Rim rough blank detection device

Abstract

The invention discloses a rim rough blank detection device, which is used for detecting a rim rough blank and comprises a depth sensor and an operation control module electrically connected to the depth sensor. The operation control module executes a path obtaining process, a depth measuring process and a bearing point positioning process. In the path obtaining process, a depth sensor is controlled to scan the rim rough blank, the center of the rim is calculated and fitted, and at least one detection path is calculated according to the center. In the depth measurement process, a depth sensor is controlled to scan the rim according to at least one detection path so as to capture a plurality of depth values. In the bearing point positioning process, a plurality of bearing points and a plurality of pieces of relative position information of the bearing points relative to a reference point of the rim rough blank are obtained according to depth value calculation.

Description

Technical Field

[0001] The present invention relates to a device for detecting a rough blank of a rim, and more particularly to a device for detecting a bearing point of a rough blank of a rim. Background Art

[0002] Vehicles such as automobiles run by the rotation of tires. Tires are divided into rims and treads. The manufacturing method of rims usually includes manufacturing a rough blank of a tire and performing fine machining from rough to fine on the rough blank of the tire at multiple processing stations. The rim that has completed the fine machining is then combined with the tread to form a tire.

[0003] The rim of the rough blank of the tire is usually not flat. Therefore, when the rough blank of the tire is directly placed in the processing station for fine machining, the placement of the rough blank of the tire may be inclined. When this inclination is too large, it may have an adverse effect on the quality of the fine machining, and even the rough blank of the tire may collide with the cutting tool of the processing station, resulting in accidental damage to the cutting tool. Summary of the Invention

[0004] In view of the above problems, an object of the present invention is to provide a device for detecting a rough blank of a rim, which can detect the bearing point of the rough blank of the rim.

[0005] An embodiment of the present invention provides a device for detecting a rough blank of a rim for detecting a rough blank of a rim, and includes a depth sensor and an operation control module electrically connected to the depth sensor. The operation control module is configured to execute a path acquisition process, a depth measurement process, and a bearing point positioning process. The path acquisition process is to control the depth sensor to scan the rough blank of the rim, calculate and fit the center of a rim of the rough blank of the rim, and calculate at least one detection path based on the center. The depth measurement process is to control the depth sensor to scan the rim according to at least one detection path to extract a plurality of depth values of the rim. The bearing point positioning process is to calculate a plurality of bearing points and a plurality of relative position information of the bearing points relative to a reference point of the rough blank of the rim based on the depth values.

[0006] According to the device for detecting a rough blank of a rim of an embodiment of the present invention, by obtaining a plurality of bearing points according to the depth values and obtaining a plurality of relative position information of the bearing points relative to the reference point, when the rough blank of the rim is subsequently subjected to fine machining, the rough blank of the rim can be placed according to the plurality of relative position information of the bearing points relative to the reference point. Thus, the rough blank of the rim is placed less inclined, and the cutting tool for subsequent processing can be avoided from colliding with the rough blank of the rim, thereby avoiding accidental damage to the cutting tool.

[0007] The above description of the content of the present invention and the following description of the embodiments are used to demonstrate and explain the spirit and principle of the present invention, and provide a further explanation of the scope of the patent application of the present invention. Brief Description of the Drawings

[0008] Figure 1 Schematic perspective view of a rim blank detection device according to an embodiment of the present invention;

[0009] Figure 2 is Figure 1 Schematic perspective view of another angle of the rim blank detection device;

[0010] Figure 3 is Figure 1 Front view schematic of the rim blank detection device;

[0011] Figure 4 is Figure 1 Block architecture schematic of the rim blank detection device;

[0012] Figure 5 is Figure 4 Flowchart of the rim blank detection method executed by the rim blank detection device shown;

[0013] Figure 6 Top view schematic of a rim blank;

[0014] Figure 7 Top view schematic of a rim blank;

[0015] Figure 8 Top view schematic of a rim blank;

[0016] Figure 9 is Figure 6 Front view schematic of the rim blank;

[0017] Figure 10 is Figure 6 Schematic of the depth value difference of the rim blank relative to the position;

[0018] Figure 11 is Figure 6 Top view schematic of the load point of the rim blank;

[0019] Figure 12 is Figure 6 Top view schematic of the secondary load point of the rim blank;

[0020] Figure 13 Block architecture schematic of a rim blank detection device according to another embodiment of the present invention;

[0021] Figure 14 is Figure 13 Flowchart of the rim blank detection method executed by the rim blank detection device shown.

