CN111545483A - Chopstick sorting detection device and detection algorithm thereof - Google Patents
Chopstick sorting detection device and detection algorithm thereof Download PDFInfo
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- CN111545483A CN111545483A CN202010418460.1A CN202010418460A CN111545483A CN 111545483 A CN111545483 A CN 111545483A CN 202010418460 A CN202010418460 A CN 202010418460A CN 111545483 A CN111545483 A CN 111545483A
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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
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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
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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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/06—Recognition of objects for industrial automation
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- Computer Vision & Pattern Recognition (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention discloses a chopstick sorting detection device and a detection algorithm thereof. This chopsticks letter sorting detection device, go to accomplish the discernment through utilizing the camera to replace people's eyes, measure, function such as location, replace artifical completion to rejecting the chopsticks that have the stain or mildew and lack the limit, use visual detection system can effectual improvement production water line's detection speed and precision, greatly increase of production and quality, prevent the erroneous judgement because people's eyes are tired simultaneously, and utilize the camera to shoot, catch behind the defect of chopsticks through computer vision, send the order, the motor drives the driving chain and reduces transmission speed, and open through the jet pump and blow off chopsticks and fall into in the waste product collecting box, thereby great improvement the letter sorting accuracy of chopsticks and accelerated the letter sorting efficiency and the quality of chopsticks.
Description
Technical Field
The invention relates to a chopstick sorting device, in particular to a chopstick sorting detection device, and belongs to the technical field of sorting device application.
Background
Chopsticks are used as daily necessities of our lives and are closely related to our lives. Bamboo timber is made into bamboo wood chopsticks through selecting, categorised, net strip, restraint straight, the stoving, the system of spiraling, cutting and end rolling, after chopsticks primary forming, in order to guarantee subsequent quality control and the smooth going on of packing in the chopsticks production process, need reject the chopsticks that have stain or mildew spot and lack the limit in the chopsticks, generally adopt artificial mode to select these nonconforming products and reject at present, but if only sort and arrange in order through the manual work, can consume a large amount of costs of labor, and the easy missed measure is examined and secondary pollution appears easily, and influence going on of follow-up work.
There are also some chopstick sorting devices on the market, for example: CN104690009A discloses an oblique blowing material quality inspection machine, which comprises a frame, a feeding mechanism located at one end of the frame, a hopper and a horizontal chain conveying mechanism matched with the feeding mechanism, a thickness detection mechanism, a bending detection mechanism, a length detection mechanism, a material receiving box and a blowing port matched with the material receiving box, wherein the thickness detection mechanism, the bending detection mechanism, the length detection mechanism, the material receiving box and the blowing port are arranged on the horizontal chain conveying mechanism; the horizontal chain conveying mechanism comprises a first horizontal chain conveying mechanism and a second horizontal chain conveying mechanism which are matched with the feeding mechanism, and an inclined chain conveying mechanism which moves upwards and downwards is arranged between the first horizontal chain conveying mechanism and the second horizontal chain conveying mechanism; the material receiving box and the air blowing port are arranged on the oblique chain conveying mechanism. The specific structure of the oblique chain conveying mechanism does not disclose a support with a structure which can meet the conveying requirement. CN204568095U discloses an automatic sorting and stacking device for large and small chopsticks heads, which comprises a rack, a support, a feeding mechanism, a sorting mechanism and a stacking mechanism, wherein the sorting mechanism comprises a sorting rod and a fixed base, and the sorting rod is a 1-shaped round rod; the stacking mechanism comprises a first limiting plate, a second limiting plate, a side plate, a using frame, a lower baffle leather and a supporting frame, wherein the first limiting plate and the second limiting plate are both tile-shaped thin plates, and the first limiting plate, the second limiting plate, the using frame, the side plate and the lower baffle leather form a material receiving space for chopsticks to smoothly fall into the using frame after being decelerated for three times. The device utilizes the characteristic that the geometric center and the mass center of the chopsticks are inconsistent to sort, the sorting method is low in sorting speed, the installation requirement of equipment and the vibration requirement of the equipment are high, otherwise, the condition of inaccurate sorting is easy to occur, and when the shape and the specification of the chopsticks needing sorting are changed, the core components need to be correspondingly replaced, and the sorting method is based on the defects of the chopstick sorting detection devices. The chopsticks sorting and detecting device is urgently needed to be developed to meet the requirements in order to solve the current situations of low sorting speed and low sorting accuracy.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a chopstick sorting and detecting device, which solves the problems that the existing chopstick sorting device is slow in sorting speed, high in requirements on equipment installation and equipment vibration, and prone to inaccurate sorting.
