Online detection method for automatic rivet pulling machine and automatic rivet pulling machine

Abstract

The application relates to an online detection method of an automatic rivet pulling machine and the automatic rivet pulling machine, and relates to the technical field of online detection.The method comprises the following steps: real-time reading and defining a workpiece moving position point, a horizontal moving position point and a vertical moving position point; determining a horizontal relative vector distance value according to the workpiece moving position point and the horizontal moving position point; determining a vertical relative distance value according to the vertical moving position point; collecting an overall image of a workpiece to be fixed based on a preset image collection device; when a reinforcing hole feature is identified from the overall image to obtain a reinforcing requirement position point, determining reinforcing moving control information in combination with the horizontal relative vector distance value and the vertical relative distance value; controlling a preset workpiece moving device, a preset horizontal moving device, a preset vertical moving device to operate based on the reinforcing moving control information, and controlling a preset rivet pulling gun to operate. The application has the effect of reducing the workpiece rejection rate.

Description

Technical Field

[0001] This invention relates to the field of online inspection technology, and in particular to an online inspection method for an automatic nail puller and the automatic nail puller itself. Background Technology

[0002] A rivet machine is a mechanical device that uses tension and / or pressure to deform rivets, permanently joining two or more workpieces together. Rivet machines are core equipment for achieving efficient riveting in industrial manufacturing.

[0003] Currently, when using a rivet machine to rivet and fix workpieces, the predetermined fixing position or route is usually input first. The rivet machine then inserts the rivet body into a pre-drilled hole in the workpiece according to the predetermined fixing position or route. Then, the mandrel of the rivet is pulled, causing the rivet sleeve to expand and deform inside the workpiece hole, thereby fixing the workpiece.

[0004] Because current rivet machines rivet and fix workpieces according to predetermined fixed positions or routes, if the workpiece is not placed in the correct position, the rivet body may deviate when inserted into the pre-drilled hole on the workpiece, resulting in the rivet being driven at an angle or the hole being off-center, which in turn leads to the workpiece being scrapped. Summary of the Invention

[0005] To reduce the scrap rate of workpieces, this invention provides an online inspection method for an automatic riveting machine and an automatic riveting machine.

[0006] In a first aspect, the present invention provides an online detection method for an automatic rivet machine, employing the following technical solution:

[0007] An online detection method for an automatic rivet machine, comprising:

[0008] The preset position parameters of the workpiece moving device, the preset horizontal moving device, and the preset vertical moving device are read in real time and defined as the workpiece moving position point, the horizontal moving position point, and the vertical moving position point.

[0009] Determine the horizontal relative vector distance value based on the workpiece's moving position point and horizontal moving position point;

[0010] Determine the vertical relative distance value based on the vertical movement position point;

[0011] The overall image of the workpiece to be fixed is acquired based on a preset image acquisition device;

[0012] When the reinforcement requirement location is identified from the overall image based on the preset reinforcement hole features, the reinforcement movement control information is determined by combining the horizontal relative vector distance value and the vertical relative distance value.

[0013] Based on the reinforcement movement control information, the preset workpiece movement device, preset horizontal movement device, and preset vertical movement device are operated, and the preset rivet gun is also controlled to operate.

[0014] By adopting the above technical solution, the workpiece movement position points, horizontal movement position points, and vertical movement position points are read and defined, and the horizontal relative vector distance value and vertical relative distance value are determined respectively. Then, the overall image is acquired, and the reinforcement requirement position points are identified based on the reinforcement hole features. The reinforcement movement control information is determined by combining the horizontal relative vector distance value and the vertical relative distance value. Then, the movement is controlled and the rivet is fixed according to the reinforcement movement control information, which improves the positioning accuracy of the rivet machine for the reinforcement position points and reduces the workpiece scrap rate.

[0015] Optionally, the following may also be included before acquiring the overall image:

[0016] The workpiece detection parameters of the workpiece to be fixed are collected based on the preset placement detection plate;

[0017] The pressure detection value and pressure area value are retrieved based on the workpiece detection parameters;

[0018] Calculate the ratio of the pressure area value to the preset area reference value and use it as the area ratio value; calculate the ratio of the pressure detection value to the preset pressure reference value and use it as the pressure ratio value.

[0019] The estimated reference value for the workpiece is determined by combining the pressure ratio value and the area ratio value.

[0020] Determine whether the estimated reference value of the workpiece is greater than the preset reference benchmark value of the workpiece;

[0021] If yes, then the entire image will be captured;

[0022] If not, continue collecting workpiece detection parameters.

[0023] By adopting the above technical solution, the workpiece detection parameters are collected before the overall image is acquired, and the pressure detection value and pressure area value are retrieved. After calculating the area ratio value and pressure ratio value respectively, the estimated reference value of the workpiece is determined and compared with the workpiece reference benchmark value. Image acquisition is performed only when the estimated reference value of the workpiece is greater than the preset workpiece reference benchmark value. This adds a pre-judgment step before image acquisition, which can effectively screen out workpieces that meet the detection conditions, reduce invalid image acquisition and processing, and improve the overall efficiency of online inspection.

[0024] Optional methods for identifying reinforcement requirement locations include:

[0025] The clamping and fixing position points are obtained by identifying the overall image based on the preset clamping and fixing features;

[0026] The number of clamping points is determined based on the clamping fixed position points;

[0027] The overall image is segmented based on the clamping fixed position points to obtain the workpiece prediction image;

[0028] The system matches the preset reinforcement hole features with the workpiece's estimated image and uses the closest matching image location as the reinforcement requirement location.

[0029] By adopting the above technical solution, clamping and fixing position points are identified from the overall image based on clamping and fixing features, the number of clamping and fixing points is determined, and the overall image is segmented based on the clamping and fixing position points to obtain a workpiece prediction image. Then, matching and identification are performed from the workpiece prediction image based on the reinforcement hole features. This achieves accurate positioning of the reinforcement requirement position points, narrows the search range of reinforcement hole features, reduces the complexity of image processing, and improves the recognition accuracy and processing speed of the reinforcement requirement position points.

[0030] Optionally, methods for determining the workpiece prediction image include:

[0031] Determine whether the number of clamped items matches the preset clamping reference number.

