Machine vision equipment operation range control method, control system and credible interconnection system

Abstract

The invention provides a machine vision equipment operation range control system, a control method and a credible interconnection system. The control method comprises the following steps: projecting an outline of a target operation range on a to-be-operated surface; working to the area where the target working range is located; collecting image data of the to-be-operated surface in the actual operation range after operation; image data are obtained through a control device, graying processing and binarization processing are carried out on the image data, the control device calculates parameter data of images in a target operation range and an actual operation range according to the processing result of the image data, and the parameter data of the target operation range and the parameter data of the actual operation range are compared; and determining whether the position of the working device needs to be adjusted according to the processing result of the image data. The control device determines the coincidence degree of the images of the actual operation range and the target operation range according to the comparison result so as to determine whether the position of the operation device needs to be adjusted or not, and the parameter data comprises the area, the perimeter and the gravity center position.

Description

Technical Field

[0001] The present invention application relates to the technical field of operating machinery and the Internet of Things, and more specifically to a method for controlling the operating range of machine vision equipment, a control system and a trusted interconnection system. Background Art

[0002] Existing intelligent production lines are all fully automatic. During the operation (such as spraying, welding, cutting, etc.), the operation head acting on the object to be operated or the area to be operated may be worn during use, resulting in changes in the operating range of the operation head (such as a nozzle, welding head, cutting head, etc.). However, there is a large lag in the discovery of changes in the operating range, resulting in a large number of defective products. Usually, after the change in the operating range is discovered, it is necessary to directly replace the operation head, and the defective products produced must be scrapped or reprocessed. On the one hand, the cost of the operation head is high, and frequent replacement will bring huge cost pressure. On the other hand, scrapping or reworking unqualified products will increase production costs. Therefore, how to extend the service life of the operation head without affecting the quality of the operation, or in other words, keeping the operating range stable in real time, has become an important practical need.

[0003] Therefore, it is necessary to provide a method for controlling the operating range of machine vision equipment, a control system and a trusted interconnection system to at least partially solve the above problems. Summary of the invention

[0004] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further described in detail in the Detailed Description of the Invention section. The Summary of the Invention section of this application does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the first aspect of the present application provides a method for controlling the working range of a machine vision equipment, the control method comprising the following steps:

[0006] The outline of the target working range is projected on the surface to be worked by means of a laser positioning device;

[0007] Working in the area where the target working range is located by using the working device;

[0008] The image data of the actual working range of the working surface after the working is collected by the image collecting device;

[0009] The image data is acquired by a control device, and the image data is processed by an image processing algorithm. The control device also determines whether the position of the operating device needs to be adjusted according to the processing result of the image data.

[0010] Among them, the steps of processing the image data through the image processing algorithm include: performing grayscale processing and binarization processing on the image data;

[0011] The step in which the control device further determines whether the position of the working device needs to be adjusted according to the processing result of the image data includes:

[0012] The control device respectively calculates the parameter data of the images of the target working range and the actual working range according to the processing result of the image data, and compares the parameter data of the target working range and the actual working range;

[0013] The control device determines the degree of overlap between the images of the actual working range and the target working range according to the comparison result, and determines whether the position of the working device needs to be adjusted according to the degree of overlap. The parameter data includes area, perimeter and centroid position;

[0014] When the following conditions are met:

[0015] Abs(A1 - A2) < q1, Abs(L1 - L2) < q2, Abs(T1x - T2x) < q3, and

[0016] Abs(T1y - T2y) < q4, it is determined that the actual working range and the target working range highly overlap, and the position of the working device does not need to be adjusted;

[0017] Among them, Abs is the absolute value function; A1 and L1 are respectively the area and perimeter of the target working range; T1x and T1y respectively represent the x-axis coordinate and y-axis coordinate of the centroid T1 of the target working range; A2 and L2 are respectively the area and perimeter of the actual working range; T2x and T2y respectively represent the x-axis coordinate and y-axis coordinate of the centroid of the actual working range, and q1, q2, q3, q4 are preset thresholds.

