CN103157607B - Article identification and sorting device and method thereof - Google Patents
Article identification and sorting device and method thereof Download PDFInfo
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- CN103157607B CN103157607B CN201110428039.XA CN201110428039A CN103157607B CN 103157607 B CN103157607 B CN 103157607B CN 201110428039 A CN201110428039 A CN 201110428039A CN 103157607 B CN103157607 B CN 103157607B
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Abstract
The invention discloses an article identification and sorting device and a method thereof. The article identification and sorting device comprises a main transmission belt, a disqualification article transmission belt, a robot system and a computer. The robot system comprises a robot controller, a Y-axis sliding groove and an X-axis sliding groove. A sliding block is arranged on the Y-axis sliding groove, and an optical camera and a mechanical arm are fixed on the sliding block. The invention further discloses a method of the article identification and sorting device. Disqualification articles can be identified by analyzing X-ray images and visible images, the disqualification articles are gradually moved to the disqualification article transmission belt through the mechanical arm. The article identification and sorting device and the method can automatically indentify and sort articles on a production line and have the advantages of being accurate, reliable and high in efficiency.
Description
Technical field
The present invention relates to automation field of non destructive testing, particularly a kind of article identification and sorting equipment and method thereof based on radioscopic image.
Background technology
Product is in production, processing and packaging process, and inside usually can not meet quality requirement or sneaks into foreign matter and causes product defective.More typically have: 1, in food production and processing enterprise's processing and packaged food process; often have food and be doped into some foreign matter; mainly comprise the foreign matters such as metal, glass, stone, plastics and rubber; these foreign matters not only affect the quality of food; and some foreign matter is difficult to the naked eye realize; easily by consumer, eaten by mistake, cause food security accident.2, parts machining and foundry enterprise, product is in processing or casting process, and inside may entrained air, impurity etc., or inner parts installation site mistake or disappearance, all can cause product defective, therefore must before dispatching from the factory, detect.Common nondestructiving detecting means has ultrasound examination, X ray detection etc., be widely used at present on production line is that X ray detects, topmost reason is that x-ray imaging is more directly perceived than ultrasonic wave, and can process the meticulousr test items such as installation site mistake that ultrasonic wave cannot be processed.
At present, the x-ray detection system that is widely used in production line still be take range estimation as main, workman with the naked eye judges product quality, generally there is following problem: the product quantity detecting on (1) production line is very huge, operating personnel carry out single scissors and paste for a long time, easily cause visual fatigue, occur the situations such as undetected, flase drop; (2) foreign matter in some product is very little, is difficult for being realized by human eye on the screen rolling fast; (3) operating personnel are difficult to process the detection that needs quantize, and such as when carrying out the detection of interiors of products parts installation site, operating personnel's subjective factor accounts for than great, affects homogeneity of product; (4) when bulk cargo is detected, when the mode by hand that is difficult to while wherein having substandard product that detects only sorts out underproof that product, but the bulk cargo of a range section is all classified as to defective work, release streamline, cause waste.
Summary of the invention
The object of the invention is to overcome the shortcoming and defect of above-mentioned prior art, a kind of article identification and sorting equipment based on radioscopic image is provided, realization is carried out identification automatically and sorting to the article on production line, and have accurate, reliable, efficiency advantages of higher, object of the present invention is also at article identification and method for sorting with a kind of said apparatus is provided.
Object of the present invention is achieved through the following technical solutions:
Article identification and a sorting equipment, comprise main belt, disqualified goods conveyer belt, robot system and computer;
Described main belt and disqualified goods conveyer belt are positioned in same level and are parallel to each other;
Described main belt is provided with beam shielded enclosure, and the top of described beam shielded enclosure is provided with x ray generator, and the bottom of described beam shielded enclosure is provided with Linear Array CCD Image Sensor, and described Linear Array CCD Image Sensor is connected with computer;
Described robot system comprises robot controller, be located at main belt and disqualified goods conveyer belt top and perpendicular to the Y-axis chute of direction of transfer, be located at a side of Y-axis chute and be parallel to the X-axis chute of direction of transfer; The intersection point of described X-axis chute and described Y-axis chute is the origin of coordinates of robot system; Described Y-axis chute is provided with slide block, is fixed with photographic camera and manipulator on described slide block; Described X-axis chute, Y-axis chute, manipulator connect by cable series connection; Described X-axis chute is connected with robot controller, computer successively by cable; Described photographic camera, x ray generator are connected with computer by cable.
