CN107309181A - A kind of pearl intelligent sorting system based on machine vision - Google Patents
A kind of pearl intelligent sorting system based on machine vision Download PDFInfo
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- CN107309181A CN107309181A CN201710562079.0A CN201710562079A CN107309181A CN 107309181 A CN107309181 A CN 107309181A CN 201710562079 A CN201710562079 A CN 201710562079A CN 107309181 A CN107309181 A CN 107309181A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
- B07B1/4609—Constructional details of screens in general; Cleaning or heating of screens constructional details of screening surfaces or meshes
-
- 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
-
- 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
-
- 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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B2230/00—Specific aspects relating to the whole B07B subclass
- B07B2230/04—The screen or the screened materials being subjected to ultrasonic vibration
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Sorting Of Articles (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of pearl intelligent sorting system based on machine vision.The present invention is by controlling by a feed mechanism for pearl charging to be detected, the full surface pearl image acquiring device of monocular for shooting detected pearl, for the sorting machine people to being detected the temporary taper off-sorting station of pearl and being sorted, and the blanking sorted available for size sub-agencies composition again.The present invention can obtain the full surface image of pearl by a video camera, it is simple in construction, cost is low and easy to operate, and the picture quality that sealing device is obtained is high, do not disturbed by other light sources or other factors, the system is applied to the Indexs measure of the various qualities such as pearl shaped, color, size, finish simultaneously, using three-dimensional blanking sorting unit again, reduces classification container and improves space availability ratio.
Description
Technical field
The present invention relates to the detection based on machine vision, refer specifically to be related to a kind of pearl intelligent sorting based on machine vision
System.
Background technology
CHINESE FRESHWATER pearl production accounts for more than the 95% of world's pearl production, and the output value only accounts for the 10% of the global pearl gross output value.
The go-on-go method that the enterprise of current China is used substantially still traditional manual type, this method needs substantial amounts of work
Power, speed are slow, substantial amounts of manpower is expended, while this subjective assessment is by personal eyesight, color taste, mood, light etc.
The influence of each side, it is impossible to carry out quantifying unification to judging basis, and the screening of single index can only be carried out during classification, no
Only efficiency is low and accuracy is very poor.Therefore production of the pearl automatic sorting based on machine vision for the whole industry of raising is realized
It is particularly important for value.
According to the appearance of the national grade scale of cultured pearl, the clear stipulaties grade scale of pearl, for shape, face
Color, size, the classification of finish have clear and definite index.Machine vision has had some corresponding in pearl classification field
Research and apply, but it is only capable of being classified classification such as shape for a certain individual event requirement, for the sorting system of entirety
Research is less.It can not meet the requirement that finish and flaw needs are analyzed each surface of pearl simultaneously, can only obtain
The image information of the part surface of pearl must be detected, the loss of pearl surface defect is higher.Such as patent
200710066683.0 disclose a kind of pearl based on machine vision detection and hierarchy system in real time, with machine vision skill
Art, carries out IMAQ to the pearl surface of order free-falling, the image collected is sent into the hardware devices such as computer
It is middle to be handled, and result is done into timely discrimination according to pearl criteria for classification, discriminant information is finally sent to sorting dress
Put, so that realization is automatically classified the pearl of different characteristic with equipment.What the invention existed in terms of image capture technology
Weak point：Pearl surface is obtained from different perspectives using many high-speed cameras, so that cost is raised；On the other hand,
When to pearl color grading, it is ensured that the unification of the color system of every video camera is more difficult, and to the transparency of glass tube
It is required that very high, light source, which is dealt with improperly, can also cause reflective refraction etc. existing as influence detection.Number of patent application is
201210411979.2 disclose a kind of on-line automatic classification dress of pearl color glossiness based on monocular multi-view machine vision
Put, the monocular multi-view stereo vision apparatus being made up of a wide angle cameras and 8 level crossings passes through a wide-angle imaging
The Polaroid pearl surface image to obtain from a viewing angles of machine, realizes a kind of full side using pearl as observation center
Position sighting device.The deficiency that the invention is present：Fixed point is shot, it is impossible to obtain full surface, and feeding actuating mechanism is complicated, every treasure
The detection of pearl is required for the motion of movable push rod, easy to wear, adds maintenance cost and extends the pearl sorting time.
The content of the invention
It is an object of the invention to, there is provided one kind is simple in construction, be manufactured into for the shortcomings of the prior art
This is low, a kind of convenient pearl intelligent sorting system based on machine vision of working service.
