CN114955523A - Mechanical arm feeding system based on visual positioning in penicillin bottle detection industry - Google Patents
Mechanical arm feeding system based on visual positioning in penicillin bottle detection industry Download PDFInfo
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- CN114955523A CN114955523A CN202210540771.4A CN202210540771A CN114955523A CN 114955523 A CN114955523 A CN 114955523A CN 202210540771 A CN202210540771 A CN 202210540771A CN 114955523 A CN114955523 A CN 114955523A
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- 229930182555 Penicillin Natural products 0.000 title claims abstract description 146
- JGSARLDLIJGVTE-MBNYWOFBSA-N Penicillin G Chemical compound N([C@H]1[C@H]2SC([C@@H](N2C1=O)C(O)=O)(C)C)C(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-MBNYWOFBSA-N 0.000 title claims abstract description 146
- 229940049954 penicillin Drugs 0.000 title claims abstract description 146
- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 230000000007 visual effect Effects 0.000 title claims abstract description 19
- 238000007689 inspection Methods 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 15
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 230000002745 absorbent Effects 0.000 claims description 4
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- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000000137 annealing Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Manipulator (AREA)
Abstract
The application discloses a manipulator feeding system based on visual positioning in penicillin bottle detection industry, wherein an image acquisition device in the feeding system is arranged above a mesh belt and used for acquiring images of penicillin bottles on the mesh belt; the recognition and positioning device is configured to recognize a bottle body bright band in the image, recognize a bottle mouth bright band in predicted areas on two sides in the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt according to the bottle body bright band and the bottle mouth bright band when judging that one of the two predicted areas has the bottle mouth bright band; the fixed end of the manipulator is arranged at the tail end of the mesh belt through the base, and the free end of the manipulator is provided with the sucker for driving the sucker to move to the coordinate position so as to adsorb the penicillin bottle on the coordinate position and move to the feeding area of the inspection machine to release the penicillin bottle. Through the technical scheme in this application, realized utilizing machine vision identification to guide manipulator to snatch transparent xiLin bottle and detect quick-witted material loading, improved inspection machine automatic feeding's commonality and efficiency.
Description
Technical Field
The application relates to the technical field of detection devices, in particular to a manipulator feeding system based on visual positioning in penicillin bottle detection industry.
Background
Penicillin bottles produced by a bottle making machine need to pass through an annealing furnace under the transmission of a mesh belt, and then the penicillin bottles are conveyed to a checking machine by a feeding system for online quality detection.
In order to realize the automatic feeding of the penicillin bottles on the inspection machine, two manipulators are usually arranged, wherein one manipulator is arranged at a discharge port of the bottle making machine, and the other manipulator is arranged at a feed port of the inspection machine or a discharge port of the annealing furnace.
The penicillin bottles produced by the bottle making machine are orderly erected on a specially-made mesh belt in a whole row by a first mechanical arm, when the penicillin bottles reach the tail end of the mesh belt through an annealing furnace, a corresponding photoelectric sensor is triggered, the photoelectric sensor sends signals to a PLC, a second mechanical arm is controlled by the PLC to reach an appointed position, the penicillin bottles which are annealed on the mesh belt are grabbed, and feeding of the inspection machine is completed, wherein the second mechanical arm can be a rectangular coordinate system type mechanical arm.
However, the following problems generally exist in the prior art:
1. in order to realize the grabbing of the penicillin bottles by the second manipulator, on one hand, the first manipulator is required to be arranged to carry out material arranging operation on the penicillin bottles produced by the bottle making machine, so that the automatic feeding cost of the inspection machine is increased; on the other hand still needs to carry out the customization to the guipure for xiLin bottle after the annealing can erect upright on the guipure, makes things convenient for snatching of second manipulator, and, in order to avoid xiLin bottle on the guipure to empty, the velocity of motion of guipure is slower usually, influences inspection efficiency.
2. Although the guipure has been customized, to the diameter less or higher xiLin bottle of body, because the reason of body structure, lead to it to take place easily to topple over in transmission process, lead to the second manipulator to snatch the error rate higher for this type of inspection machine automatic feeding device's commonality is relatively poor.
In addition, the inventor of the application tries to directly use the visual recognition device to guide the mechanical arm to grab the penicillin bottle. However, in the test process, the penicillin bottle is a transparent glass bottle, so that the characteristics of the edges, the textures and the like of the penicillin bottle cannot be accurately identified in the obtained image, and further the coordinate of the penicillin bottle in the image cannot be obtained to guide the manipulator to perform grabbing operation.
Disclosure of Invention
The purpose of this application lies in: the problem of utilize machine vision identification guide manipulator to snatch transparent xiLin bottle and detect at least one technical problem that quick-witted material loading in-process exists is solved, improve inspection machine automatic feeding's commonality and efficiency.