Article identification and method for sorting that said apparatus is realized, comprise the following steps:
(1) article are lain against on the main belt of at the uniform velocity running, article enter beam shielded enclosure;
(2) after the X ray of ray generator transmitting penetrates article, by Linear Array CCD Image Sensor, received;
(3) Linear Array CCD Image Sensor is converted to the signal of reception data signal and is transferred to computer, and computer is converted to radioscopic image by data signal;
(4) radioscopic image is analyzed, identified disqualified goods, disqualified goods is carried out to mark, and calculate coordinate and the quantity of disqualified goods on radioscopic image;
(5) computer reads the coordinate of first disqualified goods on radioscopic image;
(6) computer according to disqualified goods the coordinate on radioscopic image, calculate the coordinate of this disqualified goods of current time correspondence in robot system, and result of calculation is sent to robot controller, control manipulator and photographic camera and move to this disqualified goods top;
(7) photographic camera is taken visible images, and computer is according to the crawl position coordinate of visible images calculating machine hand;
(8) computer is according to the crawl position coordinate of manipulator, and sending controling instruction, to robot controller, is controlled manipulator and captured disqualified goods and move to disqualified goods conveyer belt top, discharges disqualified goods;
(9) judge whether disqualified goods moves complete; If so, computer is controlled manipulator by robot controller and is resetted;
If not, computer reads the coordinate of next disqualified goods on radioscopic image, repeating step (6)～(9).
The described Linear Array CCD Image Sensor of step (3) is converted to the signal of reception data signal and is transferred to computer, and computer is converted to radioscopic image by data signal, specifically comprises the following steps:
(3-1) X ray that Linear Array CCD Image Sensor basis receives, the one-dimension array that generation length is S, and constantly one-dimension array is sent to computer; Wherein, the design resolution that S is Linear Array CCD Image Sensor;
(3-2) computer receives after N one-dimension array, and being synthesized size is the two-dimensional x-ray images of N * S; Wherein N is arranged as required by user.
Step (4) is described to be analyzed radioscopic image, identifies disqualified goods, and disqualified goods is carried out to mark, and calculates coordinate and the quantity of disqualified goods on radioscopic image, specifically comprises the following steps:
(4-1) radioscopic image with threshold value th1, step (3-2) being obtained carries out binaryzation operation, draws the approximate region of each article, then expands, corrodes operation, obtains the accurate region of each article; By the accurate Region Segmentation of each article out, obtain the independent image of each article; Wherein threshold value th1 is set according to the characteristic of actual test item by user;
(4-2) each stand-alone item is carried out to mark, is respectively 1,2,3 ..., n;
(4-3) radioscopic image with threshold value th2, step (3-2) being obtained carries out binaryzation operation, judges whether to exist foreign matter region; If so, carry out step (4-4); If not, carry out step (4-5); Wherein threshold value th2 is set according to the characteristic of actual test item by user;
If (4-4) foreign matter district inclusion is in the accurate region of H article, judge that H article comprise foreign matter, are designated disqualified goods; Carry out step (4-6);
(4-5) independent image of each article and conforming articls image subtraction are compared, if subtract each other rear non-vanishingly, judge this article inner body positional fault or disappearance, be labeled as disqualified goods; If zero, be labeled as conforming articls; Carry out step (4-6); Wherein conforming articls image is preset by user;
(4-6) the quantity m of statistics disqualified goods, and calculate the coordinate of m disqualified goods on radioscopic image, be specially: establish the total T in the accurate region of K disqualified goods on radioscopic image
kindividual, be respectively point (P
1, Q
1), point (P
2, Q
2) ..., point (P
tk, Q
tk), K disqualified goods abscissa X on radioscopic image
k=∑ P
i/ T
k, ordinate Y
k=∑ Q
i/ T
k, i=1 wherein, 2 ..., T
k.
