CN112317340A - Integrated capsule defect detection device based on machine vision - Google Patents
Integrated capsule defect detection device based on machine vision Download PDFInfo
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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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive 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
- B07C5/16—Sorting according to weight
- B07C5/28—Sorting according to weight using electrical control 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
- B07C5/16—Sorting according to weight
- B07C5/30—Sorting according to weight with associated counting 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
- B07C5/34—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
- 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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- 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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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to an integrated capsule defect detection device based on machine vision, which comprises: the integrated box, the feeding device, the image acquisition device, the blanking device, the feeding device, the removing device and the central control system have comprehensive functions and meet the operation requirements of a capsule quality inspection production line, and meanwhile, the central control system judges the image information of a capsule to be detected in real time, judges whether the image information reflects light or not, adjusts the angle of an illuminating light source in real time according to the position of a light reflecting point, processes the image information of the capsule according to a computer image processing technology, has high judgment precision and high identification speed of a computer, avoids errors of manual identification, improves the detection efficiency of the whole detection device, and simultaneously adjusts the rotating speed of a blanking turntable and the conveying speed of a conveying belt in real time according to the passing frequency of the capsule so as to prevent the problem that the capsule is blocked due to too fast transmission or is not easy to remove due to too tight arrangement on.
Description
Technical Field
The invention belongs to the field of detection devices, and particularly relates to an integrated capsule defect detection device based on machine vision.
Background
The medicinal capsule is produced and sold to a pharmaceutical company by a capsule shell manufacturer, and the finished product of the hollow capsule shell is filled with the medicament on a pharmaceutical production line, so the quality of the hollow capsule directly influences the quality of the finished capsule product, in the production of the hollow capsule, various defects are easily generated due to the restriction of a production process, such as cylindrical surface defects (bubbles, black spots, cracking, deformation and breakage), end surface defects (plum blossom heads, pits, broken holes and defects), color defects (mixed batches and different colors) and the like, the surface quality of the capsule is seriously influenced, even the filling of the medicament is directly influenced, the capsule loses the container effect or the medicament quantity is too low, the appearance defect detection of the hollow capsule becomes one of the vital production processes in the capsule manufacturing process, the domestic capsule defect detection mainly adopts the traditional manual lamp detection, namely, under a strong light irradiation table, a quality inspector directly observes the appearance of the capsule by naked eyes to judge whether the capsule is qualified or not, some manufacturers already adopt capsule inspection devices, but the traditional detection mode or/and device has the following problems;
1. the manual detection efficiency is low, and the interference of human factors is easy to cause inaccurate detection results and low detection efficiency;
2. the traditional detection device does not realize real-time control on the whole detection process, and can not adjust the parameters of the detection device according to the size and weight of the capsule, so that the detection result has higher error rate and poor detection efficiency.
Disclosure of Invention
The present invention is directed to solve the above problems, and to this end, the present invention provides an integrated capsule defect detecting apparatus based on machine vision, which includes:
the integrated box is internally provided with an upper plate layer, a middle plate layer and a lower plate layer and is used for loading the detection part;
the feeding device comprises a feeding box and a feeding inclined rail, wherein the feeding box is used for placing capsules, the feeding inclined rail is connected with the feeding box and used for conveying the capsules in the feeding box to the image acquisition device, and the feeding inclined rail is provided with an infrared sensor and a gravity sensor and used for detecting the number of the passing capsules and the weight of the capsules;
the image acquisition device comprises a plurality of cameras and a detection material rail, the image acquisition device is used for acquiring images of the capsule to be inspected through the cameras and sending acquired image information to the central control system when the capsule passes through the detection material rail, one end of the detection material rail is connected with the feeding inclined rail and penetrates through the image acquisition device, and the other end of the detection material rail is connected with the blanking device;
the blanking device comprises a blanking turntable, a turntable shell and a servo motor, is arranged on the lower floor of the integrated box body through a support frame and is used for conveying the capsules passing through the image acquisition device to the feeding device;
the feeding device is arranged at the bottom of the integrated box and at least comprises a conveyor belt, the conveyor belt is connected with a direct current motor so that the conveyor belt can convey capsules under the driving of the direct current motor, and a capsule through groove with the depth smaller than the radius of the capsules is formed in the center line of the conveyor belt so as to fix the positions of the capsules on the conveyor belt;
the rejecting device comprises an air nozzle and a waste storage box, the waste storage box comprises a first waste storage box and a second waste storage box, the air nozzle is arranged on a rack of the conveyor belt so as to blow the capsules on the conveyor belt into the waste storage box, and the waste storage box is arranged on one side of the feeding device and used for storing the capsules blown out by the air nozzle;
the qualified product collecting box is arranged at the tail end of the conveyor belt and is used for collecting the capsules conveyed by the conveyor belt;
the central control system comprises a PC terminal which is connected with the infrared sensor, the gravity sensor, the image acquisition device, the feeding device and the removing device and completes data exchange in real time, the central control system is used for receiving capsule image information sent by the camera, the image information is subjected to light reflection judgment, the irradiation angle and the brightness of the illumination light source are adjusted in real time according to the light reflection defects appearing in the image information, meanwhile, image information corresponding to the capsule is judged, whether the capsule has defects is judged, the central control system adjusts the power of the servo motor and the direct current motor in real time according to the capsule transmission frequency P so as to control the rotating speed of the blanking turntable and the conveying speed of the conveying belt, meanwhile, the central control system adjusts the air injection speed of the air injection nozzles in real time according to the size and weight of the capsules, and controls the air injection nozzles to blow the defective capsules into the waste storage tank.
