阅读说明：本技术 一种双相机织针视觉检测系统 (Dual-camera knitting needle visual detection system ) 是由 许鸿捷 曹青华 冯迎和 高培忠 程勇 纪荣俊 周锋 余仪华 于 2019-10-17 设计创作，主要内容包括：本发明公开一种双相机织针视觉检测系统,包括自动落针装置、两条平行设置的螺纹杆、第一分拣机构、第一检测相机、检测平台、第二检测相机、第二分拣机构和控制装置,螺杆驱动装置同步驱动两条螺纹杆转动,螺纹间距与织针的厚度相匹配；自动落针装置设置在螺纹杆的一端将织针输送至两条螺纹杆上；第一检测相机从上至下对织针进行拍摄；第一分拣机构包括推板和设置在推板上的若干个推块；检测平台设置在螺纹杆的末端下方用于承接落下的织针,第二检测相机设置在检测平台上对织针进行拍照,控制装置进行分析且控制第二分拣机构剔除不合格织针,本发明能够代替人工对织针进行检测,大大提高了织针的检测一致性和降低了工人的劳动强度。(The invention discloses a double-camera knitting needle visual detection system which comprises an automatic needle falling device, two threaded rods arranged in parallel, a first sorting mechanism, a first detection camera, a detection platform, a second detection camera, a second sorting mechanism and a control device, wherein a screw driving device synchronously drives the two threaded rods to rotate, and the distance between the threads is matched with the thickness of a knitting needle; the automatic needle dropping device is arranged at one end of the threaded rod and conveys the knitting needles to the two threaded rods; the first detection camera shoots the knitting needle from top to bottom; the first sorting mechanism comprises a push plate and a plurality of push blocks arranged on the push plate; the detection platform is arranged below the tail end of the threaded rod and used for receiving the falling knitting needles, the second detection camera is arranged on the detection platform to take pictures of the knitting needles, and the control device analyzes and controls the second sorting mechanism to remove unqualified knitting needles.)

1. The double-camera knitting needle visual detection system is characterized by comprising an automatic needle falling device, two parallel threaded rods, a first sorting mechanism, a first detection camera, a detection platform, a second detection camera, a second sorting mechanism and a control device, wherein the same end of each of the two threaded rods is connected with a screw driving device for synchronously driving the two threaded rods to rotate; the thread pitch on the threaded rod is matched with the thickness of the knitting needle; the automatic needle dropping device is arranged at one end of each threaded rod to convey knitting needles to the two threaded rods; the first detection camera is arranged above the threaded rod and shoots a knitting needle on the threaded rod; the first sorting mechanism comprises a push plate and a plurality of push blocks independently arranged on the push plate, a first driving mechanism for driving the push plate to move towards the direction of the threaded rod is arranged on the push plate, and a second driving mechanism for driving the push blocks to move is respectively arranged on the plurality of push blocks; the control device controls the push block to move to push off unqualified knitting needles from the knitting needles on the two threaded rods;

the control device is respectively and electrically connected with the automatic needle falling device, the screw driving device, the first sorting mechanism, the first detection camera, the detection platform, the second detection camera and the second sorting mechanism; the detection platform is arranged below the tail end of the threaded rod and used for bearing a knitting needle falling along with the rotation of the threaded rod, and the second detection camera is arranged above the detection platform to shoot the knitting needle on the detection platform; and the control device controls the second sorting mechanism to move to remove unqualified knitting needles according to the image acquired by the second detection camera.

2. The vision inspection system for knitting needles of dual-camera as claimed in claim 1, wherein a qualified product collecting area and a defective product collecting area are arranged on the side of the inspection platform, the second sorting mechanism comprises a sorting brush and a third driving device for driving the sorting brush, and the third driving device drives the sorting brush to sweep the knitting needles to the qualified product collecting area and the defective product collecting area under the control of the control device; and the qualified product collecting area and the defective product collecting area are respectively used for receiving the knitting needles which are fallen down from the detection platform by the sorting brush.