The purpose of the invention can be realized by the following technical scheme: a chopstick sorting and detecting device comprises a rack, wherein a left side baffle, a bottom baffle and a right side baffle are fixedly mounted at the top of the rack, a lifting frame is fixedly mounted at one side of the right side baffle, the bottom of the lifting frame is fixedly mounted at the top of the rack, a first detection box and a second detection box are fixedly mounted at the top of the rack, a feeding conveying chain is arranged at the middle of the rack, a gear of the gear is meshed with teeth on the feeding conveying chain, a motor is fixedly mounted on a transverse plate at the bottom of the rack, an output shaft of the motor is fixedly mounted with the side surface of a belt pulley, the outer surface of the belt pulley is sleeved with a belt, the belt pulley is movably mounted on a transmission shaft of the speed reducer through the belt, a rhombic seat with a seat is fixedly mounted on the outer wall of the rack, the transmission shaft is mounted on the rhombic seat with the seat, the outer surface of the transmission shaft is provided with a transmission chain wheel which is meshed with teeth on the feeding conveying chain, the outer surface of the upper end of the rack is fixedly mounted with a turnover block close to one side, one end of the rack is fixedly mounted with a qualified product box, the outer surface of the rear end of the rack is fixedly mounted with a tensioning device, the adjusting head of the tensioning device is movably meshed with the teeth of the feeding conveying chain, the inner wall of the rack is rotatably connected with a chain wheel, a vertical bearing seat with the seat is fixedly mounted on the front surface of the rack, the outer surface of the front end of the vertical bearing seat with the seat is, the chain wheel is connected with the cam device through the transmission chain in a transmission mode, a bottom plate is fixedly mounted at the bottom of the left baffle, a lower baffle is fixedly mounted at the bottom of the lifting frame, a connecting block is fixedly mounted at the top of the lifting frame and rotatably connected with a rotating shaft on the feeding conveying chain, and a detection plate is fixedly mounted at the top of the inner cavities of the first detection box and the second detection box.
Further, the method comprises the following steps: the cam device comprises a cam shaft, a cam is fixedly sleeved on the surface of the cam shaft, and the cam is rotatably connected with the bottom of the bottom plate.
Further, the method comprises the following steps: first detection case and second detection case all include the box shell, one side surface of box shell articulates there is the turnover door, camera guide slot and lamp strip guide slot have all been seted up to the front end surface and the rear end surface of box shell, the equal fixed mounting in position that the front end surface of box shell is close to both sides has the jet pump, the inside fixed mounting of box shell has camera and lamp strip visual detection device.
Further, the method comprises the following steps: the outer fixed surface of material loading conveying chain installs a plurality of joint lugs, the outer surface joint of one side of joint lug has the chopsticks body, the rear end outer fixed surface of material loading conveying chain installs spacing strip body, the front end outer fixed surface of frame installs the waste product collecting box.
Further, the method comprises the following steps: the outer surface of the front end of the cam device is fixedly provided with an outer round block, the outer surface of the front end of the outer round block is rotatably connected with a cam, and a rotating shaft is arranged inside the cam.
