Intelligent detection system for four-bar linkage hinge

Abstract

The invention discloses an intelligent detection system for a four-bar linkage hinge, and relates to the field of intelligent detection of four-bar linkage hinges, and the intelligent detection system comprises a server which is connected with a data acquisition module, an appearance judgment module, a depth analysis module, a warehousing early warning module and a system display platform. According to the method, the appearance information of the four-bar linkage hinge is judged and analyzed to obtain a surface defect abnormal value interval, the appearance state is judged, the depth detection signal is correspondingly executed, and the method is used for receiving the depth detection signal, carrying out displacement and mechanical state judgment and analysis on the four-bar linkage hinge to obtain the depth detection shape value of the four-bar linkage hinge. And the deep detection shape value of the four-connecting-rod hinge is received and is compared and analyzed with the deep detection shape comparison threshold value, warehousing display and alarm corresponding to the four-connecting-rod hinges in different states are obtained, an alarm is given for unqualified products, the four-connecting-rod hinges in various states can be warehoused according to corresponding labels, and the warehouse management cost of an enterprise is reduced.

Description

Technical Field

[0001] The invention relates to the field of intelligent detection of four-bar linkages, and in particular to an intelligent detection system for four-bar linkages. Background Art

[0002] As the scale of manufacturing industry continues to expand, the demand for transporting goods is increasing. Among them, box trucks play an extremely important role in transporting goods, but the doors of box trucks are usually large and heavy, and it is difficult to ensure the opening and closing angle of the doors. The four-link hinge can better control the opening and closing angle of the door, but when producing the four-link hinge, the four-link hinge needs to be tested. Traditional testing is too dependent on manual labor and cannot guarantee the accuracy of the test. The intelligent detection system for the four-link hinge came into being.

[0003] During operation, the traditional four-bar hinge intelligent detection system is unable to display and store four-bar hinges in different states differently, nor can it issue alarms for unqualified products, which increases the company's warehouse management costs and also increases the time and economic costs of rework. Therefore, how to judge the four-bar hinges in different states and store them according to the corresponding labels is a technical problem that needs to be solved.

[0004] In order to solve the above defects, a technical solution is now provided. Summary of the invention

[0005] In order to solve the technical problems raised by the above background technology, the present invention is proposed. An embodiment of the present invention provides an intelligent detection system for a four-bar hinge.

[0006] The purpose of the present invention can be achieved through the following technical solutions: an intelligent detection system for a four-link hinge, comprising a server, the server is connected to a data acquisition module, an appearance judgment module, a depth analysis module, a warehousing warning module and a system display platform.

[0007] The data acquisition module is used to collect the appearance information, displacement information and mechanical information of the four-bar hinge, and send it to the appearance determination module and the depth analysis module;

[0008] The appearance determination module determines and analyzes the appearance information of the four-bar hinge, obtains the appearance missing abnormal value interval, performs appearance state determination, and executes the depth detection signal accordingly;

[0009] The depth analysis module is used to receive the depth detection signal, perform displacement and mechanical state determination analysis on the four-bar hinge, and obtain the depth detection state value of the four-bar hinge;

[0010] The storage warning module is used to receive the deep inspection state value of the four-bar hinge, compare and analyze it with the deep inspection state comparison threshold, and obtain the storage display and alarm corresponding to the four-bar hinge in different states.

[0011] Furthermore, the depth detection signal analysis steps are as follows:

[0012] Setting the table missing abnormal value intervals LL1, LL2, LL3 of the four-bar hinge, wherein the table missing abnormal value intervals LL1, LL2, LL3 are increased in sequence;

[0013] When the surface defect anomaly value of the four-bar hinge is within the interval LL1, the four-bar hinge is generated to be excellent in appearance, and label one is displayed on the system display platform; when the surface defect anomaly value of the four-bar hinge is within the interval LL2, the four-bar hinge is generated to be qualified in appearance, and label two is displayed on the system display platform; when the surface defect anomaly value of the four-bar hinge is within the interval LL3, the four-bar hinge is generated to be unqualified in appearance, and a depth detection signal is triggered.

