CN115922784A - Industrial robot performance detection method based on machine vision - Google Patents
Industrial robot performance detection method based on machine vision Download PDFInfo
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Abstract
The invention discloses a machine vision-based industrial robot performance detection method, which comprises an infrared camera and an auxiliary imaging device, wherein the auxiliary imaging device is arranged at the front end of the infrared camera, when a product to be detected flows to a test process outside an industrial production line on the industrial production line, the infrared camera and the auxiliary imaging device shoot the product to be detected and move the product to be detected to a detection table, so that the product to be detected is detected by the detection table outside the industrial production line, the problem that the existing industrial production line needs to be modified when test items are added in the prior art is solved, the purpose of adding the test items is realized on the premise that the industrial production line does not need to be modified, the technical effect of automatic detection is achieved under the condition of manual intervention, and the production efficiency is improved.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a method for detecting the performance of an industrial robot based on machine vision.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. In the field of industrial robot production and manufacturing, various performances of an industrial robot are usually detected, and especially, the detection of indexes such as pose accuracy, pose repeatability, multi-direction pose accuracy variation, distance accuracy, distance repeatability, position stabilization time, position overshoot, position characteristic drift, trajectory accuracy, trajectory repeatability, redirection trajectory accuracy, corner deviation, corner speed characteristic, minimum positioning time, swing deviation and the like specified in GBT 12642-2013 industrial robot performance specification and test method thereof is required.
At present, the common measurement methods mainly include (1) a measurement method based on a three-coordinate measuring machine, such as a correlation method in the academic paper \ "applied on-line robot pose accuracy analysis and modeling \" of doctor Zhang Xiaojin, university of northeast, (2) a measurement method based on a laser tracker, such as an academic paper \ "experimental design for giving the laser tracker to measure robot distance accuracy \" published by the national center for supervision and inspection of mechanical product safety and quality 3252 and the like, (3) a measurement method based on a pull line sensor, such as a technical paper \ "industrial robot system based on a pull line sensor \" published by the Yongqiang et al of intelligent equipment Limited, inc., of An Weiai, a calibration method, (4) a measurement method based on a contact type displacement sensor, such as a measurement method based on a WDL series robot detection pull line type linear displacement sensor \, of Shanghai Yao science and a measurement method based on binocular machine vision, such as a measurement method based on a single vision field robot performance detection method based on a single vision robot alignment and a measurement method based on a visual field vision theory of a Roman-aided design method (3425).
Among the various schemes, the scheme (1) has the disadvantages that only part of the static performance parameters of the industrial robot can be measured, the detection cost is high, and the measurement is inconvenient, because the measuring principle of the three-coordinate measuring instrument is that the measured object is required to be static by contacting the precise motion and detection control probe with the measured system, and the measured object cannot be dynamic changed, so that the dynamic performance index of the industrial robot cannot be measured; the three-coordinate measuring instrument has the defects that the detection cost is high, the three-coordinate measuring instrument is greatly influenced by the environment and the detection process is complex, the core sensor laser tracker utilized by the scheme has high selling price, the market price is low at about 80 ten thousand RMB at the low end, the middle and high end is between 200 to 300 ten thousand RMB, the expenses cannot be borne by small and medium-sized enterprises and scientific research institutions, even if the laser tracker is used for renting, the renting expense is more than two thousand RMB every day, the laser tracker is sensitive to the change of the environmental temperature and the airflow, the environment is required to be isolated during the measurement, the auxiliary work is complex, the preheating and debugging of the laser tracker are complex, the laser tracker needs to be operated by professional personnel, the middle process is suspended, the detection work cannot be continuously started again, and the scheme (3) has the defects that only the position index can be measured, the posture cannot be measured, and the free measurement accuracy is less than that a plurality of pull wire measuring systems are formed, the method comprises the following steps of (1) obtaining a plurality of pull line sensors, wherein a plurality of pull line sensors are combined to be measured, an uncertain installation error is introduced when the pull line sensors are combined to be measured, the pull line sensors are connected in series when the pull line sensors are used to be connected in series to cause error accumulation, the scheme (4) has the defect that only pose repeatability indexes can be measured, the performance of the sensors is limited, the machine vision implementation schemes of the schemes (5) and (6) have the defect that the measurement accuracy is low, the measurement accuracy of the vision sensors is large along with the increase of the measurement range, the actual size represented by each pixel of the vision sensors is large, the errors are large, in addition, excessive interference is introduced to the vision sensors in the large-range measurement range, the vision sensors are not beneficial to visual image processing, the large-range measurement also makes the vision characteristics in a target environment complicated, the vision sensors work in a large dynamic performance range, the image stability is not beneficial, the scheme (7) has the defects of complexity and inconvenience in that the ball bar instrument belongs to a single-point contact type measurement touch sensor, complicated detection experiment and detection algorithms need to be designed for the dynamic measurement indexes, and the professional ability requirement of a detector is strict.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides a method for detecting the performance of an industrial robot based on machine vision.