[0018] Optionally, when the following conditions are met:

[0019] Abs(A1 - A2) ≥ q1 or Abs(L1 - L2) ≥ q2, adjust the working angle of the working device;

[0020] When the following conditions are met:

[0021] Abs(A1 - A2) < q1, Abs(L1 - L2) < q2, Abs(T1x - T2x) ≥ q3, and

[0022] Abs(T1y - T2y) ≥ q4, adjust the relative position between the working device and the surface to be worked to change the centroid position of the actual working range.

[0023] A second aspect of the present application provides a machine vision equipment operating range control system, the operating range control system comprising:

[0024] A laser positioning device, the laser positioning device is used to project the outline of the target working range on the surface to be worked;

[0025] An operating device, the operating device is used to operate in the area where the target operating range is located, the operating device comprises an operating head, a support frame, a mechanical transmission device and a driving device, the mechanical transmission device is arranged on the support frame, the mechanical transmission device is connected to the operating head, the driving device is connected to the mechanical transmission device, and the driving device is configured to be able to drive the mechanical transmission device to move so as to adjust the relative position of the operating head and the support frame;

[0026] An image acquisition device, the image acquisition device is used to acquire image data of an actual working range of the working surface after the working; and

[0027] A control device, the control device is connected to the image acquisition device to obtain the image data, the control device is configured to process the image data through an image processing algorithm, and the control device is further configured to determine whether the position of the working device needs to be adjusted according to the processing result of the image data;

[0028] Wherein, the control device also includes an Internet of Things module, and the Internet of Things module is used for communication connection to the Internet of Things cloud platform.

[0029] Optionally, the control device is electrically connected to the driving device, and the control device is configured to generate a control instruction according to a processing result of the image data, and output the control instruction to the driving device.

[0030] Optionally, the mechanical transmission device includes at least one of a gear transmission device, a thread transmission device, a sprocket chain assembly and a slider guide assembly.

[0031] Optionally, the mechanical transmission device includes a slider guide assembly, and the slider guide assembly includes:

[0032] a guide rail, the guide rail being arranged on the support frame; and

[0033] a slider connected to the guide rail and configured to be movable along the guide rail;

[0034] The working head is connected to the slider to move synchronously with the slider.

[0035] Optionally, the driving device includes at least one of a motor, a hydraulic cylinder and a pneumatic cylinder.

[0036] Optionally, the operating range control system further includes:

[0037] A position sensor, the position sensor is used to detect the displacement of the working head, and the position sensor is electrically connected to the control device;

[0038] a display device electrically connected to the control device; and

[0039] An alarm device is electrically connected to the control device, and the control device is configured to control the alarm device to send an alarm signal according to a result of processing the image data.

[0040] Optionally, the control device is constructed as a PLC controller, and the PLC controller is also provided with a communication interface.

[0041] Optionally, the operating range control system further includes a power supply device; or

[0042] The working range control system includes a power interface for connecting to an external power source.

[0043] The third aspect of the present application provides a trusted interconnection system, which includes an Internet of Things cloud platform and an operating range control system according to any of the above schemes, wherein the operating range control system includes an Internet of Things module, and the Internet of Things module is connected to the Internet of Things cloud platform via wired or wireless communication.

[0044] The present application provides a method for controlling the operating range of a machine vision device, a control system and a trusted interconnection system, wherein the operating range control system includes a laser positioning device, an operating device, an image acquisition device and a control device. The laser positioning device can locate the outline of the preset target operating range, the image acquisition device can acquire image data of the actual operating range, and the image data of the actual operating range also shows the outline of the target operating range. The control device can process the image data to determine whether the actual operating range size of the current operating device is appropriate, so as to adjust the position of the operating device in time when the actual operating range is not appropriate, which can increase the service life of the operating device, improve the yield rate of the operation, effectively reduce the process difficulty, and reduce the production cost. In addition, the control device also includes an Internet of Things module, which is connected to the Internet of Things cloud platform and can upload parameter data and working data of the operating range control system, so as to facilitate the subsequent maintenance, algorithm optimization, data statistical analysis and other scenarios of the trusted interconnection system, thereby realizing the secure communication of the trusted interconnection system.