The technical scheme of the application is as follows: the utility model provides a manipulator feeding system based on visual positioning in xiLin bottle detection trade, this feeding system sets up in the end of guipure, and feeding system is used for carrying out the material loading to the inspection machine, and feeding system includes: the device comprises an image acquisition device, an identification positioning device and a manipulator; the image acquisition device is arranged above the mesh belt and is used for acquiring images of penicillin bottles on the mesh belt; the recognition and positioning device is configured to recognize a bottle body bright band in the image, recognize a bottle mouth bright band in predicted areas on two sides in the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt according to the bottle body bright band and the bottle mouth bright band when judging that one of the two predicted areas has the bottle mouth bright band; the stiff end of manipulator passes through the base and sets up in the end of guipure, and the sucking disc is installed to the free end of manipulator, and the manipulator is used for driving the sucking disc and removes to the coordinate position to adsorb xiLin bottle on the coordinate position, the manipulator still is used for removing to the material loading region of inspection machine, and releases absorbent xiLin bottle.
In any of the above technical solutions, further, the identification and location device is further configured to: and when judging that the bottle mouth bright bands exist in the predicted areas on the two sides of the bottle body bright band or judging that the bottle mouth bright bands do not exist in the predicted areas on the two sides of the bottle body bright band, identifying the next bottle body bright band in the image.
In any one of the above technical solutions, further, the number of the suction cups is at least two, and the robot is configured to: judging whether the adjacent area of the second to-be-grabbed penicillin bottle has an intersection with the adjacent area of the first to-be-grabbed penicillin bottle, if not, sequentially grabbing the first to-be-grabbed penicillin bottle and the second to-be-grabbed penicillin bottle, if so, judging whether the adjacent area has an intersection as the second to-be-grabbed penicillin bottle, and judging whether the adjacent area has an intersection again until the first to-be-grabbed penicillin bottle and the second to-be-grabbed penicillin bottle are determined, wherein the adjacent area is determined by a bottle body bright band and a bottle mouth bright band.
In any of the above technical solutions, further, the coordinate position at least includes a body coordinate and a body angle, where the body coordinate is a central position coordinate of the body bright band, and the body angle is determined by the central position coordinate of the body bright band and the central position coordinate of the bottle mouth bright band through a trigonometric function.
In any one of the above technical solutions, further, the feeding system further includes: the lamp comprises an adjusting bracket, a lamp tube, a guide rail and a light source connecting device; the adjusting bracket is arranged above the mesh belt and formed by splicing sectional materials, and is used for mounting the image acquisition device and the guide rail; the lamp tube is arranged on the guide rail through the light source connecting device, wherein the light source connecting device slides on the guide rail to adjust the position of the lamp tube above the net belt.
In any of the above technical solutions, further, the light source connection device at least includes: the lamp tube connecting plate is connected with the knob; the slide block is arranged in the guide rail; the rotating end of the lamp tube connecting plate is connected to the sliding block through the knob, and the connecting end of the lamp tube connecting plate is used for connecting the lamp tube.
In any of the above technical solutions, further, the image capturing device at least includes a camera, a lens and an image processing module.
In any one of the above technical scheme, further, the feeding system still includes terminal anchor clamps, and terminal anchor clamps are installed in the free end of manipulator, and terminal anchor clamps are used for installing the sucking disc, and terminal anchor clamps include: the device comprises a clamp, a cylinder mounting plate, a double-shaft cylinder and a sucker mounting plate; the clamp is arranged on the tail end clamp and used for connecting the mechanical arm; the cylinder mounting plate is arranged below the clamping hoop and is used for mounting a double-shaft cylinder; the sucking disc mounting panel sets up in the cylinder axle of biax cylinder, and the sucking disc mounting panel is used for installing the sucking disc.
In any one of the above technical solutions, further, the end clamp further includes: a speed regulating valve; the speed regulating valve is arranged on a cylinder barrel of the double-shaft cylinder and used for regulating the flow of compressed air filled in the cylinder barrel so as to control the movement speed of a cylinder shaft.
In any one of the above technical solutions, further, the end clamp further includes: cushion blocks; the cushion block is arranged between the sucker mounting plate and the cylinder shaft of the double-shaft cylinder and used for adjusting the position of the sucker mounting plate.
The beneficial effect of this application is:
compared with the system that general vision guide manipulator snatched in this application, consider that xiLin bottle is transparent object, can't acquire effectual structure profile and then influence the location, consequently, discern xiLin bottle's reflection light area (body light zone, bottleneck light zone) through setting up discernment positioner in to the image to according to body light zone and bottleneck light zone, confirm xiLin bottle coordinate position on the guipure, including body coordinate and body angle, and then realized snatching xiLin bottle's guide to the manipulator. Compared with the prior art, the bottle arranging process after conventional bottle making is omitted in the feeding system, penicillin bottles do not need to be kept upright in the conveying process on the mesh belt, a specially-made mesh belt does not need to be used, the risk of bottle falling is avoided, the stability is higher, particularly, effective feeding and carrying of the detection machine can be still carried out on penicillin bottles with smaller diameters, the universality is better, and the efficiency is higher.
