A positioning method and system for material detection, and an electronic device

Abstract

The embodiment of the application provides a positioning method and system for material detection, and an electronic device, and relates to the technical field of production line control. The method comprises the following steps: during the running of a conveying line, a tray is placed on the conveying line and runs along the conveying direction; a code reader upstream of a detection area is used to detect the code reading result of a material code, so as to determine that the material on the tray is a target material. Then, a first ranging result of a top ranging sensor arranged at the top of the detection area is obtained, and the ranging result represents the height distance from the top ranging sensor to the nearest surface in the detection area. According to the first ranging result, it can be determined that the target material enters the detection area, and then the conveying line is controlled to stop running. Subsequently, the target material can be positioned, and the target material is detected according to the positioning result. According to the embodiment of the application, the code reader and the top ranging sensor work cooperatively, so that the material stopping position is accurate, and a large detection area does not need to be reserved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of production line control, and in particular to a positioning method and system for material detection and an electronic device. BACKGROUND

[0002] Engine warehouse detection is a key finishing station of mixed production on a plate chain line. The station has fast rhythm, large span, various engine models, and different sizes of supporting trays. Since the placement position of the engine on the plate chain line is not fixed, the inclination angle is not the same, and the plate chain load changes, the engine shape is irregular, and other factors, the engine stop position deviation is large. The prior art cannot accurately control the stop position, and a large detection area needs to be reserved to adapt to the deviation, which not only wastes space, but also increases the positioning detection difficulty and affects the detection efficiency and accuracy. SUMMARY

[0003] Embodiments of the present application provide a positioning method and system for material detection and an electronic device to alleviate or solve the technical problem that the prior art cannot accurately control the stop position of the material on the conveying line, resulting in the need to reserve a large range of detection area to adapt to the positioning deviation.

[0004] In a first aspect, embodiments of the present application provide a positioning method for material detection, comprising:

[0005] In the running process of the conveying line, a code reading result of a code reader upstream of a detection area on a material code is obtained; the tray for containing the material is placed on the conveying line and runs along the conveying direction with the conveying line; and the detection area is a fixed area parallel to the conveying line;

[0006] According to the code reading result, the material on the tray is determined as a target material;

[0007] A first ranging result of a top ranging sensor arranged at the top of the detection area is obtained; the first ranging result represents the height distance from the top ranging sensor to the nearest surface in the detection area;

[0008] According to the first ranging result, it is determined that the target material enters the detection area, and the conveying line is controlled to stop running;

[0009] The target material is positioned, and the target material is detected according to the positioning result.

[0010] In some embodiments, the positioning of the target material comprises:

[0011] A side positioning camera located on the target side of the conveying line is controlled to take a side photo of the target material; the target side is one of the two sides of the conveying line;

[0012] According to the side photo, the position of the target material in the conveying direction is located, and the locating result includes the position of the target material in the conveying direction.

[0013] In some embodiments, the side locating cameras arranged on the target side are multiple, and the side photo of the target material is captured by controlling the side locating cameras arranged on the target side of the conveying line.

[0014] The occlusion interval of the target material in the conveying direction is measured by using a measuring light curtain arranged on the target side.

[0015] According to the occlusion interval, the side center point of the target material in the conveying direction is determined.

[0016] Among the multiple side locating cameras, the side locating camera closest to the side center point is determined.

[0017] The side photo is captured by using the closest side locating camera.

[0018] In some embodiments, after the position of the target material in the conveying direction is located according to the side photo, the method further includes:

[0019] According to the position of the target material in the conveying direction, the side distance measuring sensor arranged on the target side is controlled to move to face the side locating feature of the target material.

[0020] The position of the side locating feature in the width direction is measured by using the side distance measuring sensor, the width direction being perpendicular to the conveying direction, and the locating result further including the position of the side locating feature in the width direction.

[0021] In some embodiments, the locating of the target material includes:

[0022] The two locating swing arms respectively arranged on the two sides of the conveying line are controlled to rotate to be parallel to the width direction.

[0023] The distance between the tray distance measuring sensor fixed on each locating swing arm and the end surface of the tray in the conveying direction is measured by using the tray distance measuring sensor, to obtain a second distance measuring result.

[0024] According to the second distance measuring result measured by each tray distance measuring sensor, the inclination angle between the side of the tray and the conveying direction is calculated, and the locating result includes the inclination angle.

[0025] In some embodiments, each of the positioning swing arms is fixed with a tray positioning camera, and the positioning swing arms are retractable, after rotating to be parallel to the width direction under the control of the two positioning swing arms respectively located on the two sides of the conveying line, the method further comprises:

[0026] controlling the tray positioning camera to take a picture of the end face of the tray to obtain a coarse positioning picture;

[0027] calculating coarse positioning of the edges of the two sides of the tray in the width direction according to the coarse positioning picture;

[0028] controlling the two positioning swing arms to retract respectively according to the coarse positioning of the edges of the two sides, so that the tray ranging sensor moves to be opposite to the measurement point on the end face;

[0029] the second ranging result is obtained by measuring the distance between the tray ranging sensor and the end face of the tray in the conveying direction, comprising:

[0030] measuring the distance between the tray ranging sensor and the corresponding measurement point in the conveying direction to obtain the second ranging result.

[0031] In a second aspect, the embodiments of the present application provide a positioning system for material detection, comprising:

[0032] a code reader arranged upstream of a detection area, configured to read a material code during the movement of a conveying line to obtain a code reading result; the tray for containing the material is arranged on the conveying line and moves along the conveying direction; the detection area is a fixed area parallel to the conveying line;

[0033] a top ranging sensor arranged at the top of the detection area, configured to measure the height distance from the top ranging sensor to the nearest surface in the detection area to obtain a first ranging result;

[0034] a positioning module configured to position the target material;

[0035] a control module configured to determine that the material on the tray is a target material according to the code reading result, determine that the target material enters the detection area according to the first ranging result, control the conveying line to stop moving, and send the positioning result of the positioning module to a detection robot, so that the detection robot detects the target material according to the positioning result.

[0036] In some embodiments, the positioning module comprises:

[0037] a measurement light curtain located on the two sides of the conveying line, configured to measure the blocking interval of the target material in the conveying direction;

[0038] a side positioning camera located on a target side of the conveying line, the target side being one of two sides of the conveying line, the side positioning camera being configured to capture a side photo of the target material;

[0039] The control module is further configured to determine a side center point of the target material in the conveying direction according to the blocking interval, control the side positioning camera to capture the side photo based on the side center point, and locate a position of the target material in the conveying direction according to the side photo, the locating result including the position of the target material in the conveying direction.

[0040] In some embodiments, the locating module includes:

[0041] a movable side distance measuring sensor located on the target side and configured to measure a position of a side positioning feature of the target material in a width direction, the width direction being perpendicular to the conveying direction, the locating result further including the position of the side positioning feature in the width direction.

[0042] The control module is further configured to control the side distance measuring sensor to move to be directly opposite the side positioning feature according to the position of the target material in the conveying direction.

[0043] In some embodiments, the locating module includes:

[0044] two extendable positioning swing arms respectively located on the two sides of the conveying line, each of the positioning swing arms being fixed with a tray positioning camera and a tray distance measuring sensor, the tray positioning camera being configured to capture an end face of the tray to obtain a coarse positioning photo, and the tray distance measuring sensor being configured to measure a distance between the tray distance measuring sensor and a corresponding measuring point in the conveying direction to obtain a second distance measuring result.

