CN109604187A - A kind of part Automated Sorting System and method based on computer vision technique - Google Patents
A kind of part Automated Sorting System and method based on computer vision technique Download PDFInfo
- Publication number
- CN109604187A CN109604187A CN201811440540.6A CN201811440540A CN109604187A CN 109604187 A CN109604187 A CN 109604187A CN 201811440540 A CN201811440540 A CN 201811440540A CN 109604187 A CN109604187 A CN 109604187A
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- China
- Prior art keywords
- master control
- image
- control platform
- light source
- cylinder
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Classifications
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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
- B07C5/02—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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- 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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a kind of part Automated Sorting System and method based on computer vision technique, sorting system is characterized in: the signal input part of light source control module is connected with master control platform, the signal output end of light source control module is connected with light source, the signal output end of image processing module is connected with master control platform, the signal input part of image processing module is connected with video camera, the side at conveyer belt rear portion is equipped with the discharging slideway that quantity is several groups, the opposite of discharging slideway is equipped with ejection block, the signal input part of cylinder control module is connected with master control platform.Method for sorting is: light source and video camera starting；Image processing module carries out image to be processed and transmitted to master control platform；Master control platform is compared, and judges part posture；Part is headed into corresponding discharging slideway by the ejection block on master control platform courses cylinder.The present invention has the advantages that high-efficient, accuracy is good, structure is simple.
Description
Technical field
The invention belongs to part Sorting Technique fields, and in particular to a kind of part based on computer vision technique divides automatically
Pick system and method.
Background technique
The human perception external world mainly passes through the sense organs such as vision, tactile, the sense of hearing and smell, and vision is the mankind
Most important sensory function.According to statistics, the external information that people is perceived, which has above, to be obtained by vision.Briefly, machine
Vision can be understood as installing upper sighting device additional to machine, and machine is made to have the function of " vision ", replace human eye in certain fields
It measures and judges, can recognize and understand the thing observed, can determine that the position of target in range seen in it.Machine
Vision is not only the extension of human eye, it may have the partial function of human brain, it is therefore an objective to improve the automation and intelligence degree of machine.
Existing component assembly technology, which mainly passes through, is manually assembled, and the efficiency of assembly is lower, in component assembly line
On, it will use a large amount of operator, provide the production cost of enterprise.When carrying out component assembly, often it is related to part
Posture and towards sorting, the part of each direction is subjected to sorting and is opened, to adapt to the operation of feeding manipulator.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of zero based on computer vision technique is provided
Part Automated Sorting System and method.
A kind of part Automated Sorting System based on computer vision technique, including cylinder control module, light source control mould
Block, image processing module, it is characterised in that: the signal input part of the light source control module is connected with master control platform, described
The signal output end of light source control module is connected with light source, signal output end and the master control platform phase of described image processing module
Connection, the signal input part of described image processing module are connected with video camera, and the setting of the video camera, source symmetric is defeated
The top with front is sent, the side at the conveyer belt rear portion is equipped with the discharging slideway that quantity is several groups, the opposite for the slideway that discharges
Equipped with ejection block, the ejection block is fixed on the piston rod of cylinder, and the control valve of the cylinder passes through cylinder control module control
System, the signal input part of the cylinder control module are connected with master control platform.
Preferably, the two sides of the conveyer belt front are respectively fixed with light emitting diode and photoswitc, and the photoelectricity is opened
Light is connected with master control platform.
Preferably, the master control platform internal memory contains the template image for comparing part posture.
A kind of part automatic sorting method based on computer vision technique, which comprises the steps of:
S1, part are conveyed by conveyer belt, when part is by the region of light emitting diode and photoswitc, photoswitc without
Method receives the light of light emitting diode sending, and photoswitc exports analog signals to master control platform；
S2, master control platform courses light source control module, light source issue directional light and are radiated on part, and video camera acquires the figure of part
As information；
S3, image information are input to image processing module, and image processing module completes image characteristics extraction, analysis angle point parameter letter
Breath, estimates the position of part, obtains area-of-interest, and then cutting and the region of stretching obtain area image；
S4, master control platform obtain area image and are matched with the template image of its storage inside, using area image as phase
Likelihood metric criterion is searched in template image, is chosen and the highest image of area image similarity the most zero from template image is chosen
Part posture obtains part orientation label, and determines discharging slideway corresponding with part；
S5, the running speed according to conveyer belt calculate interval time of the parts transport to corresponding discharging slideway, master control platform warp
Control instruction is issued to cylinder control module after the super-interval time, opens the pneumatic operated valve of corresponding cylinder, the piston rod of cylinder is stretched
Out, part is headed into corresponding discharging slideway by ejection block.
