CN111957594A - Device for detecting position and posture of cone and automatically sorting cone and sorting method - Google Patents

Device for detecting position and posture of cone and automatically sorting cone and sorting method Download PDF

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Publication number
CN111957594A
CN111957594A CN202010681835.3A CN202010681835A CN111957594A CN 111957594 A CN111957594 A CN 111957594A CN 202010681835 A CN202010681835 A CN 202010681835A CN 111957594 A CN111957594 A CN 111957594A
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China
Prior art keywords
module
cone
sorting
light source
conveyor belt
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CN202010681835.3A
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Chinese (zh)
Inventor
林斌
王尧
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Zhejiang Sidianling Robot Co ltd
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Zhejiang Sidianling Robot Co ltd
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Priority to CN202010681835.3A priority Critical patent/CN111957594A/en
Publication of CN111957594A publication Critical patent/CN111957594A/en
Pending legal-status Critical Current

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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
    • B07C5/04—Sorting according to size
    • B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0081—Sorting of food items

Abstract

The invention discloses a device for detecting the pose of a cone and automatically sorting the cone and a sorting method, wherein the device comprises a motion control module, a transmission module, an image acquisition module, an information processing module and an automatic sorting module, the motion control module is in signal connection with the transmission module, the transmission module is respectively connected with the image acquisition module and the automatic sorting module, and the information processing module is respectively in signal connection with the image acquisition module and the automatic sorting module. The device and the method are suitable for industrial on-line quick taper object position detection and sorting scenes, the purpose of stable triggering is achieved by using the conveying belt with the baffle to convey the taper object and the photoelectric sensor to trigger the camera to take a picture through the baffle, the detection algorithm is simplified and the detection efficiency and accuracy are improved by using the background plate made of the specific material with the variable color, the information such as the direction and the color of the quick taper object detection and the sorting device with the simple structure are built, and the characteristic detection of the related taper object is carried out through the image processing technology.

Description

Device for detecting position and posture of cone and automatically sorting cone and sorting method
Technical Field
The invention relates to the field of industrial machine vision, relates to application of machine vision software and hardware in the aspect of agricultural product detection, and particularly relates to a device for detecting the pose of a cone and automatically sorting the cone and a sorting method.
Background
In the field of industrial on-line detection, there are cases of detecting some conical structure directions, and these conical objects have no clear geometric shape and have large color size difference, such as green pepper, carrot, corn, cucumber, etc. in fruits and vegetables. One of the typical detection situations is the detection of the orientation pose of the corn. In the long-term corn cultivation process, the oriented culture of human beings and the adaptive variation of the environment enable the corn to form a huge family system. The corn cultivated in different places has different forms, and the corn is different in color, size and shape. Currently, in some grain warehouses, enterprises need to package and then warehouse various types of corns. If the corn is in the opposite direction in the packaging process, the packaging efficiency of the enterprise is affected. Therefore, the device and the algorithm capable of distinguishing and classifying the corn orientation are needed to realize the flow line packaging of the corn so as to ensure the production efficiency.
At present, the orientation of the corns to be packaged on the production line is judged in a manual mode, and the corns with abnormal orientation are manually removed. In the face of the large corn production environment in China, an automatic corn direction detection method, namely a sorting device, is urgently needed to improve the production efficiency. However, considering the fact that the growing environment of corn is different, the displayed shape and color of corn have diversity and other factors, challenges are brought to an automatic sorting device and an algorithm.
In addition, for some other agricultural products, if patterns of the direction, color, size and the like of the agricultural products need to be identified, similar detection sorting devices also need to be provided.
Disclosure of Invention
The invention provides a device and a method for rapidly detecting and sorting objects with certain direction mode characteristics on line according to the characteristics of pose, color, size and the like, aiming at the improvement of the defects of the prior art. Particularly, the method is introduced to realize the specific application of cone orientation discrimination and classification, and the challenges existing in the online detection and sorting are solved so as to meet the detection and classification requirements in the actual production process.
