Sampling inspection method for randomly planning moving path

Abstract

The invention relates to the technical field of drill point detection, in particular to a sampling inspection method for randomly planning a moving path. A mechanical arm is used for randomly taking out one drill point from the conveying belt, and a camera device is used for obtaining the position information of taking out the drill point; the vibration mechanism is started, the current drill point positions are randomly distributed again, and the position information of the drill points after random distribution is recorded; and the processing module calculates the next randomly selected position of the drill point according to the taken-out position of the drill point, and sends the path sequence to each grinding device to be subjected to spot check. The invention aims to provide a sampling inspection method for randomly planning a moving path, aiming at a device for sampling inspection and collection of drill points, after the sampled drill points are taken away for detection each time, the moving path is disordered, the path is sequentially sent to each grinding device to be sampled, and the next product is taken as a sample by the grinding device, so that the randomness is improved, and the sampling inspection efficiency is improved. And the accuracy of the drill point sampling inspection structure is improved.

Description

Technical Field

[0001] The invention relates to the technical field of drill bit detection, and in particular to a random planning moving path sampling method. Background Art

[0002] At present, drill bits need to be sampled after production to obtain the yield rate of the current batch. When testing drill bits, they need to be sent to the testing device one by one for testing. The visual sensor device needs to be used to accurately locate the position of the drill bit to facilitate the robot to grab it, resulting in high device costs and difficulty in maintenance. In addition, the position of the sampled drill bit is fixed, resulting in large errors in the estimation of the yield rate. Summary of the invention

[0003] In order to overcome the shortcomings and deficiencies in the prior art, the purpose of the present invention is to provide a random planning moving path sampling method. For the device used for collecting drill bit sampling, each time the sampled drill bit is taken away for inspection, the moving path will be disrupted, and the path sequence will be sent to each grinding device to be inspected, so that the grinding device takes the next product as a sample, so as to improve randomness and increase the accuracy of the drill bit sampling structure.

[0004] The present invention is achieved through the following technical solutions:

[0005] In a first aspect, the present invention provides a sampling inspection device, the structure of which includes:

[0006] A conveyor belt, used to transport the drill bit from one end of the conveyor belt to the other end;

[0007] A manipulator, used to pick up the drill needle on the conveyor belt;

[0008] A camera device for capturing the drill needle entering from one end of the conveyor belt;

[0009] A vibration mechanism, used for driving the vibration mechanism to swing in a horizontal direction;

[0010] and a processing module, used for processing the image data acquired by the camera device and controlling the manipulator to clamp the drill needle at a characteristic position;

[0011] In a second aspect, the present invention further provides a random planning moving path sampling method, comprising the following steps:

[0012] S100. Place a number N of drill bits at one end of the conveyor belt, and uniformly convey the drill bits from one end of the conveyor belt to the other end of the conveyor belt;

[0013] S200. Use a manipulator to randomly take out a drill needle from the conveyor belt, and obtain the position information of the drill needle taken out by the camera device;

[0014] S300. Start the vibration mechanism, randomly redistribute the current drill bit position, and record the drill bit position information after random distribution;

[0015] S400. The processing module calculates the next randomly drawn position of the drill bit according to the position where the drill bit is taken out, and sends the path sequence to each grinding device to be inspected.

[0016] In combination with the second aspect, further, in step S200, the length L occupied by the drill bit on the conveyor belt is marked, and the length L is evenly divided into i parts from left to right, and the serial number taken out from a certain part by the robot is marked.

[0017] In combination with the second aspect, further, in step S300, a random extraction coefficient and a random extraction function are set to estimate the next randomly extracted position of the drill needle. The mathematical formula of the random extraction function is:

[0018] X=(a·P+b)mod N

[0019] Among them, X is the random extraction coefficient, P is the distribution array of the drill bit position after vibration, a is a positive coefficient, and b is the offset.

[0020] In combination with the second aspect, further, in step S400, the calculation formula for the next randomly selected position of the drill needle is:

[0021] Q=(X+Δ)mod L

[0022] Among them, Δ is the offset and Q is the extraction position of the next wave.

[0023] Combined with the second aspect, further, the calculation formula of Δ is:

[0024] Δ=v·t

[0025] Among them, v is the flow speed of the drill needle on the conveyor belt, and t is the time difference between two times of gripping by the robot.

[0026] In combination with the second aspect, further, the sampling method further includes step S500: setting a verification function for comparing the difference between the actual sampled drill bit positions and the theoretical random distribution, and the mathematical expression of the verification function is:

[0027]

[0028] Where Y is the set of positions of the drill needles that have been extracted; is the indicator function. When the drill bit position i i It is 1 if it falls within the range of Q, otherwise it is 0.

