CN110064602A - One kind having film and without film waste scrap carton Automated Sorting System and method for sorting - Google Patents
One kind having film and without film waste scrap carton Automated Sorting System and method for sorting Download PDFInfo
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- CN110064602A CN110064602A CN201910399002.5A CN201910399002A CN110064602A CN 110064602 A CN110064602 A CN 110064602A CN 201910399002 A CN201910399002 A CN 201910399002A CN 110064602 A CN110064602 A CN 110064602A
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- film
- darkroom
- conveyer belt
- image
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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
- B07C5/02—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
- B07C5/3404—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level
-
- 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
Abstract
There are film and Automated Sorting System and method for sorting without film waste scrap carton, including host computer, slave computer (PLC), the first photoelectric sensor group, the second photoelectric sensor group, the first acquisition darkroom, the second acquisition darkroom, waste paper jigging screen, driving drum, inclined conveyer belt, non-reflective grid type conveyer belt, multiple driving motors, turning-over conveying unit and landslide the invention discloses a kind of；The present invention tentatively sieves litter decoration by inclined conveyer belt and waste paper jigging screen, reject other waste paper, then by transmitting the darkroom setting up and down with camera and LED light in non-reflective grid type, to all be detected to carton upper surface and lower surface, to carry out having film or the determination without film by image analysis.The further image recognition algorithm by optimizing substantially increases resolution ratio.
Description
Technical field
The present invention relates to carton Sorting Technique field more particularly to a kind of there is film and without the automatic sorting system of film waste scrap carton
System and method for sorting.
Background technique
Currently, due in global range resource anxiety and environmental protection need, reproductive vibration has been considered as developing
The key of circular economy.Waste paper is recycled and is utilized and pollute, protect to saving fibre resources, reduction as a kind of renewable resource
Environment saves that the energy, developing a circular economy etc. is of great significance.But waste paper generally comprises reflective shape waste paper and non-reflective shape
Waste paper, reflective shape waste paper are that paper is equipped with one layer of plastic foil, need first have film and film-free region point when waste paper recycles
It opens, and the sorting of existing waste paper is manual sorting, waste paper quantity to be treated is larger when due to papermaking, needs to consume a large amount of
Manually.
In existing patent, if Patent No. CN102601058A discloses a kind of waste paper method for sorting, mainly abundant
The waste paper broken up is transmitted to Pre-sorting machine by steel plate conveyer belt and carries out primary election；Big corrugated paper screening machine handle is mixed in mixed paper
Middle thickness is more than or equal to 0.8 centimetre and corrugated paper of the weight greater than 500 grams filters out and be transmitted to reserve tank and be packaged, remaining
Papery is then transferred to old newspaper screening machine and screens impurity removal paper according to the area of mixed paper, is packaged by baling press, remaining paper
Matter is transmitted to small corrugated paper screening machine and grabs corrugated paper according to the thickness of remaining papery, is packaged by reserve tank, remaining paper
Matter is then transmitted to fine screening machine and carries out classification processing according to the length of mixed paper；Fine screening machine by laser to remaining papery into
Row scanning, with colored magazine and not colored miscellaneous paper classifying packing.Although the method for this patent disclosure can be to colored useless
Paper carries out classification sorting, but the waste paper that the waste paper sorting system sorts out, will also be by manually the waste scrap carton for having film
It is separated with the waste scrap carton of no film, i.e., cannot be made whether film differentiation.
Current existing waste paper sorting system, is only classified with machine according to the size and specification of waste paper, can not
It is separated there is film with the litter decoration without film by machine, at this stage most important separation method or manual sorting.It is set existing
Under standby and process conditions, many medium-sized and small enterprises use manual sort, cause low efficiency, human cost relatively high, while also prolonging
The storage time has been grown, the probability and fire hazard of pollution, mildew are increased.To sum up, the status of technology sorted according to domestic waste paper,
Can only be classified with machine according to the size and specification of waste paper, at this stage have film and without film litter decoration classification be substantially all
It is to be carried out by manually, time-consuming and laborious, prolonged storage will increase the probability of mildew, cause the waste of renewable fiber.
Summary of the invention
There are film and Automated Sorting System and method for sorting without film waste scrap carton the object of the present invention is to provide a kind of, it can
Solve the problems such as manual sorting's low efficiency, the insufficient, high labor cost of sorting, part litter decoration are hazardous to the human body.
