CN107150839B - A kind of tuning on-line system of view-based access control model - Google Patents
A kind of tuning on-line system of view-based access control model Download PDFInfo
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- CN107150839B CN107150839B CN201710445939.2A CN201710445939A CN107150839B CN 107150839 B CN107150839 B CN 107150839B CN 201710445939 A CN201710445939 A CN 201710445939A CN 107150839 B CN107150839 B CN 107150839B
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- positioning
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- 238000004519 manufacturing process Methods 0.000 claims abstract description 23
- 238000003384 imaging method Methods 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 3
- 238000012858 packaging process Methods 0.000 abstract description 2
- 238000002372 labelling Methods 0.000 description 10
- 239000000047 product Substances 0.000 description 10
- 235000013361 beverage Nutrition 0.000 description 6
- 235000013405 beer Nutrition 0.000 description 5
- 241000219095 Vitis Species 0.000 description 2
- 235000009754 Vitis X bourquina Nutrition 0.000 description 2
- 235000012333 Vitis X labruscana Nutrition 0.000 description 2
- 235000014787 Vitis vinifera Nutrition 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 235000014101 wine Nutrition 0.000 description 2
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 235000020097 white wine Nutrition 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/06—Devices for presenting articles in predetermined attitude or position at labelling station
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
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Abstract
The invention discloses a kind of tuning on-line systems of view-based access control model, including vision positioning system, servo central's controller and servo motor, the vision positioning system shoots imaging to the positioning object on production line, the feature locations of object are searched and located according to visual signature, and result is sent to servo controller in preset time window according to preset agreement by real-time industrial control bus；Servo controller controls servo motor according to feature locations result and rotates a certain angle；Servo motor drives the positioning object on production line to rotate together, and function is ajusted in the positioning for completing positioning object.The present invention substitutes traditional mechanical locating scheme, and system high speed can carry out imaging of taking pictures to container online, searches container position feature by visual signature, and result is controlled executing agency's movement by bus communication.The position for maintaining like all containers in machine guarantees that subsequent production packaging process acts on preassigned position.
Description
Technical field
The present invention relates to automatic production line, in particular to the tuning on-line system of a kind of view-based access control model.
Background technique
The production of modern beer and beverages develops towards both direction, one be producing line high speed, the other is producing line
It is personalized.Producing line requires producing line to have higher production flexibility necessary not only for there is higher production efficiency, to contract
The period of short sawn timber listing, and reduce the cost of the market input.Especially high-end beer and beverages line, production firm is often
The exquisite unique container of design can be released, marketing, brand show, to meet the needs of terminal client personalization are cooperated.Than
Such as more and more beer currently on the market, there is embossment, brand mark on container used by white wine and beverage in grape wine
Note, window and other feature.In order to improve the beauty of product, need for label to be attached to specific position, for example, embossment just under
In side or specified window.Or the process requirement of other productions acts on fixed position.So needing a kind of device energy
It is enough automatically to identify and control, rotate to container by container online before labelling or carrying out other production processes specified
Position, and the device can adapt to the production line of Modern High-Speed.
It in the prior art, is mechanically to realize product orientation.Machinery positioning be by container below groove and
High spot cooperation is on pallet to complete to position.This mode there are two disadvantage, first be exactly can only be on the production line of low speed
Using.Second disadvantage is exactly that versatility is bad, needs to design corresponding mechanical device for different products, for terminal visitor
Independent product purchasing accessory is needed for family, upgrading and the expense safeguarded are relatively high.
Summary of the invention
Object of the present invention is to: a kind of tuning on-line system of view-based access control model is provided, traditional mechanical locating scheme is substituted,
The system high speed can carry out imaging of taking pictures to container online, by visual signature lookup container position feature, and by result
Executing agency's movement is controlled by bus communication.The position for maintaining like all containers in machine guarantees subsequent
Production packaging process act on preassigned position.
The technical scheme is that
A kind of tuning on-line system of view-based access control model, including vision positioning system, drive motor controller and driving motor,
Wherein:
Vision positioning system, shoots imaging to the positioning object on production line, searchs and locates object according to visual signature
Feature locations, and result is sent to drive motor controller；
Drive motor controller controls driving motor according to feature locations result and rotates a certain angle；
Driving motor drives the positioning object on production line to rotate together, and function is ajusted in the positioning for completing positioning object.
