes:

[0021] The transport control module is used to transport the bumper to a corresponding position according to the comparison result of the bumper when it is detected that the bumper is transported to the transport station; the bumper is transported to the transport station by a bumper processing method as in any embodiment of the present invention.

[0022] In a fifth aspect, an embodiment of the present invention further provides a bumper processing device, the bumper processing device comprising:

[0023] at least one processor; and

[0024] a memory communicatively connected to at least one processor; wherein,

[0025] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the bumper processing method according to any embodiment of the present invention.

[0026] In a sixth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the bumper processing method of any embodiment of the present invention when executed.

[0027] The technical solution of the embodiment of the present invention can realize efficient screening of bumpers by conveying bumpers that have passed surface defect detection to the visual inspection area, and eliminate bumpers that do not meet surface requirements, so as to ensure that bumpers entering the visual inspection link meet basic appearance quality requirements, thereby improving inspection efficiency and resource utilization; by collecting bumper images in the visual inspection area, accurate basic data can be provided for subsequent image comparison, thereby improving the accuracy of subsequent inspection and comparison; by querying the standard image of the bumper, a reference benchmark can be provided for image comparison; by comparing the collected image with the standard image, the actual evaluation result of the bumper configuration can be obtained; by moving the bumper according to the comparison result, reasonable sorting and processing of the bumper can be realized, and bumpers that meet the standards can be conveyed to the corresponding positions, and bumpers that do not meet the standards can be conveyed to the corresponding positions, thereby optimizing the overall process and improving the automation level of the production line.

[0028] 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

[0029] 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.

[0030] Figure 1 A flowchart of a bumper processing method provided by an embodiment of the present invention;

[0031] Figure 2 A flowchart of a bumper processing method provided by an embodiment of the present invention;

[0032] Figure 3 A flowchart of a bumper processing method provided by an embodiment of the present invention;

[0033] Figure 4 A front view and a top view of a site schematic diagram of a bumper processing method provided by an embodiment of the present invention;

[0034] Figure 5 A stereoscopic view and a side view of a field schematic diagram of a bumper treatment method provided by an embodiment of the present invention;

[0035] Figure 6 A schematic structural diagram of a bumper processing device provided by an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of a bumper treatment device provided by an embodiment of the present invention

[0037] Figure 8 A schematic structural diagram of a bumper processing device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the collected images, etc. are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0041] Figure 1 A flowchart of a bumper processing method provided by an embodiment of the present invention. The embodiment of the present invention is applicable to bumper processing, and the method can be executed by a bumper processing device, which can be implemented in the form of hardware and / or software.

[0042] See also Figure 1 The bumper treatment method shown includes:

[0043] S101. Transport the bumper that has passed the surface defect inspection to a visual inspection area.

[0044] Among them, surface defect detection can refer to the detection of whether there are defects on the surface appearance of the bumper. Surface defect detection is used to identify whether there are abnormalities on the surface, and the abnormality includes at least one of the following: flaws, damages and unqualified areas, to ensure that the bumper entering the visual inspection area meets the preset quality standards. Surface defect detection can be carried out by manual identification to check whether there are obvious flaws, damages and / or unqualified areas on the bumper. If there are obvious flaws, damages and unqualified areas, the bumper with defects is considered to be an unqualified product and placed in the abnormal parts area; if there are no obvious flaws, damages and unqualified areas, the bumper is considered to be a qualified product and the bumper is transported to the visual inspection area. Among them, the bumper with defects can be transported to the abnormal area by manual or robot transportation; surface defect detection can also be carried out by scanning the surface of the bumper one by one through special detection equipment. If it is detected that the bumper has obvious flaws, damages and unqualified areas, the bumper with defects is considered to be an unqualified product and placed in the abnormal parts area; if there are no obvious flaws, damages and unqualified areas, the bumper is considered to be a qualified product.

[0045] The visual inspection area may refer to an area for image acquisition and comparative identification of bumpers that have passed the surface defect inspection. The visual inspection area may include multiple groups of 2D cameras and light sensors. The visual inspection area is used to determine the configuration type and installation position type of bumpers that have passed the surface defect inspection. The configuration types include high configuration and low configuration, and the installation position types include front bumper and rear bumper.

[0046] S102: Acquire a captured image of a bumper located in a visual inspection area.

[0047] Among them, the captured image may refer to the front image of the bumper captured in the visual inspection area. The configuration type and installation position of the bumper are determined based on the front image of the bumper and cannot be determined based on the back area of ​​the bumper. Therefore, the captured image is a front image of the bumper. When shooting the captured image, the fixed shooting light source and the bumper placement position can be controlled to ensure that the captured image is not affected by external factors. For example, due to different light and placement positions, the correct comparison result cannot be obtained by comparing the captured image with the standard image.

