CN105427318A - Intelligent automatic steel ball counting apparatus and intelligent automatic steel ball counting method - Google Patents
Intelligent automatic steel ball counting apparatus and intelligent automatic steel ball counting method Download PDFInfo
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- CN105427318A CN105427318A CN201510834048.7A CN201510834048A CN105427318A CN 105427318 A CN105427318 A CN 105427318A CN 201510834048 A CN201510834048 A CN 201510834048A CN 105427318 A CN105427318 A CN 105427318A
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- steel ball
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M11/00—Counting of objects distributed at random, e.g. on a surface
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0006—Industrial image inspection using a design-rule based approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30242—Counting objects in image
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- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
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- Quality & Reliability (AREA)
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Abstract
The invention provides an intelligent automatic steel ball counting apparatus, so that steel balls can be accurately counted, the counting error of the steel balls is reduced, unnecessary material and labor wastes are reduced, and the production efficiency is improved. The apparatus comprises a counting plate. The apparatus is characterized in that an industrial camera is arranged on the counting plate and connected with a computer control system; and the computer control system counts the steel balls on the counting plate, collected by the industrial camera. The invention furthermore provides an intelligent automatic steel ball counting method carried out by adopting the intelligent automatic steel ball counting apparatus.
Description
Technical field
The present invention relates to the technical field that steel ball manufactures, be specially a kind of steel ball intelligence robot scaler and automatic counting method thereof.
Background technology
Domestic and international factories for steel balls is weight method to the method for counting of below the small ball's diameter 10mm at present, and the weight of the steel ball that namely weighs with scale is to determine the quantity of steel ball.Because steel ball surface scribbles the error of rust preventive oil and artificial reading, counting error rate be in this way approximately 3/1000ths, cause unnecessary waste, the low and manpower of at substantial by the method counting efficiency.
Summary of the invention
For the problems referred to above, the invention provides a kind of steel ball intelligence robot scaler and automatic counting method thereof, accurately can count steel ball, reduce the counting error of steel ball, decrease unnecessary material and the waste of manpower, improve production efficiency.
Its technical scheme is such: a kind of steel ball intelligence robot scaler, it comprises counting scale, it is characterized in that: described counting scale is provided with industrial camera, described industrial camera connects computer control system, and described computer control system carries out counting process to the steel ball on the described counting scale of industrial camera collection.
It is further characterized in that: described counting scale porch is provided with steel ball autocompensation installation, described counting scale porch is provided with material roller and compensating roller, described upper material roller is connected stepper motor respectively with described compensating roller, described upper material roller periphery is furnished with feeding groove, described compensating roller periphery is furnished with storing single hole, and described storing single hole can only store a steel ball.
Present invention also offers a kind of steel ball intelligence automatic counting method, it is characterized in that: comprise the steps:
1, same specification steel ball enters counting scale;
2, industrial camera takes the image of steel ball in counting scale; ,
3, then by computing machine, the image of steel ball in shooting counting scale is processed, calculate the quantity of steel ball in counting scale.
It is further characterized in that: the effective coverage determining to comprise whole steel ball image in counting scale, image outside effective coverage all replaces to black, binary conversion treatment is carried out to the image of steel ball, utilize steel ball brighter than counting scale, counting scale is the characteristic of black, namely steel ball and counting scale have larger gray scale difference, a binaryzation gray threshold is set, pixel gray-scale value gray-scale value being more than or equal to threshold value replaces with 255, in vain, the gray-scale value that gray-scale value is less than the pixel of threshold value replaces with 0, black, the white portion that after selecting a suitable binaryzation gray threshold can guarantee binaryzation, each steel ball is formed is not connected, count for the white area of steel ball image in the rear image of binaryzation, the threshold value of a suitable white portion pixel size is set, determine that when the number of pixels of a white portion is more than or equal to this threshold value this is the image that a steel ball is formed, namely a steel ball is defined as, think that when the number of pixels of a white portion is less than this threshold value this is the image that interference is formed, namely not steel ball, by the quantity that the sum of the steel ball image determined is exactly steel ball in dish, same specification steel ball enters in counting scale by upper material roller, after computer system processor, calculate the quantity of steel ball in counting scale, steel ball estimated amount is carried out by upper material roller feed supplement, again by the single feed supplement of compensating roller, ensure that the accurate metering of requirement in counting scale.