[0022] Symbol description

[0023] 100, 101: Rim blank detection device

[0024] 1: Frame

[0025] 2: Overhead camera

[0026] 3: Motion module

[0027] 31: First-direction track

[0028] 32: Second-direction track

[0029] 33: Moving seat body

[0030] 4: Vision sensor

[0031] 5: Depth sensor

[0032] 6: Operation control module

[0033] 7: Storage module

[0034] 9: Rim blank

[0035] 90: Air hole

[0036] 91: Reference point

[0037] 92: Rim

[0038] B1, B2, B3: Paragraphs

[0039] C0: Center

[0040] C1, C2, C3: Projections

[0041] F1, F2, F3: Fitting positions

[0042] P1: First detection path

[0043] P2: Second detection path

[0044] R: Radius

[0045] SH: Offset

[0046] SP1, SP2, SP3: Bearing points

[0047] SP4, SP5, SP6: Secondary bearing points Detailed implementation manners

[0048] In the following embodiments, the detailed features and advantages of the embodiments of the present invention will be described in detail. The content is sufficient for any person with ordinary knowledge in the art to understand the technical content of the embodiments of the present invention and implement it accordingly. According to the content, claims and drawings disclosed in this specification, any person with ordinary knowledge in the art can easily understand the related purposes and advantages of the present invention. The following embodiments further illustrate the content of the present invention, but do not limit the scope of the present invention in any way.

[0049] In the so-called schematic diagrams in this specification, for the purpose of illustration, there may be exaggerated situations such as its size, proportion and angle, etc., but it is not used to limit the present invention. Various changes can be made without departing from the gist of the present invention. The up, down, front and rear orientations mentioned in the description of the embodiments and the drawings are for illustration purposes and not used to limit the present invention.

[0050] Please refer to Figure 1 and Figure 2 . Figure 1 FIG. 1 shows a three-dimensional schematic diagram of a rough rim detection device according to an embodiment of the present invention. Figure 2 FIG. 2 shows Figure 1 a three-dimensional schematic diagram of another perspective of the rough rim detection device. Figure 3 FIG. 3 shows Figure 1 a front view schematic diagram of the rough rim detection device. Figure 4 FIG. 4 shows Figure 1 a block architecture schematic diagram of the rough rim detection device.

[0051] As shown in Figure 1 , Figure 2 and Figure 3 FIGS. 1 to 4, the rough rim detection device 100 includes: a frame body 1, an overhead camera 2, a motion module 3, a vision sensor 4 and a depth sensor 5.

[0052] The frame body 1 is used to accommodate a rough rim 9. The rough rim 9 has a reference point 91 and a rim 92. The overhead camera 2 is disposed on the frame body 1. The overhead camera 2 is arranged to face the rough rim 9 to capture an image. The overhead camera 2 is used to sense the rough rim 9 to obtain an image. In this embodiment, the overhead camera 2 is fixed to the frame body 1. The viewing angle of the overhead camera 2 is sufficient to capture the entire rough rim 9 in one image.

[0053] The motion module 3 is disposed on the frame body 1. The motion module 3 includes a first-direction track 31, a second-direction track 32, and a moving seat body 33. The first-direction track 31 is fixed to the frame body 1. The second-direction track 32 is disposed on the first-direction track 31 in a slidable manner along the first-direction track 31. The moving seat body 33 is disposed on the second-direction track 32 in a slidable manner along the second-direction track 32. In this embodiment, both the first-direction track 31 and the second-direction track 32 extend in the horizontal direction, and the first-direction track 31 and the second-direction track 32 are substantially orthogonal to each other. The first-direction track 31 extends along the X direction. The second-direction track 32 extends along the Y direction.