The technical solution adopted by the present invention are as follows:
A kind of have a film and the Automated Sorting System without film waste scrap carton, including host computer, slave computer, the first photoelectric sensor group,
Second photoelectric sensor group, the first acquisition darkroom, the second acquisition darkroom, waste paper jigging screen, driving drum, inclined conveyer belt, no
Reflective grid type conveyer belt, multiple driving motors, turning-over conveying unit and landslide；
The discharge end of the inclined conveyer belt is connect with waste paper jigging screen volume feeding end, is provided with it below waste paper jigging screen
His waste paper collecting region, the discharge end of waste paper jigging screen are connect with the feeding end of non-reflective grid type conveyer belt, non-reflective network type
The discharge end of conveyer belt is connected by the top on turning-over conveying unit and landslide, the first photoelectric sensor group fixed setting
In the top of non-reflective grid type conveyer belt and waste paper jigging screen interval, the second photoelectric sensor group is fixed at overturning transmission
The top of device and landslide interval, the first acquisition darkroom and the second acquisition darkroom are respectively fixedly disposed at non-reflective grid type transmission
Above and below band, acquisition is respectively used to by the image letter on litter decoration upper and lower surfaces on non-reflective grid type conveyer belt
Breath；Film litter decoration collecting region is provided with below the turning-over conveying unit, the bottom on landslide is provided with no film litter decoration and receives
Ji Qu；
The first acquisition darkroom and the second acquisition darkroom includes darkroom box body and is arranged intracorporal in darkroom box respectively
Industrial camera and LED bank light；The output end of the first photoelectric sensor group, the second photoelectric sensor group and CCD industrial camera
It is separately connected the input terminal of slave computer, the output end of slave computer connects the control signal of multiple driving motors and industrial camera,
Slave computer is connect with PC control.
Computer of the host computer using installation LabView, slave computer PLC.
The first, second photoelectric sensor group uses E3F-5DN1/5L correlation photoelectric sensor.
The turning-over conveying unit includes stepper motor, motor, driving drum and resupination framework, and the electrode is defeated
Shaft is axially connect with driving drum；The axial direction of the stepper motor output shaft is vertical with axial one end of turning rod to fix
The input terminal of connection, the stepper motor and motor is separately connected the output end of PLC.
It is a kind of based on the sorting side according to claim 1 for having film and the Automated Sorting System without film waste scrap carton
Method includes the following steps:
(1) to image in opencv carry resize() function carry out reduce one times of size adjusting；
(2) with the mean(carried in opencv) function, seek the global average brightness value of image；
(3) piecemeal is carried out to image, obtains the identical sub-block of multiple sizes, the average bright of the sub-block is sought to the scanning of every sub-block
Degree obtains sub-block average brightness matrix according to the distribution of each sub-block；
(4) each value subtracts global average brightness value in bundle Block Brightness matrix, obtains sub-block luminance difference matrix；
(5) bundle Block Brightness matrix of differences is expanded to and original image same size, acquisition full images luminance difference by interpolation arithmetic
Value matrix；
(6) each pixel brightness value of original image is respectively subtracted into corresponding numerical value in full images luminance difference matrix, obtains brightness
Balanced image；
(7) noise of the image of luminance proportion is inhibited using the method for median filtering；
(8) image obtained in step (7) is split using fixed threshold amplification；
(9) using the mean(carried in opencv) function, the average gray of the image in step (8) after segmentation is found out,
(10) judge whether average gray is 0, represent litter decoration without film if it is 0, representing litter decoration if not being 0 has film.
The number of sub-block is 372 in the step (3), size 372*372.