The technical scheme adopted by the invention is that the method for detecting the performance of the industrial robot based on the machine vision is provided and applied to the industrial robot, the industrial robot comprises an infrared camera and an auxiliary imaging device, the auxiliary imaging device is arranged at the front end of the infrared camera, and the method for detecting the performance of the industrial robot based on the machine vision comprises the following steps:
responding to the industrial product quality monitoring platform to rotate industrial products with different completion degrees to different angles, and driving the auxiliary imaging device to shoot the industrial products with different completion degrees;
after the auxiliary imaging device is detected to shoot stably, the infrared camera is driven to move the industrial products with different completion degrees to a preset position of a quality control platform, and the quality monitoring platform of the industrial production line moves;
and when detecting that the industrial products with different completion degrees reach the preset position of the quality control console, driving the auxiliary imaging device to release the industrial products with different completion degrees, and sending a signal for starting the test to the quality control console.
The invention has the beneficial effects that: under the condition of not modifying the existing industrial production line, the product to be tested is transferred from the industrial production line to a quality control console outside the industrial production line through the infrared camera and the auxiliary imaging device, and the performance test is automatically completed under the condition of manual intervention.
On the basis of the technical scheme, the invention can be further improved as follows.
Preferably, after the step of detecting that the industrial products with different completion degrees reach the preset position of the quality control console, driving the auxiliary imaging device to release the industrial products with different completion degrees and sending a signal for starting a test to the quality control console, the method further includes:
responding to a detection result sent by the quality control console, driving the infrared camera to move to a preset position of the quality control console, and driving the auxiliary imaging device to shoot the industrial products with different completion degrees;
moving the industrial products with different completion degrees to a product classification table or an industrial production line classifier according to the detection result;
and when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
The beneficial effect of adopting the further scheme is that: meanwhile, the fault product is automatically moved out of the industrial production line according to the detection result under the condition of manual intervention, the yield of the factory product is improved, the after-sale process is reduced, and the after-sale cost is reduced.
On the basis of the technical scheme, the invention can be further improved as follows.
Preferably, after the step of driving the auxiliary imaging device to photograph the industrial products with different completions by driving the infrared camera to move to the preset position of the quality control console in response to the detection result sent by the quality control console, the method further comprises:
and after the auxiliary imaging device is detected to stably shoot, the infrared camera is driven to move the industrial products with different completion degrees to a preset position of a performance test bench, and after the detection is finished, the auxiliary imaging device is driven to shoot the industrial products with different completion degrees.
The beneficial effect of adopting the above further scheme is: this application has realized increasing new examining test table under the condition that need not to modify current industry production line and examine test table, provides great space for future upgrade demand, has promoted this application technical scheme's life.
On the basis of the technical scheme, the invention can be improved as follows.
