CN113941517A - Product visual sorting equipment and sorting method thereof - Google Patents
Product visual sorting equipment and sorting method thereof Download PDFInfo
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- CN113941517A CN113941517A CN202111198442.8A CN202111198442A CN113941517A CN 113941517 A CN113941517 A CN 113941517A CN 202111198442 A CN202111198442 A CN 202111198442A CN 113941517 A CN113941517 A CN 113941517A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 113
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 114
- 238000001514 detection method Methods 0.000 claims abstract description 101
- 239000012780 transparent material Substances 0.000 claims abstract description 4
- 238000005286 illumination Methods 0.000 claims description 64
- 238000007664 blowing Methods 0.000 claims description 39
- 230000002950 deficient Effects 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000009432 framing Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims 1
- 238000003384 imaging method Methods 0.000 claims 1
- 239000000047 product Substances 0.000 description 46
- 238000011179 visual inspection Methods 0.000 description 11
- 238000007689 inspection Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
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- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention provides a product visual sorting device and a sorting method thereof, wherein the product visual sorting device comprises a feeding mechanism for conveying card holders, a base, a rotary table, two end surface visual detection units, a plurality of side surface visual detection units and a display output unit; the base is fixedly arranged on the ground; one end of the base, which is far away from the ground, is provided with a longitudinally through window; the rotary table is arranged at one end of the base far away from the ground, and is provided with a rotating part; the rotating part of the rotary table is made of transparent material; the detection parts of the two end surface visual detection units are aligned to the surface, far away from the ground, of the rotating part of the rotary table at the window and the surface, close to the ground, of the rotating part; the side surface visual detection units are arranged on the end surface of the base far away from the ground at intervals; the display output unit is used for receiving the images acquired by the visual detection units, comparing the images with preset images of the card support and moving the card support from the rotary table to a qualified product area or a unqualified product area according to the image comparison result.
Description
Technical Field
The invention relates to the technical field of visual sorting, in particular to product visual sorting equipment for detecting micro parts and a sorting method thereof.
Background
The mobile phone card holds in the palm and adopts that a fluting or the slim work piece of trompil make, and its trompil or fluting department has a plurality of surfaces, and artifical the detection need hold in the palm the terminal surface to the card, lateral surface and the side surface of trompil or fluting department detect respectively, because the detection site is more, artifical naked eye detects very easily tired, produces easily lou to examine, leads to the defective products to flow, influences the quality of product. Machine vision inspection is to use a machine to acquire an appearance image of a product and measure and distinguish the appearance image, and is widely applied to key links such as a product production process, product packaging and the like at present to replace manual visual inspection. Because the card holds in the palm and belongs to miniature work piece, adopt single camera machine vision detection still probably to produce and omit local surface detection, can not be comprehensive and reliable carry out abundant detection to each surface of card support.
Therefore, it is necessary to provide a method for detecting the shape of each surface of a miniature workpiece and fully determining the quality of the workpiece.
Disclosure of Invention
In view of the above, the present invention provides an apparatus and a method for visually sorting miniature workpieces having different end surfaces.
The technical scheme of the invention is realized as follows:
on one hand, the invention provides product visual sorting equipment which comprises a feeding mechanism for conveying card holders, a base (1), a rotary table (2), two end face visual detection units (3), a plurality of side surface visual detection units (4) and a display output unit (5);
the base (1) is fixedly arranged on the ground; one end of the base (1) far away from the ground is provided with a longitudinally through window (100);
the rotary table (2) is arranged at one end of the base (1) far away from the ground, and a rotating part for placing the clamping support is horizontally arranged at one end of the rotary table (2) far away from the ground; the rotating part of the rotary table (2) is movably connected with the base (1) and can rotate relative to the base (1), and the rotating part of the rotary table (2) is made of transparent materials;
the two end face visual detection units (3) are oppositely arranged on the surface close to the ground and the surface far away from the ground at the end part provided with the window (100) of the base (1); the detection parts of the two end surface visual detection units (3) are over against the surface, far away from the ground, of the rotating part of the rotary table (2) at the window (100) and the surface, close to the ground, of the rotating part, the two end surface visual detection units (3) respectively acquire images of the surface, close to the ground, of the clamping support placed on the rotating part of the rotary table (2) and the surface, far away from the ground, of the clamping support, and the acquired images are sent to the display output unit (5);
the side surface visual detection units (4) are arranged on the end surface, far away from the ground, of the base (1) at intervals, and the side surface visual detection units (4) acquire images of the outer side surface of the clamping support on the rotating part of the detection rotary table (2) and the side surface of the opening and send the acquired images to the display output unit (5);
and the display output unit (5) is used for receiving the images of the surface, close to the ground, of the card holder and the surface, far away from the ground, of the card holder, the images of the outer side surface of the card holder and the side surface of the opening, sent by the two end surface visual detection units (3) and the side surface visual detection units (4), comparing the images with the preset images of the card holder, and moving the card holder from the rotary table (2) to a qualified product area or a unqualified product area according to the image comparison result.
