CN110653179B - Miscellaneous color bristles sorting device and using method thereof - Google Patents
Miscellaneous color bristles sorting device and using method thereof Download PDFInfo
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- CN110653179B CN110653179B CN201910959209.3A CN201910959209A CN110653179B CN 110653179 B CN110653179 B CN 110653179B CN 201910959209 A CN201910959209 A CN 201910959209A CN 110653179 B CN110653179 B CN 110653179B
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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
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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Abstract
The invention discloses a miscellaneous color bristle sorting device which comprises a sorting conveyor belt, wherein a plurality of sorting indicating lines are printed on the outer surface of the sorting conveyor belt along the conveying direction of the sorting conveyor belt, the sorting conveyor belts except the sorting indicating lines are of the same color, and the colors of the sorting indicating lines are the same and are different from the colors of the sorting conveyor belt; a collecting box is arranged below the discharging end of the sorting conveyor belt; a camera is arranged above the sorting conveyor belt and is supported on the ground at the left side and the right side of the sorting conveyor belt through a camera bracket; taking the running direction of the sorting conveyor belt as a downstream direction; the picking device is arranged above the picking conveying belt on the downstream of the camera, and the collecting mechanism is arranged below the downstream of the picking device and adjacent to the picking device. The invention also discloses a corresponding using method. The invention can automatically identify and sort out the bristles with the mixed colors, the sorting efficiency is greatly improved compared with manual sorting, and the false picking missing rate is greatly reduced compared with manual picking.
Description
Technical Field
The invention relates to the technical field of bristle processing.
Background
Bristles are primarily long and stiff bristles on the back of the pig. The bristles are 4-5 cm in length, and some bristles are longer than 5 cm in length. The diameter of the bristles is about one third millimeter, and the bristles have the characteristics of uniform root and strip, moderate hardness, high oiliness, high elasticity, difficult deformation, moisture resistance, no influence of cold and heat and the like, have natural forked tips and have good adsorption performance. The bristles are mainly used as daily brushes, paint brushes, machine brushes and the like, and have wide application in military industry, and the bristles are required to be made into products from paint warships, airplanes and various military vehicles to cleaning machine guns, cannon barrels, gun barrels and the like. The bristles are sorted according to the characteristics of the product according to the color. The existing sorting method is manual sorting, the sorting efficiency is low, visual fatigue is easily caused after workers sort for a long time, and the wrong-picking missing-picking rate is too high (generally higher than 1.5%).
Disclosure of Invention
The invention aims to provide a miscellaneous color bristle sorting device which is high in sorting efficiency and capable of avoiding mistaken sorting and missing.
In order to achieve the purpose, the miscellaneous color bristle sorting device comprises a sorting conveyor belt, wherein a plurality of sorting indicating lines are printed on the outer surface of the sorting conveyor belt along the conveying direction of the sorting conveyor belt, the sorting indicating lines are uniformly arranged at intervals along the width direction of the sorting conveyor belt, and the distance between every two adjacent sorting indicating lines is 1 +/-0.1 cm; the sorting conveying belts outside the sorting indicating lines are in the same color, and the color of each sorting indicating line is the same and is different from that of the sorting conveying belt; a collecting box is arranged below the discharging end of the sorting conveyor belt;
a camera is arranged above the sorting conveyor belt and is supported on the ground at the left side and the right side of the sorting conveyor belt through a camera bracket; the camera is connected with an electric control device; taking the running direction of the sorting conveyor belt as a downstream direction;
a sorting device is arranged above the sorting conveyor belt at the downstream of the camera and supported on the ground at the left side and the right side of the sorting conveyor belt through a sorting bracket; the downstream of the sorting device is provided with a collecting mechanism adjacent to the sorting device.
The color of the sorting conveyor belt is purple, the RGB value is 128, 0 and 128, and the gray value calculated by a weighted average method is 52.48;
the color of each sorting indicator line was green, and the RGB values were 0, 128, 0, and the gray value calculated by the weighted average method was 75.52.
The sorting device comprises a negative pressure box for sorting and a suction pipe moving device positioned below the negative pressure box for sorting, the negative pressure box for sorting is connected with a first variable-frequency negative pressure device, the downstream side of the negative pressure box for sorting is connected with a row of upper vacuum pipes with openings at the lower ends, each upper vacuum pipe is respectively inserted with a vacuum suction pipe in a downward sliding and sealing manner, and the vacuum suction pipes are arranged in one-to-one correspondence with indicating lines for sorting; the sorting negative pressure box is connected to the sorting bracket;
the suction pipe moving device comprises a fixed frame connected to the sorting support, and a plurality of vertical moving devices used for moving the vacuum suction pipes up and down are arranged on the fixed frame in a one-to-one correspondence mode with the vacuum suction pipes.