Preferably, the auxiliary imaging device comprises a first image scanner and a second image scanner, the first image scanner is installed on the left side of the front end of the infrared camera, and the second image scanner is installed on the right side of the front end of the infrared camera; the method for detecting the performance of the industrial robot based on the machine vision further comprises the following steps;
responding to a detection result sent by the quality control console, driving the first image scanner to shoot a product shell, driving the infrared camera to move to a preset position of the quality control console, and driving the second image scanner to shoot the industrial products with different completion degrees;
driving the infrared camera to release the product shell to a preset position of a quality control console;
moving the industrial products with different completion degrees to a product classification table or a preset position of the performance test table according to the detection result;
and when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
The beneficial effect of adopting the further scheme is that: this application has reduced infrared camera round trip movement's number of times through the image scanner quantity that increases supplementary image device, has promoted the operating efficiency of infrared camera single operation, has reduced infrared camera's wearing and tearing, has promoted life.
On the basis of the technical scheme, the invention can be improved as follows.
Preferably, the method for detecting the performance of the industrial robot based on the machine vision further comprises the following steps:
responding to detection results sent by the quality control console and the performance test board, driving the first image scanner to shoot internal components of the product, driving the infrared camera to move to a preset position of the quality control console, driving the second image scanner to shoot the shell of the product, and releasing the internal components of the product to the preset position of the quality control console;
when the detection result does not contain abnormal information, the infrared camera is driven to move to the preset position of the performance test bench, the first image scanner shoots industrial products with different completion degrees, and the product shell is released to the preset position of the performance test bench;
moving the industrial products with different completion degrees to a product classification table or an industrial production line classifier according to the detection result;
and when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
The beneficial effect of adopting the further scheme is that: this application is optimized through the work flow to two image scanner and a plurality of testboards, and when the product to be tested of a plurality of testboards was accomplished, infrared camera only need once through every testboard, can replace the product to be tested of all testboards, and all products to be tested have all passed through the test of all testboards.
On the basis of the technical scheme, the invention can be further improved as follows.
Preferably, the industrial production line is provided with a manual security check platform; the method for detecting the performance of the industrial robot based on the machine vision further comprises the following steps:
and obtaining a detection result of the manual security inspection platform, and moving the product to be detected to a preset position of a quality control platform or a product classification platform according to the detection result.
The beneficial effect of adopting the further scheme is that: this application is installed on current industry production line through the artifical safety inspection platform that will need not to modify current industry production line and can install, has reduced infrared camera's operating duration, has improved infrared camera's life, and still can realize shifting out the industry production line with the fault piece that artifical safety inspection platform detected out simultaneously under artificial intervention's the condition.
On the basis of the technical scheme, the invention can be further improved as follows.
Preferably, a ZigBee locating system is installed below each product to be tested in the industrial production line, and the ZigBee locating systems are provided with locating marks and correspond to the products to be tested one by one; the automatic detection method further comprises the following steps:
writing the test results of all the test tables into the corresponding ZigBee positioning systems;
and when the tested product to be tested is moved to the industrial production line classifier, adjusting the infrared camera to move the tested product to be tested to the corresponding ZigBee positioning system classifier.
The beneficial effect of adopting the further scheme is that: the ZigBee locating systems with the locating marks correspond to the products to be tested one by one, and the test results of all the test boards are written into the corresponding ZigBee locating systems, so that the performance of the corresponding products to be tested can be obtained by reading the test information of the ZigBee locating systems, and the faulty products can be maintained and the production process can be improved conveniently.
This application has realized through installing testboard outside industrial production line and through industrial robot that the product that awaits measuring on the industrial production line moves to the testboard outside industrial production line in order to accomplish the test, has realized not needing to modify under the prerequisite of industrial production line, increases the purpose of test item to reach automated inspection's technological effect under the condition of manual intervention simultaneously, improved production efficiency.
