CN101653289A - Intelligent positioning method of tobacco bundles - Google Patents
Intelligent positioning method of tobacco bundles Download PDFInfo
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- CN101653289A CN101653289A CN200910144964A CN200910144964A CN101653289A CN 101653289 A CN101653289 A CN 101653289A CN 200910144964 A CN200910144964 A CN 200910144964A CN 200910144964 A CN200910144964 A CN 200910144964A CN 101653289 A CN101653289 A CN 101653289A
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Abstract
The invention relates to an intelligent positioning method of tobacco bundles, which can rectify the position of the tobacco bundles, lighten the bundle-placing load of workers and improve the labor productivity of the workers after the bundles are placed by the workers. The tobacco stalks can be precisely positioned when the tobacco bundles are cut, and the precise cutting of leaves and stalks isachieved. The cut tobacco leaves and tobacco stalks are respectively conveyed into different devices for processing, the leaves and the stalks are precisely cut, and the problems of material blockage, uneven material flow, more shutdowns, low effective operation efficiency, and the like as the tobacco bundles are wound to each other and devices are wound in threshing are solved.
Description
Technical field
The present invention relates to the tobacco production field, especially in the tobacco production link tobacco leaf separate the time intelligent positioning method of tobacco bundles.
Background technology
To be tobacco leaf be converted to an arrangement and the preparatory process of industrial production raw material from agricultural product in tobacco redrying, is important link in the whole processing of tobacco.Tobacco redrying is to form on the basis of cured tobacco production (just roasting); tobacco redrying simultaneously is as an industry and progressively develop into scale and industrialization; be inseparable with the industrialization of fairly large tobacco leaf commercialization and cigarette, these all are that redrying industry produces and important condition of development.
Tobacco leaf is separated handle, is the important step of tobacco redrying, along with improving constantly of tobacco production equipment automatization level, during more novel machine for loosening handle puts into production.When processing longer tobacco leaf in the beating and double roasting process for solving; tobacco leaf twine mutually and with equipment twine mutually cause the pretreatment section putty and follow-up sub-material is inhomogeneous, disorderly closedown often, problem such as the effective operation of apparatus rate is low, generally all adopt the technology that the middle part cuts off produced from cigarette.Manually put a position inaccuracy for overcoming the workman, cause cigarette, require further improvement an equipment of separating the inaccurate shortcoming of cutting position.
Area, the length ratio of tobacco leaf and offal part thereof are important indicators of quality of tobacco.Obtained the tobacco leaf area in the past, and mainly finished by artificial calculating, calculation of complex, workload are big.On tobacco leaf processing is in the past separated production line, the workman is placed in cigarette on the conveyer belt to opsition dependent, by cutting knife the cigarette handle is cut into offal and tobacco leaf two parts, the position of cutting knife cutting, put the determining positions of handle fully by the workman, lack science, in addition, in the production line operation, for enhancing productivity, the speed that the workman puts is very fast, is difficult to guarantee pendulum the reasonability of position, thereby has reduced the tobacco leaf crudy.About the problem that tobacco leaf accurately cuts, domestic still do not have before this about invention, and the vacancy of this technology has not only strengthened labor strength, reduces labor productivity, has limited the tobacco leaf crudy more to a certain extent.
Summary of the invention
The purpose of this invention is to provide a kind of intelligent positioning method of tobacco bundles; alleviate workman's pendulum burden to reach; improve workman's labor productivity; improve the cutting cigarette the time offal position, location accuracy; the accurately cutting of realization leaf, stalk, and the purpose that overcomes problems such as cigarette is inhomogeneous mutual putty, the mass flow that twines and cause with the equipment winding when beating leaf, disorderly closedown is many, equipment effective operation rate is low.
