CN103712568B - The reflective feature detection system of a kind of plastic pallet based on machine vision - Google Patents
The reflective feature detection system of a kind of plastic pallet based on machine vision Download PDFInfo
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- CN103712568B CN103712568B CN201310703149.1A CN201310703149A CN103712568B CN 103712568 B CN103712568 B CN 103712568B CN 201310703149 A CN201310703149 A CN 201310703149A CN 103712568 B CN103712568 B CN 103712568B
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Abstract
The reflective feature detection system and method for a kind of plastic pallet based on machine vision of the present invention, the hot spot that adopts pellicle mirror that the laser beam of plastic pallet reflection is formed collects on industrial camera, and utilize machine vision technique, center and irrelevance to hot spot are measured, to obtain the structural information of plastic pallet, for plastic pallet access shelf magazine provides quantitative basis, also provide quantitative basis for eliminating plastic pallet, native system automaticity is high, detection efficiency is high, the degree of 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.
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, carry out to entering the reflective feature of plastic pallet of shelf magazine 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, transport, 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, shape, the size of the plastic pallet that enters shelf magazine are had to higher requirement; Especially detect pallet shape by reflection light barrier, 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 ensure 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, pellicle mirror, limiter and industrial camera.
Described reflection light barrier Emission Lasers bundle, through the reflection of pellicle mirror, the detection zone of irradiated plastics pallet, reverberation returns to pellicle mirror, shines directly into the limiter at the pellicle mirror back side through pellicle mirror, and light, after amplitude limiting processing, enters industrial camera imaging;
Described amplitude limiter action is the reverberation 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 maximum;
Described industrial camera gathers reverberation luminance picture, and each pixel represents brightness with an integer value between 0-255;
Described pellicle mirror effect is the laser beam that reflective formula photoelectric tube sends, and makes the detection zone of laser beam vertical irradiation to plastic pallet; And to the light reflecting from plastic pallet detection zone, press straight line and see through pellicle mirror, be irradiated to limiter and the industrial camera at the pellicle mirror back side;
Described reflection light barrier uses 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: to the brightness value of each pixel, according to two different luminance threshold μ1And μ2Be divided into different brightness degrees, μ1<μ2, be less than μ1Pixel be details in a play not acted out on stage, but told through dialogues pixel, be greater than μ2Pixel 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 computer center's speck outline line1；
Step 1.6: the center M that calculates secondary speck outline line2；
Step 1.7: compare with field of view center position M, calculate irrelevance η=α | MM1|＋β·|MM2|, wherein | MM1| centered by the center M of speck outline line1With the distance of field of view center position M, | MM2| be the center M of secondary speck outline line2With the distance of field of view center position M, and α, β are weighted factor, rule of thumb determine;
Irrelevance is greater than threshold value Г, and reverberation 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 μ1And μ2Obtain three regions, be directly judged as plastic pallet malformation, in this case, reverberation 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 just to fill in system, overhaul, carry out after changing with changing the system units such as parts and position;
Step 2.1: be placed on plastic pallet detection zone position with standard reflecting plate, standard reflecting plate surfacing, the laser of vertical incidence can be 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, pellicle 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: the hot spot that adopts pellicle mirror that the laser beam of plastic pallet reflection is formed collects on industrial camera, and utilize machine vision technique, center and irrelevance to flare are measured, to obtain the structural information of plastic pallet, for plastic pallet access shelf magazine provides quantitative basis, also provide quantitative basis for eliminating plastic pallet, native system automaticity is high, detection efficiency is high, the degree of 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.
Brief description of the drawings
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 structure chart 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.
Detailed description of the invention
With reference to accompanying drawing, describe the present invention below.
As shown in Figure 1, photodetector system structure chart 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 conveyer 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, reverberation is reflected formula photoelectric tube (101) again and receives, in the time that reverberation exceedes certain light intensity, think plastic pallet (100) structural integrity, otherwise do not receive reverberation, or reverberation 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 reflective feature detection system construction drawing of plastic pallet that the present invention is based on machine vision, system architecture comprises: reflection light barrier (101), pellicle mirror (201), limiter (203) and industrial camera (204).