A detection algorithm for a chopstick sorting device specifically comprises the following steps:
the method comprises the following steps: determining parameters of image acquisition equipment;
step two: triggering an image acquisition device to acquire images in real time through an external trigger sensing device;
step three: performing rectangular region-of-interest segmentation on the image according to the width of the chain node, so that at most one chopstick image exists in each region-of-interest;
step four: converting the region-of-interest image into a gray image, judging edge pixel points of the image by adopting an image signal function maximum value through a canny operator, searching the edge of the whole image, automatically detecting whether the edge of a chopstick exists, and indicating that the chopstick exists in the region-of-interest image if the edge of the chopstick exists;
step five: if no chopsticks are available, the image is not processed;
step six: if the chopsticks exist, carrying out thresholding on the image, searching the number of all contours with the area larger than a certain threshold value through a contour detection method, judging that the chopsticks in the image have obvious defects if the number of the contours is larger than 1, and ending an algorithm program; if the number of the outlines is equal to 1, the following steps are carried out;
step seven: removing background images except chopstick parts in the images by a threshold segmentation technology, enhancing image contrast by Gamma transformation to highlight defect characteristics, searching a connected domain on the chopstick image surface by a fast regional method, and marking the chopstick surface defects;
step eight: the pixel values of the defect parts on the surfaces of the chopsticks are obviously different from those of the normal areas, the chopstick images are divided into a plurality of sections, the pixel projection values of each section of chopstick image, namely whether the mean value and the standard deviation of all color channels in RGB and HSV color spaces are greatly changed or not, are counted and compared through a horizontal projection algorithm and a block feature statistical method, and whether the defects exist on the surfaces of the chopsticks in the images or not and the positions of the defects are positioned or not is judged.
Compared with the prior art, the invention has the beneficial effects that:
1. the chopstick sorting and detecting device has the advantages that through the matching use of the lifting frame, the first detecting box, the second detecting box, the turnover block, the prismatic rotating shaft, the qualified product box, the speed reducer, the motor, the belt pulley, the belt, the frame, the feeding conveying chain, the waste product collecting box, the tensioning device, the chain wheel, the transmission chain, the vertical bearing seat with the seat, the cam device, the bottom plate, the cam shaft, the lower baffle plate, the connecting block, the detecting flat plate and the limiting strip, the functions of identifying, measuring, positioning and the like are realized by replacing eyes of a person with a camera, the manual work is replaced to finish the detection of whether bar code characters, cracks, packaging, surface layers are complete or not, depressions and the like, the detection speed and the precision of a production line can be effectively improved by using a visual detection system, the yield and the quality are greatly improved, the labor cost is reduced, meanwhile, the, after the defects of the chopsticks are captured through computer vision, a command is sent to enable a transmission chain driven by a motor to reduce the transmission speed, and the chopsticks are blown out to fall into a waste collecting box through opening of an air jet pump, so that the sorting accuracy is greatly improved, and the sorting efficiency and quality of the chopsticks are accelerated.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a front internal cross-sectional view of the present invention;
FIG. 3 is a partial schematic view of a lift feed of the present invention;
FIG. 4 is a partially enlarged view of a first inspection box according to the present invention;
FIG. 5 is an enlarged partial side view of the present invention;
FIG. 6 is a partial cross-sectional view of the infeed conveyor chain of the present invention;
FIG. 7 is a front cross-sectional view of the cam gear of the present invention;
FIG. 8 is an enlarged schematic view taken at A of FIG. 3 in accordance with the present invention;
FIG. 9 is a flow chart of the detection algorithm of the present invention.