In order to achieve the above object, the technical solution adopted in the present invention is:
Intelligent positioning method of tobacco bundles is characterized in that: may further comprise the steps:
(1) static tobacco leaf sample measuring system is set, comprise detecting box, the top of the base plate of described detecting box is provided with constant light source and planar array type video camera, be electrically connected with supporting with it numeral on the described planar array type video camera and catch card, also be provided with computer, described computer is caught card with described numeral and is electrically connected;
(2) lay even brightness blank sheet of paper on base plate carries out unevenness and proofreaies and correct, and the output image that produces to remedy the inhomogeneous of constant light source illumination is in the amplitude difference of diverse location, and the image that makes the planar array type video camera obtain in real time is evenly clear; Use the planar array type video camera that the base plate that is placed with blank sheet of paper is taken, and picture signal is caught card by numeral transfer to computer, set up base plate feature database about features such as base plate color, brightness at computer;
(3) on base plate, put into the tobacco leaf sample, use the planar array type video camera that tobacco leaf is taken, and the picture signal of tobacco leaf sample is caught card by numeral transfer to computer, image to the tobacco leaf sample in computer carries out binary conversion treatment, and compare to distinguish tobacco leaf sample and base plate with base plate feature database that step (2) is set up, isolate the view data of tobacco leaf sample, and view data is simplified;
(4) image to the tobacco leaf sample after the binaryzation in the step (3) carries out the translation processing in computer, the camera acquisition picture centre is inconsistent with the size of pixel all around, the binary image of tobacco leaf sample is moved to the center, help reducing measure error, the tobacco leaf sample can be put by arbitrarily angled in detecting box, in computer, adopt image rotation algorithm, find on the tobacco leaf sample image distance bright spot farthest to determine the tobacco leaf sample length, utilize the product of pixel unit area and tobacco leaf image number of pixels to obtain the area of tobacco leaf sample at last;
(5) utilize the area of the resulting tobacco leaf sample of step (4), with reference to the actual offal and the area ratio of tobacco leaf, in computer by calculating the length ratio of offal and tobacco leaf in the tobacco leaf sample, and get multi-disc tobacco leaf sample and measure, obtain the offal and the tobacco leaf length ratio of a plurality of tobacco leaf samples, last in computer by calculating the mean value of offal and tobacco leaf length ratio;
(6) dynamic cigarette is set navigation system, described conveyer belt top is provided with constant light source and linear array formula video camera, described conveyer belt end is provided with cutting knife, be electrically connected with image pick-up card on the described linear array formula video camera, industrial computer is set, described industrial computer is electrically connected with described image pick-up card, also be provided with mechanical navigation system, described mechanical navigation system comprises AC servo motor, with the supporting AC servo driver of AC servo motor, the MPC08 motion control card that is electrically connected with AC servo driver, a plurality of manipulators by AC servo machinery driving, described MPC08 motion control card also is electrically connected with described industrial computer, described manipulator is provided with the proximity sensor, and described proximity sensor is electrically connected with described MPC08 motion control card;
(7) at first under the static state of conveyer belt, in the camera coverage scope, spread blank sheet of paper, carrying out unevenness proofreaies and correct, the output image that produces to remedy the inhomogeneous of constant light source illumination is in the amplitude difference of diverse location, open conveyer belt, do not place cigarette handle on the conveyer belt this moment, use linear array formula video camera that conveyer belt is taken, and the image that photographs transferred to computer through image pick-up card, in computer, set up the conveyer belt feature database of features such as color about conveyer belt, brightness;
(8) cigarette handle to be positioned is placed on the conveyer belt, the cigarette handle is along with conveyer belt, use linear array formula video camera that the handle of the cigarette on the conveyer belt is scanned, image information after the scanning transfers to computer by image pick-up card, in computer, cigarette is carried out binary conversion treatment to image, and the feature database of the conveyer belt of setting up with step (7) compares to distinguish cigarette handle and conveyer belt, the view data of separating the smoke handle, and simplified image data, by handling the view data of cigarette handle, obtain the number of cigarette handle, the width of offal in the single cigarette handle, the maximum length of the center of single cigarette handle and single cigarette handle, in computer, adopt two buffer memorys, the even numbers group, and to the cigarette that collects image carry out state analysis and, because the randomness of scan image, obtain the problem of the view data of half cigarette handle to avoid;
(9) start AC servo driver, AC servo motor and MPC08 motion control card, and position of manipulator is carried out initialization, the control manipulator makes manipulator catch the cigarette handle;
(10) cigarette that is scanned according to the distance and the linear array formula video camera of linear array formula video camera and cutting knife in computer is delaying time in the hardwood of image, calculate the delay time of manipulator location, the mean value of offal and tobacco leaf length ratio in the tobacco leaf that the cigarette that is reached according to step (8) obtains maximum length and step (5), calculate the position coordinates that manipulator is put the cigarette handle, the center of the cigarette handle that obtains according to step (8), calculate the propelling position coordinates of manipulator, and with the delay time of tool hand location, cigarette is transferred to the MPC08 motion control card to the position coordinates of putting and the motion control parameters such as propelling position coordinates of manipulator, computer is by the MPC08 motion control card, the control manipulator is located enforcement to cigarette;
(11) manipulator with cigarette after putting and being advanced to correct position, start cutting knife to cigarette cutting.