The image acquisition device further comprises a plurality of illumination light sources and light source partition plates, the image acquisition device is divided into four equal parts by the light source partition plates to form four separated spaces, the illumination light sources are arranged in the separated spaces, at least four cameras are arranged in the separated spaces respectively, so that the cameras can acquire 360-degree image information of the capsule, and after the capsule flows into the image acquisition device from the feeding inclined rail, the central control module controls the cameras to start to acquire appearance image information of the capsule to be inspected; the detection material rail is of a hollow tubular structure so as to ensure that the capsule smoothly passes through, and is made of a transparent material so as to ensure that the camera acquires a clear capsule image.
Furthermore, the unloading carousel with servo motor is connected through transmission shaft coupling, so that the unloading carousel is in servo motor drive is rotatory down, evenly be provided with a plurality of capsule grooves on the unloading carousel, it is used for placing the capsule, the carousel shell parcel is in the unloading carousel outside, its one side is provided with the pan feeding breach, and is corresponding, and its opposite side symmetry is provided with ejection of compact breach for the entering and the discharge of capsule.
Furthermore, the central axis of the blanking turntable and the central line of the conveyor belt are in the same plane, so that the capsules enter the capsule through groove in the middle of the conveyor belt when being discharged from the discharge notch.
Further, material feeding unit still includes: the conveying belt comprises a roller, a conveying belt rack and a bearing seat, wherein the conveying belt rack is arranged at the bottom of the integrated box, the conveying belt is arranged on the conveying belt rack, the bearing seat is used for supporting a transmission shaft of the roller and a bearing of a rotating shaft, the roller is driven by a direct current motor to drive the conveying belt to move, the direct current motor is connected with a central control system and completes data exchange, and the central control system can adjust the power of the direct current motor through a PC (personal computer) end so as to control the conveying speed of the conveying belt.
Furthermore, the central control system determines the definition and the reflection points of the image information in real time, and a reflection point adjustment matrix F (F1, F2... Fn) is preset in the central control system, wherein F1 represents a 1 st adjustment matrix, F2 represents a 2 nd adjustment matrix.. Fn represents an nth adjustment matrix, and for an ith adjustment matrix Fi (Fi1, Fi2, Fi3), Fi1 represents a two-dimensional reflection point coordinate set, Fi2 represents reflection point irradiation intensity, and Fi3 represents a reflection point irradiation angle; when the image information has the light reflection points, the central control system establishes a two-dimensional coordinate set F (x, y) of the capsule according to the image information, records a two-dimensional coordinate set F0(x, y) of the light reflection position of the image information, and adjusts the intensity and the angle of the irradiation light source according to the two-dimensional coordinate set F0(x, y) of the light reflection position and a light reflection point adjusting matrix F (F1, F2... Fn), and during adjustment:
when the two-dimensional coordinate set F0(x, y) of the reflection position belongs to the two-dimensional coordinate set F11 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the two-dimensional coordinate set F11
Adjusting the irradiation intensity of an irradiation light source by the irradiation intensity of the reflection point F12, and selecting the irradiation angle of the reflection point F13 to adjust the angle of the irradiation light source;
when the two-dimensional reflection position coordinate set F0(x, y) belongs to a two-dimensional reflection point coordinate set F21 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the reflection point illumination intensity F22 to adjust the illumination intensity of an illumination light source, and selects the reflection point illumination angle F23 to adjust the angle of the illumination light source;
...
when the two-dimensional coordinate set F0(x, y) of the reflection position belongs to the two-dimensional coordinate set Fn1 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the reflection point
The irradiation intensity of the irradiation light source is adjusted by the irradiation intensity of the reflecting point Fn2, and the angle of the irradiation light source is adjusted by selecting the irradiation angle of the reflecting point Fn 3.
Further, the central control system is internally provided with a capsule information matrix K (Q, R), wherein Q represents capsule defect information, and R represents capsule size information, when the central control system processes the image information of the capsule, the central control system acquires the color information and size information of the capsule according to the image information to generate the capsule information matrix K (Q, R), the central control system records the time Ti, i-1, 2.. N0 when the capsule passes through the sensor and the number N of passing capsules in real time, a preset parameter value N0 is arranged in the central control system, and when the number of passing capsules exceeds the preset parameter value N0, the central control system calculates the passing frequency P of the capsule according to the following formula,
wherein: n0 denotes the value of the preset parameter, TN0 denotes the N0 th recorded time and T1 denotes the first recorded time.
Furthermore, a turntable adjustment matrix Z (Z1, Z2, Z3, Z4) is preset inside the central control system, wherein Zi represents the ith motor power, i is 1,2,3,4, Z4, and adjustment parameters Z01, Z02, Z03 are also set inside the central control system, the central control system adjusts the rotation rate of the blanking turntable 44 in real time according to the passing frequency P, and when the adjustment is performed:
when P is not more than Z01, the central control system controls the servo motor 41 to operate at the power Z1 of the 1 st motor;
when Z01< P is less than or equal to Z02, the central control system controls the servo motor 41 to operate at the power Z2 of the 2 nd motor;
when Z02< P is less than or equal to Z03, the central control system controls the servo motor 41 to operate at the power Z3 of the 3 rd motor;
when P > Z03, the central control system controls the servo motor 41 to operate at 4 th motor power Z4.