[0054] The vision sensor 4 and the depth sensor 5 are disposed on the moving seat body 33. The vision sensor 4 and the depth sensor 5 can move relative to the frame body 1 through the motion module 3. The viewing angle of the vision sensor 4 can be smaller than the viewing angle of the overhead camera 2. The viewing angle of the vision sensor 4 can be larger than the viewing angle of the depth sensor 5. In this embodiment, the depth sensor 5 can be a laser displacement meter or an optical rangefinder. The depth sensor 5 can use a camera with fewer pixels than the vision sensor 4 to capture images of a small area, thereby reducing the cost of the rim blank detection device 100.

[0055] As Figure 2 and Figure 4 shown, the rim blank detection device 100 further includes an arithmetic control module 6 and a storage module 7. The arithmetic control module 6 is connected to the overhead camera 2, the motion module 3, the vision sensor 4, the depth sensor 5, and the storage module 7. The arithmetic control module 6 can be a processor of a computer, and the storage module 7 can be a hard disk of a computer, a USB flash drive connected to the computer, or an optical disc, magnetic disk, or memory card readable by the computer, etc.

[0056] The storage module 7 stores a plurality of model information of multiple models of various rims. In each model information, at least it can include the model of the rim, the distance between the air hole and the wheel axle corresponding to the model of the rim, and the distance between the wheel rim and the wheel axle. In addition, the storage module 7 can further include the presence or absence of the air hole corresponding to the model of the rim, the diameter of the wheel rim 92, the height of the wheel rim 92, the offset amount SH required for the vision sensor 4 when detecting the reference point (which will be described later in conjunction with Figure 9 description), etc. information.

[0057] The arithmetic control module 6 can compare the model information stored in the storage module 7 according to the image obtained by the overhead camera 2 sensing the rim blank 9, and determine the model corresponding to the rim blank 9.

[0058] The operation control module 6 can cooperate with the motion module 3 and the depth sensor 5 to perform a path acquisition process. The operation control module 6 can cooperate with the motion module 3 and the vision sensor 4 to perform a reference point setting process. The operation control module 6 can cooperate with the motion module 3 and the depth sensor 5 to perform a depth measurement process. The operation control module 6 can perform a bearing point positioning process.

[0059] Refer to Figure 2 , Figures 4 to 12 , discuss the method for detecting the rough blank of the rim. Figure 5 Illustrate Figure 4 The flowchart of the method for detecting the rough blank of the rim executed by the rim rough blank detection device shown. Figure 6 Illustrate a top view schematic diagram of a rough blank of a rim. Figure 7 Illustrate a top view schematic diagram of a rough blank of a rim. Figure 8 Illustrate a top view schematic diagram of a rough blank of a rim. Figure 9 Illustrate Figure 6 The front view schematic diagram of the rough blank of the rim of. Figure 10 Illustrate Figure 6 The schematic diagram of the difference in depth values of the rough blank of the rim with respect to the position of. Figure 11 Illustrate Figure 6 The top view schematic diagram of the bearing point of the rough blank of the rim of. Figure 12 Illustrate Figure 6 The top view schematic diagram of the secondary bearing point of the rough blank of the rim of.

[0060] As Figure 5 shown, the method for detecting the rough blank of the rim includes a rim image acquisition process S1, a model confirmation process S2, a path acquisition process S3, a reference point setting process S4, a depth measurement process S5, a bearing point positioning process S6, and a transmission process S7. First, as Figure 2 shown, place the rough blank 9 of the rim in the frame 1.

[0061] As Figure 2 , Figure 4 and Figure 5 shown, in the rim image acquisition process S1, the operation control module 6 controls the top camera 2 to photograph the rough blank 9 of the rim to obtain an image.