Described intelligent positioning method of tobacco bundles is characterized in that: in the described step (1), the planar array type video camera adopts the DH-SV1300FC digital color video camera, and computer adopts and grinds the very color LCDCN industrial computer of magnificent TPC6000-158.
Described intelligent positioning method of tobacco bundles is characterized in that: in the described step (6), linear array formula video camera adopts BASLER L301kc model line configuration video camera, and image pick-up card adopts
CL1 image pick-up card, industrial computer adopt and grind magnificent AWS6000-17017 " very color LCD industrial computer.
Described intelligent positioning method of tobacco bundles is characterized in that: the constant light source in described step (1) and the step (6) adopts the light source of ballast and fluorescent tube combination.
The intelligent positioning method of tobacco bundles that the present invention relates to can be proofreaied and correct cigarette the position after the workman puts handle, alleviate workman's pendulum burden, improves workman's labor productivity.The cutting cigarette the time can accurately locate the offal position, realize the accurately cutting of leaf, stalk.Tobacco leaf after the cutting is sent into different equipment respectively with offal and is processed; accurately cutting apart of leaf, stalk, problems such as cigarette is inhomogeneous mutual putty, the mass flow that twines and cause with the equipment winding when beating leaf, disorderly closedown is many, equipment effective operation rate is low have been overcome.
Description of drawings
Fig. 1 is the static tobacco leaf sample of the present invention measuring system structured flowchart.
Fig. 2 is that the dynamic cigarette of the present invention is the navigation system structured flowchart.
Fig. 3 is a mechanical navigation system structured flowchart of the present invention.
Fig. 4 is the method flow block diagram of static measurement tobacco leaf sample of the present invention.
Fig. 5 is the method flow block diagram of Kinematic Positioning cigarette handle of the present invention.
Fig. 6 is a mechanical navigation system operation principle block diagram of the present invention.
The specific embodiment
Intelligent positioning method of tobacco bundles may further comprise the steps:
(1) as Fig. 1.Static tobacco leaf sample measuring system is set, comprise detecting box, the top of the base plate of described detecting box is provided with constant light source and planar array type video camera, constant light source adopts the light source of ballast and fluorescent tube combination, the planar array type video camera adopts the DH-SV1300FC digital color video camera, be electrically connected with supporting with it numeral on the described planar array type video camera and catch card, also be provided with computer, computer adopts and grinds the very color LCD industrial computer of magnificent TPC6000-158, and described computer is caught card with described numeral and is electrically connected; The tobacco leaf sample reflects and is caught in the planar array type video camera under the irradiation of light source, catches card through numeral and is converted to the digital type image signal, writes calculator memory.Numeral is caught card and is played the contact effect of computer and planar array type video camera simultaneously, and can be provided with and revise the parameter of planar array type video camera.Computer is the core of static tobacco leaf sample measuring system by programme-control.
