An automatic code scanning detection device and method

Abstract

The application relates to an automatic code scanning detection device and method. The detection device comprises a code scanning detection system, a jig tool, and a movable lower part corresponding to the code scanning detection system. The jig tool comprises a fixed seat assembly, an automatic turnover assembly, and an elbow clamping and pressing assembly. The fixed seat assembly is detachably connected to a conveying mechanism. The automatic turnover assembly is rotationally arranged on the fixed seat assembly. The elbow clamping and pressing assembly is located on the automatic turnover assembly. Corresponding turnover control parameters are determined according to pre-acquired multi-surface detection requirements to perform corresponding turnover actions. When each turnover action ends, the code scanning detection system is controlled to perform image acquisition, and then corresponding image acquisition data is acquired and sent to a control system for real-time detection. The application realizes accurate positioning and rapid switching of multiple surfaces of an accessory support, improves the stability of code scanning recognition and the integrity of detection, significantly reduces the risk of missed detection and wrong detection, and improves the detection efficiency and the reliability of the assembly process.

Description

Technical Field

[0001] This invention relates to the technical field of an automatic barcode scanning and detection device, and more particularly to an automatic barcode scanning and detection device and method. Background Technology

[0002] Currently, automated assembly lines often use barcode scanning or visual inspection to identify and confirm workpieces, ensuring the correctness and integrity of part assembly. For complex workpieces such as automotive engine brackets, their surfaces often have QR codes, text barcodes, and target feature locations for assembly confirmation. Since these markings and feature points may be distributed on different inspection surfaces, the actual inspection process requires flipping the workpiece to obtain images from each surface. In automated assembly lines, barcode scanning or visual inspection methods are commonly used to identify and verify workpieces, ensuring the correctness and integrity of part assembly. For complex workpieces such as automotive engine brackets, their surfaces often have QR codes, text barcodes, and target feature locations for assembly verification. Since these markings and feature points may be distributed across different inspection surfaces, the actual inspection process requires flipping the workpiece to obtain images from each surface. Summary of the Invention

[0003] To address the problem of difficulty in achieving accurate flipping positioning and reliable identification when QR codes, font barcodes, or target features on auxiliary supports are distributed on different detection surfaces, this application provides an automatic barcode scanning and detection device and method.

[0004] An automatic barcode scanning and detection device, the automatic barcode scanning and detection device comprising: Conveying mechanism; A barcode scanning and detection system is located on one side of the conveying mechanism. The system includes a barcode scanning camera for recognizing QR codes and a character camera for recognizing font-based barcodes. A fixture is located on the conveying mechanism and is movably positioned below the barcode scanning detection system. The fixture includes a fixed base assembly, an automatic flipping assembly, and an elbow clamping assembly. The fixed base assembly is detachably connected to the conveying mechanism. The automatic flipping assembly is rotatably mounted on the fixed base assembly. The elbow clamping assembly is located on the automatic flipping assembly to clamp the auxiliary support located on the automatic flipping assembly. The control system is electrically connected to the barcode scanning detection system and the automatic flipping component. The control system is used to determine the corresponding flipping control parameters based on the pre-acquired multi-face detection requirements, and send the flipping control parameters to the automatic flipping component to perform the corresponding flipping action. When each flipping action ends, the control system is controlled to perform image acquisition, and then the corresponding image acquisition data is acquired and sent to the control system for real-time detection.

[0005] By adopting the above technical solution, a barcode scanning and detection system is set on one side of the conveying mechanism, and a fixed seat assembly, an automatic flipping assembly, and an elbow clamping assembly are integrated into the fixture. The control system generates flipping control parameters based on preset multi-faceted detection requirements and links them with the barcode scanning action, enabling the auxiliary support to achieve precise flipping and multi-faceted image acquisition during the detection process. This effectively solves the problem that QR codes and barcodes on different detection surfaces cannot be recognized at once, and improves the integrity and accuracy of the detection.

[0006] Preferably, the fixed base assembly includes a speed-double chain mounting plate, a fixture fixing plate, and a fixture support plate. The speed-double chain mounting plate is detachably connected to the conveying mechanism. There are two fixture fixing plates, which are spaced apart on the speed-double chain mounting plate. Each fixture fixing plate is provided with a fixture support plate. The automatic flipping component is rotatably arranged between the two fixture support plates.

[0007] By adopting the above technical solution, the fixed seat assembly is designed as a combination structure of a double-speed chain mounting plate, a fixture fixing plate, and a fixture support plate. This enables the fixture tooling to be detachably installed and stably supported on the conveying mechanism, allowing the automatic flipping assembly to maintain reliable rotation between the fixture support plates. This improves the flexibility of the device's layout on the production line and the stability of workpiece flipping.

[0008] Preferably, the automatic flipping assembly includes a mounting plate, a workpiece positioning shaft, a workpiece limiting support, and a flipping motor. One end of the mounting plate is connected to a fixture support plate, and the other end passes through the fixture support plate and is connected to the drive end of the flipping motor. The workpiece positioning shaft and the workpiece limiting support are adaptively mounted on the mounting plate for stable placement of the auxiliary bracket.

[0009] By adopting the above technical solution, and by setting an installation plate, workpiece positioning shaft, workpiece limiting support and flipping motor in the automatic flipping component, a mechanism structure is formed that can stably place the auxiliary support and achieve flipping through motor drive. This ensures that the workpiece has accurate limiting support and precise angle rotation during multi-face inspection, guaranteeing the height correspondence between the flipping process and the inspection surface.

[0010] Preferably, the elbow clamping assembly includes an elbow clamp support, an elbow clamp, and a polyurethane pressure head. The elbow clamp support is disposed on the mounting plate, the elbow clamp is connected to the elbow clamp support, and the polyurethane pressure head is located at the clamping end of the elbow clamp and is correspondingly arranged with respect to the workpiece positioning axis.

[0011] By adopting the above technical solution, a limiting component capable of reliably clamping the workpiece is formed by setting an elbow clamp support, an elbow clamp, and a polyurethane pressure head on the automatic flipping component. This ensures that the auxiliary support does not shift position during flipping and detection, thereby ensuring the stability of image acquisition and reducing recognition errors caused by shaking.

[0012] Preferably, the flip motor is connected to a handle, and one end of the handle is coaxially arranged with the flip shaft of the flip motor via a clutch. When switching to automatic flip mode, the clutch is in a decoupled state, and when switching to manual flip mode, the clutch is in a coupled state.

[0013] By adopting the above technical solution, a handle with a clutch is coaxially installed on the flipping shaft of the flipping motor, so that the flipping is driven by the motor in automatic mode and directly driven by the handle in manual mode. This realizes the switching between automatic and manual operation, ensuring that the device maintains flexibility and reliability in both automated detection and manual intervention.