3. The vision inspection system for dual-camera knitting needles as claimed in claim 2, wherein said third driving device comprises a gantry, a traveling mechanism, a left and right moving base, a left and right driving mechanism and a lifting mechanism, two vertical columns of said gantry are arranged on two parallel rails through a traveling mechanism frame, said left and right moving base is arranged on a cross bar of said gantry, said left and right driving mechanism drives said left and right moving base to move left and right along the cross bar of said gantry; the upper end of the lifting mechanism is fixedly arranged on the left and right moving seat, and the sorting brush is fixedly arranged at the lower end of the lifting mechanism.

4. The vision inspection system for dual-camera knitting needles as claimed in claim 1, wherein said first inspection camera comprises a plurality of first camera units and a supporting frame for fixing said first camera units, said first camera units are distributed above said inspection platform, and a plurality of said first camera units are located at the same height; the plurality of first camera single bodies respectively take pictures of partial areas on the detection platform, and the sum of the photographing areas of the plurality of first camera single bodies can completely cover the detection platform.

5. The vision inspection system for knitting needles of dual-camera as claimed in claim 4, wherein the number of said first camera units is 2-8.

6. The vision inspection system for knitting needles of dual-camera as claimed in claim 4, wherein a plurality of said first camera units are linearly arranged.

7. The vision inspection system for dual-camera knitting needles as claimed in claim 4, wherein said first camera units are distributed in a "W" shape.

Technical Field

The invention relates to the field of knitting needle visual detection, in particular to a dual-camera knitting needle visual detection system.

Background

The automatic detection of finished knitting needles needs to be realized in a knitting needle workshop, so that the situation that the existing domestic knitting needle industry depends on manual and visual detection, the requirement on the technical level of workers is high (three-month technical training), the labor intensity of the workers is high, the consistency of detection results is difficult to guarantee, and the detection results seriously depend on the technical level of the workers is changed.

In recent years, with the development of machine vision related theory, machine vision-based detection technology has gradually become an important industrial detection means, and the detection efficiency of products is continuously improved. However, in the field of knitting needle detection, the detection is mainly performed by manpower at present, no mature application case can be referred to, and the detection efficiency is low. The existing knitting needle is manufactured by processing a metal sheet as shown in figures 1 and 2, and the positions A, B and C, the total length D, the levelness and the bending degree of the knitting needle need to meet the design requirements.

In view of the above, the applicant has made an intensive study on the above-mentioned defects in the prior art, and has made this invention.

Disclosure of Invention

The invention mainly aims to provide a dual-camera knitting needle visual detection system which can replace manual work to detect knitting needles, greatly improves the detection consistency of the knitting needles and reduces the labor intensity of workers.

In order to achieve the above purpose, the solution of the invention is:

a double-camera knitting needle visual detection system comprises an automatic needle falling device, two parallel threaded rods, a first sorting mechanism, a first detection camera, a detection platform, a second detection camera, a second sorting mechanism and a control device, wherein the same end of each of the two threaded rods is connected with a screw driving device for synchronously driving the two threaded rods to rotate; the thread pitch on the threaded rod is matched with the thickness of the knitting needle; the automatic needle dropping device is arranged at one end of each threaded rod to convey knitting needles to the two threaded rods; the first detection camera is arranged above the threaded rod and shoots a knitting needle on the threaded rod; the first sorting mechanism comprises a push plate and a plurality of push blocks independently arranged on the push plate, a first driving mechanism for driving the push plate to move towards the direction of the threaded rod is arranged on the push plate, and a second driving mechanism for driving the push blocks to move is respectively arranged on the plurality of push blocks; the control device controls the push block to move to push off unqualified knitting needles from the knitting needles on the two threaded rods;

the control device is respectively and electrically connected with the automatic needle falling device, the screw driving device, the first sorting mechanism, the first detection camera, the detection platform, the second detection camera and the second sorting mechanism; the detection platform is arranged below the tail end of the threaded rod and used for bearing a knitting needle falling along with the rotation of the threaded rod, and the second detection camera is arranged above the detection platform to shoot the knitting needle on the detection platform; and the control device controls the second sorting mechanism to move to remove unqualified knitting needles according to the image acquired by the second detection camera.

