Full-automatic tool recognition method, system and device

Abstract

The application belongs to the technical field of electric communication, and particularly relates to a full-automatic cutter identification method, system and device, wherein the full-automatic cutter identification method comprises the following steps: determining the position of a cutter to be detected through a control module, and determining the size of a detection area according to the position of the cutter to be detected; adjusting the aperture area range of a camera according to the size of the detection area through the control module, then controlling the corresponding photosensitive unit to work according to the aperture area range, so as to acquire an image; and determining the defects of the cutter to be detected according to the image by the control module; wherein each small photosensitive unit in the working photosensitive unit is connected with a corresponding large photosensitive unit, so as to increase the trap capacity of the small photosensitive unit when strong light irradiation, and then the trap capacity of the small photosensitive unit under strong light irradiation is increased, the adaptability to strong light is increased, overexposure in the photographed image is avoided, and the local details of the image are clearer, so that the accurate detection of the cutter is facilitated.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electric communication, and particularly relates to the technical field of image recognition, and especially relates to a full-automatic cutter identification method, system and device. BACKGROUND

[0002] When strong light irradiates metal, the smooth surface will reflect, and the reflection effect of the surface with defects is weaker than that of the surrounding surface, presenting a black shadow. The strong light can increase the identification of cutter defects, but the strong light will cause the sensor to overexpose, making it difficult to identify the defects of the cutter in the photographed image.

[0003] Therefore, due to the technical problem that the sensor overexposure caused by strong light makes it difficult to identify and determine the cutter defects through the photographed image, a full-automatic cutter identification method, system and device need to be designed.

[0004] It should be noted that the above information disclosed in the background section of the present application is only used to understand the background of the present application, and therefore, the above description is not considered to constitute prior art information. SUMMARY

[0005] The present application at least provides a full-automatic cutter identification method, system and device.

[0006] In a first aspect, the present application provides a full-automatic cutter identification method, comprising:

[0007] The position of the cutter to be detected is determined by the control module, and the size of the detection area is determined according to the position of the cutter to be detected;

[0008] The control module adjusts the aperture area range of the camera according to the size of the detection area, and then controls the corresponding photosensitive unit to work according to the aperture area range to obtain an image;

[0009] The control module determines the defects of the cutter to be detected according to the image; wherein

[0010] In the working photosensitive unit, each small photosensitive unit is electrically connected to a corresponding large photosensitive unit, so as to increase the well capacity of the small photosensitive unit when strong light irradiates.

[0011] In an optional embodiment, the method of adjusting the aperture area range of the camera according to the size of the detection area by the control module comprises:

[0012] The detection area only contains a complete cutter to be detected, the control module adjusts the aperture area of all cameras according to the size of the detection area, so that the aperture area is adapted to the detection area, and the shooting range of the photosensitive unit in the aperture area is aligned with the detection area, and the shooting range of the photosensitive unit in the aperture area only contains a complete cutter to be detected.

[0013] In an alternative embodiment, the method for controlling the operation of the corresponding light sensing units according to the range of the aperture area comprises:

[0014] The light sensing units comprise a plurality of large light sensing units, the large light sensing units are arranged in an array, and at least one small light sensing unit is arranged between adjacent large light sensing units, the outermost large light sensing units are cooperative units, and the large light sensing units in the cooperative units are outside the aperture area and are blocked;

[0015] Each small light sensing unit is electrically connected to at least one large light sensing unit in a cooperative unit, and the small light sensing unit and the large light sensing unit are connected through a switch circuit;

[0016] The control module controls the operation of the corresponding large light sensing units and small light sensing units in the aperture area, respectively, acquires a first image in real time when all the large light sensing units in the aperture area are working, and acquires a second image in real time when all the small light sensing units in the aperture area are working;

[0017] The control module controls the switch circuit to close when the small light sensing unit is working, so that the large light sensing units in the cooperative unit share the well capacity with the working small light sensing unit, thereby increasing the well capacity of the working small light sensing unit.

