CN103157607A - Article identification and sorting device and method thereof - Google Patents
Article identification and sorting device and method thereof Download PDFInfo
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- CN103157607A CN103157607A CN201110428039XA CN201110428039A CN103157607A CN 103157607 A CN103157607 A CN 103157607A CN 201110428039X A CN201110428039X A CN 201110428039XA CN 201110428039 A CN201110428039 A CN 201110428039A CN 103157607 A CN103157607 A CN 103157607A
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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 the 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 eaten by mistake by the consumer, cause the food security accident.2, parts machining and foundry enterprise, product are in processing or casting process, and inside may entrained air, impurity etc., and perhaps inner parts installation site mistake or disappearance, all can cause product defective, therefore must detect before dispatching from the factory.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 can't be processed.
At present, be widely used in the x-ray detection system of production line still take range estimation as main, the workman with the naked eye judges product quality, generally have following problem: the product quantity that detects on (1) production line is very huge, operating personnel carry out single scissors and paste for a long time, easily cause visual fatigue, the situations such as undetected, flase drop occur; (2) foreign matter in some product is very little, is difficult for being realized by human eye on the screen that rolls fast; (3) operating personnel are difficult to process the detection that needs quantize, and such as carrying out interiors of products parts installation sites when detecting, operating personnel's subjective factor accounts for than great, affects homogeneity of product; When (4) bulk cargo being detected, be difficult to by hand when wherein substandard product being arranged when detecting that mode only sorts out underproof that product, release streamline but the bulk cargo of a range section all is classified as defective work, 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 based on radioscopic image and sorting equipment are provided, realization is carried out identification automatically and sorting to the article on production line, and have accurately, reliable, efficient advantages of higher, purpose of the present invention also with the article identification that a kind of said apparatus is provided and method for sorting.
Purpose of the present invention is achieved through the following technical solutions:
A kind of article identification and sorting equipment comprise main belt, disqualified goods conveyer belt, robot system and computer;
Described main belt and disqualified goods conveyer belt are positioned on 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) received by Linear Array CCD Image Sensor after the X ray of ray generator emission penetrates article;
(3) Linear Array CCD Image Sensor is converted to the signal that receives data signal and is transferred to computer, and computer is converted to radioscopic image with data signal;
(4) radioscopic image is analyzed, identified disqualified goods, disqualified goods is carried out 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 above this disqualified goods;
(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 is controlled manipulator crawl disqualified goods and moves to above the disqualified goods conveyer belt to robot controller, discharges disqualified goods;
(9) judge whether disqualified goods moves complete; If 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 that receives data signal and is transferred to computer, and computer is converted to radioscopic image with data signal, specifically comprises the following steps:
(3-1) Linear Array CCD Image Sensor is according to the X ray that receives, and producing length is the one-dimension array of S, and constantly one-dimension array is sent to computer; Wherein, S is the design resolution of Linear Array CCD Image Sensor;
After (3-2) computer receives N one-dimension array, it is synthesized size be the two-dimensional x-ray images of N * S; Wherein N is arranged as required by the user.
Step (4) is described to be analyzed radioscopic image, identifies disqualified goods, and disqualified goods is carried out mark, and calculates coordinate and the quantity of disqualified goods on radioscopic image, specifically comprises the following steps:
The radioscopic image that (4-1) with threshold value th1, step (3-2) is obtained carries out the binaryzation operation, draws the approximate region of each article, then expands, corrodes operation, obtains the accurate zone of each article; With 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 the user;
(4-2) each stand-alone item is carried out mark, is respectively 1,2,3 ..., n;
The radioscopic image that (4-3) with threshold value th2, step (3-2) is obtained carries out the binaryzation operation, judges whether to exist foreign matter regional; If 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 the user;
If (4-4) the foreign matter district inclusion is in the accurate zone of H article, judge that H article comprise foreign matter, are designated disqualified goods; Carry out step (4-6);
(4-5) independent image and the conforming articls image subtraction of each article are compared, if subtract each other rear non-vanishingly, judge this article inner body positional fault or disappearance, be labeled as defective work; If zero, be labeled as conforming articls; Carry out step (4-6); Wherein the conforming articls image is preset by the user;
(4-6) the quantity m of statistics disqualified goods, and calculate the coordinate of m disqualified goods on radioscopic image, be specially: establish K the defective work total T in the accurate zone on radioscopic image
kIndividual, be respectively point (P
1, Q
1), point (P
2, Q
2) ..., point (P
Tk, Q
Tk), K the abscissa X of defective work 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 beginning to gather first group of one-dimension array to the time difference of current time.