The coordinate of described this disqualified goods of calculating current time of step (6) correspondence in robot system, is specially:
The abscissa XR of K disqualified goods correspondence in robot system
k=L+X
k-Sp * t, ordinate YR
k=Y
k;
Wherein, L is the Y-axis of robot system and the distance of Linear Array CCD Image Sensor; Sp is the speed of conveyer belt; T is that Linear Array CCD Image Sensor is from starting to gather first group of one-dimension array to the time difference of current time.
The described computer of step (7), according to the coordinate of visible images calculating machine hand crawl position, specifically comprises the following steps:
(7-1) with threshold value th3, visible images is carried out to binaryzation operation, draw the approximate region of each article; Expand again, corrode operation, draw the accurate region of each article; Wherein threshold value th3 is set according to the characteristic of actual test item by user;
(7-2) calculate the coordinate of K disqualified goods on visible images, be specially:
If the total S in K disqualified goods accurate region on visible images
kindividual, be respectively point (P
1＇, Q
1＇), point (P
2＇, Q
2＇) ..., point (P
sk＇, Q
sk＇), K disqualified goods abscissa XV on visible images
k=∑ P '
i/ S
k, ordinate YV
k=∑ Q '
i/ S
k, i=1 wherein, 2 ..., S
k;
(7-3) according to K disqualified goods, the coordinate on visible images calculates the coordinate of this disqualified goods of current time in robot system: K disqualified goods abscissa XT in robot system
k'=L+XV
k-Sp * t', ordinate YT
k'=YV
k, wherein t ＇ is that Linear Array CCD Image Sensor is from starting to gather first group of one-dimension array to the time difference of current time;
(7-4) the crawl position coordinate of calculating machine hand: judgement YR
k, YT
k＇, XR
k, XT
kwhether ＇ meets: abs (YR
k-YT
k＇) <th4 and abs (XR
k-XT
k＇) <th4; If so, the abscissa XRC of the crawl position of manipulator
k=XR
k, ordinate YRC
k=YR
k; If not, the abscissa XRC of the crawl position of manipulator
k=XT
k＇, ordinate YRC
k=YT
k＇; Wherein abs () is signed magnitude arithmetic(al), and threshold value th4 is set according to the characteristic of actual test item by user.
Compared with prior art, the present invention has the following advantages and beneficial effect:
1, thereby the present invention can check and sorts out defective object disperseing to be positioned over the article inside of production line, and whole process is carried out automatically, reduces the risk that operator is subject to x radiation x; Avoid the article of a range section to be all classified as disqualified goods simultaneously, caused waste.
2, the present invention can be installed on automatic production line, has accurate, reliable, efficiency advantages of higher, can improve whole product line efficiency, reduces the labor cost of enterprise.
3, the present invention adopts Linear Array CCD Image Sensor, the Array CCD sensor generally adopting with prior art is compared, Linear Array CCD Image Sensor is more suitable for detecting the object of uniform motion on production line, and Linear Array CCD Image Sensor size can do larger, so resolution ratio is higher.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of article identification and sorting equipment.
Fig. 2 is the flow chart of article identification and method for sorting.
Fig. 3 is for obtaining the flow chart of radioscopic image.
Fig. 4 is the flow chart of Analysis of X ray image.
Fig. 5 is for analyzing the flow chart of visible images.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
As shown in Figure 1, a kind of article identification of the present invention and sorting equipment, comprise main belt 1, disqualified goods conveyer belt 2, robot system and computer 3;
Described main belt 1 is positioned in same level and is parallel to each other with disqualified goods conveyer belt 2;
Described main belt 1 is provided with beam shielded enclosure 4, and the top of described beam shielded enclosure 4 is provided with x ray generator 5, and the bottom of described beam shielded enclosure 4 is provided with Linear Array CCD Image Sensor 6, and described Linear Array CCD Image Sensor 6 is connected with computer 3;
Described robot system comprises robot controller 7, be located at main belt 1 and disqualified goods conveyer belt 2 tops and perpendicular to the Y-axis chute 8 of direction of transfer, be located at a side of Y-axis chute 8 and be parallel to the X-axis chute 9 of direction of transfer; The intersection point of described X-axis chute 9 and described Y-axis chute 8 is the origin of coordinates of robot system; On described Y-axis chute, 8 are provided with slide block 10, are fixed with photographic camera 12 and manipulator 13 on described slide block 10; Described X-axis chute 9, Y-axis chute 8, manipulator 13 connect by cable series connection; Described X-axis chute 9 is connected with robot controller 7, computer 3 successively by cable; Described photographic camera 12, x ray generator 5 are connected with computer 3 by cable.