The vertical moving device comprises a miniature speed reducing motor fixedly connected to the top of the fixing frame, an output shaft of the miniature speed reducing motor is a threaded shaft, the output shaft of the miniature speed reducing motor extends downwards and is in threaded connection with a lifting block, an anti-rotation sliding rod vertically arranged is further slidably arranged on the lifting block in a penetrating mode, and the upper end and the lower end of the anti-rotation sliding rod are respectively connected with the fixing frame; the vacuum suction pipe is fixedly connected with the lifting block; the vacuum suction pipe is driven by the vertical moving device to have an upper limit position and a lower limit position, the upper limit position is 5-6 cm higher than the upper surface of the sorting conveyor belt, and the lower limit position is 1-2 mm higher than the sorting conveyor belt; the sorting conveyor belt right below the vacuum suction pipe is an adsorption point.
The collecting mechanism comprises a second frequency conversion negative pressure device, an air suction port of the second frequency conversion negative pressure device is connected with an upper negative pressure box, the upper negative pressure box is connected with a lower negative pressure box through a connecting pipe, the lower part of the lower negative pressure box is provided with a long hole for air suction, and the long hole for air suction corresponds to the upper limit position of each vacuum suction pipe and is used for sucking bristles adsorbed by each vacuum suction pipe; the gas outlet of the second variable-frequency negative pressure device is connected with a sorting box through a collecting pipe, the top wall of the sorting box is of a filter screen structure, and the diameter of meshes of the sorting box is less than or equal to 0.3 cm;
the negative pressure at the long hole for air suction is lower than that at the vacuum suction pipe;
the upper negative pressure box, the lower negative pressure box and the second variable-frequency negative pressure device are connected with a collecting support, and the collecting support is supported on the ground on the left side and the right side of the sorting conveyor belt;
the electric control device is connected with the first frequency conversion negative pressure device and the second frequency conversion negative pressure device.
The invention also aims to provide a using method of the miscellaneous color bristles sorting device, which comprises the following steps:
in the initial state, all the vacuum suction pipes are in the upper limit position;
starting the first and second variable-frequency negative pressure devices, opening the camera to enable the sorting conveyor belt to start running, and putting bristles to be sorted on the sorting conveyor belt;
when bristles on the sorting conveyor belt pass through a camera shooting area below the camera, the camera transmits RGB images of the camera shooting area to the electric control device;
the electronic control device is internally stored with a gray value X of the color of the sorting indicating line calculated by a weighted average method and a gray value D of the outer surface of the sorting conveying belt calculated by the weighted average method; the absolute value of the difference between X and D is greater than or equal to 10;
the sizes of all the frames of images shot by the camera are the same, and the image coordinates of all the sorting indicating lines in all the frames of images are stored in the electric control device;
the electronic control device calculates the gray value of each pixel point in the image shot by the camera by using a weighted average method and marks the image coordinates of the gray value;
the electric control device marks all pixel points at the image coordinate position of which the gray value is not equal to X nor D in the image as bristle pixel points, and the electric control device marks the continuously distributed bristle pixel points as the same bristle;
the SUM of the gray values of all the pixel points of one bristle is SUM1, the number of all the pixel points of one bristle is SUM2, and the electric control device calculates the average value P of the gray values of all the pixel points of each bristle, wherein P is SUM 1/SUM 2;
the electric control device marks the bristles with the P less than or equal to 20 as black bristles; the electric control device marks the bristles with P & gt 20 as the variegated bristles;
the electric control device filters all black bristles and leaves the bristles to be sorted out;
for each mixed color bristle, the electric control device compares the image coordinates of each pixel point with the image coordinates of each sorting indicating line, and when one mixed color bristle has pixel points with image coordinate values positioned on one sorting indicating line, the electric control device marks the sorting indicating line as a crossing indicating line of the mixed color bristle;
when one mixed bristle only has one crossing indicating line, the electric control device takes the crossing indicating line as a nearest indicating line, and the electric control device takes a pixel point covered at the intersection point of the mixed bristle and the nearest indicating line as an adsorption area;
when one mixed color bristle has more than two crossing indication lines, the electric control device calculates the average image coordinate of each pixel point of the mixed color bristle, and takes the crossing indication line closest to the average image coordinate as the nearest indication line, and the electric control device takes the pixel point covered at the intersection point of the mixed color bristle and the nearest indication line as an adsorption area;
