CN103712568A - Machine vision-based plastic pallet light reflective feature detection system and method - Google Patents
Machine vision-based plastic pallet light reflective feature detection system and method Download PDFInfo
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- CN103712568A CN103712568A CN201310703149.1A CN201310703149A CN103712568A CN 103712568 A CN103712568 A CN 103712568A CN 201310703149 A CN201310703149 A CN 201310703149A CN 103712568 A CN103712568 A CN 103712568A
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Abstract
The invention relates to a machine vision-based plastic pallet light reflective feature detection system and a machine vision-based plastic pallet light reflective feature detection method. According to the machine vision-based plastic pallet light reflective feature detection system and method of the invention, a semi-permeable mirror is utilized to acquire a light spot which is formed by laser beams reflected by a plastic pallet onto an industrial camera; a machine vision technology is utilized to measure the central position and deviation of the light spot such that the structure information of the plastic pallet can be obtained; and therefore, quantitative basis can be provided for the entrance of the plastic pallet to an elevated library, and quantitative basis can be also provided for the elimination of the plastic pallet. The machine vision-based plastic pallet light reflective feature detection system is advantageous in high-degree automation, high efficiency and high accuracy. The machine vision-based plastic pallet light reflective feature detection system and method of the invention provide a technological means for sustainability detection of mass circulated logistics plastic pallets and have a broad application prospect.
Description
Technical field
The present invention relates to the reflective feature detection system and method for a kind of plastic pallet based on machine vision, relate in particular to employing machine vision method, to entering the reflective feature of plastic pallet of shelf magazine, carry out the system and method automatically detecting, belong to logistics checkout equipment technical field.
Background technology
Logistics flat pallet is the standardized important carriers of modern logistics, is widely used in the logistics progresses such as Storage of Goods, carrying, transportation, and especially, in full-automatic overhead stereo warehouse, logistics flat pallet has more high, the safe and reliable feature of efficiency.
Plastics are as the making material of logistics flat pallet, and advantage is: light, durable, shape is customizable, and material can be recycled, and in full-automatic overhead tiered warehouse facility, are widely used.
But, because full-automatic overhead stereo warehouse automaticity is high, to entering shape, the size of the plastic pallet of shelf magazine, have higher requirement; Especially by reflection light barrier, detect pallet shape, require strict.
Because the high light color of the plastic pallet having is brighter, or the distortion of plastic pallet photoelectric tube irradiated plane, causes reflection light barrier cannot receive plastic pallet surface reflection light, and then refusal plastic pallet enters shelf magazine, cause that shelf magazine automatically moves and stops, and has reduced shelf magazine performance.
Therefore, the reflective feature of each plastic pallet is regularly detected, to guarantee in normal use procedure, plastic pallet can detect by reflection light barrier, reduce plastic pallet by the rate of refusing, improve shelf magazine stream time, thereby improve shelf magazine operational efficiency.
Summary of the invention
The object of the present invention is to provide the reflective feature detection system of a kind of plastic pallet based on machine vision, system architecture comprises: reflection light barrier, semi-permeable mirror, limiter and industrial camera.
Described reflection light barrier Emission Lasers bundle, through the reflection of semi-permeable mirror, the detection zone of irradiated plastics pallet, reflected light returns to semi-permeable mirror, shines directly into the limiter at the semi-permeable mirror back side through semi-permeable mirror, and light, after amplitude limiting processing, enters industrial camera imaging;
Described amplitude limiter action is the reflected light light intensity that decay enters industrial camera, avoids industrial camera imaging image afterwards because exposure intensity is excessive, and causes image pixel value to be saturated to maximal value;
Described industrial camera gathers reflected light luminance picture, and each pixel represents brightness with a round values between 0-255;
Described semi-permeable mirror effect is the laser beam that reflective formula photoelectric tube sends, and makes laser beam vertical irradiation to the detection zone of plastic pallet; And to the light reflecting from plastic pallet detection zone, press straight line and see through semi-permeable mirror, be irradiated to limiter and the industrial camera at the semi-permeable mirror back side;
Described reflection light barrier is used and shelf magazine plastic pallet detects identical reflection light barrier, and effect is Emission Lasers bundle, and testing result directly reflects the requirement that plastic pallet detects.