Furthermore, a conveyor belt adjusting matrix C (C1, C2, C3, C4) is preset in the central control system, wherein Ci represents the ith direct current motor adjusting matrix, i is 1,2,3,4, and the central control system is further provided with adjusting parameters C01, C02, and CO 3; the central control system adjusts the power of the direct current motor 52 in real time according to the passing frequency P so as to control the transmission speed of the conveyor belt, and during adjustment:
when P is less than or equal to C01, the central control system controls the direct current motor 52 to operate at the 1 st direct current motor power C1;
when C01< P ≦ C02, the central control system controls the direct current motor 52 to operate at the 2 nd direct current motor power C2;
when C02< P ≦ C03, the central control system controls the direct current motor 52 to operate at the 3 rd direct current motor power C3;
when P > C03, the central control system controls the DC motor 52 to operate at the 4 th DC motor power C4.
Further, an air nozzle adjusting matrix P (P1, P2, P3) is preset inside the central control system, wherein: pi represents the jet speed of the ith nozzle, i is 1,2,3, P3> P2> P1, the central control system calculates a control parameter J according to the following formula,
the central control system is also provided with control parameters J01 and J02, and adjusts the air injection speed of the air nozzle according to the control parameters and an air nozzle adjusting matrix P (P1, P2 and P3), and when in adjustment:
when J is not more than J01, the central control system controls the air nozzle 60 to jet air at the 1 st nozzle jet speed P1;
when J01< P ≦ J02, the central control system controls the air nozzle 60 to jet air at the nozzle 2 air jet speed P2;
when P > C03, the central control system controls the air nozzle 60 to spray air at the 3 rd nozzle spraying speed P3.
Compared with the prior art, the invention has the technical effects that the invention comprises the following steps: the integrated box, the feeding device, the image acquisition device, the blanking device, the feeding device, the removing device and the central control system have the functions of orderly feeding and blanking capsules, detecting defects, removing waste products and collecting qualified products, have comprehensive functions and meet the operation requirements of a capsule quality inspection production line, simultaneously, the central control system judges the image information of the capsules to be detected in real time, judges whether the image information reflects light or not and influences the final defect judgment precision, adjusts the angle of an illuminating light source in real time according to the position of a reflecting point, processes the capsule image information according to a computer image processing technology, has high computer judgment precision and high identification speed, avoids errors of manual identification, improves the detection efficiency of the whole detection device, and simultaneously, the central control system adjusts the rotating speed of the blanking turntable and the conveying speed of a conveying belt in real time according to the passing frequency of the capsules, guarantee the orderly conveying of capsule, improve conveying efficiency, prevent that capsule transmission from causing the jam or arranging too closely on the conveyer belt and leading to the problem of difficult rejection to appear too fast, simultaneously, according to the weight of capsule and the jet-propelled speed of size real-time adjustment air nozzle, prevent that the too big capsule departure that leads to of jet-propelled speed or too little can't reach the problem of rejecting the effect and appear, realize the automated control to whole detection device through central control system, combine above-mentioned function to have improved the reliability of detection and the efficiency of detection comprehensively.
Particularly, the image detection device is internally divided into four separated spaces, the cameras and the illumination light sources are arranged in the four separated spaces, the separated spaces are separated by the light source partition plates, the four cameras are used for simultaneously taking pictures to ensure that complete image information of the capsules can be acquired, and the transparent detection material rail is practical, so that the simultaneous detection of a plurality of capsules is realized, and the reliability of the capsule defect detection is ensured.
Particularly, a reflective point adjusting matrix F (F1, F2... Fn) is preset in the central control system, capsule image information acquired by a camera is judged in real time, whether the image information has reflective points or not is judged, the brightness and the angle of an illumination light source are adjusted in real time according to the positions of the reflective points, due to the capsule material, the reflective points often appear in the image information, and the defects that the reflective points cover the capsule are overcome, so that the reflective point detection is adjusted to be particularly important.
Particularly, a turntable adjusting matrix Z (Z1, Z2, Z3 and Z4) and a conveyor belt adjusting matrix C (C1, C2, C3 and C4) are preset in the central control system, the passing frequency P of the capsules is calculated, the conveying speed of the conveyor belt and the rotating speed of the blanking device are adjusted in real time, the problem that the capsules are blocked due to too fast conveying or are not easy to remove due to too tight arrangement on the conveyor belt is solved, ordered conveying of the capsules is guaranteed, and conveying efficiency is improved.
Particularly, an air nozzle adjusting matrix P (P1, P2 and P3) is preset in the central control system, size information of the length and the width of the capsule is obtained according to capsule image information, the air injection speed of the air nozzle is judged in real time according to the size and the weight of the capsule, the problem that the capsule flies out or cannot be removed due to too high air injection speed is solved, and the reliability of the whole device is improved.