[0048] S103: Query the standard image corresponding to the bumper.

[0049] The standard image may refer to an image of a bumper in a fixed position that is pre-stored and meets the standard shooting light source. The standard image may store multiple groups of standard images, respectively storing bumper standard images of different configuration categories and different bumper positions. For example, the standard image may store images of high-configuration front bumpers, low-configuration front bumpers, high-configuration rear bumpers, and low-configuration rear bumpers.

[0050] Specifically, the configuration information and bumper type of the bumper are obtained in advance. For example, the arrangement order of the bumpers on the conveyor belt can be obtained in advance. The bumper arrangement order is arranged according to a preset arrangement order. After the bumper reaches the visual inspection area, the captured image of the bumper is obtained, and the standard image of this type of bumper is queried.

[0051] S104: Compare the captured image of the bumper with the corresponding standard image to obtain a comparison result.

[0052] Among them, the comparison result may refer to whether the bumpers in the collected image and the standard image are of the same type. If the bumpers in the collected image and the standard image are of the same type, it is determined that the collected image of the bumper matches successfully. If the bumpers in the collected image and the standard image are of different types, it is determined that the collected image of the bumper matches unsuccessfully. Exemplarily, if the collected image of the bumper is of a high-end front bumper, and the corresponding standard image is also of a high-end front bumper, the bumper is determined to be qualified and subsequent production line work is performed. The bumpers are manually placed on the conveyor belt according to the pre-set bumper arrangement order. When the manual placement is wrong, the bumpers on the conveyor belt will not be arranged according to the pre-set position, which will cause the collected image of the bumper to fail to match the corresponding standard image.

[0053] In a specific example, four bumpers can be placed on the conveyor belt at the same time, and the arrangement order of the bumpers on the conveyor belt is preset, and the preset arrangement order from left to right can be a high-configuration front bumper, a high-configuration rear bumper, a low-configuration front bumper, and a low-configuration rear bumper. Comparing the captured image of the bumper with the corresponding standard image can refer to comparing the captured image of the bumper with the standard image corresponding to the above preset arrangement order to obtain a comparison result of the captured image and the standard image.

[0054] S105 , transferring the bumper to a transport station, so that the transport robot receives the comparison result of the bumper, and transports the bumper from the transport station to a corresponding position according to the comparison result of the bumper.

[0055] The handling station may refer to the position where the handling robot performs the handling operation on the bumper. The handling station may be set at the end of the conveyor belt, and the handling robot may be placed near the end of the conveyor belt or at other positions. The handling station is used to provide a suitable logistics path for the bumper, and the handling robot may carry the bumper from the handling station to the corresponding position. After the bumper reaches the handling station, the handling robot may receive a signal that the bumper is in place, and according to the comparison result of the bumper, the handling robot carries the bumper from the handling station to the corresponding position.

[0056] The corresponding position may refer to the position where the handling robot carries the bumper. The corresponding position may refer to the shelf position of the loading trolley, or the corresponding position may refer to the abnormal parts area. When the comparison result of the bumper is a successful match, the bumper is carried to the shelf position of the loading trolley; when the comparison result of the bumper is a failed match, the bumper is carried to the abnormal parts area. The corresponding position is used to realize the diversion of the bumper, so that the bumper with a successful comparison result and the bumper with an unsuccessful comparison result can be placed in the corresponding area respectively.

[0057] It can be seen that in the embodiment of the present application, by conveying the bumpers that have passed the surface defect inspection to the visual inspection area, efficient screening of the bumpers can be achieved, and the bumpers that do not meet the surface requirements can be eliminated, ensuring that the bumpers entering the visual inspection link meet the basic appearance quality requirements, thereby improving the inspection efficiency and resource utilization; by collecting bumper images in the visual inspection area, accurate basic data can be provided for subsequent image comparison, thereby improving the accuracy of subsequent inspection and comparison; by querying the standard image of the bumper, a reference benchmark can be provided for image comparison; by comparing the collected image with the standard image, the actual evaluation result of the bumper configuration can be obtained; by moving the bumpers according to the comparison results, reasonable sorting and processing of the bumpers can be achieved, and the bumpers that meet the standards can be conveyed to the corresponding positions, and the bumpers that do not meet the standards can be conveyed to the corresponding positions, thereby optimizing the overall process and improving the automation level of the production line.

[0058] The operation of bumper processing is improved by refining "taking the second pressure as the target, adjusting the pressure of the dual clutch, and obtaining the target current when the dual clutch is maintained at the second pressure" to "taking the second pressure as the target, adjusting the pressure of the dual clutch; when the pressure of the dual clutch is maintained at the second pressure for the first time, adjusting the pressure of the dual clutch in a fixed step-by-step manner according to the difference between the actual pressure of the dual clutch and the second pressure; when the difference between the actual pressure of the dual clutch and the second pressure is less than a preset difference threshold, obtaining the target current".