Furthermore, a qualified product collecting region and a defective product collecting region are arranged on the side of the detection platform, the second sorting mechanism comprises a sorting brush and a third driving device for driving the sorting brush, and the third driving device drives the sorting brush to sweep the knitting needles to the qualified product collecting region and the defective product collecting region under the control of the control device; and the qualified product collecting area and the defective product collecting area are respectively used for receiving the knitting needles which are fallen down from the detection platform by the sorting brush.

Further, the third driving device comprises a portal frame, a traveling mechanism, a left-right moving seat, a left-right driving mechanism and a lifting mechanism, wherein two upright posts of the portal frame are arranged on two parallel rails through a traveling mechanism frame, the left-right moving seat is arranged on a cross bar of the portal frame, and the left-right driving mechanism drives the left-right moving seat to move left and right along the cross bar of the portal frame; the upper end of the lifting mechanism is fixedly arranged on the left and right moving seat, and the sorting brush is fixedly arranged at the lower end of the lifting mechanism.

Further, the first detection camera comprises a plurality of first camera single bodies and a support frame for fixing the first camera single bodies, the first camera single bodies are distributed above the detection platform, and the plurality of first camera single bodies are located at the same height; the plurality of first camera single bodies respectively take pictures of partial areas on the detection platform, and the sum of the photographing areas of the plurality of first camera single bodies can completely cover the detection platform.

Further, the number of the first camera units is 2-8.

Furthermore, a plurality of the first camera single bodies are linearly distributed.

Further, the first camera units are distributed in a W shape.

After adopting the structure, the double-camera knitting needle visual detection system has at least the following beneficial effects:

one, knitting needle pass through automatic needle device that falls on the threaded rod, knitting needle establish immediately two in the screw thread of threaded rod, the first detection camera that is located the threaded rod top shoots the knitting needle on the threaded rod, controlling means is right the image that first detection camera was shot is handled the discernment, and control the ejector pad of first sorting mechanism is followed unqualified knitting needle pushes away on the threaded rod.

And secondly, the rest knitting needles on the threaded rod fall onto the detection platform from the tail end of the threaded rod along with the rotation of the threaded rod, the knitting needles naturally lie on the detection platform after falling onto the detection platform due to the flat shape of the knitting needles, a second detection camera above the detection platform shoots the side surfaces of the knitting needles on the detection platform, the control device processes and identifies images shot by the second detection camera, and the second sorting mechanism is controlled to sort the knitting needles on the detection platform according to the qualification.

Thirdly, through the arrangement of the sorting brush and the third driving device, the control device controls the third driving device to drive the sorting brush to sweep the knitting needles on the detection platform to the qualified product collecting region and the defective product collecting region according to the image result; therefore, the knitting needles on the detection platform are driven by the sorting brush to move, and the sorting effect of the knitting needles on the detection platform is guaranteed.

Drawings

Fig. 1 is a front view schematically showing a conventional knitting needle.

Fig. 2 is a top view of a conventional knitting needle.

Fig. 3 is a schematic perspective view of a dual-camera needle visual inspection system according to the present invention.

Fig. 4 is a perspective view of another aspect of the present invention.

Fig. 5 is a schematic top view of the present invention.

FIG. 6 is a schematic diagram of the automatic pin header and the first sorting mechanism of the present invention.

Fig. 7 is a schematic structural diagram of the "W" shaped distribution of the first camera unit of the present invention.

Fig. 8 is a structural diagram of a second sorting mechanism according to the present invention.

In the figure: an automatic needle dropping device 1; a threaded rod 2; a screw drive device 21;

a first sorting mechanism 3; a push plate 31; a push block 32; a first drive mechanism 33;

a second drive mechanism 34;

a first detection camera 4; a first camera unit 41; a support frame 42;

a detection platform 5; a second detection camera 6;

a second sorting mechanism 7; a sorting brush 71;

a third driving device 72; a gantry 721; a traveling mechanism 722; a left and right movement seat 723;

a left-right driving mechanism 724; a lifting mechanism 725; and a knitting needle 8.

Detailed Description

In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.