Drawings
Fig. 1 is a schematic perspective view of an integrated capsule defect detection apparatus based on machine vision according to an embodiment of the present invention;
FIG. 2 is a front view of an integrated capsule defect detecting device based on machine vision according to an embodiment of the present invention;
FIG. 3 is a right side view of an integrated capsule defect detecting apparatus based on machine vision according to an embodiment of the present invention;
FIG. 4 is a schematic view of a feeding device and its internal structure according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an image acquisition device and an internal structure thereof according to an embodiment of the present invention;
fig. 6 is a schematic view of a blanking device and an internal structure thereof according to an embodiment of the present invention;
fig. 7 is a schematic perspective view of a feeding device and a removing device according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a structure of a conveyor belt according to an embodiment of the present invention.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 3, there are shown a schematic three-dimensional structure diagram of an integrated capsule defect detecting device based on machine vision, a front view of the integrated capsule defect detecting device based on machine vision, and a right view of the integrated capsule defect detecting device based on machine vision according to an embodiment of the present invention; the integrated capsule defect detection device based on machine vision of the embodiment comprises:
an integrated box 10, inside which upper, middle and lower three board layers are arranged, for loading the detection parts;
the feeding device 20 comprises a feeding box 21 and a feeding inclined rail 22, wherein the feeding box 21 is used for placing capsules, the feeding inclined rail 22 is connected with the feeding box and used for conveying the capsules in the feeding box 21 to the image acquisition device, and the feeding inclined rail 22 is provided with an infrared sensor and a gravity sensor and used for detecting the passing number of the capsules and the weight of the capsules;
the image acquisition device 30 comprises a plurality of cameras 31 and a detection material rail 32, and is used for carrying out image acquisition on the capsule to be inspected through the cameras 31 when the capsule passes through the detection material rail 32, one end of the detection material rail 32 is connected with the feeding inclined rail 22 and penetrates through the image acquisition device 31, and the other end of the detection material rail is connected with the blanking device 40.
The blanking device 40 comprises a blanking turntable 44, a turntable shell 43 and a servo motor 41, the blanking device 40 is arranged on the lower plate layer of the integrated box 10 through a support frame 43 and is used for conveying capsules passing through the image acquisition device to the feeding device 50;
the feeding device 50 is arranged at the bottom of the integration box 10 and comprises at least one conveyor belt 54, the conveyor belt 54 is connected with the direct current motor 52, so that the conveyor belt 54 conveys the capsules under the driving of the direct current motor 52, and a capsule through groove with the depth smaller than the radius of the capsules is arranged on the center line of the conveyor belt 54, so as to fix the positions of the capsules on the conveyor belt 54.
A reject device including an air nozzle 60 and a waste storage box including a first waste box 61 and a second waste box 62, the air nozzle 60 being provided on a conveyor frame 53 so as to blow the capsules on the conveyor 54 into the waste storage box, the waste storage box being provided at one side of the feeding device 50 to store the capsules blown by the air nozzle 60;
a non-defective collecting bin 70 provided at an end of the conveyor belt 54 to collect the capsules conveyed by the conveyor belt 54;
the central control system comprises a PC terminal which is connected with the infrared sensor, the gravity sensor, the image acquisition device 30, the feeding device 50 and the removing device and completes data exchange in real time, the central control system is used for receiving capsule image information sent by the camera, the image information is subjected to light reflection judgment, the irradiation angle and the brightness of the illumination light source are adjusted in real time according to the light reflection defects appearing in the image information, meanwhile, the image information corresponding to the capsule is judged to judge whether the capsule has defects, the central control system adjusts the power of the servo motor 41 and the direct current motor 52 in real time according to the capsule transmission frequency P so as to control the rotating speed of the blanking turntable 44 and the conveying speed of the conveying belt 54, meanwhile, the central control system adjusts the air injection speed of the air injection nozzle 61 in real time according to the size and weight of the capsules, and controls the air injection nozzle 61 to blow the defective capsules into the waste storage tank.
Specifically, referring to fig. 4, which is a schematic diagram of a feeding device and an internal structure thereof according to an embodiment of the present invention, the feeding device 20 and the feeding device 20 include a feeding box 21 and a feeding ramp 22, the feeding box 21 is a hollow box structure for placing capsules, the feeding ramp 22 is connected to the feeding box 21 for conveying the capsules in the feeding box 21 to an image acquisition device 30, the bottom of the feeding box 21 is provided with a plurality of discharging ports, correspondingly, the feeding ramp is provided with feeding ports with the same number as the discharging ports, the feeding ramp is further provided with a plurality of vent holes for balancing atmospheric pressure inside the feeding device 20 to ensure that the material in the feeding box 21 can smoothly flow into the feeding ramp 22, the feeding ramp 22 is further provided with an infrared sensor and a gravity sensor, for detecting the number of passing capsules and the weight of the capsules.
Specifically, referring to fig. 5, which is a schematic diagram of an image acquisition device and an internal structure thereof according to an embodiment of the present invention, the image acquisition device 30 is disposed on a middle layer board of the integrated box 10 through a fixing bracket 33, and is a box structure including a camera 31, a detection material rail 32, an illumination light source 34, and a light source partition 35; the light source partition 35 divides the image acquisition device 30 into four equal parts to form four separated spaces, the illumination light sources 34 are arranged in the separated spaces, at least four cameras 31 are respectively arranged in the separated spaces, so that the cameras 31 can acquire 360-degree image information of the capsule, and after the capsule flows into the image acquisition device 30 from the feeding inclined rail 32, the central control module controls the cameras 31 to start and acquire appearance image information of the capsule to be inspected; detect stock rail 32 one end with the oblique rail 22 of feed is connected and is passed image acquisition device 30, its other end with unloader 40 is connected, detect stock rail 32 is hollow tubular structure, in order to guarantee the capsule passes through smoothly, and its material is transparent material, in order to guarantee camera 31 acquires clear capsule image, still be provided with illumination source 34 and the light source baffle 35 that can adjust the direction of illumination on the image acquisition device inner wall, illumination source is used for camera 31 during operation provides the light filling illumination, so that camera 31 acquires better shooting effect.