Drawings
FIG. 1 is a first process diagram of the industrial robot performance detection method based on machine vision according to the invention;
FIG. 2 is a second process diagram of the industrial robot performance detection method based on machine vision according to the invention;
FIG. 3 is a third process diagram of the industrial robot performance detection method based on machine vision.
Detailed Description
The principles and features of this invention are described below in conjunction with specific embodiments, the examples given are intended to illustrate the invention and are not intended to limit the scope of the invention.
Referring to fig. 1, the application provides a method for detecting the performance of an industrial robot based on machine vision, which is applied to an industrial robot, wherein the industrial robot comprises an infrared camera and an auxiliary imaging device, the auxiliary imaging device is installed at the front end of the infrared camera, and the method for detecting the performance of the industrial robot based on machine vision comprises the following steps:
s10, responding to the industrial product with different completion degrees which is rotated to different angles by the industrial production line quality monitoring platform, and driving the auxiliary imaging device to shoot the industrial product with different completion degrees;
it is easily understood that, installs on the industrial production line and rises the top platform, when the product that awaits measuring flows to rising the top platform along with the conveyer belt, rises the top platform and will accomplish the different industrial product rotations of degree to different angles, avoids industrial robot when shooing, touches other apparatus on the industrial production line, reduces industrial production line and industrial robot's work fault rate.
S20, after the auxiliary imaging device is detected to shoot stably, the infrared camera is driven to move the industrial products with different completion degrees to a preset position of a quality control platform, and the quality monitoring platform of the industrial production line moves;
it should be noted that, because the appearance of the product that awaits measuring is comparatively similar, it is also comparatively fixed to shoot the position, consequently in actual production process, only need to shoot for the first time and debug the back, can be applicable to other products that await measuring according to the same shooting parameter, and this application technical scheme still can judge through the mode of installation sensor to shoot the release stably, can realize shooting arbitrary product that awaits measuring through the installation sensor and need not to debug.
And S30, when the industrial products with different completion degrees are detected to reach the preset position of the quality control platform, the auxiliary imaging device is driven to release the industrial products with different completion degrees, and the quality control platform detects the industrial products with different completion degrees.
The test bench has high requirement on the placing position of a product to be tested in the test process, and the preset position of the quality control console is a standard position at which the quality control console can directly start testing after the product to be tested is placed on the quality control console; in this embodiment, after the position of the product that awaits measuring put correctly, industrial robot starts quality control platform, realizes the detection to the different industrial products of degree of completion, still can be through setting up trigger switch on the testboard simultaneously, realizes need not industrial robot and starts quality control platform, and the testboard begins the detection voluntarily.
This application is through using industrial robot to shoot the product that awaits measuring to utilize the higher precision of industrial robot, put it to the position that the outer testboard of industrial production line can directly begin the test, realized need not to modify industrial production line, also at artificial interference's automatic performance test simultaneously.
Referring to fig. 2, when it is detected that the industrial products with different completion degrees reach the preset position of the quality console, the method further includes, after the step of detecting the industrial products with different completion degrees by the quality console, driving the auxiliary imaging device to release the industrial products with different completion degrees, the method further including:
s40, responding to a detection result sent by the quality control console, driving the infrared camera to move to a preset position of the quality control console, and driving the auxiliary imaging device to shoot the industrial products with different completion degrees;
it is easy to understand that, when receiving the detection result sent by the quality control console, it indicates that the performance test of the quality control console has been completed, and the product that has been tested needs to be moved out of the test bench so as to be tested by the next product, and therefore the infrared camera and the auxiliary imaging device are driven to shoot industrial products with different completion degrees.
S50, moving the industrial products with different completion degrees to a product classification table or an industrial production line classifier according to the detection result;
it should be noted that, since there is a certain performance requirement for the product to be tested, the product meeting the performance requirement is a qualified product, and the product not meeting the performance requirement is a faulty component, after the detection result is read, the detection result is compared with the target performance requirement, so that whether the product is a faulty component or not can be obtained, and then it is determined to move the product to an industrial production line for the next process or move the product to a product classification table to wait for maintenance and analysis.