[0018] In an alternative embodiment, the method for controlling the operation of the corresponding light sensing units according to the range of the aperture area comprises:

[0019] During the movement of the tool to be detected by the grabbing mechanism, the control module controls the movement mechanism to drive the shooting range of all the cameras to follow the movement of the tool to be detected, that is, the shooting range corresponding to the light sensing units in the aperture area of all the cameras follows the movement of the tool to be detected, and the control module judges the defects of the tool to be detected according to the first image and the second image during the movement of the tool to be detected.

[0020] In an alternative embodiment, the method for controlling the operation of the corresponding light sensing units according to the range of the aperture area comprises:

[0021] The grabbing mechanism is provided with cameras and light bars around the passing area when grabbing the tool, the control module controls the light bars and cameras at the upper and lower positions in the passing area to work alternately, and then controls the light bars and cameras at the left and right positions in the passing area to work alternately, so as to judge the position of the grabbing mechanism in the passing area, and judge the position of the tool to be detected grabbed by the grabbing mechanism according to the position of the grabbing mechanism in the passing area;

[0022] After judging the position of the tool to be detected, the control module controls all the light bars to work to irradiate strong light to the position of the tool to be detected, and controls all the cameras to shoot the position of the tool to be detected;

[0023] The control module controls the movement mechanism to drive all the cameras and the light bars to follow the movement of the tool to be detected during the movement of the tool to be detected by the grabbing mechanism.

[0024] In a second aspect, the present disclosure provides a full-automatic tool identification system, comprising:

[0025] A position determining module configured to determine the position of the tool to be detected and determine the size of the detection area according to the position of the tool to be detected;

[0026] An adjusting module configured to adjust the aperture area range of the camera according to the size of the detection area, and then control the corresponding photosensitive unit to work according to the aperture area range to obtain the image;

[0027] A detecting module configured to determine the defect of the tool to be detected according to the image.

[0028] In a third aspect, the present disclosure provides a computer readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the full-automatic tool identification method.

[0029] In a fourth aspect, the present disclosure provides a program product comprising instructions, which, when executed by a device, cause the device to perform the steps of the full-automatic tool identification method.

[0030] In a fifth aspect, the present disclosure provides a full-automatic tool identification device, comprising:

[0031] A first frame, wherein the area surrounded by the first frame is a passing area of the grabbing mechanism, and the first frame is arranged on a placing area for placing tools, and the placing area is provided with a plurality of placing stations, and each placing station is provided with a tool;

[0032] A plurality of groups of cameras and light bars are arranged on the inner wall of the first frame, and at least one group of cameras and light bars is arranged in each of the up, down, left and right directions of the grabbing mechanism when the grabbing mechanism passes through the passing area;

[0033] The control module is electrically connected with the grabbing mechanism and all the cameras and light bars;

[0034] The control module is configured to determine the defect of the tool to be detected by using the full-automatic tool identification method.

[0035] In an optional embodiment, the inner wall of the first frame is further provided with a movement mechanism corresponding to the camera, and the movement mechanism is electrically connected with the control module;

[0036] The control module controls the movement mechanism to drive all the camera shooting ranges and the light bar irradiation ranges to follow the movement of the to-be-detected cutter during the movement of the to-be-detected cutter grabbed by the grabbing mechanism.

[0037] The full-automatic cutter identification method has the advantages that the full-automatic cutter identification method comprises the following steps: determining the position of a to-be-detected cutter by a control module, determining the size of a detection area according to the position of the to-be-detected cutter, adjusting the aperture area range of a camera according to the size of the detection area by the control module, then controlling the corresponding photosensitive units to work according to the aperture area range, acquiring an image, and determining the defects of the to-be-detected cutter according to the image by the control module; wherein the small photosensitive units are electrically connected with the corresponding large photosensitive units in the working photosensitive units, so as to increase the trap capacity of the small photosensitive units under strong light irradiation, thereby realizing the trap capacity of the small photosensitive units under strong light irradiation, increasing the adaptability to strong light, avoiding overexposure in the photographed image, and making the local details of the image clearer, thereby facilitating accurate detection of the cutter.