The present invention tentatively sieves litter decoration by inclined conveyer belt and waste paper jigging screen, rejects other waste paper,
Then by transmitting the darkroom setting up and down with camera and LED light in non-reflective grid type, thus to carton upper surface under
Surface is all detected, to carry out having film or the determination without film by image analysis.The further image by optimization
Recognizer substantially increases resolution ratio.Image collecting device, workpiece sorting mechanism and workpiece collecting region etc. are all adopted in the present invention
It with modularization, is installed and uninstalled according to what these mechanisms of testing requirements can be convenient, to expand the application of this detection system
Range.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is flow chart of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
As illustrated in fig. 1 and 2, the present invention includes host computer (IPC), slave computer (PLC), the first photoelectric sensor group 9(E3F-
5DN1/5L correlation), the second photoelectric sensor group 10(E3F-5DN1/5L correlation), the first acquisition darkroom 4, second acquisition it is dark
Room 5, waste paper jigging screen 2, inclined conveyer belt 1, non-reflective grid type conveyer belt 3, for driving the first of inclined conveyer belt 1 to drive
Motor 17, for driving the second driving motor of waste paper jigging screen 2, for driving the third of non-reflective grid type conveyer belt 3 to drive
Dynamic motor 16, turning-over conveying unit and landslide 7；
The discharge end of the inclined conveyer belt 1 is connect with the feeding end of waste paper jigging screen 2, the lower section setting of waste paper jigging screen 2
There are other waste paper collecting regions 11, the discharge end of waste paper jigging screen 2 is connect with the feeding end of non-reflective grid type conveyer belt 3, not instead
The discharge end of optical-fiber network formula conveyer belt 3 is connect by turning-over conveying unit with the top on landslide 7, first photoelectric sensor
Group 9 is fixed at the top of non-reflective grid type conveyer belt 3 and 2 gap of waste paper jigging screen, and the second photoelectric sensor group 10 is put
The upper surface of 7 gaps of driving drum 6 and landslide are placed in, the first acquisition darkroom 4 and the second acquisition darkroom 5 are respectively fixedly disposed at not anti-
Above and below light grid type conveyer belt 3, acquisition is respectively used to by above and below litter decoration on non-reflective grid type conveyer belt 3 two
Image information on a face；The side of the turning-over conveying unit has been provided with film litter decoration collecting region 12, and the bottom on landslide is set
It is equipped with no film litter decoration collecting region 8；
The first acquisition darkroom 4 and the second acquisition darkroom 5 includes darkroom box body and is arranged in the box body of darkroom respectively
Daheng's image Mercury MER-531-20GC-P industrial camera (MER-1220-32U3C-L) and LED bank light；First photoelectricity
Sensor group (E3F-5DN1/5L correlation), the second photoelectric sensor group (E3F-5DN1/5L correlation) and Daheng's image Mercury
The output end of MER-531-20GC-P industrial camera is separately connected the input terminal of slave computer, and the output end of slave computer connects multiple drives
The control signal of dynamic motor and Daheng's image Mercury MER-531-20GC-P industrial camera, slave computer and PC control connect
It connects.
Computer of the host computer using installation LabView, slave computer PLC.
The first, second photoelectric sensor group uses E3F-5DN1/5L emission sensor.
The turning-over conveying unit includes stepper motor 13, driving drum 6 and rollover stand, the stepper motor 13
Several driving drums 6 are driven to rotate, driving drum 6 is fixedly placed in after non-reflective grid type conveyer belt 3.The rollover stand
It is fixedly placed in the axial side of driving drum 6, rollover stand includes the drive rod 15 perpendicular to driving drum 6 and several is welded on biography
In lever 15 and perpendicular to the turning rod of drive rod 15 14, stepper motor 13 drives drive rod 15 to rotate, passes through turning rod 14
The litter decoration on driving drum 6 is taken away in gap between driving drum 6.The drive rod 15 of driving drum 6 and rollover stand, by not
Same motor provides power and is rotated, the output end of the input terminal connection PLC of the stepper motor 13.
It is a kind of based on the method for sorting for having film and the Automated Sorting System without film waste scrap carton, include the following steps:
(1) to image in opencv carry resize() function carry out reduce one times of size adjusting；
(2) with the mean(carried in opencv) function, seek the global average brightness value of image；
(3) by the verifying of many experiments, piecemeal is carried out to image, gets the identical sub-block of multiple sizes, divides in the present embodiment
For 372 sub-blocks, the size of sub-block is the average brightness that (372*372) seeks the sub-block to the scanning of every sub-block, according to every height
The distribution of block obtains sub-block average brightness matrix；
(4) each value subtracts global average brightness value in bundle Block Brightness matrix, obtains sub-block luminance difference matrix；
(5) bundle Block Brightness matrix of differences is expanded to and original image same size, acquisition full images luminance difference by interpolation arithmetic
Value matrix；
(6) each pixel brightness value of original image is respectively subtracted into corresponding numerical value in full images luminance difference matrix, obtains brightness
Balanced image；
(7) noise of the image of luminance proportion is inhibited using the method for median filtering；
(8) image obtained in step (7) is split using fixed threshold amplification；
(9) passing through mean() function finds out the average gray of the image in step (8) after segmentation,
(10) judge whether average gray is 0, represent litter decoration without film if it is 0, representing litter decoration if not being 0 has film.
