A yoke product appearance detection method and device

Abstract

The present application relates to a kind of yoke product appearance detection method and device, it is related to the field of product automation detection, it includes: at the discharge port of pre-set discharge mechanism, product in place trigger signal is collected;When the product in place trigger signal is 1, with pre-set fixed pushing force control pre-set pushing mechanism to product is pushed out horizontally, and the product distribution image at pre-set start position of discharge plate is collected;Product start position is identified from the product distribution image;When product start position is not at pre-set expected landing point position range, define product as intrusion product, and remove intrusion product from the discharge plate;When product start position is at the expected landing point position range, control pre-set detection mechanism to product appearance is detected in the process that product is discharged along the discharge plate.The present application has the effect of improving product detection efficiency and detection precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of product automatic detection, and in particular to a knuckle product appearance detection method and device. BACKGROUND

[0002] The knuckle product is an important connecting component in the mechanical transmission system, which is used for transmitting torque and motion; it is mainly used on the universal joint or transmission shaft, allowing power transmission between two shafts within a certain angle range, while compensating for axial, radial and angular deviations.

[0003] The production of knuckle products mainly includes the following steps: blanking, medium frequency heating, die forging, edge cutting, hot precision pressing, temperature control cooling, shot blasting and appearance detection. At present, the detection of knuckle appearance in the industry mainly relies on manual visual inspection, however, manual detection is slow and difficult to meet the high rhythm demand of modern production line, and is affected by factors such as personnel fatigue and experience difference, resulting in high miss and false detection rate. SUMMARY

[0004] In order to improve the product detection efficiency and detection accuracy, the present application provides a knuckle product appearance detection method and device.

[0005] In the first aspect, the present application provides a knuckle product appearance detection method, which adopts the following technical scheme:

[0006] A knuckle product appearance detection method, comprising:

[0007] At the discharge port of the preset discharge mechanism, a product in-place trigger signal is collected;

[0008] When the product in-place trigger signal is 1, a preset fixed pushing force is used to control a preset pushing mechanism to horizontally push out the product, and a product distribution image at the starting position of the preset discharge plate is collected;

[0009] The product starting position is identified from the product distribution image;

[0010] When the product starting position is not in the preset expected landing point position range, the product is defined as an intrusion product, and the intrusion product is removed from the discharge plate;

[0011] When the product starting position is in the expected landing point position range, a preset detection mechanism is controlled to detect the appearance of the product during the product discharging process along the discharge plate.

[0012] By adopting the technical scheme, when the product appears at the discharge port, the system can push the product through the pushing device, so that the product can be discharged from different starting positions of the discharge plate and automatically slide along the discharge plate. The detection mechanism can synchronously detect the product on the discharge plate during the sliding process, so as to realize automatic detection of the product. Compared with manual detection, the detection efficiency and detection accuracy are higher. Since the starting discharge position of the product is determined by the weight of the product itself, whether the currently discharged product is the product to be detected can be distinguished through different starting positions of the product in this step, so that the intruding product can be removed.

[0013] Optionally, the detection method of the product in the expected falling point position range comprises:

[0014] calculating a pushing distance according to the product starting position and the preset pushing position;

[0015] when the pushing distance is inconsistent with the preset planning distance, defining the product as a multi-shortage product, and performing key detection marking, and performing appearance key detection on the multi-shortage product by using a preset fine detection method;

[0016] when the pushing distance is consistent with the planning distance, defining the product as a relatively complete product, and controlling the detection mechanism to collect a product image of the relatively complete product;

[0017] comparing the product image with a preset storage product image to determine whether there is an abnormal offset feature;

[0018] in the case that the abnormal offset feature exists, redefining the relatively complete product as a multi-shortage product.

[0019] Optionally, the fine detection method comprises:

[0020] collecting a multi-shortage product image;

[0021] generating a gray scale distribution image according to the multi-shortage product image;

[0022] comparing the gray scale distribution image with a preset product reference gray scale image to determine a gray scale difference feature and a gray scale difference area;

[0023] analyzing the gray scale difference area from the gray scale distribution image and extracting a regional gray scale value;

[0024] when the regional gray scale value is less than a preset reference gray scale, defining the gray scale difference area as a shortage area, and marking the shortage area;

[0025] when the regional gray scale value is greater than the preset reference gray scale, defining the gray scale difference area as a multi-material area, and marking the multi-material area.

[0026] Optionally, further comprising:

[0027] According to the gray scale distribution image, a minimum gray scale value and a maximum gray scale value are extracted;

[0028] A gray scale difference between the maximum gray scale value and the minimum gray scale value is calculated;

[0029] When the gray scale difference is less than a preset resolution gray scale, a product contour region is framed according to the multi-material-deficiency product image;

[0030] A spray head preset on the detection mechanism sprays a light-enhancing liquid in the product contour region, the light-enhancing liquid being formed by mixing a solvent-compatible metal brightener and a fluorescent agent;

[0031] According to the multi-material-deficiency product image, the region gray scale value is re-extracted, and a material-deficiency region and a multi-material region are marked;

[0032] After the marking is completed, a preset erasing device is controlled to erase the light-enhancing liquid on the product surface.