The described computer of step (7) specifically comprises the following steps according to the coordinate of visible images calculating machine hand crawl position:
(7-1) with threshold value th3, visible images is carried out the binaryzation operation, draw the approximate region of each article; Expand again, corrode operation, draw the accurate zone of each article; Wherein threshold value th3 is set according to the characteristic of actual test item by the user;
(7-2) calculate the coordinate of K disqualified goods on visible images, be specially:
If the accurate zone of K defective work on visible images has S
kIndividual, be respectively point (P
1', Q
1'), point (P
2', Q
2') ..., point (P
Sk', Q
Sk'), K the abscissa XV of defective work 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 at the coordinate of this disqualified goods of coordinate Calculation current time in robot system on visible images: K the abscissa XT ' of defective work in robot system
k=L+XV
k-Sp * t ', ordinate TT '
k=YV
k, wherein t ' is that Linear Array CCD Image Sensor is from beginning 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
k' whether satisfy: abs (YR
k-YT
k')＜th4 and abs (XR
k-XT
k')＜th4; If, the abscissa XRC of the crawl position of manipulator
k=XR
k, ordinate YRC
k=YR
kIf 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 the user.
Compared with prior art, the present invention has the following advantages and beneficial effect:
1, thereby the present invention can check the article inside that disperses to be positioned over production line and sort out defective object, and whole process is carried out automatically, reduces the risk that the operator is subject to x radiation x; Avoided simultaneously the article of a range section all are classified as disqualified goods, caused waste.
2, the present invention can be installed on automatic production line, has accurate, reliable, efficient advantages of higher, can improve whole product line efficient, reduces the labor cost of enterprise.
3, the present invention adopts Linear Array CCD Image Sensor, compare with the Array CCD sensor that prior art generally adopts, Linear Array CCD Image Sensor is more suitable for detecting the object of uniform motion on production line, and the Linear Array CCD Image Sensor size can do larger, so resolution ratio is higher.
Description of drawings
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 on 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) received by Linear Array CCD Image Sensor after the X ray of ray generator emission penetrates article.
(3) Linear Array CCD Image Sensor is converted to the signal that receives data signal and is transferred to computer, and computer is converted to radioscopic image with data signal; Specifically comprise the following steps (as shown in Figure 3):
(3-1) Linear Array CCD Image Sensor is according to the X ray that receives, and producing length is the one-dimension array of S, and constantly one-dimension array is sent to computer; Wherein, S is the design resolution of Linear Array CCD Image Sensor;
After (3-2) computer receives N one-dimension array, it is synthesized size be the two-dimensional x-ray images of N * S; Wherein N is arranged as required by the user.
(4) radioscopic image is analyzed, identified disqualified goods, disqualified goods is carried out mark, and calculate coordinate and the quantity of disqualified goods on radioscopic image; Specifically comprise the following steps (as shown in Figure 4):
The radioscopic image that (4-1) with threshold value th1, step (3-2) is obtained carries out the binaryzation operation, draws the approximate region of each article, then expands, corrodes operation, obtains the accurate zone of each article; With 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 the user;
(4-2) each stand-alone item is carried out mark, is respectively 1,2,3 ..., n;
The radioscopic image that (4-3) with threshold value th2, step (3-2) is obtained carries out the binaryzation operation, judges whether to exist foreign matter regional; If 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 the user;
If (4-4) the foreign matter district inclusion is in the accurate zone of H article, judge that H article comprise foreign matter, are designated disqualified goods; Carry out step (4-6);
(4-5) independent image and the conforming articls image subtraction of each article are compared, if subtract each other rear non-vanishingly, judge this article inner body positional fault or disappearance, be labeled as defective work; If zero, be labeled as conforming articls; Wherein the conforming articls image is preset by the 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 K the defective work total T in the accurate zone on radioscopic image
kIndividual, be respectively point (P
1, Q
1), point (P
2, Q
2) ..., point (P
Tk, Q
Tk), K the abscissa X of defective work 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 above this disqualified goods; 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 beginning 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 the binaryzation operation, draw the approximate region of each article; Expand again, corrode operation, draw the accurate zone of each article; Wherein threshold value th3 is set according to the characteristic of actual test item by the user;
(7-2) calculate the coordinate of K disqualified goods on visible images, be specially:
If the accurate zone of K defective work on visible images has S
kIndividual, be respectively point (P
1', Q
1'), point (P
2', Q
2') ..., point (P
Sk', Q
Sk'), K the abscissa XV of defective work 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 at the coordinate of this disqualified goods of coordinate Calculation current time in robot system on visible images: K the abscissa XT ' of defective work 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 beginning 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
k' whether satisfy: abs (YR
k-YT
k')＜th4 and abs (XR
k-XT
k')＜th4; If, the abscissa XRC of the crawl position of manipulator
k=XR
k, ordinate YRC
k=YR
kIf 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 the user.
(8) computer is according to the crawl position coordinate of manipulator, and sending controling instruction is controlled manipulator crawl disqualified goods and moves to above the disqualified goods conveyer belt to robot controller, discharges disqualified goods.
