CN115193733A - Intelligent automatic cobblestone sorting method, system and device - Google Patents

Abstract

The invention discloses an intelligent automatic cobble sorting method, system and device, wherein the method comprises the following steps: the cobblestones are conveyed to the conveyer belt through the front-section conveyer device and the buffer device, so that the cobblestones are arranged into a single line formation and are dispersed on the conveyer belt; automatically transporting the cobblestones to a sorting table, and identifying the cobblestones in color and/or shape through an identification device to determine the types of the cobblestones; moving the cobbles to corresponding types of stone storage containers through a sorting device; the monitoring device is used for monitoring the storage state in the stone storage container, when the stone storage container is fully piled, a signal is sent out remotely to inform a manager, and if the stone storage container is fully piled but the manager does not process the stone storage container in time, sorting work is suspended. Therefore, the cobblestones can be intelligently and automatically sorted in the above mode, the cobblestones of different types are automatically sorted and conveyed to the designated stone storage containers of corresponding types, the storage state can be monitored, prompt can be timely carried out, and the cobblestones are prevented from overflowing.

Description

Intelligent automatic cobblestone sorting method, system and device

Technical Field

The invention relates to the technical field of intelligent recognition, in particular to an intelligent automatic cobble sorting method, system and device.

Background

At present, most cobblestones are sorted manually. Firstly, the labor cost is higher and higher, skilled workers need training processes, and a plurality of unstable factors exist; secondly, the efficiency is low and unstable; thirdly, sorting errors are easily caused by human subjectivity, various uncertain factors such as physical fatigue and the like, or various cobblestones which are relatively close to each other. Therefore, the manual sorting cannot avoid and is difficult to achieve a good cobble sorting effect.

Disclosure of Invention

The invention mainly aims to provide an intelligent automatic cobble sorting method, system and device, and aims to solve the technical problem of how to intelligently and automatically sort cobbles with high efficiency, low cost and accuracy.

In order to achieve the purpose, the invention provides an intelligent automatic cobblestone sorting method, which is suitable for an intelligent automatic cobblestone sorting device, and comprises a front-section conveying device, a buffer device, a pulley and a conveying belt, wherein the pulley can change the angle to enable part of the conveying belt to be concave, a convex separating strip is arranged at the bottom of the part of the conveying belt to divide the conveying belt into a plurality of lattice spaces, and the interval length and the width of each lattice space can be adjusted according to the specification of cobblestones to be sorted; the buffer device is used for connecting the front-section conveying device and the conveying belt, and a baffle plate with adjustable height is arranged at the inlet of the conveying belt to ensure that cobblestones with only one preset specification can enter each grid space, so that the cobblestones are ensured to be in a single-line running state on the conveying belt;

the intelligent automatic cobble sorting device further comprises a sorting table, an identification device, a sorting device, a conduction device matched with the sorting device, a cobble storage container and a monitoring device, wherein the identification device is arranged around the sorting table and used for identifying the color, shape and position of cobbles, the cobble storage container is arranged around the sorting table and used for classifying and storing the cobbles of different types, and each cobble storage container is provided with a corresponding monitoring device;

the intelligent automatic cobble sorting method comprises the following steps:

conveying cobbles to be sorted with preset specifications to a conveying belt through a front-section conveying device and a buffering device;

the cobblestones are arranged into a single line formation through the concave shape on the conveyor belt, and the cobblestones are dispersed through the separating strips and the baffle plates on the conveyor belt, so that one cobblestone is contained in each grid space;

the cobblestones are automatically transported to a sorting table through pulleys and a conveyor belt;

carrying out color identification and/or shape identification on the cobblestones on the sorting table through an identification device so as to determine the types of the cobblestones;

the cobblestones are sorted and transmitted to the corresponding stone storage container through the sorting device and the transmission device matched with the sorting device, and the quantity of the cobblestones of the type is counted;

the monitoring device is used for monitoring the storage state in the stone storage container and has the function of remotely sending a signal to inform a manager of timely processing when the stone storage container is fully piled;

and if the stone storage container is full of piles but the manager does not process the stones in time, the sorting work is suspended.