Specifically, referring to fig. 6, which is a schematic diagram of a blanking device and an internal structure thereof according to an embodiment of the present invention, the blanking device is fixed to one side of the image detection device through a support frame 42, and includes: servo motor 41, unloading carousel 44, carousel shell 43, servo motor is used for the drive unloading carousel 44 rotates, evenly be provided with a plurality of capsule grooves 47 on the unloading carousel 44, it is used for placing the capsule, carousel shell 43 parcel is in unloading carousel outside 44, its one side is provided with pan feeding breach 45, and is corresponding, and its opposite side symmetry is provided with establishes out material breach 46 for the entering and the discharge of capsule, during operation, the capsule is followed pass through in the detection inclined rail 32 pan feeding breach 45 gets into in the capsule groove 47, the rotatory drive of unloading carousel 44 capsule in the capsule groove 47 is rotatory, works as the capsule is rotatory extremely follow during ejection of compact breach 46 in the capsule groove 47 of scarce material breach entering conveyer belt, the axis of unloading carousel 44 with the central line of conveyer belt 54 is in the coplanar, so that the capsule can get into when discharging in the ejection of compact breach 46 the capsule logical at the middle part of conveyer belt 54 leads to In the groove.
Specifically, referring to fig. 7 to 8, the feeding device and the removing device provided in the embodiment of the present invention include a drum 51, a dc motor 52, a conveyor belt rack 53, a conveyor belt 54 and a bearing seat 55, the conveyor belt rack 53 is disposed at the bottom of the integrated box, the conveyor belt is disposed on the conveyor belt rack 53, the bearing seat 55 is used to support a transmission shaft of the drum 51 and a bearing of a rotation shaft, the drum drives the conveyor belt to move under the driving of the dc motor 52, the dc motor 52 is connected to the central control system and completes data exchange, and the central control system can adjust the power of the dc motor through a PC end to control the transmission speed of the conveyor belt 54.
Specifically, a capsule through slot is arranged on the center line of the conveyor belt 54, and is of a slot structure, the cross-sectional diameter of the capsule through slot is larger than that of the capsule, and the capsule through slot is used for fixing the position of the capsule on the conveyor belt 54 and ensuring the stable transmission of the capsule on the conveyor belt.
Specifically, the rejection device includes: air jet 60 and waste collection box, the waste collection box includes first waste collection box 61 and second waste collection box 62, air jet 60 is two, sets up respectively on the conveyer belt frame 53, it is used for with capsule on the conveyer belt 54 blows in and corresponds in first waste collection box 61 or the second waste collection box 62, first waste collection box 61 and second waste collection box 62 set up conveyer belt frame 53 one side, and with the air-jet blow nozzle is located same straight line, so that by air-jet blow nozzle 60 spun waste capsule falls into respectively in the waste collection box, first waste collection box 61 is used for collecting the distinguishable defect capsule that detects out, second waste collection box 62 is used for collecting the unidentified abnormal form capsule that can't discern in the testing process, treats artifical judgement to leak hunting or false retrieval are avoided.
Specifically, the central control system determines the definition and the reflection points of the image information in real time, and a reflection point adjustment matrix F (F1, F2... Fn) is preset in the central control system, wherein F1 represents a 1 st adjustment matrix, F2 represents a 2 nd adjustment matrix.. Fn represents an nth adjustment matrix, and for an ith adjustment matrix Fi (Fi1, Fi2, Fi3), Fi1 represents a two-dimensional reflection point coordinate set, Fi2 represents reflection point irradiation intensity, and Fi3 represents a reflection point irradiation angle; when the image information has the light reflection points, the central control system establishes a two-dimensional coordinate set F (x, y) of the capsule according to the image information, records a two-dimensional coordinate set F0(x, y) of the light reflection position of the image information, and adjusts the intensity and the angle of the irradiation light source according to the two-dimensional coordinate set F0(x, y) of the light reflection position and a light reflection point adjusting matrix F (F1, F2... Fn), and during adjustment:
when the two-dimensional coordinate set F0(x, y) of the reflection position belongs to the two-dimensional coordinate set F11 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the two-dimensional coordinate set F11
The irradiation intensity of the irradiation light source is adjusted by the irradiation intensity of the reflection point F12, and the angle of the irradiation light source is adjusted by selecting the irradiation angle of the reflection point F13.
When the two-dimensional reflection position coordinate set F0(x, y) belongs to a two-dimensional reflection point coordinate set F21 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the reflection point illumination intensity F22 to adjust the illumination intensity of the illumination light source, and selects the reflection point illumination angle F23 to adjust the angle of the illumination light source.
...
When the two-dimensional coordinate set F0(x, y) of the reflection position belongs to the two-dimensional coordinate set Fn1 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the reflection point
The irradiation intensity of the irradiation light source is adjusted by the irradiation intensity of the reflecting point Fn2, and the angle of the irradiation light source is adjusted by selecting the irradiation angle of the reflecting point Fn 3.