[0062] As Figure 4 and Figure 5 shown, in the model confirmation process S2, the operation control module 6 compares the model information stored in the storage module 7 according to the image obtained in the rim image acquisition process S1 to determine the model corresponding to the rough blank 9 of the rim. However, this is not a limitation. In other embodiments, when the rough blanks 9 of the rims on the production line are all of the same model, the above-mentioned rim image acquisition process S1 and model confirmation process S2 can be omitted.

[0063] In this embodiment, as Figure 2, Figure 4 and Figure 5 As shown in Figure 4 and Figure 5 , in the path acquisition process S3, the arithmetic control module 6 drives the motion module 3 to make the depth sensor 5 perform a cross motion and simultaneously scan the depth value of the rim blank 9. The depth value represents the distance from the depth sensor 5 to the rim blank 9. The position with the maximum depth value is set as the position where the cross of the cross motion overlaps with the rim 92. As Figure 6 shown in Figure 6 , when the projection C1 of the intersection point of the cross to the rim 92 is within the rim 92, the four positions where the cross overlaps with the rim 92 are set as the fitting positions F1 of the rim 92.

[0064] As Figure 7 shown in Figure 7 , when the projection C2 of the intersection point of the cross to the rim 92 is on the rim 92, the three positions where the cross overlaps with the rim 92 are set as the fitting positions F2 of the rim 92. In addition, when the projection C2 of the intersection point of the cross to the rim 92 is on the rim 92, there is still a small probability that the number of fitting positions F2 is less than three. At this time, the image obtained in the rim image acquisition process S1 and the further obtained model information can be used to assist in adjusting the position of the cross motion until the projection of the intersection point of the cross to the rim 92 is on the rim 92 or within the rim 92.

[0065] As Figure 8 shown in Figure 8 , when the projection C3 of the intersection point of the cross to the rim 92 is outside the rim 92, there may be a situation where the number of fitting positions F3 is less than three. At this time, the image obtained in the rim image acquisition process S1 and the further obtained model information can be used to assist in adjusting the position of the cross motion until the projection of the intersection point of the cross to the rim 92 is on the rim 92 or within the rim 92. In addition, when the projection C3 of the intersection point of the cross to the rim 92 is outside the rim 92, there is still a small probability that the number of fitting positions F3 is four, and subsequent calculations can be directly performed.

[0066] In short, when the number of fitting positions F2 and F3 is less than three, the image obtained in the rim image acquisition process S1 and the further obtained model information are used to assist in adjusting the position of the cross motion until the projection of the intersection point of the cross to the rim 92 is on the rim 92 or within the rim 92, but not limited to this. In other embodiments, when the diameter of the rim 92 is greater than half of the extension length of the first-direction track 31 and greater than half of the extension length of the second-direction track 32, the intersection point of the cross is at half of the extension length of the first-direction track 31 and half of the extension length of the second-direction track 32, and four fitting positions F1 and F3 can be obtained, and the step of using the image obtained in the rim image acquisition process S1 to assist in adjusting the position of the cross motion can be omitted.

[0067] In this embodiment, the operation control module 6 obtains at least three fitting positions F1, F2, and F3 of the rim 92. As Figure 6 and Figure 9 shown, according to the fitting position F1, the operation control module 6 uses calculation methods such as the circumcircle of a triangle, the circumcircle of a quadrilateral, and the distance calculation from a three-dimensional space point to a plane to calculate and fit a center C0 and a radius R of the rim 92, and obtains at least one detection path based on the center C0. The detection path includes a first detection path P1 and a second detection path P2. In this embodiment, the operation control module 6 calculates a first detection path P1 based on the center C0, the relative relationship between the air hole and the axle stored in the storage module 7, and the viewing angle of the vision sensor 4, etc., and calculates a second detection path P2 based on the center C0 and the distance between the rim and the axle stored in the storage module 7. Specifically, the first detection path P1 is a circular path formed by rotating a circle with the center C0 as the rotation axis and the sum of the radius R and the offset SH as the rotation radius, and the second detection path P2 is a circular path formed by rotating a circle with the center C0 as the rotation axis and the radius R as the rotation radius. Among them, the offset SH is calculated from information such as the center C0, the relative relationship between the air hole and the axle stored in the storage module 7, and the viewing angle of the vision sensor 4. The offset SH is set so that the vision sensor 4 can capture the air hole through the first detection path P1. The offset SH can be obtained by calculation or read from the storage module 7.