[0014] An automatic barcode scanning and detection method is applied to an automatic barcode scanning and detection device. The detection method includes: The auxiliary bracket to be tested is placed on the automatic flipping component according to the horizontal reference plane for pre-positioning, and the placed auxiliary bracket is pressed by the elbow clamping component to complete the limiting and fixing. If a clamping signal from the elbow clamping assembly is detected, multiple detection surfaces are determined based on the pre-acquired multi-face detection requirements. The corresponding rotational stroke coordinate set is calculated based on the multiple detection surfaces and the horizontal reference surface, and the corresponding flipping control parameters are generated based on the rotational stroke coordinate set. The automatic flipping component is controlled to perform positioning and flipping according to the flipping control parameters, and a flipping position signal sent by the automatic flipping component is received when the flipping action is completed. According to the flip-in signal, the scanning detection system is controlled to acquire images to obtain corresponding image acquisition data, the image acquisition data is detected in real time, corresponding node detection results are generated, and the next flip action is executed, and so on, until all flip actions are completed. The timestamp information set corresponding to the pressing signal and each of the flipping signals is compared with a preset timestamp sequence to generate the corresponding time detection result; The time detection results and all node detection results are integrated to generate and store the corresponding target detection results.

[0015] By adopting the above technical solution, and by setting a complete process in the detection method based on a horizontal reference plane for workpiece pre-positioning, clamping signal confirmation, calculation of rotation stroke coordinate set, execution of flipping action and image acquisition, and timestamp comparison, the auxiliary bracket can achieve automated, multi-faceted, and time-controllable full-process detection during the detection process, thereby improving detection efficiency and enhancing process monitoring capabilities.

[0016] Preferably, the step of determining multiple detection surfaces based on pre-obtained multi-faceted detection requirements, and calculating the corresponding rotational stroke coordinate set based on the multiple detection surfaces and the horizontal reference plane, includes: Based on the pre-obtained multi-faceted detection requirements, multiple corresponding detection points are determined. These detection points are the recognition locations of the QR code or character barcode, as well as the locations of the target features to be detected. The corresponding detection surface is determined by the line connecting the detection point and the center point of the horizontal reference plane. The corresponding travel coordinates are calculated based on the angle between the detection surface and the horizontal reference surface, and each travel coordinate corresponds to a flipping action; Integrate the various travel coordinates to generate a corresponding set of rotational travel coordinates.

[0017] By adopting the above technical solution, in the process of calculating the rotational stroke coordinate set, the detection point is first determined, then the detection surface is determined based on the line connecting the detection point and the center point of the reference surface, and the stroke coordinates are generated according to the angle between the detection surface and the horizontal reference surface. Finally, they are integrated into the rotational stroke coordinate set, which realizes the accurate mapping from detection requirements to the flipping angle, and ensures that the workpiece rotation action is consistent with the actual detection point height.

[0018] Preferably, the step of calculating the corresponding travel coordinates based on the angle between the detection surface and the horizontal reference surface includes: Determine the center point and normal vector n of the horizontal reference plane; The connecting vector v in the detection surface is determined by the line connecting the detection point and the center point of the horizontal reference surface. The corresponding detection surface normal vector nd is determined based on the connecting vector v and the normal vector n. Based on the normal vector n and the detection surface normal vector nd, calculate the rotation angle θ between the detection surface and the horizontal reference plane. The calculation formula is θ = arccos( ); Determine the number of pulses Np corresponding to one complete rotation of the flip motor; Based on the included angle θ to be rotated and the number of pulses Np, the corresponding travel coordinate S is calculated using the formula S = .

[0019] By adopting the above technical solution, the geometric relationship between the center point and normal vector of the reference plane, the line vector connecting the detection points and the normal vector of the detection plane is introduced in the calculation process of angle and stroke coordinates. The angle to be rotated is calculated using the inverse cosine function, and then converted into stroke coordinates by combining the number of motor pulses. This achieves the accurate conversion of the rotation angle into the motor control quantity, ensuring the accuracy and controllability of rotation positioning.

[0020] Preferably, the step of performing real-time detection on the image acquisition data and generating corresponding node detection results includes: The image acquisition data is preprocessed, and the image acquisition data includes QR code images acquired by a barcode scanning camera and barcode images acquired by a character camera; Based on template matching, the QR code region of the QR code image and / or the character barcode region of the barcode image are determined; A two-dimensional decoding algorithm is executed on the QR code area, and an optical character recognition algorithm is executed on the character barcode area to generate corresponding recognition results; The identification results are compared with the target information in the preset database to generate corresponding node detection results.

[0021] By adopting the above technical solution, the collected data is preprocessed, template matched, QR code decoded and character recognized in the image detection step, and compared with the database to finally generate node detection results. This achieves reliable recognition and verification of QR codes and barcodes, thereby ensuring the validity of the detection data and the accuracy of the workpiece information.

[0022] Preferably, the step of comparing the timestamp information set corresponding to the pressing-in signal and each of the flipping-in signals with a preset timestamp sequence to generate the corresponding time detection result includes: A preset timestamp sequence is invoked, wherein the timestamp sequence serves as the time reference for the pressing and flipping actions under normal detection procedures; The timestamp information set is compared one by one with the timestamp sequence to determine whether the time sequence and time interval of the pressing action and the flipping action are within the allowable error range, and the corresponding time detection result is generated.

[0023] By adopting the above technical solution, the timestamp information set corresponding to the pressing signal and the flipping signal is compared with the preset time sequence one by one in the time detection step, and it is determined whether the action sequence and interval are within the allowable range. This ensures that the detection process conforms to the standard timing sequence, thereby realizing the time consistency verification of the detection process and further improving the stability and reliability of the detection system.

[0024] In summary, this application includes at least one of the following beneficial technical effects: This application utilizes a fixture on the conveying mechanism that works in conjunction with a barcode scanning and inspection system. The fixture integrates a fixed base assembly, an automatic flipping assembly, and a clamping assembly, enabling the auxiliary support to be stably positioned and clamped during assembly line operation. Furthermore, it allows for multi-faceted rotation according to control system commands. The control system pre-generates flipping control parameters based on the multi-faceted inspection requirements and triggers the barcode scanning and inspection system after each flipping action to sequentially acquire and recognize QR codes and character barcodes. This ensures accurate acquisition of target information distributed across different inspection surfaces. This electrically driven flipping and image acquisition linkage technology solves the problem of difficulty in manually flipping or fixing cameras to inspect workpiece markings located on multiple inspection surfaces. It not only achieves precise positioning and rapid switching of the auxiliary support across multiple surfaces but also improves the stability and completeness of barcode scanning and inspection, significantly reducing the risk of missed or incorrect detections and improving overall inspection efficiency and assembly process reliability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of an automatic barcode scanning and detection device according to one embodiment of this application. Figure 1 .