Optionally, the identifying the cobblestones on the sorting table by the identifying device to determine the type of the cobblestones includes:

when the method is applied to a scene of sorting the cobblestones through colors, the color recognition device is used for recognizing the colors of the cobblestones on the sorting table so as to determine the types of the cobblestones;

alternatively, the first and second liquid crystal display panels may be,

when the method is applied to a scene of sorting the cobblestones through the shapes, the recognition device is used for recognizing the shapes of the cobblestones on the sorting table so as to determine the types of the cobblestones;

alternatively, the first and second electrodes may be,

when the method is applied to a scene that cobblestones are sorted according to colors and shapes, the cobblestones on the sorting table are subjected to color recognition and shape recognition through the recognition device, so that the types of the cobblestones are determined.

Optionally, the color recognition and shape recognition of the cobblestones on the sorting table by the recognition device includes:

acquiring BGR pictures of cobblestones on the sorting table through an identification device;

and performing calculation processing according to the BGR picture, identifying the color of the cobblestones, obtaining the cobblestone contour corresponding to the cobblestones, and then identifying the shape of the cobblestones.

Optionally, the performing calculation processing according to the BGR picture, identifying the color of the cobblestones, and obtaining the cobblestone contours corresponding to the cobblestones includes:

the threshold value of the HSV is set in advance,

converting the BGR picture into an HSV picture, and identifying the color of cobblestones;

performing binarization processing on the HSV picture by using the HSV threshold value as a parameter of a binarization function to obtain a binarized picture;

sequentially carrying out edge detection processing, gaussian blur processing, expansion processing and corrosion processing on the basis of the binarized picture to obtain an initial contour;

calculating the outline area corresponding to the initial outline, and comparing the outline area with a preset area threshold value;

if the profile area is smaller than a preset area threshold value, filtering out the initial profile, wherein if the value is too small, the profile is the patterns on the cobblestones or the gravel and noise points, and if the value is too large, the profile is the conveyor belt profile;

and if the contour area is larger than or equal to the preset area threshold value, taking the initial contour as a cobblestone contour corresponding to the cobblestone.

Optionally, the identifying the shape of the cobblestones comprises:

calculating the curvature of the cobblestone contour, and determining the shape of the cobblestone according to the curvature of the cobblestone contour;

alternatively, the first and second electrodes may be,

comparing the cobblestone contour with the standard shape, and determining the cobblestone shape according to the comparison result;

or;

framing the cobblestone contour by using a rectangular frame, determining the ellipse degree of the cobblestone contour according to the length-width ratio of the rectangular frame, and determining the shape of the cobblestone according to the ellipse degree;

or;

converting the BGR picture into a preset size, inputting the size into a cobblestone shape recognition model, and determining the shape of cobblestones, wherein the cobblestone shape recognition model is obtained by training a neural network model.

Optionally, the sorting device comprises a toggle type sorting device, a grabbing type sorting device and a steering engine type sorting device;

the cobblestones are sorted and conveyed to the corresponding stone storage containers through the sorting device and the conduction device matched with the sorting device, and the cobblestones sorting device comprises:

obtaining a coordinate point at the upper left corner of the whole cobblestone image, the length and the width according to the cobblestone contour;

calculating according to the coordinate points and the length and width to obtain the central coordinates of the cobblestones;

determining the position of the cobblestones according to the central coordinates of the cobblestones;

when the sorting device is a toggle sorting device, when the ordinate of the central coordinate of the cobblestones is the same as the ordinate of the sorting device, the cobblestones are sorted and transmitted to the corresponding stone storage container through the sorting device and the transmission device matched with the sorting device;

when the sorting device is a grabbing type sorting device, the central coordinates of the cobblestones are inversely solved to form the angles of all joints through a kinematic equation of a mechanical arm, all the joints are driven to reach corresponding angles, the grabbing parts are opened to grab the cobblestones, and the cobblestones are sorted and transmitted to corresponding stone storage containers by combining with the transmission devices matched with the grabbing parts;

when the sorting device is a steering engine type sorting device, the central coordinates can be combined to shake or incline the sorting platform flat plate through the steering engine and the conduction device matched with the steering engine, and cobblestones are sorted and conveyed into the corresponding stone storage containers.