In addition to the above technical solution, preferably, each of the two end surface visual detection units (3) includes a first bracket (31), a first illumination unit (32), and a first lens (33); one end of the first support (31) is fixedly connected with the surface, close to the ground or far from the ground, of the end part, provided with the window (100), of the base (1), and the other end of the first support (31) extends outwards in a vertical direction in a direction far from the end part of the base (1); the first lens (33) is arranged at one end of the first support (31) far away from the base (1), and a view finding part of the first lens (33) is over against the surface, close to the ground, of the clamping support on the rotary table (2) or the surface, far away from the ground, of the clamping support; the first illumination unit (32) is provided on the first support (31) and is positioned on the optical path of the view finding section of the first lens (33).
Preferably, each side surface visual detection unit (4) comprises a second bracket (41), a second illumination part (42), a light reflection part (43) and a second lens (44); the second support (41) is fixedly arranged on the end face, far away from the ground, of the base (1) and extends outwards towards the direction far away from the ground; the end part of the second bracket (41) far away from the ground is provided with a second lens (44), and the view finding part of each second lens (44) is respectively aligned with one outer side surface of a clamping support placed on the rotary table (2) and one side surface of the opening part adjacent to the outer side surface; a second illumination part (42) is arranged on the light path of the view part of the second lens (44) and is used for illuminating the card holder; the light reflecting part (43) is arranged between the second illumination part (42) and the end face of the base (1) far away from the ground, and the light emitted by the second illumination part (42) is subjected to diffuse reflection by the light reflecting part (43) to illuminate one outer side face of the card holder which is framed by the framing part of the second lens (44) and the surface of the adjacent side of the opening.
Preferably, each side surface visual detection unit (4) further comprises an illumination portion adjusting mechanism (45) and a light reflecting portion adjusting mechanism (46); one end of the illumination part adjusting mechanism (45) is fixedly connected with the side surface of the extending direction of the second support (41), the other end of the illumination part adjusting mechanism (45) horizontally extends towards the direction far away from the second support (41), the second illumination part (42) is movably connected with the illumination part adjusting mechanism (45), and the illumination part adjusting mechanism (45) adjusts the included angle between the light emitting direction of the second illumination part (42) and the base (1); one end of the light reflecting portion adjusting mechanism (46) is fixedly connected with the side surface of the extending direction of the second support (41), the other end of the light reflecting portion adjusting mechanism (46) horizontally extends towards the direction far away from the second support (41), the light reflecting portion (43) is movably connected with the light reflecting portion adjusting mechanism (46), and the included angle between the light reflecting portion (43) and the base (1) is adjusted by the light reflecting portion adjusting mechanism (46).
More preferably, the first illumination unit (32) is an annular illumination unit; the second illumination part (42) is a semi-annular light source; the normal direction of the view finding part of the first lens (33) is superposed with the central axis of the first illumination part (32); the normal direction of the view finding part of the second lens (44) coincides with the central axis of the second illumination part (42).
Preferably, the feeding mechanism is a vibrating disc, and the discharge end of the feeding mechanism extends to the end face, far away from the ground, of the rotating part of the rotary table (2); the feeding mechanism feeds the card holders into the rotating part of the rotary table (2) at intervals in the same direction.
Preferably, the display output unit (5) comprises a display (51), a processor (52) and an output execution mechanism (53); the processor (52) is electrically connected with the feeding mechanism, the rotary table (2), the two end surface visual detection units (3), the side surface visual detection units (4), the display (51) and the output execution mechanism (53); the processor (52) drives the rotary table (2) to rotate, the rotating part of the rotary table (2) drives the card support to rotate, the card support sequentially passes through the two end face visual detection units (3) and the side face visual detection units (4), images of the surfaces of the card support are obtained through the first lenses (33) and the second lenses (44), the images are sent to the processor (52), the processor (52) compares the obtained images with the area of a preset image area and sends the images to the display (51) for displaying and outputting; the area of the image area is compared with the qualified card support or the unqualified card support, and the qualified card support or the unqualified card support is output to a qualified product area or an unqualified product area respectively by an output execution mechanism (53).
Further preferably, the output actuator (53) comprises a first air blowing mechanism (531), a second air blowing mechanism (532), a third air blowing mechanism (533), a first output channel (534), a second output channel (535), and a third output channel (536); the first output channel (534), the second output channel (535) and the third output channel (536) are arranged at intervals at the edge of the rotating part of the rotary table (2); the first air blowing mechanism (531), the second air blowing mechanism (532) and the third air blowing mechanism (533) are arranged at intervals in the direction of one side of the rotating part of the rotary table (2) far away from the ground; the air outlet direction of the first air blowing mechanism (531) is over against one end of the first output channel (534), and the other end of the first output channel (534) is communicated with the qualified product area; the air outlet direction of the second air blowing mechanism (532) is over against one end of the second output channel (535), and the other end of the second output channel (534) is communicated with the region (537) to be rechecked; the air outlet direction of the third air blowing mechanism (533) is opposite to one end of the third output channel (536), and the other end of the third output channel (536) is communicated with the unqualified product area.