The invention is realized by the following technical scheme:
the invention discloses a device for detecting the pose of a conical object and automatically sorting the conical object, which comprises a motion control module, a transmission module, an image acquisition module, an information processing module and an automatic sorting module, wherein the motion control module is in signal connection with the transmission module, the transmission module is respectively connected with the image acquisition module and the automatic sorting module, and the information processing module is respectively in signal connection with the image acquisition module and the automatic sorting module.
As a further improvement, the motion control module and the information processing module are both executed by an industrial personal computer, the transmission module comprises a motor, a conveyor belt driven by the motor and baffles distributed on the conveyor belt, the image acquisition module comprises a photoelectric sensor fixedly arranged on the side edge of the conveyor belt and arranged corresponding to the conical objects on the baffles, and a camera positioned above the conveyor belt and arranged corresponding to the conical objects on the baffles, the automatic sorting module comprises an electromagnetic relay and a movable baffle connected with the electromagnetic relay, and the movable baffle is connected with the tail end of the conveyor belt.
As a further improvement, the periphery of the lens of the camera is provided with an opening surface light source, the lens penetrates through an opening formed by the light source, and the sorting module is connected with the tail end of the conveyor belt.
As a further improvement, the photoelectric sensor is connected with a camera line, and the sensing object of the photoelectric sensor is a baffle on a conveyor belt. Because the object shape, structure, the color of awaiting measuring are all non-uniform, so can arouse measuring error's problem, and the shape, structure, the color of baffle are unified, consequently set up the response object into the baffle, promote the response precision, make things convenient for follow-up letter sorting to go on smoothly.
As a further improvement, the opening surface light source is connected with a light source controller, and the light source controller is connected with a circuit of an industrial personal computer.
As a further improvement, the camera, the photoelectric sensor and the light source controller are all arranged on a fixed support, the fixed support is erected on the conveyor belt, and support fixing feet are arranged on the side edge of the conveyor belt.
As a further improvement, the automatic sorting module further comprises a collecting box, the collecting box is positioned below the movable baffle, the conveying belt is made of a single-color matte material, and the single color is a color which is in sharp contrast with the color of the object to be detected. The conveying belt is made of a matte material, the problem that the picked image is not clear due to reflection is avoided, the subsequent sorting step is influenced, the color is in sharp contrast with the color of the object to be detected, the image separation in the subsequent algorithm step is also realized, and the sorting accuracy is also realized.
As a further improvement, the conveyor belt of the invention is used for the placement and transport of conical objects;
the industrial personal computer is used for processing images and controlling the on-off of the motor, the opening surface light source and the electromagnetic relay;
the camera, the surface light source with the opening and the photoelectric sensor are used for collecting images, and collected information is transmitted to the industrial personal computer through a cable;
the information processing module processes the data obtained by the image acquisition module, and according to the result, the information processing module makes on-off action through serial port signals to control an electromagnetic relay in the sorting module, and controls the movable baffle to open and close through the electromagnetic relay to separate abnormal conical objects.
The invention also discloses a sorting method of the device for detecting the pose of the conical object and automatically sorting, which comprises the following steps:
the cone object is placed in baffle one side on the conveyer belt, through motion control module, move to fixed bolster department through industrial computer control motor, through triggering photoelectric sensor, photoelectric sensor triggers the camera, and shoot under the condition of opening the illumination through light source controller control trompil area source, the data transmission of collection to the industrial computer, the image processing module through the industrial computer handles and obtains the result of unusual cone object, the break-make of serial ports signal control electromagnetic relay who gives according to the industrial computer, drive the motion of adjustable fender, the cone object accords with the detection requirement and then moves to next flow through adjustable fender, if not accord with the detection requirement then can't fall into unusual cone object collection box through adjustable fender.
As a further improvement, the algorithm steps of the image processing module of the present invention are as follows:
s1, acquiring images, wherein when the conical object passes through the photoelectric sensor, a camera in the image acquisition module is triggered to acquire the images;
s2, image segmentation, namely performing threshold segmentation according to the gray level of the image to extract a foreground region; the segmentation steps are simplified by selecting a proper background plate, and the segmentation quality and efficiency are improved. And selecting a proper segmentation threshold value for region segmentation according to the color of the pipeline selected by the object to be detected.