In order to achieve the above object, the present invention further provides an intelligent automatic cobblestone sorting system, comprising: the intelligent automatic cobblestone sorting system comprises a memory, a processor and a cobblestone intelligent automatic sorting program which is stored on the memory and can run on the processor, wherein when the intelligent cobblestone automatic sorting program is executed by the processor, the intelligent automatic cobblestone sorting method is realized.

In order to achieve the purpose, the invention also provides an intelligent automatic cobblestone sorting device, which comprises a front-section conveying device, a buffer device, a pulley and a conveying belt, wherein the pulley can change the angle to enable part of the conveying belt to be concave, a convex separation strip is arranged at the bottom of the part of the conveying belt to divide the conveying belt into a plurality of lattice spaces, and the spacing length and the width of the lattice spaces can be adjusted according to the specification of cobblestones to be sorted; the buffer device is used for connecting the front-section conveying device and the conveying belt, and a baffle plate with adjustable height is arranged at the inlet of the conveying belt to ensure that cobblestones with only one preset specification can enter each grid space, so that the cobblestones are ensured to be in a single-line running state on the conveying belt;

the intelligent automatic sorting device of cobblestone still includes letter sorting platform, recognition device, sorting device and supporting conduction device, stores up stone container and monitoring devices with it, recognition device sets up around the letter sorting platform for discernment cobblestone's colour, shape and position, it sets up to store up the stone container around the letter sorting platform, be used for carrying out classified storage to the cobblestone of different grade type, every stores up the stone container and all is provided with corresponding monitoring devices.

The intelligent automatic cobblestone sorting method provided by the invention has the advantages that the cobblestones are conveyed to the conveyer belt through the front-section conveyer device and the buffer device, so that the cobblestones are arranged into a single line formation on the conveyer belt and are dispersed; automatically transporting the cobblestones to a sorting table, and identifying the cobblestones in color and/or shape through an identification device to determine the types of the cobblestones; the cobbles are moved into corresponding types of stone storage containers through a sorting device; the monitoring device monitors the storage state inside the stone storage container, when the stone storage container is fully piled, a signal is sent to notify a manager in a remote mode, and if the stone storage container is fully piled but the manager does not process the stone storage container in time, sorting work is suspended. Thereby can carry out intelligent automatic sorting to the cobblestone through above-mentioned mode to in the cobblestone automatic sorting with the different grade type conveys appointed, corresponding type store up the stone container, can also monitor storage state and in time indicate and avoid the cobblestone to spill over, thereby can carry out intelligent automatic sorting to the cobblestone with high efficiency, low cost, accuracy.

Drawings

Fig. 1 is a schematic structural view of an embodiment of an intelligent automatic cobblestone sorting device according to the present invention;

FIG. 2 is a schematic diagram illustrating a relative relationship between an identification device and a sorting table of an embodiment of the intelligent automatic cobble sorting device according to the present invention;

FIG. 3 is a schematic view of a grabbing type sorting device according to an embodiment of the intelligent automatic cobble sorting device of the present invention;

FIG. 4 is a schematic view of a toggle type sorting device according to an embodiment of the intelligent automatic cobble sorting device of the present invention;

fig. 5 is a schematic diagram illustrating a relative relationship between a monitoring device and a stone storage container according to an embodiment of the intelligent automatic cobble sorting device;