Ordinary light source, observing on picture monitor through the planar array type video camera can the violent rolling of generation.In addition, inhomogeneous because of light illumination, producing output image also can be different in the amplitude of diverse location.The light source that the present invention adopts high frequency ballast and fluorescent tube to combine, by this dc source converter technique, basically in monitor, do not observe and roll and jitter phenomenon, formed approximate a no shadow evenly, stablize, flicker free and bright enough IMAQ field of illumination.
Planar array type video camera and numeral are caught card and are used for catching image and obtain view data, and send view data to computer.Be better distinguish tobacco leaf and background, use DH-SV1300FC digital color video camera and supporting numeral to catch card, have characteristics such as high-resolution, high accuracy, fine definition, low noise, color rendition are good, the assurance view data is effectively gathered.
Computer adopts and grinds the very color LCD industrial computer of magnificent TPC6000-158, supports the touch-screen control mode, disposes higher and stable performance, can satisfy the real-time processing requirements of static measurement.
In addition, the detecting box base plate adopts blue, low reflecting rate material to make, and helps improving the contrast of material and background, and reduces the reflective influence that image is handled of background.
(2) as Fig. 4.Lay even brightness blank sheet of paper on base plate carries out unevenness and proofreaies and correct, and the output image that produces to remedy the inhomogeneous of constant light source illumination is in the amplitude difference of diverse location, and the image that makes the planar array type video camera obtain in real time is evenly clear; Use the planar array type video camera that base plate is taken, and picture signal is caught card by numeral transfer to computer, set up base plate feature database about features such as base plate color, brightness at computer;
(3) on base plate, put into the tobacco leaf sample, use the planar array type video camera that tobacco leaf is taken, and the picture signal of tobacco leaf sample is caught card by numeral transfer to computer, image to the tobacco leaf sample in computer carries out binary conversion treatment, and compare to distinguish tobacco leaf sample and base plate with base plate feature database that step (2) is set up, isolate the view data of tobacco leaf sample, and view data is simplified;
(4) image to the tobacco leaf sample after the binaryzation in the step (3) carries out the translation processing in computer, the camera acquisition picture centre is inconsistent with the size of pixel all around, the binary image of tobacco leaf sample is moved to the center, help reducing measure error, the tobacco leaf sample can be put by arbitrarily angled in detecting box, in computer, adopt image rotation algorithm, find on the tobacco leaf sample image distance bright spot farthest to determine the tobacco leaf sample length, utilize the product of pixel unit area and tobacco leaf image number of pixels to obtain the area of tobacco leaf sample at last;
(5) utilize the area of the resulting tobacco leaf sample of step (4), with reference to the actual offal and the area ratio of tobacco leaf, in computer by calculating the length ratio of offal and tobacco leaf in the tobacco leaf sample, and get multi-disc tobacco leaf sample and measure, obtain the offal and the tobacco leaf length ratio of a plurality of tobacco leaf samples, last in computer by calculating the mean value of offal and tobacco leaf length ratio;
(6) as Fig. 2, Fig. 3.Dynamic cigarette is set navigation system, comprise conveyer belt, described conveyer belt top is provided with constant light source and linear array formula video camera, constant light source adopts the light source of high frequency ballast and fluorescent tube combination, linear array formula video camera adopts BASLER L301kc model line configuration video camera, described conveyer belt end is provided with cutting knife, is electrically connected with image pick-up card on the described linear array formula video camera, and image pick-up card adopts
The CL1 image pick-up card, industrial computer is set, industrial computer adopts and grinds magnificent AWS6000-17017 " very color LCD industrial computer; described industrial computer is electrically connected with described image pick-up card; also be provided with mechanical positioner; described mechanical navigation system comprises AC servo motor; with the supporting AC servo driver of AC servo motor; the MPC08 motion control card that is electrically connected with AC servo driver, a plurality of manipulators by AC servo machinery driving, described MPC08 motion control card also is electrically connected with described industrial computer, described manipulator is provided with the proximity sensor, and described proximity sensor is electrically connected with described MPC08 motion control card; Cigarette is under the irradiation of constant light source, reflects and is caught in linear array formula video camera, catches card through numeral and is converted to the digital type image signal, writes the industrial computer internal memory.Numeral is caught the contact that card plays industrial computer and linear array formula video camera simultaneously, is provided with and revises linear array formula camera parameters.Industrial computer is that dynamic cigarette is the core of navigation system by programme-control.