Specifically, the central control system is internally provided with a capsule information matrix K (Q, R), wherein Q represents capsule defect information, and R represents capsule size information, when the central control system processes image information of the capsule, the central control system acquires color information and size information of the capsule according to the image information to generate the capsule information matrix K (Q, R), the central control system records the time Ti, i-1, 2.. N0 when the capsule passes through the sensor and the number N of passing capsules in real time, a preset parameter value N0 is arranged in the central control system, and when the number of passing capsules exceeds the preset parameter value N0, the central control system calculates the passing frequency P of the capsule according to the following formula,
wherein: n0 denotes a preset parameter value, TN0 denotes the N0 th recorded time, T1 denotes the first recorded time;
a turntable adjustment matrix Z (Z1, Z2, Z3 and Z4) is preset in the central control system, wherein Zi represents the power of the ith motor, i is 1,2,3,4 and Z4, adjustment parameters Z01, Z02 and Z03 are also arranged in the central control system, the central control system adjusts the rotation rate of the blanking turntable 44 in real time according to the passing frequency P, and during adjustment:
when P is not more than Z01, the central control system controls the servo motor 41 to operate at the power Z1 of the 1 st motor;
when Z01< P is less than or equal to Z02, the central control system controls the servo motor 41 to operate at the power Z2 of the 2 nd motor;
when Z02< P is less than or equal to Z03, the central control system controls the servo motor 41 to operate at the power Z3 of the 3 rd motor;
when P > Z03, the central control system controls the servo motor 41 to operate at 4 th motor power Z4.
A conveyor belt adjusting matrix C (C1, C2, C3 and C4) is preset in the central control system, wherein C i represents an ith direct current motor adjusting matrix, i is 1,2,3 and 4, and the central control system is also provided with adjusting parameters C01, C02 and CO 3; the central control system adjusts the power of the direct current motor 52 in real time according to the passing frequency P so as to control the transmission speed of the conveyor belt, and during adjustment:
when P is less than or equal to C01, the central control system controls the direct current motor 52 to operate at the 1 st direct current motor power C1;
when C01< P ≦ C02, the central control system controls the direct current motor 52 to operate at the 2 nd direct current motor power C2;
when C02< P ≦ C03, the central control system controls the direct current motor 52 to operate at the 3 rd direct current motor power C3;
when P > C03, the central control system controls the DC motor 52 to operate at the 4 th DC motor power C4.
An air nozzle adjusting matrix P (P1, P2, P3) is preset in the central control system, wherein Pi represents the jet speed of the ith nozzle, i is 1,2,3, P3> P2> P1, the central control system calculates a control parameter J according to the following formula,
the central control system is also provided with control parameters J01 and J02, and adjusts the air injection speed of the air nozzle according to the control parameters and an air nozzle adjusting matrix P (P1, P2 and P3), and when in adjustment:
when J is not more than J01, the central control system controls the air nozzle 60 to jet air at the 1 st nozzle jet speed P1;
when J01< P ≦ J02, the central control system controls the air nozzle 60 to jet air at the nozzle 2 air jet speed P2;
when P > C03, the central control system controls the air nozzle 60 to spray air at the 3 rd nozzle spraying speed P3.
Specifically, the workflow of the present invention includes: the capsules are sent into a feeding box 21 of the feeding device 20, the capsules are orderly arranged under the action of the inner inclined plate and then are sent into the image acquisition device 30 through a plurality of feeding ports and the feeding inclined rails 22 for image acquisition, the capsule after image acquisition slides into the feeding gap 45 of the turntable shell 43 through the detection material rail 32 and enters the capsule groove 47 of the blanking turntable 44, the servo motor 41 drives the blanking turntable 44 to rotate, when the capsule groove 47 rotates to the discharge notch 46, the capsule slides out of the capsule groove 47 into the capsule through groove of the conveyor belt 54, the conveyor belt 54 drives the capsules to move, on the way, the air nozzle 60 blows the identified capsule waste into the first waste collection box 61 or/and the second waste collection box 62, and the remaining qualified capsules are conveyed into the qualified product collection box 70.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. An integrated capsule defect detection device based on machine vision, comprising:
the integrated box is internally provided with an upper plate layer, a middle plate layer and a lower plate layer and is used for loading the detection part;
the feeding device comprises a feeding box and a feeding inclined rail, wherein the feeding box is used for placing capsules, the feeding inclined rail is connected with the feeding box and used for conveying the capsules in the feeding box to the image acquisition device, and the feeding inclined rail is provided with an infrared sensor and a gravity sensor and used for detecting the number of the passing capsules and the weight of the capsules;
the image acquisition device comprises a plurality of cameras and a detection material rail, the image acquisition device is used for acquiring images of the capsule to be inspected through the cameras and sending acquired image information to the central control system when the capsule passes through the detection material rail, one end of the detection material rail is connected with the feeding inclined rail and penetrates through the image acquisition device, and the other end of the detection material rail is connected with the blanking device;
the blanking device comprises a blanking turntable, a turntable shell and a servo motor, is arranged on the lower floor of the integrated box body through a support frame and is used for conveying the capsules passing through the image acquisition device to the feeding device;
the feeding device is arranged at the bottom of the integrated box and at least comprises a conveyor belt, the conveyor belt is connected with a direct current motor so that the conveyor belt can convey capsules under the driving of the direct current motor, and a capsule through groove with the depth smaller than the radius of the capsules is formed in the center line of the conveyor belt so as to fix the positions of the capsules on the conveyor belt;
the rejecting device comprises an air nozzle and a waste storage box, the waste storage box comprises a first waste storage box and a second waste storage box, the air nozzle is arranged on a rack of the conveyor belt so as to blow the capsules on the conveyor belt into the waste storage box, and the waste storage box is arranged on one side of the feeding device and used for storing the capsules blown out by the air nozzle;
the qualified product collecting box is arranged at the tail end of the conveyor belt and is used for collecting the capsules conveyed by the conveyor belt;
the central control system comprises a PC terminal which is connected with the infrared sensor, the gravity sensor, the image acquisition device, the feeding device and the removing device and completes data exchange in real time, the central control system is used for receiving capsule image information sent by the camera, the image information is subjected to light reflection judgment, the irradiation angle and the brightness of the illumination light source are adjusted in real time according to the light reflection defects appearing in the image information, meanwhile, image information corresponding to the capsule is judged, whether the capsule has defects is judged, the central control system adjusts the power of the servo motor and the direct current motor in real time according to the capsule transmission frequency P so as to control the rotating speed of the blanking turntable and the conveying speed of the conveying belt, meanwhile, the central control system adjusts the air injection speed of the air injection nozzles in real time according to the size and weight of the capsules, and controls the air injection nozzles to blow the defective capsules into the waste storage tank.