FIG. 6 is a schematic flow chart illustrating a first embodiment of the intelligent automatic cobble sorting method according to the present invention;

fig. 7 is a schematic view of a rectangular frame of the contour of cobblestones in an embodiment of the intelligent automatic cobblestone sorting method of the invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				10	Front section conveying device	20	Buffer device
30	Pulley wheel	40	Conveyor belt
				50	Parting strip	60	Baffle plate
70	Sorting table	80	Identification device
				90	Sorting device	100	Stone storage container
110	Monitoring device

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an intelligent automatic cobblestone sorting device according to the present invention, the intelligent automatic cobblestone sorting device includes a front-end conveying device 10, a buffering device 20, a pulley 30 and a conveyor belt 40, the pulley can change an angle to make a part of the conveyor belt in a concave shape, a protruding separating strip 50 is provided at a bottom of the conveyor belt to separate the conveyor belt into a plurality of grid spaces, and the spacing length and width of the grid spaces can be adjusted according to the specifications of cobblestones to be sorted; the buffer device is used for connecting the front-section conveying device and the conveying belt, and a baffle 60 with adjustable height is arranged at the inlet of the conveying belt to ensure that cobblestones with only one preset specification can enter each grid space, so that the cobblestones are ensured to be in a single-line running state on the conveying belt;

the intelligent automatic cobble sorting device further comprises a sorting table 70, a recognition device 80, a sorting device 90, a conduction device matched with the sorting table, a cobble storage container 100 and a monitoring device 110, wherein the recognition device is arranged on the periphery of the sorting table and used for recognizing the color, shape and position of cobbles, the cobble storage container is arranged on the periphery of the sorting table and used for classifying and storing the cobbles of different types, and a corresponding monitoring device can be arranged on the periphery of each cobble storage container.

It should be noted that the front-section conveying device and the buffering device in this embodiment may include, but are not limited to, various types of devices such as a fully-closed pipeline, a semi-closed pipeline, a sliding rail, and the like, and the types of the front-section conveying device and the buffering device may be the same or different, and may be set according to actual situations, which is not limited in this embodiment.

It should be noted that, in order to prevent the cobblestones from directly falling onto the conveyor belt, causing loss to the conveyor belt and affecting the sorting efficiency, a buffer device may be disposed between the front-end conveyor device and the conveyor belt, and the buffer device is used as a transition area, so that the cobblestones can smoothly move onto the conveyor belt.

It should be noted that the pulleys in this embodiment may be angle-changeable pulleys, and by adjusting the angles of the pulleys, a part of the conveyor belt may be concave (dotted line in fig. 1), so that the cobblestones are collected in the concave part of the conveyor belt, and the cobblestones can be arranged in a single line. Moreover, cobblestones with different sizes can be supported in a mode of changing the angle of the pulley, and the use scene of the scheme is widened. The concave shape in this embodiment may include, but is not limited to, a reverse trapezoid shape, a semicircular shape, and the like, which is not limited in this embodiment.

It should be noted that the bottom of the partial conveyor belt is provided with a convex separating strip, the conveyor belt is divided into a plurality of grid spaces, and the spacing length and the spacing width of the grid spaces can be adjusted according to the specification of the cobblestones to be sorted. The width of the groove bottom in this embodiment may be adjusted according to actual conditions, and the above-mentioned interval length and interval width may be replaced with each other, which is not limited in this embodiment.

It should be noted that the height-adjustable baffle is arranged at the inlet of the conveying belt, the height of the baffle can be adjusted according to the specifications of cobblestones to be sorted, so that only one cobblestone with a preset specification can be allowed to enter each lattice space, the cobblestones are ensured to be in a single-line running state on the conveying belt, subsequent identification operation is facilitated, and identification accuracy is improved. The specifications of the cobblestones in this embodiment may include, but are not limited to, the sizes of the cobblestones and the sizes of the cobblestones, which is not limited in this embodiment.

It should be noted that, in some cases, it may not be necessary to use all the division bars, and therefore, the division bars in this embodiment may also be configured as concealable division bars, so as to conceal redundant division bars. The division bars may be set in a manner of shrinking, pushing, pulling, rolling, and the like, so that the division bars can be hidden, or may be set in another manner capable of implementing the same or similar functions, which is not limited in this embodiment.