In another aspect, the present invention provides a sorting method for a product visual sorting apparatus, comprising the following steps:
s1: configuring the product visual sorting equipment, placing a qualified card support sample on the end surface of a rotating part of a rotary table (2) far away from the ground, starting the rotary table (2) to enable the qualified card support to sequentially pass through a two-end-surface visual detection unit (3) and a plurality of side-surface visual detection units (4), and respectively carrying out image processing on the end surface of the qualified card support close to the ground, the end surface far away from the ground, each side surface of the qualified card support and the side surface of the opening of the card support by the two-end-surface visual detection unit (3) and the side-surface visual detection units (4); the processor (52) saves the shape and the corresponding pixel number of each qualified card support surface area corresponding to the image under the focal length of each current first lens (33) or each second lens (44);
s2: storing the shape of each surface area of the card holder, and setting a threshold value of the number of pixels of each surface area of the card holder;
s3: starting the feeding mechanism to enable the feeding mechanism to arrange the card supports to be detected in order and to adopt the same orientation, and intermittently outputting the card supports to the end face, far away from the ground, of the rotating part of the rotary table (2) by the feeding mechanism; the rotating part of the rotary table (2) rotates clockwise, and images of the end surface, close to the ground, of the card holder to be detected, the end surface, far away from the ground, of the card holder to be detected, the side surfaces of the card holder to be detected and the side surface at the opening of the card holder are respectively detected by the two end surface visual detection units (3) and the side surface visual detection units (4); sending the acquired image to a processor (52), and comparing the shape of each surface area of the card support to be detected in the current image with the shape of each surface area of a preset qualified card support by the processor (52); when the image contour shapes of both are similar, step S4 is executed; when the image outline shapes of the two are not similar, the rotating part of the turntable (2) drives the card support to move to a second output channel (535), and the card support is output to a defective product area by a second air blowing mechanism (532);
s4: if the pixel number of each surface area of the card support to be detected is within the pixel number threshold range of each surface area of the qualified card support, the rotating part of the rotary table (2) continues to drive the card support to move to a first output channel (534), and the first air blowing mechanism (531) outputs the qualified card support to the qualified product area; the number of pixels of each surface area of at least two to-be-detected card holders exceeds the shape of each surface area of the qualified card holder and the corresponding threshold range of the number of pixels, the rotating part of the rotary table (2) drives the card holders to move to a third output channel (536), and the third air blowing mechanism (533) outputs the unqualified card holders to an unqualified product area; if the pixel number of a certain surface area of the card support to be detected exceeds the pixel number threshold range of each surface area of the qualified card support, the rotating part of the rotary table (2) continues to drive the card support to move to a second output channel (535), and the second air blowing mechanism (532) outputs the qualified card support to an area to be rechecked (537);
s5: and (4) changing the card holder type, adjusting any end surface visual detection unit (3) or any side surface visual detection unit (4), and repeating the steps S1-S4.
Compared with the prior art, the visual sorting equipment and the sorting method for the products provided by the invention have the following beneficial effects that:
(1) the invention carries out local framing on the end face and each inner side and outer side of the card-support type miniature workpiece through the end face visual detection unit and the side surface visual detection units in sequence by configuring the transparent rotary table rotating part, and after multiple times of sequential photographing and comparison, the display output unit carries out classification output to a qualified product area, a to-be-rechecked area or an unqualified product area according to a comparison result, and according to the workpiece in the to-be-rechecked area;
(2) the pixel number threshold of each surface area of the qualified product card support can be judged or adjusted by comparing the number of the workpieces in the area to be rechecked with the number of the workpieces in the unqualified product area, so that the inspection scale standard is adjusted;
(3) the processor sends the workpieces with different detection results to different output channels according to the detection strategy to realize regional storage;
(4) the equipment replaces manual visual detection through machine vision, and reliability and detection efficiency can be remarkably improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of a card holder of a visual sorting apparatus for products and a sorting method thereof according to the present invention;
FIG. 2 is a perspective view of a product vision sorting apparatus and a sorting method thereof according to the present invention;
FIG. 3 is a perspective view of the apparatus for visually sorting products and the method of sorting products according to the present invention with a portion of the housing removed;
FIG. 4 is a perspective view of the combination of the base, the rotary table, the two end surface visual inspection units and the side surface visual inspection units of the visual sorting apparatus and the sorting method thereof according to the present invention;