[0032] If so, then a rectangular area is delineated based on the fixed clamping position point to obtain the clamping rectangular area;

[0033] The entire image is selected based on the clamping rectangular area to obtain the clamping rectangular image, and the clamping rectangular image is used as the workpiece prediction image;

[0034] If not, then determine the missing area based on the clamping fixed position point;

[0035] The missing area is selected from the overall image to obtain the missing image, and the missing image is used as the workpiece prediction image.

[0036] By adopting the above technical solution, the clamping fixed value is compared with the clamping reference value. When they are consistent, the clamping rectangular area is delineated based on the clamping fixed position point and the clamping rectangular image is selected as the workpiece prediction image. When they are inconsistent, the missing prediction area is determined, the area is delineated, and the missing prediction image is selected as the workpiece prediction image. Thus, differentiated image segmentation methods are adopted for the two situations of normal and abnormal clamping states, which enhances the adaptability to different clamping states and enables the workpiece prediction image to be effectively obtained under different clamping conditions.

[0037] Optional methods for determining the missing prediction region include:

[0038] Calculate the spacing between each clamping and fixing point and use it as the clamping and fixing spacing value;

[0039] Sort the clamping fixed spacing values ​​from smallest to largest, and take the clamping fixed spacing value that is ranked first as the minimum clamping spacing value;

[0040] The clamping fixed position points are selected based on the minimum clamping spacing value and used as adjacent clamping position points;

[0041] Determine the adjacent edge positions based on the clamping adjacent position points;

[0042] The adjacent internal regions are determined by combining the clamping adjacent position points and the adjacent edge position points, and the adjacent internal regions are used as the missing prediction regions.

[0043] By adopting the above technical solution, after calculating and sorting the clamping fixed spacing value, the clamping fixed position point corresponding to the minimum clamping spacing value is selected as the clamping adjacent position point. The adjacent edge position point is determined based on the clamping adjacent position point, and the adjacent internal region is determined as the missing prediction region in combination with the adjacent edge position point. This realizes the automatic calculation and generation of the missing prediction region without the need for manual delineation of the image detection range.

[0044] Optionally, methods for determining ruggedized movement control information include:

[0045] The relative shooting ratio is determined by combining the vertical relative distance value with the workpiece's estimated reference value;

[0046] Determine the actual location of reinforcement by combining the location of the required reinforcement points with the relative proportions of the photographs;

[0047] The reinforcement deviation vector distance value is determined based on the actual reinforcement location point and the workpiece movement location point;

[0048] The horizontal movement vector distance is determined by combining the reinforcement deviation vector distance value and the horizontal relative vector distance value.

[0049] The horizontal movement vector distance value is combined with the preset vertical movement vector distance value and used as the reinforcement movement control information.

[0050] By adopting the above technical solution, the relative shooting ratio value is converted from the vertical relative distance value, and then the actual reinforcement position point is determined by combining the reinforcement requirement position point. The reinforcement deviation vector distance value is determined based on the actual reinforcement position point and the workpiece movement position point. Furthermore, the horizontal movement vector distance value is determined by combining the horizontal relative vector distance value. Finally, the reinforcement movement control information is generated by combining it with the preset vertical movement vector distance value. Thus, the movement control parameters are adjusted in real time according to the shooting position, thereby improving the accuracy of the obtained reinforcement movement control information.

[0051] Optionally, after determining the actual location of the reinforcement, the following may also be included:

[0052] Determine the adjacent values ​​to be clamped based on the adjacent clamping positions;

[0053] Determine whether the number of clamped values ​​is consistent with the number of adjacent clamped values;

[0054] If yes, continue to output the actual location points of reinforcement;

[0055] If not, the actual tilt distance value is determined by combining the vertical relative distance value, the workpiece estimated reference value, the reinforcement requirement location point, the clamping adjacent location point and the preset tilt ratio value.

[0056] The relative tilt ratio is determined based on the actual tilt distance.

[0057] The actual tilt location is determined by combining the relative tilt ratio value and the reinforcement requirement location point, and the actual tilt location point is updated and replaced with the actual reinforcement location point. The preset tilt adjustment information is then output to the preset rivet gun.

[0058] By adopting the above technical solution, after the actual reinforcement position point is generated, the adjacent clamping values ​​are statistically analyzed based on the clamping adjacent position points, and the clamping fixed values ​​are compared with the clamping adjacent values. When matching values, the actual reinforcement position point is directly used. When there are differences in values, the actual tilting distance value is calculated by using the vertical relative distance value and the tilt ratio value. After converting the tilt relative ratio value, the actual tilting position point is generated by combining it with the reinforcement requirement position point and replacing the original actual reinforcement position point. The rivet gun is controlled to adjust the tilt, thereby reducing the coordinate offset caused by the workpiece tilt and improving the coordinate matching accuracy of the actual reinforcement position point under the workpiece tilt condition.

[0059] Secondly, the present invention provides an automatic nail-pulling machine, which adopts the following technical solution:

[0060] An automatic nail-pulling machine, employing an online detection method for an automatic nail-pulling machine as described in any one of the first aspects, comprising:

[0061] Placement platform;

[0062] A workpiece moving device is disposed on the placement platform and is used to move the workpiece to be fixed.

[0063] A detection plate is placed on the side of the workpiece moving device away from the placement platform, and is used for placing and detecting parameters of the workpiece to be fixed.

[0064] A rivet gun, mounted on the placement platform, is used to fix the workpiece to be fixed;

[0065] A feed box is connected to the rivet gun and is used to supply rivet raw materials to the rivet gun;

[0066] A horizontal moving device, disposed on the placement platform, is used to drive the rivet gun to move horizontally;

[0067] A vertical moving device, used to drive the rivet gun to move vertically, is mounted on the horizontal moving device;

[0068] An image acquisition device is mounted on the horizontal moving device and is used to acquire images of the workpiece to be fixed in order to identify the location points where reinforcement is required.

[0069] The direction of movement of the horizontal moving device is perpendicular to the direction of movement of the workpiece moving device.

[0070] By adopting the above technical solution, through the coordinated operation of the workpiece moving device and the horizontal moving device in the vertical direction, combined with the lifting and lowering adjustment of the vertical moving device, the rivet gun is accurately positioned in three-dimensional space. At the same time, the image acquisition device is set on the horizontal moving device and can move synchronously with the rivet gun to complete image acquisition, thereby improving the positioning accuracy of the rivet machine for the reinforcement position and reducing the workpiece scrap rate.