And S60, when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
It is worth emphasizing that, according to the test results of the industrial products with different completion degrees and the test sequence of the industrial products with different completion degrees, the qualified quality is different, in this embodiment, if the test result is a fault piece, the qualified quality is a classifier of the product classification table, if the test result is a qualified product, the qualified quality is a sequence position corresponding to the industrial products with different completion degrees when the industrial products are separated from the industrial production line, for example, when the industrial products with different completion degrees are the foremost one of all the products to be tested, the qualified quality is foremost of all the products to be tested, if the industrial products with different completion degrees are the second of all the products to be tested from front to back, the qualified quality is after the first product to be tested from front to back and before the second product to be tested.
According to the embodiment, the fault piece is separated from the industrial production line by analyzing the test result, the after-sale process and cost are reduced, the factory-leaving quality of the product is improved, the waste of raw materials is reduced by analyzing and maintaining the fault piece, the analysis of the cause of the fault is facilitated to a certain extent, the production process is optimized, and the production efficiency is improved.
Referring to fig. 3, after the step of driving the infrared camera to move to the preset position of the quality control console and driving the auxiliary imaging device to shoot the industrial products with different completions in response to the detection result sent by the quality control console, the method further includes:
and S41, after the auxiliary imaging device is detected to stably shoot, the infrared camera is driven to move the industrial products with different completion degrees to a preset position of a performance test bench, and after the detection is finished, the auxiliary imaging device is driven to shoot the industrial products with different completion degrees.
It is easy to understand that, according to the technical scheme of the embodiment, only the test bench needs to be added, so that the product to be tested can be sequentially tested after one test is completed, and a device which is already installed outside an industrial production line in the industrial production line does not need to be changed again.
Specifically, the auxiliary imaging device comprises a first image scanner and a second image scanner, the first image scanner is installed on the left side of the front end of the infrared camera, and the second image scanner is installed on the right side of the front end of the infrared camera; the industrial robot performance detection method based on the machine vision further comprises the following steps;
responding to a detection result sent by the quality control console, driving the first image scanner to shoot a product shell, driving the infrared camera to move to a preset position of the quality control console, and driving the second image scanner to shoot the industrial products with different completion degrees;
it should be noted that this application constitutes supplementary imaging device through using two image scanner for infrared camera only needs once to move, can shoot the product that the test was accomplished and put new product that awaits measuring and test, has improved the operating efficiency that the product that awaits measuring produced the line to the testboard in the industry, has reduced infrared camera's use loss, has promoted industrial robot's life.
Driving the position of the infrared camera to release the product shell to a preset position of a quality control console;
it is worth saying that, after the tested product is shot, the test bench is emptied, and at this time, the product which is not tested on the second image scanner is released to the test bench for testing, so that the idle time of the test bench is reduced, and the test efficiency is improved.
Moving the industrial products with different completion degrees to a product classification table or a preset position of the performance test table according to the detection result;
it is emphasized that if the industrial products with different completion degrees are known to be unqualified after one test is completed, the industrial products are directly moved to a product classification table, the test time wasted on the unqualified products is reduced, the test efficiency is improved, and the productivity is improved.
And when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
It is easy to understand that, in this embodiment, when the industrial products with different completion degrees pass the test in the quality console, the qualified quality is the test position of the performance test bench, and when the industrial products with different completion degrees do not pass the test in the quality console, the qualified quality is the product classification bench.
Specifically, the industrial robot performance detection method based on machine vision further comprises the following steps:
responding to detection results sent by the quality control console and the performance test board, driving the first image scanner to shoot internal components of the product, driving the infrared camera to move to a preset position of the quality control console, driving the second image scanner to shoot the shell of the product, and releasing the internal components of the product to the preset position of the quality control console;
it should be noted that, when two test benches report the test detection result simultaneously, the embodiment reduces the idle time of the test benches, improves the test efficiency of the test benches, and improves the technical scheme through two image scanners.