The technical solution adopted for the present invention to solve the technical problems：
A kind of pearl intelligent sorting system based on machine vision, including feed mechanism, the feed mechanism include hopper, dialled
Pin, motor, spring, striker, fur surface, pearl to be detected enter after material bin to drop to fur surface, and the motor, which drives, to be dialled
Pin is rotated, and encounters after striker, and the striker is promoted to be fallen in pipeline under the lowermost pearl to be detected of hopper, the pipeline
Side be provided with image acquiring device, the pearl to be detected is fallen into the arc track of image acquiring device along pipeline,
After the pulling needle is turned over, due to the effect of spring, striker returns to original position；Described image acquisition device includes dome illumination epicoele
With funnel cavity of resorption, described dome illumination epicoele includes video camera, annular frosted LED, polarizer, diffusing reflection wall, annular LED
Lamp, described infundibulate cavity of resorption includes arc track, curved baffle, air inlet and feed opening, is detected pearl from feeding port
Fall at air inlet, due to curved baffle and upward airflow function, pearl is cooked tumbling motion, image under along arc track
Machine is captured, and falls into feed opening after the detected pearl rolling, the feed opening is connected to taper off-sorting station, the taper
Off-sorting station side is provided with sorting machine people, and the sorting machine people side is provided with blanking sub-agencies again.
Further, one end that described striker is contacted with pulling needle is all half arch, and arcwall face contacts with each other, with pulling needle
Rotation, contacted by arc surface, promote striker travel forward.
Further, video camera one end connection computer, the computer program, which is captured, is set as 10/0.1 second.
Further, the detected pearl is fallen into behind taper off-sorting station from feed opening, and detected pearl can converge to cone
Shape bottom, waits sorting machine people to be sorted；Robot fixed point crawl is realized, robot path planning and pearl position is reduced
The acquisition put, reduces cost, improves sort efficiency.
Further, for carrying out sorting machine person's Scara robot, mechanical arm tail end to the detected pearl
Actuator is sucked type；After Computer Image Processing, the judged results such as the color of detected pearl, shape are sent to machine
Device people, detected pearl, which is fallen into behind taper off-sorting station, to be rested in bottom, and robot arm is moved to behind taper off-sorting station, will
It is detected pearl absorption and is put into corresponding blanking sub-agencies again.
Further, sorting mechanism includes the circular screen mesh of 4 layers of removable different-diameter and shaken again for the blanking
Dynamic motor composition；
Further, the circular screen mesh first layer is a diameter of 15mm circular screen mesh, and the second layer is a diameter of 13mm
Circular screen mesh, third layer be a diameter of 10mm circular screen mesh, the 4th layer be a diameter of 8mm circular screen mesh, by
In the effect of vibrating motor, pearl is not stopped into vibration screening in screen cloth, the pearl of 5 different size grades can be separated.
Further, a kind of method of the pearl intelligent sorting based on machine vision, comprises the following steps：
1）The feed mechanism controls pearl to be detected by entering image acquiring device；
2）In sealed described image acquisition device, other light sources are effectively prevented to the color of detected pearl and other spies
The interference of acquisition is levied, the IMAQ on full surface is carried out to being detected pearl；
3）By the data transmission of detected pearl IMAQ into computer, the classification of the feature detections such as shape, color is carried out, is led to
Cross after Computer Image Processing, the judged results such as the color of detected pearl, shape are sent to sorting machine people；
4）The detected pearl falls into behind taper off-sorting station and rested in bottom, and the sorting machine people mechanical arm is moved to cone
Behind shape off-sorting station, pearl is drawn and is put into blanking sub-agencies again；
5）Sub-agencies sort out the pearl of different-diameter by the effect of the different screen cloth of diameter and vibrating motor again for the blanking
's.
Further, in a kind of method of described pearl intelligent sorting based on machine vision, the detected pearl
During IMAQ, the pearl image of collection includes left, main, right, rear, top view.
Compared with prior art, beneficial effects of the present invention are mainly manifested in：1）It can obtain precious by a video camera
The full surface image of pearl, simple in construction, cost is low and easy to operate；2）The picture quality that sealing device is obtained is high, not by other
The interference of light source or other factors；3）The system is applied to the finger of the various qualities such as pearl shaped, color, size, finish
Mark detection；4）Using three-dimensional blanking sorting unit again, reduce classification container and improve space availability ratio.