Described reflection light barrier (101) Emission Lasers bundle, through the reflection of pellicle mirror (201), the detection zone (200) of irradiated plastics pallet (100), reverberation returns to pellicle mirror (201), shine directly into the limiter (203) at pellicle mirror (201) back side through pellicle mirror (201), light, after amplitude limiting processing, enters industrial camera (204) imaging;
Described limiter (203) effect is the reverberation light intensity that decay enters industrial camera (204), avoid industrial camera (204) imaging image afterwards because exposure intensity is excessive, and cause image pixel value to be saturated to maximum;
Described industrial camera (204) gathers reverberation plot of light intensity picture, and each pixel represents light intensity with an integer value between 0-255;
Described pellicle mirror (201) effect is the laser beam that reflective formula photoelectric tube (101) sends, and makes the detection zone (200) of laser beam vertical irradiation to plastic pallet (100); And to the light reflecting from plastic pallet (100) detection zone (200), press straight line and see through pellicle mirror (201), be irradiated to limiter (203) and the industrial camera (204) at pellicle mirror (201) back side;
Described reflection light barrier (101) uses and shelf magazine plastic pallet (100) detects identical reflection light barrier (101), 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 contour (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 (1)
1. the reflective feature detection system of the plastic pallet based on machine vision, is characterized in that:
System architecture comprises: reflection light barrier, pellicle mirror, limiter and industrial camera;
Described reflection light barrier Emission Lasers bundle, through the reflection of pellicle mirror, the detection of irradiated plastics palletDistrict, reverberation returns to pellicle mirror, shines directly into the limiter at the pellicle mirror back side, light warp through pellicle mirrorAfter amplitude limiting processing, enter industrial camera imaging;
Described amplitude limiter action be decay enter industrial camera reverberation light intensity, avoid industrial camera imaging itAfter image because exposure intensity is excessive, and cause image pixel value to be saturated to maximum;
Described industrial camera gathers reverberation luminance picture, and each pixel is with an integer between 0-255Value represents brightness;
Described pellicle mirror effect is the laser beam that reflective formula photoelectric tube sends, and makes laser beam vertical irradiationTo the detection zone of plastic pallet; And to the light reflecting from plastic pallet detection zone, see through by straight linePellicle mirror, is irradiated to limiter and the industrial camera at the pellicle mirror back side;
Described reflection light barrier uses and shelf magazine plastic pallet detects identical reflection light barrier, effectBe Emission Lasers bundle, testing result directly reflects the requirement that plastic pallet detects;
Adopt machine vision method to detect the reflective feature of plastic pallet, 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: to the brightness value of each pixel, according to two different luminance threshold μ1And μ2Be divided into notSame brightness degree, μ1＜μ2, be less than μ1Pixel be details in a play not acted out on stage, but told through dialogues pixel, be greater than μ2Pixel centered by speckPixel, marginal pixel is secondary speck pixel; Like this, luminance component image is divided into threeIndividual region: 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 computer center's speck outline line1；
Step 1.6: the center M that calculates secondary speck outline line2；
Step 1.7: compare with field of view center position M, calculate irrelevance η=α | MM1|+β·|MM2|，Wherein | MM1| centered by the center M of speck outline line1With the distance of field of view center position M, | MM2| forThe center M of secondary speck outline line2With the distance of field of view center position M, and α, β are weighted factor,Rule of thumb determine;
Irrelevance is greater than threshold value Г, and reverberation 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 reflectedFormula photoelectric tube receive, thereby 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, not can by shelf magazine refuse into,This plastic pallet of Ying Xuyong;
Step 1.8: if in step 1.3, cannot be by two luminance threshold μ1And μ2Obtain three regions,Directly be judged as plastic pallet malformation, in this case, reverberation departs from seriously, bright spot of view-field center withoutMethod falls into industrial camera visual field, should eliminate this plastic pallet;
Two, trimming process
Trimming process be just fill in system, overhaul, with changing the system units such as parts and position changes itAfter carry out;
Step 2.1: be placed on plastic pallet detection zone position with standard reflecting plate, standard reflecting plate surfacing,The laser of vertical incidence can be 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, pellicle 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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| CN104535576B (en) * | 2014-11-26 | 2017-01-25 | 浙江中烟工业有限责任公司 | Front-light-source plastic pallet damage detection apparatus and method |
| CN105547180B (en) * | 2015-11-30 | 2018-06-15 | 浙江工商大学 | A kind of reflection type optical fiber beam plastics logistics tray bending degree detecting device |
| CN105537141B (en) * | 2015-11-30 | 2017-09-29 | 浙江工商大学 | A kind of plastic pallet mechanical strength detecting system |
| CN107608736B (en) * | 2017-09-29 | 2021-07-13 | 惠州Tcl移动通信有限公司 | Method for dynamically presenting object frame, storage medium and intelligent terminal |
| 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 |
| 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 |