[0059] It should be noted that for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions of other embodiments. Figure 2 The present invention provides a flowchart of a bumper processing method according to an embodiment of the present invention.

[0060] See also Figure 2 The bumper treatment method shown includes:

[0061] S201. Transport the bumper that has passed the surface defect inspection to a visual inspection area.

[0062] S202: Acquire a captured image of the bumper in the visual inspection area.

[0063] S203, obtaining a configuration type and a vehicle position type corresponding to the bumper; wherein the configuration type includes a high configuration and a low configuration; and the vehicle position type includes a front bumper and a rear bumper.

[0064] The configuration type may refer to a specific configuration level type of the bumper, and the configuration type may include a high configuration and a low configuration. The configuration type may also be divided into multiple configuration levels according to the specific number of configuration types. Optionally, the configuration type may be further subdivided into top configuration, high configuration, medium configuration, low configuration, and ultra-low configuration. Bumpers of different configurations differ in appearance, and therefore, the corresponding standard images of bumpers of different configurations also differ.

[0065] The vehicle position type may refer to the installation position type of the bumper on the vehicle body, and the vehicle position type may include a front bumper and a rear bumper. The front bumper and the rear bumper are different in appearance. When comparing the captured image of the bumper with the corresponding standard image, it is necessary not only to distinguish the configuration level of the bumper, but also to distinguish the vehicle position type of the bumper to determine whether the bumper belongs to the front bumper or the rear bumper.

[0066] S204. According to the configuration type and the position type on the vehicle corresponding to the bumper, query at least one standard image corresponding to the bumper at multiple angles; the multiple angles include a first front angle, a second front angle, a left side angle, and a right side angle; wherein the shooting range of the first front angle and the shooting range of the second front angle cover the front surface of the bumper.

[0067] The first front angle may refer to the front angle of half of the bumper, and the second front angle may refer to the front angle of the other half of the bumper. By setting two different front angles and photographing the bumper, more complete bumper front details can be obtained, making subsequent comparison results more accurate.

[0068] Specifically, at least one standard image under multiple angles corresponding to the corresponding bumper can be queried according to a preset arrangement order. Since the front length of the bumper is relatively wide, the first front angle and the second front angle can be set to shoot the front of the bumper.

[0069] S205: Compare the captured image of the bumper with the corresponding standard image to obtain a comparison result.

[0070] Specifically, when the front angle of the bumper and the corresponding standard image and the captured image at each angle are the same, wherein the shooting angle and the number of images of the captured image and the standard image are consistent, if the captured image and the standard image are the same at each angle, then it is determined that the bumper of the captured image is matched successfully; if there is a difference between one of the captured images and the standard image, then it is determined that the bumper of the captured image is matched unsuccessfully.

[0071] S206: The bumper is transferred to the transport station, so that the transport robot receives the comparison result of the bumper, and transports the bumper from the transport station to a corresponding position according to the comparison result of the bumper.

[0072] It can be seen that in this embodiment, by using standard images at multiple angles based on the configuration type of the bumper and the position type on the vehicle, more dimensional image references can be obtained during the visual inspection process, which facilitates the detection of bumper surface details from different angles and improves the accuracy of the comparison results; by covering the front surface of the bumper with the shooting range of the first and second front angles, all key details of the front surface of the bumper can be effectively captured, which helps to obtain more detailed detection of the comparison on the front surface of the bumper and improve the accuracy of the detection of the front surface of the bumper.

[0073] In some embodiments, transporting the bumper that has passed the surface defect inspection to a visual inspection area includes:

[0074] transporting at least one bumper into a surface inspection area;

[0075] Obtaining surface defect detection results of each bumper;

[0076] transporting the bumper with a surface defect inspection result indicating that the surface defect inspection has passed to a visual inspection area;

[0077] The bumpers with surface defect inspection results showing that they failed the surface defect inspection are transported to the abnormal parts area, and the bumpers with the surface defect inspection failed are replaced. The type of the bumpers after the replacement is the same as the type of the bumpers with the surface defect inspection failed.

[0078] The surface defect detection area may refer to a working area for detecting defects on the surface of the bumper, and determining whether the bumper reaching the surface defect detection area has obvious flaws, damage and / or unqualified areas and other appearance problems. The surface defect detection area is used to screen out bumpers with qualified appearance, ensure that bumpers without obvious surface defects are sent to the next link, prevent unqualified products from entering the production line, and improve the quality control level of the product.

[0079] The surface defect detection result may refer to the judgment result given on the surface state of the bumper. The surface defect detection result may include a surface defect detection pass and a surface defect detection fail. The surface defect detection result is used to distinguish qualified and unqualified bumpers, ensuring that the subsequent process only processes bumpers with surface defect detection results that pass the surface defect detection result, thereby improving production efficiency.