[0033] Optionally, further comprising:

[0034] An ultraviolet device preset on the detection mechanism is controlled to collect a product ultraviolet image;

[0035] From the product ultraviolet image, a residual fluorescent agent feature and a fluorescent agent position are identified;

[0036] Based on the product ultraviolet image and the fluorescent agent position, a fluorescent contour is identified;

[0037] When and only when the fluorescent contour is in a line shape, it is defined that the product has a crack, and the fluorescent agent position is marked.

[0038] Optionally, a plurality of cameras are arranged on the detection mechanism, and the collection method of the multi-material-deficiency product image comprises:

[0039] Based on a preset product unloading speed on the unloading plate, a swing angular velocity of the detection mechanism when swinging above the unloading plate is matched;

[0040] The detection mechanism is controlled to swing at the swing angular velocity, and a plurality of cameras are controlled to take pictures of the product at a preset unit photographing interval, so as to obtain an image set;

[0041] Same element pixel points in adjacent two image units in the image set are compared, low-brightness pixel points are removed, and the two image units are spliced;

[0042] After the splicing of all image units in the image set is completed, a multi-material-deficiency product image is obtained.

[0043] In a second aspect, the application provides a fork product appearance detection device, which adopts the following technical scheme:

[0044] A fork product appearance detection device, which is detected by a fork product appearance detection method, comprises a base, a feeding box rotatably mounted on the base, a discharging plate fixedly connected to the base, a detection mechanism rotatably arranged on the base and used for detecting the appearance of the fork product, and a discharging mechanism arranged on the discharging plate and used for arranging and discharging the fork product in the feeding box.

[0045] The feeding box has a filling state and a discharging state. In the filling state, the feeding box is arranged horizontally, and in the discharging state, the feeding box is arranged obliquely downward toward the discharging plate.

[0046] In the process of rotating the feeding box from the filling state to the discharging state, the side wall of the detection mechanism abuts against the opening of the feeding box and rotates synchronously with the feeding box. In the discharging state, the detection mechanism is separated from the feeding box and rotates above the discharging plate for detection.

[0047] By adopting the above technical scheme, the detection mechanism can play a blocking role. In the process of rotating the feeding box upward, the detection mechanism abuts against the opening of the feeding box to prevent the product from falling out of the feeding box, and then the product is discharged when the feeding box reaches the discharging state. When the feeding box is in the discharging state, the detection mechanism can also serve as a detection device to detect the product being discharged on the discharging plate, which is efficient.

[0048] Optionally, a bearing plate is arranged to slide in the feeding box, and a pressure spring is arranged to drive the bearing plate to slide.

[0049] By adopting the above technical scheme, in the filling state, the product to be detected is pressed on the bearing plate, and the bearing plate slides downward under the action of the gravity of the product, and the pressure spring is compressed. In the discharging state, the feeding box is arranged obliquely, and the weight of the product does not act on the bearing plate and the pressure spring. At this time, the pressure spring can overcome the friction of the product and drive the bearing plate to slide toward the outlet of the feeding box, so as to push the product out of the feeding box, facilitating the discharging of the product from the feeding box.

[0050] Optionally, the discharging mechanism has a feeding cavity for the product to enter from the feeding box and a single-layer discharging channel, the single-layer discharging channel is in communication with the feeding cavity, a material arranging block is arranged to slide in the feeding cavity and move toward the feeding box to arrange the product into a single layer, the material arranging block has a material arranging curved surface, and a conveying belt is arranged at the bottom of the feeding cavity and the single-layer discharging channel and used for conveying the product away from the feeding box.

[0051] Optionally, a reversing groove is formed on the discharging plate, and a jacking block is arranged in the reversing groove in a lifting manner to reverse and eject the product entering the reversing groove; the jacking block has a reversing surface inclined towards the direction close to the feeding box.

[0052] In summary, the present application includes at least one of the following beneficial technical effects:

[0053] When the product appears at the discharge port, the system can push the product through the pushing device, so that the product can be discharged from different starting positions of the discharging plate and automatically slide along the discharging plate. The detection mechanism can synchronously detect the product on the discharging plate during the sliding process, thereby realizing automatic detection of the product. Compared with manual detection, the detection efficiency and detection accuracy are higher. Since the starting discharging position of the product is determined by the weight of the product itself, whether the currently discharged product is the product to be detected can be distinguished by the different starting positions of the product in this step, thereby eliminating the intruding product.

[0054] The detection mechanism can play a blocking role. During the upward rotation of the feeding box, the detection mechanism abuts against the opening of the feeding box to prevent the product from falling out of the feeding box, and then the product is discharged when the feeding box reaches the discharging state. When the feeding box is in the discharging state, the detection mechanism can also serve as a detection device to detect the product being discharged on the discharging plate, which is efficient.