the electric control device stores the running speed V m/S of the sorting conveyor belt and the distance S m between each pixel point of each sorting indication line in the image shot by the camera and the corresponding adsorption point, and calculates the time t seconds required by the most downstream pixel point of the adsorption area to reach the adsorption point according to t ═ S/V;
for each variegated bristle, the electric control device controls the action of the miniature speed reducing motor corresponding to the nearest indicating line, so that the vacuum suction pipe corresponding to the nearest indicating line reaches the lower limit position within n seconds under the driving of the lifting block, n is more than or equal to 0.3 and less than or equal to t-0.2 seconds, and the vacuum suction pipe stays at the lower limit position for more than 0.1 second, thereby ensuring that the variegated bristle is adsorbed;
the electric control device controls the vacuum suction pipe and the adsorbed mixed-color bristles to upwards return to an upper limit position, the mixed-color bristles adsorbed by the vacuum suction pipe are sucked into the long hole for air suction under the action of lower negative pressure at the long hole for air suction than at the vacuum suction pipe, and the second variable-frequency negative pressure device sends the mixed-color bristles into the sorting box through the collecting pipe;
the black bristles fall into the collecting box along the blanking end of the sorting conveyor belt;
the above process is continued, and the bristles poured into the feeding port are continuously divided into variegated bristles and black bristles, and are respectively collected into a sorting box and a collecting box.
The two cameras are arranged side by side on the left and right, the camera areas of the two cameras respectively comprise the left part and the right part of the sorting conveying belt at the bristle identification position, and the camera areas of the two cameras have an intersection area in the middle of the sorting conveying belt; the electric control device compounds the images shot by the two cameras into a complete frame of shot image.
The invention has the following advantages: the invention has simple structure and convenient use, can automatically identify and sort out the impure bristles, greatly improves the sorting efficiency compared with manual sorting, and greatly reduces the false picking and missing picking rate compared with manual picking.
The invention realizes the adsorption of the variegated bristles and the conveying of the variegated bristles by utilizing negative pressure, has ingenious structure and good efficiency of adsorbing and conveying the variegated bristles, has higher action efficiency (basically 100 percent of adsorption and 100 percent of conveying to a sorting box) compared with the clamping of a clip and the conveying by a mechanical arm, is easier to design and manufacture and has lower cost.
The invention avoids the recognition error caused by the color of the bristles is the same as that of the conveying belt or the sorting indicating line. The color of the conveying belt and the sorting indicating line is set to be different from that of bristles, so that the bristles can be conveniently identified through the single background color of the conveying belt, the calculation intensity of image identification is greatly reduced, and the accuracy of the image identification bristles is improved.
The invention facilitates the calculation of the vacuum suction pipe corresponding to the bristles with different colors by sorting the indicating lines, thereby simplifying the control process. The bristles are black or white, and the colors of the sorting conveyor belt and the sorting indicator lines can be distinguished from the bristles by other colors, such as green and purple.
The top wall of the sorting box is of a filter screen structure, so that air sent into the sorting box by the second variable-frequency negative pressure device is allowed to enter the environment through the filter screen, and meanwhile, because the diameter of meshes at the top wall of the sorting box is less than or equal to 0.3 cm, bristles can be prevented from flowing out of the sorting box through the top wall of the sorting box along with air flow.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic perspective view of the sorting device and the collection mechanism;
FIG. 3 is a schematic perspective view of the end of the pick conveyor;
FIG. 4 is a schematic perspective view of the camera stand;
FIG. 5 is a schematic perspective view of the sorting device and the collection mechanism;
FIG. 6 is a schematic perspective view of the straw moving device;
FIG. 7 is a schematic perspective view of the vertical displacement device;
fig. 8 is an electrical control schematic of the present invention.
Detailed Description
As shown in fig. 1 to 8, the invention discloses a miscellaneous color bristle sorting device, which comprises a sorting conveyor belt 7, wherein a plurality of sorting indicating lines 14 are printed on the outer surface of the sorting conveyor belt 7 along the conveying direction, the sorting indicating lines 14 are uniformly arranged along the width direction of the sorting conveyor belt 7 at intervals, and the distance between the adjacent sorting indicating lines 14 is 1 +/-0.1 cm; the sorting conveyors 7 other than the sorting indication lines 14 are the same color, and the sorting indication lines 14 are the same color and different from the color of the sorting conveyor 7. A collecting box 4 is arranged below the discharging end of the sorting conveyor belt 7.