As shown in Figure 2, the article identification of said apparatus and method for sorting, comprise the following steps:
(1) article are lain against on the main belt of at the uniform velocity running, article enter beam shielded enclosure.
(2) after the X ray of ray generator transmitting penetrates article, by Linear Array CCD Image Sensor, received.
(3) Linear Array CCD Image Sensor is converted to the signal of reception data signal and is transferred to computer, and computer is converted to radioscopic image by data signal; Specifically comprise the following steps (as shown in Figure 3):
(3-1) X ray that Linear Array CCD Image Sensor basis receives, the one-dimension array that generation length is S, and constantly one-dimension array is sent to computer; Wherein, the design resolution that S is Linear Array CCD Image Sensor;
(3-2) computer receives after N one-dimension array, and being synthesized size is the two-dimensional x-ray images of N * S; Wherein N is arranged as required by user.
(4) radioscopic image is analyzed, identified disqualified goods, disqualified goods is carried out to mark, and calculate coordinate and the quantity of disqualified goods on radioscopic image; Specifically comprise the following steps (as shown in Figure 4):
(4-1) radioscopic image with threshold value th1, step (3-2) being obtained carries out binaryzation operation, draws the approximate region of each article, then expands, corrodes operation, obtains the accurate region of each article; By the accurate Region Segmentation of each article out, obtain the independent image of each article; Wherein threshold value th1 is set according to the characteristic of actual test item by user;
(4-2) each stand-alone item is carried out to mark, is respectively 1,2,3 ..., n;
(4-3) radioscopic image with threshold value th2, step (3-2) being obtained carries out binaryzation operation, judges whether to exist foreign matter region; If so, carry out step (4-4); If not, carry out step (4-5); Wherein threshold value th2 is set according to the characteristic of actual test item by user;
If (4-4) foreign matter district inclusion is in the accurate region of H article, judge that H article comprise foreign matter, are designated disqualified goods; Carry out step (4-6);
(4-5) independent image of each article and conforming articls image subtraction are compared, if subtract each other rear non-vanishingly, judge this article inner body positional fault or disappearance, be labeled as disqualified goods; If zero, be labeled as conforming articls; Wherein conforming articls image is preset by user; Carry out step (4-6);
(4-6) the quantity m of statistics disqualified goods, and calculate the coordinate of m disqualified goods on radioscopic image, be specially: establish the total T in the accurate region of K disqualified goods on radioscopic image
kindividual, be respectively point (P
1, Q
1), point (P
2, Q
2) ..., point (P
tk, Q
tk), K disqualified goods abscissa X on radioscopic image
k=∑ P
i/ T
k, ordinate Y
k=∑ Q
i/ T
k, i=1 wherein, 2 ..., T
k.
(5) computer reads the coordinate on radioscopic image of first disqualified goods;
(6) computer according to disqualified goods the coordinate on radioscopic image, calculate the coordinate of this disqualified goods of current time correspondence in robot system, and result of calculation is sent to robot controller, control manipulator and photographic camera and move to this disqualified goods top; Be specially:
The abscissa XR of K disqualified goods correspondence in robot system
k=L+X
k-Sp * t, ordinate YR
k=Y
k;
Wherein, L is the Y-axis of robot system and the distance of Linear Array CCD Image Sensor; Sp is the speed of conveyer belt; T is that Linear Array CCD Image Sensor is from starting to gather first group of one-dimension array to current time difference.
