CN106180000A - A kind of colour mixture stone automatic sorting production line based on machine vision - Google Patents
A kind of colour mixture stone automatic sorting production line based on machine vision Download PDFInfo
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- CN106180000A CN106180000A CN201610822333.1A CN201610822333A CN106180000A CN 106180000 A CN106180000 A CN 106180000A CN 201610822333 A CN201610822333 A CN 201610822333A CN 106180000 A CN106180000 A CN 106180000A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
- B08B5/023—Cleaning travelling work
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of colour mixture stone automatic sorting production line based on machine vision, comprise pan feeding module, sizing screening module, deashing module, shakeout separation module, vision-based detection module, sorting module, material discharging module.Pan feeding module provides colour mixture stone；Sizing screening module realizes specific stone size selection；Deashing module utilizes compressed air to remove stone surface dust；Shakeout separation module and complete stone tiling, be spaced conveying one by one；Vision-based detection module uses machine vision technique to obtain stone surface color；Sorting module completes the sorting of color of object stone；Material discharging module collects color of object stone.Present invention achieves the sorting of colour mixture stone particular color automatization, on-line data acquisition and process monitoring, can remotely complete the Information Statistics such as stone number of colors；Sort process high-efficient automatic, reduces labor intensity, improves production efficiency, and whole detection process is not affected by human factors, and sorting quality has been effectively ensured.
Description
Technical field
The invention belongs to building material machinery field, be specifically related to a kind of colour mixture stone automatic sorting based on machine vision and produce
Line, this production line is collected for the automatic sorting of particular color stone.
Background technology
Machine vision is a kind of by relevant device extraction subject image such as industrial cameras, and the acquired card of view data is collected
And incoming computer, the light of image processing system examine contrast algorithm, complete the identification of object relevant parameter, and judge
Effectively detection means.At present, machine vision has been widely used in various automatically processing device, and it can realize part chi
Very little, outward appearance, position measurement and defect inspection etc..In terms of colour recognition, machine vision application on middle-size and small-size part is more,
Building materials field application is less.
Stone is a kind of construction material, can be fabricated to concrete, the bed course of roadbed, technical powder etc., and it uses throughout building
Build, traffic, numerous industries such as railway.Along with economic development, the stone of different colours is built at building materials coating, view road, art
Being used widely in the field of building, such as white stone can be used for quick lime and makes, and color pebble can be used for Urban landscape path
Laying, stone applies also for the making of the art work.And to contradiction between demand and the yield of particular color stone the most day by day
Highlight.How to ensure the constant rate of production of particular color stone, to meet the diversified demand in market, be problem demanding prompt solution.
At present, stone pit is for the taxonomic methods of blinding, and basic dependence machine size scalping, recycling manually distinguishes between colors and divides
Picking, be substantially at semi-automatic state, yield poorly, classification stone is of poor quality, and error rate is higher.
Visible, current colour mixture stone assorting room also exists following defect:
1) automaticity is low, the most all also relies on manual sorting, and labor intensity is big, inefficient, work under bad environment；
2) relying on manual sorting, stone quality information can not Real-time Collection, it is impossible to realizing on-line monitoring, sorting error rate is big；
3) production line cannot meet different target color stone demand, and flexibility is relatively low, it is impossible to increases screening target and mould easily
Block combines.
Summary of the invention
Purpose: in order to overcome the deficiencies in the prior art, the present invention provides a kind of colour mixture stone based on machine vision
Sub-automatic sorting production line.
Technical scheme: for solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of colour mixture stone automatic sorting production line based on machine vision, including sizing screening module, pan feeding module, deashing mould
Block, shakeout separation module, vision-based detection module, sorting module, material discharging module；Described pan feeding module, sizing screening module, deashing
Module, shakeout separation module, vision-based detection module, sorting module, material discharging module are sequentially connected and connect；
Described pan feeding module is made up of a delivery track；
Described sizing screening module is for screening the stone of specific dimensions size；
Described deashing module, including deashing track, deashing track is covered with through hole, deashing orbit sidewall is provided with support,
Gripper shoe is installed on support, gripper shoe is provided with electromagnetism valve island and multiple shower nozzle, electromagnetism valve island is provided with multiple electromagnetism
Valve, each electromagnetic valve controls a shower nozzle；Shower nozzle is controlled to produce compressed air by electromagnetic valve；
Described shakeouts separation module, including shakeouing track, shakeouts distribution comb on track front end, and comb rear end is provided with reducing
Track, reducing rail flanges is arranged with circular arc type baffle plate, and baffle plate is tangent with tooth socket wheel edge port to be contacted；Teeth groove each groove tooth can
Carry coccolith, rotate into separation track；
Described separation track end is provided with vision-based detection module, and described vision-based detection module, including camera installing plate, phase
Being provided with camera support, camera support and optical axis on machine installing plate to connect, optical axis is provided with camera, camera head is provided with light
Source；Camera slidably adjusting position on optical axis, is fixed on camera on optical axis by lock screw；On track one, track two
It is provided with camera, is connected by glidepath between track one, track two；
Described track two end is provided with sorting module, described sorting module, including transporting rail, multiple sorting track,
Being provided with multiple breach on described transporting rail, each breach opposite is provided with sorting cylinder, and sorting cylinder head portions is provided with
Promote plate；Each breach is all connected with sorting track by glidepath；Described transporting rail, the end of sorting track are all provided with
It is equipped with material discharging module；
Preferably, described material discharging module, including rewinding storehouse, on rewinding storehouse, two side is provided with support, and support is pacified
Dress photoelectric sensor, support and rewinding storehouse are connected by waist hole screw, and support can regulate vertically.