[0038] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application. The objects and other advantages of the present application will be realized and achieved by the structure particularly pointed out in the description and the appended drawings.

[0039] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.

[0041] Figure 1 A flow chart of a full-automatic cutter identification method provided by the embodiment of the present disclosure is shown in the figure.

[0042] Figure 2 A schematic diagram of a large photosensitive unit and a small photosensitive unit provided by the embodiment of the present disclosure is shown in the figure.

[0043] Figure 3 A schematic diagram of an aperture area provided by the embodiment of the present disclosure is shown in the figure.

[0044] Figure 4 A structural schematic diagram of a first frame provided by the embodiment of the present disclosure is shown in the figure.

[0045] In the figure:

[0046] 1 large light-sensitive unit, 2 small light-sensitive unit, 3 first frame, 4 light bar, 5 second frame, 6 cabinet, 7 camera. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0048] As used herein, the phrases "in an embodiment," "according to an embodiment," "in some embodiments," and the like generally mean the particular feature, structure, or characteristic following the phrase is that one of the embodiments of the present disclosure. Features, structures, or characteristics can be included in more than one embodiment of the present disclosure, so the phrases do not necessarily refer to the same embodiment. As used herein, the terms "for example," "e.g.," "for instance," and the like, mean "for the purpose of illustration and example." Any embodiment, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments, aspects, or designs. Rather, the use of the terms "example," "exemplary," and the like is intended to present concepts in a concrete manner.

[0049] Strong light can highlight the features of the metal surface, distinguish color differences, enhance reflection characteristics, etc. in the process of metal identification detection. When strong light irradiates metal, smooth surfaces will reflect, and the reflection effect of surfaces with defects is weaker than that of other surrounding surfaces, presenting a black shadow. Under strong light, the identification of tool defects can be increased, but the inventors have found that strong light can cause the sensor to overexpose, making it difficult to identify the defects of the tool in the captured image.

[0050] The defects of the above solutions are the results obtained by the inventors after practice and careful research, and therefore, the discovery process of the above problems and the solutions proposed by the present disclosure to solve the above problems should be the contributions made by the inventors to the present disclosure in the process of the present disclosure.

[0051] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0052] Some embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the embodiments described below and the features in the embodiments can be combined with each other.

[0053] AsFigure 1 As shown, at least one disclosed embodiment provides a full-automatic tool recognition method, which comprises: judging the position of the tool to be detected by the control module, and judging the size of the detection area according to the position of the tool to be detected; adjusting the aperture area range of the camera 7 according to the size of the detection area by the control module, and then controlling the corresponding photosensitive unit to work according to the aperture area range to obtain an image; the control module judges the defects of the tool to be detected according to the image, and can also identify the model of the tool; wherein the small photosensitive unit 2 in the working photosensitive unit is electrically connected with the corresponding large photosensitive unit 1, so as to increase the trap capacity of the small photosensitive unit 2 under strong light irradiation, and then realize the trap capacity of the small photosensitive unit 2 under strong light irradiation, increase the adaptability to strong light, avoid overexposure in the photographed image, and make the local details of the image clearer, so as to facilitate the accurate detection of the tool.

[0054] In this embodiment, the small photosensitive unit 2 that needs to work is connected with the outermost ring (cooperative part) large photosensitive unit 1 when working, shares the trap capacity of the large photosensitive unit 1, increases the adaptability of the small photosensitive unit 2 to strong light, can adapt to strong light, and can make the second image shot more clearly show the local details, facilitating the accurate detection of defects such as flaws on the tool in the subsequent process.

[0055] As shown in Figure 3 In an alternative embodiment, the method of adjusting the aperture area range of the camera 7 according to the size of the detection area by the control module comprises: the detection area only contains a complete tool to be detected, the control module adjusts the aperture area of all cameras 7 according to the size of the detection area, so that the aperture area is adapted to the detection area, and the shooting range corresponding to the photosensitive unit in the aperture area is aligned with the detection area. The shooting range corresponding to the photosensitive unit in the aperture area only contains a complete tool to be detected, i.e. does not contain other tools, so as to avoid the influence of other tools on the detection of the tool to be detected.