FIG. 5 is a perspective view of the base, the rotary table, the two end surface visual inspection units and the side surface visual inspection units in combination and in another attitude for the visual sorting equipment and the sorting method thereof according to the present invention;
FIG. 6 is a perspective view of an end face vision inspection unit of the visual sorting apparatus for products and the sorting method thereof according to the present invention;
FIG. 7 is a perspective view showing the structure of a side surface vision inspection unit of the visual sorting apparatus for products and the sorting method thereof according to the present invention;
FIG. 8 is a left side view of FIG. 7;
fig. 9 is a perspective view showing the structure of a side surface visual inspection unit of another visual sorting apparatus for products and a sorting method thereof according to the present invention;
FIG. 10 is a top view of FIG. 9;
FIG. 11 is a perspective view of the exploded view of FIG. 9;
fig. 12 is a perspective view of the combination state of the loop table and the output executing mechanism of the visual sorting equipment for products and the sorting method thereof.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1-5, in one aspect, the present invention provides a product visual sorting apparatus, which includes a feeding mechanism for conveying card holders, a base 1, a rotary table 2, two end surface visual detection units 3, a plurality of side surface visual detection units 4, and a display output unit 5;
in the scheme, the feeding mechanism can select a vibrating disc, and the discharge end of the feeding mechanism extends to the end face, far away from the ground, of the rotating part of the rotary table (2); the feeding mechanism sends the clamping supports into the rotating part of the rotary table (2) at intervals in the same direction;
the base 1 is fixedly arranged on the ground; one end of the base 1, which is far away from the ground, is provided with a longitudinally through window 100; the base 1 is used for supporting other components;
the rotary table 2 is arranged at one end of the base 1 far away from the ground, and a rotating part for placing a clamping support is horizontally arranged at one end of the rotary table 2 far away from the ground; the rotating part of the rotary table 2 is movably connected with the base 1 and can rotate relative to the base 1, and the rotating part of the rotary table 2 is made of transparent materials; the rotary table 2 is used for rotationally conveying the to-be-detected card holder sent by the feeding mechanism and sequentially passes through the two end surface visual detection units 3 and the side surface visual detection units 4;
the two end face visual detection units 3 are oppositely arranged on the surface close to the ground and the surface far away from the ground at the end part of the base 1 provided with the window 100; the detection parts of the two end surface visual detection units 3 are over against the surface, far away from the ground, of the rotating part of the rotary table 2 in the axial direction of the window 100 and the surface, close to the ground, of the rotating part of the rotary table 2, the two end surface visual detection units 3 respectively acquire images of the surface, close to the ground, of the clamping holder placed on the rotating part of the rotary table 2 and the surface, far away from the ground, of the clamping holder, and send the acquired images to the display output unit 5; the detection portions of the both-end-surface visual detection unit 3 and the window 100 are preferably disposed coaxially; the two end surface visual detection units 3 respectively acquire images of two end surfaces of the card support to be detected;
the side surface visual detection units 4 are arranged on the end surface of the base 1 far away from the ground at intervals, and the side surface visual detection units 4 acquire images of the outer side surface of the clamping holder on the rotating part of the detection rotary table 2 and the side surface of the opening and send the acquired images to the display output unit 5; the card holder shown in fig. 1 has at least 10 sides, in addition to its two end faces, outer side faces a1, a2, A3 and a4 and inner side faces B1, B2, B3 and B4 at the openings.
The display output unit 5 is used for receiving the images of the surface close to the ground and the surface far away from the ground of the card holder, the images of the outer side surface of the card holder and the side surface of the opening, which are sent by the two end surface visual detection units 3 and the side surface visual detection units 4, comparing the images with the preset images of the card holder, and moving the card holder from the rotary table 2 to a qualified product area or a unqualified product area according to the image comparison result to realize the partition placement after the automatic visual inspection. This scheme can replace artifical naked eye to detect, and work efficiency greatly improves, and the probability of missing to examine significantly reduces.
As can be seen from fig. 4 to 6, each of the two-end-surface visual detection units 3 includes a first bracket 31, a first illumination unit 32, and a first lens 33; one end of the first bracket 31 is fixedly connected with the surface of the end part of the base 1, provided with the window 100, close to the ground or the surface far away from the ground, and the other end of the first bracket 31 extends outwards and vertically towards the direction far away from the end part of the base 1; the first lens 33 is arranged at one end of the first support 31 far away from the base 1, and a view finding part of the first lens 33 is over against the surface of the clamping support on the rotary table 2 close to the ground or the surface of the clamping support far away from the ground; the first illumination unit 32 is provided on the first holder 31 and is positioned on the optical path of the viewing unit of the first lens 33. The first lens 33 respectively obtains images of the end face of the card support to be detected far away from the ground and the end face of the card support to be detected close to the ground, and in order to fully obtain the outline of the card support, the first illumination part is used for supplementing light for the first lens 33.
