A random inspection method for planning moving paths

Abstract

The present invention relates to the field of drill bit detection technology, and specifically to a random planning moving path sampling method, the method comprising the following steps: using a manipulator to randomly take out a drill bit from a conveyor belt, and using a camera device to obtain the position information of the drill bit taken out; starting a vibration mechanism to randomly redistribute the current drill bit position, and recording the position information of the drill bit after random distribution; a processing module calculates the next randomly drawn position of the drill bit based on the position where the drill bit is taken out, and sends the path sequence to each grinding device to be inspected. The purpose of the present invention is to provide a random planning moving path sampling method for a device used for collecting drill bit sampling, and each time the drill bit to be sampled is taken out 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, thereby improving randomness and increasing the accuracy of the drill bit sampling structure.

Description

Technical Field

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

[0002] Currently, drill bits are subject to random inspection after production to determine the yield rate of the current batch. This inspection requires feeding each drill bit into a testing device one by one. This requires a visual sensor to accurately locate the drill bit for easy robotic grasping, resulting in high device costs and increased maintenance difficulties. Furthermore, the drill bits for random inspection are fixed in position, leading to significant errors in yield rate estimation. 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 sampling and collecting drill bits. 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 will take the next product as a sample, thereby improving randomness and increasing 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 random 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 bit on the conveyor belt;

[0008] A camera device is used to capture the drill bit 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 for processing image data acquired by the camera device and controlling the manipulator to clamp the drill bit at a specific 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 transport the drill bits from one end of the conveyor belt to the other end of the conveyor belt;

[0013] S200 uses a manipulator to randomly remove a drill needle from the conveyor belt, and obtains the position information of the drill needle removed by the camera device;

[0014] S300 starts the vibration mechanism, randomly redistributes the current drill position, and records the drill 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 of the robot arm taken out from a certain part 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 bit. The mathematical formula of the random extraction function is:

[0018] X=(a·P+b)mod N

[0019] Where 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] Where 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 velocity of the drill bit on the conveyor belt, and t is the time difference between two gripping by the robot.

[0026] In combination with the second aspect, the sampling inspection method further includes step S500: setting a verification function for comparing the actual sampled drill bit positions with the theoretical random distribution. 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 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 configured 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] The present invention provides a random planning moving path sampling inspection method 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 with reference to the accompanying drawings. However, 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 effort.

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

[0036] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] Currently, drill bits are subject to random inspection after production to determine the yield rate of the current batch. This inspection requires feeding each drill bit into a testing device one by one. This requires a visual sensor to accurately locate the drill bit for easy robotic grasping, resulting in high device costs and increased maintenance difficulties. Furthermore, the drill bits for random inspection are fixed in position, leading to significant errors in yield rate estimation.

[0038] To solve the above problems, this embodiment provides a random inspection device, the structure of which 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 bit on the conveyor belt;

[0041] A camera device is used to capture the drill bit 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 for processing image data acquired by the camera device and controlling the manipulator to clamp the drill bit at a specific 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 transport the drill bits from one end of the conveyor belt to the other end of the conveyor belt;

[0046] S200 uses a manipulator to randomly remove a drill needle from the conveyor belt, and obtains the position information of the drill needle removed by the camera device;

[0047] S300 starts the vibration mechanism, randomly redistributes the current drill position, and records the drill 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 camera scanning range. This ensures that each step in the sampling process has a clear reference standard and avoids 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 of the part taken out by the robot is marked.

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

[0052] X=(a·P+b)mod N

[0053] Where 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. That is, P is an array from 1 to i after being captured 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] Where 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] Where v is the velocity of the drill bit on the conveyor belt, and t is the time difference between two pick-ups by the robot. v is the velocity of the drill bit on the conveyor belt, measured in meters per second; t is the time interval between two random checks, measured in seconds. The offset can be adjusted based on the actual production line speed and the frequency of random checks, ensuring that each random check covers a different drill bit position, thereby improving the randomness and effectiveness of the checks.

[0061] Based on the Δ value and the X obtained in step S300, the drill bit at position Q, which should be sampled in the next wave, can be determined. This process ensures the randomness and continuity of sampling while also taking into account the actual operating conditions 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 inspection method further includes step S500: setting a verification function for comparing the actual sampled drill bit positions with the theoretical random distribution. The mathematical expression of the verification function is:

[0063]

[0064] Among them, Y is the set of positions of the extracted drill needles, 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 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 extracted positions and the theoretical uniform distribution. Generally speaking, the theoretical random distribution probability represents the expected probability of each position being extracted, 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 needed.

[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 configured 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 having a computer program stored thereon, which implements the steps of the method described in Example 1 when executed by a processor.

[0072] In summary, the random planning moving path sampling inspection method of this embodiment 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.

[0073] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device 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 solutions 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 solutions of the present invention may be modified or replaced by equivalents without departing from the essence and scope of the technical solutions 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 bit on the conveyor belt; A camera device is used to capture the drill bit 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 for processing image data acquired by the camera device and controlling the manipulator to clamp the drill bit at a specific position; The sampling inspection method further comprises the following steps: S100. The drill needle is placed at one end of the conveyor belt, and the drill needle is transported at a constant speed from one end of the conveyor belt to the other end of the conveyor belt; S200 uses a manipulator to randomly remove a drill from the conveyor belt, and obtains the position information of the drill removed by the camera device; S300 starts the vibration mechanism, the current drill position is randomly redistributed, and records the drill position information after random distribution; S400 processing module according to the position of the drill out, calculates the next randomly drawn position of the drill, and sends the path sequence to each grinding device to be inspected; In step S200, mark the length of the drill bit on the conveyor belt. , and the length From left to right, it is divided into Part, marking the serial number that the robot takes out from a certain part; In step S300, a random sampling coefficient and a random sampling function are set to estimate the next random sampling position of the drill bit. The mathematical formula of the random sampling function is: in, is the random sampling coefficient, The distribution array of the drill bit position after vibration, is a positive coefficient, is the offset; In step S400, the calculation formula for the next randomly selected position of the drill needle is: in, is the offset, It is the extraction position for the next wave; The calculation formula is: in, is the flow speed of the drill bit on the conveyor belt, and t is the time difference between two times of gripping by the robot.

2. The random planning moving path sampling method according to claim 1 is characterized in that: The sampling inspection method further includes step S500: setting a verification function for comparing the actual sampled drill bit positions with the theoretical random distribution. The mathematical expression of the verification function is: in, is the set of positions of the drill needles that have been extracted; is the indicator function, when the drill needle position Falling 1 if it is within the range, otherwise 0.

3. A computer device, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the random planning moving path sampling method according to claim 1 or 2.

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