[0068] In other embodiments, the rim image acquisition process S1 and the model confirmation process S2 can also be adjusted after the path acquisition process S3. The operation control module 6 drives the motion module 3 to make the vision sensor 4 perform a circular motion on the rough rim 9 according to the second detection path P2 to sense the image of the rough rim 9, so as to perform the rim image acquisition process S1 and the model confirmation process S2.

[0069] In this embodiment, as Figure 2 , Figure 4 and Figure 5 shown, in the reference point setting process S4, the operation control module 6 drives the motion module 3 to make the vision sensor 4 perform a circular motion on the rough rim 9 according to the first detection path P1 to scan the rough rim 9, so as to set a reference point 91 of the rough rim 9. As Figure 6 shown, an air hole 90 of the rough rim 9 is set as the reference point 91. As Figure 9As shown, for some shaped rim blanks 9, air holes may not be sensed directly from above. In this case, the arithmetic control module 6, based on the center C0 and radius R, and with the aid of the offset SH in the model information, uses the center C0 as the rotation axis and the sum of the radius R and the offset SH as the rotation radius to make the vision sensor 4 perform a circular motion around the rim blank 9 to scan the rim blank 9. However, this is not limiting. In other embodiments, when there are no air holes in the rim blank 9, a mark painted or attached to the rim blank 9 may also be set as a reference point.

[0070] In this embodiment, as Figure 2 , Figure 4 and Figure 5 shown, in the depth measurement process S5, the arithmetic control module 6 drives the motion module 3 to make the depth sensor 5 perform a circular motion around the rim blank 9 according to the second detection path P2 to scan the rim 92 and capture multiple depth values of the rim 92. The focusing range of the depth sensor 5 can be concentrated near the depth of the rim 92, thereby improving the recognition accuracy. The arithmetic control module 6 can assist the depth sensor 5 in sensing the depth range based on the depth of the rim 92 in the model information. Thus, as Figure 10 shown above, multiple depth value differences corresponding to 0 to 360 degrees of the rim 92 minus the depth of the rim 92 in the model information can be plotted.

[0071] In the reference point setting process S4 and the depth measurement process S5, it is the motion module 3 that makes the vision sensor 4 and the depth sensor 5 perform circular motions around the rim blank 9, rather than making the rim blank 9 rotate on its own axis. Since the rim blank 9 may vibrate when the axis of rotation does not coincide with the center of gravity of the rim blank 9, in this embodiment, by making the vision sensor 4 and the depth sensor 5 perform circular motions around the rim blank 9, the above-mentioned vibration can be avoided.

[0072] In addition, the order of the reference point setting process S4 can be prior to the depth measurement process S5. Comparing the reference point setting process S4 and the depth measurement process S5, the reference point setting process S4 involves analysis and calculation of multiple pictures, so the amount of calculation is large, while the depth measurement process S5 is numerical value capture and the amount of calculation is small. Therefore, after scanning the rim blank 9 in the reference point setting process S4 and before the setting of the reference point 91 is completed during the analysis and calculation of the pictures, the sensing of the depth measurement process S5 can be carried out immediately. Thus, the total time required for the reference point setting process S4 and the depth measurement process S5 can be saved.

[0073] As Figure 4 , Figure 5 , Figure 6As shown, in the carrying point positioning process S6, the operation control module 6 obtains a plurality of carrying points based on a plurality of depth values, and obtains a plurality of relative position information of the plurality of carrying points with respect to the reference point 91. The number of carrying points is three or more. For example, the number of carrying points is N. The number of depth values is N×M. The second detection path P2 is divided into N segments, and a plurality of depth values corresponding to the first to M positions are allocated to each segment, and a first to M degree of difference of the plurality of depth values at the plurality of first to M positions is calculated, and the smallest degree of difference is obtained from the plurality of degrees of difference, and the plurality of positions corresponding to the smallest degree of difference are set as the plurality of carrying points.