Drawings
The advantages of the above and/or additional aspects of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic block diagram of a robotic vision positioning based feeding system in the vial inspection industry according to an embodiment of the present application;
FIG. 2 is a schematic view of a body angle according to one embodiment of the present application;
FIG. 3 is a schematic view of a light source adjustment bracket according to one embodiment of the present application;
FIG. 4 is a schematic view of a light source distribution with an aluminum profile frame omitted according to one embodiment of the present application;
FIG. 5 is a schematic view of a light source attachment apparatus according to one embodiment of the present application;
FIG. 6 is a schematic diagram of a robot end clamp configuration according to one embodiment of the present application;
figure 7 is a schematic view of a robot end clamp according to an embodiment of the present application;
fig. 8 is a bright band image of a bottle body taken by a camera taking a picture of a vial on a mesh belt according to one embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those specifically described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
As shown in fig. 1, this embodiment provides a mechanical arm feeding system based on visual positioning in xiLin bottle inspection industry, this feeding system sets up in the terminal of guipure 5, and feeding system is used for carrying out the material loading to the inspection machine, and feeding system includes: the device comprises an image acquisition device 1, an identification positioning device, a manipulator 2 and a tail end clamp 3; the image acquisition device 1 is arranged above the mesh belt 5, and the image acquisition device 1 is used for acquiring images of penicillin bottles on the mesh belt 5; the recognition and positioning device is configured to recognize a bottle body bright band in the image, recognize a bottle mouth bright band in predicted areas on two sides in the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt 5 according to the bottle body bright band and the bottle mouth bright band when judging that one of the two predicted areas has the bottle mouth bright band; the stiff end of manipulator 2 passes through base 6 and sets up in the end of guipure 5, and sucking disc 507 is installed to the free end of manipulator 2, and manipulator 2 is used for driving sucking disc 507 and removes to the coordinate position to adsorb xiLin bottle on the coordinate position, manipulator 2 still is used for removing to the material loading region of inspection machine, and releases absorbent xiLin bottle.
Specifically, the feeding system mainly comprises an image acquisition device 1, an identification and positioning device and a manipulator 2. This image acquisition device 1 is mainly by the industry camera, the camera lens, image processing module constitutes, can also set up supporting light source and adjust support 20, keep apart guardrail 4, manipulator base 6 etc, wherein, industry camera can select big permanent planet camera, the camera lens is the Computar tight shot, the light source is 8 integrative high brightness LED fluorescent tubes 10 of T8, it makes 8 LED fluorescent tubes 10 become two-layerly on the space to adjust support 20, criss-cross distribution, and can realize around the regulation on left and right sides and the angle, can also set up the support guard shield simultaneously, this guard shield adopts dark brown transparent organic glass panel, provide sufficient effectual lighting condition for the image acquisition of camera.
After acquiring the penicillin bottle image on the mesh belt 5, the image acquisition device 1 cannot accurately identify the edge, texture and other characteristics of the penicillin bottle in the image, so that the transparent penicillin bottle cannot be positioned. Through the research on the characteristics of the complete penicillin bottles in the images, the common characteristic of each complete transparent penicillin bottle is that the bottle body and the bottle mouth both contain a complete reflection light band.
Therefore, in order to identify a complete transparent vial, the embodiment introduces identification of the reflection light bands at the vial body and the vial mouth, i.e., the premise of identifying a complete vial is that the vial body and the vial mouth need to have a complete reflection light band respectively. Simultaneously, in order to guarantee that every xiLin bottle can both demonstrate relatively complete light band in the camera, can synthesize according to the condition in xiLin bottle reflection light band that the direction is different, adjust 8 with the LED fluorescent tube 10 the locating position on adjusting support 20, concrete adjustment process is no longer repeated.
The identification and positioning device in the embodiment is configured to identify a bottle bright band in an image according to a preset light band length, identify a bottle mouth bright band in predicted areas on two sides of the bottle bright band in the length direction, and determine a coordinate position of the penicillin bottle on the mesh belt 5 according to the bottle bright band and the bottle mouth bright band when it is determined that one of the two predicted areas has the bottle mouth bright band, wherein the coordinate position at least comprises a bottle body coordinate and a bottle body angle, the bottle body coordinate is a center position coordinate of the bottle body bright band, and the bottle body angle is determined by a trigonometric function according to the center position coordinate of the bottle body bright band and the center position coordinate of the bottle mouth bright band.