[0014] Furthermore, the steps for analyzing the table missing abnormal value of the four-bar hinge are as follows:

[0015] The surface difference average value, difference area ratio, void depth value and crack shape value of the four-bar hinge are marked as bp, cb, kd and lx, respectively, and normalized with the overall symmetric difference value zd of the four-bar hinge. According to the set formula byz=tox1×bp+tox2×cb+tox3×kd+tox4×lx+tox5×zd, the surface defect abnormality value byz of the four-bar hinge is calculated, wherein tox1, tox2, tox3, tox4 and tox5 are the weight factor coefficients set for the surface difference average value, difference area ratio, void depth value, crack shape value and overall symmetric difference value of the four-bar hinge, respectively.

[0016] Furthermore, the surface difference average value and difference area ratio analysis steps are as follows:

[0017] The laser beam emitted by the laser transmitter is irradiated onto the surface of the four-bar hinge. The detector receives the reflected light and obtains the laser reflection angle and the position change of the reflected light on the detector, which are marked as fθ respectively. i and wb i , i is the number of each surface reflection point of the four-bar hinge, and each is based on the set formula fg i =wb i ×tan fθ i , calculate the height fg of each surface reflection point of the four-bar hinge i, and sort the heights of the surface reflection points according to the order of measurement, subtract the heights of the surface reflection points sorted in the back from the heights of the surface reflection points sorted in the front to obtain the height neighbor difference values, and sum them up to obtain the height neighbor total difference values, average the heights of the surface reflection points to obtain the average height value of the surface reflection points, subtract the average height value of the surface reflection points from the heights of the surface reflection points in turn to obtain the height average difference values, perform absolute value processing on the height difference average difference values, sum them up to obtain the height average difference total value, perform weighted calculation on the height neighbor total difference values ​​and the height average difference total value, and multiply them by the corresponding proportional factor coefficient to obtain the surface difference average value of the four-bar hinge;

[0018] The surface image of the four-bar joint is obtained by a camera, and the collected color image is gray-scaled to obtain a detection gray-scale image. The pixel value of each coordinate point of the detection gray-scale image is obtained, and the pixel value of the corresponding coordinate point of the standard gray-scale image in the database is subtracted, and the absolute value is taken to obtain the pixel difference of each coordinate point. The gray-scale image is divided into several areas, and the pixel difference of each coordinate point corresponding to each area is obtained and summed to obtain the total pixel difference of each area. It is compared with the set total pixel difference threshold of the area. When the total pixel difference of each area is greater than the set threshold, the area is corresponding to the difference area, and the proportion of the difference area to the total area is obtained, which is marked as the difference area ratio.

[0019] Furthermore, the analysis steps of the cavity depth value of the four-bar hinge and the crack value of the four-bar hinge are as follows:

[0020] The image of the four-bar hinge is obtained by a camera, and the edge detection algorithm is used to determine the edge position to obtain the outline of the four-bar hinge. The contour points of the four-bar hinge are traversed and the distance of each point is calculated. The two points corresponding to the maximum distance value are obtained by comparison. The two points are connected and the perpendicular bisector of the line connecting the two points is obtained as the symmetry axis of the four-bar hinge. The shape features of the areas on both sides of the symmetry axis are extracted by the Hu moment based on the shape descriptor method, and the seven Hu moments of the areas on both sides are calculated. n and Hub n Moment value, n is the number of the Hu moment value of the two sides, n = 1, 2, 3, ..., 7, a and b represent the two sides respectively, through the formula Calculate and obtain the overall symmetric outlier zd of the four-bar hinge;

[0021] An ultrasonic transducer is placed on the surface of the four-bar hinge to emit ultrasonic waves, and the delay time of the reflected wave is obtained. The delay time of the reflected wave is multiplied by the corresponding proportional factor coefficient to obtain the void depth value of the four-bar hinge, and the amplitude value of the reflected wave is recorded and compared with the amplitude value of the standard crack-free reflected wave in the database. The standard crack-free reflected wave amplitude value is divided by the recorded reflected wave amplitude value to obtain the crack value of the four-bar hinge.

[0022] Furthermore, the deep inspection value analysis steps of the four-bar hinge are as follows:

[0023] The hardness value of the four-bar hinge is obtained by a Vickers hardness tester, the yield strength of the four-bar hinge is obtained by mechanical testing, and the force characteristic value ltz of the four-bar hinge is calculated;

[0024] Multiply the motion accuracy offset value wyp of the four-bar hinge by the weight factor coefficient z1 to obtain product one, multiply the force characteristic value ltz of the four-bar hinge by the weight factor coefficient z2 to obtain product two, divide product two by product one to obtain the deep inspection value of the four-bar hinge.