[0071] Optionally, the horizontal moving device is equipped with a waste bin, which is connected to the rivet gun and used to receive waste. The horizontal moving device drives the waste bin and the rivet gun to move synchronously.

[0072] By adopting the above technical solution, a waste bin connected to the rivet gun is assembled on the horizontal moving device. The horizontal moving device drives the waste bin and the rivet gun to complete the horizontal displacement synchronously, so that the waste bin moves synchronously with the rivet gun. The length of the connecting pipe between the waste bin and the rivet gun remains stable, which is suitable for the collection of nail core waste during the horizontal movement of the rivet gun throughout its entire stroke, and reduces the tensile deformation of the waste collection pipe caused by the movement of the gun body.

[0073] Optionally, there are two workpiece moving devices that are parallel to each other, and there are two of each of the rivet gun, the waste bin, and the vertical moving device that are symmetrically arranged about the horizontal moving device.

[0074] By adopting the above technical solution, and by setting up two parallel workpiece moving devices, and symmetrically arranging two rivet guns, two waste bins and two vertical moving devices about the horizontal moving devices, parallel rivet pulling operations at two workstations are realized, which increases the number of workpieces that can be processed per unit time and improves the overall operating efficiency of the rivet pulling machine.

[0075] In summary, the present invention has at least one of the following beneficial technical effects:

[0076] 1. Read and define the workpiece movement position point, horizontal movement position point, and vertical movement position point, and determine the horizontal relative vector distance value and vertical relative distance value respectively. Then, acquire the overall image, identify the reinforcement requirement position point based on the reinforcement hole features, determine the reinforcement movement control information by combining the horizontal relative vector distance value and the vertical relative distance value, and then control the movement and fix the rivets according to the reinforcement movement control information. This improves the positioning accuracy of the rivet machine for the reinforcement position point and reduces the workpiece scrap rate.

[0077] 2. Before acquiring the overall image, the workpiece detection parameters are collected, and the pressure detection value and pressure area value are retrieved. After calculating the area ratio value and pressure ratio value respectively, the estimated reference value of the workpiece is determined and compared with the workpiece reference benchmark value. Image acquisition is performed only when the estimated reference value of the workpiece is greater than the preset workpiece reference benchmark value. This adds a pre-judgment step before image acquisition, which can effectively screen out workpieces that meet the detection conditions, reduce invalid image acquisition and processing, and improve the overall efficiency of online inspection.

[0078] 3. Based on the clamping and fixing features, the clamping and fixing position points are identified from the overall image, the number of clamping and fixing points is determined, and the overall image is segmented according to the clamping and fixing position points to obtain the workpiece prediction image. Then, the workpiece prediction image is matched and identified according to the reinforcement hole features. This achieves accurate positioning of the reinforcement requirement position points, narrows the search range of reinforcement hole features, reduces the complexity of image processing, and improves the recognition accuracy and processing speed of the reinforcement requirement position points. Attached Figure Description

[0079] Figure 1 This is a schematic diagram of the overall structure of an automatic rivet machine;

[0080] Figure 2 yes Figure 1 Enlarged view of section A in the middle;

[0081] Figure 3 This is a schematic diagram of the online testing method for an automatic rivet machine.

[0082] The parts referred to by the numbers in the above attached diagrams are as follows: 1. Placement platform; 2. Workpiece moving device; 3. Placement inspection plate; 4. Rivet gun; 5. Feed box; 6. Horizontal moving device; 7. Vertical moving device; 8. Image acquisition device; 9. Scrap box. Detailed Implementation

[0083] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0084] Reference Figure 1 and Figure 2This invention discloses an automatic rivet machine, comprising a placement platform 1, a workpiece moving device 2, a placement detection plate 3, a rivet gun 4, a feeding box 5, a horizontal moving device 6, a vertical moving device 7, and an image acquisition device 8. The placement platform 1 is used to install the workpiece moving device 2 and the horizontal moving device 6. The workpiece moving device 2 is installed on the side of the placement platform 1 away from the ground and is used to move the workpiece to be fixed. The placement detection plate 3 is installed on the moving part of the workpiece moving device 2 and is located on the side away from the placement platform 1. The placement detection plate 3 is used for placing and parameter detection of the workpiece to be fixed. A pressure sensor for pressure detection of the workpiece to be fixed is pre-installed on the placement detection plate 3, and a clamping block for clamping and fixing the workpiece is installed on the side of the placement detection plate 3 away from the workpiece moving device 2. The clamping blocks slide on the placement detection plate 3 along pre-cut tracks, and each clamping block is driven by a hydraulic cylinder, thereby facilitating the clamping and fixing of workpieces of different sizes. In this embodiment, the workpiece moving device 2 is a linear guide rail and there are two of them. The two workpiece moving devices 2 are arranged in parallel to each other. Before the workpiece to be fixed is detected and image acquisition begins, the clamping block will move towards the center of the placement detection plate 3 until it comes into contact with the workpiece to be fixed. When the clamping block does not come into contact with the workpiece to be fixed, the clamping block will return to the initial position away from the center of the placement detection plate 3.

[0085] Reference Figure 1 and Figure 2 A horizontal moving device 6 is mounted on the placement platform 1, and is located on the side of the placement detection plate 3 away from the workpiece moving device 2. The moving direction of the horizontal moving device 6 is perpendicular to the moving direction of the workpiece moving device 2. A vertical moving device 7 is mounted on the moving part of the horizontal moving device 6, and a rivet gun 4 is mounted on the moving part of the vertical moving device 7. The rivet gun 4 is used to fix the workpiece to be fixed, and the vertical moving device 7 is used to drive the rivet gun 4 to move vertically. The horizontal moving device 6 is used to drive the vertical moving device 7 to move horizontally. In this embodiment, the horizontal moving device 6 and the vertical moving device 7 are linear guide rails. The rivet gun 4 is rotatably mounted on the moving part of the vertical moving device 7, and an angle adjustment control component is installed on the moving part of the vertical moving device 7 to drive the rivet gun 4 to adjust its angle.