Preferably, described electromagnetic valve, the quantity of shower nozzle are disposed as six.
Preferably, described sorting track, the quantity of breach are disposed as two.
The beneficial effects of the present invention is:
(1) present invention realizes the sorting of colour mixture stone particular color automatization, effectively reduces manual sorting's difficulty, reduces work strong
Degree, improving production efficiency.Whole assorting room is not required to manual intervention substantially, and workman only needs according to alarm, to filling with stone
Rewinding storehouse be replaced work.Whole detection process is not affected by human factors, and stone sorting quality has been effectively ensured.
(2) present invention realizes control with computational intelligence, utilizes machine vision technique, completes the parameter informations such as stone color and adopts
Collection, it is achieved production process the most remotely monitors.The stone information gathered is stored in computer, can be used for the big data in stone pit and divides
Analysis, for situations such as research stone pit stone composition, yield, and formulates quarrying strategy and makes reference.
(3) present invention realizes production line flexibility configuration, and for stone size, color of object kind can be arranged in flexibility,
Make suitably adjusting to sorting module and can meet use requirement, be greatly improved the motility of production, meet market diversification need
Ask.
Accompanying drawing explanation
Fig. 1 is a kind of based on machine vision the colour mixture stone automatic sorting production line schematic diagram of the present invention；
Fig. 2 is the deashing module diagram of the present invention；
Fig. 3 be the present invention shakeout separation module schematic diagram；
Fig. 4 be the present invention shakeout track schematic diagram；
Fig. 5 is the vision-based detection module diagram of the present invention；
Fig. 6 is the sorting module diagram of the present invention；
Fig. 7 is the material discharging module schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
As it is shown in figure 1, a kind of based on machine vision the colour mixture stone automatic sorting production line of the present invention includes such as lower mold
Block: pan feeding module 100, sizing screening module 200, deashing module 300, shakeout separation module 400, vision-based detection module 500, point
Pick module 600, material discharging module 700.
Described pan feeding module 100, is made up of a delivery track.Stone is entered sizing screening module by pan feeding module
200, after completing the stone screening of specific dimensions size, stone enters deashing module 300.
As in figure 2 it is shown, in described deashing module 300, the stone after screening falls into the deashing track 301 of inclination, clearly
Being covered with through hole on ash track 301, deashing track 301 sidewall is provided with support 302, support 302 is provided with gripper shoe 303,
Electromagnetism valve island 304 and six shower nozzles 306 are installed on fagging 303, electromagnetism valve island 304 is provided with six electromagnetic valves 305, each
Electromagnetic valve 305 controls a shower nozzle 306.Shower nozzle 306 is controlled to produce compressed air, to the stone glided by electromagnetic valve 305
Carrying out surface deashing, dust is spilt by circular hole on track.
As shown in Figure 3, Figure 4, described shakeouts in separation module 400, by shakeouing track 401 upper comb dent 4011, completes
Stone sprawls process.Stone passes through reducing track 4012, enters tooth socket wheel 402.Tooth socket wheel 402 each groove tooth portability one coccolith
Son, rotates into separation track 403.Reducing track 4012 edge is arranged with circular arc type baffle plate 4013, this baffle plate 4013 and tooth
The tangent contact of sheave 402 edge port, it is ensured that after coccolith is swept along, next coccolith can only enter next groove tooth, it is ensured that no
Reducing track can be fallen.
As it is shown in figure 5, in described vision-based detection module 500, camera installing plate 508 is provided with camera support 502, phase
Machine support 502 and optical axis 505 connect, and optical axis 505 is provided with camera 504, and camera 504 head is provided with light source 503.Camera
504 on optical axis 503 slidably adjusting position, by lock screw, camera 504 is fixed on optical axis 503.When track 1
On by stone time, the camera 504 above track 1 is extracted stone surface image, is contrasted by view data, obtain stone
Surface color, system is marked.It is owing to stone is irregularly shaped, reliable for ensureing that the most full surface data judges with guarantee,
Stone another location need to carry out image acquisition, detection part also sets up another set camera.After first group of camera shooting,
Stone rolls through glidepath 506, adjusts another pose, injection 2 507, and above track 2 507, camera 504 is carried out
Image acquisition, obtains another set surface data, by two groups of Data Synthesis and computer internal object color contrast, it is judged that stone table
Face color, data achieve in real time and are transferred to computer.