As can be seen from fig. 7 to 11, each side surface visual detection unit 4 includes a second bracket 41, a second illumination portion 42, a light reflection portion 43, and a second lens 44; the second bracket 41 is fixedly arranged on the end surface of the base 1 far away from the ground and extends outwards towards the direction far away from the ground; the end part of the second bracket 41 far away from the ground is provided with a second lens 44, and the view finding part of each second lens 44 is respectively aligned with one outer side surface of a clamping support placed on the rotary table 2 and one side surface of an opening part adjacent to the outer side surface; the second illumination part 42 is arranged on the optical path of the view part of the second lens 44 and is used for illuminating the card holder; the light reflecting part 43 is disposed between the second illumination part 42 and the end face of the base 1 far from the ground, and the light reflecting part 43 diffusely reflects the light emitted from the second illumination part 42 to illuminate an outer side face of the card holder viewed by the viewing part of the second lens 44 and a surface of an adjacent side of the opening. The scheme adopts four groups of side surface visual detection units 4, wherein each group of side surface visual detection units 4 respectively obtains two different surfaces of the card holder to be detected, namely the four groups of side surface visual detection units 4 respectively obtain surfaces A1 and B1, surfaces A2 and B2, surfaces A3 and B3 and surfaces A4 and B4. Because the side face and the second lens 44 have a certain included angle, the light-reflecting part 43 is adopted to supplement light to the side face, so that a clearer image can be obtained conveniently. As a preferred mode, as shown in the drawing, the first illumination portion 32 in this embodiment is a circular illumination portion; the second illumination portion 42 is a semi-annular light source; the normal direction of the viewing section of the first lens 33 coincides with the central axis of the first illumination section 32; the normal direction of the view finder of the second lens 44 coincides with the central axis of the second illumination unit 42. The lighting part is internally provided with an LED lamp.
Since the orientations and positions of the side surfaces of the respective sets of the card holders to be inspected are different from each other, the illumination portion adjusting mechanism 45 and the light reflecting portion adjusting mechanism 46 are provided in the side surface visual inspection unit 4 in order to face the two different card holder surfaces better. One end of the illumination portion adjusting mechanism 45 is fixedly connected with the side surface of the second bracket 41 in the extending direction, the other end of the illumination portion adjusting mechanism 45 horizontally extends towards the direction far away from the second bracket 41, the second illumination portion 42 is movably connected with the illumination portion adjusting mechanism 45, and the illumination portion adjusting mechanism 45 adjusts the included angle between the light emitting direction of the second illumination portion 42 and the base 1; one end of the reflection portion adjusting mechanism 46 is fixedly connected with the side surface of the extending direction of the second support 41, the other end of the reflection portion adjusting mechanism 46 extends horizontally towards the direction far away from the second support 41, the reflection portion 43 is movably connected with the reflection portion adjusting mechanism 46, and the reflection portion adjusting mechanism 46 adjusts the included angle between the reflection portion 43 and the base 1. Since the position of the card holder to be inspected is substantially fixed with respect to the position of the second lens 44, the second illumination section 42 and the light reflection section 43 have corresponding adjustment components, i.e., an illumination section adjustment mechanism 45 and a light reflection section adjustment mechanism 46, in order to obtain a corresponding set of surfaces for better illumination. As can be seen, the structures of the illumination portion adjustment mechanisms 45 or the light reflection portion adjustment mechanisms 46 aligned with different sides are different, the illumination portion adjustment mechanism 45 or the light reflection portion adjustment mechanism 46 shown in fig. 7 is L-shaped, and the second illumination portion 42 and the light reflection portion 43 are arranged at the end of the L-shaped structure and extend away from the L-shaped illumination portion adjustment mechanism 45 or the light reflection portion adjustment mechanism 46, so that the images of the surfaces a2/B2 or a4/B4 can be better obtained. Fig. 9 shows another U-shaped structure of the illumination portion adjustment mechanism 45 or the reflector adjustment mechanism 46, and the second illumination portion 42 and the reflector 43 are disposed at the opening of the U-shaped structure, so as to better obtain the images of the surfaces a1/B1 or A3/B3. In this embodiment, there are four sets of side surface visual inspection units 4, which can be further increased or decreased according to actual inspection needs.
As can be seen from fig. 2 in conjunction with fig. 12, the display output unit 5 includes a display 51, a processor 52 and an output actuator 53; the processor 52 is electrically connected with the feeding mechanism, the rotary table 2, the two end surface visual detection units 3, the side surface visual detection units 4, the display 51 and the output execution mechanism 53; the output actuator 53 includes a first air-blowing mechanism 531, a second air-blowing mechanism 532, a third air-blowing mechanism 533, a first output channel 534, a second output channel 535, and a third output channel 536; the first output channel 534, the second output channel 535, and the third output channel 536 are provided at intervals at the edge of the rotating portion of the turn table 2; the first air blowing mechanism 531, the second air blowing mechanism 532 and the third air blowing mechanism 533 are arranged at intervals in the direction of one side of the rotating part of the rotary table 2 far away from the ground; the air outlet direction of the first air blowing mechanism 531 is opposite to one end of the first output channel 534, and the other end of the first output channel 534 is communicated with the qualified product area; the air outlet direction of the second air blowing mechanism 532 is over against one end of the second output channel 535, and the other end of the second output channel 534 is communicated with the region 537 to be rechecked; the air outlet direction of the third blowing mechanism 533 faces to one end of the third output channel 536, and the other end of the third output channel 536 is communicated with the defective product area. The processor 52 drives the rotary table 2 to rotate at a constant speed, the rotating part of the rotary table 2 drives the card holder to rotate, the card holder sequentially passes through the two end surface visual detection units 3 and the side surface visual detection units 4, images of the surfaces of the card holder are obtained by the first lenses 33 and the second lenses 44 and are sent to the processor 52, and the processor 52 compares the obtained images with the area of a preset image area and sends the images to the display 51 for display and output; the qualified card support or the unqualified card support with the image area comparison is output to a qualified product area, a to-be-rechecked area 537 or an unqualified product area by the output executing mechanism 53 respectively.