Specifically, before the recognition, a detection area is first drawn by the grasping area of the manipulator 2 and the discharge position of the vial, and the detection area is used as a target recognition area. Then, a threshold segmentation algorithm is adopted to segment the reflection bright band of the bottle body and the bottle mouth so as to achieve the purpose of positioning the transparent penicillin bottle, wherein the corresponding calculation formula is as follows:
in the formula, Gray (x, y) represents a Gray value at coordinates (x, y) in an image, Threshold represents a Threshold, and Gray (x, y) represents a Gray value after Threshold division. That is, in the image after the threshold division, the region in which the Gray value Gray (x, y) is 1 is the identified reflection band.
Then, the bottle body bright band in the reflection light band can be screened out according to the preset light band length, a certain distance is respectively extended to two sides along the length direction (the bottle body direction) of the bottle body bright band, an expected area is determined, a threshold segmentation algorithm is also adopted to detect whether a reflection bright band of a bottle opening exists in the two extended areas, namely the bottle opening bright band, wherein the distance between the expected area and the bottle body bright band can be manually set according to the length specification parameters of the transparent penicillin bottle.
It should be noted that, based on the preset light band length representing the bright band length of the bottle body, the defective penicillin bottles (such as half-cut bottles, short bottles and long bottles) on the net belt 5 can be screened, and the reflected light band with the length not meeting the preset light band length is not identified, so that preliminary penicillin bottle quality detection is realized. Wherein the preset optical band length comprises a low threshold and a high threshold to indicate a length range.
As shown in fig. 2, if the bright band of the bottle mouth is found only in one predicted area, the body coordinate and the body angle of the vial can be calculated according to the relative positions of the bright band of the bottle mouth and the bright band of the body, and the body coordinate and the body angle are sent to the manipulator 2 as coordinate position information, wherein the calculation formula of the body angle is as follows:
in the formula, theta is a bottle body angle, (x1, y1) is a bottle body coordinate, namely a central position coordinate of a bottle body bright band, and (x2, y2) is a central position coordinate of a bottle opening bright band.
Further, the identification positioning device is further configured to: and when judging that the bottle mouth bright bands exist in the predicted areas on the two sides of the bottle body bright band, or when judging that the bottle mouth bright bands do not exist in the predicted areas on the two sides of the bottle body bright band, identifying the next bottle body bright band in the image.
Specifically, if bright areas of the bottle openings are found in the two predicted areas, the bottle opening of one penicillin bottle is considered to be close to the bottom of the other penicillin bottle, at the moment, in order to avoid interference of the adjacent penicillin bottles, the penicillin bottle is temporarily selected not to be identified and not to be grabbed, the bright area of the next bottle body in the image is identified, and the penicillin bottle is identified after the interfered penicillin bottle is sucked away;
and if the bottle mouth bright band is not found in the two predicted areas, the penicillin bottle corresponding to the bottle body bright band is considered to be a tube head without the bottle mouth, grabbing is not needed, and the next bottle body bright band in the image is identified.
It should be noted that, on the premise of better identifying the vial, the position compensation (including row coordinates and column coordinates) to be added can be adjusted by observing the position deviation of the manipulator 2 for grabbing the vial and the movement of the mesh belt 5, and the coordinate position determined by the identifying and positioning device is compensated, so as to achieve the effect of accurately grabbing the vial.
Further, the number of suction cups 507 is at least two, and the robot 2 is configured to: judging whether the adjacent area of the second to-be-grabbed penicillin bottle has an intersection with the adjacent area of the first to-be-grabbed penicillin bottle, if not, sequentially grabbing the first to-be-grabbed penicillin bottle and the second to-be-grabbed penicillin bottle, if so, judging whether the adjacent area has an intersection as the second to-be-grabbed penicillin bottle, and judging whether the adjacent area has an intersection again until the first to-be-grabbed penicillin bottle and the second to-be-grabbed penicillin bottle are determined, wherein the adjacent area is determined by a bottle body bright band and a bottle mouth bright band.
Specifically, when grabbing, the grabbing object of the manipulator 2 is a penicillin bottle arranged at the first two positions in the moving direction of the mesh belt. In order to prevent the phenomenon that the robot 2 accidentally collides with a second penicillin bottle to be grabbed when grabbing a first penicillin bottle to cause position change, the distance between adjacent penicillin bottles needs to be considered when the recognition and positioning device selects the penicillin bottles to be grabbed, if the second penicillin bottle to be grabbed is in the vicinity of the first penicillin bottle to be grabbed, the penicillin bottles arranged at the third position are grabbed instead, if the third penicillin bottle to be grabbed is also in the vicinity, the fourth penicillin bottle to be grabbed is considered, and the like.