In the figure: 1. a left baffle; 2. a side baffle; 3. a bottom baffle; 4. a right baffle; 5. a hoisting frame; 6. a first detection box; 7. a second detection box; 8. turning over the block; 9. a rhombus base with a base; 10. qualified product boxes; 11. a speed reducer; 12. an electric motor; 13. a belt pulley; 14. a belt; 15. a frame; 16. a feeding conveyor chain; 17. a waste collection box; 18. a tensioning device; 19. a sprocket; 20. a drive chain; 21. a vertical bearing seat with a seat; 22. a cam device; 23. a base plate; 24. a camshaft; 25. a lower baffle plate; 26. connecting blocks; 27. detecting the flat plate; 28. a limiting strip; 29. a chopstick body; 30. clamping the convex block; 61. turning over the door; 62. a case body shell; 63. a camera guide slot; 64. a light bar guide groove; 65. a jet pump; 66. a light bar vision detection device; 67. a camera; 221. an outer round block; 222. a cam; 223. a rotating shaft.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, a chopstick sorting and detecting device comprises a frame 15, a left side baffle 1, a side baffle 2, a bottom baffle 3 and a right side baffle 4 are fixedly installed on the top of the frame 15, a lifting frame 5 is fixedly installed on one side of the right side baffle 4, the bottom of the lifting frame 5 is fixedly installed on the top of the frame 15, a first detecting box 6 and a second detecting box 7 are fixedly installed on the top of the frame 15, a feeding conveying chain 16 is arranged in the middle of the frame 15, the outer surface of the feeding conveying chain 16 penetrates through the first detecting box 6 and the second detecting box 7, the feeding conveying chain 16 is connected with each other end to end, the feeding conveying chain 16 is movably installed in the middle of the frame 15, a speed reducer 11 is fixedly installed on the inner wall of the frame 15, the gear of the speed reducer 11 is engaged with the teeth on the feeding conveying chain 16, a motor 12 is fixedly installed on the transverse plate at the bottom of the frame 15, the output shaft of the motor, the outer surface of the belt pulley 13 is sleeved with a belt 14, the belt pulley 13 is movably mounted with a belt pulley 13 on a transmission shaft of a speed reducer 11 through the belt 14, a rhombic seat 9 with a seat is fixedly mounted on the outer wall of a rack 15, the transmission shaft is mounted on the rhombic seat 9 with the seat, a transmission chain wheel is arranged on the outer surface of the transmission shaft and meshed with teeth on a feeding transmission chain 16, an overturning block 8 is fixedly mounted at a position, close to one side, of the outer surface of the upper end of the rack 15, a qualified product box 10 is fixedly mounted at one end of the rack 15, a tensioning device 18 is fixedly mounted on the outer surface of the rear end of the rack 15, an adjusting head of the tensioning device 18 is movably meshed with the teeth of the feeding transmission chain 16, a chain wheel 19 is rotatably connected to the inner wall of the rack 15, a vertical bearing seat 21 with the belt seat is fixedly mounted on the front surface of the rack 15, the driving chain 20 is sleeved between the chain wheel 19 and the cam device 22, the chain wheel 19 is in transmission connection with the cam device 22 through the driving chain 20, the bottom of the left side baffle 1 is fixedly provided with the bottom plate 23, the bottom of the lifting frame 5 is fixedly provided with the lower baffle 25, the top of the lifting frame 5 is fixedly provided with the connecting block 26, the connecting block 26 is rotatably connected with the rotating shaft on the feeding conveying chain 16, and the top of the inner cavities of the first detection box 6 and the second detection box 7 is fixedly provided with the detection flat plate 27.
As a technical optimization scheme of the invention, the cam device 22 comprises a cam shaft 24, a cam 222 is fixedly sleeved on the surface of the cam shaft 24, and the cam 222 is rotatably connected with the bottom of the bottom plate 23.
As a technical optimization scheme of the invention, the first detection box 6 and the second detection box 7 both comprise a box body shell 62, the outer surface of one side of the box body shell 62 is hinged with a turnover door 61, the outer surface of the front end and the outer surface of the rear end of the box body shell 62 are both provided with a camera guide groove 63 and a light bar guide groove 64, the positions of the outer surface of the front end of the box body shell 62, which are close to the two sides, are both fixedly provided with air jet pumps 65, and the interior of the box body shell 62 is fixedly provided with a camera 67 and a light bar visual detection device.