[0025] Furthermore, the steps for analyzing the motion accuracy deviation value of the four-bar hinge are as follows:

[0026] For the four-bar hinge, the lengths of the fixed bars are d and g, the lengths of the movable bars are c and h, the fixed bar d is placed horizontally, the angle between the movable bar c and the fixed bar d is θ1, and the angle between the movable bar h and the fixed bar d is θ2. According to the vector calculation formula And project it on the x-axis and y-axis to get a group of equations, the coordinates of the endpoint h (x, y) are expressed as x=g+h×cosθ2, y=h×sinθ2, and the group of equations is converted into the relationship between the coordinates of the endpoint h and θ1, xt(θ1)=d+c×cosθ1, yt(θ1)=c×sinθ1, and the function value of the standard h endpoint coordinate changing with θ1 is obtained. The actual displacement of the active rod h of the four-bar hinge in the x direction at each detection moment is obtained by the displacement sensor as xsm, and the actual displacement in the y direction is ysm. According to the current state of the active rod h, the angle θ1m is obtained, and the standard displacement values ​​xtm and ytm are obtained according to the formula, where m represents the number of the detection moment, and the motion accuracy offset value wyp of the four-bar hinge is obtained by calculation.

[0027] Furthermore, the steps of storage display and alarm analysis corresponding to the four-link hinge in different states are as follows:

[0028] The deep inspection value of the four-bar hinge is compared and analyzed with the set deep inspection comparison thresholds ZZ1, ZZ2 and ZZ3 of the four-bar hinge, and ZZ1, ZZ2 and ZZ3 are reduced according to the gradient;

[0029] When the deep inspection value of the four-link hinge is less than or equal to the comparison threshold value ZZ3, the corresponding four-link hinge will issue an alarm, and display label three on the system display platform;

[0030] When the deep inspection value of the four-link hinge is greater than the comparison threshold ZZ3 and less than or equal to the comparison threshold ZZ2, the corresponding four-link hinge will issue an alarm and display label four on the system display platform;

[0031] When the deep inspection value of the four-bar hinge is greater than the comparison threshold ZZ2 and less than or equal to the comparison threshold ZZ1, the corresponding four-bar hinge deep inspection is good, and label five is displayed on the system display platform;

[0032] When the deep inspection value of the four-bar hinge is greater than the comparison threshold value ZZ1, the corresponding four-bar hinge deep inspection is excellent, and label six is ​​displayed on the system display platform.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The present invention determines and analyzes the apparent information of the four-bar linkage, obtains the surface difference value, difference area ratio, cavity depth value and crack value of the four-bar linkage, analyzes and obtains the surface defect value interval, makes an apparent state determination, and executes a corresponding depth detection signal, which is used to receive the depth detection signal, performs displacement and mechanical state determination and analysis on the four-bar linkage, obtains the depth detection value of the four-bar linkage, and can perform detailed multi-angle determination on the four-bar linkage in each state, first determines the apparent state and then performs depth detection, thereby saving the detection cost of the enterprise.

[0035] 2. The present invention receives the deep inspection status value of the four-bar hinge, compares and analyzes it with the deep inspection status comparison threshold, and obtains the corresponding storage display and alarm of the four-bar hinge in different states. The four-bar hinge in each state can be stored according to the corresponding label, and an alarm can be issued for unqualified products, thereby reducing the company's warehouse management costs and the time and economic costs such as rework. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. The following drawings are not intentionally scaled according to the actual sizes, and the focus is on illustrating the main purpose of the present invention.

[0037] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work also fall within the scope of protection of the present invention.

[0039] like Figure 1As shown, an intelligent detection system for a four-link hinge includes a server, and the server is connected to a data acquisition module, an appearance judgment module, a depth analysis module, a warehousing warning module and a system display platform.

[0040] The data acquisition module is used to collect the appearance information, displacement information and mechanical information of the four-bar hinge, and send them to the appearance judgment module and the depth analysis module.