In said structure of the present invention, counting scale is provided with industrial camera, industrial camera connects computer control system, computer control system carries out counting process to the steel ball on the described counting scale of industrial camera collection, can accurately count steel ball, reduce the counting error of steel ball, decrease unnecessary material and the waste of manpower, improve production efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of steel ball intelligence of the present invention robot scaler.Embodiment
As shown in Figure 1, a kind of steel ball intelligence robot scaler, it comprises counting scale 1, counting scale 1 is provided with industrial camera 2, industrial camera 2 connects computer control system 3, and the steel ball on the counting scale 1 of computer control system 3 pairs of industrial camera collections carries out counting process.
Counting scale 1 porch is provided with material roller 4 and compensating roller 5; upper material roller 4 is connected stepper motor 6-1,6-2 respectively with compensating roller 5; upper material roller 4 periphery is furnished with feeding groove 7; compensating roller 5 periphery is furnished with storing single hole 8, and storing single hole 8 can only store a steel ball, and said apparatus constitutes a kind of compensation system; in fact also has the compensation system of other modes in prior art; as long as reach the accurate metering ensureing steel ball, meeting point reload request of the steel ball that quantity is fixed, is all protection scope of the present invention.
The order arranging material roller 4 and compensating roller 5 is the accurate metering ensureing steel ball, and its accurate metering method is as follows:
1, such as want accurate metering 4000 steel balls, assuming that each hopper of upper material roller at most can 50, splendid attire, upper material roller has 20 hoppers of circumferential decile, and upper material roller often turns around maximum 1000, then Driving Stepping Motor 6-1 rotates 4 circles.Because each hopper of upper material roller not necessarily fills with 50, so the steel ball in counting scale should be less than or equal to 4000;
2, counted by Computer Image Processing, calculate the steel ball quantity in now counting scale.If 4000 deduct steel ball quantity in dish be more than or equal to 50, then by this difference divided by 50, obtain a numerical value.Round this numerical value fractions omitted point, then Driving Stepping Motor 1 rotates the groove number rounding numerical value;
3, skill number dish is counted again, if difference is still more than or equal to 50, then repeat step 2;
If 4 differences are less than 50, then control step motor 6-2 drives compensating roller to carry out single compensation, compensates ball number and is difference.Compensating roller is made up of the storing single hole 8 of circumferential decile, and often step can only be scored a goals;
5, because the rate of goals of compensating roller not necessarily reaches 100%, so again count after compensating, then step 4 is repeated less than 4000, until number reaches 4000.
By above-mentioned compensation system, Steel ball package to a concrete quantity, point reload request of steel ball can be met, avoids the quantitative error produced in Steel ball package process.
Present invention also offers a kind of steel ball intelligence automatic counting method, comprise the steps:
1, same specification steel ball enters counting scale, and the arrangement mode of steel ball is not limit, and can be arbitrary arrangement.But must ensure in counting scale it is one deck steel ball, in the height direction cannot be overlapping.In industrial camera shooting counting scale, the image of steel ball, is then processed image by computing machine;
2, industrial camera takes the image of steel ball in counting scale;
3, then by computing machine, the image of steel ball in the counting scale of shooting is processed, calculate the quantity of steel ball in counting scale, determine to comprise the effective coverage of whole steel ball image in counting scale, the image outside effective district all replaces to black: carry out binary conversion treatment to the image of steel ball.Utilize steel ball to be black than the bright counting scale of counting scale, characteristic, namely steel ball and counting scale have larger gray scale difference, arrange a binaryzation gray threshold, pixel gray-scale value gray-scale value being more than or equal to threshold value replaces with 255, in vain, the gray-scale value that gray-scale value is less than the pixel of threshold value replaces with 0, black.The white portion that after selecting a suitable binaryzation gray threshold can guarantee binaryzation, each steel ball is formed is not connected.
Count for the white area of steel ball image in the rear image of binaryzation.The threshold value of a suitable white portion pixel size is set.Determine that when the number of pixels of a white portion is more than or equal to this threshold value this is the image that a steel ball is formed, be namely defined as a steel ball: thinking that when the number of pixels of a white portion is less than this threshold value this is the image that interference is formed, is not namely steel ball.Like this, be exactly the quantity of steel ball in dish by the sum of the steel ball image determined.
The counting scale of steel ball is have employed in the present embodiment; the determination appointed area in the conveying arrangement of steel ball in transportation can certainly be adopted; by industrial camera to for being taken by appointed area; the image of steel ball in the counting scale of shooting is processed; calculating the quantity of steel ball in counting scale, is all protection scope of the present invention.
In the present embodiment, upper material roller has 20 hoppers of circumferential decile; can certainly according to the specification of steel ball and the steel ball number needing counting; adopt different-diameter with the hopper of other quantity; as long as the estimated amount function of steel ball can be reached; determining the object of charging quantity, is all protection scope of the present invention.