The course of work of the invention specifically: litter decoration and other waste paper pass through inclined conveyer belt 1 first and are transmitted to waste paper
Jigging screen 2, other waste paper fall into shredded paper collecting box 11 under the effect of waste paper jigging screen 2, and big litter decoration divides through waste paper jigging screen 2
From being sent to the non-reflective progress of grid type conveyer belt 3 without film with arrangement and having film sorting, the first photoelectric sensor group 9 is placed
Above waste paper jigging screen 2 and non-reflective 3 excess play of grid type conveyer belt, for detecting whether there is litter decoration process.When
When first photoelectric sensor group 9 has detected that litter decoration passes through, host computer reads PLC input state, and control PLC executes delay
Program exports a time delayed signal, drives Daheng image Mercury MER-531-20GC-P industrial camera CCD1 in the first darkroom 4
Delay is taken pictures；In the first darkroom 4 under the irradiation of LED light, CCD1 obtains litter decoration surface image information and is sent to host computer,
It calls OPENCV to carry out scan picture, judges whether image has a reflective spot, realize to there is film and the resolution without film litter decoration.
When being judged as film by the litter decoration in the first darkroom 4, litter decoration is to have film carton, Daheng's figure in the second darkroom 5
As Mercury MER-531-20GC-P industrial camera CCD2 is no longer taken pictures (detection of carton lower surface), litter decoration is directly delivered
To driving drum, the second photoelectric sensor group 10 being placed between driving drum and landslide detects that litter decoration passes through signal,
After treatment, control PLC sends corresponding pulses to the stepper motor 13 of turning-over conveying unit to host computer, makes in vertically downward
Rollover stand transmission shaft 15 turn clockwise 270 °, will on driving drum 6 have film carton overturn 180 °, suspend some time,
Film litter decoration collecting region 12 is fallen into litter decoration, rollover stand comes back to initial position vertically downward, waits next signal；
When being judged as no film by the litter decoration in the first darkroom 4, PLC drives Daheng image Mercury MER- in the second darkroom 5
531-20GC-P industrial camera CCD2 carries out delay and takes pictures (detection of carton lower surface), executes identical image processing algorithm, such as
Fruit has been judged as film, and litter decoration is to have film carton, then executes identical sort operation, and litter decoration feeding is had film carton receipts
Collect area 12, if being judged as no film, litter decoration is without film carton, and turning-over conveying unit stepper motor 13 is failure to actuate, waste paper
Case directly falls to no film carton collecting region 8 by landslide 7, to complete automatic sorting.
This is without film litter decoration sorting system image processing algorithm flow chart, as shown in Figure 2.
1, the detection module in the present invention, irradiates the litter decoration on non-reflective grid type conveyer belt by dark indoor LED lamp
Upper and lower surfaces, industrial camera acquire picture, and LabView scan picture judges whether picture has reflective spot, therefore, it is determined that
Litter decoration is to have film or without film.