[0045] The control module is further configured to control the two positioning swing arms to rotate to be parallel to the width direction, obtain the coarse positioning photo, calculate coarse positioning of edges of two sides of the tray in the width direction according to the coarse positioning photo, control the two positioning swing arms to extend or retract respectively according to the coarse positioning of the edges of the two sides to move the tray distance measuring sensor to be directly opposite the measuring point on the end face, obtain the second distance measuring result, and calculate an inclination angle between the side of the tray and the conveying direction according to the second distance measuring result, the locating result including the inclination angle.

[0046] In a third aspect, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, the processor implementing any of the methods of the embodiments of the present application when executing the computer program.

[0047] Based on the above-mentioned positioning method of material detection, the present application has at least the following advantages or benefits:

[0048] In the present embodiment, the code reading result of the material code by the code reader upstream of the detection area is obtained during the conveying line running, the tray is placed on the conveying line and runs in the conveying direction, the detection area is a fixed area parallel to the conveying line, the target material is determined according to the code reading result, the first ranging result (i.e. the height distance from the sensor to the nearest surface in the detection area) of the top ranging sensor of the detection area is obtained, when the result, it is determined that the target material enters the detection area and the conveying line is stopped, and then the target material is positioned and the detection is carried out according to the positioning result. The technical scheme of the present embodiment realizes accurate identification of the target material and reliable determination of the entry of the target material into the detection area through the cooperative work of the code reader and the top ranging sensor, ensures that the material can accurately stay in the detection area, does not need to reserve a large detection space to adapt to the parking deviation, saves the site resources, and provides protection for subsequent multi-dimensional accurate positioning. The code reader selects the target material in advance, reduces the invalid positioning and detection process of non-target materials, improves the production line flow efficiency, and adapts to the multi-material mixed line production scene; the whole process uses a non-contact detection method, does not need a mechanical correction mechanism to adjust the material position, avoids damage to the material and the tray, has high automation, reduces the error and safety risk caused by manual intervention, is especially suitable for fast-paced, long-distance, and various types of industrial production scenes, and ensures the detection quality and continuous and stable operation of the production line.

[0049] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, it can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0050] In the drawings, the same reference numbers in the several drawings represent the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments according to the present application, and should not be regarded as limiting the scope of the present application.

[0051] Figure 1 A schematic block diagram of a material detection positioning system provided by an embodiment of the present application is shown;

[0052] Figure 2 A top-down distribution schematic diagram of a material detection positioning system provided by an embodiment of the present application is shown;

[0053] Figure 3 A three-dimensional schematic diagram of a material detection positioning system provided by an embodiment of the present application is shown;

[0054] Figure 4 A flow chart of a positioning method for material detection provided by an embodiment of the present application is shown;

[0055] Figure 5 Another flow chart of a positioning method for material detection provided by an embodiment of the present application is shown;

[0056] Figure 6 A block diagram of an electronic device provided by an embodiment of the present application is shown;

[0057] Some of the drawings are identified as follows:

[0058] 101, code reader, 102, top distance sensor, 103, measurement light curtain, 104, side positioning camera, 105, side distance sensor, 106, tray positioning camera, 107, positioning swing arm, 108, tray distance sensor, 109, control module, 110, positioning module, 111, gantry module, 112, detection robot, 201, conveying line, 202, tray, 203, target material. DETAILED DESCRIPTION

[0059] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the concept or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature, rather than limiting.

[0060] To facilitate understanding of the technical solutions of the embodiments of the present application, the related technologies of the embodiments of the present application are described below. The following related technologies can be combined with the technical solutions of the embodiments of the present application in any way, and all belong to the protection scope of the embodiments of the present application. It should be noted that the application scenarios or application examples provided in the present application are for the convenience of understanding, and the application of the technical solutions of the embodiments of the present application is not limited specifically.

[0061] The technical solutions of the present application and how the technical solutions of the present application solve the foregoing technical problems will be described in detail below with specific embodiments. The several specific embodiments listed can be combined with each other, and for the same or similar concepts or processes, some embodiments can not be described again. The embodiments of the present application will be described in detail below with reference to the drawings.

[0062] Reference Figures 1-3 A positioning system for material detection provided by an embodiment of the present application. The system comprises:

[0063] The reader 101 is arranged upstream of the detection area, and is configured to read the material code during the movement of the conveying line 201, and obtain a reading result. The tray 202 for containing the material is arranged on the conveying line 201, and moves along the conveying line 201 in the conveying direction. The detection area is a fixed area parallel to the conveying line 201.

[0064] The top distance sensor 102 is arranged at the top of the detection area, and is configured to measure the height distance from the top distance sensor 102 to the nearest surface in the detection area, and obtain a first distance result.

[0065] The positioning module 110 is configured to position the target material 203.

[0066] The control module 109 is configured to determine, according to the reading result, that the material on the tray 202 is the target material 203, determine, according to the first distance result, that the target material 203 enters the detection area, control the conveying line 201 to stop moving, and send the positioning result of the positioning module 110 to the detection robot 112, so that the detection robot 112 detects the target material 203 according to the positioning result.

[0067] The conveying line 201 in the embodiment of the present application includes but is not limited to a plate chain line, a roller conveying line, a belt conveying line, a mesh belt conveying line, a spiral conveying line, and a suspension conveying line.

[0068] The detection area in the embodiment of the present application is fixed on the conveying line 201 and does not move with the conveying line 201, and is configured to position the material. Specifically, the reader 101 is arranged upstream of the detection area, i.e., on the side opposite to the detection area in the conveying direction. The conveying direction is the direction in which the conveying line 201 moves. By arranging the reader 101 upstream of the detection area, the reader 101 can read the material code before the material enters the detection area. The material code is a code for uniquely identifying the material and / or the type of the material, and the specific form of the material code includes but is not limited to a bar code, a two-dimensional code, a combination of numbers and / or characters, etc. Optionally, the material code can be arranged on the material itself or the tray 202 for containing the material. In the embodiment in which the material code is arranged on the tray 202, the installation height of the reader 101 can be adapted to the height of the material code, so as to clearly scan the material code.

[0069] The top distance sensor 102 is arranged at the top of the detection area, for example, can be fixed on the cross beam at the top of the detection area, and the installation position is preferably above the center of the detection area, and the measurement direction is vertically downward and directly opposite to the surface of the conveying line 201. The distance measurement range of the top distance sensor 102 can cover at least the distance interval between the surface of the conveying line 201 and the maximum height of the material, and the measurement accuracy can be set according to the positioning requirement, so as to capture the significant change of the distance result.

[0070] The positioning module 110 is a core component for positioning the target material 203. According to actual positioning requirements, various functional modules such as visual detection and measurement light curtain 103 can be integrated to realize position positioning in the conveying direction, the width direction and the inclination angle.

[0071] The control module 109 is connected with the code reader 101, the top distance sensor 102, the positioning module 110, the detection robot 112, the conveying line driving system and the like through a communication bus to realize real-time transmission of signals and issuing of instructions. For example, the control module 109 can use a PLC as a central control unit. Material information library, preset threshold and the like data can be pre-stored in a database and read by the control module 109. After receiving the code reading result of the code reader 101, the control module 109 can compare in the material information library to determine the type of the material. If it is the target material 203, such as an engine, further processing of the target material 203 is performed, i.e. positioning and detection are performed according to the embodiments provided in the present application. Otherwise, if it is not the target material 203, processing according to the processing mode of non-target material is performed, such as direct release.