Compared with prior art, beneficial effects of the present invention:
The present invention realizes the sorting of the part of different directions by way of vision-based detection, has the advantages that high degree of automation,
Realize that the judgement of part posture has structure to simplify the structure of image processing system in such a way that image compares simultaneously
Simply, advantage at low cost.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the part Automated Sorting System based on computer vision technique of the present invention.
In figure, 1, discharging slideway, 2, conveyer belt, 3, ejection block, 4, cylinder, 5, part, 6, light source, 7, light emitting diode,
8, video camera, 9, cylinder control module, 10, master control platform, 11, photoswitc, 12, light source control module, 13, image procossing mould
Block.
Specific embodiment
Referring to Fig. 1, a kind of part Automated Sorting System based on computer vision technique, including cylinder control module 9, light
Source control module 12, image processing module 13, it is characterised in that: the signal input part and master control of the light source control module 12 are flat
Platform 10 is connected, and the signal output end of the light source control module 12 is connected with light source 6, the letter of described image processing module 13
Number output end is connected with master control platform 10, and the signal input part of described image processing module 13 is connected with video camera 8, described
The top of 2 front of conveyer belt is symmetrically arranged in video camera 8, light source 6, is if the side at 2 rear portion of the conveyer belt is equipped with quantity
The opposite of the discharging slideway 1 of dry group, discharging slideway 1 is equipped with ejection block 3, and the ejection block 3 is fixed on the piston rod of cylinder 4,
The control valve of the cylinder 4 is controlled by cylinder control module 9, and the signal input part and master control of the cylinder control module 9 are flat
Platform 10 is connected.
The two sides of 2 front of conveyer belt are respectively fixed with light emitting diode 7 and photoswitc 11, the photoswitc 11
It is connected with master control platform 10.
The template image for comparing 5 posture of part is stored in the master control platform 10.
A kind of part automatic sorting method based on computer vision technique, which comprises the steps of:
S1, part 5 are conveyed by conveyer belt 2, when part 5 is by the region of light emitting diode 7 and photoswitc 11, photoelectricity
Open the light 11 light that can not receive the sending of light emitting diode 7, and photoswitc 11 exports analog signals to master control platform 10；
S2, master control platform 10 control light source control module 12, and light source 6 issues directional light and is radiated on part 5, and video camera 8 acquires
The image information of part 5；
S3, image information are input to image processing module 13, and image processing module 13 completes image characteristics extraction, analysis angle point ginseng
Number information, estimates the position of part 5, obtains area-of-interest, and then cutting and the region of stretching obtain area image；
S4, master control platform 10 obtain area image simultaneously matched with the template image of its storage inside, using area image as
Similarity metric criterion is searched in template image, is chosen from template image is chosen with the highest image of area image similarity the most
5 posture of part obtains 5 orientation label of part, and determines discharging slideway 1 corresponding with part 5；
S5, according to the running speed of conveyer belt 2, calculate the interval time that part 5 is transferred to corresponding discharging slideway 1, master control is flat
Platform 10 issues control instruction to cylinder control module 9 after interval time, opens the pneumatic operated valve of corresponding cylinder 4, cylinder 4
Piston rod stretches out, and part 5 is headed into corresponding discharging slideway 1 by ejection block 3.