[0026] Figure 2 This is a schematic diagram of the structure of an automatic barcode scanning and detection device according to one embodiment of this application. Figure 2 .

[0027] Figure 3 This is a schematic diagram of the fixture in an automatic barcode scanning and detection device according to one embodiment of this application.

[0028] Figure 4 This is a schematic diagram of the structure of an automatic barcode scanning and detection device according to an embodiment of this application after removing the auxiliary support.

[0029] Figure 5 This is a flowchart of an automatic barcode scanning and detection method according to an embodiment of this application.

[0030] Explanation of reference numerals in the attached drawings: 1. Conveying mechanism; 2. Barcode scanning and detection system; 3. Fixture tooling; 31. Fixed base assembly; 311. Double speed chain mounting plate; 312. Fixture fixing plate; 313. Fixture support plate; 32. Automatic flipping assembly; 321. Mounting plate; 322. Workpiece positioning shaft; 323. Workpiece limiting support; 324. Flipping motor; 33. Elbow clamping assembly; 331. Elbow clamp support base; 332. Elbow clamp; 333. Polyurethane pressure head; 34. Handle. Detailed Implementation

[0031] The present application will be further described in detail below with reference to the accompanying drawings.

[0032] In one embodiment, such as Figure 1-2 As shown, this application discloses an automatic barcode scanning and detection device, which includes: Conveying mechanism 1; A barcode scanning and detection system 2 is located on one side of the conveying mechanism 1. The barcode scanning and detection system 2 is equipped with a barcode scanning camera for recognizing QR codes and a character camera for recognizing font character barcodes. The fixture 3 is located on the conveying mechanism 1 and is movably positioned below the barcode scanning and detection system 2. The fixture 3 includes a fixed base assembly 31, an automatic flipping assembly 32, and an elbow clamping assembly 33. The fixed base assembly 31 is detachably connected to the conveying mechanism 1. The automatic flipping assembly 32 is rotatably mounted on the fixed base assembly 31. The elbow clamping assembly 33 is located on the automatic flipping assembly 32 to clamp the auxiliary support located on the automatic flipping assembly 32. The control system is electrically connected to the barcode scanning detection system 2 and the automatic flipping component 32 respectively. The control system is used to determine the corresponding flipping control parameters based on the pre-acquired multi-face detection requirements, and send the flipping control parameters to the automatic flipping component 32 to perform the corresponding flipping action. When each flipping action ends, the control system 2 is controlled to perform image acquisition, and then the corresponding image acquisition data is acquired and sent to the control system for real-time detection.

[0033] In this embodiment, the automatic barcode scanning and detection device includes a conveying mechanism 1, which is used to convey the auxiliary brackets to be inspected on the production line. A barcode scanning and detection system 2 is provided on one side of the conveying mechanism 1. The barcode scanning and detection system 2 integrates a barcode scanning camera and a character camera. The barcode scanning camera is used to identify the QR code on the surface of the auxiliary bracket, and the character camera is used to identify the font character barcode on the surface of the auxiliary bracket. The two work together to ensure the integrity of the collection of multiple types of information.

[0034] To ensure the stability of the auxiliary support within the scanning and detection system 2's acquisition range, a fixture 3 is installed on the conveying mechanism 1. The fixture 3 consists of a fixed base assembly 31, an automatic flipping assembly 32, and an elbow clamping assembly 33. The fixed base assembly 31 is detachably connected to the conveying mechanism 1. This connection ensures the positioning stability of the fixture 3 on the conveying mechanism 1 and facilitates quick assembly and disassembly during production changes or maintenance. The fixed base assembly 31 is supported at both ends by the automatic flipping assembly 32, which is mounted on the fixed base assembly 31 by rotation. The automatic flipping assembly 32 contains a mounting plate, a workpiece positioning shaft, and a workpiece limiting support, used to stably limit the auxiliary support's spatial position. This rotating connection design is necessary because QR codes, character barcodes, and target features are often distributed across different detection surfaces of the auxiliary support. It is difficult to acquire all the data at once using only a fixed-angle camera; therefore, a flipping action is necessary to gradually bring each detection surface into the camera's field of view, thus completing multi-faceted detection.

[0035] To ensure the auxiliary support does not shift during the flipping process, an elbow clamping assembly 33 is provided above the automatic flipping component 32. The elbow clamping assembly 33 includes an elbow clamp support, an elbow clamp, and a polyurethane clamping head. One end of the elbow clamp is hinged to the elbow clamp support, and the other end, via the polyurethane clamping head, clamps the auxiliary support at a position corresponding to the workpiece positioning axis, thus achieving stable fixation. The polyurethane clamping head is used because of its moderate flexibility, providing sufficient clamping force while avoiding scratches or damage to the workpiece surface.

[0036] The control system is electrically connected to the barcode scanning and detection system 2 and the automatic flipping component 32. During operation, the control system calculates the required flipping control parameters based on preset multi-faceted detection needs and sends these parameters to the automatic flipping component 32, thereby driving the flipping motor to rotate the workpiece positioning shaft. Once the flipping action is complete, the automatic flipping component 32 returns a flipping-in-place signal. Upon receiving this signal, the control system immediately triggers the barcode scanning and detection system 2 to acquire an image. This "flipping action—placement confirmation—image acquisition" workflow ensures that each image acquisition strictly corresponds to a specific detection surface, avoiding recognition failures or repeated detections due to inaccurate angles.

[0037] In summary, this specific implementation, through the coordinated operation of the conveying mechanism 1, the barcode scanning and detection system 2, the fixture 3, and the control system, enables the auxiliary support to achieve automatic flipping and multi-sided barcode scanning and detection on the production line. The fixed base assembly 31 ensures the installation stability of the fixture, the automatic flipping assembly 32 provides controllable rotational freedom, the elbow clamping assembly 33 ensures the workpiece is limited and clamped, and the control system realizes closed-loop linkage between the flipping action and image acquisition. This solves the problem of simultaneously recognizing QR codes and character barcodes on different detection surfaces, significantly improving the integrity and reliability of the detection.

[0038] Furthermore, such as Figure 3-4 As shown, the fixed base assembly 31 includes a speed chain mounting plate 311, a fixture fixing plate 312, and a fixture support plate 313. The speed chain mounting plate 311 is detachably connected to the conveying mechanism 1. There are two fixture fixing plates 312, which are spaced apart on the speed chain mounting plate 311. Each fixture fixing plate 312 is provided with a fixture support plate 313. The automatic flipping assembly 32 is rotatably arranged between the two fixture support plates.