[0072] After the control module 109 determines that the tray 202 is the target material 203, whether the material enters the detection area is determined according to the first distance measurement result of the top distance sensor 102, and the conveying line 201 is stopped. Specifically, the control module 109 acquires the first distance measurement result detected by the top distance sensor 102 in real time, and determines in real time. In some embodiments, the control module 109 can query the height of the target material 203 according to the material information library, and if the first distance measurement result is less than the preset threshold value, it is determined that the target material 203 has entered the detection area. In some embodiments, the control module 109 can also directly determine according to the first distance measurement result. When there is no material in the detection area, the first distance measurement result is a stable value. If the measured value of the first distance measurement result is significantly reduced (the reduced value needs to exceed the preset threshold value to exclude the influence of detection error), it means that the material has entered, which is the target material 203.

[0073] After the control module 109 determines that the target material 203 has entered, a positioning instruction can be sent to the positioning module 110, the positioning result is received and transmitted to the detection robot 112, so that the detection robot 112 adjusts the working track according to the positioning result to complete the detection of the target material 203. The components of the whole system work cooperatively to form an automatic positioning and detection closed loop.

[0074] The material detection and positioning system provided by the embodiments of the present application realizes the full-process automation of material from identification to positioning and then to detection through the cooperative integration of various components. The code reader 101 can quickly and accurately obtain the material code information, providing a reliable basis for the determination of the target material 203, and avoiding material identification errors. The high-precision distance measurement of the top distance measuring sensor 102 ensures the accurate determination of the material entering the detection area, realizes the precise stop of the conveying line 201, and solves the problem of inaccurate traditional stop mode. The control module 109 as the core of the system realizes the coordinated control of various components, the signal transmission timely issues real-time instructions, and ensures the smooth and efficient positioning and detection process. The entire system does not require manual intervention, has high automation, reduces human error, and at the same time adopts a non-contact positioning and detection method, avoiding damage to the material and the tray 202, improving the operation efficiency and detection quality of the production line, and being suitable for various material types and production scenes, especially in industrial production environments with various material types and fast rhythms.

[0075] Further, with reference to Figure 1 and Figure 2 In some embodiments of the embodiments of the present application, the positioning module 110 includes:

[0076] The measurement curtain 103 is located on both sides of the conveying line 201, and the measurement curtain 103 is used to measure the occlusion interval of the target material 203 in the conveying direction.

[0077] The side positioning camera 104 is located on the target side of the conveying line 201, and the target side is one of the two sides (left side or right side) of the conveying line 201. The side positioning camera 104 is used to take a side photo of the target material 203.

[0078] The control module 109 is further used to determine the side center point of the target material 203 in the conveying direction according to the occlusion interval, control the side positioning camera 104 to take a side photo based on the side center point, and position the position of the target material 203 in the conveying direction according to the side photo. The positioning result includes the position of the target material 203 in the conveying direction.

[0079] The measurement light curtain 103 is installed on both sides of the conveying line 201. Exemplarily, the measurement light curtain 103 includes a transmitting end and a receiving end, which are respectively located on both sides of the conveying line 201. In some embodiments, the measurement light curtain 103 is an industrial detection device based on the principle of photoelectric sensing, which is composed of a transmitting end and a receiving end, and is installed on both sides of the conveying line 201. The position, size, contour and other parameters of the material are non-contact detected by a dense light beam array. The working principle is as follows: the transmitting end emits a series of uniformly distributed infrared light beams along the width direction (Y direction) perpendicular to the conveying direction (X direction). The light beam array emitted by the transmitting end is uniformly distributed along the conveying direction, forming a light curtain. The receiving end receives the corresponding light beams in real time. When the material passes through the light curtain area, it will block part of the light beams. The receiving end identifies the position, number and blocking time of the blocked light beams, and converts them into the related physical information of the material. The number of light beams of the measurement light curtain 103 is set according to the positioning accuracy requirement. The smaller the light beam spacing, the higher the positioning accuracy. For example, it can be set to 5 mm spacing to ensure accurate capture of the blocking interval of the material. According to the blocking interval of the target material 203 on the light curtain, the side center point of the target material 203 can be determined. The side center point is the coarse positioning position of the target material 203 in the conveying direction.

[0080] It should be noted that the side in the embodiments of the present application is a surface parallel to the conveying direction and perpendicular to the conveying plane, i.e. the surface on both sides of the conveying line 201. The end surface is a surface parallel to the width direction and perpendicular to the conveying plane, i.e. the front and rear surfaces.

[0081] The side positioning camera 104 is installed on the target side. Optionally, the side positioning camera 104 can be installed on both sides to adapt to materials with positioning features on different sides. The target side can be determined according to the code reading result or the type / identification of the target material 203. The side where the positioning feature of the target material 203 is located can be pre-stored. According to the code reading result or the type / identification of the target material 203, the side where the positioning feature is located can be determined as the target side, and the side positioning camera 104 installed on the target side is enabled.

[0082] In some embodiments, the side positioning camera 104 can be installed beside the target side measurement curtain 103 with a certain distance, the shooting range of the side positioning camera 104 can overlap the detection range of the measurement curtain 103, and the shielding interval of the target material 203 can correspond to the shooting area of the side positioning camera 104. The installation height of the side positioning camera 104 can be similar to the side positioning feature height of the material, and the side positioning camera 104 is preferably a 2D high-resolution camera with the function of fast automatic focusing shooting. Optionally, the side positioning camera 104 can include multiple cameras, and the nearest side positioning camera 104 is selected according to the side center point of the target material 203 in the conveying direction.

[0083] For example, the control module 109 can be connected with the measurement curtain 103 and the side positioning camera 104 through a communication line to receive the detection results of the measurement curtain 103 in real time. When the target material 203 enters the detection area and stops, the control module 109 starts the measurement curtain 103, the transmitting end transmits the light beam, and the receiving end records the position of the blocked light beam to determine the shielding interval of the material in the conveying direction. For example, the material shields the 15th to 45th light beam, and the interval is the shielding interval. The control module 109 calculates the midpoint position of the shielding interval, i.e. (15+45) / 2=30, and the position of the 30th light beam is the side center point.

[0084] Subsequently, the control module 109 queries the installation position parameters of each side positioning camera 104 according to the position of the side center point to determine the side positioning camera 104 closest to the center point. For example, if three side positioning cameras 104 are arranged on the target side, corresponding to the positions of the 10th, 30th and 50th light beams, the camera at the position of the 30th light beam is the closest side positioning camera 104. The control module 109 sends a shooting instruction to the side positioning camera 104, and the side positioning camera 104 shoots the side of the material to obtain a side photo. The control module 109 performs image recognition processing on the photo, extracts the positioning feature and converts it into actual physical coordinates to finally determine the accurate position of the target material 203 in the conveying direction.

[0085] The embodiments of the present application realize high-precision positioning of the target material 203 in the conveying direction through the cooperative configuration of the measurement curtain 103 and the side positioning camera 104. The light beam array of the measurement curtain 103 can accurately capture the shielding interval of the material, provide coarse positioning for the determination of the side center point, and provide a basis for selecting the side positioning camera 104. The side positioning feature image shot by the side positioning camera 104 improves the positioning accuracy.

[0086] In some embodiments, referring to Figure 1 and Figure 2 , the positioning module 110 further includes:

[0087] The movable side distance sensor 105 is located at the target side and is used to measure the position of the side positioning feature of the target material 203 in the width direction, which is perpendicular to the conveying direction, and the positioning result also includes the position of the side positioning feature in the width direction;

[0088] The control module 109 is further configured to control the side distance sensor 105 to move to the side positioning feature according to the position of the target material 203 in the conveying direction.