[0055] In the filling state, the product to be detected is pressed on the receiving plate, and the receiving plate slides downward under the action of the gravity of the product, and the pressure spring is compressed. When the feeding box is in the discharging state, the product is not acted on the receiving plate and the pressure spring due to the inclined arrangement of the feeding box. At this time, the pressure spring can overcome the friction of the product and drive the receiving plate to slide towards the outlet direction of the feeding box, thereby pushing the product out of the feeding box, which facilitates the discharging of the product from the feeding box. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a whole structure schematic view of a yoke product appearance detection device according to an embodiment of the present application;

[0057] Figure 2 is a sectional view of a feeding box according to an embodiment of the present application;

[0058] Figure 3 is a state schematic view of the feeding box according to an embodiment of the present application in a discharging state;

[0059] Figure 4 is a state schematic view of the feeding box according to an embodiment of the present application in a filling state;

[0060] Figure 5 is a sectional view of a discharging mechanism according to an embodiment of the present application;

[0061] Figure 6 is a sectional view of the blanking plate at the reversing groove of an embodiment of the present application;

[0062] Figure 7 is a method flow chart of a pitch fork product appearance detection method of an embodiment of the present application.

[0063] The part names referred to by the respective numbers in the above drawings are as follows: 1, base; 2, feeding box; 21, receiving plate; 22, pressure receiving spring; 3, blanking plate; 31, reversing groove; 32, jacking block; 4, detection mechanism; 41, swing arm; 42, mounting seat; 5, discharging mechanism; 51, feeding cavity; 52, single-layer discharging channel; 53, conveying belt; 54, sorting block; 55, sorting curved surface. DETAILED DESCRIPTION

[0064] In order to make the objectives, technical solutions and advantages of the present application clearer and more comprehensible, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0065] Embodiments of the present application disclose a pitch fork product appearance detection device.

[0066] With reference to Figure 1 A pitch fork product appearance detection device includes a base 1, a feeding box 2, a blanking plate 3, a detection mechanism 4, and a discharging mechanism 5. The feeding box 2 is rotatably mounted on the base 1 and is driven to rotate by an oil cylinder. The feeding box 2 is used to accommodate the pitch fork products to be detected. The blanking plate 3 is fixedly arranged on the base 1. After the products are poured out from the feeding box 2, the products can be inclined and discharged along the blanking plate 3. The discharging mechanism 5 is arranged at the end of the blanking plate 3 close to the feeding box 2. The discharging mechanism 5 is used to arrange the products in the feeding box 2, so that the products can be discharged in a single layer, that is, the products will not be stacked. The detection mechanism 4 is rotatably arranged on the base 1 and can swing above the blanking plate 3. The detection mechanism 4 is used to detect the appearance of the products.

[0067] The detection mechanism 4 includes two swing arms 41 and a mounting seat 42 connected between the two swing arms 41 and spanning above the blanking plate 3. Various devices for detection are arranged on the mounting seat 42, including a camera, a lighting lamp, a sensor, an ultraviolet device, and a spray head.

[0068] With reference to Figure 1 and Figure 2 The feeding box 2 is a square box body. A receiving plate 21 is slidably arranged in the feeding box 2. The receiving plate 21 is used to receive the products. A pressure receiving spring 22 is arranged between the receiving plate 21 and the inner bottom surface of the feeding box 2.

[0069] In combination with Figures 2 to 4The loading box 2 has a filling state and a discharging state under the drive of the oil cylinder. In the filling state, the loading box 2 has a horizontal placement state with the opening upward, and at this time, the loading box 2 can be filled with the products to be detected. In the process of switching from the filling state to the discharging state, the loading box 2 rotates upward, and when in the discharging state, the loading box 2 is arranged obliquely downward, and the opening of the loading box 2 is directed to the discharging plate 3 so that the products in the loading box 2 can be poured out.

[0070] In the filling state, the products to be detected press on the receiving plate 21, and under the action of the gravity of the products, the receiving plate 21 slides downward, and the pressure spring 22 is compressed. When in the discharging state, due to the oblique arrangement of the loading box 2, the weight of the products does not act on the receiving plate 21 and the pressure spring 22, and at this time, the pressure spring 22 can overcome the friction of the products and drive the receiving plate 21 to slide toward the outlet direction of the loading box 2, so as to push the products out of the loading box 2.

[0071] When the loading box 2 is in the filling state, the detection mechanism 4 abuts against the top of the loading box 2, and when the loading box 2 rotates upward, the detection mechanism 4 rotates upward synchronously, and in this process, the mounting seat 42 of the detection mechanism 4 always abuts against the outlet position of the loading box 2, so that the products in the loading box 2 are not easy to fall out during the rotation of the loading box 2.

[0072] When the loading box 2 switches to the discharging state, the detection mechanism 4 is separated from the loading box 2 and reciprocates above the discharging plate 3 under the drive of the oil cylinder, and starts to detect the products being discharged.