S3, communicating the regions, and performing denoising communication according to the complementary set region obtained in the previous step to obtain a communication region map;
s4 connected domain analysis, and the pixel number is counted according to the connected domain graph obtained in the previous step; and setting corresponding pixel number threshold parameters according to the size of the object.
S5, positioning the region, and determining the region where the conical object image is located according to the pixel statistical data obtained in the previous step;
s6, positioning linearly, manufacturing a template according to the steps S1-S5, manufacturing a linear detection template on the position and size data of the conical object, and detecting the straight line and the edge position of the conical object in the four detection template areas;
s7, judging the angle, calculating the intersection point of two specific straight lines and the other two specific straight lines according to the four straight line data obtained in the previous step, and determining the direction of the conical object according to the intersection point; and finishing the task of detecting the direction pose.
And S8, sending a corresponding electric signal according to the direction result of the cone-shaped object detected in the previous step, controlling an electromagnetic relay in the sorting module, and classifying the cone-shaped object through the movement of the movable baffle.
The invention has the following beneficial effects:
the device and the method are suitable for industrial on-line rapid taper object position detection and sorting scenes. The cone is conveyed by the conveying belt with the baffle, and the photoelectric sensor triggers the camera to take a picture through the baffle, so that the aim of stable triggering is fulfilled. And a background plate made of a specific material with variable colors is used, so that the detection algorithm is simplified, and the detection efficiency and accuracy are improved. The invention constructs a cone rapid detection direction, color, size and other information and sorting device which has simple structure and is convenient to popularize, and carries out the detection of the characteristics of the related cone through the image processing technology. The cone can be made from corn, cucumber, sweet potato, radish, etc.
Drawings
FIG. 1 is a schematic view of the overall structure of the sorting apparatus according to the present invention;
FIG. 2 is a flow chart of the algorithm detection of the sorting apparatus of the present invention;
in fig. 1, 1 is a motor, 2 is a conveyor belt, 3 is a baffle, 4 is a fixed support, 5 is a camera, 6 is an opening area light source, 7 is a photoelectric sensor, 8 is an electromagnetic relay, 9 is a movable baffle, 10 is a collecting box, and 11 is an industrial personal computer.
Detailed Description
The invention discloses a device for detecting the pose of a cone and automatically sorting the cone, which is mainly divided into a motion control module, a transmission module, an image acquisition module, an information processing module and an automatic sorting module.
Fig. 1 is a schematic diagram of the overall structure of the sorting device of the invention:
the motion control module is mainly used for controlling the motor 1 to start stopping through serial port communication execution by an industrial personal computer 11;
the conveying module is an inclined closed-loop conveying belt 2, the conveying belt 2 is made of a single-color matte material, for example, a food-grade plastic conveying belt 2, complementary colors are selected according to the colors of the conical objects, the conveying belt 2 is driven by a motor 1, a baffle 3 is arranged on the conveying belt 2 at intervals, and the conical objects are arranged on the baffle 3.
Image acquisition module is including placing in the fixed bolster 4 of 2 tops on the conveyer belt, fix industrial camera 5 and photoelectric sensor 7 on fixed bolster 4, camera 5 links to each other and carries out data transmission through net twine and industrial computer 11, camera 5's camera lens border still is equipped with trompil face light source 6, this trompil face light source 6 is the LED area source of the circular through-hole in center, by light source controller control, camera 5's camera lens passes its through-hole, light source controller passes through the electric wire and industrial computer 11 links to each other, and control through the serial ports by industrial computer 11, photoelectric sensor 7 is connected with camera 5's the port that triggers through the trigger line, photoelectric sensor 7's response object is baffle 3 on the conveyer belt.
The image processing module is mainly executed by an industrial personal computer 11, and comprises the steps of preprocessing images, judging direction, color and size information, sending serial port information and controlling some devices, and the device to be controlled comprises a motor 1, an electromagnetic relay 8, a hole opening surface light source 6, a light source controller and on-off control of the device are all completed through serial port communication.