Because the body bright band is just a complete bottle with the combination of bottleneck bright band, consequently, can confirm the close region of waiting to snatch xiLin bottle according to body bright band and bottleneck bright band, should close on the region and can choose minimum external rectangle for use, should close on regional central point put with the central point put coincidence of body bright band and bottleneck bright band connecting wire. The length of the adjacent area can be the sum of the lengths of the bright band of the bottle body and the bright band of the bottle opening, and can also be set according to the length specification parameters of the penicillin bottle. The width of the adjacent area is set according to the width specification parameters of the penicillin bottle.
On the basis of finding all the complete penicillin bottles meeting the requirements in the grabbing area of the manipulator 2, the sequence of the penicillin bottles to be grabbed needs to be determined according to the actual movement direction of the penicillin bottles.
The method comprises the steps of firstly sequencing penicillin bottles (the penicillin bottles move from top to bottom in an actual image), wherein the sequencing reference is the line coordinate of the lower left corner point of the minimum circumscribed rectangle of the penicillin bottles, the first penicillin bottle only needs to select the penicillin bottle corresponding to the maximum value of the line coordinate, and the upper left corner of the image is set as the origin coordinate.
The second penicillin bottle needs to be selected according to the position relation between other penicillin bottles and the first penicillin bottle. Selecting a penicillin bottle with the second row coordinate size in sequence, judging whether the minimum external rectangle of the penicillin bottle is intersected with the first penicillin bottle (an intersection exists), namely whether the minimum external rectangle surrounding the two penicillin bottles has a public part, if not, the penicillin bottle is the second penicillin bottle to be grabbed, if so, continuously judging whether the penicillin bottle with the third row coordinate size in sequence is intersected with the first penicillin bottle, sequentially judging until finding the first another penicillin bottle which is not intersected with the first penicillin bottle, and grabbing the penicillin bottle as the second penicillin bottle to be grabbed.
It should be noted that, if all the remaining complete penicillin bottles are found, and no satisfactory penicillin bottle is found, only the first penicillin bottle is grabbed.
It should be noted that, in order to attach the suction pad 507 to the robot 2, a corresponding end jig 3 may be provided.
Specifically, an industrial camera, a lens, a light source and an adjusting bracket 20, which are marked with 1, are installed on the edge of a mesh belt 5 device by using aluminum angles, a manipulator base 6 is installed on the ground by using expansion bolts, a manipulator 2 is installed on the base 6 by using hexagon socket head cap screws, the manipulator 2 can be selected from a Huichuan SCARA manipulator, and an end clamp 3 is installed on a J3J4 shaft of the manipulator 2.
In this embodiment, the vial produced by the vial manufacturing machine may directly fall on the mesh belt 5 through a simple device, the vial on the mesh belt 5 is in a toppling state, after the vial on the mesh belt 5 enters the field range of the camera, the vial illuminated by the LED lamp 10 may reflect a straight bright band at the body position, the camera photographs the vial to collect bright band information, the vial is positioned online by processing the internal algorithm of the image collecting device 1, the x-axis and y-axis position coordinates and an inclination coordinate parameter of the vial are sent to the manipulator 2, the manipulator 2 is guided to a designated position, the manipulator 2 drives the suction cup 507 to move, the suction cup 507 is utilized to realize the adsorption of the vial, the manipulator 2 drives the suction cup 507 adsorbing the vial to move, and the vial is released to the feeding area of the inspection machine, thereby completing the feeding operation of the inspection machine.
Further, the feeding system still includes: an isolation guardrail 4; the isolation guardrails 4 are arranged at both sides of the tail end of the mesh belt 5. Wherein, the isolation guardrail 4 is arranged on the ground by expansion bolts and is positioned at the two sides of the tail end of the mesh belt 5 to play a role in protection.
As shown in fig. 3, this embodiment further illustrates an implementation manner of the adjusting bracket and the related device, and the feeding system further includes: the lamp comprises an adjusting bracket 20, a lamp tube 10, a guide rail 401 and a light source connecting device; the adjusting bracket 20 is arranged above the mesh belt 5, the adjusting bracket 20 is formed by splicing sectional materials, and the adjusting bracket 20 is used for installing the image acquisition device 1 and the guide rail 401; the light tubes 10 are mounted on the guide rails 401 by light source attachment means which slide on the guide rails 401 to adjust the position of the light tubes 10 above the webbing 5.
Specifically, the image acquisition device 1 composed of devices such as an industrial camera and a lens is installed in the middle of the adjusting bracket 20 to obtain the maximum field range on the mesh belt 5, and the LED lamp tube 10 is installed on the adjusting bracket 20, so that the position of the LED lamp tube 10 can be adjusted according to the requirement to provide the best illumination condition for the industrial camera and the lens. The adjusting bracket 20 can be mounted on the edge of the belt 5 unit by means of bottom aluminum corners.