[0074] As Figure 10 and Figure 11 shown, taking the line connecting the reference point 91 to the center C0 as 0 degrees, 360 depth values are captured in total from 1 to 360 degrees according to the second detection path P2, and a plurality of depth value differences of the depth of the rim 92 in the plurality of depth values minus the model information are drawn. That is, it is assisted by the depth of the rim 92 in the model information. N is equal to 3, and M is equal to 120. The first to 120th depth value differences are allocated to the first segment B1, the 121st to 240th depth value differences are allocated to the second segment B2, and the 241st to 360th depth value differences are allocated to the third segment B3. As Figure 10 below, the depth value differences of the three segments B1, B2, and B3 are overlapped.

[0075] As Figure 10 and Figure 11 shown, taking the "root mean square of the three depth value differences" of the depth value difference at the first position of the first segment B1, the depth value difference at the first position of the second segment B2, and the depth value difference at the first position of the third segment B3 as the first degree of difference. Taking the "root mean square of the three depth value differences" of the depth value difference at the second position of the first segment B1, the depth value difference at the second position of the second segment B2, and the depth value difference at the second position of the third segment B3 as the second degree of difference. And so on until taking the "root mean square of the three depth value differences" of the depth value difference at the 120th position of the first segment B1, the depth value difference at the 120th position of the second segment B2, and the depth value difference at the 120th position of the third segment B3 as the 120th degree of difference. As Figure 10 shown below, the degree of difference of the depth value at about the 115th position is the smallest. Therefore, the 115th position, the 115 + 120th position of the whole circle (i.e., the 235th position), and the 115 + 120 + 120th position of the whole circle (i.e., the 355th position) are set as the plurality of carrying points SP1, SP2, and SP3. Since the degree of difference of these depth values is the smallest, when the rough blank 9 of the wheel is carried by the carrying fixture of the processing machine in the subsequent process, the inclination degree of the rough blank 9 of the wheel can be minimized.

[0076] AsFigure 11 As shown, a connecting line from each of the bearing points SP1, SP2, SP3 to the center C0 forms an angle with a connecting line from the reference point 91 to the center C0. These angles are set as relative position information. In this embodiment, the relative position information is 115°, 235°, 355°.

[0077] In addition, as Figure 10 and Figure 12 shown, the degree of difference in depth values at approximately the 50th position is the second smallest. Therefore, the 50th position, the 50 + 120th position of the entire circle (i.e., the 170th position), and the 50 + 120 + 120th position of the entire circle (i.e., the 290th position) can also be defined as multiple secondary bearing points SP4, SP5, SP6 for backup. The secondary relative position information is 50°, 170°, 290°

[0078] In this embodiment, although the "root mean square of the differences of three depth values" is used as the degree of difference, it is not limited thereto. In other embodiments, the "difference between the maximum value and the minimum value of the three depth values" can also be used as the degree of difference. In other embodiments, the "standard deviation of the three depth values" can also be used as the degree of difference.

[0079] In this embodiment, as Figure 5 shown, in the transmission process S7, the operation control module 6 transfers the relative position information and the secondary relative position information to the subsequent processing machine and moves the rough rim blank 9 to the processing machine. The processing machine can place the bearing points of the rough rim blank 9 on the bearing fixture of the processing machine corresponding to the relative position information or the secondary relative position information, so that the inclination degree of the rough rim blank 9 can be minimized.

[0080] Please refer to Figure 13 and Figure 14 . Figure 13 FIG. shows a block architecture diagram of a rough rim blank detection device according to another embodiment of the present invention. Figure 14 FIG. shows Figure 13 a flowchart of a rough rim blank detection method performed by the rough rim blank detection device shown.