[0080] Among them, the abnormal parts area may refer to an area for temporarily storing bumpers that do not meet quality standards. The abnormal parts area may store bumpers that have failed the surface defect detection result. When a bumper surface defect detection result is detected in the surface defect detection area and fails, it means that the appearance of the bumper has defects, and the bumper can be placed in the abnormal parts area, and the bumper can be moved to the abnormal parts area by a transport robot or manually. Exemplarily, the abnormal parts area can be equipped with multiple shelves or special storage boxes for placing front and rear bumpers or bumpers with different height configurations.

[0081] Among them, the replacement part may refer to replacing a bumper that fails the surface defect inspection with a qualified bumper of the same type.

[0082] It can be seen that in this embodiment, by transporting only the bumpers that have passed the surface defect inspection to the visual inspection area, the efficiency of subsequent inspections can be improved, unqualified bumpers can be avoided from occupying visual inspection resources, and resource waste caused by defective products mistakenly entering subsequent processes can be reduced; by transporting the bumpers to the surface inspection area, the surface condition of each bumper can be detected to ensure that surface defects can be identified in the initial stage, thereby avoiding subsequent processes from continuing to process defective bumpers and improving the overall production quality; by obtaining the surface defect inspection results of each bumper, the surface condition of each bumper can be accurately judged to provide a reliable basis for whether to enter the visual inspection area or the abnormal parts area; by supplementing the bumpers that have failed the surface defect inspection, the type of the bumper after the supplement is the same as the type of the bumper that has failed the surface defect inspection, so that the number of bumpers on the conveyor belt can be ensured to be complete, and by ensuring that the type of the bumper after the supplement is the same as the original defective product, product consistency can be maintained.

[0083] In some embodiments, transporting at least one bumper into a surface inspection area includes:

[0084] A plurality of bumpers in a target sequence are transported to a surface inspection area, wherein the target sequence includes two adjacent pairs of bumpers having different configuration types and having the same sequence of vehicle position types, and two bumpers in each pair of bumpers having the same configuration type and having different vehicle position types.

[0085] Among them, the target order may refer to that the bumpers of the conveyor belt are arranged in a preset arrangement order. Specifically, the target order includes two adjacent pairs of bumpers having different configuration types and having the same order of vehicle position types, and the two bumpers in each pair of bumpers having the same configuration type and different vehicle position types may refer to that one of the two adjacent pairs of bumpers is a high-end bumper and the other is a low-end bumper, and the vehicle position types of the bumpers in the two teams of bumpers are the same, and are arranged in the order of front bumper and rear bumper or rear bumper and front bumper, to ensure the improvement of the handling efficiency of the subsequent handling robot, and the two bumpers in each pair of bumpers are low-end bumpers or high-end bumpers, and one is the front bumper and the other is the rear bumper.

[0086] It can be seen that in this embodiment, by transporting multiple bumpers to the surface inspection area in a target order, the bumper arrangement order of the inspection process can be standardized, so that the inspection equipment or process can more easily process each bumper in order, reducing the risk of confusion or inspection errors; by ensuring that two adjacent pairs of bumpers have different configuration types, the confusion caused by the same configuration type can be reduced, thereby improving the inspection efficiency; by ensuring that each pair of bumpers has the same on-vehicle position type in the transportation order, the predictability of the position type can be achieved, which is helpful for the adjustment of automated equipment during the inspection process, so as to efficiently inspect and process bumpers of different position types; by making the two bumpers in each pair of bumpers have the same configuration type, the need for frequent changes in inspection parameters can be reduced during the inspection process, thereby simplifying the operating steps and improving the continuity and efficiency of the overall inspection process.

[0087] Figure 3 A flowchart of a bumper processing method provided by an embodiment of the present invention. The embodiment of the present invention is applicable to situations in which bumper processing is applied. The method can be executed by a bumper processing device, and the bumper processing device can be implemented in the form of hardware and / or software.

[0088] It should be noted that for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions of other embodiments.

[0089] See also Figure 3 The bumper processing method shown is applied to a handling robot and includes:

[0090] When it is detected that the bumper is transferred to the transport station, the bumper is transported to a corresponding position according to the comparison result of the bumper; the bumper is transferred to the transport station by a bumper processing method as in any embodiment of the present invention.

[0091] Specifically, when the handling robot detects that the bumper is transmitted to the handling station, the robot starts to execute the action, compares the captured image of the bumper with the corresponding standard image, and obtains the comparison result. If the bumper in the captured image and the standard image are of the same type, it is determined that the bumper is matched successfully, and the handling robot transports the bumper to the loading cart; if the bumper in the captured image and the standard image are of different types, it is determined that the bumper is matched unsuccessfully, and the handling robot transports the bumper to the abnormal parts area.