Specifically, the color of the sorting conveyor 7 is purple, the RGB values thereof are 128, 0, 128, and the gray value calculated by the weighted average method is 52.48;
each sorting indicator line 14 is green in color, RGB values are 0, 128, 0, and a gray value calculated by a weighted average method is 75.52. Because there is no green or purple bristles, it is possible to prevent the bristles from being colored in the same color as the conveyor belt or the sorting indicator line, thereby causing a recognition error.
The distance between adjacent sorting indicator lines 14 is 1 + -0.1 cm, so that each bristle can be pressed against at least one sorting indicator line 14.
The sorting conveying belts 7 are in the same color, and the sorting indicating lines 14 are in the same color and different from the sorting conveying belts 7, so that the calculation intensity of image recognition is greatly reduced, and the accuracy of image recognition of bristles is improved.
The camera 2 is arranged above the sorting conveyor belt 7, and the camera 2 is supported on the ground at the left side and the right side of the sorting conveyor belt 7 through a camera bracket 25; the camera 2 is connected with an electric control device 26; with the direction of travel of the pick conveyor 7 being the downstream direction.
A sorting device is arranged above the sorting conveyor belt 7 at the downstream of the camera 2 and is supported on the ground at the left side and the right side of the sorting conveyor belt 7 through a sorting bracket 27; a collecting mechanism is arranged below the downstream of the sorting device and adjacent to the sorting device;
the sorting device comprises a negative pressure box 28 for sorting and a suction pipe moving device positioned below the negative pressure box 28 for sorting, the negative pressure box 28 for sorting is connected with a first variable-frequency negative pressure device 29, the downstream side of the negative pressure box 28 for sorting is connected with a row of upper vacuum pipes 30 with lower ends opened, each upper vacuum pipe 30 is respectively inserted with a vacuum suction pipe 31 in a downward sliding and sealing way, and the vacuum suction pipes 31 and the indicating lines 14 for sorting are arranged in a one-to-one correspondence way; the negative pressure tank 28 for sorting is connected to the sorting support 27; the diameter of the vacuum suction pipe 31 is preferably 3 mm.
The suction pipe moving device comprises a fixed frame 32 connected to the sorting bracket 27, and a plurality of vertical moving devices for moving the vacuum suction pipes up and down are arranged on the fixed frame 32 in a one-to-one correspondence manner with the vacuum suction pipes 31;
the vertical moving device comprises a miniature speed reducing motor 33 fixedly connected to the top of the fixing frame 32, an output shaft 34 of the miniature speed reducing motor 33 is a threaded shaft, the output shaft 34 of the miniature speed reducing motor 33 extends downwards and is in threaded connection with a lifting block 35, and the bottom end of the output shaft 34 of the miniature speed reducing motor 33 is rotatably connected with the bottom end of the fixing frame 32 through a bearing or a shaft sleeve.
An anti-rotation sliding rod 36 vertically arranged is further slidably arranged on the lifting block 35 in a penetrating manner, and the upper end and the lower end of the anti-rotation sliding rod 36 are respectively connected with the fixed frame 32; the vacuum suction pipe 31 is fixedly connected with the lifting block 35; the vacuum suction pipe 31 is driven by the vertical moving device to have an upper limit position and a lower limit position, the upper limit position is 5-6 cm higher than the upper surface of the sorting conveyor belt 7, and the lower limit position is 1-2 mm higher than the sorting conveyor belt; the pick conveyor 7 directly below the vacuum suction pipe 31 is a suction point.
The electric control device 26 is a computer or a single chip microcomputer (PLC belongs to the single chip microcomputer) or an integrated circuit with a display screen, and the electric control device 26 is conventional technology and is not shown in the figure.
Between the upper vacuum tube 30 and the corresponding vacuum suction tube 31, sliding sealing can be realized by the matching of the frosted surfaces (i.e. both the inner surface of the upper vacuum tube 30 and the outer surface of the vacuum suction tube 31 are frosted surfaces at the matching surface of the upper vacuum tube and the vacuum suction tube 31), and a sliding sealing ring can also be arranged on the inner surface of the lower end opening of the upper vacuum tube 30, so that the vacuum suction tube 31 passes through the sliding sealing ring and is connected with the upper vacuum tube 30 in a sliding sealing manner through.
The collecting mechanism comprises a second variable-frequency negative pressure device 37, an air suction port of the second variable-frequency negative pressure device 37 is connected with an upper negative pressure box 38, the upper negative pressure box 38 is connected with a lower negative pressure box 39 through a connecting pipe, and the connecting pipes are arranged side by side, so that the lower negative pressure box 39 can obtain uniform negative pressure at all positions.