It should be noted that the conveyor belt in this embodiment may be a pure color conveyor belt made of a material that can be reshaped to bend, such as a blue plastic conveyor belt, wherein the blue color is for the identification of cobbles by the identification device on the subsequent sorting table, and the plastic is for the reshaping of the conveyor belt. In addition, other colors convenient for distinguishing the cobblestones may be selected, and other materials easy to deform may also be selected, which is not limited in this embodiment.

It should be understood that the concave shape of the partial conveyor belt and the convex separating strips arranged on the bottom of the partial conveyor belt are because a flat background color is required for better cobblestone recognition effect when the partial conveyor belt passes through the sorting table, so that the conveyor belt can be in the above state before reaching the sorting table and is in a flat state when passing through the sorting table. The conveyor belt is partially concave and partially flat, and the embodiment does not limit the arrangement of the conveyor belt and the dividing strips for single line arrangement.

It should be noted that the sorting device in this embodiment may include, but is not limited to, a toggle type sorting device, a grabbing type sorting device, and a steering engine type sorting device, and the cobbles may be sorted and transferred to the corresponding stone storage container by the sorting device and the conduction device matched therewith, which is not limited in this embodiment. When the sorting device is a toggle sorting device, the cobblestones can be sorted and conveyed to the corresponding stone storage containers in a manner of toggling the cobblestones; when the sorting device is a grabbing sorting device, the cobbles can be sorted and conveyed to the corresponding stone storage containers in a cobble grabbing mode; when the sorting device is a steering engine type sorting device, cobblestones can be sorted and conveyed into corresponding stone storage containers in a manner that the steering engine shakes or inclines a flat plate of the sorting table.

It should be noted that the identification device in this embodiment may include, but is not limited to, various types of devices such as a camera, a ccd color selection lens, and a motion DV lens, and may further include other optical devices that can achieve the same or similar functions.

It should be noted that the identification device in this embodiment may be disposed around the sorting table, and may include, but is not limited to, an upper area, a left side, a right side, and other places around the sorting table.

It should be noted that the monitoring device in this embodiment may include, but is not limited to, various types of devices such as an infrared device, an ultrasonic device, and a weighing device, and may also include other devices that can achieve the same or similar functions.

It should be noted that the monitoring device in this embodiment may be disposed in an upper area of the stone storage container or a side wall of the stone storage container, may also be disposed at a bottom of the stone storage container, and may also be disposed at another position where the stone storage container is convenient to monitor.

It should be noted that, the monitoring device in this embodiment is further provided with a communication module for sending information, and the communication module may send a signal or information to a mobile terminal used by a manager through bluetooth, a local area network, mobile communication, and the like, which is not limited in this embodiment.

Referring to fig. 2 and fig. 2 are schematic diagrams illustrating a relative relationship between the recognition device and the sorting table, at least one recognition device may be disposed above the sorting table, a picture corresponding to the sorting table may be taken through the recognition device, and the color, shape and position of the cobblestones may be recognized through the taken picture.

Referring to fig. 3 and fig. 3 are schematic views of a grabbing type sorting device, when the sorting device is a grabbing type sorting device, the cobblestones can be grabbed by the grabbing parts on the sorting device, and the cobblestones can be sorted and transferred to the corresponding stone storage containers by combining with the matched conduction device, so as to achieve the effect of sorting the cobblestones. The angle of each joint can be solved inversely from the central coordinates of the cobblestones through a kinematic equation of the mechanical arm, each joint is driven to reach a corresponding angle, the grabbing component is opened to grab the cobblestones, and the cobblestones are sorted and conveyed to the corresponding stone storage containers by combining with the conduction device matched with the grabbing component.