As shown in fig. 1 to 8, the vision detection system for a dual-camera knitting needle according to the present invention comprises an automatic needle dropping device 1, two parallel threaded rods 2, a first sorting mechanism 3, a first detection camera 4, a detection platform 5, a second detection camera 6, a second sorting mechanism 7 and a control device, wherein the same end of the two threaded rods 2 is connected with a screw driving device 21 for synchronously driving the two threaded rods 2 to rotate; the distance between the threads on the threaded rod 2 is matched with the thickness of the knitting needle 8; the automatic needle dropping device 1 is arranged at one end of the threaded rods 2 to convey knitting needles 8 to the two threaded rods 2; the first detection camera 4 is arranged above the threaded rod 2 and shoots a knitting needle 8 on the threaded rod 2; the first sorting mechanism 3 comprises a push plate 31 and a plurality of push blocks 32 independently arranged on the push plate 31, a first driving mechanism 33 for driving the push plate 31 to move towards the direction of the threaded rod 2 is arranged on the push plate 31, and a second driving mechanism 34 for driving the push blocks 32 to move is respectively arranged on the plurality of push blocks 32; the control device controls the push block 32 to act to push off unqualified knitting needles 8 from the knitting needles 8 on the two threaded rods 2;

the control device is respectively and electrically connected with the automatic needle falling device 1, the screw driving device 21, the first sorting mechanism 3, the first detection camera 4, the detection platform 5, the second detection camera 6 and the second sorting mechanism 7; the detection platform 5 is arranged below the tail end of the threaded rod 2 and used for receiving a knitting needle 8 falling along with the rotation of the threaded rod 2, and the second detection camera 6 is arranged above the detection platform 5 to shoot the knitting needle 8 on the detection platform 5; the control device controls the second sorting mechanism 7 to remove unqualified knitting needles 8 according to the images acquired by the second detection camera 6. The detection control device is the prior art and is not the key point of the scheme, and the control device detects images shot by the first detection camera 4 and the second detection camera 6 through a genetic algorithm.

Knitting needle 8 passes through automatic needle falling device 1 falls on threaded rod 2, knitting needle 8 establishes immediately two in the screw thread of threaded rod 2, the first detection camera 4 that is located the threaded rod 2 top shoots knitting needle 8 on the threaded rod 2, controlling means is right the image of first detection camera 4 shooting is handled the discernment, and control the ejector pad 32 of first sorting mechanism 3 is followed unqualified knitting needle 8 pushes away on the threaded rod 2. When the knitting needles 8 fall into the automatic needle dropping device 1 and fall on the threaded rod 2, the gap of the threaded rod 2 is matched with the thickness of the knitting needles 8, the threaded rod 2 is driven by the screw driving device 21 to rotate and drive the knitting needles 8 to advance, when the knitting needles 8 falling on the threaded rod 2 reach a set number, the screw driving device 21 and the automatic needle dropping device 1 stop working, the push plate 31 of the first sorting mechanism 3 pushes the tail ends of the knitting needles 8 on the threaded rod 2 to be horizontally aligned under the driving of the first driving mechanism 33, the first detection camera 4 shoots the knitting needles 8 falling on the threaded rod, the control device analyzes the pictures and moves the push block 32 corresponding to the unqualified knitting needles 8, and the push block 32 pushes the unqualified knitting needles 8 out under the driving of the second driving mechanism 34.

The remaining knitting needles 8 on the threaded rod 2 fall from the tail end of the threaded rod 2 onto the detection platform 5 along with the rotation of the threaded rod 2, the knitting needles 8 naturally lie on the detection platform 5 after falling on the detection platform 5 due to the fact that the knitting needles 8 are flat, the second detection camera 6 above the detection platform 5 shoots the side faces of the knitting needles 8 on the detection platform 5, the control device processes and identifies images shot by the second detection camera 6, and the second sorting mechanism 7 is controlled to sort the knitting needles 8 on the detection platform 5 according to the condition of being qualified or not.

Preferably, a qualified product collecting area and a defective product collecting area are arranged on the side of the detection platform 5, the second sorting mechanism 7 comprises a sorting brush 71 and a third driving device 72 for driving the sorting brush 71, and the third driving device 72 drives the sorting brush 71 to sweep the knitting needle 8 to the qualified product collecting area and the defective product collecting area under the control of the control device; the qualified product collecting area and the defective product collecting area are respectively used for receiving the knitting needles 8 which are fallen down from the detecting platform 5 by the sorting brush 71.

