CN116539981A - Motion precision detection device, method and equipment for sorting equipment of small wire coil - Google Patents
Motion precision detection device, method and equipment for sorting equipment of small wire coil Download PDFInfo
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Abstract
The application discloses a sorting equipment motion precision detection device, method and equipment of small-size drum, this application belongs to power equipment technical field. The device comprises: the image acquisition module is used for acquiring video sequence image information of the sorting process of the sorting equipment; the first vibration detection module is used for identifying first vibration information of the wire coil placed on the stack; the analysis module is used for analyzing that the sorting equipment has fault risks under the condition that the motion flexibility of the video sequence image information is lower than a set threshold value and/or under the condition that the first vibration information is higher than a first set vibration intensity; and the fault early warning module is used for generating a maintenance signal so as to carry out targeted maintenance on the production gap. The video sequence image information and the vibration information of sorting equipment sorting process can be collected in real time, abnormal conditions of the sorting equipment can be found rapidly, automatic early warning is achieved when abnormal conditions occur, unnecessary loss is avoided, and production efficiency and stability are improved.
Description
Technical Field
The application belongs to the technical field of power equipment, and particularly relates to a motion precision detection device, a motion precision detection method and motion precision detection equipment for sorting equipment of a small wire coil.
Background
A small wire reel is a small wire reel for winding and storing electrical cables, typically made of plastic or cardboard. It is commonly used to store cable products such as electrical cables, electrical wires, and optical cables, which can aid maintenance personnel in cable maintenance, installation, and transportation. Because the material, specification and the usage of cable are different, consequently need sort the small-size line dish of storage cable, ensure that the cable with material, specification and usage is sorted together, be convenient for follow-up use.
Today, sorting work of small-sized wire reels is usually completed by using an automatic production line, after sorting cables into different small-sized wire reels according to different specifications, materials and purposes, labels are attached to the small-sized wire reels, and small-sized cables with the same labels are sorted together by a sorting device. But if the sorting equipment fails, the entire production line may be stalled.
Therefore, how to detect whether the sorting equipment has faults in real time, and send out fault signals in time when faults occur, so that workers can overhaul the sorting equipment, and ensuring normal operation of a production line is a problem to be solved in the field.
Disclosure of Invention
The embodiment of the application provides a sorting equipment motion precision detection device, method and equipment of small-size drum, and the purpose is to solve among the prior art unable real-time detection sorting equipment and has the trouble, and then has the problem that leads to the production line to stagnate because sorting equipment produces the trouble. Through the sorting equipment motion accuracy detection device of small-size drum, can gather the video sequence image information and the vibration information that sorting equipment carries out the letter sorting process in real time, discover the abnormal conditions of sorting equipment fast to automatic early warning when taking place the abnormality avoids equipment trouble to cause unnecessary loss to production, and then improves production efficiency and stability. Meanwhile, manual inspection and maintenance can be avoided, and the operation cost is reduced.
In a first aspect, an embodiment of the present application provides a motion precision detection device for a small-sized wire coil sorting apparatus, where the device includes:
the image acquisition module is used for acquiring video sequence image information of the sorting process of the sorting equipment;
the first vibration detection module is used for identifying first vibration information of the wire coil placed on the stack; the first vibration detection module is arranged at the stacking position;
The analysis module is used for analyzing that the sorting equipment is at fault risk under the condition that the motion flexibility of the video sequence image information is lower than a set threshold value and/or under the condition that the first vibration information is higher than a first set vibration intensity;
and the fault early warning module is used for generating a maintenance signal so as to carry out targeted maintenance on the production gap.
Further, the device further comprises:
the second vibration detection module is used for identifying second vibration information in the sorting process of the sorting equipment; wherein the second vibration detection module is arranged on the sorting equipment;
correspondingly, the analysis module is further configured to analyze that the sorting equipment is at risk of failure if the second vibration information is higher than a second set vibration intensity.
Further, the device further comprises:
the fault analysis module is further used for generating marking information under the condition that the second vibration information is higher than the second set vibration intensity;
the analysis module is further used for determining a target image from video sequence image information of the sorting process performed by the sorting equipment acquired by the image acquisition module based on the marking information;
The analysis module is further used for counting the real-time gestures of the sorting equipment based on the preset number of target images obtained from the preset number of marking information, and determining a target rotating shaft of the sorting equipment;
the fault early warning module is also used for generating a maintenance signal for the target rotating shaft.
Further, the analysis module is further configured to:
determining the fault reliability of the target rotating shaft; generating a track re-planning instruction under the condition that the fault reliability is greater than the set reliability;
the apparatus further comprises:
and the track planning module is used for re-planning the sorting running track of the sorting equipment according to the track re-planning instruction so as to reduce the movement amplitude of the target rotating shaft.
Further, the image acquisition module is further configured to:
collecting stacking images of the wire coils after sorting by sorting equipment;
the analysis module is further configured to:
identifying whether the distance between the newly added wire coil and other wire coils in the stacking image is within a preset distance; if not, generating a sorting precision abnormal instruction;
the apparatus further comprises:
and the precision overhauling module is used for generating overhauling signals so as to overhaul the abnormal precision of the sorting equipment in the production gap.