[0056] In this embodiment, the aperture area can be as shown in the shadow part of Figure 3 The aperture structure on the camera 7 is an adjustable aperture, and the large photosensitive unit 1 and the small photosensitive unit 2 outside the aperture area are blocked.

[0057] In this embodiment, the aperture area is matched with the detection area, so that only a small range of area needs to be shot when shooting the tool image, avoiding shooting other tools or other environmental factors, and facilitating more accurate judgment of flaws on the tool.

[0058] In this embodiment, the surface of the tool can be pasted or engraved with the corresponding model, and the model of the tool can be directly identified in the first image and the second image.

[0059] As shown in Figure 2As shown, in an optional embodiment, the method for controlling the operation of the corresponding light sensing units according to the range of the aperture area includes: the light sensing units include a plurality of large light sensing units 1, the large light sensing units 1 are arranged in an array, and at least one small light sensing unit 2 is arranged between adjacent large light sensing units 1, the outermost large light sensing units 1 are cooperative parts, the large light sensing units 1 in the cooperative parts are outside the aperture area and are blocked, the large light sensing units 1 and the small light sensing units 2 in the aperture area work respectively, and the large light sensing units 1 in the cooperative parts are in a blocked state; and the small light sensing units 2 are electrically connected to at least one large light sensing unit 1 in the cooperative part, the small light sensing units 2 and the large light sensing units 1 are connected through a switch circuit; the control module controls the operation of the corresponding large light sensing units 1 and small light sensing units 2 in the aperture area, and acquires a first image in real time when all the large light sensing units 1 in the aperture area work, and acquires a second image in real time when all the small light sensing units 2 in the aperture area work; the control module controls the switch circuit to be closed when the small light sensing units 2 work, so as to share the trap capacity of the large light sensing units 1 in the cooperative part with the working small light sensing units 2, and increase the trap capacity of the working small light sensing units 2.

[0060] In the embodiment, the large light sensing units 1 and the small light sensing units 2 are arranged on the circuit board, the large light sensing units 1 are arranged in an array, and the small light sensing units 2 are arranged between adjacent large light sensing units 1. The large light sensing units 1 can improve the trap capacity and have good adaptability to strong light. However, after the trap capacity of the large light sensing units 1 is improved, the current between the large light sensing units 1 increases, and the risk of breakdown of the large light sensing units 1 increases. Therefore, when the large light sensing units 1 work, the small light sensing units 2 between the large light sensing units 1 do not work, and the small light sensing units 2 play an insulating effect, thereby avoiding the breakdown of the large light sensing units 1.

[0061] In the embodiment, the small light sensing units 2 can supplement the shooting effect and perfect the details that the large light sensing units 1 lack.

[0062] In the embodiment, the large light sensing units 1 connected by the small light sensing units 2 can be the large light sensing units 1 in the outermost circle (cooperative part), and the number of small light sensing units 2 connected to each large light sensing unit 1 can be the same, so as to improve the utilization rate of the trap capacity of the large light sensing units 1 as much as possible.

[0063] In the embodiment, in the process that the grabbing mechanism grabs the tool to be detected, all the cameras 7 move with the tool to be detected, that is, the shooting range corresponding to the light sensing units in the aperture area of all the cameras 7 moves with the tool to be detected, that is, the tool to be detected is continuously shot. In the shooting process, the large light sensing units 1 and the small light sensing units 2 work alternately, all the large light sensing units 1 work when the large light sensing units 1 need to work, and all the small light sensing units 2 work when the small light sensing units 2 need to work.

[0064] In the embodiment, the sizes of the large photosensitive units 1 are the same, the sizes of the small photosensitive units 2 are the same, the sizes of the large photosensitive units 1 are larger than the sizes of the small photosensitive units 2, and the large photosensitive units 1 and the small photosensitive units 2 are arranged on the same layer of the circuit board, so that when the large photosensitive units 1 work, the small photosensitive units 2 between the large photosensitive units 1 do not work, at this time, the small photosensitive units 2 play an insulating effect, avoiding the large photosensitive units 1 from being broken down.