Use the reflective feature detection system of plastic pallet of the present invention, the present invention also provides a kind of plastic pallet based on machine vision reflective characteristic detection method, and step comprises:
One, testing process
Step 1.1: industrial camera gathers a width view field image;
Step 1.2: view field image is converted into luminance component image;
Step 1.3: the brightness value to each pixel, according to two different luminance threshold μ
1and μ
2be divided into different brightness degrees, μ
1< μ
2, be less than μ
1pixel be details in a play not acted out on stage, but told through dialogues pixel, be greater than μ
2pixel centered by speck pixel, marginal pixel is secondary speck pixel; Like this, luminance component image is divided into three regions: details in a play not acted out on stage, but told through dialogues, secondary speck region and bright spot of view-field center region;
Step 1.4: find out trizonal outline line: bright spot of view-field center outline line and secondary speck outline line;
Step 1.5: the center M of computing center's speck outline line
1;
Step 1.6: the center M that calculates secondary speck outline line
2;
Step 1.7: compare with field of view center position M, calculate irrelevance η=α | MM
1|+β | MM
2|, wherein | MM
1| centered by the center M of speck outline line
1with the distance of field of view center position M, | MM
2| be the center M of secondary speck outline line
2with the distance of field of view center position M, and α, β are weighting factor, rule of thumb determine;
Irrelevance is greater than threshold value Г, and reflected light departs from seriously, and plastic pallet likely exists malformation, in this case, laser beam irradiation back reflection on plastic pallet of reflection light barrier transmitting cannot be reflected formula photoelectric tube and receive, thus by shelf magazine refuse into, should eliminate this plastic pallet;
Irrelevance is less than threshold value Г, and plastic pallet be in normally continuing with state, can not refused into, this plastic pallet of Ying Xuyong by shelf magazine;
Step 1.8: if in step 1.3, cannot be by two luminance threshold μ
1and μ
2obtain three regions, be directly judged as plastic pallet malformation, in this case, reflected light departs from seriously, and bright spot of view-field center cannot fall into industrial camera visual field, should eliminate this plastic pallet.
Two, trimming process
Trimming process is in system, just to fill, overhaul, with changing the system units such as parts and position, carry out after changing;
Step 2.1: with standard reflecting plate, be placed on position, plastic pallet detection zone, standard reflecting plate surfacing, the laser energy of vertical incidence is by vertical reflection;
Step 2.2: the step 1.1-1.4 that carries out testing process;
Step 2.3: adjust position or the direction of reflection light barrier, semi-permeable mirror, limiter and industrial camera, make in industrial camera field of view center position;
After trimming process completes, detection system enters normal operating condition.
In sum, the significant technique effect of the present invention is: adopt semi-permeable mirror that the formed hot spot of laser beam of plastic pallet reflection is collected on industrial camera, and utilize machine vision technique, the center of flare and irrelevance are measured, to obtain the structural information of plastic pallet, for plastic pallet access shelf magazine provides quantitative basis, also for eliminating plastic pallet, provide quantitative basis, native system automaticity is high, detection efficiency is high, accuracy is high, for detecting technological means be provided in continuing by property of circulation plastics logistics flat pallet in enormous quantities, have broad application prospects.
Accompanying drawing explanation
Fig. 1 is the plastic pallet of the reflective feature detection system of a kind of plastic pallet based on machine vision of the present invention photodetector system structural drawing while entering shelf magazine;
Fig. 2 is the reflective feature detection system construction drawing of a kind of plastic pallet based on machine vision of the present invention;
Fig. 3 is the reflective hot spot figure of plastic pallet of a kind of reflective characteristic detection method of plastic pallet based on machine vision of the present invention;
Fig. 4 is the schematic diagram of a kind of reflective characteristic detection method of plastic pallet based on machine vision of the present invention.
Embodiment
With reference to accompanying drawing, describe the present invention below.