Further, the analysis module is further configured to:
identifying the running track of the wire coil in the video sequence image information, and identifying whether the deviation between the running track of the wire coil and a preset running track reaches a preset deviation range or not;
under the condition that a preset deviation range is reached, determining to generate a sorting precision abnormal instruction;
the apparatus further comprises:
and the precision overhauling module is used for generating overhauling signals so as to overhaul the abnormal precision of the sorting equipment in the production gap.
In a second aspect, an embodiment of the present application provides a method for detecting motion precision of a sorting device of a small wire coil, where the method includes:
the method comprises the steps that an image acquisition module acquires video sequence image information of sorting equipment in a sorting process;
identifying first vibration information of the wire coil placed on the stack through a first vibration detection module; the first vibration detection module is arranged at the stacking position;
analyzing, by an analysis module, that a fault risk exists for the sorting device in the case that motion flexibility of the video sequence image information is lower than a set threshold value and/or in the case that the first vibration information is higher than a first set vibration intensity;
And generating a maintenance signal through a fault early warning module so as to carry out targeted maintenance on the production gap.
Further, after identifying the first vibration information for the wire coil placed on top of the stack, the method further comprises:
identifying second vibration information in the sorting process of the sorting equipment through a second vibration detection module; wherein the second vibration detection module is arranged on the sorting equipment;
correspondingly, in the case that the motion flexibility of the video sequence image information is lower than a set threshold value and/or in the case that the first vibration information is higher than a first set vibration intensity, analyzing that the sorting equipment has a fault risk, the method further comprises:
and analyzing that the sorting equipment is at fault risk under the condition that the second vibration information is higher than a second set vibration intensity.
Further, after identifying, by the second vibration detection module, second vibration information during sorting by the sorting apparatus, the method further comprises:
generating, by the fault analysis module, marker information if the second vibration information is higher than a second set vibration intensity;
based on the marking information, a target image is determined from video sequence image information of sorting equipment for sorting process;
Based on a preset number of target images obtained from the preset number of marking information, counting the real-time gestures of the sorting equipment, and determining a target rotating shaft of the sorting equipment;
generating a maintenance signal for the target spindle.
In a third aspect, embodiments of the present application provide an electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, the program or instruction implementing the steps of the method according to the first aspect when executed by the processor.
In a fourth aspect, embodiments of the present application provide a readable storage medium having stored thereon a program or instructions which when executed by a processor implement the steps of the method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and where the processor is configured to execute a program or instructions to implement a method according to the first aspect.
In the embodiment of the application, the image acquisition module is used for acquiring video sequence image information of the sorting process of the sorting equipment; the first vibration detection module is used for identifying first vibration information of the wire coil placed on the stack; the first vibration detection module is arranged at the stacking position; the analysis module is used for analyzing that the sorting equipment is at fault risk under the condition that the motion flexibility of the video sequence image information is lower than a set threshold value and/or under the condition that the first vibration information is higher than a first set vibration intensity; and the fault early warning module is used for generating a maintenance signal so as to carry out targeted maintenance on the production gap. Through the sorting equipment motion precision detection device of the small wire coil, video sequence image information and vibration information of a sorting process of the sorting equipment can be collected in real time, abnormal conditions of the sorting equipment can be found rapidly, automatic early warning is carried out when the abnormal conditions occur, unnecessary loss of equipment faults to production is avoided, and production efficiency and stability are improved. Meanwhile, manual inspection and maintenance can be avoided, and the operation cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a motion precision detecting device of a sorting apparatus for small-sized wire reels according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a motion precision detecting device of a small-sized wire coil sorting apparatus according to a second embodiment of the present application;
fig. 3 is a schematic flow chart of a method for detecting motion accuracy of a sorting device for small wire reels according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of specific embodiments thereof is given with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The motion precision detection device, method and equipment of the small-sized wire coil sorting equipment provided by the embodiment of the application are described in detail through specific embodiments and application scenes thereof by combining the attached drawings.
Example 1
Fig. 1 is a schematic structural diagram of a motion precision detecting device of a sorting apparatus for small-sized wire reels according to an embodiment of the present application. As shown in fig. 1, the method specifically includes the following steps:
the image acquisition module is used for acquiring video sequence image information of the sorting process of the sorting equipment;
the first vibration detection module is used for identifying first vibration information of the wire coil placed on the stack; the first vibration detection module is arranged at the stacking position;
the analysis module is used for analyzing that the sorting equipment is at fault risk under the condition that the motion flexibility of the video sequence image information is lower than a set threshold value and/or under the condition that the first vibration information is higher than a first set vibration intensity;
and the fault early warning module is used for generating a maintenance signal so as to carry out targeted maintenance on the production gap.
Firstly, the use scene of the scheme can be that the camera equipment is used for monitoring the sorting process of the sorting equipment, the sensor detects the vibration information of the small wire coil placed by the sorting equipment and then transmits the vibration information to the intelligent terminal for analysis, if the intelligent terminal determines that the sorting equipment fails after analysis, a maintenance signal is generated, and a worker can repair the sorting equipment according to the signal
Based on the above usage scenario, it can be understood that the execution body of the present application may be a sorting device motion accuracy detection device of a small wire coil that integrates monitoring of the sorting device, detecting of vibration information of the sorting device, and analyzing of vibration information and generating of maintenance signal functions, without being limited in any way.