2. The integrated capsule defect detecting device based on machine vision as claimed in claim 1, wherein the image capturing device further comprises a plurality of illuminating light sources and light source partition plates, the light source partition plates divide the image capturing device into four halves to form four partitioned spaces, the illuminating light sources are arranged in the partitioned spaces, the number of the cameras is at least four, the cameras are respectively arranged in the partitioned spaces, so that the cameras can acquire 360 ° image information of the capsule, and after the capsule flows into the image capturing device from the feeding inclined rail, the central control module controls the cameras to be started to acquire appearance image information of the capsule to be inspected; the detection material rail is of a hollow tubular structure so as to ensure that the capsule smoothly passes through, and is made of a transparent material so as to ensure that the camera acquires a clear capsule image.
3. The integrated capsule defect detecting device based on machine vision as claimed in claim 1, wherein the blanking turntable is connected with the servo motor through a transmission coupler so that the blanking turntable is driven by the servo motor to rotate, a plurality of capsule slots are uniformly arranged on the blanking turntable and used for placing the capsules, the turntable shell wraps the outer side of the blanking turntable, a feeding gap is arranged on one side of the turntable shell, and a discharging gap is symmetrically arranged on the other side of the turntable shell and used for feeding and discharging the capsules.
4. The integrated capsule defect detecting device based on machine vision as claimed in claim 3, wherein the central axis of the blanking turntable is in the same plane as the central line of the conveyor belt, so that the capsule is discharged from the discharge gap and enters the capsule through slot in the middle of the conveyor belt.
5. The integrated machine vision-based capsule defect detection device of claim 1, wherein the feeding device further comprises: the conveying belt comprises a roller, a conveying belt rack and a bearing seat, wherein the conveying belt rack is arranged at the bottom of the integrated box, the conveying belt is arranged on the conveying belt rack, the bearing seat is used for supporting a transmission shaft of the roller and a bearing of a rotating shaft, the roller is driven by a direct current motor to drive the conveying belt to move, the direct current motor is connected with a central control system and completes data exchange, and the central control system can adjust the power of the direct current motor through a PC (personal computer) end so as to control the conveying speed of the conveying belt.
6. The integrated capsule defect detecting device based on machine vision according to claim 1, wherein the central control system determines definition and reflective point of the image information in real time, and a reflective point adjusting matrix F (F1, F2... Fn) is preset in the central control system, wherein F1 represents a 1 st adjusting matrix, F2 represents a 2 nd adjusting matrix.. Fn represents an nth adjusting matrix, and for an ith adjusting matrix Fi (Fi1, Fi2, Fi3), wherein Fi1 represents a two-dimensional reflective point coordinate set, Fi2 represents reflective point irradiation intensity, and Fi3 represents reflective point irradiation angle; when the image information has the light reflection points, the central control system establishes a two-dimensional coordinate set F (x, y) of the capsule according to the image information, records a two-dimensional coordinate set F0(x, y) of the light reflection position of the image information, and adjusts the intensity and the angle of the irradiation light source according to the two-dimensional coordinate set F0(x, y) of the light reflection position and a light reflection point adjusting matrix F (F1, F2... Fn), and during adjustment:
when the two-dimensional reflection position coordinate set F0(x, y) belongs to a two-dimensional reflection point coordinate set F11 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the reflection point illumination intensity F12 to adjust the illumination intensity of an illumination light source, and selects the reflection point illumination angle F13 to adjust the angle of the illumination light source;
when the two-dimensional reflection position coordinate set F0(x, y) belongs to a two-dimensional reflection point coordinate set F21 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the reflection point illumination intensity F22 to adjust the illumination intensity of an illumination light source, and selects the reflection point illumination angle F23 to adjust the angle of the illumination light source;
...
when the two-dimensional coordinate set F0(x, y) of the reflection position belongs to the two-dimensional coordinate set Fn1 in the reflection point adjusting matrix F (F1, F2... Fn), the central control system selects the reflection point
The irradiation intensity of the irradiation light source is adjusted by the irradiation intensity of the reflecting point Fn2, and the angle of the irradiation light source is adjusted by selecting the irradiation angle of the reflecting point Fn 3.