The lower part of the lower negative pressure box 39 is provided with a long hole 51 for air suction, and the long hole 51 for air suction corresponds to the upper limit position of each vacuum suction pipe 31 and is used for sucking the bristles adsorbed by each vacuum suction pipe 31; the air outlet of the second frequency conversion negative pressure device 37 is connected with the sorting box 3 through a collecting pipe, and the sorting box 3 is positioned on the ground on one side of the sorting conveying belt.
The top wall of the sorting box 3 is of a filter screen structure, and the diameter of the meshes of the top wall is less than or equal to 0.3 cm; the upper negative pressure tank 38 and the lower negative pressure tank 39 are provided so as to have a more relaxed installation space and to form a uniform negative pressure in each part of the long hole 51 for air suction; the negative pressure at the long hole 51 for air suction is lower than the negative pressure at the vacuum suction pipe 31;
if the second frequency-variable negative pressure device 37 is directly connected with the lower negative pressure box 39, on one hand, the installation space is more narrow, and on the other hand, the negative pressure at the end of the long hole 51 for air suction near the second frequency-variable negative pressure device 37 is obviously lower than the negative pressure at the end of the long hole 51 for air suction far away from the second frequency-variable negative pressure device 37, which is not favorable for generating uniform adsorption force for the variegated bristles adsorbed by each vacuum suction pipe 31. In order to ensure that the end of the long hole 51 for air suction far away from the second variable-frequency negative pressure device 37 can generate enough adsorption force, the power of the second variable-frequency negative pressure device 37 must be increased (energy is not saved). In addition, the power of the second variable-frequency negative pressure device 37 cannot be increased without limit, otherwise it is possible that a part of the solid bristles on the surface of the sorting conveyor may be sucked into the long holes 51 for air suction.
The upper negative pressure box 38, the lower negative pressure box 39 and the second variable-frequency negative pressure device 37 are all connected with a collecting bracket 40, and the collecting bracket 40 is supported on the ground at the left side and the right side of the sorting conveyor belt 7;
the electric control device 26 is connected with the first variable-frequency negative pressure device 29 and the second variable-frequency negative pressure device 37. The electronic control device 26 is connected to a power supply.
The top wall of the sorting box 3 is of a filter screen structure, so that the air fed into the sorting box 3 by the second variable-frequency negative pressure device 37 is allowed to enter the environment through the filter screen, and meanwhile, because the diameter of meshes at the top wall of the sorting box 3 is less than or equal to 0.3 cm, bristles can be prevented from flowing out of the sorting box through the top wall of the sorting box 3 along with air flow.
The invention also discloses a using method of the miscellaneous color bristle sorting device, which comprises the following steps:
in the initial state, each vacuum suction pipe 31 is at the upper limit position;
starting the first and second variable-frequency negative pressure devices 29, 37, opening the camera 2, starting the operation of the sorting conveyor belt, and putting bristles to be sorted on the sorting conveyor belt;
when bristles on the sorting conveyor belt 7 pass through a shooting area below the camera 2, the camera 2 transmits RGB images of the shooting area to the electronic control device 26;
the electronic control device 26 stores therein the gradation value X (75.52) of the color of the sorting indication line 14 calculated by the weighted average method and the gradation value D (52.48) of the outer surface of the sorting conveyor 7 calculated by the weighted average method; the absolute value of the difference between X and D is greater than or equal to 10;
the camera 2 shoots an RGB image, and each pixel point has corresponding RGB parameters; the formula for calculating the gray value of each pixel point by the weighted average method is as follows: GRAY ═ 0.3R +0.59G + 0.11B. Wherein, GRAY is a GRAY value, R is a red value in RGB color, G is a green value in RGB color, and B is a blue value in RGB color. Examples are: the RGB parameter for green is 0.128.0 and the calculated gray value is 128 × 0.59 — 75.52. The RGB parameters for purple are 128, 0, 128, and the calculated gray level is 52.48.
The sizes of the frames of images shot by the camera 2 are the same, and the image coordinates of the sorting indicating lines 14 in the frames of images are stored in the electric control device 26; the image coordinates take pixel points as units, if the image coordinates of the pixel points at the upper left corner of the image are taken as the original points 0 and 0, the image coordinates of the pixels right to the original points are 1 and 0, and the image coordinates of the pixels right below the original points are 0 and 1; the origin of the image coordinates within the image can be arbitrarily specified.