[0041] The appearance judgment module is used to judge and analyze the appearance information of the four-link hinge, obtain the appearance missing abnormal value interval, make an appearance state judgment, and execute the depth detection signal accordingly. The specific analysis steps are as follows:

[0042] The laser beam emitted by the laser transmitter is irradiated onto the surface of the four-bar hinge. The detector receives the reflected light and obtains the laser reflection angle and the position change of the reflected light on the detector, which are marked as fθ respectively. i and wb i , i is the number of each surface reflection point of the four-bar hinge, and each is based on the set formula fg i =wb i ×tan fθ i , calculate the height fg of each surface reflection point of the four-bar hinge i , and sort the heights of the surface reflection points according to the order of measurement, subtract the heights of the surface reflection points sorted in the back from the heights of the surface reflection points sorted in the front to obtain the height neighbor difference values, and sum them up to obtain the height neighbor total difference values, average the heights of the surface reflection points to obtain the average height value of the surface reflection points, subtract the average height value of the surface reflection points from the heights of the surface reflection points in turn to obtain the height average difference values, perform absolute value processing on the height difference average difference values, sum them up to obtain the height average difference total value, perform weighted calculation on the height neighbor total difference values ​​and the height average difference total value, and multiply them by the corresponding proportional factor coefficient to obtain the surface difference average value of the four-bar hinge;

[0043] The surface image of the four-bar joint is acquired through a camera, and the acquired color image is gray-scaled to obtain a detection gray-scale image. The pixel value of each coordinate point of the detection gray-scale image is acquired, and the pixel value of the corresponding coordinate point of the standard gray-scale image in the database is subtracted, and the absolute value is taken to obtain the pixel difference of each coordinate point, and the gray-scale image is divided into several areas, and the pixel difference of each coordinate point corresponding to each area is acquired and summed to obtain the total pixel difference of each area, and compared with the set total pixel difference threshold of the area. When the total pixel difference of each area is greater than the set threshold, the area is corresponding to the difference area, and the proportion of the difference area to the total area is acquired, which is marked as the difference area ratio;

[0044] The image of the four-bar hinge is obtained by a camera, and the edge detection algorithm is used to determine the edge position to obtain the outline of the four-bar hinge. The contour points of the four-bar hinge are traversed and the distance of each point is calculated. The two points corresponding to the maximum distance value are obtained by comparison. The two points are connected and the perpendicular bisector of the line connecting the two points is obtained as the symmetry axis of the four-bar hinge. The shape features of the areas on both sides of the symmetry axis are extracted by the Hu moment based on the shape descriptor method, and the seven Hu moments of the areas on both sides are calculated. n and Hub n Moment value, n is the number of the Hu moment value of the two sides, n = 1, 2, 3, ..., 7, a and b represent the two sides respectively, through the formula Calculate and obtain the overall symmetric outlier zd of the four-bar hinge;

[0045] An ultrasonic transducer is placed on the surface of the four-bar hinge to emit ultrasonic waves, and the delay time of the reflected wave is obtained. The delay time of the reflected wave is multiplied by the corresponding proportional factor coefficient to obtain the cavity depth value of the four-bar hinge, and the amplitude value of the reflected wave is recorded and compared with the amplitude value of the standard crack-free reflected wave in the database. The amplitude value of the standard crack-free reflected wave is divided by the amplitude value of the recorded reflected wave to obtain the crack value of the four-bar hinge;

[0046] The surface difference flat value, difference area ratio, cavity depth value and crack value of the four-bar hinge are marked as bp, cb, kd and lx, respectively, and normalized with the overall symmetric difference value zd of the four-bar hinge. According to the set formula byz=tox1×bp+tox2×cb+tox3×kd+tox4×lx+tox5×zd, the surface defect difference value byz of the four-bar hinge is calculated, wherein tox1, tox2, tox3, tox4 and tox5 are the weight factor coefficients set for the surface difference flat value, difference area ratio, cavity depth value, crack value and overall symmetric difference value of the four-bar hinge, respectively, to promote the accuracy of calculation, and the specific values ​​are determined by personnel in this professional field;

[0047] Setting the table missing abnormal value intervals LL1, LL2, and LL3 of the four-bar hinge, wherein the table missing abnormal value intervals LL1, LL2, and LL3 are increased in sequence, and the specific increment values ​​are 50 and 100;

[0048] When the value of the defective anomaly of the four-bar hinge is within the interval LL1, the four-bar hinge is generated to be excellent in appearance, and the system display platform displays "the product has excellent apparent quality and is ready for storage"; when the value of the defective anomaly of the four-bar hinge is within the interval LL2, the four-bar hinge is generated to be qualified in appearance, and the system display platform displays "the product has qualified in appearance and is ready for storage"; when the value of the defective anomaly of the four-bar hinge is within the interval LL3, the four-bar hinge is generated to be unqualified in appearance, and a depth detection signal is triggered;