Preferably, the driving motor is servo motor or stepper motor, and corresponding drive motor controller is in servo
Heart controller or controllor for step-by-step motor.
Preferably, the vision positioning system passes through real-time industrial control bus according to preset agreement in the preset time
Feature locations result is sent to servo controller by window.
Preferably, the tuning on-line system function realize comprising steps of
S1, intake positioning object images；
S2, image signal process, feature locations are searched；
S3, by searching for result control servo motor rotation drive positioning object rotate to target position.
Preferably, the step of image is absorbed in the S1, for having above space and feature locations above positioning object
It can be seen that situation, by by optical system be installed to top by a camera it is Polaroid.
Preferably, the step of image is absorbed in the S1, for cannot once obtain the positioning object of feature locations image,
It is rotated by 360 ° by setting servo motor, using multiple cameras and each camera shooting multiple pictures to positioning object intake 360
Spend full field-of-view image.
Preferably, the control process of vision positioning system intake image is divided into three phases in the S1:
(1) servo motor acceleration rotates to certain speed v；
(2) servo motor keeps speed v at the uniform velocity to rotate；Multiple cameras shoot several pictures at this stage, to positioning object
Realize that 360 degree of panorama is taken pictures；
(3) servo motor slows down, and speed is finally reduced to 0.
Preferably, after vision positioning system intake image, the step S2 carries out at image obtained each image
Reason and feature are searched, and determine feature reliability C and feature locations P, and find out the feature reliability found in all images most
High image, by the characteristics of image position and it is known take pictures picture when servo motor and positioning object tray position, calculate
Servo motor needs the final angle rotated out, and the angle information rotated will be needed to be sent to servo central's controller.
Preferably, step S3 servo central's controller drives positioning object rotation to refer to according to the angle information of control
Fixed angle makes the feature searched towards front.
Preferably, occasion repetition step S1-S3 higher for required precision is repositioned, and in the step S1 repeated, is protected
Servo motor not rotation status is held, vision positioning system absorbs image again.
The invention has the advantages that
1. the tuning on-line system of view-based access control model proposed by the invention is desirably integrated into existing rotary or straight line
In formula machine, such as beer beverage industry labelling machine.It can be in producing line by cooperating with servo central's controller in machine
Container carries out high speed and accurately positions and ajust.Guarantee that product operating position in the production line is kept constant, such as label patch
The position specified on container.
2. the present invention and traditional mechanical positioning system compare, maximum advantage is that speed is fast, can achieve per small
When 72000 bottles of speed hourly, greatly improve the production efficiency of beverage industry high-end product.
3. the present invention also has very strong versatility, different products is not needed to replace any component of machine, greatly
The big production interchange time for reducing client and maintenance cost.And the system can easily be used as an individual mould
Block is integrated on existing machine and production line.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and embodiments:
Fig. 1 is the structure principle chart of the tuning on-line system of view-based access control model of the present invention；
Fig. 2 is that vision positioning system of the invention applies the process chart on linear labelling machine；
Fig. 3 is that vision positioning system of the invention applies the process chart in rotary labelling machine；
Fig. 4 is the controlling curve of servo motor angle and machine shaft angle of the invention；
Fig. 5 is that plurality of pictures of the invention competes the schematic diagram for determining feature locations and angle.
Specific embodiment
As shown in Figure 1, the tuning on-line system of disclosed view-based access control model, is mainly made of three parts, watches
Take master controller, servo motor and vision positioning system.Vision positioning system is imaged product container by industrial camera, root
Result is sent back to according to preset agreement in preset time window by real-time industrial control bus according to the position that feature is searched
To servo controller.Servo controller controls servo motor according to this feature locations result and rotates a certain angle.And it can
External location information is received with reserved window servo motor is carried out to ajust amendment.Servo motor drives the product on production line
Container rotates together.It can be positioned by the cooperation completion with servo motor and ajust function, the product for driving servo motor holds
Feature is at identical position on device.
The function realization of vision positioning system is divided into three steps: wherein: S1, intake positioning object images；At S2, picture signal
Reason searches feature locations；S3, by searching for result control servo motor rotation drive positioning object rotate to target position.
The occasion relatively high for required precision can repeat above three steps and reposition.