In this scheme, sorting equipment can be to utilize technologies such as machine vision and machine learning, automatic resolution and sorting small-size drum's equipment. The automatic sorting device for the small-sized wire reels generally comprises an image acquisition system, an image processing system, a control system and the like, can quickly and accurately identify and sort parameters such as the length, the diameter, the color and the like of the small-sized wire reels, achieves functions of automatic sorting, stacking, transportation and the like, and improves production efficiency and quality. For example, the sorting apparatus may be a robot that may use its robotic arm to grasp, move and sort small wire reels, thereby enabling an automated sorting process. In addition, the robot may also use a vision system to identify and sort different types of small wire reels for more efficient sorting.
Video sequence image information of the sorting process by the sorting device may be acquired by a camera, which may refer to a sequence of consecutive images, which are real-time images of the sorting process by the camera recording the sorting device. Each image contains information about the sorting equipment in the equipment, including information about its position and attitude. Video sequence image information is typically stored in a digital format for subsequent processing and analysis.
The camera may be mounted above the sorting device, capturing video sequence image information by:
1. parameters of the camera, including exposure time, white balance, contrast, saturation, etc., are set to ensure that a clear, accurate image is obtained.
2. And (3) starting to acquire image information of the video sequence, and recording real-time images of the sorting process by the sorting equipment through a camera.
3. And transmitting the acquired video sequence image information to the intelligent terminal through a wireless communication technology for subsequent processing and analysis.
The wireless communication refers to long-distance transmission communication between a plurality of nodes without transmission via conductors or cables, and can be performed by radio, or the like.
Based on the above technical solutions, optionally, the image acquisition module 101 is further configured to:
collecting stacking images of the wire coils after sorting by sorting equipment;
the analysis module 103 is further configured to:
identifying whether the distance between the newly added wire coil and other wire coils in the stacking image is within a preset distance; if not, generating a sorting precision abnormal instruction;
the apparatus further comprises:
and the precision overhauling module is used for generating overhauling signals so as to overhaul the abnormal precision of the sorting equipment in the production gap.
In this embodiment, the stacking image may be a stack of a plurality of small wire coils, each of which may have one or more coils thereon, which may be connected by a bracket or a solid tube. The height and number of stacks may vary depending on sorting requirements and may be limited to a certain extent to meet space and safety requirements.
The stacking images can be acquired through the camera, and when sorting equipment completes sorting each time, the camera automatically shoots the stacking images of the wire coil after sorting, and the stacking images are transmitted to the intelligent terminal through a wireless communication technology.
The predetermined distance may refer to a minimum distance that should be maintained between each wire coil in the stack of small wire coils after sorting by the sorting apparatus. The size of this distance may vary from sorting apparatus to sorting apparatus and wire coil size to wire coil size. When the wire coil stacking management is carried out, whether the sorting precision is normal can be judged by identifying whether the distance between the newly added wire coil and other wire coils in the stacking image is within a preset distance, so that the abnormal condition in the wire coil stacking can be found and corrected in time. If the distance between the newly added wire coil and other wire coils is not within the preset distance, an abnormal sorting precision instruction is generated to prompt an operator to process.
The sorting precision abnormal instruction can be an instruction generated when the distance between the newly added wire coil and other wire coils is found to be not within the preset distance by identifying the stacking image in the stacking management process of the small wire coil after sorting by sorting equipment.
After the intelligent terminal acquires the stacking image, the acquired stacking image can be identified and analyzed, and the wire coil information and the position information in the stacking image can be extracted. And then comparing the distance between the newly added wire coil and other wire coils according to the preset distance, and judging whether the distance is within the preset distance. If the distance between the newly added wire coil and other wire coils is not within the preset distance, the intelligent terminal automatically generates an abnormal sorting precision instruction.
The overhaul signal may refer to a signal generated for overhauling the sorting equipment when the precision abnormality occurs in the stacking management process of the small wire coil after the sorting equipment sorts.
The intelligent terminal can generate abnormal information according to the sorting precision abnormal instruction, wherein the abnormal information comprises information such as an abnormal type, an abnormal reason, an abnormal position and the like, and generates an overhaul signal according to the abnormal information, so that a worker can overhaul the precision abnormality of the sorting equipment in the production gap according to the information such as the abnormal type, the abnormal reason, the abnormal position and the like.
In the scheme, sorting precision abnormality can be found in time by collecting and analyzing the stacking images, and corresponding instructions are generated for processing, so that potential quality problems and production loss are avoided. And overhaul and maintain sorting equipment in the production clearance, can ensure the normal operating and the long-term stability of equipment.
Stacking may refer to a material handling manner in which a plurality of small form factor trays are stacked together according to a certain rule. In stacking small wire reels, the small wire reels are generally arranged according to a certain rule, for example, the small wire reels are classified according to factors such as size, weight and color, and the height and stability of the small wire reels are considered to ensure that no tilting or collapse occurs.
The first vibration information may refer to signal information of first vibration of the small-sized disc due to gravity, inertia, etc. after the small-sized disc is placed on the stack.