[0049] The depth analysis module is used to receive the depth detection signal, perform displacement and mechanical state analysis on the four-bar hinge, and obtain the depth detection value of the four-bar hinge. The specific analysis is as follows:

[0050] For the four-bar hinge, the lengths of the fixed bars are d and g, the lengths of the movable bars are c and h, the fixed bar d is placed horizontally, the angle between the movable bar c and the fixed bar d is θ1, and the angle between the movable bar h and the fixed bar d is θ2. According to the vector calculation formula And project it on the x-axis and y-axis to get the equation system The h endpoint coordinates (x, y) are expressed as x=g+h×cosθ2, y=h×sinθ2, and are converted into the relationship between the h endpoint coordinate point changing from θ1 by the equation group, xt(θ1)=d+c×cosθ1, yt(θ1)=c×sinθ1, and the standard h endpoint coordinate function value changing with θ1 is obtained. The actual displacement of the active rod h of the four-bar hinge in the x direction at each detection moment is obtained by the displacement sensor as xsm, and the actual displacement in the y direction is ysm. The angle θ1m is obtained according to the current state of the active rod h, and the standard displacement values ​​xtm and ytm are obtained according to the formula, where m represents the number of the detection moment, m=1, 2, 3, ..., M, and M is the maximum value of the detection moment number. According to the formula Calculate and obtain the motion accuracy offset value wyp of the four-bar hinge;

[0051] The hardness value of the four-bar hinge is obtained by a Vickers hardness tester, and the yield strength of the four-bar hinge is obtained by mechanical testing, and they are marked as yd and qq respectively, and then normalized. According to the set formula ltz=tod1×yd+tod2×qq, the force characteristic value ltz of the four-bar hinge is obtained, and tod1 and tod2 are the set adjustment factor coefficients of the hardness value and the yield strength respectively;

[0052] The motion accuracy offset value wyp of the four-bar hinge is multiplied by the weight factor coefficient z1 to obtain product one, the force characteristic value ltz of the four-bar hinge is multiplied by the weight factor coefficient z2 to obtain product two, and the product two is divided by the product one to obtain the deep inspection value of the four-bar hinge;

[0053] The warehouse entry warning module is used to receive the deep inspection status value of the four-link hinge, compare and analyze it with the deep inspection status comparison threshold, and obtain the warehouse entry display and alarm corresponding to the four-link hinge in different states. The specific analysis is as follows:

[0054] The deep inspection value of the four-bar hinge is compared and analyzed with the set deep inspection comparison thresholds ZZ1, ZZ2 and ZZ3 of the four-bar hinge, where ZZ1, ZZ2 and ZZ3 are reduced according to the gradient, and the gradient values ​​are 50 and 100;

[0055] When the deep inspection value of the four-bar hinge is less than or equal to the comparison threshold value ZZ3, the corresponding four-bar hinge will issue an alarm, and the system display platform will display "the product fails the appearance test and the displacement mechanics test, and will not be put into storage";

[0056] When the deep inspection value of the four-bar hinge is greater than the comparison threshold ZZ3 and less than or equal to the comparison threshold ZZ2, the corresponding four-bar hinge will issue an alarm, and the system display platform will display "The product failed the appearance test, but passed the displacement mechanics test, and needs to be stored separately when entering the warehouse";

[0057] When the deep inspection value of the four-bar hinge is greater than the comparison threshold ZZ2 and less than or equal to the comparison threshold ZZ1, the corresponding four-bar hinge deep inspection is good, and the system display platform will display "the product appearance test failed, the displacement mechanics test is good, and it is put into storage";

[0058] When the deep inspection value of the four-bar hinge is greater than the comparison threshold ZZ1, the deep inspection of the four-bar hinge is excellent, and the system display platform will display "the product fails the appearance inspection, the displacement mechanics inspection is excellent, and it is put into storage";

[0059] The above is an explanation of the present invention and should not be considered as a limitation thereof. Although several exemplary embodiments of the present invention have been described, it will be readily appreciated by those skilled in the art that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present invention. Therefore, all such modifications are intended to be included within the scope of the present invention as defined in the claims. It should be understood that the above is an explanation of the present invention and should not be considered as being limited to the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present invention is defined by the claims and their equivalents.