As a technical optimization scheme of the invention, a plurality of clamping convex blocks 30 are fixedly arranged on the outer surface of the feeding conveying chain 16, a chopstick body 29 is clamped on the outer surface of one side of each clamping convex block 30, a limiting strip body 28 is fixedly arranged on the outer surface of the rear end of the feeding conveying chain 16, and a waste collecting box 17 is fixedly arranged on the outer surface of the front end of the rack 15.
As a technical optimization scheme of the invention, an outer circle block 221 is fixedly installed on the outer surface of the front end of the cam device 22, a cam 222 is rotatably connected to the outer surface of the front end of the outer circle block 221, and a rotating shaft 223 is arranged inside the cam 222.
A detection algorithm for a chopstick sorting device specifically comprises the following steps:
the method comprises the following steps: determining parameters of image acquisition equipment;
step two: triggering an image acquisition device to acquire images in real time through an external trigger sensing device;
step three: performing rectangular region-of-interest segmentation on the image according to the width of the chain node, so that at most one chopstick image exists in each region-of-interest;
step four: converting the region-of-interest image into a gray image, judging edge pixel points of the image by adopting an image signal function maximum value through a canny operator, searching the edge of the whole image, automatically detecting whether the edge of a chopstick exists, and indicating that the chopstick exists in the region-of-interest image if the edge of the chopstick exists;
step five: if no chopsticks are available, the image is not processed;
step six: if the chopsticks exist, carrying out thresholding on the image, searching the number of all contours with the area larger than a certain threshold value through a contour detection method, judging that the chopsticks in the image have obvious defects if the number of the contours is larger than 1, and ending an algorithm program; if the number of the outlines is equal to 1, the following steps are carried out;
step seven: removing background images except chopstick parts in the images by a threshold segmentation technology, enhancing image contrast by Gamma transformation to highlight defect characteristics, searching a connected domain on the chopstick image surface by a fast regional method, and marking the chopstick surface defects;
step eight: the pixel values of the defect parts on the surfaces of the chopsticks are obviously different from those of the normal areas, the chopstick images are divided into a plurality of sections, the pixel projection values of each section of chopstick image, namely whether the mean value and the standard deviation of all color channels in RGB and HSV color spaces are greatly changed or not, are counted and compared through a horizontal projection algorithm and a block feature statistical method, and whether the defects exist on the surfaces of the chopsticks in the images or not and the positions of the defects are positioned or not is judged.
The invention uses the matching of the lifting frame 5, the first detection box 6, the second detection box 7, the turnover block 8, the diamond-shaped seat 9 with the seat, the qualified product box 10, the speed reducer 11, the motor 12, the belt pulley 13, the belt 14, the frame 15, the feeding transmission chain 16, the waste product collecting box 17, the tensioning device 18, the chain wheel 19, the transmission chain 20, the vertical bearing seat 21 with the seat, the cam device 22, the bottom plate 23, the cam shaft 24, the lower baffle plate 25, the connecting block 26, the detection flat plate 27 and the limit strip 28, thereby achieving the functions of completing the identification, the measurement, the positioning and the like by using the camera 67 to replace human eyes, replacing the manual work to complete the detection of the characters, cracks, packages, whether surface layers are complete, recesses and the like of the bar codes, and the like, using the visual detection system can effectively improve the detection speed and the precision of the production line, greatly improve the yield and the quality, reduce the labor cost, and the camera 67 is used for taking a picture, after the defects of the chopsticks are captured through computer vision, a command is sent to enable the transmission chain 20 driven by the motor 12 to reduce the transmission speed, and the air jet pump 65 is opened to blow out the chopstick bodies 29 into the waste collecting box 17, so that the sorting efficiency and quality of the chopstick bodies 29 are greatly improved.