The first vibration information of the wire coil placed on top of the stack can be identified by the vibration sensor. The vibration sensor may identify the first vibration information by sensing a vibration signal generated when the wire coil is placed on top of the stack. In particular, when the wire coil is placed over the stack, a certain impact force and vibration signals are generated, which are transmitted to the vibration sensor. The vibration sensor can convert the vibration signals into electric signals and output the electric signals to the signal processor for processing and analysis. By analysis of the vibration signal, the time and location of the wire coil placement onto the stack can be determined, thereby identifying the first vibration information. After the vibration sensor recognizes the first vibration information, the first vibration information can be transmitted to the intelligent terminal through a wireless communication technology.
Motion compliance may refer to the smoothness and fluency of the sorting apparatus in performing the motion, i.e., the continuity and stability of the motion. It reflects the precision, stability and reliability of the motion control system of the device, as well as the response speed and force control capability of the actuator.
When the motion flexibility of the video sequence image information is lower than the set threshold value, the motion of the sorting equipment may not be smooth and fluent. This may be due to the fact that the sorting equipment is stuck, so that the action compliance due to the sticking of the sorting equipment is below a set threshold when placing small wire reels.
The first set vibration intensity may refer to a first vibration intensity threshold value generated when the set wire coil is placed on the stack in a normal operation state of the sorting apparatus. The first set vibration intensity may be set according to the weight and size of the small-sized wire reels, and if the first vibration information is higher than the first set vibration intensity, it may be because the sorting apparatus places the small-sized wire reels on the stack without reaching the designated position where the small-sized wire reels are placed, and the first vibration information may be higher than the first set vibration intensity due to gravity. It is also possible that the sorting device has reached the position where the small wire coil is placed, but is not placed, and still applies a force to the small wire coil placed on the stack, whereby the first vibration information may be caused to be higher than the first set vibration intensity.
The set threshold value of the motion flexibility and the first set vibration intensity may be stored in the intelligent terminal in advance, and after the intelligent terminal obtains the video sequence image information and the first vibration information, the video sequence image information is processed and analyzed by using a computer vision technology. After analyzing the action flexibility of the sorting equipment, automatically comparing the action flexibility and the first vibration information with a preset threshold value of the action flexibility and a first preset vibration intensity, and if the action flexibility is lower than the preset threshold value and the first vibration information is higher than the first preset vibration intensity, analyzing that the sorting equipment has fault risk.
On the basis of the above technical solutions, optionally, the analysis module 103 is further configured to:
identifying the running track of the wire coil in the video sequence image information, and identifying whether the deviation between the running track of the wire coil and a preset running track reaches a preset deviation range or not;
under the condition that a preset deviation range is reached, determining to generate a sorting precision abnormal instruction;
the apparatus further comprises:
and the precision overhauling module is used for generating overhauling signals so as to overhaul the abnormal precision of the sorting equipment in the production gap.
In this scheme, the moving track of the wire coil may refer to a moving path or track of the wire coil in the video sequence image. On a production line, the wire reels generally run along a predetermined movement path or track to accomplish different production tasks. By identifying and tracking the running track of the wire coil, the running state and the position of the wire coil can be monitored in real time, and corresponding control and adjustment can be performed.
The preset moving track may be a preset moving path or track along which the wire coil on the production line should normally follow. The preset motion path can be preset, or can be adjusted and optimized according to the actual condition of the production line.
The preset deviation range may refer to a maximum deviation range allowed between an actual running track of the wire coil and a preset running track in a normal production process, and may be stored in the intelligent terminal in advance.
The intelligent terminal can use a computer vision technology to perform object recognition on the processed image, and the position and the outline of the wire coil in the video sequence image are determined through methods such as feature extraction, object segmentation and the like. And then tracking and identifying the motion track of the wire coil by utilizing the image processing and object identification results, so as to determine the motion path of the wire coil. And finally, comparing the actual running track of the wire coil with a preset running track, and calculating the deviation and the difference degree between the actual running track and the preset running track, so as to judge whether the running track of the wire coil reaches the preset deviation range.
In the scheme, the moving track of the wire coil in the video sequence image information is identified, whether the deviation between the moving track of the wire coil and the preset moving track reaches the preset deviation range or not is judged, the abnormal precision of the sorting equipment can be timely found, the overhaul signal is generated, the abnormal precision of the sorting equipment is timely overhauled in the production gap, the equipment problem can be timely found and solved, and the production efficiency and the running stability of the production line are improved.
The maintenance signal can be alarm information automatically generated when the operation state of the sorting equipment is monitored through the intelligent terminal and the equipment is found abnormal, so as to prompt maintenance personnel to carry out corresponding maintenance treatment. The maintenance signal can be displayed in a sound, vibration, light and other modes, and the form of the display maintenance signal is stored in the intelligent terminal. When the fault risk of the sorting equipment is analyzed, the intelligent terminal can automatically call a preset form for displaying the maintenance signal to generate the maintenance signal.
In the embodiment of the application, the image acquisition module is used for acquiring video sequence image information of the sorting process of the sorting equipment; the first vibration detection module is used for identifying first vibration information of the wire coil placed on the stack; the first vibration detection module is arranged at the stacking position; the analysis module is used for analyzing that the sorting equipment is at fault risk under the condition that the motion flexibility of the video sequence image information is lower than a set threshold value and/or under the condition that the first vibration information is higher than a first set vibration intensity; and the fault early warning module is used for generating a maintenance signal so as to carry out targeted maintenance on the production gap. Through the sorting equipment motion precision detection device of the small wire coil, video sequence image information and vibration information of a sorting process of the sorting equipment can be collected in real time, abnormal conditions of the sorting equipment can be found rapidly, automatic early warning is carried out when the abnormal conditions occur, unnecessary loss of equipment faults to production is avoided, and production efficiency and stability are improved. Meanwhile, manual inspection and maintenance can be avoided, and the operation cost is reduced.