[0086] Reference Figure 1 and Figure 2The image acquisition device 8 is mounted on the moving part of the horizontal moving device 6. The image acquisition device 8 is used to acquire images of the workpiece to be fixed in order to identify the location points requiring reinforcement. The waste bin 9 is mounted on the moving part of the horizontal moving device 6. The waste bin 9 is connected to the rivet gun 4 and is used to receive waste materials. In this embodiment, two rivet guns 4, two waste bins 9, and two vertical moving devices 7 are provided, symmetrically arranged about the horizontal moving device 6. The image acquisition device 8 can be a high-definition camera.

[0087] Reference Figure 1 and Figure 2 The feed box 5 is placed around the placement platform 1 and connected to the rivet gun 4. The feed box 5 is used to provide rivet raw materials to the rivet gun 4.

[0088] Reference Figure 1 and Figure 2 The image acquisition device 8 acquires images of the workpiece to be fixed to identify the reinforcement requirement location. The workpiece moving device 2, the horizontal moving device 6, and the vertical moving device 7 drive the rivet gun 4 to the reinforcement requirement location. The feed box 5 provides rivet material to the rivet gun 4, thereby enabling the rivet gun 4 to operate and fix the workpiece. The waste generated after rivet fixing is collected by the waste box 9, reducing interference with the operation of the image acquisition device 8, improving the positioning accuracy of the rivet machine at the reinforcement location, and reducing the workpiece scrap rate.

[0089] Reference Figure 3 Based on the same inventive concept, embodiments of the present invention provide an online detection method for an automatic rivet machine, comprising:

[0090] S100: Reads the position parameters corresponding to the preset workpiece moving device 2, the preset horizontal moving device 6, and the preset vertical moving device 7 in real time and defines them as the workpiece moving position point, the horizontal moving position point, and the vertical moving position point.

[0091] The workpiece movement position point refers to the position of the moving component in the workpiece moving device 2. The horizontal movement position point refers to the position of the moving component in the horizontal moving device 6. The vertical movement position point refers to the position of the moving component in the vertical moving device 7.

[0092] By reading the position parameters such as linear displacement data corresponding to the preset workpiece moving device 2, the preset horizontal moving device 6, and the preset vertical moving device 7 in real time, and transforming the linear displacement data according to the preset coordinate system to obtain the position coordinates, which are then used as the workpiece moving position point, the horizontal moving position point, and the vertical moving position point, respectively, for convenient subsequent use.

[0093] The coordinate system is preset by the operator. The origin of the coordinate system can be the position point corresponding to one of the corners on the placement platform 1, and the movement direction corresponding to the workpiece moving device 2, the movement direction corresponding to the horizontal moving device 6, and the movement direction corresponding to the vertical moving device 7 are respectively used as the X, Y, and Z axes.

[0094] S101: Determine the horizontal relative vector distance value based on the workpiece's moving position point and the horizontal moving position point.

[0095] The horizontal relative vector distance value refers to the vector parameter corresponding to the directed line segment from the workpiece's moving position point to the horizontal moving position point.

[0096] By reading the horizontal coordinates of the workpiece's moving position point and the horizontal coordinates of the horizontal moving position point respectively, and performing vector subtraction on the two sets of coordinate values, the horizontal relative vector distance value is obtained for convenient subsequent use.

[0097] S102: Determine the vertical relative distance value based on the vertically moving position point.

[0098] Among them, the vertical relative distance value refers to the displacement scalar formed by the spatial height coordinates of the moving part of the vertical moving device 7 relative to the placement detection plate 3.

[0099] The height coordinates of the vertically moving position point are retrieved and the difference between them and the height coordinates corresponding to the preset placement detection plate 3 is calculated. The calculation result is used as the vertical relative distance value for convenient subsequent use.

[0100] S103: Acquire an overall image of the workpiece to be fixed based on the preset image acquisition device 8.

[0101] The overall image refers to the image of the workpiece to be fixed and its surrounding environment acquired by the image acquisition device 8 at the current time.

[0102] By capturing the entire image, it becomes easier to use later.

[0103] S104: When the reinforcement requirement location point is identified from the overall image based on the preset reinforcement hole features, the reinforcement movement control information is determined by combining the horizontal relative vector distance value and the vertical relative distance value.

[0104] The reinforcement hole features refer to the geometric shape, pixel diameter range, edge gradient intensity threshold, and grayscale difference between the internal region and the surrounding background of the target hole to be riveted and reinforced. These features are preset by the operator.

[0105] The reinforcement requirement location point refers to the pixel coordinate position corresponding to the target hole to be riveted and reinforced. The reinforcement movement control information refers to the multi-axis linkage command parameter set used to drive the coordinated action of the workpiece moving device 2, the horizontal moving device 6, and the vertical moving device 7.

[0106] By using preset reinforcement hole features and overall image for feature recognition, when a reinforcement requirement location is identified, the reinforcement movement control information is determined by combining and analyzing the reinforcement requirement location, horizontal relative vector distance value and vertical relative distance value, which facilitates subsequent use.

[0107] S105: Based on the reinforcement movement control information, control the preset workpiece moving device 2, the preset horizontal moving device 6, and the preset vertical moving device 7 to operate, and control the preset rivet gun 4 to operate.

[0108] Specifically, the displacement components of the X, Y, and Z axes are retrieved through the reinforcement movement control information and converted into position commands for the corresponding workpiece moving device 2, horizontal moving device 6, and vertical moving device 7. This allows the workpiece moving device 2, horizontal moving device 6, and vertical moving device 7 to operate respectively. When the workpiece moving device 2, horizontal moving device 6, and vertical moving device 7 finish operating, the preset rivet gun 4 is controlled to operate, thereby fixing the workpiece to be fixed. This improves the positioning accuracy of the rivet machine at the reinforcement position point and reduces the workpiece scrap rate.

[0109] To further ensure the rationality of the overall image acquisition, it is necessary to perform further separate analysis and calculations before acquiring the overall image, which will be explained in detail through the steps shown below.

[0110] The following steps are included before acquiring the overall image:

[0111] S200: Collects workpiece detection parameters based on the preset placement detection plate 3.

[0112] Among them, the workpiece detection parameters refer to the set of parameters such as the pressure value and the coverage area value generated after the workpiece to be fixed is placed on the placement detection plate 3.

[0113] The pressure and coverage area values ​​are collected by the pressure sensing unit placed on the detection plate 3 and combined as workpiece detection parameters for convenient subsequent use.

[0114] S201: Retrieve pressure detection value and pressure area value based on workpiece detection parameters.