[0029] In a third aspect, the present invention provides a computer device, including a processor and a storage medium;

[0030] The storage medium is used to store instructions;

[0031] The processor is used to operate according to the instructions to execute the steps of any one of the above methods.

[0032] Beneficial effects of the present invention:

[0033] A random planning moving path sampling inspection method of the present invention is based on a conveyor belt, a manipulator, a camera device, a vibration mechanism and a processing module. After the drill bit is taken out, the position of the extracted drill bit is disrupted by the vibration mechanism, and the position information of the drill bit before and after clamping is obtained. The processing module calculates the next randomly extracted position of the drill bit according to the position where the drill bit is taken out, and sends the path sequence to each grinding device to be inspected, so as to improve randomness and increase the accuracy of the drill bit sampling inspection structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0035] Figure 1 It is the emotion adaptation flow chart of the present invention. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0037] At present, drill bits need to be sampled after production to obtain the yield rate of the current batch. When testing drill bits, they need to be sent to the testing device one by one for testing. The visual sensor device needs to be used to accurately locate the position of the drill bit to facilitate the robot to grab it, resulting in high device costs and difficulty in maintenance. In addition, the position of the sampled drill bit is fixed, resulting in large errors in the estimation of the yield rate.

[0038] In order to solve the above problems, this embodiment provides a sampling inspection device, whose structure includes:

[0039] A conveyor belt, used to transport the drill bit from one end of the conveyor belt to the other end;

[0040] A manipulator, used to pick up the drill needle on the conveyor belt;

[0041] A camera device for capturing the drill needle entering from one end of the conveyor belt;

[0042] A vibration mechanism, used for driving the vibration mechanism to swing in a horizontal direction;

[0043] and a processing module, used for processing the image data acquired by the camera device and controlling the manipulator to clamp the drill needle at a characteristic position;

[0044] Furthermore, this embodiment also provides a random planning moving path sampling method, comprising the following steps:

[0045] S100. Place a number N of drill bits at one end of the conveyor belt, and uniformly convey the drill bits from one end of the conveyor belt to the other end of the conveyor belt;

[0046] S200. Use a manipulator to randomly take out a drill needle from the conveyor belt, and obtain the position information of the drill needle taken out by the camera device;

[0047] S300. Start the vibration mechanism, randomly redistribute the current drill bit position, and record the drill bit position information after random distribution;

[0048] S400. The processing module calculates the next randomly drawn position of the drill bit according to the position where the drill bit is taken out, and sends the path sequence to each grinding device to be inspected.

[0049] Before step S100, some basic parameters need to be set, such as the length of the conveyor belt, the total number of drill bits, and the scanning range of the camera, so as to ensure that each step in the sampling process has a clear reference standard and avoid unpredictability caused by excessive randomness.

[0050] Furthermore, in step S200, the length L occupied by the drill bit on the conveyor belt is marked, and the length L is evenly divided into i parts from left to right, and the serial number taken out from a certain part by the robot is marked.

[0051] Furthermore, in step S300, a random extraction coefficient and a random extraction function are set to estimate the next random extraction position of the drill needle. The mathematical formula of the random extraction function is:

[0052] X=(a·P+b)mod N

[0053] Among them, X is the random extraction coefficient, P is the distribution array of the drill needle position after vibration, a is a positive coefficient, and b is the offset. That is, P is an array from 1 to i after being acquired by the camera device.

[0054] The above mathematical formula means that according to our random extraction function, a drill bit at a certain position in P will be extracted, and the parameter X will be set according to this position. This parameter X will be used in the next step to calculate the calculation conditions for the next wave of extraction.

[0055] Furthermore, in step S400, the calculation formula for the next randomly selected position of the drill needle is:

[0056] Q=(X+Δ)mod L

[0057] Among them, Δ is the offset and Q is the extraction position of the next wave.

[0058] Furthermore, the calculation formula of Δ is:

[0059] Δ=v·t

[0060] Among them, v is the flow speed of the drill needle on the conveyor belt, and t is the time difference between two times of gripping by the manipulator. v is the flow speed of the drill needle on the conveyor belt, and the unit can be meter per second; t is the time interval between two random inspections, and the unit is second. It can adjust the offset according to the actual running speed of the production line and the frequency of random inspections to ensure that each random inspection can cover different drill needle positions, thereby improving the randomness and effectiveness of random inspections.