[0045] The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The following drawings of the embodiments of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application. In the drawings,

[0047] Figure 1 It is a schematic diagram of a structural block diagram of a working range control system according to a preferred embodiment of the present application;

[0048] Figure 2 A schematic diagram of a control method according to a preferred embodiment of the present application; and

[0049] Figure 3 It is a schematic diagram of the partial structure of a working range control system according to a preferred embodiment of the present application.

[0050] Description of reference numerals:

[0051] 100: Operation range control system

[0052] 110: Laser positioning device

[0053] 120: Image acquisition device

[0054] 130: Operating device

[0055] 131: Install the base

[0056] 140: Control device

[0057] 150: Power supply unit

[0058] 160: Display device

[0059] 170: Alarm device DETAILED DESCRIPTION

[0060] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application embodiments can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application embodiments, some technical features well known in the art are not described.

[0061] In order to thoroughly understand the implementation of the present application, a detailed structure will be presented in the following description. Obviously, the implementation of the implementation of the present application is not limited to the specific details familiar to those skilled in the art. The preferred implementation of the present application is described in detail below, but in addition to these detailed descriptions, the present application may also have other implementations and should not be interpreted as being limited to the implementations presented here.

[0062] It should be understood that the purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application, and the singular forms of "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof. The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in this application are for illustrative purposes only and are not limiting.

[0063] Ordinal numbers such as “first” and “second” cited in the present application are merely identifications and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term “first component” itself does not imply the existence of the “second component”, and the term “second component” itself does not imply the existence of the “first component”.

[0064] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0065] Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints but also include several sub-ranges contained therein.

[0066] Hereinafter, specific embodiments of the present application will be described in more detail with reference to the accompanying drawings. These drawings show representative embodiments of the present application and do not limit the present application.

[0067] The present application provides a method for controlling the operating range of machine vision equipment, a control system for the operating range of machine vision equipment, and a trusted interconnection system having the operating range equipment control system 100.

[0068] Machine vision equipment based on machine vision can perform operations such as spraying, welding, cutting, etc., and the corresponding operating ranges of spraying, welding, cutting, etc. are spray width, welding range, and cutting range, respectively.

[0069] like Figures 1 to 3As shown, the machine vision equipment operating range control system 100 is first described in conjunction with the accompanying drawings.

[0070] like Figure 1 As shown, a machine vision equipment operating range control system 100 according to the present application may include a laser positioning device 110, an operating device 130, an image acquisition device 120 and a control device 140. Among them, the laser positioning device 110 is used to project the outline of the target operating range on the surface to be operated. The operating device 130 is used to operate the area where the target operating range is located. The image acquisition device 120 is used to collect image data of the actual operating range of the surface to be operated after the operation. The control device 140 is electrically connected to the image acquisition device 120 to obtain image data, and the control device 140 is configured to process the image data through an image processing algorithm. The control device 140 is also configured to determine whether the position of the operating device 130 needs to be adjusted according to the processing result of the image data.

[0071] It can be understood that the image data of the actual working range collected by the image acquisition device 120 shows the outline of the target working range projected by the laser positioning device 110. The laser positioning device 110 can also play the role of auxiliary lighting, so that the image data collected by the image acquisition device 120 can more clearly show the outline of the target working range and the outline of the actual working range (the boundary with the non-operated area is clearer).

[0072] The control device 140 can obtain the shape and size information of the target working range and the actual working range based on the processing results of the image data; and can determine whether the actual working range at the current position of the working device 130 is appropriate based on the comparison results of the actual working range and the target working range. If the actual working range is not appropriate, the position of the working device 130 can be adjusted to adjust the actual working range so that the actual working range is appropriate.

[0073] Specifically, the "suitable" standard may mean that the contour of the actual operating range coincides with the contour of the target operating range, or that the contour of the actual operating range differs from the contour of the target operating range within a predetermined error range.