As shown in fig. 4, 101-108 are eight LED tubes 10, where tube 103-106 are arranged laterally, tube 101 and tube 107 are arranged vertically, and tube 102 and tube 108 are arranged at an angle.
It should be noted that, quantity, specification of LED fluorescent tube in this embodiment can adjust according to the concrete site conditions of xiLin bottle discernment to adapt to site environment, reduce the influence of external light, improve xiLin bottle discernment, the accuracy of snatching.
Further, the light source connecting device at least comprises: a slider 402, a knob 403 and a lamp connecting plate 404; the slider 402 is mounted in the guide rail 401; the rotating end of the lamp connecting plate 404 is connected to the slider 402 via the knob 403, and the connecting end of the lamp connecting plate 404 is used for connecting the lamp 10.
As shown in fig. 5, the lamps 101, 103, 107 are connected to the profile by linear guides 401, wherein the lamps 10 can be adjusted back and forth along the linear guides 401 in the linear direction, and can be adjusted by swinging knobs 403 in the circumferential direction, and the rest lamps 10 are fixed on the profile frame in advance according to the actual width of the mesh belt 5 and the bottle position distribution, so as to provide sufficient effective lighting conditions for the bottles in the camera view field, and ensure that each bottle body and bottle mouth has a relatively complete light band.
In a preferred implementation of the present embodiment, the end clamp 3 comprises: a clamp 501, a cylinder mounting plate 502, a biaxial cylinder 503 and a suction cup mounting plate 504; the clamp 501 is arranged on the end clamp 3, and the clamp 501 is used for connecting a mechanical arm; the cylinder mounting plate 502 is mounted below the clamp 501, and the cylinder mounting plate 502 is used for mounting a double-shaft cylinder 503; the suction cup mounting plate 504 is provided on the cylinder axis of the biaxial cylinder 503, and the suction cup mounting plate 504 is used for mounting the suction cup 507.
Specifically, the end clamp 3 is mainly a double-shaft cylinder 503 matched with a vacuum chuck 507, and a vacuum gas path system provides vacuum pressure for suction. Wherein, according to the body length of waiting to snatch (adsorbing) xiLin bottle, every biax cylinder 503 can be configured with one to two sucking discs 507, can adsorb two positions of xiLin bottle respectively to longer xiLin bottle, guarantees the firm nature of absorption.
In this embodiment, each end fixture 3 may be provided with two biaxial cylinders 503, and the two vials are sequentially sucked up at one time by the two biaxial cylinders 503 and the matched (vacuum) suction cups 507 at both sides of the end fixture 3, and the axes of the two vials are kept parallel. And then the penicillin bottles are conveyed to the designated position through the manipulator 2, so that automatic feeding is completed, namely feeding of two penicillin bottles is realized during feeding of the inspection machine.
Further, the end clamp 3 further includes: a speed control valve 505; the speed regulating valve 505 is installed on a cylinder barrel of the double-shaft cylinder 503, and the speed regulating valve 505 is used for regulating the flow rate of the compressed air filled in the cylinder barrel so as to control the movement speed of the cylinder shaft.
Further, the end clamp 3 further includes: a cushion block 506; the spacer block 506 is disposed between the suction cup mounting plate 504 and the cylinder shaft of the biaxial cylinder 503, and the spacer block 506 is used to adjust the position of the suction cup mounting plate 504.
Specifically, as shown in fig. 6 and 7, the speed regulating valve 505 is mounted on the two-axis cylinder 503 to form a working gas path of the two-axis cylinder 503, the two-axis cylinders 503 are respectively mounted on both sides of the cylinder mounting plate 502, the cushion block 506, the suction cup mounting plate 504 and the suction cup 507 are sequentially mounted on the two-axis cylinder 503, one end of the clamp 501 is connected to the upper side of the cylinder mounting plate 502, and the other end of the clamp 501 is connected to the J3J4 shaft of the manipulator 2. The clamp 501 is connected with the cylinder mounting plate 502 after being positioned by two pins, the two double-shaft cylinders 503 are arranged on two sides of the cylinder mounting plate 502, the cushion block 506 is used for compensating the height difference of the cylinder installation, the speed regulating valve 505 controls the action speed of the cylinder, and the installation distance of the two suckers 507 is determined according to the diameter of an actually produced bottle and the distance of the bottle placing position of the inspection machine.
In this embodiment, when identifying a vial based on obtaining a relatively complete light band, a portion of the vial body is first screened out according to the length, the direction of the bright band of the vial body is calculated, a certain area extends to each of the two ends along the direction, and whether there is a reflective bright band of the vial opening is detected in the two extended areas. If the bright band is found in only one area, the central position coordinates and the body angle of the penicillin bottle can be calculated according to the relative positions of the bottle mouth bright band and the body bright band.