[0073] Referring to Figure 1 and Figure 5 , the discharging mechanism 5 is a rectangular box body which spans the discharging plate 3. The discharging mechanism 5 is provided with a feeding cavity 51 and a single-layer discharging passage 52, and the feeding cavity 51 communicates with the single-layer discharging passage 52. After the products are poured out from the loading box 2, they first enter the feeding cavity 51, then pass through the single-layer discharging passage 52, and finally are located on the upper surface of the discharging plate 3. In this embodiment, the space of the feeding cavity 51 is relatively large and can accommodate more products, and the height of the single-layer discharging passage 52 is less than twice the thickness of the products, so that only a single product can pass through.

[0074] Further, the feeding cavity 51 and the single-layer discharging passage 52 are both provided with a conveying belt 53 which runs and rotates in a direction away from the loading box 2. In addition, a sorting block 54 is slidably arranged in the feeding cavity 51, the sorting block 54 has a sorting curved surface 55, and the sorting block 54 is driven to move by a gas cylinder. The sorting block 54 can move toward the loading box 2 under the drive of the gas cylinder.

[0075] When the product enters the feeding cavity 51 from the feeding box 2, the bottom of the product can be moved away from the feeding box 2 under the action of the conveying belt 53, and the upper part of the product can be pushed by the arranging block 54, so that the single product can be moved on the conveying belt 53, and the remaining products are pushed by the arranging block 54, so that the single product is not easily blocked.

[0076] With reference to Figure 1 And Figure 6 Further, in order to enable the product to be turned over on the discharging plate 3, so that the front and back of the product can be detected, the discharging plate 3 is provided with a reversing groove 31 which is opened along the width direction of the discharging plate 3. The lifting block 32 is arranged in the reversing groove 31 in a lifting manner, and the lifting block 32 is driven to lift by an oil cylinder. The lifting block 32 has a reversing surface which is inclined towards the feeding box 2.

[0077] When the product falls into the reversing groove 31, due to the existence of the reversing surface, the top position of the product is inclined away from the feeding box 2. When the lifting block 32 drives the product to come out of the reversing groove 31, the top position of the product first falls on the discharging plate 3 and slides downward on the discharging plate 3, so as to realize turning over.

[0078] Based on the same inventive concept, the embodiment of the present application provides a yoke product appearance detection method.

[0079] With reference to Figure 7 The yoke product appearance detection method comprises the following steps:

[0080] In the embodiment, the discharging port of the discharging mechanism 5 is communicated with the single-layer discharging channel 52, and the size of the discharging port is only suitable for discharging a single product. The discharging plate 3 is provided with a pushing mechanism on the side of the discharging port of the discharging mechanism 5, and the pushing mechanism can push the product to have a fixed horizontal initial speed.

[0081] Step S1: collecting a product-in-place trigger signal at a preset discharging port of a discharging mechanism 5.

[0082] The product-in-place trigger signal refers to a signal triggered when the product to be detected passes through the discharging mechanism 5 and reaches the discharging port. The discharging port is provided with a photoelectric sensor, and the photoelectric sensor can detect the presence of the product when the product reaches the discharging port, thereby triggering the signal.

[0083] Step S2: when the product-in-place trigger signal is 1, a preset pushing mechanism is controlled to horizontally push the product out at a preset fixed pushing force, and a product distribution image at a preset starting position of the discharging plate 3 is collected.

[0084] The product-in-place trigger signal is 0, indicating that the photoelectric sensor does not detect the product. When the product-in-place trigger signal is 1, the photoelectric sensor detects the product, and at this time the product is located at the discharging port.

[0085] Fixed pushing force is the force applied by the pushing mechanism to the product. The pushing force of the fixed pushing force, under the action of friction, the horizontal sliding distance of products of different weights is different, so that different products can be located at different starting positions of the discharge plate 3 after the product stops sliding.

[0086] The starting position of the discharge plate 3 is connected to the discharge port, which is the position where the product starts to slide downward on the discharge plate 3. The starting position of the discharge plate 3 is a rectangular area.

[0087] The product distribution image is an image obtained by a camera installed on the detection mechanism 4 shooting the starting position of the discharge plate 3. The product pushed by the pushing mechanism can be identified in the product distribution image.

[0088] Step S3: identifying the product starting position from the product distribution image.

[0089] The product starting position is the specific actual position of the product to be detected within the starting position range of the discharge plate 3. The product starting position can be obtained by image recognition from the product distribution image.

[0090] Step S4: when the product starting position is not in the preset expected landing position range, define the product as an invasive product, and remove the invasive product from the discharge plate 3.

[0091] The expected landing position range is a position range set by the technician for a specific product. Each qualified product will fall within a fixed position range under the pushing of the pushing mechanism, which is not described here. The expected landing position range can be changed according to different models of products to adapt to the discharging situation of different products on the discharge plate 3.