[0092] It can be seen that in the embodiment of the present application, by detecting the transmission status of the bumper at the handling station, the arrival status of the bumper can be monitored in real time; by transporting the bumper to the corresponding position according to the comparison result of the bumper, the bumper can be sorted and classified, which facilitates the placement of qualified and unqualified bumpers in different areas, thereby improving the accuracy of transportation and the efficiency of classification management.

[0093] In some embodiments, according to the comparison result of the bumper, moving the bumper to a corresponding position includes:

[0094] When the comparison results are consistent, the bumper is moved to the unloading trolley;

[0095] When the comparison result is inconsistent, check whether the abnormal part area is free;

[0096] When the abnormal parts area is free, carry the bumper to the abnormal parts area;

[0097] When the exception area is full, wait for the exception area to be free and move the bumper to the exception area.

[0098] Specifically, when the comparison result is consistent, the handling robot moves the bumper to the loading trolley; when the comparison result is inconsistent, it checks whether the abnormal parts area is idle and whether there is a vacant space; when the abnormal parts area is idle, the handling robot moves the bumper to the abnormal parts area; when the abnormal parts area is full, wait for the abnormal parts area to be idle, and manually free up an idle space in the abnormal parts area before moving the bumper to the abnormal parts area.

[0099] It can be seen that in this embodiment, by moving the bumper to the unloading trolley when the comparison results are consistent, it is possible to realize automated processing of bumpers that meet the unloading standards, reduce human judgment errors, and improve the accuracy and efficiency of the unloading process; by detecting the idle state of the abnormal parts area when the comparison results are inconsistent, it is possible to timely divert abnormal bumpers to avoid mixing them with qualified bumpers, thereby ensuring the qualification of the unloading area; by moving the bumper to the abnormal parts area when the area is idle, it is possible to reasonably isolate unqualified bumpers, facilitate subsequent quality inspection and processing, and improve the standardization and safety of the process; by waiting for the idle state to move unqualified bumpers when the abnormal parts area is full, it is possible to avoid overloading of the area and improve the processing efficiency of abnormal parts.

[0100] In some embodiments, after the bumper is moved to the abnormal part area, the method further includes:

[0101] Wait for a target bar of the same type as the bumper;

[0102] Move the target bar to the unloading trolley.

[0103] The target bar may refer to a replacement bumper that needs to be transported to the abnormal parts area. When the bumper is transported from the conveyor belt to the abnormal parts area, the unloading trolley cannot reach a full load state. In order to ensure that the bumpers in the unloading trolley are paired front and rear bumpers, and the configuration level of the paired front and rear bumpers is consistent, a target bar of the same type as the bumper is waited for and the target bar is transported to the unloading trolley.

[0104] It can be seen that in this embodiment, by waiting for the target bumper of the same type after transporting the unqualified bumper to the abnormal parts area, the bumper type consistency control can be achieved, ensuring the continuity of the same type of bumpers in subsequent processing, and improving the efficiency of sorting and transportation; by transporting the qualified target bumper to the loading trolley, the consistency of the bumper type shipped can be guaranteed when unqualified bumpers appear, reducing the risk of mixing, thereby improving the accuracy and standardization of loading management.

[0105] In some embodiments, it also includes:

[0106] When the visual inspection area fails and a visual inspection skip instruction is received, the bumper is moved to the abnormal part area after receiving the moving instruction instruction;

[0107] When the visual inspection area fails and no visual inspection skip instruction is received, the bumper is moved to the unloading trolley.

[0108] Among them, the failure of the visual inspection area may refer to the failure of the equipment in the visual inspection area and the inability to operate normally. When the visual inspection area fails, it is impossible to determine that the bumper needs to be transported to the unloading trolley or the abnormal parts area, resulting in misjudgment or missed judgment, thereby affecting the subsequent transportation process, and the workflow can be continued by manual transportation.

[0109] The visual detection skip command may refer to a manual skip command issued to the handling robot, skipping the handling operation of the current bumper, and the handling robot does not perform any action. When the handling robot receives the skip command, the handling robot does not perform any action; when the handling robot does not receive the skip command, the handling robot performs the handling work normally and carries it to the unloading trolley.

[0110] The transport instruction may be an instruction for a transport requirement issued to the transport robot. The transport instruction may include a transport destination, and the transport destination may include an abnormal part area.

[0111] Specifically, when the visual inspection area fails, that is, the equipment in the visual inspection area fails and cannot work normally, but the production line needs to continue to operate, manual labor replaces the function implemented by the visual inspection area, and manually determines whether the type of bumper is consistent with the preset arrangement order. When the manual labor finds that a bumper is inconsistent with the preset arrangement order, the manual labor issues a visual inspection skip command to the handling robot, and waits for the manual labor to issue a handling instruction to the handling robot. When the handling robot receives the handling instruction, it moves the bumper to the abnormal parts area; when the manual labor finds that the bumper is consistent with the preset arrangement order, the manual labor does not issue a visual inspection skip command to the handling robot, and the handling robot performs the handling operation normally to move the bumper to the loading trolley.