When the detection result does not have abnormal information, the infrared camera is driven to move to the preset position of the performance test bench, the first image scanner shoots industrial products with different completion degrees, and the product shell is released to the preset position of the performance test bench;
it is worth emphasizing that when the product to be tested passes the test, the product to be tested is moved to the performance test station for the next test, and another image scanner shoots the product to be tested which has completed the test, so that all the products passing the test can pass the test of all the test stations by circulating operation in sequence.
Moving the industrial products with different completion degrees to a product classification table or an industrial production line classifier according to the detection result;
it is worth to be noted that, by the above-mentioned testing method, all the products that are finally moved to the industrial production line classifier pass the tests of all the test benches, and the fault pieces that have not completed the tests of all the test benches are all moved to the product classification benches to wait for the subsequent maintenance and analysis.
And when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
It should be emphasized that, since the product to be tested has a heavy weight and may damage the industrial production line or the product sorting table due to improper operation, the height of the qualified product setting is higher than that of the industrial production line or the product sorting table, and the process of releasing the product to be tested is generally set to release the product to be tested when the product to be tested just contacts the industrial production line or the product sorting table.
The embodiment improves the test efficiency of the products to be tested in the test benches by perfecting the test methods of the test benches and the products to be tested, reduces the idle time of each test bench and improves the productivity.
Specifically, the industrial production line is provided with a manual security inspection platform; the method for detecting the performance of the industrial robot based on the machine vision further comprises the following steps:
and obtaining a detection result of the manual security inspection platform, and moving the product to be detected to a preset position of a quality control platform or a product classification platform according to the detection result.
It is easily understood that not all testboards can not be installed under the condition of not modifying the industrial production line, when the testboard that needs to increase can be installed under the condition of not modifying the industrial production line, install it in the industrial production line, and remove the fault piece that does not pass the test to the product classification platform through industrial robot, move the product to be tested that passes the test to other testboards, also can realize automated test, the efficiency and the accuracy degree of test have been promoted, the productivity has been improved, and the product quality has been promoted.
Specifically, a ZigBee locating system is installed below each product to be tested in the industrial production line, and the ZigBee locating systems are provided with locating marks and correspond to the products to be tested one by one; the automatic detection method further comprises the following steps:
writing the test results of all the test tables into corresponding ZigBee positioning systems;
it should be noted that, in this embodiment, the ZigBee positioning system not only plays the effect of reducing the damage of industrial production line conveyer belt, but also records the test information of the product to be tested, is convenient for after production is completed, according to different test results, the product is divided into different grades, is also convenient for locate the fault reason of the fault piece, has improved the production process to a certain extent, has improved product quality.
And when the tested product to be tested is moved to the industrial production line classifier, adjusting the infrared camera to move the tested product to be tested to the corresponding ZigBee positioning system classifier.
Because the ZigBee positioning system corresponds to the products to be tested one by one, and the positioning mark information in the ZigBee positioning system cannot be read without depending on tools, in order to visually see the corresponding relation between the ZigBee positioning system and the products to be tested, in the production process, only the products to be tested corresponding to the ZigBee positioning system are placed on the ZigBee positioning system, so that engineers and workers are prevented from mistaking the test results of the products.
Claims (7)
1. The method for detecting the performance of the industrial robot based on the machine vision is characterized by being applied to the industrial robot, wherein the industrial robot comprises an infrared camera and an auxiliary imaging device, the auxiliary imaging device is installed at the front end of the infrared camera, and the method for detecting the performance of the industrial robot based on the machine vision comprises the following steps:
responding to the industrial production line quality monitoring platform to rotate the industrial products with different completion degrees to different angles, and driving the auxiliary imaging device to shoot the industrial products with different completion degrees;
after the auxiliary imaging device is detected to shoot stably, the infrared camera is driven to move the industrial products with different completion degrees to a preset position of a quality control platform, and the quality monitoring platform of the industrial production line is controlled to move;
and when detecting that the industrial products with different completion degrees reach the preset position of the quality control console, driving the auxiliary imaging device to release the industrial products with different completion degrees, and sending a signal for starting the test to the quality control console.