Brief description of the drawings
Below according to drawings and Examples, the structure and features to the present invention is further described.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the feed mechanism schematic diagram of the present invention；
Fig. 3 is the feed mechanism close-up schematic view of the present invention；
Fig. 4 is the image acquiring device structural representation of the present invention；
Fig. 5 is blanking of the invention separating device structural representation again；
Fig. 6 is the schematic flow sheet of the present invention；
In figure：1 is video camera, and 2 be polarizer, and 3 be diffusing reflection wall, and 4 be annular LED lamp, and 5 be sorting machine people, and 6 be taper point
Sorting zone, 7 be curved baffle, and 8 be air inlet, and 9 is are detected pearl, and 10 be arc track, and 11 be spring, and 12 be striker, and 13 are
Motor, 14 be pulling needle, and 15 be feed mechanism, and 16 be pearl to be detected, and 17 be dome epicoele, and 18 be LED baffle plate, and 19 be annular
Frosted LED, 20 be blanking sub-agencies again, and 21 be a diameter of 15mm circular screen mesh, and 22 be a diameter of 13mm circular port
Screen cloth, 23 be 10mm circular screen mesh, and 24 be 8mm circular screen mesh, and 25 be image acquiring device, 26 fur surfaces, 27
It is vibrating motor for feed opening, 28.
Embodiment
Referring to shown in accompanying drawing 1 and Fig. 2
The present invention is by controlling by a pearl to be detected（16）The feed mechanism of charging（15）, for shooting detected pearl（9）'s
The full surface pearl image acquiring device of monocular（25）, for being detected pearl（9）Temporary taper off-sorting station（6）With divided
The sorting machine people picked（5）, and the blanking sub-agencies again sorted available for size（20）Composition.
As shown in Figures 2 and 3, the feed mechanism（15）Including：Hopper, pulling needle（14）, motor（13）, spring（11）、
Striker（12）, fur surface（26）；Pearl to be detected（16）Enter after material bin to drop to fur surface（26）, because frictional force is treated
Detect pearl（16）It is still in fur surface（26）On, then by motor（13）Rotate and drive pulling needle（14）Rotation, pulling needle（14）Half
Arch cambered surface encounters striker（12）After half arch cambered surface, striker（12）In the presence of guiding slot port, notch promotion is horizontally entered into
A lowermost pearl to be detected（16）Under fall in pipeline and then take advantage of a situation and fall into image acquiring device（25）Arc track
（10）In；Pulling needle（14）After turning over, due to spring（11）Effect, striker（12）Original position is returned to, such perseveration causes
Pearl to be detected（16）Enter image acquiring device by（25）.
As shown in figure 4, for shooting detected pearl（9）The full surface pearl image acquiring device of monocular（25）Including;
Dome illumination epicoele（17）With funnel cavity of resorption.Described dome illumination epicoele（17）Including for shooting detected pearl（9）Figure
The video camera of picture（1）, improve brightness and can reduce the annular frosted LED of bloom（19）, reduce reflected light enter camera it is inclined
Shake piece（2）, to diffusing reflection wall（3）The annular LED lamp of irradiation（4）, LED baffle plate（18）；Described infundibulate cavity of resorption includes arc
Shape track（10）, curved baffle（7）, air inlet（8）And feed opening（27）.It is detected pearl（9）Along arc track（10）
Under fall on air inlet（8）Place, due to curved baffle（7）And upward airflow function, it is detected pearl（9）Do tumbling motion,
Video camera（1）Captured, computer program, which is captured, is set as 10/0.1 second, is detected pearl（9）Blanking is fallen into after rolling
Mouthful（27）Into taper off-sorting station（6）.
The taper off-sorting station（6）The pearl of bottom can converge to conical lower portion, wait sorting machine people（5）To be divided
Pick, realize that fixed point crawl reduces the acquisition of path planning and pearl position, reduce cost, improve sort efficiency.It is described
For carrying out sorting machine people to pearl（5）From Scara robot, robot arm end effector is sucked type.
As shown in figure 5, the blanking sub-agencies again sorted for size（20）Include the circle of 4 layers of removable different-diameter
Screen mesh and vibrating motor（28）Composition.The circular screen mesh that the circular screen mesh first layer is a diameter of 15mm
（21）, the second layer is a diameter of 13mm circular screen mesh（22）, third layer is a diameter of 10mm circular screen mesh（23）, the
Four layers of circular screen mesh for a diameter of 8mm（24）, due to vibrating motor（28）Effect, by pearl, failure of oscillation is not moved in screen cloth
Sieving, can separate the pearl of 5 different size grades.
As shown in fig. 6, workflow of the present invention is：Feed mechanism（15）Control pearl to be detected（16）Enter image by
Acquisition device（25）, in sealed image acquiring device（25）In be effectively prevented from other light sources to be detected pearl（9）Face
The interference that color and other features are obtained, to being detected pearl（9）The IMAQ on full surface is carried out, computer is sent to and carries out shape
The feature detections such as shape, color are classified, after Computer Image Processing, by detected pearl（9）Color, shape etc. judge knot
Fruit is sent to sorting machine people（5）, it is detected pearl（9）Fall into taper off-sorting station（6）After rest in bottom, sorting machine people
（5）Mechanical arm is moved to taper off-sorting station（6）Afterwards, pearl is drawn and is put into blanking sub-agencies again（20）, blanking sub-agencies again
（20）Pass through diameter different screen cloth and vibrating motor（28）Effect separate the size of pearl.