[0074] The working device 130 may include a working head, a support frame, and a mechanical transmission device. The working head is used to work on the surface to be worked. It can be understood that the adjustment of the position of the working device 130 described above specifically refers to adjusting the position of the working head. The mechanical transmission device is set to the support frame, for example, the mechanical transmission device is detachably mounted on the support frame. The mechanical transmission device is connected to the working head and can be used to adjust the relative position of the working head and the support frame.

[0075] Specifically, the mechanical transmission device may include at least one of a gear transmission device, a thread transmission device, a sprocket chain assembly, and a slider guide assembly.

[0076] Exemplarily, the mechanical transmission device may include a slider guide rail assembly, and the slider guide rail assembly includes a guide rail and a slider. The guide rail may be mounted on a support frame, the slider matches the guide rail, and the slider is connected to the guide rail and is configured to be able to move along the guide rail. The work head is connected to the slider so that it can move along the guide rail synchronously with the slider. Preferably, in order to realize the free movement of the work head in space, a plurality of guide rails may be provided on the support frame so that the slider can freely move in the X-axis direction, the Y-axis direction and the Z-axis direction in the spatial coordinate system.

[0077] Exemplarily, the mechanical transmission device may include a gear transmission device, and the gear transmission device includes a transmission gear and a matching member that mesh with each other. One of the transmission gear and the matching member is fixedly mounted on the support frame, and the other of the transmission gear and the matching member is connected to the working head. The matching member may include a gear and / or a rack.

[0078] Exemplarily, the mechanical transmission device may include a threaded transmission device, which includes an external threaded member and an internal threaded member (constituting a spiral pair) that are threadedly matched, one of the external threaded member and the internal threaded member is fixedly mounted on a support frame, and the other of the external threaded member and the internal threaded member is connected to a working head.

[0079] Exemplarily, the mechanical transmission device may include a sprocket chain assembly, which includes a matching sprocket and a chain, one of the sprocket and the chain is fixedly mounted on the support frame, and the other of the sprocket and the chain is connected to the working head.

[0080] In the present embodiment, the operating range control system 100 also includes a driving device, which is connected to the mechanical transmission device. The driving device is configured to be able to drive the mechanical transmission device to adjust the relative position of the operating head and the support frame. Specifically, the driving device is connected to the operating head through the mechanical transmission device to drive the operating head to move relative to the support frame, thereby changing the relative position of the operating head and the surface to be operated, and the size of the actual operating range can be changed. Thus, the position of the operating head can be adjusted by mechanical drive. Specifically, in the present embodiment, the relative position of the operating head and the surface to be operated may include: the size of the angle between the operating direction of the operating head and the surface to be operated; the distance between the operating head and the surface to be operated in the direction perpendicular to the surface to be operated; the relative position relationship between the projection of the operating head on the surface to be operated and the center (which may be the geometric center or the center of gravity) of the target operating range in the direction perpendicular to the surface to be operated.

[0081] Exemplarily, the driving device may include at least one of a motor, a hydraulic cylinder, and a pneumatic cylinder.

[0082] Preferably, the control device 140 is electrically connected to the driving device, and the control device 140 is configured to generate a control instruction according to the processing result of the image data, and output the control instruction to the driving device, so that the driving device drives the working head to move relative to the support frame.

[0083] Exemplarily, the operating range control system 100 further includes a position sensor and a display device 160. The position sensor is used to detect the displacement of the operating head. The installation position and number of the position sensor can be flexibly set according to actual needs.

[0084] Preferably, the position sensor is electrically connected to the control device 140, and the display device 160 is electrically connected to the control device 140. The control device 140 can obtain the detection data of the position sensor, and the display device 160 can be used to display the detection data of the position sensor, the parameters of the target working range (such as coordinates, area and other dimensional information), the dimensional information of the actual working range, the judgment result of the control device 140 (whether the position of the working head needs to be adjusted), other instrument data, etc. The display device 160 can also be used to realize human-computer interaction.

[0085] The display device 160 may be configured as a display screen, which includes at least one of a dot matrix LCD screen, a segment LCD screen, and a touch screen. The control device 140 may be configured as a PLC controller, a chip, or a controller of a host computer. The image acquisition device 120 may be configured as a camera or a video camera.