Light illumination inhomogeneous can cause the amplitude difference of output image at diverse location.In setting up the process of material library, the excursion of signal amplitude has increased the volume of corresponding material library; The stability decreases of light illumination can cause picture amplitude to shake in time.The generation reason of this phenomenon mainly is the influence of light source frequency, and for example the 50Hz fluorescent lamp is observed on picture monitor through video camera violent rolling is taken place.Therefore, light illuminating unit requires to have more uniform illumination.Simultaneously, the frequency interferences when owing to interchange system being detected is also selected the direct current supply light source for use.The light source that the present invention adopts high frequency ballast and fluorescent tube to combine, by this dc source converter technique, basically in monitor, do not observe and roll and jitter phenomenon, formed approximate a no shadow evenly, stablize, flicker free and bright enough IMAQ field of illumination.
The BASLER L301kc model line configuration video camera that adopts German BASLER company to produce, it has gathered all universal designs for digital camera of German BASLER company.This Tri-linear video camera provides a kind of lower cost solution for the industrial user realizes multi-color cord scanning application.Selecting large-scale nikon lens for use, is the video camera of 2048 (2K) for the length of sensor, is unlikely to cover or influence the normal images sensitization of sensor, produces significant dim, the uneven bad imaging effect of gray scale; The data output format of its 8bit RGB can conveniently carry out data storage and processing to image; Video camera can expose by computer and control and the method for synchronization, greatly facilitates the automation control to system.
Employing produced by U.S. EPIX company, has Base Camera Link interface specification
The CL1 image pick-up card, image pick-up card sends the image of camera acquisition to computer for further processing.The every row of this capture card is gathered maximum 65535 row of the every frame of maximum 4,096 pixels, system's actual row design line scanning 2000 pixels, and line period 0.8ms satisfies the real-time requirement of IMAQ.
Industrial computer adopts and grinds magnificent AWS6000-17017, and " very color LCD industrial computer, 32 RGBs show that the decorum can detect cigarette in real time state, support the touch-screen control mode.Computer system is finished man-machine interaction, parameter setting, cigarette functions such as state Intelligent Identify and control mechanical control units.Higher and the stable performance of this industrial computer configuration can be satisfied the real-time processing requirements of static measurement.
Mechanical navigation system mainly is made up of AC servo motor, AC servo driver, motion control card, manipulator and proximity sensor, and its general structure is referring to Fig. 3.Industrial computer is passed to motion control card with parameters such as advance distance and delay times, and control card is passed to servo-driver with the form of pulse with positional parameter, and AC servo motor connects manipulator and finishes cigarette the location.
Cigarette is fast positioning requirements speed, precision is high.AC servo control accuracy height, characteristic is higher frequently for low frequency characteristic and square, and every performance all is better than stepper motor.Adopt AC servo, help accurate, the real-time location of cigarette handle.
The MPC08 motion control card provides powerful motion control function library, and can make full use of the PC existing resources and control the motor movement pattern.The highest output frequency of MPC08 motion control card can reach 4.0MHz, helps accurate, the real-time location of cigarette handle.
Manipulator is the positioner of directly the cigarette handle being operated, and adopts the proximity sensor that manipulator is carried out spacing control, avoids manipulator overshoot range of movement.Adopt noncontacting proximity sensor, reduced factors such as mechanical friction and distortion, action is stable.