Claims

1. An intelligent detection system for a four-bar hinge, characterized in that: Including servers, server connections are: A data acquisition module is used to collect the appearance information, displacement information and mechanical information of the four-bar hinge and send it to the appearance determination module and the depth analysis module; The appearance judgment module judges and analyzes the appearance information of the four-bar hinge, obtains the appearance missing abnormal value interval, judges the appearance state, and executes the depth detection signal accordingly; A depth analysis module is used to receive the depth detection signal, perform displacement and mechanical state determination analysis on the four-bar hinge, and obtain the depth detection state value of the four-bar hinge; The warehousing warning module is used to receive the deep inspection status value of the four-bar hinge, compare and analyze it with the deep inspection status comparison threshold, and obtain the warehousing display and alarm corresponding to the four-bar hinge in different states.

2. The intelligent detection system for a four-bar hinge according to claim 1, characterized in that: The depth detection signal analysis steps are as follows: Setting the table missing abnormal value intervals LL1, LL2, LL3 of the four-bar hinge, wherein the table missing abnormal value intervals LL1, LL2, LL3 are increased in sequence; When the surface defect anomaly value of the four-bar hinge is within the interval LL1, the four-bar hinge is generated to be excellent in appearance, and label one is displayed on the system display platform; when the surface defect anomaly value of the four-bar hinge is within the interval LL2, the four-bar hinge is generated to be qualified in appearance, and label two is displayed on the system display platform; when the surface defect anomaly value of the four-bar hinge is within the interval LL3, the four-bar hinge is generated to be unqualified in appearance, and a depth detection signal is triggered.

3. The intelligent detection system for a four-bar hinge according to claim 2, characterized in that: The steps for analyzing the abnormal value of the table missing of the four-bar hinge are as follows: The surface difference value, difference area ratio, cavity depth value and crack value of the four-bar hinge are marked as bp, cb, kd and lx respectively, and normalized with the overall symmetry difference value zd of the four-bar hinge. According to the set formula byz=tox1×bp+tox2×cb+tox3×kd+tox4×lx+tox5×zd, and the surface defect anomaly value byz of the four-bar hinge is calculated, where tox1, tox2, tox3, tox4 and tox5 are respectively the surface difference value, the difference area ratio, the void depth value, the crack value and the weight factor coefficient of the overall symmetry anomaly setting of the four-bar hinge.

4. The intelligent detection system for a four-bar hinge according to claim 3, characterized in that: The steps of analyzing the surface difference average value and the difference area ratio are as follows: The laser beam emitted by the laser transmitter is irradiated onto the surface of the four-bar hinge. The detector receives the reflected light and obtains the laser reflection angle and the position change of the reflected light on the detector, which are marked as fθ respectively. i and wb i , i is the number of each surface reflection point of the four-bar hinge, and each is based on the set formula fg i =wb i ×tan fθ i , calculate the height fg of each surface reflection point of the four-bar hinge i , and sort the heights of the surface reflection points according to the order of measurement, subtract the heights of the surface reflection points sorted in the back from the heights of the surface reflection points sorted in the front to obtain the height neighbor difference values, and sum them up to obtain the height neighbor total difference values, average the heights of the surface reflection points to obtain the average height value of the surface reflection points, subtract the average height value of the surface reflection points from the heights of the surface reflection points in turn to obtain the height average difference values, perform absolute value processing on the height difference average difference values, sum them up to obtain the height average difference total value, perform weighted calculation on the height neighbor total difference values ​​and the height average difference total value, and multiply them by the corresponding proportional factor coefficient to obtain the surface difference average value of the four-bar hinge; The surface image of the four-bar joint is obtained by a camera, and the collected color image is gray-scaled to obtain a detection gray-scale image. The pixel value of each coordinate point of the detection gray-scale image is obtained, and the pixel value of the corresponding coordinate point of the standard gray-scale image in the database is subtracted, and the absolute value is taken to obtain the pixel difference of each coordinate point. The gray-scale image is divided into several areas, and the pixel difference of each coordinate point corresponding to each area is obtained and summed to obtain the total pixel difference of each area. It is compared with the set total pixel difference threshold of the area. When the total pixel difference of each area is greater than the set threshold, the area is corresponding to the difference area, and the proportion of the difference area to the total area is obtained, which is marked as the difference area ratio.