(7) photographic camera is taken visible images, and computer is according to the crawl position coordinate of visible images calculating machine hand; Specifically comprise the following steps (as shown in Figure 5):
(7-1) with threshold value th3, visible images is carried out to binaryzation operation, draw the approximate region of each article; Expand again, corrode operation, draw the accurate region of each article; Wherein threshold value th3 is set according to the characteristic of actual test item by user;
(7-2) calculate the coordinate of K disqualified goods on visible images, be specially:
If the total S in K disqualified goods accurate region on visible images
kindividual, be respectively point (P
1＇, Q
1＇), point (P
2＇, Q
2＇) ..., point (P
sk＇, Q
sk＇), K disqualified goods abscissa XV on visible images
k=∑ P '
i/ S
k, ordinate YV
k=∑ Q
i'/S
k, i=1 wherein, 2 ..., S
k;
(7-3) according to K disqualified goods, the coordinate on visible images calculates the coordinate of this disqualified goods of current time in robot system: K disqualified goods abscissa XT in robot system
k'=L+XV
k-Sp * t', ordinate YT
k'=YV
k, wherein t ＇ is that Linear Array CCD Image Sensor is from starting to gather first group of one-dimension array to the time difference of current time;
(7-4) the crawl position coordinate of calculating machine hand: judgement YR
k, YT
k＇, XR
k, XT
kwhether ＇ meets: abs (YR
k-YT
k＇) <th4 and abs (XR
k-XT
k＇ <th4; If so, the abscissa XRC of the crawl position of manipulator
k=XR
k, ordinate YRC
k=YR
k; If not, the abscissa XRC of the crawl position of manipulator
k=XT
k＇, ordinate YRC
k=YT
k＇; Wherein abs () is signed magnitude arithmetic(al), and threshold value th4 is set according to the characteristic of actual test item by user.
(8) computer is according to the crawl position coordinate of manipulator, and sending controling instruction, to robot controller, is controlled manipulator and captured disqualified goods and move to disqualified goods conveyer belt top, discharges disqualified goods.
(9) judge whether disqualified goods moves complete; If so, computer is controlled manipulator by robot controller and is resetted.
If not, computer reads the coordinate of next disqualified goods on radioscopic image, repeating step (6)～(9).
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not limited by the examples; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (3)
1. article identification and a method for sorting, is characterized in that, comprises the following steps:
(1) article are lain against on the main belt of at the uniform velocity running, article enter beam shielded enclosure;
(2) after the X ray of ray generator transmitting penetrates article, by Linear Array CCD Image Sensor, received;
(3) Linear Array CCD Image Sensor is converted to the signal of reception data signal and is transferred to computer, and computer is converted to radioscopic image by data signal;
(3-1) X ray that Linear Array CCD Image Sensor basis receives, the one-dimension array that generation length is S, and constantly one-dimension array is sent to computer; Wherein, the design resolution that S is Linear Array CCD Image Sensor;
(3-2) computer receives after N one-dimension array, and being synthesized size is the two-dimensional x-ray images of N * S; Wherein N is arranged as required by user;
(4) radioscopic image is analyzed, is identified disqualified goods, disqualified goods is carried out to mark, and calculate coordinate and the quantity of disqualified goods on radioscopic image:
(4-1) radioscopic image with threshold value th1, step (3-2) being obtained carries out binaryzation operation, draws the approximate region of each article, then expands, corrodes operation, obtains the accurate region of each article; By the accurate Region Segmentation of each article out, obtain the independent image of each article; Wherein threshold value th1 is set according to the characteristic of actual test item by user;
(4-2) each stand-alone item is carried out to mark, is respectively 1,2,3 ..., n;
(4-3) radioscopic image with threshold value th2, step (3-2) being obtained carries out binaryzation operation, judges whether to exist foreign matter region; If so, carry out step (4-4); If not, carry out step (4-5); Wherein threshold value th2 is set according to the characteristic of actual test item by user;
If (4-4) foreign matter district inclusion is in the accurate region of H article, judge that H article comprise foreign matter, are designated disqualified goods; Carry out step (4-6);