(7) as Fig. 5, Fig. 6.Utilization is carried out unevenness at conveyer belt upper berth blank sheet of paper and is proofreaied and correct, the output image that produces to remedy the inhomogeneous of constant light source illumination is in the amplitude difference of diverse location, open conveyer belt, do not place cigarette handle on the conveyer belt this moment, use linear array formula video camera that conveyer belt is taken, and the image that photographs transferred to computer through image pick-up card, in computer, set up the conveyer belt feature database of features such as color about conveyer belt, brightness;
(8) cigarette handle to be positioned is placed on the conveyer belt, the cigarette handle is along with conveyer belt, use linear array formula video camera that the handle of the cigarette on the conveyer belt is scanned, image information after the scanning transfers to computer by image pick-up card, in computer, cigarette is carried out binary conversion treatment to image, and the feature database of the conveyer belt of setting up with step (7) compares to distinguish cigarette handle and conveyer belt, the view data of separating the smoke handle, and simplified image data, by handling the view data of cigarette handle, obtain the number of cigarette handle, the width of offal in the single cigarette handle, the maximum length of the center of single cigarette handle and single cigarette handle, in computer, adopt two buffer memorys, the even numbers group, and to the cigarette that collects image carry out state analysis and, because the randomness of scan image, obtain the problem of the view data of half cigarette handle to avoid;
(9) start AC servo driver, AC servo motor and MPC08 motion control card, and position of manipulator is carried out initialization, the control manipulator makes manipulator catch the cigarette handle;
(10) cigarette that is scanned according to the distance and the linear array formula video camera of linear array formula video camera and cutting knife in computer is delaying time in the hardwood of image, calculate the delay time of manipulator location, the mean value of offal and tobacco leaf length ratio in the tobacco leaf that maximum length and step (5) is obtained according to the resulting cigarette of step (8), calculate the position coordinates that manipulator is put the cigarette handle, the center of the cigarette handle that obtains according to step (8), calculate the propelling position coordinates of manipulator, and with the delay time of manipulator location, cigarette is transferred to the MPC08 motion control card to the position coordinates of putting and the motion control parameters such as propelling position coordinates of manipulator, computer is by the MPC08 motion control card, the control manipulator is located enforcement to cigarette;
(11) manipulator with cigarette after putting and being advanced to correct position, start cutting knife to cigarette cutting.
Claims (4)
1, intelligent positioning method of tobacco bundles is characterized in that: may further comprise the steps:
(1) static tobacco leaf sample measuring system is set, comprise detecting box, the top of the base plate of described detecting box is provided with constant light source and planar array type video camera, be electrically connected with supporting with it numeral on the described planar array type video camera and catch card, also be provided with computer, described computer is caught card with described numeral and is electrically connected;
(2) lay even brightness blank sheet of paper on base plate carries out unevenness and proofreaies and correct, and the output image that produces to remedy the inhomogeneous of constant light source illumination is in the amplitude difference of diverse location, and the image that makes the planar array type video camera obtain in real time is evenly clear; Use the planar array type video camera that the base plate that is placed with blank sheet of paper is taken, and picture signal is caught card by numeral transfer to computer, set up base plate feature database about features such as base plate color, brightness at computer;
(3) on base plate, put into the tobacco leaf sample, use the planar array type video camera that tobacco leaf is taken, and the picture signal of tobacco leaf sample is caught card by numeral transfer to computer, image to the tobacco leaf sample in computer carries out binary conversion treatment, and compare to distinguish tobacco leaf sample and base plate with base plate feature database that step (2) is set up, isolate the view data of tobacco leaf sample, and view data is simplified;
(4) image to the tobacco leaf sample after the binaryzation in the step (3) carries out the translation processing in computer, the camera acquisition picture centre is inconsistent with the size of pixel all around, the binary image of tobacco leaf sample is moved to the center, help reducing measure error, the tobacco leaf sample can be put by arbitrarily angled in detecting box, in computer, adopt image rotation algorithm, find on the tobacco leaf sample image distance bright spot farthest to determine the tobacco leaf sample length, utilize the product of pixel unit area and tobacco leaf image number of pixels to obtain the area of tobacco leaf sample at last;