2, in the present invention in terms of picture processing method particularly includes: (1) carry out size adjusting to image；(2) figure is sought
The global average brightness of picture；(3) average brightness that the block is sought to every fritter (372 × 372) scanning of image, according to each
The distribution of sub-block obtains sub-block average brightness matrix；(4) each value subtracts global average brightness in bundle Block Brightness matrix, obtains
Obtain sub-block luminance difference matrix；(5) bundle Block Brightness matrix of differences by interpolation arithmetic expand to original image same size,
Obtain full images luminance difference matrix；(6) each pixel brightness value of original image is respectively subtracted in full images luminance difference matrix
Corresponding numerical value obtains the image of luminance proportion；(7) median filtering inhibits the noise of image；(8) fixed threshold is utilized
Operation is split image；(9) average gray of the image after finding out segmentation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of have film and the Automated Sorting System without film waste scrap carton, it is characterised in that: including host computer, slave computer, first
Photoelectric sensor group, the second photoelectric sensor group, first acquisition darkroom, second acquisition darkroom, waste paper jigging screen, driving drum,
Inclined conveyer belt, non-reflective grid type conveyer belt, multiple driving motors, turning-over conveying unit and landslide；
The discharge end of the inclined conveyer belt is connect with waste paper jigging screen volume feeding end, is provided with it below waste paper jigging screen
His waste paper collecting region, the discharge end of waste paper jigging screen are connect with the feeding end of non-reflective grid type conveyer belt, non-reflective network type
The discharge end of conveyer belt is connected by the top on turning-over conveying unit and landslide, the first photoelectric sensor group fixed setting
In the top of non-reflective grid type conveyer belt and waste paper jigging screen interval, the second photoelectric sensor group is fixed at overturning transmission
The top of device and landslide interval, the first acquisition darkroom and the second acquisition darkroom are respectively fixedly disposed at non-reflective grid type transmission
Above and below band, acquisition is respectively used to by the image letter on litter decoration upper and lower surfaces on non-reflective grid type conveyer belt
Breath；Film litter decoration collecting region is provided with below the turning-over conveying unit, the bottom on landslide is provided with no film litter decoration and receives
Ji Qu；
The first acquisition darkroom and the second acquisition darkroom includes darkroom box body and is arranged intracorporal in darkroom box respectively
Industrial camera and LED bank light；The output end of the first photoelectric sensor group, the second photoelectric sensor group and CCD industrial camera
It is separately connected the input terminal of slave computer, the output end of slave computer connects the control signal of multiple driving motors and industrial camera,
Slave computer is connect with PC control.
2. according to claim 1 have film and the Automated Sorting System without film waste scrap carton, it is characterised in that: described is upper
Computer of the position machine using installation LabView, slave computer PLC.
3. according to claim 2 have film and the Automated Sorting System without film waste scrap carton, it is characterised in that: described
One, the second photoelectric sensor group uses E3F-5DN1/5L correlation photoelectric sensor.
4. according to claim 3 have film and the Automated Sorting System without film waste scrap carton, it is characterised in that: described turns over
Turning transmission device includes stepper motor, motor, driving drum and resupination framework, the electrode output shaft and driving roller shaft
To connection；The axial direction of the stepper motor output shaft is vertical with axial one end of turning rod to be fixedly connected, the stepping
The input terminal of motor and motor is separately connected the output end of PLC.
5. it is a kind of based on the method for sorting according to claim 1 for having film and the Automated Sorting System without film waste scrap carton,
It is characterized by comprising following steps:
(1) to image in opencv carry resize() function carry out reduce one times of size adjusting；
(2) with the mean(carried in opencv) function, seek the global average brightness value of image；
(3) piecemeal is carried out to image, obtains the identical sub-block of multiple sizes, the average bright of the sub-block is sought to the scanning of every sub-block
Degree obtains sub-block average brightness matrix according to the distribution of each sub-block；
(4) each value subtracts global average brightness value in bundle Block Brightness matrix, obtains sub-block luminance difference matrix；
(5) bundle Block Brightness matrix of differences is expanded to and original image same size, acquisition full images luminance difference by interpolation arithmetic
Value matrix；
(6) each pixel brightness value of original image is respectively subtracted into corresponding numerical value in full images luminance difference matrix, obtains brightness
Balanced image；
(7) noise of the image of luminance proportion is inhibited using the method for median filtering；
(8) image obtained in step (7) is split using fixed threshold amplification；
(9) using the mean(carried in opencv) function, the average gray of the image in step (8) after segmentation is found out,
(10) judge whether average gray is 0, represent litter decoration without film if it is 0, representing litter decoration if not being 0 has film.
6. the method for sorting according to claim 5 for having film and the Automated Sorting System without film waste scrap carton, feature exist
In: the number of sub-block is 372 in the step (3), size 372*372.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910399002.5A CN110064602B (en) | 2019-05-14 | 2019-05-14 | Automatic sorting system and sorting method for waste cartons with films and without films |
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| CN201910399002.5A CN110064602B (en) | 2019-05-14 | 2019-05-14 | Automatic sorting system and sorting method for waste cartons with films and without films |
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| CN112247277A (en) * | 2020-10-29 | 2021-01-22 | 洛阳万基铝加工有限公司 | Novel cutting machine |
| CN113426685A (en) * | 2021-06-18 | 2021-09-24 | 宿迁中矿智能装备研究院有限公司 | Production line workpiece rapid identification system and method based on machine vision |
| CN113426685B (en) * | 2021-06-18 | 2023-11-21 | 宿迁中矿智能装备研究院有限公司 | Rapid workpiece recognition system and method based on machine vision for production line |
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