When the chopsticks are used, firstly, the bottom plate 23 is arranged above and below under the action of the cam device 22, so that the chopstick bodies 29 orderly fall into the clamping grooves of the feeding conveying chain 16, the chopstick bodies reach the horizontal plane detection flat plate 27 along the lifting frame 5, the chopstick bodies enter the detection box through the front port of the first detection box 6 to enable the camera 67 to take pictures, preprocess and divide images, and detection is firstly carried out by using gray scale pictures, wherein the gray scale refers to the level grade of different brightness from the brightest to the darkest of a display picture, the more the gray scale grade is, the more exquisite the picture effect is, part of picture analysis processing can be intercepted, line scanning and boundary discrimination methods are adopted in the aspect of software algorithm to determine the boundary of the picture, and the line scanning gray scale value is calculated to determine the regular change of the gray scale value of the picture, so that whether the picture is a defect picture is quickly judged, namely, the picture has black points, The unqualified chopstick bodies 29 with defects such as stains and the like and needing to be removed are compared with the RGB of a small area with defects by using the average value of most colors, namely RGB, in the same picture, and finally whether the unqualified chopstick bodies 29 are determined, blowing out the unqualified chopstick bodies 29 by an air jet pump 65 for the unqualified chopstick bodies 29, leading the unqualified chopstick bodies 29 to fall into a waste product collecting box 17 arranged on the side surface of the first detection box 6 through a waste material port on the side surface of the first detection box 6, leading the chopstick bodies 29 to be continuously carried forward by the feeding conveying chain 16 to pass through a limit strip 28 so as to lead the chopstick bodies 29 to turn over for 90 degrees to carry out photo detection on the other surface, finally leading all the qualified chopstick bodies 29 to be carried to the tail end of the horizontal plane detection flat plate 27 by the feeding conveying chain 16 to fall into the qualified product box 10 to complete the detection task, and those not described in detail in this specification are well within the skill of those in the art.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. The utility model provides a chopsticks letter sorting detection device, includes frame (15), its characterized in that: the top of the frame (15) is fixedly provided with a left baffle (1), a side baffle (2), a bottom baffle (3) and a right baffle (4), a lifting frame (5) is fixedly arranged on one side of the right baffle (4), the bottom of the lifting frame (5) is fixedly arranged with the top of the frame (15), the top of the frame (15) is fixedly provided with a first detection box (6) and a second detection box (7), a feeding conveying chain (16) is arranged in the middle of the rack (15), the outer surface of the feeding conveying chain (16) penetrates through the first detection box (6) and the second detection box (7), the feeding conveying chains (16) are connected end to end, the feeding conveying chains (16) are movably arranged in the middle of the rack (15), a speed reducer (11) is fixedly mounted on the inner wall of the rack (15), and a gear of the speed reducer (11) is meshed with teeth on the feeding conveying chain (16);
a transverse plate at the bottom of the rack (15) is fixedly provided with a motor (12), an output shaft of the motor (12) is fixedly installed with the side surface of a belt pulley (13), the outer surface of the belt pulley (13) is sleeved with a belt (14), the belt pulley (13) is movably installed with the belt pulley (13) on a transmission shaft of a speed reducer (11) through the belt (14), the outer wall of the rack (15) is fixedly provided with a rhombic seat (9) with a seat, the rhombic seat (9) with the seat is provided with a transmission shaft, the outer surface of the transmission shaft is provided with a transmission chain wheel which is meshed with teeth on a feeding transmission chain (16), and the position, close to one side, of the outer surface of the upper end of the rack (15) is fixedly provided with an;
a qualified product box (10) is fixedly installed at one end of the rack (15), a tensioning device (18) is fixedly installed on the outer surface of the rear end of the rack (15), and an adjusting head of the tensioning device (18) is movably meshed with teeth of the feeding conveying chain (16);
the inner wall of the rack (15) is rotatably connected with a chain wheel (19), the front face of the rack (15) is fixedly provided with a vertical bearing seat (21) with a seat, the outer surface of the front end of the vertical bearing seat (21) with the seat is provided with a cam device (22), the surface of the chain wheel (19) is meshed with the surface of a feeding conveying chain (16), a transmission chain (20) is sleeved between the chain wheel (19) and the cam device (22), the chain wheel (19) is in transmission connection with the cam device (22) through the transmission chain (20), the bottom of the left baffle (1) is fixedly provided with a bottom plate (23), and the bottom of the lifting frame (5) is fixedly provided with a lower baffle (25);
the top fixed mounting of hoisting frame (5) has connecting block (26), rotating shaft on connecting block (26) and material loading conveying chain (16) rotates and is connected, the top fixed mounting of first detection case (6) and second detection case (7) inner chamber has detection flat board (27).