Computer processing system in the present invention is common disposal route, and technological innovation part of the present invention is:
1, then realize the Auto-counting of steel ball by the method for Computer Image Processing with the image of industrial camera shooting steel ball;
2, this number system can realize the automatic accurate metering to steel ball, and accuracy can reach 100%;
3, the estimated amount function of material roller and the compensate function of compensating roller in utilization, count with Computer Image Processing and combine, realize the accurate metering of given number steel ball: such as 4000;
4, this number system also may be used for the counting of other similar products.
Claims (7)
1. a steel ball intelligence robot scaler, it comprises counting scale, it is characterized in that: described counting scale is provided with industrial camera, described industrial camera connects computer control system, and described computer control system carries out counting process to the steel ball on the described counting scale of industrial camera collection.
2. a kind of steel ball intelligence robot scaler according to claim 1, is characterized in that: described counting scale porch is provided with steel ball autocompensation installation.
3. a kind of steel ball intelligence robot scaler according to claim 2, it is characterized in that: described counting scale porch is provided with material roller and compensating roller, described upper material roller is connected stepper motor respectively with described compensating roller, described upper material roller periphery is furnished with feeding groove, described compensating roller periphery is furnished with storing single hole, and described storing single hole can only store a steel ball.
4. a steel ball intelligence automatic counting method, is characterized in that: comprise the steps,
1) same specification steel ball enters counting scale;
2) industrial camera takes the image of steel ball in counting scale;
3) then by computing machine, the image of steel ball in shooting counting scale is processed, calculate the quantity of steel ball in counting scale.
5. a kind of steel ball intelligence automatic counting method according to claim 4, is characterized in that: the effective coverage determining to comprise whole steel ball image in counting scale, the image outside effective coverage all replaces to black.
6. a kind of steel ball intelligence automatic counting method according to claim 5, it is characterized in that: binary conversion treatment is carried out to the image of steel ball, utilize the characteristic that steel ball is black than the bright counting scale of counting scale, namely steel ball and counting scale have larger gray scale difference, a binaryzation gray threshold is set, pixel gray-scale value gray-scale value being more than or equal to threshold value replaces with 255, in vain, the gray-scale value that gray-scale value is less than the pixel of threshold value replaces with 0, black, the white portion that after selecting a suitable binaryzation gray threshold can guarantee binaryzation, each steel ball is formed is not connected, count for the white area of steel ball image in the rear image of binaryzation, the threshold value of a suitable white portion pixel size is set, determine that when the number of pixels of a white portion is more than or equal to this threshold value this is the image that a steel ball is formed, namely a steel ball is defined as, think that when the number of pixels of a white portion is less than this threshold value this is the image that interference is formed, namely not steel ball, by the quantity that the sum of the steel ball image determined is exactly steel ball in dish.
7. according to any described a kind of steel ball intelligence automatic counting method of claim 4-6, it is characterized in that: same specification steel ball enters in counting scale by upper material roller, after computer system processor, calculate the quantity of steel ball in counting scale, steel ball estimated amount is carried out by upper material roller feed supplement, again by the single feed supplement of compensating roller, ensure that the accurate metering of requirement in counting scale.
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| CN201510834048.7A CN105427318A (en) | 2015-11-25 | 2015-11-25 | Intelligent automatic steel ball counting apparatus and intelligent automatic steel ball counting method |
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| CN201510834048.7A CN105427318A (en) | 2015-11-25 | 2015-11-25 | Intelligent automatic steel ball counting apparatus and intelligent automatic steel ball counting method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107094683A (en) * | 2017-04-13 | 2017-08-29 | 同济大学 | The Autoamtic bait putting and water quality monitoring control system and method for a kind of aquaculture |
| CN108648181A (en) * | 2018-04-25 | 2018-10-12 | 佛山科学技术学院 | A kind of automobile quantity statistics method and its system based on particle filter algorithm |
-
2015
- 2015-11-25 CN CN201510834048.7A patent/CN105427318A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107094683A (en) * | 2017-04-13 | 2017-08-29 | 同济大学 | The Autoamtic bait putting and water quality monitoring control system and method for a kind of aquaculture |
| CN107094683B (en) * | 2017-04-13 | 2020-11-27 | 同济大学 | Automatic feeding and water quality monitoring control system for aquaculture |
| CN108648181A (en) * | 2018-04-25 | 2018-10-12 | 佛山科学技术学院 | A kind of automobile quantity statistics method and its system based on particle filter algorithm |
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Application publication date: 20160323 |
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