[0065] In an optional embodiment, the method for judging the defects of the tool to be detected by the control module according to the images comprises: in the process that the tool to be detected is grabbed and moved by the grabbing mechanism, the control module controls the moving mechanism to drive the shooting ranges of all the cameras 7 to follow the movement of the tool to be detected, that is, the shooting ranges corresponding to the photosensitive units in the aperture regions of all the cameras 7 follow the movement of the tool to be detected, and the control module judges the defects of the tool to be detected according to the first image and the second image in the process that the tool to be detected moves.

[0066] In the embodiment, the shooting ranges corresponding to the photosensitive units in the aperture regions of all the cameras 7 follow the movement of the tool to be detected, so that the images of the tool can be shot in real time, and the tool can be detected after being shot in all positions.

[0067] In the embodiment, the grabbing mechanism can be a mechanical hand or the like.

[0068] In an optional embodiment, the method for judging the position of the tool to be detected by the control module comprises: the grabbing mechanism is provided with the cameras 7 and the light bars 4 around the passing area when grabbing the tool, the control module controls the light bars 4 and the cameras 7 in the up-down position of the passing area to work alternately, then controls the light bars 4 and the cameras 7 in the left-right position of the passing area to work alternately, judges the position of the grabbing mechanism in the passing area, and judges the position of the tool to be detected grabbed by the grabbing mechanism according to the position of the grabbing mechanism in the passing area; after judging the position of the tool to be detected, the control module controls all the light bars 4 to work to irradiate strong light to the position of the tool to be detected, and controls all the cameras 7 to shoot the position of the tool to be detected; in the process that the grabbing mechanism moves with the tool to be detected, the control module controls the moving mechanism to drive the shooting ranges of all the cameras 7 and the irradiation ranges of the strong light emitted by all the light bars 4 to follow the movement of the tool to be detected.

[0069] In the embodiment, the control module can detect the first image and the second image respectively, or can detect after splicing the first image and the second image into one image.

[0070] In the embodiment, the strong light can be irradiated to the tool grabbed by the grabbing mechanism by the light bar 4, and the control module controls the light bar 4 to irradiate the strong light to the tool to be detected after the aperture region is determined.

[0071] In the embodiment, the placing area of the cutter can be a cabinet 6, and the first frame 3 is arranged at the cabinet door of the cabinet 6 and is exposed when the cabinet door is opened. The grabbing mechanism enters the cabinet to grab the cutter to be detected through the passing area surrounded by the first frame 3.

[0072] In the embodiment, the first frame 3 can be rectangular, and at least one set of the light bar 4 and the camera 7 is arranged on each side of the first frame 3 to ensure that the grabbing mechanism is surrounded by the light bar 4 and the camera 7 from the top, the bottom, the left and the right when passing through.

[0073] In the embodiment, when the position of the cutter to be detected needs to be determined, the position of the grabbing mechanism in the passing area is determined first. The light bar 4 and the camera 7 at the top and the bottom of the grabbing mechanism are alternately started, the position of the grabbing mechanism corresponding to the top and the bottom of the first frame 3 is determined by the camera 7, then the light bar 4 and the camera 7 at the left and the right of the grabbing mechanism are alternately started, the position of the grabbing mechanism corresponding to the left and the right of the first frame 3 is determined by the camera 7, and the position of the grabbing mechanism in the passing area is determined. The corresponding relationship between the placing station and the passing area can be set in the control module in advance, so that the placing station corresponding to the cutter to be detected grabbed by the grabbing mechanism can be determined according to the position of the grabbing mechanism, that is, the position of the cutter to be detected.

[0074] In the embodiment, the moving mechanism can be but not limited to the rotating shafts corresponding to the sides of the first frame 3 and parallel to the sides of the first frame 3 arranged on the first frame 3, and the camera 7 and the light bar 4 are arranged on the corresponding rotating shafts. The rotating shafts can be connected with corresponding driving motors, and the driving motors are controlled by the control module to rotate the rotating shafts to adjust the shooting range of the photosensitive unit in the aperture area of the camera 7 and the moving position of the light bar 4 following the cutter to be detected.