Technical solution of the present invention is exemplarily described invention above in conjunction with attached drawing, it is clear that present invention specific implementation
It is not subject to the restrictions described above, changes as long as using the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out
Into, or it is not improved the conception and technical scheme of invention are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (4)
1. a kind of part Automated Sorting System based on computer vision technique, including cylinder control module (9), light source control mould
Block (12), image processing module (13), it is characterised in that: the signal input part and master control platform of the light source control module (12)
(10) it is connected, the signal output end of the light source control module (12) is connected with light source (6), described image processing module
(13) signal output end is connected with master control platform (10), the signal input part and video camera of described image processing module (13)
(8) it is connected, the video camera (8), light source (6) are symmetrically arranged in the top of conveyer belt (2) front, the conveyer belt (2)
The side at rear portion is equipped with the discharging slideway (1) that quantity is several groups, and the opposite of discharging slideway (1) is equipped with ejection block (3), the top
Material block (3) is fixed on the piston rod of cylinder (4), and the control valve of the cylinder (4) is controlled by cylinder control module (9), institute
The signal input part for stating cylinder control module (9) is connected with master control platform (10).
2. a kind of part Automated Sorting System based on computer vision technique as described in claim 1, it is characterised in that: institute
The two sides for stating conveyer belt (2) front are respectively fixed with light emitting diode (7) and photoswitc (11), the photoswitc (11) with
Master control platform (10) is connected.
3. a kind of part Automated Sorting System based on computer vision technique as described in claim 1, it is characterised in that: institute
State the template image being stored in master control platform (10) for comparing part (5) posture.
4. a kind of a kind of part automatic sorting method based on computer vision technique as described in claim 1, feature exist
In including the following steps:
S1, part (5) are conveyed by conveyer belt (2), and part (5) passes through light emitting diode (7) and photoswitc (11)
When region, photoswitc (11) can not receive the light of light emitting diode (7) sending, and photoswitc (11) exports analog signals
To master control platform (10)；
S2, master control platform (10) control light source control module (12), light source (6) issue directional light and are radiated on part (5), image
Machine (8) acquires the image information of part (5)；
S3, image information are input to image processing module (13), and image processing module (13) completes image characteristics extraction, analyze angle
Point parameter information, estimates the position of part (5), obtains area-of-interest, and then cutting and the region of stretching obtain area image；
S4, master control platform (10) obtain area image and are matched with the template image of its storage inside, are made with area image
It searches in template image for similarity metric criterion, is chosen from template image is chosen with the highest image of area image similarity most
For part (5) posture, part (5) orientation label is obtained, and determines discharging slideway (1) corresponding with part (5)；
S5, according to the running speed of conveyer belt (2), calculate the interval time that part (5) are transferred to corresponding discharging slideway (1),
Master control platform (10) issues control instruction to cylinder control module (9) after interval time, opens the gas of corresponding cylinder (4)
The piston rod of dynamic valve, cylinder (4) stretches out, and part (5) is headed into corresponding discharging slideway (1) by ejection block (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811440540.6A CN109604187A (en) | 2018-11-29 | 2018-11-29 | A kind of part Automated Sorting System and method based on computer vision technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811440540.6A CN109604187A (en) | 2018-11-29 | 2018-11-29 | A kind of part Automated Sorting System and method based on computer vision technique |
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| Publication Number | Publication Date |
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| CN109604187A true CN109604187A (en) | 2019-04-12 |
Family
ID=66004861
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811440540.6A Withdrawn CN109604187A (en) | 2018-11-29 | 2018-11-29 | A kind of part Automated Sorting System and method based on computer vision technique |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125045A (en) * | 2019-05-29 | 2019-08-16 | 盐城工学院 | A kind of automatic assembly line sorting equipment based on PLC control system control |
| CN110302965A (en) * | 2019-06-21 | 2019-10-08 | 温州大学激光与光电智能制造研究院 | The continuous sorting system of workpiece |
| CN110844508A (en) * | 2019-11-18 | 2020-02-28 | 中科微至智能制造科技江苏有限公司 | Parcel transportation control method and system |
| CN112958491A (en) * | 2021-03-31 | 2021-06-15 | 安徽理工大学 | Part vision detection system based on DSP and FPGA |
| CN113591923A (en) * | 2021-07-01 | 2021-11-02 | 四川大学 | Engine rocker arm part classification method based on image feature extraction and template matching |
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| CN113591923A (en) * | 2021-07-01 | 2021-11-02 | 四川大学 | Engine rocker arm part classification method based on image feature extraction and template matching |
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Application publication date: 20190412 |