[0089] The embodiment of the present application adds the side distance sensor 105 to realize the positioning of the target material 203 in the width direction. For example, the side distance sensor 105 can be installed on a movable slide table at the target side, and the slide table is driven by a servo motor and can move along the conveying direction. The moving range of the sensor covers the possible offset range of the material in the conveying direction, ensuring accurate alignment of the side positioning feature at different positions. The sensor type is preferably a laser distance sensor, which measures the distance between the target material 203 side in the width direction.

[0090] In some embodiments, the side distance sensor 105 can specifically measure the distance between the sensor and the positioning feature surface of the target material 203. The side of the target material 203 can be pre-configured with a smooth and known position positioning feature surface. According to the accurate positioning result of the side positioning camera 104, the position of the positioning feature surface can be determined, so as to control the side distance sensor 105 to move to the corresponding position of the positioning feature surface for measurement.

[0091] Specifically, the control module 109 can be connected with the side distance sensor 105 and the drive system of its slide table, and the position of the side distance sensor 105 can be controlled according to the position of the side positioning feature surface determined by the side positioning camera 104. Figure 2The side distance sensor 105 is arranged on the sliding table and can move along the X direction. The control module 109 can calculate the target position of the side positioning feature in the width direction according to the position information of the target material 203 in the conveying direction and the pre-stored positioning feature parameters (for example, the relative position size of the positioning feature in the conveying direction, etc.). For example, the position of the end face of the target material 203 in the conveying direction is X0, and the offset of the positioning feature relative to the end face of the target material 203 in the conveying direction is ΔX, and then the coordinate of the positioning feature in the conveying direction is X0+ΔX. Then, the control module 109 can send a moving instruction to the sliding table driving system of the side distance sensor 105 to drive the sliding table to move the side distance sensor 105 in the X direction until the measuring point of the side distance sensor 105 is opposite to the target position of the side positioning feature. After the sensor moves to the position, the distance between the sensor and the side positioning feature in the width direction is measured. Combined with the installation reference coordinate of the sensor itself, the actual position of the side positioning feature in the width direction is calculated, that is, Yactual=Yreference-measuring distance, wherein Yreference is the width direction coordinate of the sensor installation reference. The position information will be part of the positioning result and will be transmitted to the detection robot 112 together with the position information in the conveying direction.

[0092] The embodiment of the present application realizes high-precision positioning of the target material 203 in the width direction through the movable side distance sensor 105, and cooperates with the positioning in the conveying direction to form complete two-dimensional positioning. The movable design of the side distance sensor 105 enables it to accurately align the side positioning features at different positions, adapt to the slight offset of the material in the width direction, and improve the flexibility and adaptability of the system. The control module 109 calculates the target position according to the position information in the conveying direction to realize accurate control of the sensor movement, avoiding the waste of time caused by blind movement. The two-dimensional positioning result provides comprehensive and accurate position reference for the detection robot 112, so that the robot can accurately adjust the work track and accurately align the detection point, effectively improving the detection quality and efficiency, solving the limitation of the traditional positioning system that can only realize single-direction positioning, and being suitable for complex material detection scenes with high positioning dimension requirements.

[0093] In some embodiments, with reference to Figure 1 and Figure 2 The positioning module 110 comprises:

[0094] The two extendable positioning swing arms 107 respectively located on the two sides of the conveying line 201, each of the positioning swing arms 107 is fixed with a tray positioning camera 106 and a tray distance measuring sensor 108, the tray positioning camera 106 is used to shoot the end face of the tray 202 to obtain a rough positioning photo, and the tray distance measuring sensor 108 is used to measure the distance between the tray distance measuring sensor 108 and the end face of the tray 202 in the conveying direction to obtain a second distance measuring result, specifically, in some embodiments, the second distance measuring result is the distance between the tray distance measuring sensor 108 and the corresponding measuring point in the conveying direction; the control module 109 is further used to control the two positioning swing arms 107 to rotate to be parallel to the width direction; the rough positioning of the edges of the two sides of the tray 202 in the width direction is calculated according to the rough positioning photo; according to the rough positioning of the edges of the two sides, the two positioning swing arms 107 are controlled to extend and retract respectively, so that the tray distance measuring sensor 108 moves to the opposite measuring point on the end face; the second distance measuring result is obtained, the inclination angle between the side of the tray 202 and the conveying direction is calculated according to the second distance measuring result, and the positioning result includes the inclination angle.

[0095] Exemplarily, the two extendable positioning swing arms 107 in the embodiment of the application can be respectively installed at the bottom of the two sides of the conveying line 201, the swing arm is provided with an extension mechanism such as a pneumatic cylinder or an electric push rod, can extend and retract in the width direction, and has the function of rotating around the Z direction (the Z direction is the direction perpendicular to the X direction and perpendicular to the Y direction), can rotate from the position parallel to the conveying direction to the position parallel to the width direction. The tray positioning camera 106 and the tray distance measuring sensor 108 are fixedly installed on each of the positioning swing arms 107, the shooting direction of the tray positioning camera 106 and the distance measuring direction of the tray distance measuring sensor 108 are opposite to the end face of the tray 202, and the tray distance measuring sensor 108 is used to measure the distance between the sensor and the end face of the tray 202 in the conveying direction.

[0096] The coarse positioning photo taken by the tray positioning camera 106 contains two vertical edges of the end face of the tray 202, which can be identified by image detection algorithms such as edge extraction, and then the coarse positioning result of the two edges in the width direction of the end face of the tray 202 is determined. According to the coarse positioning result, the control module 109 determines how much the two swing arms should be extended or retracted respectively, so that the tray distance sensor 108 fixed on the swing arm can face the preset measurement point on the end face of the tray 202. The measurement point is preferably a flat area on the left and right sides of the end face of the tray 202. According to the measurement results of the left and right tray distance sensors 108, the positional difference between the left and right sides of the end face of the tray 202 in the conveying direction can be determined, and then the included angle between the end face of the tray 202 and the width direction is determined, and the inclination angle of the tray 202 is determined. It can be understood that the inclination angle of the tray 202 can be defined as the included angle between the end face and the width direction, or the included angle between the side face and the conveying direction, which is not limited in the embodiments of the present application. The calculated inclination angle is used as the positioning result, which can be sent to the detection robot 112 by the control module 109 to provide a basis for trajectory compensation of the detection robot 112.

[0097] The embodiments of the present application realize accurate measurement of the inclination angle of the tray 202 through the cooperative configuration of the extendable positioning swing arm 107, the tray positioning camera 106 and the tray distance sensor 108. The rotation and extension functions of the positioning swing arm 107 enable the tray distance sensor 108 to accurately align the measurement point on the end face of the tray 202, adapt to trays 202 of different sizes, and improve the versatility of the system. The coarse positioning function of the tray positioning camera 106 ensures the accuracy of the measurement point and avoids errors caused by the sensor measuring irregular areas of the end face of the tray 202, which provides a guarantee for the reliability of the second distance measurement result. The two positioning swing arms 107 are symmetrically arranged, combined with the high-precision tray distance sensor 108, which makes the difference calculation of the second distance measurement result more accurate, and thus improves the calculation accuracy of the inclination angle. Accurate measurement of the inclination angle provides a reliable trajectory compensation basis for the detection robot 112, effectively eliminating the influence of the inclination of the tray 202 on the detection accuracy.

[0098] Reference Figure 2 and Figure 3 is a schematic diagram of the system structure in one specific application scenario of the embodiments of the present application, which is applied to positioning and detecting engine materials.