[0075] In the embodiment, the strong light emitted by all the light bars 4 on the first frame 3 to the cutter to be detected can avoid the shadow caused by the blocking and the influence of the shadow on the detection of the cutter.

[0076] In the embodiment, the cabinet door of the cabinet 6 can be upwardly rotated to open, and the second frame 5 can be arranged on the side of the cabinet door close to the inside of the cabinet 6. The light bar 4 can be arranged on the second frame 5 to supplement light, and the light bar 4 on the second frame 5 can also be connected with the corresponding moving mechanism to move following the cutter to be detected when the light bar 4 on the second frame 5 supplements light. The moving mechanism corresponding to the light bar 4 on the second frame 5 can also be controlled by the control module.

[0077] In the embodiment, when the camera 7 shoots the overall image of all the placing areas of the cutter, the large photosensitive unit 1 of the coordination part can also be in an unblocked state to participate in the shooting of the overall image.

[0078] At least one other disclosed embodiment also provides a full-automatic tool recognition system, comprising: a position judging module configured to judge the position of a tool to be detected and determine the size of a detection area according to the position of the tool to be detected; an adjusting module configured to adjust the range of the aperture area of the camera 7 according to the size of the detection area, and then control the corresponding photosensitive unit to work according to the range of the aperture area to obtain an image; and a detection module configured to judge the defects of the tool to be detected according to the image.

[0079] In the embodiment, the above modules can be virtual modules, and the corresponding functional steps can be integrated in the control module.

[0080] At least one other disclosed embodiment also provides a computer readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the above full-automatic tool recognition method.

[0081] At least one other disclosed embodiment also provides a program product containing instructions, which, when executed by a device, causes the device to perform the steps of the above full-automatic tool recognition method.

[0082] As shown in Figure 4 At least one other disclosed embodiment also provides a full-automatic tool recognition device, comprising: a first frame 3, the area surrounded by the first frame 3 being a passing area of a grabbing mechanism, the first frame 3 being arranged on a placement area for placing tools, the placement area being provided with a plurality of placement stations, and each placement station being provided with a tool; a plurality of groups of cameras 7 and light bars 4 being arranged on the inner wall of the first frame 3, at least one group of cameras 7 and light bars 4 being arranged in each of the up, down, left and right directions of the grabbing mechanism when the grabbing mechanism passes through the passing area; a control module being electrically connected with the grabbing mechanism and all the cameras 7 and light bars 4; and the control module being configured to judge the defects of a tool to be detected by using the above full-automatic tool recognition method.

[0083] In an optional implementation, a moving mechanism corresponding to the camera 7 is further arranged on the inner wall of the first frame 3, and the moving mechanism is electrically connected with the control module; and the control module controls the moving mechanism to drive all the cameras 7 to follow the movement of the tool to be detected during the movement of the grabbing mechanism for grabbing the tool to be detected.

[0084] In the embodiment, the cabinet 6 is in a relatively dark environment when the cabinet door of the cabinet 6 is closed, and at this time, the camera 7 on the bottom edge of the first frame 4 can be kept working; when the cabinet door is opened, the brightness of the picture taken by the camera 7 will increase, and at this time, the control module judges that the tool to be detected is about to be grabbed, and the control module is ready to control the cameras 7 and light bars 4 to work.

[0085] In summary, the position of the tool to be detected is determined by the control module, and the size of the detection area is determined according to the position of the tool to be detected; the control module adjusts the aperture area range of the camera 7 according to the size of the detection area, and then controls the corresponding photosensitive unit to work according to the aperture area range, so as to obtain the image. The control module determines the defects of the tool to be detected according to the image; wherein the small photosensitive unit 2 is connected with the corresponding large photosensitive unit 1 in the working photosensitive unit, so as to increase the trap capacity of the small photosensitive unit 2 under strong light irradiation, and then realize the trap capacity of the small photosensitive unit 2 under strong light irradiation, increase the adaptability to strong light, avoid overexposure in the photographed image, and make the local details of the image clearer, so as to facilitate the accurate detection of the tool.