[0039] In this embodiment, the fixed base assembly 31 consists of a double-speed chain mounting plate 311, a fixture fixing plate 312, and a fixture support plate 313. The double-speed chain mounting plate 311 is detachably connected to the conveying mechanism 1 by screws or locating pins. This connection allows the fixed base assembly 31 to be securely mounted on the conveying mechanism 1, while facilitating quick disassembly and reinstallation when changing product models or performing maintenance on the production line. Two fixture fixing plates 312 are arranged at intervals on the double-speed chain mounting plate 311, and the two are set parallel to each other to form a stable support frame in the conveying direction.

[0040] Each fixture fixing plate 312 is equipped with a fixture support plate 313, which is perpendicular to the fixture fixing plate 312. Its function is to provide a support position for the automatic tilting assembly 32 to be rotated. The automatic tilting assembly 32 is mounted between two fixture support plates 313 through bearings or rotating pairs, so that the workpiece positioning shaft 322 can rotate smoothly between the fixture support plates 313.

[0041] The double-speed chain mounting plate 311 ensures a rigid connection between the fixed seat assembly 31 and the conveying mechanism 1. The fixture fixing plate 312 serves to reinforce and position the components, while the fixture support plate 313 provides precise support for the tilting axis. This combination of three parts not only ensures the positioning accuracy and structural stability of the fixture 3 on the conveying mechanism 1 but also provides reliable support for the rotation of the automatic tilting assembly 32, preventing swaying or shaking during the tilting process.

[0042] In terms of working principle, when the conveying mechanism 1 transports the auxiliary bracket to the designated detection position, the fixed base assembly 31, through the support frame formed by the fixture fixing plate 312 and the fixture support plate 313, ensures that the automatic flipping assembly 32 can accurately flip around a fixed rotation axis. Thus, when the control system issues a flipping command, the auxiliary bracket can maintain a stable reference position while rotating, thereby ensuring that the image acquired by the barcode scanning detection system 2 corresponds to the detection requirements and avoiding detection angle errors caused by unstable support.

[0043] In summary, this embodiment, through the reasonable arrangement of the speed-double chain mounting plate 311, the fixture mounting plate 312, and the fixture support plate 313, achieves the detachable installation and high-precision support function of the fixed seat assembly 31 on the conveying mechanism 1, providing a stable foundation for the rotation of the automatic flipping assembly 32, thereby improving the reliability and adaptability of the detection device.

[0044] Furthermore, such as Figure 3-4 As shown, the automatic flipping assembly 32 includes a mounting plate 321, a workpiece positioning shaft 322, a workpiece limiting support 323, and a flipping motor 324. One end of the mounting plate 321 is connected to a fixture support plate 313, and the other end passes through the fixture support plate 313 and is connected to the drive end of the flipping motor. The workpiece positioning shaft 322 and the workpiece limiting support 323 are adaptively mounted on the mounting plate 321 for stable placement of the auxiliary bracket.

[0045] In this embodiment, the automatic tilting assembly 32 consists of a mounting plate 321, a workpiece positioning shaft 322, a workpiece limiting support 323, and a tilting motor 324. One end of the mounting plate 321 is fixedly connected to the fixture support plate 313 by screws or positioning pins to form a stable mounting reference; the other end of the mounting plate 321 passes through the fixture support plate 313 on the opposite side and is coaxially connected to the drive end of the tilting motor 324, so that the output torque of the tilting motor 324 can be directly transmitted to the mounting plate 321, thereby driving the entire automatic tilting assembly 32 to rotate.

[0046] The workpiece positioning shaft 322 is arranged longitudinally along the mounting plate 321 to provide a rotation center for the auxiliary support during the flipping process. The workpiece limiting support 323 is positioned relative to the workpiece positioning shaft 322 on the mounting plate 321; its structure can be a limiting block or a support bar, used to clamp and constrain the auxiliary support in the lateral direction. The relative arrangement between the workpiece positioning shaft 322 and the workpiece limiting support 323 forms an adaptive limiting space, enabling stable fitting through fine-tuning of the position when placing auxiliary supports of different models, avoiding workpiece loosening or displacement due to dimensional differences.

[0047] The flip motor 324, acting as the active drive unit, has its output shaft connected to the mounting plate 321 via a coupling, driving the mounting plate 321 and the workpiece positioning shaft 322 fixed thereon to rotate as a whole. Under the command of the control system, the flip motor 324 can accurately position itself at multiple angles. After each rotation to its designated position, the automatic flip component 32 sends a flip-in signal back to the control system, triggering the barcode scanning and detection system 2 to perform image acquisition. This closed-loop control method ensures that each detection surface is precisely aligned with the field of view of the barcode scanning or character camera.

[0048] Mounting plate 321 provides an overall support frame for the flipping assembly, enabling the workpiece positioning shaft 322 and workpiece limiting support 323 to be stably installed; the flipping motor 324 directly drives the mounting plate 321, ensuring that the rotational motion has sufficient rigidity and precision; the cooperative design of workpiece positioning shaft 322 and workpiece limiting support 323 not only provides stable positioning for the auxiliary bracket, but also adapts to the inspection requirements of workpieces of different specifications, thereby enhancing the versatility and reliability of the device.

[0049] In terms of working principle, after the auxiliary support is placed between the workpiece positioning shaft 322 and the workpiece limiting support 323 and pressed by the elbow clamping assembly 33, the flipping motor 324, driven by the control system, drives the mounting plate 321 to rotate, and the workpiece positioning shaft 322 rotates synchronously, thereby flipping the auxiliary support to the target inspection surface. This process ensures the stability of the auxiliary support's position and the accuracy of its angle during rotation, avoiding angle deviations or missed detections caused by manual flipping, and improving the automation and reliability of multi-faceted barcode scanning inspection.

[0050] In summary, this embodiment, through the reasonable configuration of mounting plate 321, workpiece positioning shaft 322, workpiece limiting support 323 and flipping motor 324, achieves stable positioning and automated precise flipping of the auxiliary support, ensuring the high efficiency and accuracy of multi-faceted inspection.

[0051] Furthermore, such as Figure 3-4 As shown, the elbow clamping assembly 33 includes an elbow clamp support 331, an elbow clamp 332, and a polyurethane pressure head 333. The elbow clamp support 331 is disposed on the mounting plate 321. The elbow clamp 332 is connected to the elbow clamp support 331. The polyurethane pressure head 333 is located at the clamping end of the elbow clamp 332 and is correspondingly arranged with respect to the workpiece positioning shaft 322.

[0052] In this embodiment, the elbow clamping assembly 33 includes an elbow clamp support 331, an elbow clamp 332, and a polyurethane pressure head 333. The elbow clamp support 331 is mounted on the upper surface of the mounting plate 321 by screws, and its function is to provide a stable mounting reference for the elbow clamp 332. One end of the elbow clamp 332 is hinged to the elbow clamp support 331 to form a rotatable lever mechanism, and the other end is connected to the polyurethane pressure head 333 as the pressing end. The polyurethane pressure head 333 is arranged correspondingly above the workpiece positioning shaft 322. When the auxiliary bracket is placed between the workpiece positioning shaft 322 and the workpiece limiting support 323, the elbow clamp 332 rotates around the hinge point of the elbow clamp support 331 under the drive of the operating force or the actuator cylinder, so that the polyurethane pressure head 333 presses down to press the upper surface of the auxiliary bracket, thereby completing the stable fixation.