The motion precision detection device of the sorting equipment of the small wire coil in the embodiment of the application can be a device, and also can be a component, an integrated circuit or a chip in a terminal. The device may be a mobile electronic device or a non-mobile electronic device. By way of example, the mobile electronic device may be a cell phone, tablet computer, notebook computer, palm computer, vehicle-mounted electronic device, wearable device, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), netbook or personal digital assistant (personal digital assistant, PDA), etc., and the non-mobile electronic device may be a server, network attached storage (Network Attached Storage, NAS), personal computer (personal computer, PC), television (TV), teller machine or self-service machine, etc., and the embodiments of the present application are not limited in particular.
The motion precision detection device of the sorting equipment of the small wire coil in the embodiment of the application can be a device with an operating system. The operating system may be an Android operating system, an ios operating system, or other possible operating systems, which are not specifically limited in the embodiments of the present application.
Example two
Fig. 2 is a schematic structural diagram of a motion precision detecting device of a small-sized wire coil sorting apparatus according to a second embodiment of the present application. As shown in fig. 2, the method specifically includes the following steps:
the apparatus further comprises:
a second vibration detection module 105 for identifying second vibration information during sorting performed by the sorting apparatus; wherein the second vibration detection module is arranged on the sorting equipment;
correspondingly, the analysis module 103 is further configured to analyze that the sorting apparatus is at risk of failure if the second vibration information is higher than a second set vibration intensity.
In this scheme, can detect second vibration information through acceleration sensor, then second vibration information can refer to acceleration sensor through detecting the vibration signal that sorting equipment produced in the letter sorting process, the information about sorting equipment running state that obtains. In general, the second vibration information includes parameters such as a vibration frequency, a vibration amplitude, and a vibration acceleration of the sorting apparatus. Through analysis and comparison of the parameters, whether the sorting equipment is stuck or not can be judged, and corresponding adjustment and maintenance are further carried out.
The acceleration sensor can obtain parameters such as vibration frequency, vibration amplitude, vibration acceleration and the like of the sorting equipment by detecting vibration signals generated by the sorting equipment in the sorting process, so that second vibration information in the sorting process of the sorting equipment is identified. After the acceleration sensor recognizes the second vibration information, the information is transmitted to the intelligent terminal through a wireless communication technology.
The second set vibration intensity may be a vibration intensity value for determining that the jamming phenomenon occurs in the sorting apparatus, and may include parameters such as a vibration frequency, a vibration amplitude, and a vibration acceleration. If the second vibration information is higher than the second set vibration intensity, the device is indicated to have a clamping phenomenon, and the device can be damaged or broken continuously. Therefore, the equipment should be immediately inspected and maintained to ensure the normal operation and safety of the equipment. When the second set vibration intensity is determined, it may be stored in the smart terminal in advance. After the intelligent terminal receives the second vibration information, the second vibration information is compared with the second set vibration intensity, and if the second vibration information is higher than the second set vibration intensity, the fault risk of the sorting equipment is analyzed.
In this embodiment, through gathering the second vibration information to confirm through second vibration information and second settlement vibration intensity that there is the trouble risk in sorting equipment, can in time discover the problem, reduce the possibility that sorting equipment breaks down, thereby improve stability and the reliability of equipment. Meanwhile, maintenance and repair can be timely performed, and large faults are avoided, so that maintenance cost and downtime are reduced, and working efficiency and production benefit are improved.
On the basis of the above technical solutions, optionally, the apparatus further includes:
the fault analysis module is further used for generating marking information under the condition that the second vibration information is higher than the second set vibration intensity;
the analysis module 103 is further configured to determine a target image from video sequence image information acquired by the image acquisition module for a sorting process by the sorting device based on the marking information;
the analysis module 103 is further configured to count real-time gestures of the sorting device based on a preset number of target images obtained from the preset number of marking information, and determine a target rotating shaft of the sorting device;
the fault early warning module 104 is further configured to generate a maintenance signal for the target rotating shaft.
In this scheme, the marking information may be time information that the intelligent terminal determines that the second vibration information is higher than the second set vibration intensity. In this scheme, if the sorting equipment is the robot, then the mark information can include the time point that the arm of robot is higher than second settlement vibration intensity to all second vibration information in the small-size line dish letter sorting process. When the second vibration information is higher than the second set vibration intensity, the intelligent terminal automatically inquires the current system time until the sorting process is completed, and the label information is generated after all inquired system time is packed.
After the marking information is generated, the intelligent terminal can inquire the image corresponding to the time point of the video sequence image information according to the time point in the marking information, and determine the image as a target image until all the target images in the sorting process are determined.
The predetermined number of marking information may refer to predetermined time points during the operation of the sorting apparatus for recording the status and position information of the apparatus at these time points. These points in time may be key nodes of the sorting apparatus, such as the moments of operation of the apparatus start, stop, turn and turn around. By recording the state and position information of the equipment at the time points and comparing the state and position information with the target image, the real-time gesture of the equipment at the time points can be determined, and further statistics and analysis are carried out to determine the target rotating shaft of the equipment. The preset number of the target images is consistent with the preset number of the mark information.