[0092] When the product starting position of the product under the pushing of the pushing mechanism does not fall within the expected landing position range, it means that the quality of the product is significantly different from the quality of the product to be detected, so it will exceed the expected landing position range. For such products, the system defines them as invasive products, i.e. products that accidentally fall into the feeding box 2 and are discharged. The system will control the gripper to clamp and remove the invasive product at the product starting position.

[0093] Step S5: when the product starting position is in the expected landing position range, control the preset detection mechanism 4 to detect the appearance of the product during the discharging process of the product along the discharge plate 3.

[0094] If the product starting position is in the range of the expected landing position, it means that the quality of the product meets the weight standard of the product to be detected, and the product is the product to be detected. After detecting that it is a normal product to be detected, the product can be discharged along the discharge plate 3, and the appearance of the product is detected by the detection mechanism 4 during the discharging process.

[0095] The detection method of the product in the range of the expected landing position includes the following steps:

[0096] Step S50: Calculate the pushing distance according to the product starting position and the preset pushing position.

[0097] The pushing position is the position at which the pushing mechanism starts to push the product to be detected. This position is a fixed position set by the technician and is determined by the discharge port position, which will not be described here.

[0098] The pushing distance is the distance that the product slides under the pushing of the pushing mechanism. The pushing distance is the distance between the product starting position and the pushing position, and when the product starting position and the pushing position are determined, the pushing distance can be calculated.

[0099] Step S51: When the pushing distance is inconsistent with the preset planning distance, define the product as a multi-deficiency product and mark it for key detection, and use the preset fine detection method to detect the appearance of the multi-deficiency product.

[0100] The planning distance is a distance set by the technician according to the model of the product to be detected. The whole complete product to be detected can slide a length of the planning distance under the pushing of the pushing mechanism, which will not be described here.

[0101] Since the sliding distance of the product is related to the weight of the product itself, if the pushing distance is inconsistent with the planning distance, it means that the weight of the product is different from that of the standard product, and the product surface has a multi-deficiency or deficiency. For the multi-deficiency product, the system will mark it for key detection, and when it is discharged on the discharge plate 3, the system will use the fine detection method to detect the appearance of the product. The fine detection method will not be described here and will be described in detail in the subsequent embodiments.

[0102] Step S52: When the pushing distance is consistent with the planning distance, define the product as a relatively complete product, and control the detection mechanism 4 to collect the product image of the relatively complete product.

[0103] If the pushing distance is consistent with the planning distance, the system initially identifies the product as a relatively complete product, and the system will control the camera of the detection mechanism 4 to be located at the top of the product to take a picture of the product, obtaining a product image. According to the product image, the product is initially detected.

[0104] Step S53: comparing the product image with the preset stored product image to determine whether there is an abnormal offset feature.

[0105] The stored product image is an image of a finished product pre-stored in the system by a technician, which is not described herein.

[0106] The abnormal offset feature refers to a situation where there are both more material and less material on the surface of the product at the same time, so that the weight of the product to be detected is the same as that of a normal product. At this time, the more material and less material can be obviously identified in the image, i.e., the volume of the more material and less material is relatively large compared with the product itself.

[0107] The product image obtained by shooting is compared with the stored product image. If they are consistent, it is said that the relatively complete product surface is normal. If there is a feature difference between the product image and the stored product image, the product surface has an abnormal offset feature.

[0108] Step S54: in the case where the abnormal offset feature exists, the relatively complete product is redefined as a more or less material product.

[0109] Due to the existence of the abnormal offset feature, the product is mistakenly considered as a relatively complete product at the initial detection, at which time the system will re-label the product as a more or less material product, and the product will be re-detected in appearance by the fine detection method in step S51.

[0110] The fine detection method includes the following steps:

[0111] Step S520: collecting a more or less material product image.

[0112] The more or less material product image refers to an image obtained by shooting the more or less material product that has been labeled by the camera on the detection mechanism 4. The method of collecting the image by the camera is not described herein and will be described in detail in subsequent embodiments.

[0113] Step S5200: generating a gray scale distribution image according to the more or less material product image.

[0114] The brightness of each pixel point in the product image shot by the camera is different. The closer the position on the product surface to the camera, the higher the brightness, and vice versa. Different brightness conditions will produce different gray scale distribution conditions.

[0115] The gray scale distribution image refers to an image that can reflect the gray scale distribution conditions of each position on the product surface. The gray scale distribution image can be obtained by gray scale image processing of the more or less material product image. The gray scale image processing method is a prior art, which is not described herein.

[0116] Step S5201: Comparing the gray scale distribution image with the preset product reference gray scale image to determine the gray scale difference feature and the gray scale difference region.

[0117] The product reference gray scale image refers to an image obtained by processing an image of a complete product captured by a camera into a gray scale image. The product reference gray scale image can be used as a comparison image to identify abnormal gray scale conditions in the image. The product reference gray scale image is determined by a technician through pre-experiment, which is not described herein.