[0115] The pressure detection value refers to the pressure value generated after the workpiece to be fixed is placed on the placement detection plate 3. The pressure area value refers to the coverage area value generated after the workpiece to be fixed is placed on the placement detection plate 3.

[0116] The pressure detection value and pressure area value can be retrieved by using the workpiece detection parameters for convenient subsequent use.

[0117] S202: Calculate the ratio of the pressure area value to the preset area reference value and use it as the area ratio value; calculate the ratio of the pressure detection value to the preset pressure reference value and use it as the pressure ratio value.

[0118] The area reference value refers to the reference area of ​​a workpiece of a certain fixed specification covering the detection plate 3 in a standard placement posture. The area reference value is preset by the operator. The area ratio value refers to the ratio of the pressure area value to the area reference value.

[0119] The pressure reference value refers to the reference pressure value of a workpiece of a certain specification to be fixed under the standard placement posture when covered by the test plate 3. The pressure reference value is preset by the operator. The pressure ratio value refers to the ratio of the pressure detection value to the pressure reference value.

[0120] The calculation of area ratio and pressure ratio facilitates subsequent use.

[0121] S203: Determine the estimated reference value for the workpiece by combining the pressure ratio value and the area ratio value.

[0122] Among them, the workpiece estimated reference value refers to the normalized evaluation value that reflects the workpiece's weight characteristics and dimensional coverage characteristics.

[0123] By normalizing the pressure ratio and area ratio values, and using the normalized results as a reference value for workpiece estimation, subsequent use becomes easier.

[0124] For example, by multiplying the pressure ratio and area ratio by 0.5 respectively, the sum of the two products can be used as a reference value for workpiece estimation, which is convenient for subsequent use.

[0125] S204: Determine whether the estimated reference value of the workpiece is greater than the preset reference datum value of the workpiece. If yes, proceed to S205; if no, proceed to S206.

[0126] The workpiece reference benchmark value refers to a comprehensive quantitative indicator used to determine the placement of the detection plate 3 on the workpiece to be fixed. The workpiece reference benchmark value is preset by the operator.

[0127] By judging whether the estimated reference value of the workpiece is greater than the preset reference benchmark value of the workpiece, it is determined whether the placement detection plate 3 is used to place the workpiece to be fixed.

[0128] S205: Acquire the overall image.

[0129] When the estimated reference value of the workpiece is greater than the preset reference benchmark value of the workpiece, it indicates that the detection plate 3 is placed with the workpiece to be fixed, so the overall image is collected.

[0130] S206: Continue to collect workpiece inspection parameters.

[0131] When the estimated reference value of the workpiece is not greater than the preset reference benchmark value of the workpiece, it indicates that the workpiece to be fixed is not placed on the detection plate 3 at this time, so the detection parameters of the workpiece continue to be collected.

[0132] To further ensure the rationality of the reinforcement requirement locations, it is necessary to conduct further separate analysis and calculations on the reinforcement requirement locations, which will be explained in detail through the steps shown below.

[0133] The method for identifying reinforcement requirement locations includes the following steps:

[0134] S300: Based on preset clamping and fixing features, identify the clamping and fixing position points from the overall image.

[0135] The clamping and fixing features refer to the geometric shape, pixel diameter range, edge gradient intensity threshold, and grayscale difference between the clamping block and the surrounding background. These features are obtained through pre-input by the operator. The clamping and fixing position point refers to the position of the clamping block when the workpiece to be fixed is placed on the placement detection plate 3 and clamped and fixed.

[0136] By matching the preset clamping and fixing features with the overall image, the position point corresponding to the successful match is used as the clamping and fixing position point, which facilitates subsequent use.

[0137] S301: Determine the number of clamping units based on the clamping and fixing position points.

[0138] Among them, the number of fixed clamping values ​​refers to the number of values ​​corresponding to the fixed clamping position points.

[0139] By counting the fixed clamping positions and using the count results as the number of clamping points, it is convenient for subsequent use.

[0140] S302: Segment the overall image based on the clamping fixed position points to obtain the workpiece prediction image.

[0141] Among them, the workpiece prediction image refers to a partial image selected from the overall image that only reflects the workpiece to be fixed.

[0142] By using the identified clamping and fixing points as spatial reference benchmarks, the overall image is segmented, and the segmented local images are used as workpiece prediction images for convenient subsequent use.

[0143] S303: Match the preset reinforcement hole features with the workpiece estimated image, and take the position of the closest matching image as the reinforcement requirement position point.

[0144] In this process, the reinforcement hole features are matched with the workpiece's estimated image, and the matching image positions are used as candidate positions. The image center position is then calculated based on the workpiece's estimated image. The distance between each candidate position and the image center position is calculated sequentially, and the candidate position with the smallest distance is selected as the reinforcement requirement position point, thereby improving the accuracy of the obtained reinforcement requirement position point.

[0145] To further ensure the rationality of the workpiece prediction image, it is necessary to perform further separate analysis and calculation on the workpiece prediction image, which will be explained in detail through the steps shown below.

[0146] The method for determining the workpiece's estimated image includes the following steps:

[0147] S400: Determine whether the number of clamped items matches the preset clamping reference number. If yes, execute S401; if no, execute S403.

[0148] The clamping reference number refers to the total number of clamping blocks. This number is obtained through pre-input by the operator. In this embodiment, the clamping reference number is 8.

[0149] By judging whether the number of clamping units matches the preset number of clamping reference units, it can be determined whether the workpiece to be fixed is completely within the overall image.

[0150] S401: Delineate a rectangular area based on the clamping fixed position point to obtain the clamping rectangular area.

[0151] The clamping rectangular region refers to a rectangular area defined on the pixel plane of the overall image, using the identified clamping fixed position point as a geometric reference.

[0152] When the number of clamping and fixing points is consistent with the preset number of clamping reference points, it means that the workpiece to be fixed is completely within the overall image. Therefore, each clamping and fixing point is connected and extended along the moving direction corresponding to the workpiece moving device 2 and the moving direction corresponding to the horizontal moving device 6. The area corresponding to the closed rectangle formed after extension is then used as the clamping rectangle area.

[0153] S402: Select the overall image based on the clamping rectangular area to obtain the clamping rectangular image, and use the clamping rectangular image as the workpiece prediction image.