The sorting module comprises an electromagnetic relay 8 and a baffle 3 connected with the electromagnetic relay 8, the electromagnetic relay 8 is connected with an industrial personal computer 11 through a data line, the connection and the interruption are controlled by sending serial port information through an image processing module according to an algorithm detection result, a movable baffle 9 is fixed on an electromagnetic valve, and the position is changed through a switch of the electromagnetic relay 8 to achieve the sorting effect. Furthermore, there is a collection box 10 below the sorting module for recovery of anomalous cones.
The technical solution of the present invention is further illustrated by the following specific examples:
a cone pose detection and sorting device comprises a conveyor belt 2, a support, an industrial camera 5, a hole surface light source 6, a photoelectric sensor 7, an industrial personal computer 11, an electromagnetic relay 8, a baffle 3 and an abnormal cone collecting box 10, wherein the conveyor belt 2 is driven by a motor 1 and is provided with a baffle 3. Wherein the conveyor belt 2 is used for placing and conveying cones; the bracket is used for fixing the camera 5 light source and the photoelectric sensor 7 above the conveyor belt 2; the industrial camera 5 and the opening surface light source 6 are used for collecting images and are connected with an industrial personal computer 11 through cables; the photoelectric sensor 7 is used for detecting the acquisition control of images and is connected with the industrial camera 5 through a trigger line; the industrial personal computer 11 is used for processing images and controlling the on-off of the motor 1, the light source and the electromagnetic relay 8; the sorting module is connected with the controller through a cable, and is switched on and off through a serial port signal to separate abnormal cones; the collecting box 10 described above is used to recover cones that are detected to be abnormal on the production line.
The conveying belt 2 is a rolling closed-loop conveying belt, and a certain included angle is formed between the conveying belt 2 and the horizontal plane, so that the position of the cone is convenient to stabilize in the conveying process. The selected range of the included angle can be 0-90 degrees, the selected angle is 30 degrees in the example, a baffle 3 is arranged on the conveyor belt 2 at regular intervals to ensure the transmission and position control of the cone, the baffle 3 can keep a stable state in the process of conveying the cone, and the photoelectric sensor 7 triggers the camera 5 to take a picture through the baffle 3. In this example, baffles 33 of 50mm height and 500mm length are equally spaced on the conveyor 22 and the direction of movement of the conveyor 2 is vertical.
The image acquisition module comprises camera 5, trompil face light source 6, photoelectric sensor 7 and fixed bolster 4, adopts photoelectric sensor 7 to install in support relevant position department, triggers through baffle 3 on the assembly line conveyer belt 2 and shoots, accomplishes image acquisition, and industrial camera 5 installs on the support, and the support is fixed on conveyer belt 2, and camera 5 passes through the cable and links to each other with industrial computer 11, and camera 5 is perpendicular with the assembly line to 360mm apart from the assembly line surface. The opening surface light source 6 is fixed below the camera 5 to prevent the camera 5 from being shielded, and the opening and closing of the opening surface light source 6 is controlled by the light source controller. The photoelectric sensor 7 is used for detecting the acquisition control of an image, is connected with the camera 5 through a cable, is fixed on one side of the fixed support 4, and triggers to take a picture through the assembly line baffle 3, wherein the distance between the light emitting head of the photoelectric sensor and the baffle is 350 mm.
The sorting module comprises an electromagnetic relay 8, a movable baffle 9 and an abnormal cone collecting box 10. Electromagnetic relay 8 links to each other through serial ports and industrial computer 11, and adjustable fender 9 links to each other with electromagnetic relay 8, and when cone characteristic testing result was normal like the direction, baffle 3 was connected conveyer belt 2 and is conveyed the cone to next station, and when testing result shows to be unusual, baffle 3 moved under the drive of solenoid valve, drops into collection box 10 with unusual cone.