Present invention can apply in linear or rotary producing line.SERVO CONTROL labelling machine with positioning function is this
One concrete application of system, such as Fig. 2, the course of work shown in 3, in respectively linear labelling machine and rotary labelling machine
Figure.
In Fig. 2 and 3, single arrow indicates that servo motor at the uniform velocity rotates corresponding heavy black section by predeterminated position, and no arrow indicates
Servo motor does not rotate corresponding filament section, and double-head arrow indicates that servo motor is rotated according to the analysis result of vision positioning system and corresponds to
In grey thick line section.Servo motor drives product container by pallet.After positioning system, whole containers are in company with servo electricity
Machine rotates to same position.Finally pass through one or more labeler station, ensures that all labels are attached to container in this way
Same position.
The image capture stage in step S1 can use a camera or multiple cameras.There is space for container upper end
And visible situation above feature, can be Polaroid by a camera by the way that optical system is installed to top.Otherwise
It can be rotated by 360 ° by setting servo motor, multiple pictures are shot to container intake 360 by multiple cameras and each camera
Full sight field image information, such as Fig. 2 are spent, shown in 3.Fig. 4 is the relative position servo control koji-making of machine shaft and single servo motor
Line chart, abscissa are the absolute angles of main shaft revolution, and the longitudinal axis is the absolute angle of servo motor rotation.
Entire control process of the invention is divided into six sections:
(1) servo motor acceleration rotates to certain speed v；
(2) servo motor keeps speed v at the uniform velocity to rotate；Multiple cameras shoot several pictures at this stage, realize to container
360 degree of panorama is taken pictures；
(3) servo motor slows down, and speed is finally reduced to 0；
(4) stop after the angle specified according to the rotation of the result servo motor of positioning system；
(5) rotation status, fine positioning module do not absorb image again for holding；
(6) stop after the angle specified again according to the result servo motor rotation of positioning system.
Wherein 1-4 sections are the pre-determined bit stage, and 5-6 sections are fine positioning section.
During image capture, need to know the position of corresponding servo motor of the camera when shooting each width figure
It sets.The pre-determined bit stage absorbs image at 2 sections.Due to being at the uniform velocity to rotate, fixed angle, servo motor are separated by between every picture
Known to position.Fine positioning section image capture is after the 5th section, this section of servo motor adjustment in not rotation status.4th section and
6 sections control window for dynamically receiving the calculated result of vision positioning system for what servo controller was reserved.
In the pre-determined bit stage by N number of camera, each camera claps M photos, in total available N*M photos.Every
It is separated by n=360/N/M degree between photo.Image procossing is carried out to obtained each width figure and feature is searched, determines that feature can
Reliability C and feature locations P.The highest image of the feature reliability found in all images wins competition.Win the figure of competition
As serial number Ibest, the position of feature is P in imagebest, as shown in Figure 5.Pass through feature locations PbestWith known picture of taking pictures
IbestWhen servo motor and tray position, the final angle that servo motor needs to rotate at the 4th section can be calculated.Angle result
Servo central's controller is sent to by real-time industrial bus communication.Angle information of servo central's controller according to control, band
The specified angle of visibly moved device rotation makes the feature searched towards front.Container obtains position in same machine after rotation.
In systems in practice due to camera mechanical erection, Perspective and optical skew, servo-system itself controls error
It all may cause the final angle error of system.The system relatively high for required precision, can first time position rotating it
Afterwards photo (the 5th section) is shot by a camera again again, gives calculated angle to servo central's controller again again
Rotate secondary positioning (the 6th section).The positioning accuracy of final system can be significantly improved by way of secondary positioning.