The invention discloses a specific sorting method of product visual sorting equipment, which comprises the following steps:
s1: configuring product visual sorting equipment, placing a qualified card holder sample on the end surface of a rotating part of a rotary table 2 far away from the ground, starting the rotary table 2 to enable the qualified card holder to sequentially pass through a two-end-surface visual detection unit 3 and a plurality of side-surface visual detection units 4, and respectively carrying out image processing on the end surface of the qualified card holder close to the ground, the end surface far away from the ground, each side surface of the qualified card holder and the side surface of an opening of the card holder by the two-end-surface visual detection unit 3 and the side-surface visual detection units 4; the processor 52 saves the shape and the corresponding pixel number of each qualified card support surface area corresponding to the image under the focal length of each first lens 33 or each second lens 44;
s2: storing the shape of each surface area of the card support, and setting a threshold value of the number of pixels of each surface area of the qualified card support;
s3: starting the feeding mechanism to enable the feeding mechanism to arrange the card holders to be detected in order and to adopt the same orientation, and intermittently outputting the card holders to the end face, far away from the ground, of the rotating part of the rotary table 2 by the feeding mechanism; the rotating part of the rotary table 2 rotates clockwise, and the two end surface visual detection units 3 and the side surface visual detection units 4 respectively detect the end surface of the card support to be detected, which is close to the ground, the end surface far away from the ground, the side surfaces of the card support to be detected and the side surface of the opening of the card support; sending the acquired image to the processor 52, and comparing the shape of each surface area of the card support to be detected in the current image with the shape of each surface area of the preset qualified card support by the processor 52; when the image contour shapes of both are similar, step S4 is executed; when the two images are not similar in outline shape, the rotating part of the turntable 2 drives the card holder to move to the second output channel 535, and the second blowing mechanism 532 outputs the card holder to the unqualified product area;
s4: if the pixel number of each surface area of the card support to be detected is within the pixel number threshold range of each surface area of the qualified card support, the rotating part of the rotary table 2 continues to drive the card support to move to the first output channel 534, and the first air blowing mechanism 531 outputs the qualified card support to the qualified product area; the number of pixels of each surface area of at least two card holders to be detected exceeds the shape of each surface area of the qualified card holder and the corresponding threshold range of the number of pixels, the rotating part of the rotary table 2 drives the card holder to move to the third output channel 536, and the third air blowing mechanism 533 outputs the unqualified card holder to the unqualified product area; when the pixel number of a certain surface area of the card support to be detected exceeds the pixel number threshold range of each surface area of the qualified card support, the rotating part of the rotary table 2 continues to drive the card support to move to the second output channel 535, and the qualified card support is output to the area 537 to be rechecked by the second air blowing mechanism 532;
s5: the above steps S1-S4 are repeated after the card holder type is changed and the visual inspection unit 3 on either end surface or the visual inspection unit 4 on either side surface is adjusted.
The threshold value of the number of pixels in each surface area of the qualified tray can be set to be within a range from +/-2% to +/-5% of the number of the surface pixels.