[0086] The disclosures and other solutions, examples, embodiments, modules and functional operations described in this document can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structural equivalents of the disclosures disclosed in this document, or a combination of one or more of them. The disclosures and other embodiments can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a tangible and non-volatile computer-readable medium for execution by or to control the operation of a data processing apparatus. The computer-readable medium can be a machine-readable storage device, a machine-readable storage substrate, a storage device, a material composition that affects a machine-readable propagated signal, or a combination of one or more of them. In addition to hardware, the apparatus can include code that creates an execution environment for the computer program, such as code that forms processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them. The propagated signal is a man-made signal, such as a machine-generated electrical, optical or electromagnetic signal, which is generated to encode information to be transmitted to a suitable receiver device.

[0087] A computer program (also known as a program, software, software application, script or code) can be written in any form of programming language, including compiled or interpreted languages, and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program does not necessarily correspond to a file in a file system. The program can be stored in part of a file that stores other programs or data (for example, one or more scripts stored in a markup language document), a single file dedicated to the program, or multiple coordinated files (for example, files that store one or more modules, subprograms or parts of code). A computer program can be deployed on one or more computers to execute, which can be located at one site or distributed over multiple sites and interconnected by a communication network.

[0088] The processes and logic flows described in this document can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuitry, e.g., an application specific integrated circuit (ASIC) or FPGA a field programmable gate array (FPGA) or ASIC a special purpose computer or computer system.

[0089] Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory or a random access memory or both. The essential elements of a computer are a processor for performing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer need not have such devices. Computer readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), and flash memory devices; magnetic disks such as internal hard disks or removable disks; magneto-optical disks; and compact disc read only memories (CD ROMs) and digital versatile disc read only memories (DVD ROMs). The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry. EPROM EEPROM CD ROM DVD ROM The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0090] While several embodiments have been provided in this disclosure, it should be understood that the disclosed systems and methods might be embodied in many other specific forms without departing from the spirit or scope of the present disclosure. The present examples are therefore to be considered as illustrative and not restrictive, and the intention is not to limit the disclosure to the details given herein. For example, the various elements or components can be combined or integrated in another system or certain features can be omitted, or not implemented.

[0091] ​​​​In several embodiments provided herein, it is to be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders from that shown in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0092] Based on the above ideal embodiments according to the present application, through the above description, relevant personnel can make various changes and modifications without deviating from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. A fully automatic tool identification method, characterized in that, include: The control module determines the position of the tool to be inspected and determines the size of the inspection area based on the position of the tool to be inspected. The control module adjusts the aperture range of the camera (7) according to the size of the detection area, and then controls the corresponding photosensitive unit to work according to the aperture range in order to obtain an image; The control module determines the defects of the tool to be inspected based on the image; among which... In the working photosensitive unit, each small photosensitive unit (2) is electrically connected to a corresponding large photosensitive unit (1) in order to increase the trap capacity of the small photosensitive unit (2) when exposed to strong light. The method for controlling the operation of the corresponding photosensitive unit based on the aperture area range includes: The photosensitive unit includes several large photosensitive units (1), the large photosensitive units (1) are arranged in an array, and at least one small photosensitive unit (2) is arranged between adjacent large photosensitive units (1). The outermost large photosensitive units (1) are a cooperative part. The large photosensitive units (1) in the cooperative part are located outside the aperture area and are blocked. When the large photosensitive units 1 and small photosensitive units 2 in the aperture area work respectively, the large photosensitive units 1 in the cooperative part are in a blocked state. Each small photosensitive unit (2) is electrically connected to at least one large photosensitive unit (1) in a cooperating unit, and the small photosensitive unit (2) and the large photosensitive unit (1) are connected by a switching circuit; The control module controls the large photosensitive unit (1) and small photosensitive unit (2) in the aperture area to work respectively. When all large photosensitive units (1) in the aperture area are working, the first image is acquired in real time, and when all small photosensitive units (2) in the aperture area are working, the second image is acquired in real time. When the control module controls the small photosensitive unit (2) to work, it controls the corresponding switch circuit to close so that the large photosensitive unit (1) in the cooperating part can share the trap capacity with the working small photosensitive unit (2), thereby increasing the trap capacity of the working small photosensitive unit (2).