As shown in Figure 1, photodetector system structural drawing when the plastic pallet that the present invention is based on the reflective feature detection system of plastic pallet of machine vision enters shelf magazine, plastic pallet (100) is upper mobile at travelling belt (102), before entering shelf magazine, need to carry out reflection light barrier (101) detects, the effect of reflection light barrier (101) is the detection zone of Emission Lasers irradiated plastics pallet (100), laser is reflected, reflected light is reflected formula photoelectric tube (101) again and receives, when reflected light surpasses certain light intensity, think plastic pallet (100) structural integrity; Otherwise do not receive reflected light, or reflected light light intensity too a little less than, show plastic pallet (100) structure existing problems: structure disappearance causes laser to reflect; Or malformation, laser reflection direction is oppositely returned not according to incident direction, but reflexes to other directions, and reflection light barrier (101) can't detect;
As shown in Figure 2, the present invention is based on the reflective feature detection system construction drawing of plastic pallet of machine vision, system architecture comprises: reflection light barrier (101), semi-permeable mirror (201), limiter (203) and industrial camera (204).
Described reflection light barrier (101) Emission Lasers bundle, reflection through semi-permeable mirror (201), the detection zone (200) of irradiated plastics pallet (100), reflected light returns to semi-permeable mirror (201), through semi-permeable mirror (201), shine directly into the limiter (203) at semi-permeable mirror (201) back side, light, after amplitude limiting processing, enters industrial camera (204) imaging;
Described limiter (203) effect is the reflected light light intensity that decay enters industrial camera (204), avoids industrial camera (204) imaging image afterwards because exposure intensity is excessive, and causes image pixel value to be saturated to maximal value;
Described industrial camera (204) gathers reflected light plot of light intensity picture, and each pixel represents light intensity with a round values between 0-255;
Described semi-permeable mirror (201) effect is the laser beam that reflective formula photoelectric tube (101) sends, and makes laser beam vertical irradiation to the detection zone (200) of plastic pallet (100); And to the light reflecting from plastic pallet (100) detection zone (200), press straight line and see through semi-permeable mirror (201), be irradiated to limiter (203) and the industrial camera (204) at semi-permeable mirror (201) back side;
Described reflection light barrier (101) is used and shelf magazine plastic pallet (100) detects identical reflection light barrier (101), and effect is Emission Lasers bundle, and testing result directly reflects the requirement that plastic pallet (100) detects;
As shown in Figure 3, the reflective hot spot of the plastic pallet visual field schematic diagram that industrial camera of the present invention obtains, in industrial camera visual field (300), bright spot of view-field center (301) is the most concentrated part of reflection laser energy, inspection center's speck (301) departs from the distance of industrial camera visual field (300) central point, and the shape facility of brightness level line (302), judgement reflection laser departs from situation, to determine whether plastic pallet detection zone exists the problems such as deformation;
As shown in Figure 4, the present invention is based on the schematic diagram of the reflective characteristic detection method of plastic pallet of machine vision, industrial camera visual field (300) is divided into details in a play not acted out on stage, but told through dialogues (403), secondary speck, three regions of bright spot of view-field center, form respectively secondary speck outline line (402) and bright spot of view-field center outline line (401), the secondary speck center (406) that two outline lines are calculated and bright spot of view-field center center (405), in order to the departure degree between assessment and field of view center position (404).
Claims (2)
1. the reflective feature detection system of the plastic pallet based on machine vision, is characterized in that:
System architecture comprises: reflection light barrier, semi-permeable mirror, limiter and industrial camera;
Described reflection light barrier Emission Lasers bundle, through the reflection of semi-permeable mirror, the detection zone of irradiated plastics pallet, reflected light returns to semi-permeable mirror, shines directly into the limiter at the semi-permeable mirror back side through semi-permeable mirror, and light, after amplitude limiting processing, enters industrial camera imaging;
Described amplitude limiter action is the reflected light light intensity that decay enters industrial camera, avoids industrial camera imaging image afterwards because exposure intensity is excessive, and causes image pixel value to be saturated to maximal value;
Described industrial camera gathers reflected light luminance picture, and each pixel represents brightness with a round values between 0-255;
Described semi-permeable mirror effect is the laser beam that reflective formula photoelectric tube sends, and makes laser beam vertical irradiation to the detection zone of plastic pallet; And to the light reflecting from plastic pallet detection zone, press straight line and see through semi-permeable mirror, be irradiated to limiter and the industrial camera at the semi-permeable mirror back side;
Described reflection light barrier is used and shelf magazine plastic pallet detects identical reflection light barrier, and effect is Emission Lasers bundle, and testing result directly reflects the requirement that plastic pallet detects.