The real-time gesture may refer to the current position and gesture of the sorting device, including information such as coordinates, gesture angle, linear velocity, and angular velocity of the device. The current position and the current gesture of the equipment can be determined by comparing the preset number of marking information with the target image, so that statistics of the real-time gesture is performed. The statistics of the real-time gestures can help to monitor the running state and fault condition of the equipment, discover the abnormal condition of the equipment in time, carry out maintenance and maintenance, and guarantee the normal running of the equipment.
The target rotating shaft can refer to a part which needs to be repaired or replaced when the sorting equipment fails in the running process, and is usually a key component such as a rotating bearing, a transmission device and the like of the equipment. The real-time gesture and position of the sorting equipment can be determined by comparing the preset number of marking information with the target image, so that the fault condition of the equipment in the operation process is counted, the target rotating shaft is further determined, the equipment can be maintained or replaced in time, and the normal operation of the equipment is ensured.
The intelligent terminal can calculate and identify the real-time gesture of the sorting equipment by combining the image processing and data analysis technologies, so as to further determine the target rotating shaft of the equipment. Specifically, after a preset number of target images are obtained, the intelligent terminal first uses an image processing technology to enhance, denoise, divide and the like the running image of the sorting device, so as to improve the quality and accuracy of the image. For example, computer vision techniques may be used to identify the position and attitude angle of the device, as well as analyze the motion trajectories and velocities of the device, and to count the real-time attitudes of the sorting device at different points in time. And then, the collected operation data of the equipment can be counted and analyzed by using a data analysis technology, for example, time sequence analysis is used for analyzing the operation trend and the periodical change of the equipment, if the sorting equipment of the scheme is a six-axis robot, the normal operation angle of the shoulder rotating shaft is between 130 and 170 degrees, but the actual operation angle of the shoulder rotating shaft is between 140 and 170 degrees through analyzing the motion trend, the fault of the shoulder rotating shaft can be further determined, and the target rotating shaft is the shoulder rotating shaft.
If the sorting equipment is a six-axis robot, the target rotating shaft is a shoulder rotating shaft, and the intelligent terminal can generate corresponding maintenance signals according to the type and severity of the shoulder rotating shaft faults, such as sending fault alarms, prompting replacement of parts and the like.
In the scheme, the target image is determined from the video sequence image information of the sorting process of the sorting equipment, so that the fault condition of the equipment can be analyzed more accurately. And timely generating a maintenance signal for the target rotating shaft when the fault occurs, and reminding a worker of carrying out necessary maintenance and maintenance. The automatic monitoring, fault early warning and maintenance of the equipment can be realized, the reliability and stability of the equipment are improved, and the downtime and maintenance cost are reduced, so that the production efficiency and the economic benefit are improved.
On the basis of the above technical solutions, optionally, the analysis module 103 is further configured to:
determining the fault reliability of the target rotating shaft; generating a track re-planning instruction under the condition that the fault reliability is greater than the set reliability;
the apparatus further comprises:
and the track planning module is used for re-planning the sorting running track of the sorting equipment according to the track re-planning instruction so as to reduce the movement amplitude of the target rotating shaft.
In the scheme, the fault reliability can be the reliability of the judging result of the target rotating shaft fault, and can be represented by indexes such as probability or confidence. In practical application, due to the influence of factors such as resolution and sampling rate of a camera, illumination conditions, background interference and the like, the intelligent terminal may have certain uncertainty on the judging result of the target rotating shaft fault, so that the fault reliability needs to be evaluated and judged.
The set reliability may be a preset threshold or standard, which is used to determine whether the reliability of the target spindle fault meets the specified requirement. When the intelligent terminal calculates that the reliability of the target rotating shaft fault reaches or exceeds the set reliability, a track re-planning instruction is generated, and the sorting equipment is correspondingly adjusted and controlled. When the setting reliability is determined, it may be stored in the intelligent terminal in advance.
The track re-planning instruction can be an instruction for automatically judging and calculating through the intelligent terminal when the sorting equipment fails, and re-planning and adjusting the track of the equipment.
The intelligent terminal can comprehensively judge the running condition of the target rotating shaft through methods such as motion state analysis, anomaly detection and the like, and perform fault diagnosis to determine the fault reliability of the target rotating shaft. After the fault credibility of the target rotating shaft is determined, the fault credibility can be compared with the pre-stored set credibility, and if the fault credibility is larger than the set credibility, a track re-planning instruction is automatically generated to re-plan and control the running track of the equipment.
During operation of the sorting apparatus, the movement amplitude of the target spindle may refer to the angular difference in rotation thereof in one cycle, i.e. the maximum value minus the minimum value of the rotation angle. When the sorting equipment is a six-axis robot, the target rotating shaft is a shoulder rotating shaft, the maximum rotating angle is 170 degrees, the minimum rotating angle is 130 degrees, and the motion amplitude is 40 degrees.