[0118] The gray scale difference feature refers to a position point in the gray scale distribution image of the product where the gray scale value is different from the normal condition. The gray scale difference region refers to the position of the gray scale difference feature in the gray scale distribution image.

[0119] By comparing the gray scale distribution image with the product reference gray scale image, the difference between the two is the gray scale difference feature. After determining the gray scale difference feature, the gray scale difference region of the gray scale difference feature in the gray scale distribution image can be located.

[0120] Step S5202: Analyzing the gray scale difference region from the gray scale distribution image and extracting the region gray scale value.

[0121] The region gray scale value refers to the specific gray scale parameter of the gray scale difference region. The region gray scale value is obtained by analyzing the gray scale difference region in the gray scale distribution image.

[0122] Step S5203: When the region gray scale value is less than the preset reference gray scale, the gray scale difference region is defined as a material shortage region, and the material shortage region is marked.

[0123] The reference gray scale refers to the gray scale value of the corresponding position of the gray scale difference region in the product reference gray scale image, which is the gray scale value of a normal complete product.

[0124] The region gray scale value of the gray scale difference region must be greater than or less than the reference gray scale.

[0125] If the region gray scale value is less than the reference gray scale, it means that the brightness at this position is lower, and this position is farther away from the normal product when captured by the camera, which may be caused by material shortage leading to surface depression of the product. After determining the abnormal reason of the gray scale difference region, the position is marked for processing after the subsequent product is discharged.

[0126] Step S5204: When the region gray scale value is greater than the preset reference gray scale, the gray scale difference region is defined as a material excess region, and the material excess region is marked.

[0127] If the area gray value is greater than the reference gray value, it means that the position has higher brightness, and the position is closer to the normal product when the camera is shooting, which may be caused by the existence of multiple materials, resulting in the product surface protrusion or burr. After determining the abnormal reason of the gray difference area, mark the position, and process the position after the subsequent product discharge.

[0128] The environmental brightness condition will affect the gray difference effect of the image obtained by the camera shooting the product. The processing method for this condition includes the following steps:

[0129] Step S521: Extract the minimum gray value and the maximum gray value according to the gray distribution image.

[0130] The minimum gray value and the maximum gray value are the gray values of the minimum gray position and the maximum gray position in the gray distribution image. The minimum gray value and the maximum gray value can be directly analyzed and extracted from the gray distribution image.

[0131] Step S5210: Calculate the gray difference value of the maximum gray value and the minimum gray value.

[0132] The gray difference value is the difference between the maximum gray value and the minimum gray value.

[0133] Step S5211: When the gray difference value is less than the preset resolution gray, frame the product contour area according to the multi-material product image.

[0134] The resolution gray is the minimum difference of the gray values of two positions that the system can distinguish. When the gray difference between two areas is too small, the system will not be able to distinguish.

[0135] If the gray difference value is not less than the resolution gray, the system can directly analyze the gray distribution image to mark the multi-material area and the material shortage area.

[0136] If the gray difference value is less than the resolution gray, the system cannot directly process the gray distribution image and cannot determine the gray difference area, which needs to be processed.

[0137] The product contour area refers to the surface contour of the product to be detected. When the camera shoots the multi-material product image, the product contour area can be framed from the multi-material product image.

[0138] Step S5212: Control the spray head preset in the detection mechanism 4 to spray the light enhancing liquid in the product contour area, and the light enhancing liquid is formed by mixing the solvent compatible metal brightener and the fluorescent agent.

[0139] In order to make the gray value of the product in the gray distribution image larger, in the embodiment, a spray head is arranged on the detection mechanism 4, the spray head is connected with a solution tank, and the solution tank stores a brightening solution. The brightening solution is formed by mixing a metal brightener and a fluorescent agent. The metal brightener and the fluorescent agent are both water-based components, and the solvent compatibility of the two is good, and they are not prone to mutual reaction. The spray head can spray the brightening solution in the product contour area, brighten the product surface area, and improve the light reflectivity.

[0140] Step S5213: re-extracting the region gray value according to the multi-material-lacking product image, and marking the material-lacking region and the multi-material region.

[0141] After spraying the brightening solution, the gray value of the product surface will increase, at this time, the system will re-shoot the multi-material-lacking product, re-extract the region gray value, and then perform the operations in steps S520 to S5204.

[0142] Step S5214: after the marking is completed, controlling a preset erasing device to erase the brightening solution on the product surface.

[0143] The erasing device is arranged on one side of the discharging plate 3, and when the marking of the material-lacking region and the multi-material region is completed, the system will erase the excess brightening solution on the product surface through the erasing device.

[0144] Further comprising the following steps:

[0145] Step S522: controlling a preset ultraviolet device on the detection mechanism 4 to collect a product ultraviolet image.

[0146] The product ultraviolet image refers to an image obtained by shooting the product through the ultraviolet device. Since the product is coated with the brightening solution containing the fluorescent agent in the previous process, if there is a crack on the product surface, the fluorescent agent will remain in the crack, and the fluorescent agent can be identified from the product ultraviolet image.