[0154] Here, "clamped rectangular image" refers to the image within a clamped rectangular area.

[0155] By selecting an image within a clamping rectangle area from the overall image and using it as the clamping rectangle image, and then using the clamping rectangle image as the workpiece prediction image, the accuracy of the obtained workpiece prediction image is improved.

[0156] S403: Determine the estimated missing area based on the clamping and fixing position point.

[0157] Among them, the missing estimated area refers to the area containing the workpiece to be fixed selected from the overall image when the workpiece to be fixed is not completely in the overall image.

[0158] When the number of clamping points is inconsistent with the preset number of clamping reference points, it indicates that the workpiece to be fixed is not completely within the overall image. Therefore, by analyzing the clamping and fixing position points, the missing estimated area can be determined for subsequent use.

[0159] S404: Select the entire image based on the missing area to obtain the missing image, and use the missing image as the workpiece image.

[0160] Among them, the missing predicted image refers to the image within the missing predicted region.

[0161] By selecting images within the missing prediction area from the overall image and using them as missing prediction images, and then using the missing prediction images as workpiece prediction images, the accuracy of the obtained workpiece prediction images is improved.

[0162] To further ensure the reasonableness of the missing prediction area, it is necessary to perform further separate analysis and calculation on the missing prediction area, which will be explained in detail through the steps shown below.

[0163] The method for determining the missing prediction region includes the following steps:

[0164] S500: Calculate the spacing between each clamping and fixing position point and use it as the clamping and fixing spacing value.

[0165] Among them, the clamping fixed spacing value refers to the spacing value between each clamping fixed position point.

[0166] By retrieving the coordinates of each clamping fixed position point, performing arithmetic operations based on the Euclidean distance formula according to the coordinates, and then using the calculation result as the clamping fixed spacing value, it is convenient for subsequent use.

[0167] S501: Sort the clamping fixed spacing values ​​from smallest to largest, and take the clamping fixed spacing value with the first value as the minimum clamping spacing value.

[0168] Among them, the minimum clamping spacing value refers to the minimum value of the fixed clamping spacing value.

[0169] By sorting the clamping fixed spacing values ​​from smallest to largest, and taking the first-ranked clamping fixed spacing value as the minimum clamping spacing value, it is convenient for subsequent use.

[0170] S502: Select the clamping fixed position point based on the minimum clamping spacing value and use it as the adjacent clamping position point.

[0171] Here, "adjacent clamping points" refers to the fixed clamping points corresponding to the minimum clamping distance. There can be only two or more adjacent clamping points.

[0172] By selecting and defining adjacent clamping points, subsequent use becomes easier.

[0173] S503: Determine the adjacent edge position points based on the clamping adjacent position points.

[0174] Here, an adjacent edge point refers to the point where the line segments connecting two adjacent clamping points extended along the horizontal reference direction (i.e., the X and Y axes) intersect. When there are only two adjacent clamping points, there is only one adjacent edge point. When there are more than two adjacent clamping points, there are two adjacent edge points.

[0175] By matching adjacent clamping positions with a preset set of clamping movement positions, the clamping block number is obtained. The corresponding horizontal reference direction is selected based on the clamping block number. The adjacent clamping positions are then extended along the horizontal reference direction, and the position point corresponding to the intersection of the extension is taken as the adjacent edge position point for convenient subsequent use.

[0176] The set of clamping movement positions is a pre-defined set of positions that clamping blocks with different numbers can move to, and the horizontal reference direction corresponding to different clamping blocks is different.

[0177] For example, if the clamping blocks are numbered 1, 2, 3, 4, 5, 6, 7, and 8, then the horizontal reference direction corresponding to clamping block number 1 is the negative X-axis direction, the horizontal reference direction corresponding to clamping block number 2 is the positive X-axis direction, the horizontal reference direction corresponding to clamping block number 3 is the negative Y-axis direction, the horizontal reference direction corresponding to clamping block number 4 is the positive Y-axis direction, the horizontal reference direction corresponding to clamping block number 5 is the positive X-axis direction, the horizontal reference direction corresponding to clamping block number 6 is the negative X-axis direction, the horizontal reference direction corresponding to clamping block number 7 is the positive Y-axis direction, and the horizontal reference direction corresponding to clamping block number 8 is the negative Y-axis direction.

[0178] S504: Combine the adjacent location points and adjacent edge location points to determine the adjacent internal regions, and use the adjacent internal regions as the missing prediction regions.

[0179] The adjacent internal region refers to the area enclosed by adjacent position points and adjacent edge position points.

[0180] By connecting adjacent position points with adjacent edge position points and extending in the opposite direction until they reach the boundary of the overall image, the area enclosed by the formed line segment is taken as the adjacent internal region, and then the adjacent internal region is taken as the missing prediction region, thereby improving the accuracy of the obtained missing prediction region.

[0181] To further ensure the rationality of the reinforced mobility control information, it is necessary to perform further separate analysis and calculation on the reinforced mobility control information, which will be explained in detail through the steps shown below.

[0182] The method for determining reinforced mobility control information includes the following steps:

[0183] S600: Determine the relative shooting ratio by combining the vertical relative distance value and the workpiece estimated reference value.

[0184] Among them, the relative shooting ratio value refers to the magnification coefficient that characterizes the current imaging height of the image acquisition device 8 relative to the standard imaging height.

[0185] By inputting the workpiece estimated reference value into the preset workpiece estimated database to obtain the corresponding workpiece estimated thickness value, the difference between the vertical relative distance value and the preset working shooting reference distance is calculated, and the difference between the vertical relative distance value and the workpiece estimated thickness value is calculated and used as the vertical actual distance value. The quotient value between the vertical actual distance value and the preset standard imaging height value is calculated, and the calculation result is used as the shooting relative ratio value for convenient subsequent use.

[0186] The workpiece estimation database pre-stores a table showing the corresponding pressure values, area values, and estimated reference values ​​for workpieces of different specifications to be fixed. The workpiece estimation database is retrieved after pre-entry by the operator.

[0187] The working shooting reference distance refers to the reference distance between the moving part of the vertical moving device 7 and the image acquisition device 8. The standard imaging height value refers to the height difference between the image acquisition device 8 and the placement detection plate 3 when the moving part of the vertical moving device 7 is moved to its highest point. Both the working shooting reference distance and the standard imaging height value are obtained after being pre-input by the operator.

