阅读说明：本技术 检测流水线上产品的方法及装置 (Method and device for detecting products on production line ) 是由 朱元丰 宋明岑 杨智慧 于 2020-05-22 设计创作，主要内容包括：本发明公开了一种检测流水线上产品的方法及装置。其中,该方法包括：接收监测设备发送的同步信号,其中,上述同步信号中携带有在流水线的传动装置上传动的待检测产品的第一瞬时速度；依据上述第一瞬时速度确定目标机器人的第二瞬时速度；控制上述目标机器人以上述第二瞬时速度检测处于传动状态的上述待检测产品。本发明解决了现有的检测方法中动态下检测产品时无法保证检测设备与流水线同步,影响流水线生产效率的技术问题。(The invention discloses a method and a device for detecting products on a production line. Wherein, the method comprises the following steps: receiving a synchronous signal sent by monitoring equipment, wherein the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on a transmission device of the assembly line; determining a second instantaneous speed of the target robot according to the first instantaneous speed; and controlling the target robot to detect the product to be detected in a transmission state at the second instantaneous speed. The invention solves the technical problem that the production efficiency of the production line is influenced because the synchronization of the detection equipment and the production line cannot be ensured when the product is dynamically detected in the conventional detection method.)

1. A method of inspecting products on a production line, comprising:

receiving a synchronous signal sent by monitoring equipment, wherein the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on a transmission device of an assembly line;

determining a second instantaneous speed of the target robot according to the first instantaneous speed;

and controlling the target robot to detect the product to be detected in a transmission state at the second instantaneous speed.

2. The method of claim 1, wherein prior to receiving the synchronization signal transmitted by the monitoring device, the method further comprises:

acquiring the appearance size data of the product to be detected;

determining an effective movement radius of the target robot according to the appearance size data;

determining a type of the target robot based on the effective movement radius, wherein different types of the target robot have different effective movement radii.

3. The method of claim 2, wherein each of the appearance surfaces to be detected in the products to be detected is within the effective radius of motion during the detection of the products to be detected by the target robot.

4. The method according to claim 1, wherein a detection device is provided on the target robot, and the target robot is controlled to detect the product to be detected in the transmission state at the second instantaneous speed, comprising:

controlling the detection equipment to move to a to-be-detected area under the driving of the target robot, wherein the to-be-detected area is an area for detecting a corresponding to-be-detected appearance surface in the to-be-detected product;

acquiring the time sequence of the movement of the detection equipment to the area to be detected;

and controlling the detection equipment to detect the appearance surface to be detected corresponding to the area to be detected according to the time sequence.

5. The method according to claim 4, characterized in that a predetermined distance exists between the area to be detected and the corresponding external surface to be detected, and the detection device and the product to be detected are kept relatively still.

6. The method of claim 1, wherein determining a second instantaneous velocity of the target robot from the first instantaneous velocity comprises:

acquiring a second instantaneous speed of a tool coordinate system of the target robot;

detecting whether the second instantaneous speed is the same as the first instantaneous speed;

and if the detection result indicates that the second instantaneous speed is different from the first instantaneous speed, modifying the second instantaneous speed according to the first instantaneous speed.

7. The method of claim 6, wherein the target robot is a six-axis robot; and setting a tool coordinate system of the six-axis robot by taking the detection equipment arranged on the six-axis robot as a center.

8. A system for inspecting products on a production line, comprising:

the monitoring device is arranged on a transmission device of the production line and used for sending a synchronous signal, wherein the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on the transmission device;

and the target robot is connected with the monitoring equipment and used for determining a second instantaneous speed of the target robot according to the first instantaneous speed and detecting the product to be detected in a transmission state at the second instantaneous speed.

9. An apparatus for inspecting products on a production line, comprising:

the device comprises a receiving module, a monitoring module and a control module, wherein the receiving module is used for receiving a synchronous signal sent by the monitoring equipment, and the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on a transmission device of the assembly line;

a determining module for determining a second instantaneous speed of the target robot according to the first instantaneous speed;

and the detection module is used for controlling the target robot to detect the product to be detected in a transmission state at the second instantaneous speed.

10. A non-volatile storage medium, comprising a stored program, wherein the program, when executed, controls a device on which the non-volatile storage medium is located to perform the method for detecting in-line products according to any one of claims 1 to 7.

11. A processor for executing a program stored in a memory, wherein the program when executed performs the method of inspecting products on a pipeline of any of claims 1 to 7.

Technical Field

The invention relates to the technical field of detection, in particular to a method and a device for detecting products on a production line.

Background

Disclosure of Invention

The embodiment of the invention provides a method and a device for detecting products on a production line, which at least solve the technical problem that the production efficiency of the production line is influenced because the synchronization of detection equipment and the production line cannot be ensured when the products are detected dynamically in the existing detection method.

According to an aspect of an embodiment of the present invention, there is provided a method for detecting products on a production line, including: receiving a synchronous signal sent by monitoring equipment, wherein the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on a transmission device of the assembly line; determining a second instantaneous speed of the target robot according to the first instantaneous speed; .

According to another aspect of the embodiments of the present invention, which controls the target robot to detect the product to be detected in the transmission state at the second instantaneous speed, there is also provided a system for detecting a product on a production line, comprising: the monitoring device is arranged on a transmission device of the production line and used for sending a synchronous signal, wherein the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on the transmission device; and the target robot is connected with the monitoring equipment and used for determining a second instantaneous speed of the target robot according to the first instantaneous speed and detecting the product to be detected in a transmission state by using the second instantaneous speed.

According to another aspect of the embodiments of the present invention, there is also provided an apparatus for detecting products on a production line, including: the system comprises a receiving module, a monitoring module and a control module, wherein the receiving module is used for receiving a synchronous signal sent by the monitoring equipment, and the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on a transmission device of the assembly line; the determining module is used for determining a second instantaneous speed of the target robot according to the first instantaneous speed; and the detection module is used for controlling the target robot to detect the product to be detected in a transmission state at the second instantaneous speed.

According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium, where the non-volatile storage medium includes a stored program, and when the program runs, a device in which the non-volatile storage medium is located is controlled to execute any one of the above methods for detecting products on a pipeline.

According to another aspect of the embodiments of the present invention, there is also provided a processor configured to execute a program stored in a memory, where the program is executed to perform any one of the above methods for detecting a product on a pipeline.

In the embodiment of the invention, a synchronous signal sent by monitoring equipment is received, wherein the synchronous signal carries a first instantaneous speed of a product to be detected, which is transmitted on a transmission device of an assembly line; determining a second instantaneous speed of the target robot according to the first instantaneous speed; the target robot is controlled to detect the product to be detected in the transmission state at the second instantaneous speed, and the aim of controlling the robot to synchronously detect the product to be detected in a dynamic state is fulfilled, so that the technical effect of improving the production efficiency of the production line is realized, and the technical problem that the production efficiency of the production line is influenced because the detection equipment cannot be ensured to be synchronous with the production line when the product is detected in the dynamic state in the conventional detection method is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow diagram of a method of inspecting products on a pipeline according to an embodiment of the present invention;

FIG. 2 is a block diagram of a system for inspecting products on a production line, in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural diagram of an apparatus for inspecting products on a production line according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.