[0099] The system comprises a code reader 101, a top distance sensor 102, a tray positioning module (including a tray positioning camera 106, a tray distance sensor 108, and a positioning swing arm 107 for fixing the tray positioning camera 106 and the tray distance sensor 108) arranged close to the height of the conveying line in the Z direction, a measurement light curtain 103, a side positioning camera 104, a side distance sensor 105, a sliding table for driving the side distance sensor 105 to move in the X direction, and a control module 109.

[0100] The components in the system are arranged around the detection area on the plate chain line, and are suitable for the detection and positioning scene of heavy materials such as engines. Optionally, the system can further comprise a truss module 111 and a detection robot 112 component.

[0101] The embodiments of the present application also provide a positioning method for material detection. It can be understood that the positioning method for material detection provided in the embodiments of the present application is applied to the positioning system for material detection provided in the embodiments of the present application. Therefore, the specific implementation manners and technical effects not described in detail in any embodiment of the present application can be referred to the related descriptions in other embodiments of the present application for reference, and the same content will not be described again.

[0102] Reference Figure 4 The positioning method for material detection provided in the embodiments of the present application comprises the following steps:

[0103] In step 401, a code reading result of a material code obtained by a code reader 101 upstream of a detection area is acquired during the running of a conveying line 201.

[0104] In step 402, it is determined that a material on a tray 202 is a target material 203 according to the code reading result.

[0105] In step 403, a first distance measurement result of a top distance sensor 102 arranged at the top of the detection area is acquired. The first distance measurement result represents the height distance from the top distance sensor 102 to the nearest surface in the detection area.

[0106] In step 404, it is determined that the target material 203 enters the detection area according to the first distance measurement result, and the conveying line 201 is controlled to stop running.

[0107] In step 405, the target material 203 is positioned, and the target material 203 is detected according to the positioning result.

[0108] The tray 202 for containing materials is placed on the conveying line 201 and travels along the conveying line 201 in the conveying direction. The detection area is a fixed area parallel to the conveying line 201. The code reader 101 is installed upstream of the detection area and can be kept at a preset distance from the detection area in the conveying direction, which meets the signal processing time requirement of the material transmission after code reading. The code reader 101 quickly and continuously scans the material code during operation to ensure accurate acquisition of the code reading result during high-speed travel of the material.

[0109] The top distance sensor 102 is installed at the top center or a symmetrical position of the detection area, and is preferably a laser distance sensor, which has the characteristics of high precision and high response speed and can measure the height distance from itself to the nearest surface in the detection area in real time. In the initial state, the sensor measures the distance to the surface of the conveying line 201. When the material enters the detection area with the tray 202, the nearest surface becomes the material surface, and the measurement result will significantly decrease. The preset threshold value needs to be set in advance according to the material height, for example, when the material height is 50 cm, the preset threshold value can be set to 45 cm. When the decrease of the first distance result exceeds the preset threshold value, it is determined that the target material 203 has completely entered the detection area, and at this time, the conveying line 201 is controlled to stop traveling.

[0110] The positioning of the target material 203 can be achieved by using multiple sensors in cooperation, combined with visual detection, distance measurement and other technologies to achieve accurate positioning. After positioning, the detection robot 112 adjusts the operation track according to the positioning result to detect the key parts of the material, and the detection content includes appearance defect size, precision and other indicators. The whole process does not need manual intervention, and realizes the automation of the closed loop from material identification to positioning detection.

[0111] The embodiments of the present application realize the identification of the target material 203 and the entry determination of the detection area through the cooperation of the code reader 101 and the top distance sensor 102, effectively solving the problem of inaccurate material stopping position of the traditional conveying line 201. The code reader 101 obtains the material information in advance to provide basic data support for subsequent positioning detection, avoiding the positioning confusion when different types of materials are mixed in the transmission line. The top distance sensor 102 determines the material entering state by monitoring the height distance change, is not affected by the elastic deformation of the conveying line 201 under load change and the influence of environmental dust and oil stains, has higher accuracy in triggering the stop of the belt, and ensures that the material can accurately stay in the detection area.

[0112] In some embodiments, the step of positioning the target material 203 can specifically include: controlling the side positioning camera 104 located on the target side of the conveying line 201 to shoot a side photo of the target material 203; the target side is one of the two sides of the conveying line 201; and positioning the position of the target material 203 in the conveying direction according to the side photo, and the positioning result includes the position of the target material 203 in the conveying direction. In some embodiments, the step of positioning the target material 203 can specifically include: controlling the side positioning camera 104 located on the target side of the conveying line 201 to shoot a side photo of the target material 203; the target side is one of the two sides of the conveying line 201; and positioning the position of the target material 203 in the conveying direction according to the side photo, and the positioning result includes the position of the target material 203 in the conveying direction.

[0113] The target side is one of the two sides of the conveying line 201, which can be determined according to the orientation of the positioning feature end of the material, for example, by querying the upper system through the code reading result to determine whether the positioning feature end of the material is located on the left side or the right side, and the side is the target side. The side positioning camera 104 can be fixedly installed on the bracket of the target side. After the conveying line 201 stops, the target side can be determined according to the code reading result, and then a shooting instruction is sent to the side positioning camera 104. After the side positioning camera 104 is started, the side of the target material 203 is shot to obtain a side photo. During the shooting process, the exposure parameters such as the focal length of the camera can be adjusted according to the side features of the material to ensure that the photo clarity meets the positioning requirements. For example, when the material is an engine, the side positioning feature can be a flange edge positioning pin structure, and a complete image of these features is shot by the camera.

[0114] When positioning the position of the target material 203 in the conveying direction according to the side photo, an image recognition algorithm can be used to process the photo. Illustratively, the side profile of the material in the photo and the positioning feature can be extracted first, and then the extracted feature is compared with a preset standard feature model to determine the coordinates of the positioning feature in the image coordinate system. The image coordinates are converted into actual physical coordinates in combination with the installation parameters of the camera such as the installation distance and the imaging scale, and then the accurate position of the target material 203 in the conveying direction is obtained. For example, the actual position deviation of the target material 203 in the conveying direction is calculated by recognizing the lateral offset of the positioning feature in the image in combination with the imaging scale.

[0115] The positioning method provided by the embodiments of the present application does not need to contact the material, which avoids damage to the surface of the material, and has high positioning accuracy, which can meet the operation requirements of the subsequent detection robot 112.

[0116] In some embodiments, the side positioning camera 104 arranged on the target side is multiple, and the side positioning camera 104 located on the target side of the conveying line 201 shoots the side photo of the target material 203, including: measuring the shielding interval of the target material 203 in the conveying direction by using the measuring light curtain 103 located on both sides of the conveying line 201; determining the side center point of the target material 203 in the conveying direction according to the shielding interval; determining the side positioning camera 104 closest to the side center point in the multiple side positioning cameras 104; and shooting the side photo by using the closest side positioning camera 104.

[0117] In the implementation process, after the material enters the detection area and stops, the measurement curtain 103 starts to work, the transmitting end transmits the light beam, and the receiving end receives the light beam signal in real time. When the material blocks the light beam, the receiving end will record the position information of the blocked light beam, and then determine the blocking interval of the material in the conveying direction. A plurality of side positioning cameras 104 are uniformly arranged along the conveying direction on the target side. The arrangement interval of the cameras can be determined according to the length of the material and the positioning accuracy requirement, to ensure that the shooting range of each camera can cover part of the side surface area of the material, and the shooting range of adjacent cameras has a certain overlap, to avoid the occurrence of a positioning blind area. When the closest side positioning camera 104 is determined, the distance between the side center point and each camera in the conveying direction can be calculated, and the camera with the smallest distance is the selected camera. After receiving the shooting instruction, the selected camera accurately shoots the area where the side center point of the material is located. Since the camera is closest to the positioning feature area, the photographed photo has higher definition, and the positioning feature is more complete, which provides more reliable image data for subsequent position calculation, and further improves the positioning accuracy in the conveying direction. The present embodiment improves the accuracy and flexibility of positioning in the conveying direction through the cooperation of the measurement curtain 103 and the plurality of side positioning cameras 104.