[0112] By waiting for the handling instruction when the visual inspection area fails, flexible control of the handling operation can be achieved, thereby avoiding direct inaccurate handling operations when the visual inspection function is not available, which can effectively reduce the risk of incorrect handling and improve the processing efficiency of abnormal parts; by moving the bumper to the abnormal parts area after receiving the handling instruction, it can be ensured that the bumper in the case of visual inspection failure is still handled as an abnormal product; when the visual inspection area fails and no skip instruction is received, the bumper is directly moved to the loading trolley to simplify the processing flow. This method can ensure the continuity of the production process under the condition of the visual inspection area failure, avoid the interruption of the handling process due to the failure of the visual inspection area, and improve the flexibility and continuity of the overall operation.

[0113] In a specific example, when the unloading trolley reaches the stop position, the mobile person on the unloading trolley sends an in-position signal to the handling robot, wherein the stop position may refer to the fixed position of the unloading trolley when the handling robot carries the bumper to the unloading trolley; the in-position signal may refer to the signal sent by the mobile robot on the unloading trolley to the handling robot after the unloading trolley reaches the stop position. The handling robot can perform the following actions according to the comparison result of the bumper: when the comparison result is consistent, the handling robot places the bumper on the unloading trolley; when the comparison result is inconsistent and the abnormal part area is free, the handling robot places the bumper in the abnormal part area; when the comparison result is inconsistent and the abnormal part area is full, the abnormal part area is manually cleared by one position, and after waiting for 15 seconds, the handling robot places the bumper in the abnormal part area; when the visual detection area fails and the collaborative robot does not receive the visual detection skip instruction, the handling robot or the manual places the bumper in the abnormal part area; when the visual detection area fails and the collaborative robot receives the visual detection skip instruction, the handling robot works normally and places the bumper on the unloading trolley. Similarly, the above embodiment can place the bumpers on the unloading trolley by means of a transport robot, wherein the transport robot can place the front bumper on the upper layer of the unloading trolley and the rear bumper on the lower layer of the unloading trolley. The unloading trolley can be controlled by the mobile robot to rotate 180 degrees, and then the above steps are performed to place a pair of bumpers on the other side of the unloading trolley. When the unloading trolley is fully loaded, the mobile robot controls the unloading trolley to start the departure. When the unloading trolley is not fully loaded, it waits for manual transmission of the departure instruction to the mobile robot and the vehicle is dispatched again. After the above process is completed, the next mobile robot controls the unloading trolley to implement the above process, and the above process is cycled.

[0114] Optional, Figure 4 A front view and a top view of a site schematic diagram of a bumper processing method provided by an embodiment of the present invention; Figure 5A stereoscopic view and a side view of a field schematic diagram of a bumper processing method provided for an embodiment of the present invention. Among them, the assembly belt line may refer to a conveyor belt production line where production workers assemble bumpers; the pre-stored belt line may refer to a conveyor belt line where bumpers are pre-stored, and the visual inspection area may be set on the pre-stored belt line; the 2D camera may refer to a shooting device for acquiring collected images; the AGV (Automated Guided Vehicle) may refer to a truck assembled by a mobile robot and a loading trolley; 900, 15500 and 2800 in the figure may refer to the actual scale of the production line, in centimeters; the last assembly position may refer to the work position where production workers assemble bumpers; the manual inspection position may refer to the work position where manual surface defect inspection is performed; the visual inspection position may refer to the visual inspection area; the transfer position may refer to the working position of the handling robot; the transfer rack may refer to the working position of the AGV trolley; the display operation screen may refer to a console for obtaining the target sequence, and a console that can send skip instructions to the handling robot.

[0115] Figure 6 The schematic diagram of the structure of a bumper treatment device provided by an embodiment of the present invention is applicable to bumper treatment, the device can execute a bumper treatment method, and the device can be implemented in the form of hardware and / or software.

[0116] See also Figure 6 The bumper processing device shown includes: a surface defect detection qualified screening module 601, a visual detection image acquisition module 602, a standard image query module 603, an image comparison and result generation module 604 and a handling station transmission module 605, wherein:

[0117] The surface defect detection qualified screening module 601 is used to transport the bumpers that have passed the surface defect detection to the visual inspection area;

[0118] A visual inspection image acquisition module 602 is used to acquire an image of the bumper located in the visual inspection area;

[0119] A standard image query module 603 is used to query the standard image corresponding to the bumper;

[0120] An image comparison and result generation module 604 is used to compare the captured image of the bumper with the corresponding standard image to obtain a comparison result;

[0121] The transport station transmission module 605 is used to transmit the bumper to the transport station, so that the transport robot receives the comparison result of the bumper and transports the bumper from the transport station to a corresponding position according to the comparison result of the bumper.