[0061] According to the Δ value and X obtained in step S300, the drill needle at the extraction position Q of the next wave can be obtained. This process ensures the randomness and continuity of the sampling inspection, while also taking into account the actual operation of the production line. In this way, we can effectively plan the movement path and improve the practicality and efficiency of the sampling inspection method.

[0062] Furthermore, the sampling method further comprises step S500: setting a verification function for comparing the difference between the actual sampled drill bit positions and the theoretical random distribution, and the mathematical expression of the verification function is:

[0063]

[0064] Among them, Y is the set of positions of the drill needles that have been extracted, Y i Indicates the position of the extracted drill needle, and records each time through the camera device and the control module; is the indicator function. When the drill bit position Y i It is 1 if it falls within the range of Q, otherwise it is 0.

[0065] The purpose of this function is to calculate the difference between the distribution of the actual drawn positions and the theoretical uniform distribution. Generally speaking, the theoretical random distribution probability represents the expected probability of each position being drawn, that is, If the value of V(Y) is close to 0, it means that the extracted drill bit position is very close to the theoretical random distribution and has high accuracy; if the value of V(Y) is large, it may indicate that there is a deviation in the extraction process and adjustment is required.

[0066] Example 3

[0067] The present invention also provides a computer device, including a processor and a storage medium;

[0068] The storage medium is used to store instructions;

[0069] The processor is used to operate according to the instructions to execute the steps of the method described in Example 1.

[0070] Example 4

[0071] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the method described in Embodiment 1 are implemented.

[0072] In summary, the sampling inspection method of a randomly planned moving path in this embodiment is based on a conveyor belt, a manipulator, a camera device, a vibration mechanism and a processing module. After the drill needle is taken out, the position of the extracted drill needle is disrupted by the vibration mechanism, and the position information of the drill needle before and after clamping is obtained. The processing module calculates the next randomly extracted position of the drill needle according to the position where the drill needle is taken out, and sends the path sequence to each grinding device to be inspected, so as to improve randomness and increase the accuracy of the drill needle sampling inspection structure.

[0073] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0074] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0075] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A random planning moving path sampling method, characterized in that: include: A conveyor belt, used to transport the drill bit from one end of the conveyor belt to the other end; A manipulator, used to pick up the drill needle on the conveyor belt; A camera device for capturing the drill needle entering from one end of the conveyor belt; A vibration mechanism, used for driving the vibration mechanism to swing in a horizontal direction; and a processing module, used for processing the image data acquired by the camera device and controlling the manipulator to clamp the drill needle at a characteristic position; The sampling method also includes the following steps: S100. Place a number N of drill bits at one end of the conveyor belt, and uniformly convey the drill bits from one end of the conveyor belt to the other end of the conveyor belt; S200. Use a manipulator to randomly take out a drill needle from the conveyor belt, and obtain the position information of the drill needle taken out by the camera device; S300. Start the vibration mechanism, randomly redistribute the current drill bit position, and record the drill bit position information after random distribution; S400. The processing module calculates the next randomly drawn position of the drill bit according to the position where the drill bit is taken out, and sends the path sequence to each grinding device to be inspected.

2. A random planning moving path sampling method according to claim 1, characterized in that: In step S200, the length L occupied by the drill bit on the conveyor belt is marked, and the length L is evenly divided into i parts from left to right, and the serial number taken out from a certain part by the robot is marked.

3. The random planning moving path sampling method according to claim 2 is characterized in that: In step S300, a random sampling coefficient and a random sampling function are set to estimate the next random sampling position of the drill needle. The mathematical formula of the random sampling function is: X=(a·P+b)mod N Among them, X is the random extraction coefficient, P is the distribution array of the drill bit position after vibration, a is a positive coefficient, and b is the offset.

4. The random planning moving path sampling method according to claim 3 is characterized in that: In step S400, the calculation formula for the next randomly selected position of the drill needle is: Q=(X+Δ)mod L Among them, Δ is the offset and Q is the extraction position of the next wave.

5. The random planning moving path sampling method according to claim 4 is characterized in that: The calculation formula of Δ is: Δ=v·t Among them, v is the flow speed of the drill needle on the conveyor belt, and t is the time difference between two times of gripping by the robot.

6. The random planning moving path sampling method according to claim 4 is characterized in that: The sampling method further comprises step S500: setting a verification function for comparing the difference between the actual sampled drill bit positions and the theoretical random distribution, and the mathematical expression of the verification function is: Where Y is the set of positions of the drill needles that have been extracted; is the indicator function. When the drill bit position Y i It is 1 if it falls within the range of Q, otherwise it is 0.

7. A computer device, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 6.

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