[0118] In some embodiments, after positioning the position of the target material 203 in the conveying direction according to the side photo, the side distance measuring sensor 105 located on the target side can be controlled to move to directly face the side positioning feature of the target material 203 according to the position of the target material 203 in the conveying direction; and then the position of the side positioning feature in the width direction is measured by using the side distance measuring sensor 105, the width direction being perpendicular to the conveying direction, and the positioning result further includes the position of the side positioning feature in the width direction.

[0119] In the present embodiment, the side distance measuring sensor 105 can be installed on a movable module on the target side, and the module can slide in the width direction to accurately move the sensor. The sensor type is preferably a laser distance measuring sensor. After determining the position of the target material 203 in the conveying direction, the corresponding position of the side positioning feature in the conveying direction can be calculated according to the position information and the pre-set position parameter of the material positioning feature in the conveying direction, and then a moving instruction is sent to the moving module of the side distance measuring sensor 105 to control the side distance measuring sensor 105 to move to directly face the side positioning feature of the target material 203. After the sensor is moved to the position, the distance measuring work is started to measure the distance between the sensor and the side positioning feature in the width direction. The present application embodiment realizes the accurate positioning of the target material 203 in the width direction through the movement and measurement of the side distance measuring sensor 105.

[0120] In some embodiments, the positioning target material 203 comprises: controlling two positioning swing arms 107 respectively located on both sides of the conveying line 201 to rotate to be parallel to the width direction; measuring the distance between the tray ranging sensor 108 fixed on each positioning swing arm 107 and the end surface of the tray 202 in the conveying direction to obtain a second ranging result; calculating the inclination angle between the side surface of the tray 202 and the conveying direction according to the second ranging result measured by each tray ranging sensor 108, and the positioning result comprises the inclination angle.

[0121] The two positioning swing arms 107 are respectively installed on the bottom supports on both sides of the conveying line 201, and the swing arms have a rotating function and can be controlled to rotate to a position parallel to the width direction. The tray ranging sensor 108 on the positioning swing arm 107 is preferably a laser ranging sensor, and the measurement direction thereof points to the end surface of the tray 202 along the conveying direction, for measuring the distance between the sensor and the end surface of the tray 202.

[0122] After the conveying line 201 stops, a rotating instruction can be sent to the two positioning swing arms 107, and the swing arms are rotated by 90 degrees until they are parallel to the width direction, at which time the measurement direction of the tray ranging sensor 108 is directly opposite the end surface of the tray 202. It is ensured that the measurement reference of the two sensors is consistent, the installation height is the same, and the measurement points are on the same horizontal plane. Subsequently, the tray ranging sensor 108 starts to measure and obtains the distance between itself and the end surface of the tray 202 in the conveying direction, i.e., the second ranging result. For example, the distance measured by the left sensor is 300 mm, and the distance measured by the right sensor is 305 mm. Since the tray 202 can be inclined, the measurement results of the two sensors will be different. The inclination angle is calculated based on the principle of trigonometric function, and the distance between the two positioning swing arms 107, i.e., the spacing in the width direction, is taken as the base, which is a fixed value and can be calibrated and determined during installation of the equipment. The calculated inclination angle is taken as the positioning result and is transmitted to the detection robot 112. When planning the operation track, the detection robot 112 can perform corresponding angle offset compensation according to the angle. The embodiments of the present application realize the measurement and calculation of the inclination angle of the tray 202 through the positioning swing arms 107 and the tray ranging sensors 108 on both sides of the conveying line 201, thereby improving the positioning accuracy.

[0123] Further, the tray positioning camera 106 can be fixed on each positioning swing arm 107, and the positioning swing arm 107 can be telescopic. After the two positioning swing arms 107 respectively located on the two sides of the conveying line 201 are controlled to rotate to be parallel to the width direction, the method further includes the following steps: controlling the tray positioning camera 106 to shoot the end face of the tray 202 to obtain a rough positioning photo; calculating the rough positioning of the edges of the two side faces of the tray 202 in the width direction according to the rough positioning photo; and respectively controlling the two positioning swing arms 107 to be telescopic according to the rough positioning of the edges of the two side faces, so that the tray distance measuring sensor 108 moves to the measuring point on the end face. Correspondingly, the step of measuring the distance between the tray distance measuring sensor 108 and the end face of the tray 202 in the conveying direction to obtain the second distance measurement result can be specifically measuring the distance between the tray distance measuring sensor 108 and the corresponding measuring point in the conveying direction to obtain the second distance measurement result.

[0124] In the embodiment, the tray positioning camera 106 is added to assist in rough positioning, and then the tray distance measuring sensor 108 can be roughly positioned to the preset point on the end face in the width direction, so that the accuracy of the inclination angle measurement is improved.

[0125] Specifically, the tray positioning camera 106 on the positioning swing arm 107 can be installed side by side with the tray distance measuring sensor 108, and the shooting direction of the camera is opposite to the end face of the tray 202, which is used for shooting the image of the end face of the tray 202. The positioning swing arm 107 has a telescopic function and can move in the width direction to adjust the position of the tray distance measuring sensor 108 in the width direction.

[0126] In the implementation process, after the positioning swing arm 107 is rotated to be parallel to the width direction, a shooting instruction is sent to the tray positioning camera 106, the camera shoots the end face of the tray 202 to obtain a rough positioning photo. After the photo shooting is completed, the photo is processed by using an image recognition algorithm to extract the contour features of the end face of the tray 202, especially the edge information of the two side faces of the tray 202. Through the identification of the positions of the edges of the two side faces in the image, combined with the installation parameters of the camera, such as the imaging scale, the rough positioning positions of the edges of the two side faces of the tray 202 in the width direction are calculated.

[0127] According to the rough positioning result and the positions of the measuring points on the end face, the distance that the positioning swing arm 107 needs to be telescopic in the width direction can be calculated, and telescopic instructions are respectively sent to the two positioning swing arms 107. The left swing arm is telescopic according to the rough positioning position of the left edge, and the right swing arm is telescopic according to the rough positioning position of the right edge, so that the tray distance measuring sensor 108 moves to the measuring point on the end face after moving.

[0128] When the positioning swing arm 107 extends and retracts into place, the pallet distance sensor 108 starts measuring and performs distance measurement on the corresponding measurement point. The distance between the pallet distance sensor 108 and the corresponding measurement point in the conveying direction is measured, and the second distance measurement result is obtained.

[0129] In this embodiment, coarse positioning in the width direction is achieved by using the coarse positioning photo of the pallet positioning camera 106, and the telescopic adjustment of the positioning arm 107 in the width direction is used to realize the precise alignment of the pallet ranging sensor 108 with the measurement point in the width direction, thereby improving the calculation accuracy of the tilt angle of the pallet 202.

[0130] refer to Figure 5 This is a specific example of the material detection positioning method provided in the embodiments of this application, combined with Figure 2 and Figure 3 The structure of the material detection positioning system shown is as follows: real time... Figure 5 The flow chart of the material detection positioning method shown is described in detail below:

[0131] Step 501: The plate chain line (i.e., the conveyor line) is running, and the code reader 101 reads the engine (i.e. the target material) working code (i.e., the material code).