[0081] As Figure 13 and Figure 14 shown, the rough rim blank detection device 101 includes a depth sensor 5 and an operation control module 6 electrically connected to the depth sensor 5.

[0082] In this embodiment, the position of a reference point on the rough rim blank is fixed, that is, the operation control module 6 has been pre-set with the information of the reference point. In this case, compared with Figure 5 the embodiment of, the execution process can be further streamlined. Therefore, the operation control module 6 of this embodiment is configured to execute a path acquisition process S3, a depth measurement process S5, and a bearing point positioning process S6.

[0083] In the path acquisition process S3, the arithmetic control module 6 controls the depth sensor 5 to scan the rim blank of the wheel, calculates and fits the center of the rim of the rim blank, and calculates at least one detection path based on the center. The method for obtaining the center of the rim and the calculation principle of the detection path in this embodiment are the same as those in the foregoing embodiments.

[0084] In the depth measurement process S5, the arithmetic control module 6 controls the depth sensor 5 to scan the rim according to at least one detection path to extract a plurality of depth values of the rim. One of the at least one detection paths in this embodiment is the second detection path P2 in the foregoing embodiment. The execution content of the depth measurement process S5 in this embodiment is the same as that in the foregoing embodiment.

[0085] In the load point positioning process S6, the arithmetic control module 6 calculates a plurality of load points and a plurality of relative position information of the load points relative to the reference point of the rim blank according to the depth values. The information of the reference point in this embodiment can be preset and stored in the built-in memory of the arithmetic control module 6, or can also be stored in an independent memory that can be accessed by the arithmetic control module 6 in advance. The execution content of the load point positioning process S6 in this embodiment is the same as that in the foregoing embodiment.

[0086] In the case of detecting rim blanks of multiple different models, it is also possible to further add Figure 5 the rim image acquisition process S1, the model confirmation process S2, and the transmission process S7 in the embodiment of Figure 4 and add the overhead camera 2 of the

[0087] In summary, in the rim blank detection device according to an embodiment of the present invention, by obtaining a plurality of load points according to the depth values and obtaining a plurality of relative position information of the load points relative to the reference point, when the rim blank is subsequently subjected to precision machining, the rim blank can be placed according to the plurality of relative position information of the load points relative to the reference point. Thus, the rim blank is placed less inclined, and the tool for subsequent processing can be prevented from colliding with the rim blank, thereby avoiding accidental damage to the tool. Furthermore, in the rim blank detection device according to an embodiment of the present invention, the vision sensor and the depth sensor can be made to perform a circular motion on the rim blank through the motion module, rather than making the rim blank rotate. In this way, the vibration that may occur when the axis of rotation of the rim blank does not coincide with the center of gravity of the rim blank during rotation can be avoided. In addition, the depth sensor can use a camera with fewer pixels than the vision sensor to capture images of a small area, thereby reducing the cost of the rim blank detection device. The focusing range of the depth sensor can be concentrated near the depth of the rim, thereby improving the recognition accuracy.

Claims

1. A wheel rim blank detection device, for detecting a wheel rim blank, comprising a depth sensor and an operation control module electrically connected to the depth sensor, wherein the operation control module is configured to execute: A path acquisition step, controlling the depth sensor to scan the rough wheel rim, and calculating and fitting the center of the wheel rim of the rough wheel rim, and calculating at least one detection path according to the center; A depth measurement process, controlling the depth sensor to scan the wheel rim according to the at least one detection path to capture a plurality of depth values ​​of the wheel rim; and The bearing point positioning process calculates and obtains a plurality of bearing points and a plurality of relative position information of the bearing points relative to the reference points of the wheel rim blank according to the depth values.

2. The wheel rim rough blank detection device as claimed in claim 1, further comprising a visual sensor electrically connected to the operation control module, wherein the at least one detection path comprises a first detection path and a second detection path, and the operation control module is configured to further execute: The reference point setting step is to control the visual sensor to scan the wheel rim blank according to the first detection path to set the reference point of the wheel rim blank. in, In the depth measurement process, the depth sensor is controlled to scan the wheel rim according to the second detection path.