(9) judge whether disqualified goods moves complete; If 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 the better 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 the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (6)
1. an article identification and sorting equipment, is characterized in that, comprises main belt, disqualified goods conveyer belt, robot system and computer;
Described main belt and disqualified goods conveyer belt are positioned on 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.
2. install as claimed in claim 1 article identification and the method for sorting of realizing, it is characterized in that, 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) received by Linear Array CCD Image Sensor after the X ray of ray generator emission penetrates article;
(3) Linear Array CCD Image Sensor is converted to the signal that receives data signal and is transferred to computer, and computer is converted to radioscopic image with data signal;
(4) radioscopic image is analyzed, identified disqualified goods, disqualified goods is carried out 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 above this disqualified goods;
(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 is controlled manipulator crawl disqualified goods and moves to above the disqualified goods conveyer belt to robot controller, discharges disqualified goods;
(9) judge whether disqualified goods moves complete; If 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).
3. article identification according to claim 2 and method for sorting, it is characterized in that, the described Linear Array CCD Image Sensor of step (3) is converted to the signal that receives data signal and is transferred to computer, and computer is converted to radioscopic image with data signal, specifically comprises the following steps:
(3-1) Linear Array CCD Image Sensor is according to the X ray that receives, and producing length is the one-dimension array of S, and constantly one-dimension array is sent to computer; Wherein, S is the design resolution of Linear Array CCD Image Sensor;
After (3-2) computer receives N one-dimension array, it is synthesized size be the two-dimensional x-ray images of N * S; Wherein N is arranged as required by the user.
4. article identification according to claim 3 and method for sorting, it is characterized in that, step (4) is described to be analyzed radioscopic image, identify disqualified goods, disqualified goods is carried out mark, and calculate coordinate and the quantity of disqualified goods on radioscopic image, specifically comprise the following steps:
The radioscopic image that (4-1) with threshold value th1, step (3-2) is obtained carries out the binaryzation operation, draws the approximate region of each article, then expands, corrodes operation, obtains the accurate zone of each article; With 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 the user;
(4-2) each stand-alone item is carried out mark, is respectively 1,2,3 ..., n;
The radioscopic image that (4-3) with threshold value th2, step (3-2) is obtained carries out the binaryzation operation, judges whether to exist foreign matter regional; If 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 the user;
If (4-4) the foreign matter district inclusion is in the accurate zone of H article, judge that H article comprise foreign matter, are designated disqualified goods; Carry out step (4-6);
(4-5) independent image and the conforming articls image subtraction of each article are compared, if subtract each other rear non-vanishingly, judge this article inner body positional fault or disappearance, be labeled as defective work; If zero, be labeled as conforming articls; Carry out step (4-6); Wherein the conforming articls image is preset by the user;
(4-6) the quantity m of statistics disqualified goods, and calculate the coordinate of m disqualified goods on radioscopic image, be specially: establish K the defective work total T in the accurate zone on radioscopic image
kIndividual, be respectively point (P
1, Q
1), point (P
2, Q
2) ..., point (P
Tk, Q
Tk), k the abscissa X of defective work on radioscopic image
k=∑ P
i/ T
k, ordinate Y
k=∑ Q
i/ T
k, i=1 wherein, 2 ..., T
k
5. article identification according to claim 4 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 beginning to gather first group of one-dimension array to the time difference of current time.
6. article identification according to claim 5 and method for sorting, is characterized in that, the described computer of step (7) specifically comprises the following steps according to the coordinate of visible images calculating machine hand crawl position:
(7-1) with threshold value th3, visible images is carried out the binaryzation operation, draw the approximate region of each article; Expand again, corrode operation, draw the accurate zone of each article; Wherein threshold value th3 is set according to the characteristic of actual test item by the user;
(7-2) calculate the coordinate of K disqualified goods on visible images, be specially:
If the accurate zone of K defective work on visible images has S
kIndividual, be respectively point (P
1', Q
1'), point (P
2', Q
2') ..., point (P
Sk', Q
Sk'), K the abscissa XV of defective work 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 at the coordinate of this disqualified goods of coordinate Calculation current time in robot system on visible images: K the abscissa XT ' of defective work 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 beginning 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
k' whether satisfy: abs (YR
k-YT
k')＜th4 and abs (XR
k-XT
k')＜th4; If, the abscissa XRC of the crawl position of manipulator
k=XR
k, ordinate YRC
k=YR
kIf 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 the 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 CN103157607B (en) | 2014-07-23 |
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| CN103639128A (en) * | 2013-12-20 | 2014-03-19 | 中云智慧（北京）科技有限公司 | Radioactive substance detecting and sorting equipment and method |
| CN104338683A (en) * | 2013-07-31 | 2015-02-11 | 昕芙旎雅有限公司 | Image processing device used for material feeder and the material feeder |
| CN104923759A (en) * | 2015-07-17 | 2015-09-23 | 昆山莱捷有色金属有限公司 | Product printing device |
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