[0147] Step S5220: identifying the residual fluorescent agent feature and the fluorescent agent position from the product ultraviolet image.

[0148] The fluorescent agent position refers to the actual position where the fluorescent agent remains on the product surface. If the product remains the fluorescent agent, the fluorescent agent feature can be directly identified from the product ultraviolet image. When the fluorescent agent feature is identified, the position of the fluorescent agent feature in the product ultraviolet image can be identified, and finally the fluorescent agent position can be obtained according to the image proportion of the image shot by the ultraviolet device.

[0149] Step S5221: identifying a fluorescent contour based on the product ultraviolet image and the fluorescent agent position.

[0150] The fluorescent profile refers to the profile of the fluorescent agent feature at the fluorescent agent position. The fluorescent profile can be directly obtained by analyzing the fluorescent agent feature at the fluorescent agent position from the product ultraviolet image.

[0151] Step S5222: defining that the product has a crack when and only when the fluorescent profile is in the form of a line, and marking the fluorescent agent position.

[0152] The fluorescent agent remaining on the product surface can be caused by a crack or not being wiped clean, and the profiles of the fluorescent agent features in the two remaining ways are different. The situation of the product surface, i.e., whether there is a crack, can be determined according to the fluorescent profile.

[0153] Since the crack on the product surface is in the form of a line, the fluorescent agent remaining in the crack is also in the form of a line in the product ultraviolet image, while the fluorescent agent remaining on the product surface is generally in the form of a block.

[0154] When it is detected that there is a fluorescent profile in the form of a line, it indicates that there is a crack on the product surface, which will affect the quality of the product. The fluorescent agent position is the crack position, and the system will mark the fluorescent agent position for processing the product in the subsequent process.

[0155] The plurality of cameras arranged on the detection mechanism 4 are arranged in a row, and the method for collecting images of the product with insufficient material includes the following steps:

[0156] In this embodiment, the detection mechanism 4 can swing back and forth on the discharging plate 3, and the horizontal distance of the plurality of cameras on the detection mechanism 4 is larger than the product to be detected, so that the detection mechanism 4 can shoot and process to obtain a three-dimensional image of the product.

[0157] Step S523: matching the swing angular velocity of the detection mechanism 4 when swinging above the discharging plate 3 based on the preset discharging speed of the product on the discharging plate 3.

[0158] The discharging speed is the discharging speed of the product to be detected on the discharging plate 3 set by the technician, which is not described herein.

[0159] The swing angular velocity is the swing speed of the detection mechanism 4 when shooting above the discharging plate.

[0160] The detection mechanism 4 needs to be synchronized with the product when shooting the product, and the detection mechanism 4 is always located above the product, so the swing angular velocity is proportional to the discharging speed, and the greater the discharging speed, the greater the swing angular velocity.

[0161] Step S5230: controlling the detection mechanism 4 to swing at the swing angular velocity and control the plurality of cameras to take photos of the product at the same time at a preset unit shooting interval to obtain an image set.

[0162] The detection mechanism 4 continuously photographs the product during the swing, and the unit photographing interval is the photographing time interval between two adjacent pictures during continuous photographing of the product by the camera set by the technician, which is not described herein.

[0163] The image set is a summary set of images of the product photographed by all cameras.

[0164] Step S5231: Compare the same element pixels in two adjacent image units in the image set, remove low-brightness pixels, and splice the two image units.

[0165] When the camera photographs the product at different positions, the shadow and highlight position on the product will change. By comparing two adjacent images, the same element pixels are extracted, the low-brightness pixels are removed, and the high-brightness pixels are retained, and then the two image units are spliced. At this time, the overall brightness of the spliced image is high, which is convenient for the system to identify the content in the image.

[0166] Step S5232: Complete the splicing of all image units in the image set to obtain a multi-lack-of-material product image.

[0167] The splicing of two adjacent images in step S5231 is continuously completed, so that all image units are finally spliced to form an image, which is a multi-lack-of-material product image.

[0168] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that for ordinary technical personnel in the technical field, some improvements and refinements without departing from the principles of the present application shall also be considered as the protection scope of the present application.

Claims

1. A yoke product appearance inspection method characterized by comprising: The method comprises the following steps: collecting a product-in-place trigger signal at a preset discharge port of a discharge mechanism (5); controlling a preset pushing mechanism to horizontally push out the product at a preset fixed pushing force when the product-in-place trigger signal is 1, and collecting a product distribution image at a preset start position of a discharge plate (3); identifying a product start position from the product distribution image; defining the product as an intrusion product when the product start position is not in a preset expected landing position range, and moving the intrusion product out of the discharge plate (3); controlling a preset detection mechanism (4) to detect the appearance of the product during the product's discharge along the discharge plate (3) when the product start position is in the expected landing position range; the detection method of the product in the expected landing position range comprises the following steps: calculating a pushing-out distance according to the product start position and a preset pushing-out position; defining the product as a multi-shortage product when the pushing-out distance is inconsistent with a preset planning distance, and performing key detection marking, and performing appearance key detection on the multi-shortage product by a preset fine detection method; defining the product as a relatively complete product when the pushing-out distance is consistent with the planning distance, and controlling the detection mechanism (4) to collect a product image of the relatively complete product; comparing the product image with a preset warehouse product image to determine whether there is an abnormal offset feature; redefining the relatively complete product as a multi-shortage product when the abnormal offset feature exists.