The detection process is as follows: the cone is placed in baffle 3 one side on the conveying, move to fixed bolster 4 departments through control motor 1, through triggering photoelectric sensor 7, photoelectric sensor 7 and camera 5 link to each other, trigger camera 5 and shoot under the condition that the illumination was opened to trompil face light source 6, data is in the net twine transmission to industrial computer 11, handle and obtain the result of unusual cone through the algorithm, the break-make of serial ports signal control electromagnetic relay 8 according to industrial computer 11 gives, drive the motion of categorised adjustable fender 9, the cone accords with the detection requirement and then moves to next flow through adjustable fender 9, if not accord with the detection requirement then can't fall into unusual cone collecting box 10 through adjustable fender 9.
The invention also comprises an algorithm for realizing the rapid detection of the pose, the color and the size of the cone, the algorithm has high running speed, is suitable for some scenes of rapid measurement and has low requirement on hardware of computing equipment, and fig. 2 is an algorithm detection flow chart of the sorting device, and the algorithm comprises the following steps:
s1, acquiring images, wherein the cone triggers the camera 5 to acquire images through the photoelectric sensor 7;
s2, image segmentation, namely performing threshold segmentation according to the gray level of the image to extract a foreground region;
s3, communicating the regions, and performing denoising communication according to the complementary set region obtained in the previous step to obtain a communication region map;
s4 connected domain analysis, and the pixel number is counted according to the connected domain graph obtained in the previous step;
s5, positioning the region, and determining the region of the cone image according to the pixel statistical data obtained in the previous step;
s6, positioning linearly, manufacturing a template according to the steps S1-S5, manufacturing a linear detection template on the obtained cone position and size data, and detecting the straight line and the edge position of the cone in the four detection template areas;
s7, judging the angle, calculating the intersection point of two specific straight lines and the other two specific straight lines according to the four straight line data obtained in the previous step, and determining the cone direction according to the intersection point position;
and S8, sending corresponding electric signals according to the cone direction result detected in the previous step, and controlling the sorting module to move to sort the cones.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The device for detecting the pose of the taper object and automatically sorting the taper object is characterized by comprising a motion control module, a transmission module, an image acquisition module, an information processing module and an automatic sorting module, wherein the motion control module is connected with the transmission module through signals, the transmission module is connected with the image acquisition module and the automatic sorting module respectively, and the information processing module is connected with the image acquisition module and the automatic sorting module through signals respectively.
2. The apparatus for detecting the pose of a cone object and automatically sorting according to claim 1, the motion control module and the information processing module are both executed by an industrial personal computer (11), the transmission module comprises a motor (1), a conveyor belt (2) driven by the motor (1) and baffles (3) distributed on the conveyor belt (2), the image acquisition module comprises a photoelectric sensor (7) which is fixedly arranged on the side edge of the conveyor belt (2) and is arranged corresponding to the conical object on the baffle plate (3), and the photoelectric sensor is positioned above the conveyor belt (2), corresponding to camera (5) that toper object set up on baffle (3), automatic sorting module include electromagnetic relay (8), movable baffle (9) that link to each other with electromagnetic relay (8), movable baffle (9) meet with conveyer belt (2) tail end.
3. The apparatus for detecting the pose of a cone object and automatically sorting according to claim 2, wherein the camera (5) has a light source (10) with holes at the periphery, the lens passes through the hole formed by the light source, and the sorting module is connected with the tail end of the conveyor belt (2).
4. The apparatus for detecting the pose of a cone-shaped object and automatically sorting according to claim 2, wherein the photoelectric sensor (7) is connected with the camera (5) through a circuit, and the sensing object of the photoelectric sensor (7) is a baffle plate on the conveyor belt (2).
5. The device for detecting the pose of a cone-shaped object and automatically sorting the cone-shaped object according to claim 1, 2, 3 or 4, wherein the opening area light source (10) is connected with a light source controller, and the light source controller is connected with an industrial personal computer (11) through a circuit.
6. The device for detecting the pose of a conical object and automatically sorting the conical object according to claim 5, wherein the camera (5), the photoelectric sensor (7) and the light source controller are all arranged on a fixed support (4), the fixed support (4) is erected on the conveyor belt (2), and support fixed feet are arranged on the side edge of the conveyor belt (2).