The system has been successfully applied in modular beer bottle high-speed labeling machine at present, completes the positioning to vial
Test.System highest can handle 72000 bottles per hour, and positioning accuracy can achieve ± 1.5 millimeters, and it is reachable to ajust accuracy rate
99.9%.The system can also apply equally to (but being not limited to) PET bottle, grape wine and other alcohol in high concentration class beverages
On labeling production line, the mechanical process for positioning or manually labelling is substituted.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
It cans understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all to lead according to the present invention
The modification for wanting the Spirit Essence of technical solution to be done, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of tuning on-line system of view-based access control model, it is characterised in that: including vision positioning system, drive motor controller and
Driving motor, in which:
Vision positioning system shoots imaging to the positioning object on production line, the feature of object is searched and located according to visual signature
Position, and result is sent to drive motor controller；
Drive motor controller controls driving motor according to feature locations result and rotates a certain angle；
Driving motor drives the positioning object on production line to rotate together, and function is ajusted in the positioning for completing positioning object；
The function of the tuning on-line system realize comprising steps of
S1, intake positioning object images；
S2, image signal process, feature locations are searched；
S3, by searching for result control servo motor rotation drive positioning object rotate to target position；
For cannot once obtain the positioning object of feature locations image, it is rotated by 360 ° by setting servo motor, use is multiple
Camera and each camera shooting multiple pictures absorb 360 degree of full field-of-view images to positioning object；
The control process of vision positioning system intake image is divided into three phases in the S1:
(1) servo motor acceleration rotates to certain speed v；
(2) servo motor keeps speed v at the uniform velocity to rotate；Multiple cameras shoot several pictures at this stage, to positioning object implementatio8
360 degree of panorama is taken pictures；
(3) servo motor slows down, and speed is finally reduced to 0；
Occasion higher for required precision repeats step S1-S3 and repositions, and in the step S1 repeated, keeps servo motor not
Rotation status, vision positioning system absorb image again；
After vision positioning system absorbs image, the step S2 carries out image procossing to obtained each image and feature is looked into
It looks for, determines feature reliability C and feature locations P, and find out the highest image of the feature reliability found in all images, lead to
Cross the characteristics of image position and it is known take pictures picture when servo motor and positioning object tray position, calculate servo motor need
The final angle to be rotated, and the angle information rotated will be needed to be sent to servo central's controller.
2. the tuning on-line system of view-based access control model according to claim 1, it is characterised in that: the driving motor is servo
Motor or stepper motor, corresponding drive motor controller are servo central's controller or controllor for step-by-step motor.
3. the tuning on-line system of view-based access control model according to claim 2, it is characterised in that: the vision positioning system is logical
It crosses real-time industrial control bus and feature locations result is sent to servo central's control in preset time window according to preset agreement
Device processed.
4. the tuning on-line system of view-based access control model according to claim 3, it is characterised in that: absorb image in the S1
Step, in the case of positioning has visible above space and feature locations above object, by the way that optical system to be installed to
Side is Polaroid by a camera.
5. the tuning on-line system of view-based access control model according to claim 4, it is characterised in that: step S3 servo central
Controller drives positioning object to rotate specified angle and makes the feature searched towards front according to the angle information of control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710445939.2A CN107150839B (en) | 2017-06-14 | 2017-06-14 | A kind of tuning on-line system of view-based access control model |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710445939.2A CN107150839B (en) | 2017-06-14 | 2017-06-14 | A kind of tuning on-line system of view-based access control model |
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| Publication Number | Publication Date |
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| CN107150839A CN107150839A (en) | 2017-09-12 |
| CN107150839B true CN107150839B (en) | 2019-11-08 |
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| CN201710445939.2A Ceased CN107150839B (en) | 2017-06-14 | 2017-06-14 | A kind of tuning on-line system of view-based access control model |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR3079825B1 (en) | 2018-04-06 | 2020-03-13 | Sidel Participations | METHOD AND DEVICE FOR MANAGING A ROTARY PROCESSING UNIT |
| CN113104338B (en) * | 2021-04-01 | 2023-01-03 | 江苏新美星包装机械股份有限公司 | Rotary labeling machine and positioning labeling method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| IT1320271B1 (en) * | 2000-10-13 | 2003-11-26 | Robino & Galandrino Spa | IMPROVEMENT OF ORIENTATION MACHINES AND APPLICATION OF SEAL CAPSULES IN SPARKLING WINE BOTTLES AND SIMILAR. |
| ITMI20072267A1 (en) * | 2007-12-03 | 2009-06-04 | Sidel Holdings & Technology Sa | DETECTION SYSTEM AND ANGULAR ORIENTATION OF CONTAINERS IN LABELING MACHINES |
| DE102009020921A1 (en) * | 2009-05-12 | 2010-11-18 | Krones Ag | Device and method for aligning containers, in particular bottles, in a labeling machine |
| CN204096186U (en) * | 2014-10-11 | 2015-01-14 | 莱州市同力机械有限公司 | Visible image servo labeling position fixing system |
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