In order to prevent false detection, in the above scheme, it is set that the number of pixels of each surface area of at least two to-be-detected card holders exceeds the shape of each surface area of a qualified card holder and the corresponding threshold range of the number of pixels, and then the card holder is considered as a defective product, and the number of pixels of one surface area of the to-be-detected card holder exceeds the threshold range of the number of pixels of each surface area of the qualified card holder, so that manual or equipment recheck is necessary to prevent equipment errors. If the number of the card holders in the region 537 to be rechecked exceeds the number of the card holders in the unqualified product region by more than 10-15 times, the current pixel number threshold range is too small, and the upper limit of the threshold can be properly increased by 0.5-1 percent.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. The utility model provides a product vision letter sorting equipment, includes the feeding mechanism who is used for carrying the card to hold in the palm, its characterized in that: the device also comprises a base (1), a rotary table (2), two end surface visual detection units (3), a plurality of side surface visual detection units (4) and a display output unit (5);
the base (1) is fixedly arranged on the ground; one end of the base (1) far away from the ground is provided with a longitudinally through window (100);
the rotary table (2) is arranged at one end of the base (1) far away from the ground, and a rotating part for placing the clamping support is horizontally arranged at one end of the rotary table (2) far away from the ground; the rotating part of the rotary table (2) is movably connected with the base (1) and can rotate relative to the base (1), and the rotating part of the rotary table (2) is made of transparent materials;
the two end face visual detection units (3) are oppositely arranged on the surface close to the ground and the surface far away from the ground at the end part provided with the window (100) of the base (1); the detection parts of the two end surface visual detection units (3) are over against the surface, far away from the ground, of the rotating part of the rotary table (2) at the window (100) and the surface, close to the ground, of the rotating part, the two end surface visual detection units (3) respectively acquire images of the surface, close to the ground, of the clamping support placed on the rotating part of the rotary table (2) and the surface, far away from the ground, of the clamping support, and the acquired images are sent to the display output unit (5);
the side surface visual detection units (4) are arranged on the end surface, far away from the ground, of the base (1) at intervals, and the side surface visual detection units (4) acquire images of the outer side surface of the clamping support on the rotating part of the detection rotary table (2) and the side surface of the opening and send the acquired images to the display output unit (5);
and the display output unit (5) is used for receiving the images of the surface, close to the ground, of the card holder and the surface, far away from the ground, of the card holder, the images of the outer side surface of the card holder and the side surface of the opening, sent by the two end surface visual detection units (3) and the side surface visual detection units (4), comparing the images with the preset images of the card holder, and moving the card holder from the rotary table (2) to a qualified product area or a unqualified product area according to the image comparison result.
2. A product visual sorting apparatus according to claim 1, wherein: the two end face visual detection units (3) respectively comprise a first bracket (31), a first illumination part (32) and a first lens (33); one end of the first support (31) is fixedly connected with the surface, close to the ground or far from the ground, of the end part, provided with the window (100), of the base (1), and the other end of the first support (31) extends outwards in a vertical direction in a direction far from the end part of the base (1); the first lens (33) is arranged at one end of the first support (31) far away from the base (1), and a view finding part of the first lens (33) is over against the surface, close to the ground, of the clamping support on the rotary table (2) or the surface, far away from the ground, of the clamping support; the first illumination unit (32) is provided on the first support (31) and is positioned on the optical path of the view finding section of the first lens (33).
3. A product visual sorting apparatus according to claim 2, wherein: each side surface visual detection unit (4) comprises a second bracket (41), a second illumination part (42), a light reflecting part (43) and a second lens (44); the second support (41) is fixedly arranged on the end face, far away from the ground, of the base (1) and extends outwards towards the direction far away from the ground; the end part of the second bracket (41) far away from the ground is provided with a second lens (44), and the view finding part of each second lens (44) is respectively aligned with one outer side surface of a clamping support placed on the rotary table (2) and one side surface of the opening part adjacent to the outer side surface; a second illumination part (42) is arranged on the light path of the view part of the second lens (44) and is used for illuminating the card holder; the light reflecting part (43) is arranged between the second illumination part (42) and the end face of the base (1) far away from the ground, and the light emitted by the second illumination part (42) is subjected to diffuse reflection by the light reflecting part (43) to illuminate one outer side face of the card holder which is framed by the framing part of the second lens (44) and the surface of the adjacent side of the opening.
4. A product visual sorting apparatus according to claim 3, wherein: each side surface visual detection unit (4) further comprises an illumination part adjusting mechanism (45) and a light reflecting part adjusting mechanism (46); one end of the illumination part adjusting mechanism (45) is fixedly connected with the side surface of the extending direction of the second support (41), the other end of the illumination part adjusting mechanism (45) horizontally extends towards the direction far away from the second support (41), the second illumination part (42) is movably connected with the illumination part adjusting mechanism (45), and the illumination part adjusting mechanism (45) adjusts the included angle between the light emitting direction of the second illumination part (42) and the base (1); one end of the light reflecting portion adjusting mechanism (46) is fixedly connected with the side surface of the extending direction of the second support (41), the other end of the light reflecting portion adjusting mechanism (46) horizontally extends towards the direction far away from the second support (41), the light reflecting portion (43) is movably connected with the light reflecting portion adjusting mechanism (46), and the included angle between the light reflecting portion (43) and the base (1) is adjusted by the light reflecting portion adjusting mechanism (46).
5. The visual sorting apparatus of products according to claim 4, wherein: the first illumination part (32) is an annular illumination part; the second illumination part (42) is a semi-annular light source; the normal direction of the view finding part of the first lens (33) is superposed with the central axis of the first illumination part (32); the normal direction of the view finding part of the second lens (44) coincides with the central axis of the second illumination part (42).
6. A product visual sorting apparatus according to claim 3, wherein: the feeding mechanism is a vibrating disc, and the discharging end of the feeding mechanism extends to the end face, far away from the ground, of the rotating part of the rotary table (2); the feeding mechanism feeds the card holders into the rotating part of the rotary table (2) at intervals in the same direction.