[0132] Plate chain conveyor area ( Figure 2 The conveyor belt (with the conveyor belt in the X direction) starts operation, and the pallet 202 carrying the engine moves along the conveyor belt; the barcode reader 101 located upstream of the detection area (located in...) Figure 2 Scan the engine work code on tray 202 (bottom right corner) to obtain material information.

[0133] Step 502: The top ranging sensor 102 detects that the engine has entered the detection area, and the control board chain stops running.

[0134] Top laser rangefinder sensor installed at the top of the detection area Figure 2 The component above the detection area measures its height distance from the nearest surface in the detection area in real time. When the engine enters the detection area with the tray 202, the distance measurement result of the sensor (i.e., the distance from the sensor to the engine surface) is significantly reduced compared with the initial value (i.e., the distance from the sensor to the plate chain surface). When the reduction value exceeds the preset threshold, the control module 109 determines that the engine has entered the detection area and sends a stop command to the drive system of the plate chain to control the plate chain to stop smoothly.

[0135] Step 503: Bind the code reading result to the engine and query the location of the engine positioning feature.

[0136] The control module 109 binds the work code obtained by the code reader 101 with the target engine information, and reads the positioning feature (such as the side positioning surface, flange, etc.) corresponding to the engine model located on the left side or the right side of the plate chain line.

[0137] Step 504: Rotate the positioning swing arms 107 on both sides.

[0138] Figure 2 The two tray positioning modules located downstream of the detection area are started, and the positioning swing arms 107 on both sides of the plate chain line are synchronously rotated by 90° around the Z direction (i.e., the direction perpendicular to the X direction and perpendicular to the Y direction), from extending along the X direction to parallel along the Y direction, so that the bottom tray positioning camera 106 and the bottom tray 202 laser ranging sensor on the swing arm are directed towards the end face of the tray 202.

[0139] Step 505: Control the bottom tray positioning camera 106 on both sides to take a photo, and identify the position of the edges on both sides of the engine tray 202 end face.

[0140] The bottom tray positioning camera 106 on both sides takes a photo of the end face of the tray 202 to obtain a rough positioning photo. The control module 109 extracts the position information of the edges on both sides of the end face of the tray 202 in the Y direction through image recognition.

[0141] Step 506: According to the edge position of the end face of the tray 202, extend the positioning swing arm 107 to move the laser ranging sensor of the bottom tray 202 on both sides to a preset position.

[0142] The control module 109 controls the extension mechanism of the positioning swing arm 107 to extend according to the Y direction position of the edges of the end face of the tray 202, and drives the laser ranging sensor of the bottom tray 202 to move to a position opposite to the preset measurement point on the end face of the tray 202, so as to ensure that the sensor can accurately measure the X direction distance of the end face of the tray 202.

[0143] Step 507: Calculate the inclination angle of the tray 202 according to the ranging results of the laser ranging sensors of the bottom tray 202 on both sides.

[0144] The laser ranging sensors of the bottom tray 202 on both sides respectively measure the X direction distance (second ranging result) from themselves to the measurement point on the end face of the tray 202. The control module 109 can calculate the inclination angle of the side surface of the tray 202 with respect to the X direction through the difference between the ranging results on both sides and the fixed interval of the Y direction of the positioning swing arm 107.

[0145] Step 508: Select the side positioning camera 104, and trigger the corresponding positioning camera to take a photo to measure the position of the engine in the X direction.

[0146] Figure 2The measuring light curtain 103 on both sides of the middle plate chain is started, and the emission end emits light beams in the Y direction, and multiple light beams are evenly distributed in the X direction, forming a detection array to identify the shielding interval of the engine in the X direction and calculate the side center point. The control module 109 selects the camera closest to the center point from multiple side engine positioning cameras on the target side to take a side photo of the engine, and locates the position of the engine in the X direction through image recognition.

[0147] Step 509: Move the side laser ranging module to position and control the position of the engine in the Y direction.

[0148] According to the position of the engine in the X direction, the side laser ranging moving module drives the side laser ranging sensor to move until the sensor is opposite the side positioning feature of the engine. The sensor measures the Y direction distance from the positioning feature, and calculates the position of the engine in the Y direction combined with the sensor installation reference coordinates.

[0149] Step 510: According to the position of the engine in the X direction and the position of the engine in the Y direction, move the gantry module 111 to control the detection robot 112 to start detection.

[0150] Figure 3 The middle gantry module 111 drives the detection robot 112 assembly to move to the corresponding detection point according to the X and Y direction positions of the engine and the inclination angle of the tray 202, and the detection robot 112 starts visual detection and other operations to complete the warehouse detection of the engine.

[0151] Step 511: After detection, the gantry module 111 returns to the original position, and the two side positioning swing arms 107 return to the original position.

[0152] After detection, the gantry module 111 drives the detection robot 112 to return to the initial position, and the two side positioning swing arms 107 are synchronously rotated and extended to return to the initial state.

[0153] Step 512: The plate chain conveying line is started and runs, and the engine that has been detected is released.

[0154] The plate chain line is restarted to convey the engine and the tray 202 that have completed detection to the next station, and waits for the next engine to enter the detection area to repeat the above process.

[0155] The embodiment of the application is directed to the characteristics of the engine warehouse detection station, such as fast beat, large span, various engine models, large appearance gap, different tray sizes, uncertain engine detection stop position and placement angle on the plate chain line, etc. A positioning method is designed to realize information binding and fast and accurate positioning of the engine in the detection area. The engine and tray appearance are measured by laser ranging sensors, measuring light curtains, cameras and other sensors to realize positioning of the engine in X direction, Y direction and inclination angle without adjusting the engine position through a correction mechanism without damaging the engine and tray. The Y direction positioning compensation is realized by a movable truss module, and the detection robot running track does not need to be compensated in the Y direction, reducing the frequency of robot running dead points.

[0156] The embodiment of the application also provides an electronic device which can be used to realize the method in the above embodiment. Specifically, Figure 6 The embodiment of the application also provides an electronic device which can be used to realize the method in the above embodiment. Specifically, Figure 6 As shown in the figure, the electronic device includes a memory 601 and a processor 602, and the memory 601 stores a computer program which can run on the processor 602. When the processor 602 executes the computer program, the method in the above embodiment is realized. The number of the memory 601 and the processor 602 can be one or more. In specific implementation, the electronic device can also include a communication interface 603 for communicating with external devices and transmitting data.

[0157] In specific implementation, if the memory 601, the processor 602 and the communication interface 603 are independently implemented, the memory 601, the processor 602 and the communication interface 603 can be connected with each other through a bus and complete communication among them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 6 only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0158] Optionally, in specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can complete communication among them through an internal interface.

[0159] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the method provided in the embodiment of the present application.

[0160] The embodiment of the present application provides a computer program product, which comprises a computer program, and the program is executed by a processor to implement the method provided in the embodiment of the present application.

[0161] The embodiment of the present application further provides a chip, which comprises a processor, and the processor is used for calling and running instructions stored in a memory, so that a communication device installed with the chip executes the method provided in the embodiment of the present application.

[0162] The embodiment of the present application further provides a chip, which comprises an input interface, an output interface, a processor and a memory, and the input interface, the output interface, the processor and the memory are connected through internal connection paths, and the processor is used for executing code in the memory, and when the code is executed, the processor is used for executing the method provided in the embodiment of the present application.

[0163] It should be understood that the processor can be a CPU (Central Processing Unit), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. It should be noted that the processor can be a processor supporting an advanced RISC machine (Advanced RISC Machines, ARM) architecture.