7. The device for detecting the pose of a conical object and automatically sorting the conical object according to claim 2, wherein the automatic sorting module further comprises a collecting box (10), the collecting box (10) is positioned below the movable baffle (9), the conveyor belt (2) is made of a matte material with a single color, and the single color is a color which is in sharp contrast with the color of the object to be detected.
8. Device for detecting the pose of a cone-like object and for automatic sorting according to claim 1 or 2 or 3 or 4 or 6 or 7,
the conveyor belt (2) is used for placing and conveying the conical objects;
the industrial personal computer (11) is used for processing images and controlling the on-off of the motor (1), the opening surface light source (10) and the electromagnetic relay (8);
the camera (5), the opening surface light source (10) and the photoelectric sensor (7) are used for collecting images, and collected information is transmitted to the industrial personal computer (11) through cables;
the information processing module processes the data obtained by the image acquisition module, and according to the result, the data is switched on and off through serial port signals to control the electromagnetic relay (8) in the sorting module, and the movable baffle (9) is controlled to be opened and closed through the electromagnetic relay (8) to separate abnormal cone-shaped objects.
9. A sorting method of a device for detecting the pose of a conical object and automatically sorting the conical object is characterized by comprising the following steps of:
the cone-shaped object is placed on one side of a baffle (3) on the conveyor belt (2) and passes through the motion control module, the motor (1) is controlled by the industrial personal computer (11) to move to the fixed bracket (4), by triggering the photoelectric sensor (7), the photoelectric sensor (7) triggers the camera (5), the light source controller controls the surface light source (10) with the opening to shoot under the condition of starting illumination, the collected data is transmitted to the industrial personal computer (11), processed by an image processing module of the industrial personal computer (11) to obtain the result of the abnormal conical object, the on-off of the electromagnetic relay (8) is controlled according to serial port signals given by the industrial personal computer (11) to drive the movable baffle (9) to move, the cone-shaped object meets the detection requirement and then moves to the next flow through the movable baffle (9), and if the cone-shaped object does not meet the detection requirement, the cone-shaped object cannot fall into the abnormal cone-shaped object collecting box (10) through the movable baffle (9).
10. The method of claim 9, wherein the image processing module comprises the following algorithm steps:
s1, acquiring images, wherein when the conical object passes through the photoelectric sensor (7), the camera (5) in the image acquisition module is triggered to acquire the images;
s2, image segmentation, namely performing threshold segmentation according to the gray level of the image to extract a foreground region;
s3, communicating the regions, and performing denoising communication according to the complementary set region obtained in the previous step to obtain a communication region map;
s4 connected domain analysis, and the pixel number is counted according to the connected domain graph obtained in the previous step;
s5, positioning the region, and determining the region where the conical object image is located according to the pixel statistical data obtained in the previous step;
s6, positioning linearly, manufacturing a template according to the steps S1-S5, manufacturing a linear detection template on the position and size data of the conical object, and detecting the straight line and the edge position of the conical object in the four detection template areas;
s7, judging the angle, calculating the intersection point of two specific straight lines and the other two specific straight lines according to the four straight line data obtained in the previous step, and determining the direction of the conical object according to the intersection point;
and S8, sending a corresponding electric signal according to the direction result of the conical object detected in the previous step, controlling an electromagnetic relay (8) in the sorting module, and classifying the conical object through the movement of a movable baffle (9).
CN202010681835.3A 2020-07-15 2020-07-15 Device for detecting position and posture of cone and automatically sorting cone and sorting method Pending CN111957594A (en)

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Application Number Priority Date Filing Date Title
CN202010681835.3A CN111957594A (en) 2020-07-15 2020-07-15 Device for detecting position and posture of cone and automatically sorting cone and sorting method

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Application Number Priority Date Filing Date Title
CN202010681835.3A CN111957594A (en) 2020-07-15 2020-07-15 Device for detecting position and posture of cone and automatically sorting cone and sorting method

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Publication Number Publication Date
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