[0053] The necessity of this connection lies in the fact that the elbow clamp support 331 provides a reliable mounting fulcrum, ensuring that the elbow clamp 332 has sufficient rigidity and repeatability during the flipping process; the elbow clamp 332, as a lever-type clamping mechanism, can generate a large clamping force with a small driving force, thus adapting to auxiliary supports of different weights and materials; the polyurethane pressure head 333, as a component that directly contacts the workpiece, has moderate material flexibility, which can provide a stable clamping force and avoid scratches or pressure damage to the workpiece surface during the clamping process.

[0054] In terms of working principle, after the auxiliary support is placed between the workpiece positioning shaft 322 and the workpiece limiting support 323, the elbow clamp 332 rotates to the clamping position under the drive of the command issued by the control system. The polyurethane pressure head 333 makes close contact with the surface of the auxiliary support and applies downward pressure, keeping the auxiliary support stable throughout the entire flipping and inspection process. After the clamping action is completed, the elbow clamp clamping assembly 33 generates a clamping signal and feeds it back to the control system. The control system will only allow the flipping motor 324 to start after confirming that the signal is valid, thus achieving a safe interlock of the action.

[0055] The elbow clamping assembly 33 not only ensures the limiting stability of the auxiliary support during the flipping process, but also works in concert with the automatic flipping assembly 32 and the barcode scanning detection system 2 to ensure the accuracy and consistency of image acquisition, thereby avoiding false detection and missed detection caused by workpiece offset or shaking.

[0056] In summary, this embodiment achieves stable clamping and limiting protection of the auxiliary support through the reasonable layout and lever connection of the elbow clamp support 331, elbow clamp 332 and polyurethane pressure head 333, thus ensuring the safety and reliability of the testing process.

[0057] Furthermore, such as Figure 3-4As shown, the flip motor 324 is connected to a handle 34. One end of the handle 34 is coaxially arranged with the flip shaft of the flip motor 324 via a clutch. When switching to automatic flip mode, the clutch is in a decoupled state, and when switching to manual flip mode, the clutch is in a coupled state.

[0058] The output end of the tilting motor 324 is directly coaxially connected to the tilting shaft. The tilting shaft, as the core drive component, passes through the fixture support plate 313 and is fixedly mounted on the mounting plate 321. A clutch is provided at one end of the tilting shaft. This clutch is connected to the output end of the tilting motor 324 by a key connection or threaded fixation, and can switch between coupling and decoupling under electrical signal control. A handle 34 is installed on the outer end of the clutch. The handle 34 is coaxially arranged with the tilting shaft. When the clutch is in different working states, the handle 34 can be automatically followed or manually driven respectively.

[0059] In automatic flipping mode, the clutch is engaged. The output torque of the flipping motor 324 is transmitted to the flipping shaft via the clutch, causing the mounting plate 321, workpiece positioning shaft 322, and auxiliary support to rotate as a whole. The handle 34, being coaxially mounted, is passively followed and does not interfere with the flipping action. In this mode, the flipping angle is precisely controlled by the control system based on pre-calculated flipping control parameters. After each rotation, the flipping motor 324 outputs a flipping-in-position signal, ensuring a one-to-one correspondence between the detected action and the flipping angle.

[0060] In manual rotation mode, the clutch is decoupled, and the mechanical transmission between the rotation motor 324 and the rotation shaft is cut off. The operator can directly drive the rotation shaft through the handle 34 to manually rotate the auxiliary support. This method is suitable for equipment debugging or auxiliary testing under special working conditions, and can continue to complete the rotation action when the motor drive is unavailable or manual intervention is required.

[0061] The flip motor 324 ensures high precision and efficiency in automated testing, while the handle 34 provides flexibility for manual operation. The introduction of the clutch ensures that switching between the two modes does not cause mechanical interference or back-drive problems. The device can operate efficiently on a production line and can also be manually operated when needed, improving the overall system's reliability and adaptability.

[0062] In summary, this implementation achieves compatibility between automatic and manual flipping modes through the coaxial arrangement and function switching of the flipping motor 324, clutch, and handle 34, which not only meets the automation requirements of multi-faceted inspection but also ensures the ability to intervene manually in special circumstances.

[0063] like Figure 4As shown, an automatic barcode scanning and detection method is applied to an automatic barcode scanning and detection device. The detection method includes: S10. Place the auxiliary support to be inspected on the automatic flipping assembly according to the horizontal reference plane for pre-positioning, and then use the elbow clamping assembly to clamp the placed auxiliary support to complete the limiting and fixing. The horizontal reference plane refers to the positioning plane on which the auxiliary support is initially placed. This plane serves as the reference for all flipping actions, ensuring the uniformity of the initial posture of the auxiliary support in space, thus facilitating the calculation of the relative relationship between the rotation angle and the inspection surface. Pre-positioning means that after the auxiliary support is placed on the automatic flipping assembly, the limiting space formed by the workpiece positioning shaft and the workpiece limiting support ensures that the auxiliary support is roughly aligned with the horizontal reference plane, providing initial assurance for subsequent clamping and flipping actions. The elbow clamping assembly is a clamping mechanism installed on the automatic flipping assembly. Its function is to apply downward pressure by rotating the pressure head through a lever, firmly clamping the pre-positioned auxiliary support onto the workpiece positioning shaft to prevent shaking or displacement during the flipping process. The clamping signal is a confirmation signal issued by the elbow clamping assembly after completing the clamping action. After being transmitted to the control system, this signal serves as the trigger condition for subsequent flipping and detection actions, ensuring the safety and reliability of the detection process.

[0064] S20. If a clamping signal from the elbow clamping assembly is detected, based on the pre-acquired multi-faceted detection requirements, multiple corresponding detection surfaces are determined. According to these multiple detection surfaces and the horizontal reference plane, a corresponding set of rotational stroke coordinates is calculated, and corresponding flipping control parameters are generated based on the rotational stroke coordinate set. Multi-faceted detection requirements refer to the control system pre-setting multiple planar information to be detected based on the design features of the auxiliary bracket, the distribution of QR codes and character barcodes, and the detection process requirements before executing the detection task. This requirement ensures that the detection action is no longer limited to a single perspective but can cover all surfaces containing key information. The rotational stroke coordinate set is a data set obtained by calculating the spatial angles between each detection surface and the horizontal reference plane, converting these angles into specific motor stroke coordinates, and integrating them. This set provides a clear target position for the control system to drive the flipping motor. The flipping control parameters are motor execution commands generated by the control algorithm from the rotational stroke coordinate set. These parameters can be angle values, pulse counts, or motor encoder coordinates. The control system uses these parameters to drive the automatic flipping assembly to precisely rotate to the target detection surface. The flip-in signal is a confirmation signal fed back by the position sensor or encoder after the automatic flip component completes a flip action. This signal is transmitted to the control system and triggers the barcode scanning detection system to carry out the next image acquisition.