[0086] See also Figure 1 In this embodiment, the control device 140 is electrically connected to the display screen and the laser positioning device 110. The parameters of the target working range can be input through the display screen, and the control device 140 generates corresponding control instructions according to the input parameters of the target working range and outputs them to the laser positioning device 110. The laser positioning device 110 can receive the control instructions and implement laser irradiation to illuminate the outline of the target working range. The laser positioning device 110 can also project and locate the position of the working head.

[0087] The control device 140 is electrically connected to the image acquisition device 120. The image acquisition device 120 can receive instructions from the control device 140 and capture real-time image data, and can also transmit the image data back to the control device 140.

[0088] In this embodiment, see Figure 1 The control device 140 is a PLC controller. The PLC controller can also be provided with a communication interface. Based on the communication interface, information interaction between the operation range control system 100 and the background management system can be realized.

[0089] The operating range control system 100 further includes a power supply device 150, which is electrically connected to the PLC controller and is used to provide power to the operating range control system 100. It should be noted that the operating range control system 100 can also obtain power from the outside, for example, by providing a power interface for connecting to an external power supply.

[0090] Preferably, the operating range control system 100 further includes an alarm device 170, which is electrically connected to the control device 140. The control device 140 is configured to control the alarm device 170 to send an alarm signal according to the processing result of the image data. It should be noted that when the gap between the actual operating range and the target operating range is too large (the actual operating range cannot be adjusted to a suitable size by adjusting the position of the operating head), the control device 140 directly determines that a fault has occurred, and outputs a control instruction to the alarm device 170, so that the alarm device 170 sends an alarm signal to remind the staff to perform fault detection and equipment debugging on the fault location in a timely manner.

[0091] According to the working range control system 100 of the present application, it is possible to combine the image processing algorithm to detect the external dimensions of the actual working range of the working head in real time and dynamically. When the dimensions exceed the normal range (compared with the target working range), the working head position (relative position and relative distance to the surface to be worked on) is adjusted by controlling the driving device to realize automatic driving, thereby ensuring in real time that the actual working range is within the normal range, improving the working quality, reducing the rework rate, and also reducing the replacement frequency of the working head and reducing costs. Under the premise of maintaining the stability of the working range and ensuring the working quality of the product, the utilization rate of the working head is improved.

[0092] refer to Figure 2 The present application provides a method for controlling the operating range of a machine vision device, the control method comprising the following steps:

[0093] The outline of the target working range is projected on the surface to be worked by the laser positioning device 110;

[0094] Working in the area where the target working range is located by the working device 130;

[0095] The image data of the actual working range of the working surface after the working is collected by the image collecting device 120;

[0096] The control device 140 acquires image data and processes the image data through an image processing algorithm. The control device 140 also determines whether the position of the working device 130 needs to be adjusted based on the processing result of the image data.

[0097] Furthermore, the step of processing the image data by the image processing algorithm includes: graying and binarizing the image data. After the image data is processed by the image processing algorithm, the difference between the actual working range and the target working range can be quantified, so that the control device 140 can further control the action of the driving device. Exemplarily, the control device 140 can determine whether the position of the working device 130 needs to be adjusted by comparing the degree of overlap between the actual working range and the target working range.

[0098] Exemplarily, the steps of the working range image control algorithm are as follows:

[0099] 1) The laser projection contour image M1 (the contour of the target working range) and the image M2 of the actual working range collected by the working control device are grayed and then binarized:

[0100] Grayscale processing is performed on the image M1 to obtain G1, G1=gray(M1), and grayscale processing is performed on the image M2 to obtain G2, G2=gray(M2), where gray is a grayscale processing function;

[0101] The image G1 is binarized to obtain B1, B1=binary(G1), and the image G2 is binarized to obtain B2, B2=binary(G2), where binary is a binarization function;

[0102] 2) Calculate the area, perimeter, and center of gravity of image B1 (corresponding to the target operating range) and image B2 (corresponding to the actual operating range) respectively:

[0103] The area, perimeter, and center of gravity of B1 are:

[0104] Area: A1 = contourArea(B1); Perimeter: L1 = arcLength(B1);

[0105] Center of gravity: T1 = cmpCenter(B1);

[0106] The area, perimeter, and center of gravity of image B2 are:

[0107] Area: A2 = contourArea(B2); Perimeter: L2 = arcLength(B2);

[0108] Center of gravity: T2 = cmpCenter(B2);

[0109] 3) Determine whether the position of the operating head needs to be adjusted:

[0110] When the following conditions are met: Abs(A1 - A2) < q1, Abs(L1 - L2) < q2, Abs(T1x - T2x) < q3,

[0111] Abs(T1y - T2y) < q4, it means that the actual operation range highly coincides with the laser projection contour (target operation range), and there is no need to adjust the position of the operation head.

[0112] Where: Abs is the absolute value function; T1x represents the x-axis coordinate of the centroid T1 of the target operation range image B1, T2x represents the x-axis coordinate of the centroid of the image B2 of the actual operation range, T1y represents the y-axis coordinate of the centroid T1 of the target operation range image B1, and T2y represents the y-axis coordinate of the centroid of the image B2 of the actual operation range. q1, q2, q3, q4 are respectively four thresholds. Those skilled in the art can flexibly set the values of q1, q2, q3, q4. It can be understood that the values of q1, q2, q3, q4 represent the reasonable difference range of the corresponding parameters of the target operation range and the actual operation range. It should be noted that Abs is the absolute value function, which can be equivalent to taking the absolute value. For example, Abs(A1 - A2) is the absolute value of A1 - A2. In other words, Abs(A1 - A2) = |A1 - A2|.

[0113] When the following conditions are met: Abs(A1 - A2) ≥ q1 or Abs(L1 - L2) ≥ q2, then it is necessary to adjust the position of the operation head. Specifically, the angular direction of the operation head can be adjusted, or the distance between the two operation heads can be adjusted (see the description of the solution where the operation device includes two operation heads in the following text).

[0114] If Abs(A1 - A2) < q1, Abs(L1 - L2) < q2, and at the same time Abs(T1x - T2x) ≥ q3, Abs(T1y - T2y) ≥ q4 are met, then it is necessary to adjust the position of the operation head. Specifically, the horizontal displacement of the operation head or the distance between the operation heads needs to be adjusted to adjust the centroid position of the actual operation range.

[0115] During the actual working process, if the condition that the actual operation range highly coincides with the laser projection contour is not met, then a step-by-step progressive parameter iteration is adopted until the condition is met. After that, the parameters are stored and reported to the trusted interconnected system as reference parameters for the next operation.

[0116] Furthermore, after a certain operation, the control device 140 determines that the size of the actual operation range does not meet the requirements, and the position of the operation device 130 (operation head) needs to be adjusted. At this time, the control device 140 outputs a control instruction to the drive device, and accordingly adjusts the relative position of the operation head and the support frame, thereby adjusting the relative position of the operation head and the surface to be operated (during a single operation, the support frame can be set to be relatively static with the surface to be operated). Then, based on the adjusted position of the operation head, the next operation is performed, and the control device 140 is used again to determine whether the position of the operation head needs to be adjusted. If adjustment is required, the adjustment continues until the operation head is adjusted to a suitable position (the size of the actual operation range meets the requirements).

[0117] The method for controlling the operating range of machine vision equipment can apply the operating range control system 100 according to the present application. In a method for controlling the operating range control system of machine vision equipment, the control device 140 can process image data to determine whether the actual operating range size of the current operating device 130 is appropriate, so as to adjust the position of the operating device 130 in time when the actual operating range is not appropriate, thereby increasing the service life of the operating device 130, improving the yield rate of the operation, effectively reducing the process difficulty, and reducing the production cost.

[0118] See also Figure 3 In one embodiment of the present application, the working device 130 includes two working heads, each of which is provided with an image acquisition device 120. The working device 130 also includes a mounting base 131, to which the working heads are mounted, the two working heads are arranged at intervals, and the two working heads can be configured to be relatively movable.