The electronic control device 26 calculates the gray value of each pixel point in the image shot by the camera 2 by using a weighted average method and marks the image coordinates of the gray value;
the electric control device 26 marks all pixel points at the image coordinates of which the gray values are not equal to X nor D in the image as bristle pixel points, and the electric control device 26 marks the continuously distributed bristle pixel points as the same bristle; the continuous distribution refers that if other pixel points do not exist on a connecting line segment between two pixel points, the two pixel points are adjacent pixel points; otherwise, the two pixel points are not adjacent.
The SUM of the gray values of all the pixel points of one bristle is SUM1, the number of all the pixel points of one bristle is SUM2, the electric control device 26 calculates the average value P of the gray values of all the pixel points of each bristle, and P is SUM 1/SUM 2;
the electronic control device 26 marks the bristles with P less than or equal to 20 as black bristles; the electronic control device 26 marks the bristles with P & gt 20 as variegated bristles;
the electric control device 26 filters out all black bristles and leaves the bristles to be sorted out; since the spacing between adjacent pick indicator lines 14 is 1 + -0.1 cm and the bristles are typically 4-10 cm in length, almost all bristles will span at least one pick indicator line 14;
for each mottled bristle, the electronic control device 26 compares the image coordinates of each pixel point with the image coordinates of each sorting indicator line 14, and when one mottled bristle has a pixel point with an image coordinate value on one sorting indicator line 14 (the image coordinate value of the pixel point is overlapped with the image coordinate value of one pixel point on the sorting indicator line 14), the electronic control device 26 marks the sorting indicator line 14 as a crossing indicator line of the mottled bristle;
when one mixed color bristle only has one crossing indicating line, the electric control device 26 takes the crossing indicating line as a nearest indicating line, and the electric control device 26 takes a pixel point covered at the intersection point of the mixed color bristle and the nearest indicating line as an adsorption area;
when one variegated bristle has more than two crossing indication lines, the electric control device 26 calculates the average image coordinate of each pixel point of the variegated bristle (the average horizontal image coordinate is the average value of the values of the horizontal image coordinates of each pixel point, and the average vertical image coordinate is the average value of the values of the vertical image coordinates of each pixel point), and takes the crossing indication line closest to the average image coordinate as the nearest indication line, and the electric control device 26 takes the pixel point covered at the intersection point of the variegated bristle and the nearest indication line as an adsorption area;
the electric control device 26 stores the running speed V m/S of the sorting conveyor belt 7 and the distance S m between each pixel point of each sorting indicator line 14 in the image shot by the camera 2 and the corresponding adsorption point (the sorting conveyor belt right below the vacuum suction pipe is the adsorption point), and the electric control device 26 calculates the time t seconds required for the most downstream pixel point of the adsorption area to reach the adsorption point according to t (second) ═ S/V;
for each variegated bristle, the electric control device 26 controls the action of the miniature speed reducing motor 33 corresponding to the nearest indication line, so that the vacuum suction pipe 31 corresponding to the nearest indication line reaches the lower limit position within n seconds under the driving of the lifting block 35, n is more than or equal to 0.3 and less than or equal to t-0.2 seconds, and the vacuum suction pipe 31 stays at the lower limit position for more than 0.1 second, thereby ensuring that the variegated bristle is adsorbed;
the electric control device 26 controls the vacuum suction pipe 31 and the adsorbed variegated bristles to return upwards to the upper limit position, under the action of the negative pressure at the long hole 51 for air suction lower than that at the vacuum suction pipe 31, the variegated bristles adsorbed by the vacuum suction pipe 31 are sucked into the long hole 51 for air suction, and the variegated bristles are conveyed into the sorting box 3 through the collecting pipe by the second variable-frequency negative pressure device 37; by using the method, the false detection missing rate is not more than 0.1 percent and is close to zero.
The black bristles fall into the collecting box 4 along the blanking end of the sorting conveyor belt 7;
the above process is continued, and the bristles poured into the feeding port 16 are continuously divided into colored bristles and black bristles, and are collected into the sorting box 3 and the collecting box 4, respectively.
The two cameras 2 are arranged side by side on the left and right, the camera shooting areas of the two cameras 2 respectively comprise the left part and the right part of the sorting conveyor belt 7 at the bristle identification position 12, and the camera shooting areas of the two cameras 2 have an intersection area in the middle of the sorting conveyor belt 7;
the electronic control device 26 combines the images captured by the two cameras 2 into a complete one-frame captured image.