[0065] S30. Control the automatic flipping component to perform positioning and flipping according to the flipping control parameters, and receive the flipping position signal sent by the automatic flipping component when the flipping action is completed. S40. Based on the flip-in signal, control the barcode scanning detection system to acquire image data, perform real-time detection on the image data, generate corresponding node detection results, and execute the next flip action, and so on, until all flip actions are completed. Image acquisition data refers to the raw image information acquired by the barcode scanning detection system. After preprocessing, decoding, and recognition, this information generates node detection results, which are used to determine whether a detection surface contains the correct identification information. The node detection result is the recognition and comparison output for a single detection surface, reflecting whether the detection surface meets the detection requirements.

[0066] S50. Compare the timestamp information sets corresponding to the pressing and flipping signals with a preset timestamp sequence to generate corresponding time detection results. The timestamp information set refers to the set of records generated at different time points during the entire detection process. These time information sets are compared with the preset timestamp sequence stored in the control system to generate time detection results. The time detection results are used to verify whether the detection process is executed according to the predetermined order and rhythm. If abnormal delays or out-of-order events occur, an alarm will be triggered or the result will be marked as abnormal. The target detection result refers to the final output formed by integrating and analyzing the node detection results and the time detection results, which is used to comprehensively determine whether the auxiliary support has passed the detection.

[0067] S60. Integrate the time detection results and all node detection results to generate and store the corresponding target detection results.

[0068] Specifically, on a production line for automotive engine brackets, when the auxiliary bracket is transported to the inspection station, it first achieves pre-positioning with the horizontal reference plane using the workpiece positioning axis and limit support. Then, the elbow clamping assembly presses down and generates a clamping signal. After confirming the validity of this signal, the control system extracts the four surfaces to be inspected from the multi-face inspection requirements and generates flipping control parameters based on the rotational stroke coordinate set. This drives the flipping motor to sequentially flip the workpiece to the corresponding angular position. After each flip, the automatic flipping assembly returns a flipping signal, and the barcode scanning system immediately acquires the image and identifies the QR code or character barcode, generating a node inspection result and recording the corresponding timestamp. After the entire inspection process is completed, the control system compares all timestamp information sets with the preset timestamp sequence to confirm that the execution order and intervals of the actions are normal. Finally, it integrates the time detection results with all node inspection results to generate the final target inspection result, thereby determining whether the bracket meets the assembly requirements.

[0069] Furthermore, the step of determining multiple detection surfaces based on pre-acquired multi-faceted detection requirements, and calculating the corresponding rotational stroke coordinate set based on the multiple detection surfaces and the horizontal reference plane, includes: S201. Based on the pre-acquired multi-faceted detection requirements, determine the corresponding multiple detection points, wherein the detection points are the recognition positions of the QR code or character barcode, and the target feature positions to be detected; S202. Determine the corresponding detection surface based on the line connecting the detection point and the center point of the horizontal reference plane; S203. Calculate the corresponding travel coordinates based on the angle between the detection surface and the horizontal reference surface, with each travel coordinate corresponding to a flipping action; S204. Integrate the various travel coordinates to generate the corresponding rotational travel coordinate set.

[0070] In this embodiment, the multi-faceted inspection requirement refers to the multiple surface information that the control system sets before inspection begins, based on the geometric features of the auxiliary support and the distribution of barcodes, to be inspected sequentially. This represents the set of target tasks during the inspection process. Inspection points refer to specific coordinate positions selected on the auxiliary support. These positions often correspond to the locations of QR codes, character barcodes, or other target features. By performing spatial calculations on the inspection points, the angle at which the workpiece needs to be flipped can be derived. The inspection surface refers to the plane containing the inspection points, determined with the line connecting the inspection points and the center point of the horizontal reference plane as a reference. This plane forms a clear angle with the horizontal reference plane. The stroke coordinates refer to the motor displacement coordinates obtained by converting the angle between the inspection surface and the horizontal reference plane. They directly correspond to the execution target position of the flipping motor. The rotational stroke coordinate set is a collection of multiple stroke coordinates, covering all the angular positions that the workpiece needs to reach sequentially during the inspection process. The control system can achieve multi-faceted flipping of the workpiece by calling the parameters in this set.

[0071] Furthermore, the step of calculating the corresponding travel coordinates based on the angle between the detection surface and the horizontal reference plane includes: S2031. Determine the center point and normal vector n0 of the horizontal reference plane; S2032. Determine the connecting vector v in the detection surface. The connecting vector v is determined by the line connecting the detection point and the center point of the horizontal reference surface. And determine the corresponding detection surface normal vector nd based on the connecting vector v and the normal vector n0. S2033. Based on the normal vector n0 and the detection surface normal vector nd, calculate the rotation angle θ between the detection surface and the horizontal reference plane. The calculation formula is θ = arccos( ); S2034. Determine the number of pulses Np corresponding to one revolution of the flip motor; S2035. Based on the included angle θ to be rotated and the number of pulses Np, calculate the corresponding travel coordinate S. The calculation formula is S= .

[0072] In this embodiment, the center point refers to the geometric center position defined on the horizontal reference plane. This position serves as the starting reference point for connecting all detection points, ensuring a unified benchmark for rotation angle calculation. The normal vector n0 is a vector representing the spatial orientation of the horizontal reference plane; its direction is perpendicular to the horizontal reference plane and it is used as the benchmark vector for calculating the included angle. The connecting vector v is the vector formed by the lines connecting the detection points to the center point of the horizontal reference plane. It reflects the spatial orientation of the detection points relative to the center point of the reference plane and is used in conjunction with the reference plane normal vector to determine the detection surface. The detection surface normal vector nd is derived from the geometric relationship between the connecting vector v and the normal vector n0. It describes the directional attribute of the detection surface in space and is used in the included angle calculation by performing a dot product operation with the normal vector n0 to obtain the rotation angle. The included angle to be rotated θ is the angle between the detection surface and the horizontal reference plane, numerically representing the angle required for the workpiece to rotate from the reference state to the detection surface. This angle is calculated using the inverse cosine function. The pulse count Np is the number of encoder pulses or control pulses corresponding to one revolution of the flip motor, and it is a proportional conversion parameter between the motor displacement and the rotation angle. The travel coordinate S is the target position of the motor obtained by converting the included angle θ to be rotated according to the pulse count Np. It is directly used for the control execution of the flip motor and is a key parameter connecting geometric calculation and drive action.