Preferably, the third driving device 72 includes a gantry 721, a traveling mechanism 722, a left-right moving seat 723, a left-right driving mechanism 724, and a lifting mechanism 725, two columns of the gantry 721 are erected on two parallel rails through the traveling mechanism 722, the left-right moving seat 723 is disposed on a cross bar of the gantry 721, and the left-right driving mechanism 724 drives the left-right moving seat 723 to move left and right along the cross bar of the gantry 721; the upper end of the lifting mechanism 725 is fixedly arranged on the left and right moving seat 723, and the sorting brush 71 is fixedly arranged at the lower end of the lifting mechanism 725. By arranging the sorting brush 71 and the third driving device 72, the control device controls the third driving device 72 to drive the sorting brush 71 to sweep the knitting needle 8 on the detection platform 5 to a qualified product collecting area and a defective product collecting area according to the image result; in this way, the knitting needles 8 on the detecting platform 5 are driven by the sorting brush 71 to move, and the sorting effect of the knitting needles 8 on the detecting platform 5 is ensured.

When the knitting needle 8 falls and is detected, the third driving device 72 is far away from the detection platform, and the falling and the detection of the knitting needle 8 are not influenced. When the knitting needle 8 falls into the detection platform 5 from the tail end of the threaded rod 2, the second detection camera 6 shoots the knitting needle 8, the control device analyzes the knitting needle 8 and controls the second sorting mechanism 7 to remove unqualified products and collect qualified products, when the knitting needle 8 is qualified products, the portal frame 721 moves to the rear end of the detection platform under the driving of the walking mechanism 722, the sorting brush 71 is fixedly arranged on the lifting mechanism 725, the left and right moving seat 723 is driven by the left and right driving mechanism 724 to enable the sorting brush 71 to be horizontally aligned with the knitting needle 8, and the walking mechanism 722 drives the portal frame 721 to move to a qualified collection area along a track so that the sorting brush 71 sweeps the knitting needle 8 into a qualified product collection area; when the knitting needle 8 is a defective product, the lifting mechanism 725 retracts the sorting brush 71 upwards, the portal frame 721 is driven by the traveling mechanism 722 to move to the front end of the detection platform, after the knitting needle 8 reaches the front end, the lifting mechanism 725 ascends downwards, the left and right moving seats 723 are driven by the left and right driving mechanisms 724 to enable the sorting brush 71 to be horizontally aligned with the knitting needle, and the traveling mechanism 722 drives the portal frame 721 to move along the track to a defective product collecting area to enable the sorting brush 71 to sweep the knitting needle 8 into the defective product collecting area;

preferably, the first detection camera 4 includes a plurality of first camera units 41 and a support frame 42 for fixing the first camera units 41, the first camera units 41 are distributed above the detection platform 5, and the plurality of first camera units 41 are located at the same height; the plurality of first single cameras 41 respectively photograph partial areas on the detection platform 5, and the sum of the photographing areas of the plurality of first single cameras 41 can completely cover the detection platform 5; by arranging the first camera units 41 at the same height, the proportion of the images shot by the first camera units 41 is approximately the same, the calculation amount of a subsequent image processing device is reduced, and the use efficiency of the device is improved.

Preferably, the number of the first camera units 41 is 2 to 8. Through the measurement of the sum of the lengths of the detection platform 5 and the threaded rod, the number of the first camera units 41 is reasonably arranged, and the detection camera cost is reasonably saved while the definition of pictures when the knitting needle 8 is shot is ensured.

Preferably, a plurality of the first camera units 41 are linearly distributed.

Preferably, the first camera units are distributed in a W shape. As shown in fig. 6, one end of each of two support frames 4222 is fixed on the automatic needle dropping device 13, and the other end extends vertically to the ground to support the support frame 4222; the plurality of first camera units 4121 are distributed on the two support frames 4222 and are distributed in a W shape; the shooting range of the first camera units 4121 on the knitting needles 8 on the detection platform 51 is expanded, which is beneficial to the analysis of the detection control system on the images, so that the analysis is more accurate and rapid.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications thereof by those skilled in the art should be considered as not departing from the scope of the present invention.