2. The method of claim 1, wherein The fine detection method comprises the following steps: collecting a multi-shortage product image; generating a gray scale distribution image according to the multi-shortage product image; comparing the gray scale distribution image with a preset product reference gray scale image to determine a gray scale difference feature and a gray scale difference area; analyzing the gray scale difference area from the gray scale distribution image and extracting a regional gray scale value; defining the gray scale difference area as a shortage area when the regional gray scale value is less than a preset reference gray scale, and marking the shortage area; defining the gray scale difference area as a multi-material area when the regional gray scale value is greater than the preset reference gray scale, and marking the multi-material area.

3. The method of claim 2, wherein the method further comprises: Further comprising: extracting a minimum gray scale value and a maximum gray scale value from the gray scale distribution image; calculating a gray scale difference value of the maximum gray scale value and the minimum gray scale value; framing a product contour area according to the multi-shortage product image when the gray scale difference value is less than a preset resolution gray scale; controlling a spray head preset on the detection mechanism (4) to spray a light-enhancing liquid in the product contour area, wherein the light-enhancing liquid is formed by mixing a solvent-compatible metal brightener and a fluorescent agent; reextracting the regional gray scale value from the multi-shortage product image, and marking the shortage area and the multi-material area; controlling a preset erasing device to erase the light-enhancing liquid on the product surface after the marking is completed.

4. The yoke product appearance detection method of claim 3, wherein, Further comprising: controlling a preset ultraviolet device on the detection mechanism (4) to collect a product ultraviolet image; identifying residual fluorescent agent features and fluorescent agent positions from the product ultraviolet image; identifying a fluorescent contour based on the product ultraviolet image and the fluorescent agent positions; The product is defined as having a crack when and only when the fluorescent profile is linear, and the location of the fluorescent agent is marked.

5. The method of claim 2, wherein A plurality of cameras are arranged on the detection mechanism (4), and the method for collecting images of the product with missing materials comprises the following steps: The swing angular velocity of the detection mechanism (4) above the discharging plate (3) is matched based on the preset discharging speed of the product on the discharging plate (3); The detection mechanism (4) is controlled to swing at the swing angular velocity and the plurality of cameras are controlled to take pictures of the product at a preset unit shooting interval, so as to obtain an image set; The same element pixel points in adjacent two image units in the image set are compared, low-brightness pixel points are removed, and the two image units are spliced together; After the splicing of all image units in the image set is completed, the images of the product with missing materials are obtained.

6. A yoke product appearance inspection apparatus that performs inspection using the yoke product appearance inspection method according to any one of claims 1 to 5, characterized by The device comprises a base (1), a feeding box (2) rotatably installed on the base (1), a discharging plate (3) fixedly connected to the base (1), a detection mechanism (4) rotatably arranged on the base (1) and used for appearance detection of yoke products, and a discharging mechanism (5) arranged on the discharging plate (3) and used for arranging and discharging the yoke products in the feeding box (2). The feeding box (2) has a filling state and a discharging state. In the filling state, the feeding box (2) is horizontally arranged, and in the discharging state, the feeding box (2) is inclined downward and faces the discharging plate (3). During the rotation of the feeding box (2) from the filling state to the discharging state, the side wall of the detection mechanism (4) abuts against the opening of the feeding box (2) and rotates synchronously with the feeding box (2). In the discharging state, the detection mechanism (4) is separated from the feeding box (2) and rotates above the discharging plate (3) for detection.

7. A yoke product appearance detection device according to claim 6, wherein The feeding box (2) is slidably provided with a receiving plate (21) and a pressure spring (22) for driving the receiving plate (21) to slide.

8. The yoke product appearance detection apparatus of claim 6, wherein The discharging mechanism (5) has a feeding cavity (51) for the products to enter from the feeding box (2) and a single-layer discharging channel (52). The single-layer discharging channel (52) is in communication with the feeding cavity (51). The feeding cavity (51) is slidably provided with a material arranging block (54) that moves towards the feeding box (2) to arrange the products into a single layer. The material arranging block (54) has a material arranging curved surface (55). The feeding cavity (51) and the single-layer discharging channel (52) are both provided with a conveying belt (53) that conveys the products away from the feeding box (2).

9. The yoke product appearance detection apparatus of claim 6, wherein The discharging plate (3) is provided with a reversing groove (31), and a jacking block (32) is arranged in the reversing groove (31) to reverse and eject the products entering the reversing groove (31). The jacking block (32) has a reversing surface inclined towards the feeding box (2).

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