[0164] Further, the memory can include a read-only memory and a random access memory, optionally. The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. The non-volatile memory can include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory, among others. The volatile memory can include a random access memory (RAM), which is used as an external cache. By way of example, and not limitation, many forms of RAM are available. The RAM can include a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate SDRAM (DDR SDRAM), an enhanced SDRAM (ESDRAM), a Sync link DRAM (SLDRAM), and a direct Rambus RAM (DR RAM), among others.

[0165] In the above-described embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the present disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium.

[0166] In the description of the application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In addition, different embodiments or examples described in the specification and characteristics of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0167] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0168] Any process or method described in the flowchart or otherwise described herein can be understood as representing a module, a segment or a portion of code including one or more executable instructions for implementing specific logical functions or processes. And the scope of the preferred embodiments of the application includes additional implementations, in which the functions can be performed in the order shown or discussed, including in a substantially simultaneous manner or in reverse order according to the functions involved.

[0169] The logic and / or steps described in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing logical functions, which can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus, such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions, or in conjunction with these instruction execution systems, devices or apparatus.

[0170] It should be understood that parts of the application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above-described embodiment method can be instructed by the relevant hardware through a program, which can be stored in a computer-readable storage medium, and the program includes one or a combination of the steps of the method embodiment when executed.

[0171] In addition, each of the function units in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. The storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0172] The above is only exemplary embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A positioning method for material detection, characterized in that, include: During the movement of the conveyor line, the reading results of the material code by the barcode reader upstream of the detection area are obtained; A pallet for holding materials is placed on the conveyor line and travels along the conveying direction with the conveyor line; the detection area is a fixed area parallel to the conveyor line; Based on the code reading result, the material on the pallet is determined to be the target material; Obtain the first distance measurement result from the top distance sensor located at the top of the detection area; the first distance measurement result represents the height distance from the top distance sensor to the nearest surface within the detection area; Based on the first ranging result, if the target material is determined to have entered the detection area, the conveyor line is controlled to stop moving. Locate the target material, and detect the target material based on the location result; Locating the target material includes: Control the two positioning swing arms located on both sides of the conveyor line to rotate until they are parallel to the width direction; Using a pallet distance sensor fixed to each of the positioning swing arms, the distance between the pallet distance sensor and the end face of the pallet in the conveying direction is measured to obtain a second distance measurement result; Based on the second distance measurement results measured by each of the pallet distance sensors, the tilt angle between the side of the pallet and the conveying direction is calculated, and the positioning result includes the tilt angle; The positioning of the target material includes: controlling a side positioning camera located on the target side of the conveyor line to take a side view of the target material; the target side is one of the two sides of the conveyor line; Based on the side view photograph, the position of the target material in the conveying direction is determined, and the positioning result includes the position of the target material in the conveying direction. Multiple side positioning cameras are deployed on the target side. Controlling the side positioning cameras located on the target side of the conveyor line to capture side photographs of the target material includes: Using a measuring light curtain located on the target side of the conveyor line, the occlusion range of the target material in the conveying direction is measured; Based on the obstruction area, determine the side center point of the target material in the conveying direction; Among the plurality of side positioning cameras, the side positioning camera that is closest to the center point of the side is determined; The side view image is captured using the nearest side-positioning camera; After locating the position of the target material in the conveying direction based on the side photograph, the method further includes: Based on the position of the target material in the conveying direction, control the side ranging sensor located on the target side to move to the side positioning feature facing the target material; Using the side ranging sensor, the position of the side positioning feature in the width direction is measured, where the width direction is perpendicular to the conveying direction, and the positioning result also includes the position of the side positioning feature in the width direction; The entire process uses a non-contact detection method, eliminating the need for mechanical correction mechanisms to adjust the material position.

2. The method according to claim 1, characterized in that, Each of the positioning swing arms is fixed with a tray positioning camera, and the positioning swing arms are telescopic. After controlling the two positioning swing arms located on both sides of the conveyor line to rotate to be parallel to the width direction, the method further includes: The pallet positioning camera is controlled to capture images of the end face of the pallet to obtain a coarse positioning photograph; Based on the coarse positioning photograph, calculate the coarse positioning of the edges of the two sides of the tray in the width direction; Based on the coarse positioning of the edges of the two sides, the two positioning swing arms are controlled to extend and retract respectively, so that the tray distance sensor moves to the measurement point facing the end face; The measurement of the distance between the pallet distance sensor and the end face of the pallet in the conveying direction to obtain a second distance measurement result includes: The distance between the pallet distance sensor and the corresponding measurement point in the conveying direction is measured to obtain the second distance measurement result.

3. A positioning system for material detection, characterized in that, include: A barcode reader is located upstream of the detection area and is used to read the material barcode and obtain the reading result during the movement of the conveyor line; a tray for holding the material is placed on the conveyor line and moves along the conveying direction with the conveyor line; the detection area is a fixed area parallel to the conveyor line. A top ranging sensor is disposed at the top of the detection area to measure the height distance from the top ranging sensor to the nearest surface in the detection area, thereby obtaining a first ranging result. Positioning module, used for locating target materials; The control module is used to determine the material on the pallet as the target material based on the code reading result, determine the target material entering the detection area based on the first distance measurement result, control the conveyor line to stop moving, and send the positioning result of the positioning module to the detection robot so that the detection robot can detect the target material based on the positioning result; The positioning module includes two retractable positioning arms located on both sides of the conveyor line, and a pallet distance sensor is fixed on each positioning arm. The pallet distance sensor is used to measure the distance between the pallet distance sensor and the end face of the pallet in the conveying direction to obtain a second distance measurement result. The control module is also used to control the two positioning arms to rotate to be parallel to the width direction; to obtain the second distance measurement result, and to calculate the tilt angle between the side of the pallet and the conveying direction based on the second distance measurement result, wherein the positioning result includes the tilt angle; The positioning module also includes: A measuring light curtain, located on both sides of the conveyor line, is used to measure the obstruction area of ​​the target material in the conveying direction; A side-positioning camera is located on the target side of the conveyor line, which is one of the two sides of the conveyor line. The side-positioning camera is used to take a side photo of the target material. The control module is also used to determine the side center point of the target material in the conveying direction based on the obstruction area, control the side positioning camera to take the side photo based on the side center point, and locate the position of the target material in the conveying direction based on the side photo. The positioning result includes the position of the target material in the conveying direction. A movable side-mounted distance sensor, located on the target side, is used to measure the position of the side positioning feature of the target material in the width direction, wherein the width direction is perpendicular to the conveying direction, and the positioning result also includes the position of the side positioning feature in the width direction; The control module is also used to control the side ranging sensor to move to face the side positioning feature according to the position of the target material in the conveying direction; The entire process uses a non-contact detection method, eliminating the need for mechanical correction mechanisms to adjust the material position.

4. The system according to claim 3, characterized in that, The positioning module also includes: Each of the positioning swing arms is fixed with a pallet positioning camera, which is used to take pictures of the end face of the pallet to obtain a coarse positioning photo. The pallet distance sensor is used to measure the distance between the pallet distance sensor and the corresponding measurement point in the conveying direction to obtain a second distance measurement result. The control module is also used to acquire the coarse positioning photo, calculate the coarse positioning of the edges of the two sides of the pallet in the width direction based on the coarse positioning photo, and control the extension and retraction of the two positioning swing arms respectively based on the coarse positioning of the edges of the two sides, so that the pallet distance sensor moves to the measurement point facing the end face.

5. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory, wherein the processor, when executing the computer program, implements the method of claim 1 or 2.

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