3. The wheel rough blank detection device as described in claim 2 further includes a motion module, the visual sensor and the depth sensor are arranged in the motion module, the operation control module is connected to the motion module, and the operation control module is configured to drive the motion module to move the visual sensor and the depth sensor.

4. The wheel rough blank detection device as described in claim 3, wherein the motion module includes a first direction track, a second direction track and a motion seat, the second direction track is arranged on the first direction track and can slide along the first direction track, the motion seat is arranged on the second direction track and can slide along the second direction track, and the visual sensor and the depth sensor are arranged on the motion seat.

5. The wheel rim blank detection device as described in claim 3 further includes a frame, the motion module is arranged on the frame, the frame is used to accommodate the wheel rim blank, and the operation control module is configured to drive the motion module to move the visual sensor and the depth sensor relative to the frame.

6. The wheel rim rough blank detection device as described in claim 2, wherein in the path acquisition process, the depth sensor is controlled to perform a cross motion to obtain at least three fitting positions of the wheel rim, the center and radius of the wheel rim are calculated and fitted according to the at least three fitting positions, and the first detection path and the second detection path are obtained by calculation based on the center.

7. The wheel rim rough blank detection device as claimed in claim 6, wherein the number of the at least three fitting positions is four.

8. The wheel rim rough blank detection device as claimed in claim 6, wherein a line connecting each of the bearing points to the center and another line connecting the reference point to the center have an angle, and the angles are set as the relative position information.

9. The wheel rim blank detection device as claimed in claim 2, wherein in the reference point setting process, the pores of the wheel rim blank are set as the reference points.

10. The wheel rim rough blank detection device as claimed in claim 2, wherein in the reference point setting process, a mark painted or attached to the wheel rim rough blank is set as the reference point.

11. The wheel rough blank detection device as described in claim 2, wherein the number of the bearing points is N, the number of the depth values ​​is N×M, and in the bearing point positioning process, the second detection path is divided into N sections, and the depth values ​​corresponding to the 1st to Mth positions are allocated in each of the sections, and the 1st to Mth difference degrees of the depth values ​​at the 1st to Mth positions are calculated, and the minimum difference degree is calculated from the difference degrees, and the positions corresponding to the minimum difference degree are set as the bearing points.

12. The wheel rim rough blank detection device as claimed in claim 2, wherein the number of the bearing points is more than three.

13. The wheel rim rough blank detection device as described in claim 2 further includes a storage module, the operation control module is connected to the storage module, and the storage module stores multiple model information of multiple models.

14. The wheel rim blank detection device as described in claim 13, wherein the operation control module is also configured to perform a model confirmation process before the path acquisition process, and the model confirmation process is to sense the wheel rim blank and confirm the model corresponding to the wheel rim blank and obtain the corresponding model information.

15. The wheel rim blank detection device as described in claim 14 further includes a bird's-eye view camera, the operation control module is connected to the bird's-eye view camera, in the model confirmation process, the operation control module controls the bird's-eye view camera to shoot the wheel rim blank to obtain an image, and the operation control module compares the image with the model information stored in the storage module to determine the model corresponding to the wheel rim blank and obtain the corresponding model information.

16. The wheel rim rough blank detection device as described in claim 14, wherein in the path acquisition process, the first detection path and the second detection path are calculated with assistance of the corresponding model information.

17. The wheel rim rough blank detection device as described in claim 14, wherein in the reference point setting process, the reference point is set with assistance of the corresponding model information.

18. The wheel rim blank detection device as claimed in claim 14, wherein in the depth measurement process, the depth values ​​are assisted by the corresponding model information.

19. The wheel rim rough blank detection device as described in claim 14, wherein in the bearing point positioning process, the bearing points and the relative position information are obtained through the corresponding model information auxiliary calculation.

20. The wheel rim blank detection device as claimed in claim 2, further comprising a transmission step of transmitting the relative position information to a processing machine and moving the wheel rim blank to the processing machine.

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