[0188] S601: Determine the actual location of reinforcement by combining the location of the reinforcement requirement with the relative scale value of the shooting.

[0189] Among them, the actual location point of reinforcement refers to the three-dimensional spatial coordinate value obtained after the location point of reinforcement requirement is mapped from the image pixel coordinate system to the actual physical coordinate system.

[0190] By multiplying the pixel coordinates of the reinforcement target location with the system-calibrated pixel equivalent reference value, and then multiplying it with the relative proportion value of the image captured, the final calculation result is used as the actual reinforcement location point for convenient subsequent use.

[0191] The pixel equivalent reference value refers to the physical size of a unit pixel at a standard imaging height, preset by the image acquisition device 8. The pixel equivalent reference value is obtained after being pre-input by the operator.

[0192] S602: Determine the reinforcement deviation vector distance value based on the actual reinforcement location point and the workpiece movement location point.

[0193] Among them, the reinforcement deviation vector distance value refers to the vector parameter between the actual reinforcement location point and the workpiece movement location point.

[0194] By performing a vector subtraction operation between the physical coordinates of the actual reinforcement location and the physical coordinates of the workpiece movement location, the reinforcement deviation vector distance value is obtained for convenient subsequent use.

[0195] S603: Determine the horizontal movement vector distance value by combining the reinforcement deviation vector distance value and the horizontal relative vector distance value.

[0196] The horizontal movement vector distance value refers to the total horizontal displacement magnitude and direction required for the rivet gun 4 to move from its current horizontal position to directly above the target reinforcement hole.

[0197] By extracting the X and Y axis components of the reinforcement deviation vector distance value and the horizontal relative vector distance value respectively, and then adding the corresponding components together, the total vector is synthesized using the Pythagorean theorem. The calculation result is then used as the horizontal movement vector distance value for convenient subsequent use.

[0198] S604: The horizontal movement vector distance value is combined with the preset vertical movement vector distance value and used as the reinforcement movement control information.

[0199] The vertical movement vector distance value refers to the vector distance corresponding to the maximum vertical movement. This value includes the vector distance to the highest point and the vector distance to the lowest point. The vertical movement vector distance value is obtained after pre-input by the operator.

[0200] By combining the horizontal movement vector distance value with the preset vertical movement vector distance value, a set of instructions in the horizontal and vertical directions is formed, and this set of instructions is used as the hardened movement control information to improve the accuracy of the acquired hardened movement control information.

[0201] To further ensure the rationality of the actual reinforcement location, it is necessary to conduct further separate analysis and calculation after determining the actual reinforcement location. The specific steps are explained in detail below.

[0202] After determining the actual location of the reinforcement, the following steps are also included:

[0203] S700: Determine the number of adjacent clamping values ​​based on the clamping adjacent position points.

[0204] Here, "clamping adjacent values" refers to clamping adjacent position points.

[0205] By counting the adjacent clamping positions and using the count results as the adjacent clamping positions, it is convenient for subsequent use.

[0206] S701: Determine whether the number of clamped values ​​is consistent with the number of adjacent clamped values. If yes, proceed to S702; if no, proceed to S703.

[0207] Specifically, by judging whether the fixed clamping values ​​are consistent with the adjacent clamping values, it can be determined whether the actual reinforcement position needs to be adjusted.

[0208] S702: Continue to output the actual location points of reinforcement.

[0209] When the number of clamped values ​​is the same as the number of clamped adjacent values, it means that there is no need to adjust the actual reinforcement position point at this time, so the actual reinforcement position point continues to be output.

[0210] S703: Determine the actual tilt distance value by combining the vertical relative distance value, the workpiece estimated reference value, the reinforcement requirement location point, the clamping adjacent location point and the preset tilt ratio value.

[0211] The tilt ratio value refers to the ratio between the distance and the height when the workpiece to be fixed is too long, causing the clamping block to lift it up and place it at an angle. The actual tilt distance value refers to the distance between the image acquisition device 8 and the workpiece to be fixed when it is placed at an angle.

[0212] When the value of the fixed clamping position is inconsistent with the value of the adjacent clamping position, it indicates that the actual position point of the reinforcement needs to be adjusted. Therefore, the actual vertical distance value is calculated by using the vertical relative distance value and the workpiece estimated reference value. The specific calculation method of the actual vertical distance value is as described in S600. Then, based on the adjacent clamping position points, the missing clamping block is determined and its corresponding number is taken as the missing number. The adjacent clamping position point corresponding to the clamping block opposite the missing number is taken as the edge position point. The horizontal deviation distance between the actual reinforcement position point and the edge position point is calculated, and the product of the horizontal deviation distance and the preset tilt ratio value is calculated as the tilt deviation height value. Then, the difference between the actual vertical distance value and the tilt deviation height value is taken as the actual tilt distance value for subsequent use.

[0213] S704: Determine the relative tilt ratio based on the actual tilt distance.

[0214] Among them, the tilt relative ratio value refers to the magnification coefficient between the current imaging height of the image acquisition device 8 and the standard imaging height under tilt conditions.

[0215] The quotient is calculated by comparing the actual tilt distance with the preset standard imaging height, and the result is used as the relative tilt ratio for convenient subsequent use.

[0216] S705: Combines the relative tilt ratio value with the reinforcement requirement location point to determine the actual tilt location point, updates and replaces the actual reinforcement location point with the actual tilt location point, and outputs the preset tilt adjustment information to the preset rivet gun 4.

[0217] The actual tilt location point refers to the three-dimensional spatial coordinate value obtained by mapping the reinforcement requirement location point from the image pixel coordinate system to the actual physical coordinate system under tilt conditions. Tilting adjustment information refers to the adjustment information corresponding to controlling the rivet gun 4 to perform tilt adjustments. The tilt adjustment information is obtained through pre-input by the operator.

[0218] By multiplying the pixel coordinates of the reinforcement requirement location with the system-calibrated pixel equivalent reference value, and then multiplying it with the relative tilt ratio value, the final calculation result is used as the actual tilt location point. The actual tilt location point is then used to update and replace the actual reinforcement location point, and the preset tilt adjustment information is output to the preset rivet gun 4, thereby improving the accuracy of the obtained actual reinforcement location point and facilitating accurate reinforcement under tilt conditions.