[0122] The technical solution of the embodiment of the present invention can realize efficient screening of bumpers by conveying bumpers that have passed surface defect detection to the visual inspection area, and eliminate bumpers that do not meet surface requirements, so as to ensure that bumpers entering the visual inspection link meet basic appearance quality requirements, thereby improving inspection efficiency and resource utilization; by collecting bumper images in the visual inspection area, accurate basic data can be provided for subsequent image comparison, thereby improving the accuracy of subsequent inspection and comparison; by querying the standard image of the bumper, a reference benchmark can be provided for image comparison; by comparing the collected image with the standard image, the actual evaluation result of the bumper configuration can be obtained; by moving the bumper according to the comparison result, reasonable sorting and processing of the bumper can be realized, and bumpers that meet the standards can be conveyed to the corresponding positions, and bumpers that do not meet the standards can be conveyed to the corresponding positions, thereby optimizing the overall process and improving the automation level of the production line.

[0123] In some embodiments, in terms of querying the standard image corresponding to the bumper, the standard image query module 603 is specifically used to:

[0124] Get the configuration type and vehicle position type corresponding to the bumper; the configuration type includes high configuration and low configuration; the vehicle position type includes front bumper and rear bumper;

[0125] According to the configuration type and the position type on the vehicle corresponding to the bumper, at least one standard image under multiple angles corresponding to the bumper is queried; the multiple angles include a first front angle, a second front angle, a left side angle and a right side angle; wherein the shooting range of the first front angle and the shooting range of the second front angle cover the front surface of the bumper.

[0126] In some embodiments, in terms of transporting the bumper that has passed the surface defect inspection to the visual inspection area, the surface defect inspection qualified screening module 601 is specifically used to:

[0127] transporting at least one bumper into a surface inspection area;

[0128] Obtaining surface defect detection results of each bumper;

[0129] transporting the bumper with a surface defect inspection result indicating that the surface defect inspection has passed to a visual inspection area;

[0130] The bumpers with surface defect inspection results showing that they failed the surface defect inspection are transported to the abnormal parts area, and the bumpers with the surface defect inspection failed are replaced. The type of the bumpers after the replacement is the same as the type of the bumpers with the surface defect inspection failed.

[0131] In some embodiments, in the aspect of transporting at least one bumper to the surface inspection area, the surface defect inspection qualified screening module 601 is specifically used to:

[0132] A plurality of bumpers in a target sequence are transported to a surface inspection area, wherein the target sequence includes two adjacent pairs of bumpers having different configuration types and having the same sequence of vehicle position types, and two bumpers in each pair of bumpers having the same configuration type and having different vehicle position types.

[0133] The bumper processing device provided in the embodiment of the present invention can execute the bumper processing method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the bumper processing method.

[0134] Figure 7 The schematic diagram of the structure of a bumper treatment device provided by an embodiment of the present invention is applicable to bumper treatment, the device can execute a bumper treatment method, and the device can be implemented in the form of hardware and / or software.

[0135] See also Figure 7 The bumper processing device shown includes: a handling control module 701, wherein:

[0136] The transport control module 701 is used to transport the bumper to a corresponding position according to the comparison result of the bumper when it is detected that the bumper is transported to the transport station; the bumper is transported to the transport station by a bumper processing method as in any embodiment of the present invention.

[0137] The technical solution of the embodiment of the present invention can realize real-time monitoring of the arrival status of the bumper by detecting the transmission status of the bumper at the handling station; by transporting the bumper to the corresponding position according to the comparison result of the bumper, the bumper can be sorted and classified, which is convenient for placing qualified and unqualified bumpers in different areas respectively, thereby improving the accuracy of transportation and the efficiency of classification management.

[0138] In some embodiments, in the aspect of moving the bumper to a corresponding position according to the comparison result of the bumper, the moving control module 701 is specifically used to:

[0139] When the comparison results are consistent, the bumper is moved to the unloading trolley;

[0140] When the comparison result is inconsistent, check whether the abnormal part area is free;

[0141] When the abnormal parts area is free, carry the bumper to the abnormal parts area;

[0142] When the exception area is full, wait for the exception area to be free and move the bumper to the exception area.

[0143] In some embodiments, after the bumper is transported to the abnormal part area, the transport control module 701 is further specifically configured to:

[0144] Wait for a target bar of the same type as the bumper;

[0145] Move the target bar to the unloading trolley.

[0146] In some embodiments, the transport control module 701 is further specifically configured to:

[0147] When the visual inspection area fails and a visual inspection skip instruction is received, the bumper is moved to the abnormal part area after receiving the moving instruction instruction;

[0148] When the visual inspection area fails and no visual inspection skip instruction is received, the bumper is moved to the unloading trolley.