2. the reflective characteristic detection method of the plastic pallet based on machine vision, is characterized in that:
Concrete steps comprise:
One, testing process
Step 1.1: industrial camera gathers a width view field image;
Step 1.2: view field image is converted into luminance component image;
Step 1.3: the brightness value to each pixel, according to two different luminance threshold μ
1and μ
2be divided into different brightness degrees, μ
1< μ
2, be less than μ
1pixel be details in a play not acted out on stage, but told through dialogues pixel, be greater than μ
2pixel centered by speck pixel, marginal pixel is secondary speck pixel; Like this, luminance component image is divided into three regions: details in a play not acted out on stage, but told through dialogues, secondary speck region and bright spot of view-field center region;
Step 1.4: find out trizonal outline line: bright spot of view-field center outline line and secondary speck outline line;
Step 1.5: the center M of computing center's speck outline line
1;
Step 1.6: the center M that calculates secondary speck outline line
2;
Step 1.7: compare with field of view center position M, calculate irrelevance η=α | MM
1|+β | MM
2|, wherein | MM
1| centered by the center M of speck outline line
1with the distance of field of view center position M, | MM
2| be the center M of secondary speck outline line
2with the distance of field of view center position M, and α, β are weighting factor, rule of thumb determine;
Irrelevance is greater than threshold value Г, and reflected light departs from seriously, and plastic pallet likely exists malformation, in this case, laser beam irradiation back reflection on plastic pallet of reflection light barrier transmitting cannot be reflected formula photoelectric tube and receive, thus by shelf magazine refuse into, should eliminate this plastic pallet;
Irrelevance is less than threshold value Г, and plastic pallet be in normally continuing with state, can not refused into, this plastic pallet of Ying Xuyong by shelf magazine;
Step 1.8: if in step 1.3, cannot be by two luminance threshold μ
1and μ
2obtain three regions, be directly judged as plastic pallet malformation, in this case, reflected light departs from seriously, and bright spot of view-field center cannot fall into industrial camera visual field, should eliminate this plastic pallet;
Two, trimming process
Trimming process is in system, just to fill, overhaul, with changing the system units such as parts and position, carry out after changing;
Step 2.1: with standard reflecting plate, be placed on position, plastic pallet detection zone, standard reflecting plate surfacing, the laser energy of vertical incidence is by vertical reflection;
Step 2.2: the step 1.1-1.4 that carries out testing process;
Step 2.3: adjust position or the direction of reflection light barrier, semi-permeable mirror, limiter and industrial camera, make in industrial camera field of view center position;
After trimming process completes, detection system enters normal operating condition.
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| CN104535576A (en) * | 2014-11-26 | 2015-04-22 | 浙江中烟工业有限责任公司 | Front-light-source plastic pallet damage detection apparatus and method |
| CN105547180A (en) * | 2015-11-30 | 2016-05-04 | 浙江工商大学 | Flexibility detection device of reflective optical fiber bundle plastic logistics pallet |
| CN105537141A (en) * | 2015-11-30 | 2016-05-04 | 浙江工商大学 | Plastic tray mechanical strength detecting system |
| CN107608736A (en) * | 2017-09-29 | 2018-01-19 | 惠州Tcl移动通信有限公司 | Method, storage medium and the intelligent terminal of object framework is presented in a kind of dynamic |
| CN114056716A (en) * | 2021-12-02 | 2022-02-18 | 无锡感知金服物联网科技有限公司 | Logistics tray monitoring system and method based on deformation detection |
| CN114959915A (en) * | 2022-06-14 | 2022-08-30 | 绵阳师范学院 | Device for improving growth speed and utilization rate of KDP crystal and growth method thereof |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114959915A (en) * | 2022-06-14 | 2022-08-30 | 绵阳师范学院 | Device for improving growth speed and utilization rate of KDP crystal and growth method thereof |
| CN114959915B (en) * | 2022-06-14 | 2023-09-08 | 绵阳师范学院 | Device for improving growth speed and utilization rate of KDP crystal and growth method thereof |
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Effective date of registration: 20201231 Address after: No.477 Yongle Road, Wangdian Town, Xiuzhou District, Jiaxing City, Zhejiang Province Patentee after: ZHEJIANG OUTUO ELECTRICAL Co.,Ltd. Address before: 310018, No. 18 Jiao Tong Street, Xiasha Higher Education Park, Hangzhou, Zhejiang Patentee before: ZHEJIANG GONGSHANG University |