7. The integrated machine vision-based capsule defect detection device according to claim 1, wherein the central control system is internally provided with a capsule information matrix K (Q, R), wherein Q represents capsule defect information, and R represents capsule size information, when the central control system processes the image information of the capsule, the central control system acquires the color information and size information of the capsule according to the image information to generate the capsule information matrix K (Q, R), the central control system records the time Ti, i-1, 2.. N0 when the capsule passes through the sensor in real time, and the number N of passing capsules, and is provided with a preset parameter value N0, when the number of passing capsules exceeds the preset parameter value N0, the central control system calculates the passing frequency P of the capsule according to the following formula,
wherein: n0 denotes the value of the preset parameter, TN0 denotes the N0 th recorded time and T1 denotes the first recorded time.
8. The integrated capsule defect detecting device based on machine vision according to claim 7, characterized in that a turntable adjustment matrix Z (Z1, Z2, Z3, Z4) is preset inside the central control system, wherein Zi represents the ith motor power, i is 1,2,3,4, Z4, and adjustment parameters Z01, Z02, Z03 are further set inside the central control system, and the central control system adjusts the rotation rate of the blanking turntable 44 in real time according to the passing frequency P, and when in adjustment:
when P is not more than Z01, the central control system controls the servo motor to operate at the power Z1 of the 1 st motor;
when Z01< P is less than or equal to Z02, the central control system controls the servo motor to operate at the power Z2 of the 2 nd motor;
when Z02< P is less than or equal to Z03, the central control system controls the servo motor to operate at the power Z3 of the 3 rd motor;
when P > Z03, the central control system controls the servo motor to operate at 4 th motor power Z4.
9. The integrated capsule defect detection device based on machine vision according to claim 7, wherein a conveyor belt adjusting matrix C (C1, C2, C3, C4) is preset in the central control system, wherein Ci represents the ith dc motor adjusting matrix, i is 1,2,3,4, and the central control system is further provided with adjusting parameters C01, C02, CO 3; the central control system adjusts the power of the direct current motor 52 in real time according to the passing frequency P so as to control the transmission speed of the conveyor belt, and during adjustment:
when P is less than or equal to C01, the central control system controls the direct current motor to operate at the 1 st direct current motor power C1;
when C01< P ≦ C02, the central control system controls the direct current motor to operate at the 2 nd direct current motor power C2;
when C02< P ≦ C03, the central control system controls the direct current motor to operate at the 3 rd direct current motor power C3;
when P > C03, the central control system controls the direct current motor to operate at a 4 th direct current motor power C4.
10. The integrated capsule defect detection device based on machine vision according to claim 7, characterized in that an air nozzle adjustment matrix P (P1, P2, P3) is preset inside the central control system, wherein: pi represents the jet speed of the ith nozzle, i is 1,2,3, P3> P2> P1, the central control system calculates a control parameter J according to the following formula,
the central control system is also provided with control parameters J01 and J02, and adjusts the air injection speed of the air nozzle according to the control parameters and an air nozzle adjusting matrix P (P1, P2 and P3), and when in adjustment:
when J is not more than J01, the central control system controls the air nozzle to jet air at the jet speed P1 of the 1 st nozzle;
when J01< P ≦ J02, the central control system controls the air nozzle to jet air at the 2 nd nozzle air jet speed P2;
when P > C03, the central control system controls the air nozzle to spray air at the 3 rd nozzle air spraying speed P3.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112934736A (en) * | 2021-03-04 | 2021-06-11 | 张爱玲 | Can avoid secondary pollution's high-efficient capsule sorting device |
| CN115138582A (en) * | 2022-09-06 | 2022-10-04 | 常州源光节能科技有限公司 | Screw thread check out test set based on nut |
| CN116159777A (en) * | 2023-04-18 | 2023-05-26 | 石家庄康力药业有限公司 | Quality judgment system and method based on visual detection |
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2020
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112934736A (en) * | 2021-03-04 | 2021-06-11 | 张爱玲 | Can avoid secondary pollution's high-efficient capsule sorting device |
| CN112934736B (en) * | 2021-03-04 | 2023-12-22 | 贵州汇正制药有限责任公司 | Can avoid secondary pollution's high-efficient capsule sorting device |
| CN115138582A (en) * | 2022-09-06 | 2022-10-04 | 常州源光节能科技有限公司 | Screw thread check out test set based on nut |
| CN115138582B (en) * | 2022-09-06 | 2022-11-15 | 常州源光节能科技有限公司 | Screw thread check out test set based on nut |
| CN116159777A (en) * | 2023-04-18 | 2023-05-26 | 石家庄康力药业有限公司 | Quality judgment system and method based on visual detection |
| CN116159777B (en) * | 2023-04-18 | 2023-06-23 | 石家庄康力药业有限公司 | Quality judgment system and method based on visual detection |
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Inventor after: Yang Jing Inventor after: Dong Hao Inventor after: Wang Jun Inventor after: Yu Liya Inventor after: Zhu Shude Inventor after: Wang Zheng Inventor before: Yang Jing Inventor before: Wang Jun Inventor before: Yu Liya Inventor before: Zhu Shude Inventor before: Dong Hao Inventor before: Wang Zheng |