As shown in Figure 6, in described sorting module 600, stone is entered by transporting rail 601, and transporting rail 601 two lacks
Kou Chu opposite is separately installed with sorting cylinder 603, represents two kinds of color of objects respectively, it is assumed here that first sorting cylinder sorting
First color, second sorting cylinder sorts the second color.According to camera identification stone color comparison result, it may be judged whether for mesh
Mark color.If stone is the first color, then first sorting cylinder is by promoting 602 stones of plate to push glidepath 606,
After stone enters sorting track 609, rewinding storehouse, injection end is reclaimed.If stone is the second color, then second sorting
Cylinder is by promoting 604 stones of plate to push glidepath 606, after stone enters sorting track 608, and injection end rewinding
Storehouse is reclaimed.If stone is neither the first color is not the second color, then sorting cylinder is all failure to actuate, and stone is at transporting rail
601 continue motion, and injection end rewinding storehouse is reclaimed.
As it is shown in fig. 7, in described material discharging module 700, on rewinding storehouse 701, two side is provided with support 702, support 702
Upper installation photoelectric sensor 703, support 702 and rewinding storehouse 701 are connected by waist hole screw, and support 702 can regulate vertically.
Below the work process of the present invention is briefly described:
First colour mixture stone is entered sizing screening module by pan feeding module, enters deashing mould after completing the screening of particular size stone
Block.Stone, in deashing track, is purged repeatedly by compressed air, rolling, to reach surface cleaning, does not affect follow-up taking pictures
Comparison.After completing deashing work, stone enters and shakeouts separation module.By shakeouing track upper comb dent and reducing track, stone enters
Enter in tooth socket wheel, rotate into separation track.Stone enters vision-based detection module.
By first group of camera, stone surface is shot, and utilize glidepath, make stone roll and convert pose, second group
Camera continues shooting, to obtain the most full stone surface image.By with aims of systems color comparison, confirm stone whether be mesh
Markstone.
After stone enters sorting module, system feedback instructs to sorting cylinder, if stone of above taking pictures is target stone, then
Corresponding sorting cylinder action, makes stone enter correspondence and reclaims track, enter rewinding storehouse；If above taking pictures, stone is not target stone
Son, then corresponding sorting cylinder is failure to actuate, and makes stone enter correspondence and reclaims track, enters corresponding rewinding storehouse.
The beneficial effects of the present invention is:
(1) present invention realizes the sorting of colour mixture stone particular color automatization, reduces labor intensity, improves production efficiency.Sorted
Cheng Jiben is not required to manual intervention, and workman only needs, according to alarm, the rewinding storehouse filling with stone to be replaced work.Whole inspection
Survey process is not affected by human factors, and stone sorting quality has been effectively ensured.
(2) present invention realizes control with computational intelligence, utilizes machine vision technique, completes the parameter informations such as stone color and adopts
Collection, it is achieved production process the most remotely monitors.The stone information gathered is stored in computer, can be used for the big data in stone pit and divides
Analysis, makes reference for formulating quarrying strategy.
(3) present invention realizes production line flexibility configuration, and for stone size, color of object kind can be arranged in flexibility,
Make suitably adjusting to sorting module and can meet use requirement, improve the motility produced, meet market diversification demand.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. a colour mixture stone automatic sorting production line based on machine vision, including sizing screening module, it is characterised in that: also
Including pan feeding module, deashing module, shakeout separation module, vision-based detection module, sorting module, material discharging module；Described pan feeding mould
Block, sizing screening module, deashing module, shakeout separation module, vision-based detection module, sorting module, material discharging module are sequentially connected
Connect；
Described pan feeding module is made up of a delivery track；
Described sizing screening module is for screening the stone of specific dimensions size；
Described deashing module, including deashing track, deashing track is covered with through hole, deashing orbit sidewall is provided with support,
Gripper shoe is installed on support, gripper shoe is provided with electromagnetism valve island and multiple shower nozzle, electromagnetism valve island is provided with multiple electromagnetism
Valve, each electromagnetic valve controls a shower nozzle；Shower nozzle is controlled to produce compressed air by electromagnetic valve；
Described shakeouts separation module, including shakeouing track, shakeouts distribution comb on track front end, and comb rear end is provided with reducing
Track, reducing rail flanges is arranged with circular arc type baffle plate, and baffle plate is tangent with tooth socket wheel edge port to be contacted；Teeth groove each groove tooth can
Carry coccolith, rotate into separation track；
Described separation track end is provided with vision-based detection module, and described vision-based detection module, including camera installing plate, phase
Being provided with camera support, camera support and optical axis on machine installing plate to connect, optical axis is provided with camera, camera head is provided with light
Source；Camera slidably adjusting position on optical axis, is fixed on camera on optical axis by lock screw；On track one, track two
It is provided with camera, is connected by glidepath between track one, track two；
Described track two end is provided with sorting module, described sorting module, including transporting rail, multiple sorting track,
Being provided with multiple breach on described transporting rail, each breach opposite is provided with sorting cylinder, and sorting cylinder head portions is provided with
Promote plate；Each breach is all connected with sorting track by glidepath；Described transporting rail, the end of sorting track are all provided with
It is equipped with material discharging module.