2. The chopstick sorting and detecting device as claimed in claim 1, wherein: the cam device (22) comprises a cam shaft (24), a cam (222) is fixedly sleeved on the surface of the cam shaft (24), and the cam (222) is rotatably connected with the bottom of the bottom plate (23).
3. The chopstick sorting and detecting device as claimed in claim 1, wherein: first detection case (6) and second detection case (7) all include box shell (62), one side surface of box shell (62) articulates there is turnover door (61), camera guide slot (63) and lamp strip guide slot (64) have all been seted up to the front end surface and the rear end surface of box shell (62), the equal fixed mounting in position that the front end surface of box shell (62) is close to both sides has jet pump (65), the inside fixed mounting of box shell (62) has camera (67) and lamp strip visual detection device (66).
4. The chopstick sorting and detecting device as claimed in claim 1, wherein: the outer fixed surface of material loading conveying chain (16) installs a plurality of joint lugs (30), the outer surface joint of one side of joint lug (30) has chopsticks body (29), the rear end outer fixed surface of material loading conveying chain (16) installs spacing strip body (28), the front end outer fixed surface of frame (15) installs waste product collecting box (17).
5. The chopstick sorting and detecting device as claimed in claim 1, wherein: the outer surface of the front end of the cam device (22) is fixedly provided with an outer round block (221), the outer surface of the front end of the outer round block (221) is rotatably connected with a cam (222), and a rotating shaft (223) is arranged inside the cam (222).
6. The detection algorithm of the chopstick sorting detection device as claimed in claim 1, wherein the method specifically comprises the following steps:
the method comprises the following steps: determining parameters of image acquisition equipment;
step two: triggering an image acquisition device to acquire images in real time through an external trigger sensing device;
step three: performing rectangular region-of-interest segmentation on the image according to the width of the chain node, so that at most one chopstick image exists in each region-of-interest;
step four: converting the region-of-interest image into a gray image, judging edge pixel points of the image by adopting an image signal function maximum value through a canny operator, searching the edge of the whole image, automatically detecting whether the edge of a chopstick exists, and indicating that the chopstick exists in the region-of-interest image if the edge of the chopstick exists;
step five: if no chopsticks are available, the image is not processed;
step six: if the chopsticks exist, carrying out thresholding on the image, searching the number of all contours with the area larger than a certain threshold value through a contour detection method, judging that the chopsticks in the image have obvious defects if the number of the contours is larger than 1, and ending an algorithm program; if the number of the outlines is equal to 1, the following steps are carried out;
step seven: removing background images except chopstick parts in the images by a threshold segmentation technology, enhancing image contrast by Gamma transformation to highlight defect characteristics, searching a connected domain on the chopstick image surface by a fast regional method, and marking the chopstick surface defects;
step eight: the pixel values of the defect parts on the surfaces of the chopsticks are obviously different from those of the normal areas, the chopstick images are divided into a plurality of sections, the pixel projection values of each section of chopstick image, namely whether the mean value and the standard deviation of all color channels in RGB and HSV color spaces are greatly changed or not, are counted and compared through a horizontal projection algorithm and a block feature statistical method, and whether the defects exist on the surfaces of the chopsticks in the images or not and the positions of the defects are positioned or not is judged.
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