The gray value of the pixel point in the intersection region is one half of the sum of the gray values of the pixel point obtained by the two cameras 2. The two cameras are adopted for improving the efficiency, if the width of the conveying belt is increased, the cameras can be added, and as for the problem that part of bristles are attached to due to separation boundaries among different camera areas, because the number is small, errors can be ignored, the bristles are directly processed in the respective areas, the processed coordinate information is respectively used for controlling the corresponding suction pipe moving devices, and each vacuum suction pipe is independently controlled to independently work. This facilitates subsequent expansion of the system. Of course, the operation of two or more cameras can be replaced by a wide-angle camera or a higher-positioned camera (requiring the captured image to have sufficient resolution, higher than the resolution of the lower-positioned camera).
Although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that: modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention as defined in the appended claims.
Claims (5)
1. Miscellaneous color bristle sorting device, including sorting conveyer belt, its characterized in that: a plurality of indicating lines for sorting are printed on the outer surface of the sorting conveying belt along the conveying direction of the sorting conveying belt, the indicating lines for sorting are uniformly arranged at intervals along the width direction of the sorting conveying belt, and the distance between every two adjacent indicating lines for sorting is 1 +/-0.1 cm; the sorting conveying belts outside the sorting indicating lines are in the same color, and the color of each sorting indicating line is the same and is different from that of the sorting conveying belt; a collecting box is arranged below the discharging end of the sorting conveyor belt;
a camera is arranged above the sorting conveyor belt and is supported on the ground at the left side and the right side of the sorting conveyor belt through a camera bracket; the camera is connected with an electric control device; taking the running direction of the sorting conveyor belt as a downstream direction;
a sorting device is arranged above the sorting conveyor belt at the downstream of the camera and supported on the ground at the left side and the right side of the sorting conveyor belt through a sorting bracket; a collecting mechanism is arranged below the downstream of the sorting device and adjacent to the sorting device;
the color of the sorting conveyor belt is purple, the RGB value is 128, 0 and 128, and the gray value calculated by a weighted average method is 52.48;
the color of each sorting indicator line is green, the RGB value is 0, 128 and 0, and the gray value calculated by a weighted average method is 75.52;
the sorting device comprises a negative pressure box for sorting and a suction pipe moving device positioned below the negative pressure box for sorting, the negative pressure box for sorting is connected with a first variable-frequency negative pressure device, the downstream side of the negative pressure box for sorting is connected with a row of upper vacuum pipes with openings at the lower ends, each upper vacuum pipe is respectively inserted with a vacuum suction pipe in a downward sliding and sealing manner, and the vacuum suction pipes are arranged in one-to-one correspondence with indicating lines for sorting; the sorting negative pressure box is connected to the sorting bracket;
the suction pipe moving device comprises a fixed frame connected to the sorting support, and a plurality of vertical moving devices used for moving the vacuum suction pipes up and down are arranged on the fixed frame in a one-to-one correspondence mode with the vacuum suction pipes.
2. The mottled bristle sorting device of claim 1, wherein:
the vertical moving device comprises a miniature speed reducing motor fixedly connected to the top of the fixing frame, an output shaft of the miniature speed reducing motor is a threaded shaft, the output shaft of the miniature speed reducing motor extends downwards and is in threaded connection with a lifting block, an anti-rotation sliding rod vertically arranged is further slidably arranged on the lifting block in a penetrating mode, and the upper end and the lower end of the anti-rotation sliding rod are respectively connected with the fixing frame; the vacuum suction pipe is fixedly connected with the lifting block; the vacuum suction pipe is driven by the vertical moving device to have an upper limit position and a lower limit position, the upper limit position is 5-6 cm higher than the upper surface of the sorting conveyor belt, and the lower limit position is 1-2 mm higher than the sorting conveyor belt; the sorting conveyor belt right below the vacuum suction pipe is an adsorption point.
3. The mottled bristle sorting device of claim 2, wherein:
the collecting mechanism comprises a second frequency conversion negative pressure device, an air suction port of the second frequency conversion negative pressure device is connected with an upper negative pressure box, the upper negative pressure box is connected with a lower negative pressure box through a connecting pipe, the lower part of the lower negative pressure box is provided with a long hole for air suction, and the long hole for air suction corresponds to the upper limit position of each vacuum suction pipe and is used for sucking bristles adsorbed by each vacuum suction pipe; the gas outlet of the second variable-frequency negative pressure device is connected with a sorting box through a collecting pipe, the top wall of the sorting box is of a filter screen structure, and the diameter of meshes of the sorting box is less than or equal to 0.3 cm;
the negative pressure at the long hole for air suction is lower than that at the vacuum suction pipe;
the upper negative pressure box, the lower negative pressure box and the second variable-frequency negative pressure device are connected with a collecting support, and the collecting support is supported on the ground on the left side and the right side of the sorting conveyor belt;
the electric control device is connected with the first frequency conversion negative pressure device and the second frequency conversion negative pressure device.