2. The fully automatic tool identification method as described in claim 1, characterized in that: The method of adjusting the aperture range of the camera (7) by the control module according to the size of the detection area includes: The detection area contains only the complete tool to be detected. The control module adjusts the aperture area of ​​all cameras (7) according to the size of the detection area so that the aperture area matches the detection area and aligns the shooting range corresponding to the photosensitive unit in the aperture area with the detection area. The shooting range corresponding to the photosensitive unit in the aperture area contains only the complete tool to be detected.

3. The fully automatic tool identification method as described in claim 1, characterized in that: The method by which the control module determines the defects of the tool to be detected based on the image includes: During the process of the tool to be inspected being grasped and moved by the grasping mechanism, the control module controls the moving mechanism to drive the shooting range of all cameras (7) to follow the tool to be inspected. That is, the shooting range corresponding to the photosensitive unit in the aperture area of ​​all cameras (7) follows the tool to be inspected. During the movement of the tool to be inspected, the control module judges the defects of the tool to be inspected based on the first image and the second image.

4. The fully automatic tool identification method as described in claim 1, characterized in that: The method for determining the position of the tool to be detected through the control module includes: When the gripping mechanism grips the tool, cameras (7) and light strips (4) are set around the area it passes through. The control module first controls the light strips (4) and cameras (7) at the top and bottom positions in the area to work alternately, and then controls the light strips (4) and cameras (7) at the left and right positions in the area to work alternately. The position of the gripping mechanism in the area is determined, and the position of the tool to be detected gripped by the gripping mechanism is determined based on the position of the gripping mechanism in the area. After determining the position of the tool to be tested, the control module controls all light bars (4) to work to illuminate the position of the tool to be tested with strong light, and controls all cameras (7) to capture the position of the tool to be tested; During the process of the gripping mechanism gripping the tool to be tested, the control module controls the moving mechanism to drive the shooting range of all cameras (7) and the illumination range of the strong light emitted by the light strip (4) to follow the movement of the tool to be tested.

5. A fully automatic tool identification system employing the fully automatic tool identification method as described in claim 1, characterized in that, include: The position determination module is configured to determine the position of the tool to be detected and determine the size of the detection area based on the position of the tool to be detected. The adjustment module is configured to adjust the aperture area range of the camera (7) according to the size of the detection area, and then control the corresponding photosensitive unit to work according to the aperture area range in order to acquire an image; The detection module is configured to determine defects in the tool to be inspected based on the image.

6. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the fully automatic tool recognition method according to any one of claims 1-4.

7. A program product containing instructions, characterized in that, When the instruction is executed by the device, the device performs the steps of the fully automatic tool identification method as described in any one of claims 1-4.

8. A fully automatic knife identification device, characterized in that, include: The first frame (3) is the area enclosed by the first frame (3) as the passage area of ​​the gripping mechanism. The first frame (3) is set on the placement area for placing the tool. The placement area is provided with several placement stations, and each placement station is used to place a tool. The inner wall of the first frame (3) is provided with several sets of cameras (7) and light strips (4). When the gripping mechanism passes through the passage area, there is at least one set of cameras (7) and light strips (4) in the four directions of the gripping mechanism (up, down, left, right). The control module is electrically connected to the grasping mechanism, as well as all cameras (7) and light strips (4); The control module is configured to determine defects in the tool to be detected using the fully automatic tool identification method as described in any one of claims 1-4.

9. The fully automatic tool identification device as described in claim 8, characterized in that: The inner wall of the first frame (3) is also provided with a moving mechanism corresponding to the camera (7), and the moving mechanism is electrically connected to the control module; During the process of the gripping mechanism gripping the tool to be tested, the control module controls the moving mechanism to drive the shooting range of all cameras (7) and the illumination range of the strong light emitted by the light strip (4) to follow the movement of the tool to be tested.

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