7. A product visual sorting apparatus according to claim 3, wherein: the display output unit (5) comprises a display (51), a processor (52) and an output execution mechanism (53); the processor (52) is electrically connected with the feeding mechanism, the rotary table (2), the two end surface visual detection units (3), the side surface visual detection units (4), the display (51) and the output execution mechanism (53); the processor (52) drives the rotary table (2) to rotate, the rotating part of the rotary table (2) drives the card support to rotate, the card support sequentially passes through the two end face visual detection units (3) and the side face visual detection units (4), images of the surfaces of the card support are obtained through the first lenses (33) and the second lenses (44), the images are sent to the processor (52), the processor (52) compares the obtained images with the area of a preset image area and sends the images to the display (51) for displaying and outputting; the area of the image area is compared with the qualified card support or the unqualified card support, and the qualified card support or the unqualified card support is output to a qualified product area or an unqualified product area respectively by an output execution mechanism (53).
8. The visual sorting apparatus of products according to claim 7, wherein: the output actuator (53) comprises a first air blowing mechanism (531), a second air blowing mechanism (532), a third air blowing mechanism (533), a first output channel (534), a second output channel (535) and a third output channel (536); the first output channel (534), the second output channel (535) and the third output channel (536) are arranged at intervals at the edge of the rotating part of the rotary table (2); the first air blowing mechanism (531), the second air blowing mechanism (532) and the third air blowing mechanism (533) are arranged at intervals in the direction of one side of the rotating part of the rotary table (2) far away from the ground; the air outlet direction of the first air blowing mechanism (531) is over against one end of the first output channel (534), and the other end of the first output channel (534) is communicated with the qualified product area; the air outlet direction of the second air blowing mechanism (532) is over against one end of the second output channel (535), and the other end of the second output channel (534) is communicated with the region (537) to be rechecked; the air outlet direction of the third air blowing mechanism (533) is opposite to one end of the third output channel (536), and the other end of the third output channel (536) is communicated with the unqualified product area.
9. A visual sorting method for products is characterized by comprising the following steps: the method comprises the following steps:
s1: configuring the product visual sorting equipment according to any one of claims 1-8, placing a qualified card holder sample on the end surface of the rotating part of the rotary table (2) far from the ground, starting the rotary table (2) to enable the qualified card holder to sequentially pass through the two-end-surface visual detection unit (3) and the plurality of side-surface visual detection units (4), and respectively imaging the end surface of the qualified card holder close to the ground, the end surface far from the ground, each side surface of the qualified card holder and the side surface at the opening of the card holder by the two-end-surface visual detection unit (3) and the plurality of side-surface visual detection units (4); the processor (52) saves the shape and the corresponding pixel number of each qualified card support surface area corresponding to the image under the focal length of each current first lens (33) or each second lens (44);
s2: storing the shape of each surface area of the card holder, and setting a threshold value of the number of pixels of each surface area of the card holder;
s3: starting the feeding mechanism to enable the feeding mechanism to arrange the card supports to be detected in order and to adopt the same orientation, and intermittently outputting the card supports to the end face, far away from the ground, of the rotating part of the rotary table (2) by the feeding mechanism; the rotating part of the rotary table (2) rotates clockwise, and images of the end surface, close to the ground, of the card holder to be detected, the end surface, far away from the ground, of the card holder to be detected, the side surfaces of the card holder to be detected and the side surface at the opening of the card holder are respectively detected by the two end surface visual detection units (3) and the side surface visual detection units (4); sending the acquired image to a processor (52), and comparing the shape of each surface area of the card support to be detected in the current image with the shape of each surface area of a preset qualified card support by the processor (52); when the image contour shapes of both are similar, step S4 is executed; when the image outline shapes of the two are not similar, the rotating part of the turntable (2) drives the card support to move to a second output channel (535), and the card support is output to a defective product area by a second air blowing mechanism (532);
s4: if the pixel number of each surface area of the card support to be detected is within the pixel number threshold range of each surface area of the qualified card support, the rotating part of the rotary table (2) continues to drive the card support to move to a first output channel (534), and the first air blowing mechanism (531) outputs the qualified card support to the qualified product area; the number of pixels of each surface area of at least two to-be-detected card holders exceeds the shape of each surface area of the qualified card holder and the corresponding threshold range of the number of pixels, the rotating part of the rotary table (2) drives the card holders to move to a third output channel (536), and the third air blowing mechanism (533) outputs the unqualified card holders to an unqualified product area; if the pixel number of a certain surface area of the card support to be detected exceeds the pixel number threshold range of each surface area of the qualified card support, the rotating part of the rotary table (2) continues to drive the card support to move to a second output channel (535), and the second air blowing mechanism (532) outputs the qualified card support to an area to be rechecked (537);
s5: and (4) changing the card holder type, adjusting any end surface visual detection unit (3) or any side surface visual detection unit (4), and repeating the steps S1-S4.
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