(5) utilize the area of the resulting tobacco leaf sample of step (4), with reference to the actual offal and the area ratio of tobacco leaf, in computer by calculating the length ratio of offal and tobacco leaf in the tobacco leaf sample, and get multi-disc tobacco leaf sample and measure, obtain the offal and the tobacco leaf length ratio of a plurality of tobacco leaf samples, last in computer by calculating the mean value of offal and tobacco leaf length ratio;
(6) dynamic cigarette is set navigation system, comprise conveyer belt, described conveyer belt top is provided with constant light source and linear array formula video camera, described conveyer belt end is provided with cutting knife, be electrically connected with image pick-up card on the described linear array formula video camera, industrial computer is set, described industrial computer is electrically connected with described image pick-up card, also be provided with mechanical navigation system, described mechanical navigation system comprises AC servo motor, with the supporting AC servo driver of AC servo motor, the MPC08 motion control card that is electrically connected with AC servo driver, a plurality of manipulators by AC servo machinery driving, described MPC08 motion control card also is electrically connected with described industrial computer, described manipulator is provided with the proximity sensor, and described proximity sensor is electrically connected with described MPC08 motion control card;
(7) at first under the static state of conveyer belt, in the camera coverage scope, spread blank sheet of paper, carrying out unevenness proofreaies and correct, the output image that produces to remedy the inhomogeneous of constant light source illumination is in the amplitude difference of diverse location, open conveyer belt, do not place cigarette handle on the conveyer belt this moment, use linear array formula video camera that conveyer belt is taken, and the image that photographs transferred to computer through image pick-up card, in computer, set up the conveyer belt feature database of features such as color about conveyer belt, brightness;
(8) cigarette handle to be positioned is placed on the conveyer belt, the cigarette handle is along with conveyer belt, use linear array formula video camera that the handle of the cigarette on the conveyer belt is scanned, image information after the scanning transfers to computer by image pick-up card, in computer, cigarette is carried out binary conversion treatment to image, and the feature database of the conveyer belt of setting up with step (7) compares to distinguish cigarette handle and conveyer belt, the view data of separating the smoke handle, and simplified image data, by handling the view data of cigarette handle, obtain the number of cigarette handle, the width of offal in the single cigarette handle, the maximum length of the center of single cigarette handle and single cigarette handle, in computer, adopt two buffer memorys, the even numbers group, and the cigarette that collects carried out state analysis and processing to image, because the randomness of scan image, obtain the problem of the view data of half cigarette handle to avoid;
(9) start AC servo driver, AC servo motor and MPC08 motion control card, and position of manipulator is carried out initialization, the control manipulator makes manipulator catch the cigarette handle;
(10) cigarette that is scanned according to the distance and the linear array formula video camera of linear array formula video camera and cutting knife in computer is delaying time in the hardwood of image, calculate the delay time of manipulator location, the mean value of offal and tobacco leaf length ratio in the tobacco leaf that maximum length and step (5) is obtained according to the resulting cigarette of step (8), calculate the position coordinates that manipulator is put the cigarette handle, the center of the cigarette handle that obtains according to step (8), calculate the propelling position coordinates of manipulator, and with the delay time of tool hand location, cigarette is transferred to the MPC08 motion control card to the position coordinates of putting and the motion control parameters such as propelling position coordinates of manipulator, computer is by the MPC08 motion control card, the control manipulator is located enforcement to cigarette;
(11) manipulator with cigarette after putting and being advanced to correct position, cutting knife to cigarette cutting.
2, intelligent positioning method of tobacco bundles according to claim 1 is characterized in that: in the described step (1), the planar array type video camera adopts the DH-SV1300FC digital color video camera, and computer adopts and grinds the very color LCD industrial computer of magnificent TPC6000-158.
3, intelligent positioning method of tobacco bundles according to claim 1 is characterized in that: in the described step (6), linear array formula video camera adopts BASLER L301kc model line configuration video camera, and image pick-up card adopts
CL1 image pick-up card, industrial computer adopt and grind magnificent AWS6000-170 17 " very color LCD industrial computer.
4, intelligent positioning method of tobacco bundles according to claim 1 is characterized in that: the constant light source in described step (1) and the step (6) adopts the light source of high frequency ballast and fluorescent tube combination.
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| CN2033598U (en) * | 1988-03-31 | 1989-03-08 | 周智诚 | Apparatus for cutting tip of tobaco leaves |
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