[0073] For example, when inspecting the QR code surface of an auxiliary support, the center point of the horizontal reference plane is first determined as a unified reference, and its normal vector n0 is defined as the vertically upward direction. The connecting vector v is obtained by measuring the spatial relationship between the QR code points and the center point, and the normal vector nd of the inspection surface is derived by combining it with n0. Then, the dot product between n0 and nd is used to calculate the rotation angle θ, which represents the angle required for the workpiece to rotate from the initial horizontal reference plane to the QR code inspection surface. Combined with the number of pulses Np corresponding to one revolution of the flipping motor, θ is converted into a stroke coordinate S. Finally, the control system sends S as the target parameter to the flipping motor, enabling the workpiece to accurately flip onto the QR code surface and complete image acquisition.

[0074] Furthermore, the step of performing real-time detection on the acquired image data and generating corresponding node detection results includes: S401. Preprocess the image acquisition data, which includes QR code images acquired by a barcode scanner and barcode images acquired by a character scanner. S402. Based on template matching, determine the QR code region of the QR code image and / or determine the character barcode region of the barcode image; S403. Perform a two-dimensional decoding algorithm on the QR code area and an optical character recognition algorithm on the character barcode area to generate corresponding recognition results; S404. The recognition result is compared with the target information in the preset database to generate the corresponding node detection result.

[0075] In this embodiment, image acquisition data refers to the raw digital image information acquired in real time by the barcode scanner and character camera during the detection process. It includes two parts: QR code images and character barcode images. This data serves as the input source for subsequent image processing and recognition. Preprocessing is the process of optimizing the original image using algorithms. Its function is to remove noise, adjust brightness, and enhance contrast, making the effective features in the image clearer, facilitating subsequent region localization and recognition. Template matching uses preset QR code or barcode feature templates to perform point-by-point matching and similarity calculation in the preprocessed image, thereby determining the location of the QR code or barcode region. Its working principle is to compare a known template with a region in an unknown image, using the location with the highest similarity as the determination result of the detection region. The QR code region refers to the rectangular area in the image where the QR code is located, identified by the template matching method. This region contains all the black and white module information used for decoding. The character barcode region is the location of the identified character barcode in the image, containing information about barcode stripes or character combinations. Two-dimensional decoding algorithms are data parsing processes for QR code areas. Their working principle involves dividing the black-and-white modules according to a standardized grid, restoring the encoded information through error correction codes, and outputting the data. Optical character recognition (OCR) algorithms are recognition technologies for barcode areas. They convert image signals into corresponding numerical or alphanumeric codes by scanning character shapes or stripe distributions. The recognition result is the digital information obtained after QR code decoding and barcode recognition, representing the product identification contained on the inspection surface. The database is a pre-stored set of standard information in the system, typically including product models, process parameters, or assembly requirements. The comparison process involves matching the recognition results with the database information to determine if they match. Node detection results refer to the detection conclusions formed after the comparison, used to characterize whether the inspection surface meets process requirements or whether there are any anomalies.

[0076] For example, when detecting an accessory support, a code-scanning camera acquires a two-dimensional code image, and a character camera acquires a bar code image, and these images constitute image acquisition data. The system first preprocesses the data to remove background interference, then accurately locates the two-dimensional code area in the two-dimensional code image and locates the character bar code area in the bar code image through a template matching method. Then, the product serial number is restored from the two-dimensional code area through a two-dimensional decoding algorithm, and the corresponding part code is identified from the character bar code area through an optical character recognition algorithm. These identification results are compared with preset standard information in a database. If they are consistent, the node detection result is qualified; if they are inconsistent, the node detection result is unqualified. The whole process ensures that the information on each detection surface can be collected, processed and verified in real time, thereby realizing multi-surface detection and reliable judgment of the accessory support.

[0077] Further, the step of comparing the time stamp information set corresponding to the pressing in-place signal and each of the turning over in-place signals with a preset time stamp sequence to generate a corresponding time detection result includes: S501, invoking a preset time stamp sequence, wherein the time stamp sequence is a time reference for the pressing action and the turning over action under a normal detection process; S502, comparing the time stamp information set with the time stamp sequence one by one, judging whether the time sequence and the time interval of the pressing action and the turning over action are within an allowable error range, and generating a corresponding time detection result.

[0078] In this embodiment, the time stamp information set refers to a set of time records respectively generated by the pressing in-place signal and the turning over in-place signal during the detection process. A specific time point is marked by the control system at the moment each signal is triggered, so as to form a complete time sequence. The preset time stamp sequence is time reference data established by the system according to a standard detection process in the design stage, which defines the sequence of the pressing action and the turning over action and the reasonable time interval between each action. The allowable error range refers to a tolerance interval set for mechanical inertia, sensor response delay or electrical noise existing in the actual detection environment during the comparison process, and this interval ensures that even if there is a slight deviation, it will not affect the judgment of the detection result. The time detection result refers to a judgment conclusion formed after comparing the actually collected time stamp information set with the preset time stamp sequence, which is used to indicate whether the detection process is executed according to the predetermined time logic. If both the sequence and the interval meet the requirements, a normal result is output; if there is timeout, out-of-sequence or delay, an abnormal result is output.

[0079] Its working principle is as follows: after the elbow clamping assembly completes its action, it sends a clamping signal, and the control system immediately records the timestamp of this signal. Subsequently, the flipping motor, under the command of the control system, completes one rotation and sends a flipping signal, which is also recorded by the system. As the detection process progresses, the timestamps corresponding to all clamping and flipping signals are integrated into a timestamp information set. The system then calls up the stored preset timestamp sequence and compares the actual information with the standard sequence one by one. If the clamping signal does not appear before the flipping signal, or the time interval between the flipping signals exceeds the allowable error range, it is judged as abnormal; if the comparison is consistent, it is judged as normal.

[0080] For example, in a testing task, the preset timestamp sequence requires the clamping action to be completed and output a signal within 0 to 2 seconds, and the flipping action to be completed and output a signal within 2 to 4 seconds, with an allowable error of ±0.1 seconds. In actual testing, the control system records the timestamp of the clamping signal at 1.2 seconds and the timestamp of the flipping signal at 3.1 seconds. These data are integrated into the timestamp information set. After comparison with the preset timestamp sequence, it is found that the signal order is correct and the time interval is within the allowable error range, so the time detection result is normal. If the flipping signal occurs after 4.5 seconds, it will be judged as abnormal by the system and an alarm will be triggered, thereby realizing the timing monitoring of the testing process.