(4-5) independent image of each article and conforming articls image subtraction are compared, if subtract each other rear non-vanishingly, judge this article inner body positional fault or disappearance, be labeled as disqualified goods; If zero, be labeled as conforming articls; Carry out step (4-6); Wherein conforming articls image is preset by user;
(4-6) the quantity m of statistics disqualified goods, and calculate the coordinate of m disqualified goods on radioscopic image, be specially: establish the total T in the accurate region of K disqualified goods on radioscopic image
kindividual, be respectively point (P
1, Q
1), point (P
2, Q
2) ..., point (P
tk, Q
tk), k disqualified goods abscissa on radioscopic image
ordinate Y
k=∑ Q
i/ T
k, i=1 wherein, 2 ..., T
k;
(5) computer reads the coordinate of first disqualified goods on radioscopic image;
(6) computer according to disqualified goods the coordinate on radioscopic image, calculate the coordinate of this disqualified goods of current time correspondence in robot system, and result of calculation is sent to robot controller, control manipulator and photographic camera and move to this disqualified goods top;
(7) photographic camera is taken visible images, and computer is according to the crawl position coordinate of visible images calculating machine hand;
(8) computer is according to the crawl position coordinate of manipulator, and sending controling instruction, to robot controller, is controlled manipulator and captured disqualified goods and move to disqualified goods conveyer belt top, discharges disqualified goods;
(9) judge whether disqualified goods moves complete; If so, computer is controlled manipulator by robot controller and is resetted;
If not, computer reads the coordinate of next disqualified goods on radioscopic image, repeating step (6)～(9).
2. article identification according to claim 1 and method for sorting, is characterized in that, the coordinate of described this disqualified goods of calculating current time of step (6) correspondence in robot system, is specially:
The abscissa XR of K disqualified goods correspondence in robot system
k=L+X
k-Sp * t, ordinate YR
k=Y
k;
Wherein, L is the Y-axis of robot system and the distance of Linear Array CCD Image Sensor; Sp is the speed of conveyer belt; T is that Linear Array CCD Image Sensor is from starting to gather first group of one-dimension array to the time difference of current time.
3. article identification according to claim 2 and method for sorting, is characterized in that, the described computer of step (7), according to the coordinate of visible images calculating machine hand crawl position, specifically comprises the following steps:
(7-1) with threshold value th3, visible images is carried out to binaryzation operation, draw the approximate region of each article; Expand again, corrode operation, draw the accurate region of each article; Wherein threshold value th3 is set according to the characteristic of actual test item by user;
(7-2) calculate the coordinate of K disqualified goods on visible images, be specially:
If the total S in K disqualified goods accurate region on visible images
kindividual, be respectively point (P
1＇, Q
1＇), point (P
2＇, Q
2＇) ..., point (P
sk＇, Q
sk＇), K disqualified goods abscissa XV on visible images
k=∑ P '
i/ S
k, ordinate YV
k=∑ Q '
i/ S
k, i=1 wherein, 2 ..., S
k;
(7-3) according to K disqualified goods, the coordinate on visible images calculates the coordinate of this disqualified goods of current time in robot system: K disqualified goods abscissa XT in robot system
k'=L+XV
k-Sp *
t', ordinate YT
k'=YV
k, wherein t ＇ is that Linear Array CCD Image Sensor is from starting to gather first group of one-dimension array to the time difference of current time;
(7-4) the crawl position coordinate of calculating machine hand: judgement YR
k, YT
k＇, XR
k, XT
kwhether ＇ meets: abs (YR
k-YT
k＇) <th4 and abs (XR
k-XT
k＇) <th4; If so, the abscissa XRC of the crawl position of manipulator
k=XR
k, ordinate YRC
k=YR
k; If not, the abscissa XRC of the crawl position of manipulator
k=XT
k＇, ordinate YRC
k=YT
k＇; Wherein abs () is signed magnitude arithmetic(al), and threshold value th4 is set according to the characteristic of actual test item by user.
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|---|---|---|---|
| CN201110428039.XA CN103157607B (en) | 2011-12-19 | 2011-12-19 | Article identification and sorting device and method thereof |
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|---|---|---|---|
| CN201110428039.XA CN103157607B (en) | 2011-12-19 | 2011-12-19 | Article identification and sorting device and method thereof |
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| CN103157607B true CN103157607B (en) | 2014-07-23 |
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