[0219] The above description is merely a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An online detection method for an automatic rivet machine, characterized in that, include: Read the position parameters corresponding to the preset workpiece moving device (2), preset horizontal moving device (6) and preset vertical moving device (7) in real time and define them as workpiece moving position point, horizontal moving position point and vertical moving position point. Determine the horizontal relative vector distance value based on the workpiece's moving position point and horizontal moving position point; Determine the vertical relative distance value based on the vertical movement position point; Based on the preset image acquisition device (8), the overall image of the workpiece to be fixed is acquired; When the reinforcement requirement location is identified from the overall image based on the preset reinforcement hole features, the reinforcement movement control information is determined by combining the horizontal relative vector distance value and the vertical relative distance value. Based on the reinforcement movement control information, the preset workpiece movement device (2), the preset horizontal movement device (6), and the preset vertical movement device (7) are operated, and the preset rivet gun (4) is operated.

2. The online detection method for an automatic rivet machine according to claim 1, characterized in that, Before acquiring the overall image, the following steps are also included: Based on the preset placement detection plate (3), the workpiece detection parameters of the workpiece to be fixed are collected; The pressure detection value and pressure area value are retrieved based on the workpiece detection parameters; Calculate the ratio of the pressure area value to the preset area reference value and use it as the area ratio value; calculate the ratio of the pressure detection value to the preset pressure reference value and use it as the pressure ratio value. The estimated reference value for the workpiece is determined by combining the pressure ratio value and the area ratio value. Determine whether the estimated reference value of the workpiece is greater than the preset reference benchmark value of the workpiece; If yes, then the entire image will be captured; If not, continue collecting workpiece detection parameters.

3. The online detection method for an automatic rivet machine according to claim 2, characterized in that, Methods for identifying reinforcement requirement locations include: The clamping and fixing position points are obtained by identifying the overall image based on the preset clamping and fixing features; The number of clamping points is determined based on the clamping fixed position points; The overall image is segmented based on the clamping fixed position points to obtain the workpiece prediction image; The system matches the preset reinforcement hole features with the workpiece's estimated image and uses the closest matching image location as the reinforcement requirement location.

4. The online detection method for an automatic rivet machine according to claim 3, characterized in that, Methods for determining the workpiece's estimated image include: Determine whether the number of clamped items matches the preset clamping reference number. If so, then a rectangular area is delineated based on the fixed clamping position point to obtain the clamping rectangular area; The entire image is selected based on the clamping rectangular area to obtain the clamping rectangular image, and the clamping rectangular image is used as the workpiece prediction image; If not, then determine the missing area based on the clamping fixed position point; The missing area is selected from the overall image to obtain the missing image, and the missing image is used as the workpiece prediction image.

5. The online detection method for an automatic rivet machine according to claim 4, characterized in that, Methods for determining the missing prediction region include: Calculate the spacing between each clamping and fixing point and use it as the clamping and fixing spacing value; Sort the clamping fixed spacing values ​​from smallest to largest, and take the clamping fixed spacing value that is ranked first as the minimum clamping spacing value; The clamping fixed position points are selected based on the minimum clamping spacing value and used as adjacent clamping position points; Determine the adjacent edge positions based on the clamping adjacent position points; The adjacent internal regions are determined by combining the clamping adjacent position points and the adjacent edge position points, and the adjacent internal regions are used as the missing prediction regions.

6. The online detection method for an automatic rivet machine according to claim 5, characterized in that, Methods for determining reinforced mobility control information include: The relative shooting ratio is determined by combining the vertical relative distance value with the workpiece's estimated reference value; Determine the actual location of reinforcement by combining the location of the required reinforcement points with the relative proportions of the photographs; The reinforcement deviation vector distance value is determined based on the actual reinforcement location point and the workpiece movement location point; The horizontal movement vector distance is determined by combining the reinforcement deviation vector distance value and the horizontal relative vector distance value. The horizontal movement vector distance value is combined with the preset vertical movement vector distance value and used as the reinforcement movement control information.

7. The online detection method for an automatic rivet machine according to claim 6, characterized in that, After determining the actual location of the reinforcement, the following is also included: Determine the adjacent values ​​to be clamped based on the adjacent clamping positions; Determine whether the number of clamped values ​​is consistent with the number of adjacent clamped values; If yes, continue to output the actual location points of reinforcement; If not, the actual tilt distance value is determined by combining the vertical relative distance value, the workpiece estimated reference value, the reinforcement requirement location point, the clamping adjacent location point and the preset tilt ratio value. The relative tilt ratio is determined based on the actual tilt distance. Combine the relative tilt ratio value with the reinforcement requirement location point to determine the actual tilt location point, update and replace the actual reinforcement location point with the actual tilt location point, and output the preset tilt adjustment information to the preset rivet gun (4).

8. An automatic rivet machine, characterized in that, The online detection method for an automatic rivet machine according to any one of claims 1 to 7 includes: Placement platform (1); The workpiece moving device (2) is set on the placement platform (1) and is used to move the workpiece to be fixed. The detection plate (3) is placed on the side of the workpiece moving device (2) away from the placement platform (1) for placing and detecting parameters of the workpiece to be fixed. A rivet gun (4) is placed on the placement platform (1) and is used to fix the workpiece to be fixed. The feed box (5) is connected to the rivet gun (4) and is used to supply rivet raw materials to the rivet gun (4); A horizontal moving device (6) is installed on the placement platform (1) and is used to drive the rivet gun (4) to move horizontally; A vertical moving device (7) is used to drive the rivet gun (4) to move vertically, and is set on the horizontal moving device (6); An image acquisition device (8) is installed on the horizontal moving device (6) and is used to acquire images of the workpiece to be fixed in order to identify the location points required for reinforcement. The direction of movement of the horizontal moving device (6) is perpendicular to the direction of movement of the workpiece moving device (2).

9. An automatic rivet machine according to claim 8, characterized in that: The horizontal moving device (6) is equipped with a waste bin (9), which is connected to the rivet gun (4) and used to receive waste. The horizontal moving device (6) drives the waste bin (9) and the rivet gun (4) to move synchronously.

10. An automatic rivet machine according to claim 9, characterized in that: Two workpiece moving devices (2) are provided and are parallel to each other. Two rivet guns (4), two waste bins (9) and two vertical moving devices (7) are provided and are symmetrically arranged about the horizontal moving device (6).

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