4. A method of using the device for sorting colored bristles according to claim 3, comprising the steps of:
in the initial state, all the vacuum suction pipes are in the upper limit position;
starting the first and second variable-frequency negative pressure devices, opening the camera to enable the sorting conveyor belt to start running, and putting bristles to be sorted on the sorting conveyor belt;
when bristles on the sorting conveyor belt pass through a camera shooting area below the camera, the camera transmits RGB images of the camera shooting area to the electric control device;
the electronic control device is internally stored with a gray value X of the color of the sorting indicating line calculated by a weighted average method and a gray value D of the outer surface of the sorting conveying belt calculated by the weighted average method; the absolute value of the difference between X and D is greater than or equal to 10;
the sizes of all the frames of images shot by the camera are the same, and the image coordinates of all the sorting indicating lines in all the frames of images are stored in the electric control device;
the electronic control device calculates the gray value of each pixel point in the image shot by the camera by using a weighted average method and marks the image coordinates of the gray value;
the electric control device marks all pixel points at the image coordinate position of which the gray value is not equal to X nor D in the image as bristle pixel points, and the electric control device marks the continuously distributed bristle pixel points as the same bristle;
the SUM of the gray values of all the pixel points of one bristle is SUM1, the number of all the pixel points of one bristle is SUM2, and the electric control device calculates the average value P of the gray values of all the pixel points of each bristle, wherein P is SUM 1/SUM 2;
the electric control device marks the bristles with the P less than or equal to 20 as black bristles; the electric control device marks the bristles with P & gt 20 as the variegated bristles;
the electric control device filters all black bristles and leaves the bristles to be sorted out;
for each mixed color bristle, the electric control device compares the image coordinates of each pixel point with the image coordinates of each sorting indicating line, and when one mixed color bristle has pixel points with image coordinate values positioned on one sorting indicating line, the electric control device marks the sorting indicating line as a crossing indicating line of the mixed color bristle;
when one mixed bristle only has one crossing indicating line, the electric control device takes the crossing indicating line as a nearest indicating line, and the electric control device takes a pixel point covered at the intersection point of the mixed bristle and the nearest indicating line as an adsorption area;
when one mixed color bristle has more than two crossing indication lines, the electric control device calculates the average image coordinate of each pixel point of the mixed color bristle, and takes the crossing indication line closest to the average image coordinate as the nearest indication line, and the electric control device takes the pixel point covered at the intersection point of the mixed color bristle and the nearest indication line as an adsorption area;
the electric control device stores the running speed V m/S of the sorting conveyor belt and the distance S m between each pixel point of each sorting indication line in the image shot by the camera and the corresponding adsorption point, and calculates the time t seconds required by the most downstream pixel point of the adsorption area to reach the adsorption point according to t ═ S/V;
for each variegated bristle, the electric control device controls the action of the miniature speed reducing motor corresponding to the nearest indicating line, so that the vacuum suction pipe corresponding to the nearest indicating line reaches the lower limit position within n seconds under the driving of the lifting block, n is more than or equal to 0.3 and less than or equal to t-0.2 seconds, and the vacuum suction pipe stays at the lower limit position for more than 0.1 second, thereby ensuring that the variegated bristle is adsorbed;
the electric control device controls the vacuum suction pipe and the adsorbed mixed-color bristles to upwards return to an upper limit position, the mixed-color bristles adsorbed by the vacuum suction pipe are sucked into the long hole for air suction under the action of lower negative pressure at the long hole for air suction than at the vacuum suction pipe, and the second variable-frequency negative pressure device sends the mixed-color bristles into the sorting box through the collecting pipe;
the black bristles fall into the collecting box along the blanking end of the sorting conveyor belt;
the above process is continued, and the bristles poured into the feeding port are continuously divided into variegated bristles and black bristles, and are respectively collected into a sorting box and a collecting box.
5. Use according to claim 4, characterized in that:
the two cameras are arranged side by side on the left and right, the camera areas of the two cameras respectively comprise the left part and the right part of the sorting conveying belt at the bristle identification position, and the camera areas of the two cameras have an intersection area in the middle of the sorting conveying belt; the electric control device compounds the images shot by the two cameras into a complete frame of shot image.
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