[0081] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An automatic barcode scanning and detection method, characterized in that, Applied to an automatic barcode scanning and detection device, the automatic barcode scanning and detection device includes: Conveying mechanism (1); A barcode scanning detection system (2) is located on one side of the conveying mechanism (1). The barcode scanning detection system (2) is equipped with a barcode scanning camera for recognizing QR codes and a character camera for recognizing font character barcodes. The fixture (3) is located on the conveying mechanism (1) and is movably positioned below the barcode scanning detection system (2). The fixture (3) includes a fixed base assembly (31), an automatic flipping assembly (32), and an elbow clamping assembly (33). The fixed base assembly (31) is detachably connected to the conveying mechanism (1). The automatic flipping assembly (32) is rotatably mounted on the fixed base assembly (31). The elbow clamping assembly (33) is located on the automatic flipping assembly (32) to clamp the auxiliary support located on the automatic flipping assembly (32). The control system is electrically connected to the barcode scanning detection system (2) and the automatic flipping component (32) respectively. The control system is used to determine the corresponding flipping control parameters through the multi-face detection requirements obtained in advance, and send the flipping control parameters to the automatic flipping component (32) to perform the corresponding flipping action. When each flipping action ends, the barcode scanning detection system (2) is controlled to perform image acquisition, and then the corresponding image acquisition data is acquired and sent to the control system for real-time detection. The detection method includes: The auxiliary bracket to be tested is placed on the automatic flipping component according to the horizontal reference plane for pre-positioning, and the placed auxiliary bracket is pressed by the elbow clamping component to complete the limiting and fixing. If a clamping signal from the elbow clamping assembly is detected, multiple detection surfaces are determined based on the pre-acquired multi-face detection requirements. The corresponding rotational stroke coordinate set is calculated based on the multiple detection surfaces and the horizontal reference surface, and the corresponding flipping control parameters are generated based on the rotational stroke coordinate set. The automatic flipping component is controlled to perform positioning and flipping according to the flipping control parameters, and a flipping position signal sent by the automatic flipping component is received when the flipping action is completed. According to the flip-in signal, the scanning detection system is controlled to acquire images to obtain corresponding image acquisition data, the image acquisition data is detected in real time, corresponding node detection results are generated, and the next flip action is executed, and so on, until all flip actions are completed. The timestamp information set corresponding to the pressing signal and each of the flipping signals is compared with a preset timestamp sequence to generate the corresponding time detection result; Integrate the time detection results and all node detection results to generate and store the corresponding target detection results; The step of determining multiple detection surfaces based on pre-acquired multi-surface detection requirements, and calculating the corresponding rotational stroke coordinate set based on the multiple detection surfaces and the horizontal reference plane, includes: Based on the pre-obtained multi-faceted detection requirements, multiple corresponding detection points are determined. These detection points are the recognition locations of the QR code or character barcode, as well as the locations of the target features to be detected. The corresponding detection surface is determined by the line connecting the detection point and the center point of the horizontal reference plane. The corresponding travel coordinates are calculated based on the angle between the detection surface and the horizontal reference surface, and each travel coordinate corresponds to a flipping action; Integrate the various travel coordinates to generate a corresponding set of rotational travel coordinates; The step of calculating the corresponding travel coordinates based on the angle between the detection surface and the horizontal reference surface includes: Determine the center point and normal vector n0 of the horizontal reference plane; The connecting vector v in the detection surface is determined by the line connecting the detection point and the center point of the horizontal reference surface. The corresponding detection surface normal vector nd is determined based on the connecting vector v and the normal vector n0. Based on the normal vector n0 and the detection surface normal vector nd, calculate the rotation angle θ between the detection surface and the horizontal reference plane, using the following formula: ; Determine the number of pulses Np corresponding to one complete rotation of the flip motor; Based on the included angle θ to be rotated and the number of pulses Np, the corresponding travel coordinate S is calculated using the following formula: .

2. The automatic barcode scanning and detection method according to claim 1, characterized in that, The fixed base assembly (31) includes a speed chain mounting plate (311), a fixture fixing plate (312), and a fixture support plate (313). The speed chain mounting plate (311) is detachably connected to the conveying mechanism (1). There are two fixture fixing plates (312) that are spaced apart on the speed chain mounting plate (311). Each fixture fixing plate (312) is provided with a fixture support plate (313). The automatic flipping assembly (32) is rotatably arranged between the two fixture support plates.

3. The automatic barcode scanning and detection method according to claim 2, characterized in that, The automatic flipping assembly (32) includes a mounting plate (321), a workpiece positioning shaft (322), a workpiece limiting support (323), and a flipping motor (324). One end of the mounting plate (321) is connected to a fixture support plate (313), and the other end passes through the fixture support plate (313) and is connected to the drive end of the flipping motor. The workpiece positioning shaft (322) and the workpiece limiting support (323) are adaptively mounted on the mounting plate (321) for stable placement of the auxiliary bracket.

4. The automatic barcode scanning and detection method according to claim 3, characterized in that, The elbow clamping assembly (33) includes an elbow clamp support (331), an elbow clamp (332), and a polyurethane pressure head (333). The elbow clamp support (331) is mounted on the mounting plate (321). The elbow clamp (332) is connected to the elbow clamp support (331). The polyurethane pressure head (333) is located at the clamping end of the elbow clamp (332) and is correspondingly arranged with respect to the workpiece positioning shaft (322).

5. The automatic barcode scanning and detection method according to claim 3, characterized in that, The flip motor (324) is connected to a handle (34). One end of the handle (34) is coaxially arranged with the flip shaft of the flip motor (324) via a clutch. When switching to automatic flip mode, the clutch is in a decoupled state. When switching to manual flip mode, the clutch is in a coupled state.

6. The automatic barcode scanning and detection method according to claim 1, characterized in that, The step of performing real-time detection on the acquired image data and generating corresponding node detection results includes: The image acquisition data is preprocessed, and the image acquisition data includes QR code images acquired by a barcode scanning camera and barcode images acquired by a character camera; Based on template matching, the QR code region of the QR code image and / or the character barcode region of the barcode image are determined; A two-dimensional decoding algorithm is executed on the QR code area, and an optical character recognition algorithm is executed on the character barcode area to generate corresponding recognition results; The identification results are compared with the target information in the preset database to generate corresponding node detection results.

7. The automatic barcode scanning and detection method according to claim 1, characterized in that, The step of comparing the timestamp information set corresponding to the pressing position signal and each of the flipping position signals with a preset timestamp sequence to generate the corresponding time detection result includes: A preset timestamp sequence is invoked, wherein the timestamp sequence serves as the time reference for the pressing and flipping actions under normal detection procedures; The timestamp information set is compared one by one with the timestamp sequence to determine whether the time sequence and time interval of the pressing action and the flipping action are within the allowable error range, and the corresponding time detection result is generated.

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