A kind of colour mixture stone automatic sorting production line based on machine vision the most according to claim 1, it is characterised in that:
Described material discharging module, including rewinding storehouse, on rewinding storehouse, two side is provided with support, and support is installed photoelectric sensor, support
Being connected by waist hole screw with rewinding storehouse, support can regulate vertically.
A kind of colour mixture stone automatic sorting production line based on machine vision the most according to claim 1, it is characterised in that:
Described electromagnetic valve, the quantity of shower nozzle are disposed as six.
A kind of colour mixture stone automatic sorting production line based on machine vision the most according to claim 1, it is characterised in that:
Described sorting track, the quantity of breach are disposed as two.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610822333.1A CN106180000A (en) | 2016-09-14 | 2016-09-14 | A kind of colour mixture stone automatic sorting production line based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610822333.1A CN106180000A (en) | 2016-09-14 | 2016-09-14 | A kind of colour mixture stone automatic sorting production line based on machine vision |
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| CN201610822333.1A Pending CN106180000A (en) | 2016-09-14 | 2016-09-14 | A kind of colour mixture stone automatic sorting production line based on machine vision |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107899969A (en) * | 2017-11-16 | 2018-04-13 | 铭板精密科技(中山)有限公司 | A kind of product printing checking sorter |
| CN108971002A (en) * | 2018-05-31 | 2018-12-11 | 南京航空航天大学 | A kind of broken mixture automatic separating apparatus of spring plate type |
| CN109174665A (en) * | 2018-08-30 | 2019-01-11 | 上海新奥林汽车传感器有限公司 | One kind being used for small part self-cleaning type optical detection sorting equipment |
| CN109304305A (en) * | 2017-07-28 | 2019-02-05 | 盐城三鼎电子科技有限公司 | A kind of automatic film applicator with detection station |
| CN109332329A (en) * | 2018-09-05 | 2019-02-15 | 昆明理工大学 | A kind of the Radix Notoginseng cleaning device and its application method of on-line checking cleaning quality |
| CN111128424A (en) * | 2019-12-20 | 2020-05-08 | 中核四0四有限公司 | Separation method of three filling materials of MOX waste fuel rod |
| CN111112229A (en) * | 2018-10-31 | 2020-05-08 | 上海庆良电子有限公司 | Automobile part automatic cleaning and automatic detection system |
| CN112757775A (en) * | 2020-12-30 | 2021-05-07 | 武汉鹏源激光技术有限公司 | White coating single-point scribing sprayer device and using method thereof |
| CN113200303A (en) * | 2021-04-13 | 2021-08-03 | 青岛农业大学 | Vibrating single-row peanut seed sorting device and sorting method |
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| CN109304305A (en) * | 2017-07-28 | 2019-02-05 | 盐城三鼎电子科技有限公司 | A kind of automatic film applicator with detection station |
| CN107899969A (en) * | 2017-11-16 | 2018-04-13 | 铭板精密科技(中山)有限公司 | A kind of product printing checking sorter |
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| CN109174665A (en) * | 2018-08-30 | 2019-01-11 | 上海新奥林汽车传感器有限公司 | One kind being used for small part self-cleaning type optical detection sorting equipment |
| CN109332329A (en) * | 2018-09-05 | 2019-02-15 | 昆明理工大学 | A kind of the Radix Notoginseng cleaning device and its application method of on-line checking cleaning quality |
| CN111112229A (en) * | 2018-10-31 | 2020-05-08 | 上海庆良电子有限公司 | Automobile part automatic cleaning and automatic detection system |
| CN111128424A (en) * | 2019-12-20 | 2020-05-08 | 中核四0四有限公司 | Separation method of three filling materials of MOX waste fuel rod |
| CN111128424B (en) * | 2019-12-20 | 2023-08-15 | 中核四0四有限公司 | Separation method of three packing materials of MOX waste fuel rod |
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