[0149] The bumper processing device provided in the embodiment of the present invention can execute the bumper processing method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the bumper processing method.

[0150] Figure 8 A schematic structural diagram of a bumper processing device provided in an embodiment of the present invention.

[0151] like Figure 8 As shown, the bumper processing device 800 includes at least one processor 801, and a memory connected to the at least one processor 801, such as a read-only memory (ROM) 802, a random access memory (RAM) 803, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 801 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 802 or the computer program loaded from the storage unit 808 to the random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the bumper processing device 800 can also be stored. The processor 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 808 is also connected to the bus 804.

[0152] A number of components in the bumper processing device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the bumper processing device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0153] The processor 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 801 performs the various methods and processes described above, such as the bumper processing method.

[0154] In some embodiments, the bumper treatment method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the bumper treatment device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the processor 801, one or more steps of the bumper treatment method described above may be performed. Alternatively, in other embodiments, the processor 801 may be configured to perform the bumper treatment method in any other appropriate manner (e.g., by means of firmware).

[0155] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0156] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0157] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0158] To provide interaction with a user, the systems and techniques described herein may be implemented on an operation detection device that has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which a user can provide input to the bumper treatment device. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0159] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0160] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS (Virtual Private Server) services.

[0161] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0162] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bumper processing method, characterized in that: The method comprises: Transport bumpers that have passed surface defect inspection to the visual inspection area; Acquire a captured image of the bumper located in the visual inspection area; Querying a standard image corresponding to the bumper; Comparing the captured image of the bumper with the corresponding standard image to obtain a comparison result; The bumper is transferred to a transport station, so that a transport robot receives the comparison result of the bumper, and transports the bumper from the transport station to a corresponding position according to the comparison result of the bumper.

2. The method according to claim 1, characterized in that The querying of the standard image corresponding to the bumper includes: Obtaining the configuration type and vehicle position type corresponding to the bumper; wherein the configuration type includes high configuration and low configuration; and the vehicle position type includes front bumper and rear bumper; According to the configuration type and the position type on the vehicle corresponding to the bumper, at least one standard image of the bumper under multiple angles corresponding to the bumper is queried; the multiple angles include a first front angle, a second front angle, a left side angle and a right side angle; wherein the shooting range of the first front angle and the shooting range of the second front angle cover the front surface of the bumper.

3. The method according to claim 1, characterized in that The method of transporting the bumper that has passed the surface defect inspection to the visual inspection area includes: transporting at least one bumper into a surface inspection area; Obtaining surface defect detection results of each of the bumpers; transporting the bumper with a surface defect inspection result indicating that the surface defect inspection has passed to a visual inspection area; The bumper with a surface defect detection result of failing the surface defect detection is transported to an abnormal parts area, and the bumper with a surface defect detection result of failing the surface defect detection is replaced. The type of the bumper after the replacement is the same as the type of the bumper with a surface defect detection result of failing the surface defect detection.

4. The method according to claim 3, characterized in that The transporting of at least one bumper into a surface inspection area comprises: A plurality of bumpers in a target sequence are transported to a surface inspection area, wherein the target sequence includes two adjacent pairs of bumpers having different configuration types and having the same sequence of vehicle position types, and two bumpers in each pair of bumpers having the same configuration type and having different vehicle position types.

5. A bumper processing method, characterized in that: Applied to a handling robot, the method comprises: When it is detected that the bumper is transferred to the transport station, the bumper is transported to a corresponding position according to the comparison result of the bumper; the bumper is transferred to the transport station by the bumper processing method according to any one of claims 1-4.

6. The method according to claim 5, characterized in that The step of moving the bumper to a corresponding position according to the comparison result of the bumper comprises: When the comparison result is consistent, the bumper is moved to a loading trolley; When the comparison result is inconsistent, detecting whether the abnormal part area is free; When the abnormal part area is free, moving the bumper to the abnormal part area; When the abnormal part area is full, wait until the abnormal part area is free and move the bumper to the abnormal part area.

7. The method according to claim 6, characterized in that After the bumper is moved to the abnormal part area, the method further comprises: Waiting for a target bar of the same type as said bumper; The target bar is transported to the unloading trolley.

8. The method according to claim 5, characterized in that Also includes: When the visual inspection area fails and a visual inspection skip instruction is received, waiting to receive a transport instruction instruction, and when the transport instruction instruction is received, transporting the bumper to the abnormal part area; When the visual inspection area fails and no visual inspection skip instruction is received, the bumper is moved to the unloading trolley.

9. A bumper processing device, characterized in that: The bumper processing equipment comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the power grid equipment verification method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the bumper processing method according to any one of claims 1 to 8 when executed.

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