5. The intelligent detection system for a four-bar hinge according to claim 3, characterized in that: The analysis steps of the cavity depth value and the crack value of the four-bar hinge are as follows: The image of the four-bar hinge is obtained by a camera, and the edge detection algorithm is used to determine the edge position to obtain the outline of the four-bar hinge. The contour points of the four-bar hinge are traversed and the distance of each point is calculated. The two points corresponding to the maximum distance value are obtained by comparison. The two points are connected and the perpendicular bisector of the line connecting the two points is obtained as the symmetry axis of the four-bar hinge. The shape features of the areas on both sides of the symmetry axis are extracted by the Hu moment based on the shape descriptor method, and the seven Hu moments of the areas on both sides are calculated. n and Hub n Moment value, n is the number of the Hu moment value of the two sides, n = 1, 2, 3, ..., 7, a and b represent the two sides respectively, through the formula Calculate and obtain the overall symmetric outlier zd of the four-bar hinge; An ultrasonic transducer is placed on the surface of the four-bar hinge to emit ultrasonic waves, and the delay time of the reflected wave is obtained. The delay time of the reflected wave is multiplied by the corresponding proportional factor coefficient to obtain the void depth value of the four-bar hinge, and the amplitude value of the reflected wave is recorded and compared with the amplitude value of the standard crack-free reflected wave in the database. The standard crack-free reflected wave amplitude value is divided by the recorded reflected wave amplitude value to obtain the crack value of the four-bar hinge.

6. The intelligent detection system for a four-bar hinge according to claim 1, characterized in that: The steps of deep inspection value analysis of the four-bar hinge are as follows: The hardness value of the four-bar hinge is obtained by a Vickers hardness tester, the yield strength of the four-bar hinge is obtained by mechanical testing, and the force characteristic value ltz of the four-bar hinge is calculated; Multiply the motion accuracy offset value wyp of the four-bar hinge by the weight factor coefficient z1 to obtain product one, multiply the force characteristic value ltz of the four-bar hinge by the weight factor coefficient z2 to obtain product two, divide product two by product one to obtain the deep inspection value of the four-bar hinge.

7. The intelligent detection system for a four-bar hinge according to claim 6, characterized in that: The steps for analyzing the motion accuracy deviation value of the four-link hinge are as follows: For the four-bar hinge, the lengths of the fixed bars are d and g, the lengths of the movable bars are c and h, the fixed bar d is placed horizontally, the angle between the movable bar c and the fixed bar d is θ1, and the angle between the movable bar h and the fixed bar d is θ2. According to the vector calculation formula And project it on the x-axis and y-axis to get a group of equations, the coordinates of the endpoint h (x, y) are expressed as x=g+h×cosθ2, y=h×sinθ2, and the group of equations is converted into the relationship between the coordinates of the endpoint h and θ1, xt(θ1)=d+c×cosθ1, yt(θ1)=c×sinθ1, and the function value of the standard h endpoint coordinate changing with θ1 is obtained. The actual displacement of the active rod h of the four-bar hinge in the x direction at each detection moment is obtained by the displacement sensor as xsm and ysm, and the angle θ1m is obtained according to the current state of the active rod h, and the standard displacement values ​​xtm and ytm are obtained according to the formula, where m represents the number of the detection moment, and the motion accuracy offset value wyp of the four-bar hinge is obtained by calculation.

8. The intelligent detection system for a four-bar hinge according to claim 1, characterized in that: The steps of storage display and alarm analysis corresponding to the four-link hinge in different states are as follows: The deep inspection value of the four-bar hinge is compared and analyzed with the set deep inspection comparison thresholds ZZ1, ZZ2 and ZZ3 of the four-bar hinge, and ZZ1, ZZ2 and ZZ3 are reduced according to the gradient; When the deep inspection value of the four-link hinge is less than or equal to the comparison threshold value ZZ3, the corresponding four-link hinge will issue an alarm, and display label three on the system display platform; When the deep inspection value of the four-link hinge is greater than the comparison threshold ZZ3 and less than or equal to the comparison threshold ZZ2, the corresponding four-link hinge will issue an alarm and display label four on the system display platform; When the deep inspection value of the four-bar hinge is greater than the comparison threshold ZZ2 and less than or equal to the comparison threshold ZZ1, the corresponding four-bar hinge deep inspection is good, and label five is displayed on the system display platform; When the deep inspection value of the four-bar hinge is greater than the comparison threshold value ZZ1, the corresponding four-bar hinge deep inspection is excellent, and label six is ​​displayed on the system display platform.

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