[0119] Under normal working conditions, the actual working ranges of the two working heads will not overlap, so when the two working heads work at the same time, they can work on a larger surface area, which can effectively improve the efficiency of the work. If at least one of the two working heads has a change in working range due to wear and tear, resulting in a problem of cross-working or exposed bottom between working ranges, the relative positions of the two working heads can be adjusted by the control device 140 to eliminate the problem of cross-working or exposed bottom.

[0120] Furthermore, a spacing adjustment device may be provided between the two working heads, and the spacing adjustment device may include a driving member, and the control device 140 adjusts the spacing between the two working heads by controlling the driving member. The driving member may be a motor, a hydraulic cylinder, or a pneumatic cylinder. For example, the motor may be fixed to one working head, and the output end of the motor may be connected to the other working head.

[0121] Figure 3In the embodiment, the image acquisition device 120 is arranged on the mounting base 131. It is understood that the laser positioning device 110 and the position sensor can also be arranged on the mounting base 131, for example, the image acquisition device 120 is detachably connected to the mounting base 131; the laser positioning device 110 is detachably connected to the mounting base 131; and the position sensor is detachably connected to the mounting base 131.

[0122] In a preferred embodiment, a machine vision equipment operating range control method and a machine vision equipment operating range control system of the present application can be applied to paint spraying operations using machine vision equipment.

[0123] The present application also provides a trusted interconnection system, including an Internet of Things cloud platform and the machine vision equipment operating range control system of the present application. The control device of the machine vision equipment operating range control system includes an Internet of Things module, and the Internet of Things module is connected to the Internet of Things cloud platform by wired or wireless communication. Thus, the Internet of Things cloud platform can obtain the initial basic parameters (such as position, pressure, flow, etc.) of the operating device in the machine vision equipment operating range control system, and the Internet of Things module can also report the optimized actual parameters of the operating device to the Internet of Things cloud platform.

[0124] Furthermore, the IoT module can also report the real-time working data of the operating range control system to the IoT cloud platform. The statistical real-time working data of the operating range control system can be used for subsequent maintenance, algorithm optimization, data statistical analysis and other scenarios of the operating range control system, and can be used for subsequent maintenance, algorithm optimization, data statistical analysis and other scenarios of the trusted interconnected system, and realize the secure communication of the trusted interconnected system.

[0125] Furthermore, the trusted interconnected system may also include an Internet of Things terminal device, which is communicatively connected to the Internet of Things cloud platform. Thus, the Internet of Things terminal device can obtain and display the real-time working data of the operating range control system in real time, so that users can monitor the automated workflow of the operating range control system. Unless otherwise defined, the technical and scientific terms used in this article have the same meaning as those generally understood by technicians in the technical field of this application. The terms used in this article are only for describing specific implementation purposes and are not intended to limit this application. Terms such as "setting" appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through a middleware. The features described in one embodiment herein may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0126] The present application has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present application to the described embodiments. It can be understood by those skilled in the art that more variations and modifications can be made according to the teachings of the present application, and these variations and modifications all fall within the scope of protection claimed in the present application.

Claims

1. A method for controlling the operating range of machine vision equipment, characterized in that: The control method includes the following steps: Project the contour of the target working range on the surface to be worked by a laser positioning device; Work on the area where the target working range is located by a working device; Collect image data of the actual working range on the surface to be worked after working by an image acquisition device; Obtain the image data by a control device, and process the image data through an image processing algorithm. The control device also determines whether the position of the working device needs to be adjusted according to the processing result of the image data; Among them, the step of processing the image data through the image processing algorithm includes: performing grayscale processing and binary processing on the image data; The step that the control device also determines whether the position of the working device needs to be adjusted according to the processing result of the image data includes: The control device respectively calculates the parameter data of the images of the target working range and the actual working range according to the processing result of the image data, and compares the parameter data of the target working range and the actual working range; The control device determines the coincidence degree of the images of the actual working range and the target working range according to the comparison result, and determines whether the position of the working device needs to be adjusted according to the coincidence degree. The parameter data includes area, perimeter and centroid position; When the following conditions are met: Abs(A1 - A2) < q1, Abs(L1 - L2) < q2, Abs(T1x - T2x) < q3, and Abs(T1y - T2y) < q4, it is determined that the actual working range highly coincides with the target working range, and the position of the working device does not need to be adjusted; Among them, Abs is the absolute value function; A1 and L1 are respectively the area and perimeter of the target working range; T1x and T1y respectively represent the x-axis coordinate and y-axis coordinate of the centroid T1 of the target working range; A2 and L2 are respectively the area and perimeter of the actual working range; T2x and T2y respectively represent the x-axis coordinate and y-axis coordinate of the centroid of the actual working range, and q1, q2, q3, q4 are preset thresholds.