2. The method according to claim 1, wherein the step of driving the auxiliary imaging device to release the industrial product with different degree of completion when detecting that the industrial product with different degree of completion reaches the preset position of the quality control console, and sending a signal for starting the test to the quality control console further comprises:
responding to a detection result sent by the quality control console, driving the infrared camera to move to a preset position of the quality control console, and driving the auxiliary imaging device to shoot the industrial products with different completion degrees;
moving the industrial products with different completion degrees to a product classification table or an industrial production line classifier according to the detection result;
and when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
3. The method for detecting the performance of the industrial robot based on the machine vision according to the claim 2, characterized in that, in response to the detection result sent by the quality control console, the infrared camera is driven to move to the preset position of the quality control console, and after the step of driving the auxiliary imaging device to shoot the industrial products with different completion degrees, the method further comprises the following steps:
and after the auxiliary imaging device is detected to stably shoot, the infrared camera is driven to move the industrial products with different completion degrees to a preset position of a performance test bench, and after the detection is finished, the auxiliary imaging device is driven to shoot the industrial products with different completion degrees.
4. The machine vision-based industrial robot performance detection method according to claim 3, wherein the auxiliary imaging device comprises a first image scanner and a second image scanner, the first image scanner is installed on the left side of the front end of the infrared camera, and the second image scanner is installed on the right side of the front end of the infrared camera; the method for detecting the performance of the industrial robot based on the machine vision further comprises the following steps;
responding to a detection result sent by the quality control console, driving the first image scanner to shoot a product shell, driving the infrared camera to move to a preset position of the quality control console, and driving the second image scanner to shoot the industrial products with different completion degrees;
driving the infrared camera to release the product shell to a preset position of a quality control console;
moving the industrial products with different completion degrees to a product classification table or a preset position of the performance test table according to the detection result;
and when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
5. The machine-vision-based industrial robot performance detection method according to claim 4, characterized in that it further comprises the steps of:
responding to detection results sent by the quality control console and the performance test board, driving the first image scanner to shoot internal components of the product, driving the infrared camera to move to a preset position of the quality control console, driving the second image scanner to shoot the shell of the product, and releasing the internal components of the product to the preset position of the quality control console;
when the detection result does not have abnormal information, the infrared camera is driven to move to the preset position of the performance test bench, the first image scanner shoots industrial products with different completion degrees, and the product shell is released to the preset position of the performance test bench;
moving the industrial products with different completion degrees to a product classification table or an industrial production line classifier according to the detection result;
and when the industrial products with different completion degrees are detected to reach qualified quality, driving the auxiliary imaging device to release the industrial products with different completion degrees.
6. The method for detecting the performance of the industrial robot based on the machine vision according to the claim 1, characterized in that the industrial production line is provided with a manual security inspection platform; the method for detecting the performance of the industrial robot based on the machine vision further comprises the following steps:
and obtaining a detection result of the manual security check platform, and moving the product to be detected to a preset position of a quality control platform or a product classification platform according to the detection result.
7. The method for detecting the performance of the industrial robot based on the machine vision according to claim 1, wherein a ZigBee locating system is installed below each product to be detected in the industrial production line, and each ZigBee locating system is provided with a locating mark and corresponds to the product to be detected in a one-to-one mode; the automatic detection method further comprises the following steps:
writing the test results of all the test tables into the corresponding ZigBee positioning systems;
and when the tested product to be tested is moved to the industrial production line classifier, adjusting the infrared camera to move the tested product to be tested to the corresponding ZigBee positioning system classifier.
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