If bright bands are found in the two areas, the bottle mouth of one penicillin bottle is considered to be close to the bottom of the other penicillin bottle, the penicillin bottle is selected not to be identified and not to be grabbed temporarily, and the rest penicillin bottles are identified after the interfered penicillin bottles are sucked away; in addition, if no bright band is found in either area, the bottle is considered to be a tube head without a bottle mouth and does not need to be grasped.
In the process of grabbing (adsorbing) the penicillin bottles, the grabbing objects of the manipulator 2 are penicillin bottles arranged at the first two positions in the moving direction of the mesh belt 5. In order to prevent the phenomenon that the robot 2 accidentally collides with the second penicillin bottle to be grabbed when grabbing the first penicillin bottle to cause position change, the distance between the adjacent penicillin bottles needs to be considered when selecting the penicillin bottle to be grabbed, if the second penicillin bottle to be grabbed is in the proximity range of the first penicillin bottle to be grabbed, the penicillin bottle arranged at the third position is grabbed instead, if the third penicillin bottle is also in the proximity range, the penicillin bottle at the fourth position is considered, and the like.
In the embodiment, penicillin bottles produced by a bottle making machine are conveyed to the field of view of an industrial camera and a lens by a mesh belt 5, an LED lamp tube 10 irradiates a penicillin bottle body, light reflected by the penicillin bottle body forms a straight bright band, the industrial camera and the lens take pictures of objects in the field of view, images are collected, as shown in fig. 8, coordinate parameters of the position 701 of the penicillin bottle body are obtained through processing of a visual identification positioning algorithm, then the coordinate parameters of the two marked penicillin bottles are sent to a control system of a manipulator 2, the manipulator 2 is guided by the control system to drive a tail end clamp 3 to move to a specified position of the coordinate parameters of a first penicillin bottle, then one of two double-shaft cylinder 503 shafts extends out of the cylinder shaft, a suction disc 507 below the cylinder shaft sucks up the first penicillin bottle through negative pressure provided by a vacuum system, the cylinder shaft is retracted, then the manipulator 2 is guided by the control system to move to a specified position of the coordinate parameters of a second penicillin bottle, repeating the actions, sucking up the second penicillin bottle, moving the manipulator 2 to a bottle placing position in a feeding area of the inspection machine, and placing the two penicillin bottles at the specified position at one time to complete feeding of the two penicillin bottles at one time.
The technical scheme of this application has been explained in detail in the above combination with the accompanying drawings, and this application provides a mechanical arm feeding system based on visual positioning in xiLin bottle detection trade, and this feeding system sets up in the end of guipure, and feeding system is used for carrying out the material loading to the inspection machine, and feeding system includes: the device comprises an image acquisition device, an identification positioning device and a manipulator; the image acquisition device is arranged above the mesh belt and is used for acquiring images of penicillin bottles on the mesh belt; the recognition and positioning device is configured to recognize a bottle body bright band in the image, recognize a bottle mouth bright band in predicted areas on two sides in the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt according to the bottle body bright band and the bottle mouth bright band when judging that one of the two predicted areas has the bottle mouth bright band; the stiff end of manipulator passes through the base and sets up in the end of guipure, and the sucking disc is installed to the free end of manipulator, and the manipulator is used for driving the sucking disc and removes to the coordinate position to adsorb xiLin bottle on the coordinate position, the manipulator still is used for removing to the material loading region of inspection machine, and releases absorbent xiLin bottle. Through the technical scheme in this application, realized utilizing machine vision identification to guide manipulator to snatch transparent xiLin bottle and detect quick-witted material loading, improved inspection machine automatic feeding's commonality and efficiency.
In the present application, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The shapes of the various elements in the drawings are illustrative and do not preclude the existence of certain differences from the actual shapes, and the drawings are used for the purpose of illustrating the principles of the present application and are not intended to limit the present application.
Although the present application has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and not restrictive of the application of the present application. The scope of the present application is defined by the appended claims and may include various modifications, adaptations, and equivalents of the invention without departing from the scope and spirit of the application.
Claims (10)
1. The utility model provides a manipulator feeding system based on visual positioning in xiLin bottle inspection industry, its characterized in that, feeding system sets up in the end of guipure (5), feeding system is used for carrying out the material loading to the inspection machine, feeding system includes: the device comprises an image acquisition device (1), an identification positioning device and a manipulator (2);
the image acquisition device (1) is arranged above the mesh belt (5), and the image acquisition device (1) is used for acquiring images of penicillin bottles on the mesh belt (5);
the recognition and positioning device is configured to recognize a bottle body bright band in the image, recognize a bottle mouth bright band in prediction areas on two sides in the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt (5) according to the bottle body bright band and the bottle mouth bright band when one of the two prediction areas is judged to have the bottle mouth bright band;
the fixed end of manipulator (2) pass through base (6) set up in the end of guipure (5), sucking disc (507) are installed to the free end of manipulator (2), manipulator (2) are used for driving sucking disc (507) move to the coordinate position, in order to adsorb xiLin bottle on the coordinate position, manipulator (2) still are used for moving to the material loading region of inspection machine to release absorbent xiLin bottle.
2. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 1, wherein said identification positioning device is further configured to:
when the bottle mouth bright band is judged to exist in the predicted areas on the two sides of the bottle body bright band, or,
and when the bottle mouth bright band does not exist in the predicted areas on the two sides of the bottle body bright band, identifying the next bottle body bright band in the image.
3. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 1 or 2, wherein the number of said suction cups (507) is at least two, said mechanical arm (2) is configured to:
judging whether the adjacent area of a second penicillin bottle to be grabbed has an intersection with the adjacent area of a first penicillin bottle to be grabbed, if not, sequentially grabbing the first penicillin bottle to be grabbed and the second penicillin bottle to be grabbed, if so, judging that the next penicillin bottle is used as the second penicillin bottle to be grabbed, and judging whether the adjacent areas have the intersection again until the first penicillin bottle to be grabbed and the second penicillin bottle to be grabbed are determined,
the adjacent area is determined by a bottle body bright band and a bottle opening bright band.
4. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 1, wherein said coordinate position at least comprises a body coordinate and a body angle, wherein,
the coordinates of the bottle body are the coordinates of the central position of the bright band of the bottle body,
the bottle body angle is determined by the central position coordinates of the bottle body bright band and the bottle mouth bright band through a trigonometric function.
5. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 1, wherein said feeding system further comprises: the lamp comprises an adjusting bracket (20), a lamp tube (10), a guide rail (401) and a light source connecting device;
the adjusting bracket (20) is arranged above the mesh belt (5), the adjusting bracket (20) is formed by splicing sectional materials, and the adjusting bracket (20) is used for installing the image acquisition device (1) and the guide rail (401);
the lamp tube (10) is installed on the guide rail (401) through the light source connecting device, wherein the light source connecting device slides on the guide rail (401) to adjust the position of the lamp tube (10) above the net belt (5).
6. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 5, wherein said light source connecting device at least comprises: a sliding block (402), a knob (403) and a lamp tube connecting plate (404);
the sliding block (402) is arranged in the guide rail (401);
the rotating end of the lamp tube connecting plate (404) is connected to the sliding block (402) through the knob (403), and the connecting end of the lamp tube connecting plate (404) is used for connecting the lamp tube (10).
7. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 1 or 5, wherein said image acquisition device (1) comprises at least a camera, a lens and an image processing module.
8. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 1, wherein said feeding system further comprises an end clamp (3), said end clamp (3) is mounted at the free end of said mechanical arm (2), said end clamp (3) is used for mounting said suction cup (507), said end clamp (3) comprises: a clamp (501), a cylinder mounting plate (502), a double-shaft cylinder (503) and a sucker mounting plate (504);
the clamp hoop (501) is arranged on the end clamp (3), and the clamp hoop (501) is used for connecting the mechanical arm;
the air cylinder mounting plate (502) is mounted below the clamp (501), and the air cylinder mounting plate (502) is used for mounting the double-shaft air cylinder (503);
the sucker mounting plate (504) is arranged on a cylinder shaft of the double-shaft cylinder (503), and the sucker mounting plate (504) is used for mounting the sucker (507).
9. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 8, wherein said end clamp (3) further comprises: a speed regulating valve (505);
the speed regulating valve (505) is installed on a cylinder barrel of the double-shaft air cylinder (503), and the speed regulating valve (505) is used for regulating the flow of compressed air filled in the cylinder barrel so as to control the movement speed of the air cylinder shaft.
10. The mechanical arm feeding system based on visual positioning in penicillin bottle detection industry as claimed in claim 8 or 9, wherein said end clamp (3) further comprises: a pad (506);
the cushion block (506) is arranged between the sucker mounting plate (504) and a cylinder shaft of the double-shaft cylinder (503), and the cushion block (506) is used for adjusting the position of the sucker mounting plate (504).
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| CN202210540771.4A CN114955523B (en) | 2022-05-17 | 2022-05-17 | Mechanical feeding system based on visual positioning in penicillin bottle detection industry |
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| CN202210540771.4A CN114955523B (en) | 2022-05-17 | 2022-05-17 | Mechanical feeding system based on visual positioning in penicillin bottle detection industry |
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Cited By (1)
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| CN118405441A (en) * | 2024-06-28 | 2024-07-30 | 中国铁建重工集团股份有限公司 | Automatic disc changing method and system for precise cylindrical workpiece |
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| CN114955523B (en) | 2024-07-02 |
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