The intelligent terminal can calculate a new sorting running track of the sorting equipment according to the track re-planning instruction. For example, when the sorting device is a six-axis robot and the target rotating shaft is a shoulder rotating shaft, the intelligent terminal can automatically select a control scheme, namely, the motion amplitude of the shoulder rotating shaft is reduced by controlling the motion amplitudes of other rotating shafts. Specifically, the intelligent terminal calculates the proportion of the increase of the motion amplitude of other rotating shafts, and then applies the proportion to the motion parameters of other rotating shafts to increase the motion amplitude of the rotating shafts, the motion amplitude of the other rotating shafts is increased, and the motion amplitude of the shoulder rotating shafts is correspondingly reduced, so that the stability of the six-axis robot can be ensured. If the maximum angle of rotation before the shoulder spindle is 170 ° and the minimum angle is 130 °, the maximum angle of rotation after re-planning may be 170 ° and the minimum angle may be 140 °, and the movement amplitude is reduced by 10 °.
After the sorting running track of the sorting equipment is re-planned, the intelligent terminal can transmit the re-planned scheme to the sorting equipment through a wireless communication technology, and the sorting equipment can receive the re-planned scheme and then move according to the new sorting running track.
In the scheme, through judging the reliability of the faults of the target rotating shaft, whether the faults exist in the target rotating shaft or not can be accurately judged, misjudgment or missed judgment is avoided, and the accuracy of fault diagnosis is improved. And the motion amplitude of the target rotating shaft can be reduced by re-planning the sorting running track of the sorting equipment, so that the stability of the equipment is enhanced, and the occurrence of equipment faults is reduced.
Example III
Fig. 3 is a schematic flow chart of a method for detecting motion accuracy of a sorting device for small wire reels according to a third embodiment of the present application. As shown in fig. 3, the method specifically comprises the following steps:
s301, acquiring video sequence image information of a sorting process of sorting equipment through an image acquisition module;
s302, identifying first vibration information of the wire coil placed on the stack through a first vibration detection module; the first vibration detection module is arranged at the stacking position;
s303, analyzing that the sorting equipment is at fault risk under the condition that motion flexibility of the video sequence image information is lower than a set threshold value and/or under the condition that the first vibration information is higher than a first set vibration intensity by an analysis module;
S304, generating a maintenance signal through a fault early warning module so as to carry out targeted maintenance on the production gap.
Further, after identifying the first vibration information for the wire coil placed on top of the stack, the method further comprises:
identifying second vibration information in the sorting process of the sorting equipment through a second vibration detection module; wherein the second vibration detection module is arranged on the sorting equipment;
correspondingly, in the case that the motion flexibility of the video sequence image information is lower than a set threshold value and/or in the case that the first vibration information is higher than a first set vibration intensity, analyzing that the sorting equipment has a fault risk, the method further comprises:
and analyzing that the sorting equipment is at fault risk under the condition that the second vibration information is higher than a second set vibration intensity.
Further, after identifying, by the second vibration detection module, second vibration information during sorting by the sorting apparatus, the method further comprises:
generating, by the fault analysis module, marker information if the second vibration information is higher than a second set vibration intensity;
in case the motion compliance of the video sequence image information is below a set threshold and/or in case the first vibration information is above a first set vibration intensity, analyzing that a fault risk exists for the sorting device, further comprising:
Based on the marking information, a target image is determined from video sequence image information of sorting equipment for sorting process;
based on a preset number of target images obtained from the preset number of marking information, counting the real-time gestures of the sorting equipment, and determining a target rotating shaft of the sorting equipment;
generating a maintenance signal for targeted repair at the production gap, further comprising:
generating a maintenance signal for the target spindle.
In the embodiment of the application, the image acquisition module is used for acquiring video sequence image information of the sorting process of the sorting equipment; identifying first vibration information of the wire coil placed on the stack through a first vibration detection module; the first vibration detection module is arranged at the stacking position; analyzing, by an analysis module, that a fault risk exists for the sorting device in the case that motion flexibility of the video sequence image information is lower than a set threshold value and/or in the case that the first vibration information is higher than a first set vibration intensity; and generating a maintenance signal through a fault early warning module so as to carry out targeted maintenance on the production gap. By the motion precision detection method for the sorting equipment of the small wire coil, video sequence image information and vibration information of the sorting process of the sorting equipment can be collected in real time, abnormal conditions of the sorting equipment can be found rapidly, automatic early warning is carried out when the abnormal conditions occur, unnecessary loss of equipment faults to production is avoided, and production efficiency and stability are improved. Meanwhile, manual inspection and maintenance can be avoided, and the operation cost is reduced.
The motion precision detection method of the sorting equipment of the small wire coil provided by the embodiment corresponds to the device provided by each embodiment and has the corresponding execution process and beneficial effects, and is not repeated here.
Example IV
As shown in fig. 4, the embodiment of the present application further provides an electronic device 400, which includes a processor 401, a memory 402, and a program or an instruction stored in the memory 402 and capable of running on the processor 401, where the program or the instruction is executed by the processor 401 to implement each process of the motion precision detection device embodiment of the sorting device of the small wire coil, and the process can achieve the same technical effect, so that repetition is avoided, and no redundant description is provided herein.
The electronic device in the embodiment of the application includes the mobile electronic device and the non-mobile electronic device described above.
Example five
The embodiment of the application also provides a readable storage medium, on which a program or an instruction is stored, and when the program or the instruction is executed by a processor, the processes of the embodiment of the motion precision detection device for the sorting equipment of the small wire coil are realized, and the same technical effects can be achieved, so that repetition is avoided, and no redundant description is provided here.