Described above is only presently preferred embodiments of the present invention, and above-mentioned specific embodiment is not limitation of the present invention,
Retouching, modification or equivalent substitution that all one of ordinary skill in the art are made as described above, belong to the guarantor of the present invention
Protect scope.
Claims (9)
1. a kind of pearl intelligent sorting system based on machine vision, it is characterised in that：Including feed mechanism, the feed mechanism
Including hopper, pulling needle, motor, spring, striker, fur surface, pearl to be detected enters after material bin to drop to fur surface, institute
State motor and drive pulling needle rotation, encounter after striker, the striker promotes and falls on pipe under the lowermost pearl to be detected of hopper
In road, the side of the pipeline is provided with image acquiring device, and the pearl to be detected falls into image acquiring device along pipeline
Arc track in, after the pulling needle is turned over, due to the effect of spring, striker returns to original position；Described image acquisition device bag
Include dome illumination epicoele and funnel cavity of resorption, described dome illumination epicoele includes video camera, annular frosted LED, polarizer, unrestrained
Reflecting wall, annular LED lamp, described infundibulate cavity of resorption include arc track, curved baffle, air inlet and feed opening, are detected
Fallen under pearl is surveyed from feeding port along arc track at air inlet, due to curved baffle and upward airflow function, pearl
Tumbling motion is done, video camera is captured, fall into feed opening after the detected pearl rolling, the feed opening is connected to taper
Off-sorting station, taper off-sorting station side is provided with sorting machine people, and the sorting machine people side is provided with blanking extension set again
Structure.
2. a kind of pearl intelligent sorting system based on machine vision according to claim 1, it is characterised in that：Described
One end that striker is contacted with pulling needle is all half arch, and arcwall face contacts with each other, with the rotation of pulling needle, contacted by arc surface,
Striker is promoted to travel forward.
3. a kind of pearl intelligent sorting system based on machine vision according to claim 1, it is characterised in that：It is described to take the photograph
Camera one end connects computer, and the computer program, which is captured, is set as 10/0.1 second.
4. a kind of pearl intelligent sorting system based on machine vision according to claim 1, it is characterised in that：The quilt
Detection pearl is fallen into behind taper off-sorting station from feed opening, and detected pearl can converge to conical lower portion, waits sorting machine people to enter
Row sorting.
5. a kind of pearl intelligent sorting system based on machine vision according to claim 1, it is characterised in that：For right
The detected pearl carries out sorting machine person's Scara robot, and robot arm end effector is sucked type.
6. a kind of pearl intelligent sorting system based on machine vision according to claim 1, it is characterised in that：Under described
Sorting mechanism includes the circular screen mesh and vibrating motor composition of 4 layers of removable different-diameter to material again.
7. a kind of pearl intelligent sorting system based on machine vision according to claim 1 or 6, it is characterised in that：Institute
The circular screen mesh that circular screen mesh first layer is a diameter of 15mm is stated, the second layer is a diameter of 13mm circular screen mesh, the
Three layers of circular screen mesh for a diameter of 10mm, the 4th layer of circular screen mesh for a diameter of 8mm.
8. a kind of method of the pearl intelligent sorting based on machine vision, comprises the following steps：
1）The feed mechanism controls pearl to be detected by entering image acquiring device；
2）In sealed described image acquisition device, other light sources are effectively prevented to the color of detected pearl and other spies
The interference of acquisition is levied, the IMAQ on full surface is carried out to being detected pearl；
3）By the data transmission of detected pearl IMAQ into computer, the classification of the feature detections such as shape, color is carried out, is led to
Cross after Computer Image Processing, the judged results such as the color of detected pearl, shape are sent to sorting machine people；
4）The detected pearl falls into behind taper off-sorting station and rested in bottom, and the sorting machine people mechanical arm is moved to cone
Behind shape off-sorting station, pearl is drawn and is put into blanking sub-agencies again；
5）Sub-agencies sort out the pearl of different-diameter by the effect of the different screen cloth of diameter and vibrating motor again for the blanking
's.
9. a kind of method of pearl intelligent sorting based on machine vision according to claim 8, it is characterised in that：It is described
When being detected pearl IMAQ, the pearl image of collection includes left, main, right, rear, top view.
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