2. The control method according to claim 1, characterized in that: When the following conditions are met: Abs(A1 - A2) ≥ q1 or Abs(L1 - L2) ≥ q2, adjust the working angle of the working device; When the following conditions are met: Abs(A1 - A2) < q1, Abs(L1 - L2) < q2, Abs(T1x - T2x) ≥ q3, and Abs(T1y - T2y) ≥ q4, adjust the relative position of the working device and the surface to be worked to change the centroid position of the actual working range.

3. A machine vision equipment operating range control system, characterized in that: The working range control system includes: A laser positioning device, which is used to project the contour of the target working range on the surface to be worked; An operating device, the operating device is used to operate in the area where the target operating range is located, the operating device comprises an operating head, a support frame, a mechanical transmission device and a driving device, the mechanical transmission device is arranged on the support frame, the mechanical transmission device is connected to the operating head, the driving device is connected to the mechanical transmission device, and the driving device is configured to be able to drive the mechanical transmission device to move so as to adjust the relative position of the operating head and the support frame; An image acquisition device, the image acquisition device is used to acquire image data of an actual working range of the working surface after the working; and A control device, the control device is connected to the image acquisition device to obtain the image data, the control device is configured to process the image data through an image processing algorithm, and the control device is further configured to determine whether the position of the working device needs to be adjusted according to the processing result of the image data; Wherein, the control device also includes an Internet of Things module, and the Internet of Things module is used for communication connection to the Internet of Things cloud platform.

4. The operating range control system according to claim 3, characterized in that: The control device is electrically connected to the driving device, and is configured to generate a control instruction according to a processing result of the image data, and output the control instruction to the driving device.

5. The operating range control system according to claim 3, characterized in that: The mechanical transmission device includes at least one of a gear transmission device, a thread transmission device, a sprocket chain assembly and a slider guide rail assembly.

6. The operating range control system according to claim 3, characterized in that: The mechanical transmission device comprises a slider guide assembly, and the slider guide assembly comprises: a guide rail, the guide rail being arranged on the support frame; and a slider connected to the guide rail and configured to be movable along the guide rail; The working head is connected to the slider to move synchronously with the slider.

7. The operating range control system according to claim 3, characterized in that: The driving device includes at least one of a motor, a hydraulic cylinder and a pneumatic cylinder.

8. The operating range control system according to claim 3, characterized in that: The operating range control system also includes: A position sensor, the position sensor is used to detect the displacement of the working head, and the position sensor is electrically connected to the control device; a display device electrically connected to the control device; and An alarm device is electrically connected to the control device, and the control device is configured to control the alarm device to send an alarm signal according to a result of processing the image data.

9. The working range control system according to any one of claims 3 to 8, characterized in that: The control device is constructed as a PLC controller, and the PLC controller is also provided with a communication interface.

10. The working range control system according to any one of claims 3 to 8, characterized in that: The operating range control system further includes a power supply device; or The working range control system includes a power interface for connecting to an external power source.

11. A trusted interconnection system, characterized in that: The trusted interconnected system includes an Internet of Things cloud platform and an operating range control system according to any one of claims 3 to 8, wherein the operating range control system includes an Internet of Things module, and the Internet of Things module is connected to the Internet of Things cloud platform via wired or wireless communication.

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