Wherein the processor is a processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium such as a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
Example six
The embodiment of the application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a program or an instruction, implementing each process of the embodiment of the motion precision detection device of the sorting equipment of the small wire coil, and achieving the same technical effect, so as to avoid repetition, and no redundant description is provided here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, chip systems, or system-on-chip chips, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those of ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are also within the protection of the present application.
The foregoing description is only of the preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (10)
1. A sorting equipment motion accuracy detection device of small-size drum, characterized in that, the device includes:
the image acquisition module is used for acquiring video sequence image information of the sorting process of the sorting equipment;
the first vibration detection module is used for identifying first vibration information of the wire coil placed on the stack; the first vibration detection module is arranged at the stacking position;
the analysis module is used for analyzing that the sorting equipment is at fault risk under the condition that the motion flexibility of the video sequence image information is lower than a set threshold value and/or under the condition that the first vibration information is higher than a first set vibration intensity;
And the fault early warning module is used for generating a maintenance signal so as to carry out targeted maintenance on the production gap.
2. The apparatus for detecting motion accuracy of a small wire coil sorting device according to claim 1, further comprising:
the second vibration detection module is used for identifying second vibration information in the sorting process of the sorting equipment; wherein the second vibration detection module is arranged on the sorting equipment;
correspondingly, the analysis module is further configured to analyze that the sorting equipment is at risk of failure if the second vibration information is higher than a second set vibration intensity.
3. The apparatus for detecting motion accuracy of a small wire coil sorting device according to claim 2, further comprising:
the fault analysis module is further used for generating marking information under the condition that the second vibration information is higher than the second set vibration intensity;
the analysis module is further used for determining a target image from video sequence image information of the sorting process performed by the sorting equipment acquired by the image acquisition module based on the marking information;
the analysis module is further used for counting the real-time gestures of the sorting equipment based on the preset number of target images obtained from the preset number of marking information, and determining a target rotating shaft of the sorting equipment;
The fault early warning module is also used for generating a maintenance signal for the target rotating shaft.
4. A sorting apparatus movement accuracy detection device for small wire reels according to claim 3, characterized in that the analysis module is further adapted to:
determining the fault reliability of the target rotating shaft; generating a track re-planning instruction under the condition that the fault reliability is greater than the set reliability;
the apparatus further comprises:
and the track planning module is used for re-planning the sorting running track of the sorting equipment according to the track re-planning instruction so as to reduce the movement amplitude of the target rotating shaft.
5. The apparatus for detecting motion accuracy of a small wire coil sorting device according to claim 1, wherein the image acquisition module is further configured to:
collecting stacking images of the wire coils after sorting by sorting equipment;
the analysis module is further configured to:
identifying whether the distance between the newly added wire coil and other wire coils in the stacking image is within a preset distance; if not, generating a sorting precision abnormal instruction;
the apparatus further comprises:
and the precision overhauling module is used for generating overhauling signals so as to overhaul the abnormal precision of the sorting equipment in the production gap.
6. The apparatus for detecting motion accuracy of a small wire coil sorting device according to claim 1, wherein the analyzing module is further configured to:
identifying the running track of the wire coil in the video sequence image information, and identifying whether the deviation between the running track of the wire coil and a preset running track reaches a preset deviation range or not;
under the condition that a preset deviation range is reached, determining to generate a sorting precision abnormal instruction;
the apparatus further comprises:
and the precision overhauling module is used for generating overhauling signals so as to overhaul the abnormal precision of the sorting equipment in the production gap.
7. The method for detecting the motion precision of the sorting equipment of the small wire coil is characterized by comprising the following steps of:
the method comprises the steps that an image acquisition module acquires video sequence image information of sorting equipment in a sorting process;
identifying first vibration information of the wire coil placed on the stack through a first vibration detection module; the first vibration detection module is arranged at the stacking position;
analyzing, by an analysis module, that a fault risk exists for the sorting device in the case that motion flexibility of the video sequence image information is lower than a set threshold value and/or in the case that the first vibration information is higher than a first set vibration intensity;
And generating a maintenance signal through a fault early warning module so as to carry out targeted maintenance on the production gap.
8. The method of claim 7, wherein after identifying the first vibration information of the wire coil placed on the stack, the method further comprises:
identifying second vibration information in the sorting process of the sorting equipment through a second vibration detection module; wherein the second vibration detection module is arranged on the sorting equipment;
correspondingly, the method further comprises the steps of:
and analyzing that the sorting equipment is at fault risk under the condition that the second vibration information is higher than a second set vibration intensity.
9. The method of detecting motion accuracy of a sorting apparatus for small wire reels as claimed in claim 8, wherein after identifying second vibration information in the sorting process of the sorting apparatus by the second vibration detection module, the method further comprises:
generating, by the fault analysis module, marker information if the second vibration information is higher than a second set vibration intensity;
based on the marking information, a target image is determined from video sequence image information of sorting equipment for sorting process;
Based on a preset number of target images obtained from the preset number of marking information, counting the real-time gestures of the sorting equipment, and determining a target rotating shaft of the sorting equipment;
generating a maintenance signal for the target spindle.
10. An electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which when executed by the processor, performs the steps of the method for detecting the motion accuracy of a sorting device for small wire reels according to any one of claims 7 to 9.
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