Referring to fig. 4, fig. 4 is a schematic diagram of a poking type sorting device, when the sorting device is a poking type sorting device, the stone storage containers can be respectively arranged at two sides of the sorting table, slide rails are arranged between the sorting table and the stone storage containers, and by controlling the swinging direction of the sorting device, the cobblestones can be pushed into the slide rails connected with the sorting table, so that the cobblestones can be moved to the corresponding type of stone storage containers, and the cobblestones can be sorted through the sorting device and the conduction device matched with the sorting device.

It should be understood that the sorting device in the present embodiment may include, but is not limited to, a mechanical arm, and accordingly, the toggle type sorting device may include, but is not limited to, a toggle type mechanical arm, and the grab type sorting device may include, but is not limited to, a grab type mechanical arm, which is not limited to this embodiment.

In a specific implementation, for convenience of understanding, in this embodiment, a monitoring device is taken as an example for explanation, referring to fig. 5, fig. 5 is a schematic diagram of a relative relationship between the monitoring device and the stone storage container, a monitoring device may be disposed in an area above each stone storage container, and a distance h may be measured by the monitoring device, where h is greater if there are fewer cobbles in the stone storage container, and h is greater if there are more cobbles in the stone storage container. Thus, based on the above principle, the storage status of the stone container can be determined by the measured h.

It will be appreciated that two corresponding distance thresholds may be set for h, indicating that the stone storage vessel is about to be filled if h is greater than the first distance threshold, and that the stone storage vessel is already filled if h is greater than the second distance threshold.

It can be understood that the stone storage container in the present embodiment may include, but is not limited to, a stone storage box, a stone storage basket, or a stone storage cart in various shapes, and may be flexibly selected according to the actual use situation, which is not limited in this embodiment.

Referring to fig. 6, fig. 6 is a schematic flow chart of a first embodiment of the intelligent automatic cobble sorting method according to the present invention.

In a first embodiment, the intelligent automatic cobblestone sorting device comprises a front-section conveying device, a buffer device, a pulley and a conveying belt, wherein the pulley can change the angle to enable part of the conveying belt to be concave, a convex separating strip is arranged at the bottom of the part of the conveying belt to divide the conveying belt into a plurality of lattice spaces, and the spacing length and the width of each lattice space can be adjusted according to the specification of cobblestones to be sorted; the buffer device is used for connecting the front-section conveying device and the conveying belt, and a baffle plate with adjustable height is arranged at the inlet of the conveying belt to ensure that cobblestones with only one preset specification can enter each grid space, so that the cobblestones are ensured to be in a single-line running state on the conveying belt;

the intelligent automatic cobble sorting device further comprises a sorting table, an identification device, a sorting device, a conduction device matched with the sorting device, a cobble storage container and a monitoring device, wherein the identification device is arranged around the sorting table and used for identifying the color, shape and position of cobbles, the cobble storage container is arranged around the sorting table and used for classifying and storing the cobbles of different types, and each cobble storage container is provided with a corresponding monitoring device;

the intelligent automatic cobblestone sorting method comprises the following steps:

and S10, conveying cobbles to be sorted with preset specifications to a conveying belt through a front-section conveying device and a buffer device.

It should be noted that, in the present embodiment, the intelligent automatic sorting may be performed on preset-sized cobblestones, where the preset-sized cobblestones may include, but are not limited to, preset-sized cobblestones and preset-sized cobblestones, and this embodiment does not limit this.

It should be noted that the cobblestones sorted in the scheme can be cobblestones which are subjected to specification screening in advance, that is, specifications of the same batch of cobblestones are similar. The cobblestone specification can be screened in advance through the vibrating screen, cobblestones with similar specifications can be directly purchased, and the embodiment is not limited to this.

It will be appreciated that the same batch of pebbles to be sorted may be placed into the inlet of the front conveyor and then passed through the front conveyor and the buffer before being conveyed onto the conveyor.

It will be understood that, in order to ensure that only one preset size of cobblestones can enter each grid space, thereby ensuring that the cobblestones are in a single-line running state on the conveyor belt, the state of the partition bar and the baffle plate can be adjusted according to the preset regular size, which is not limited in this embodiment.

And S20, arranging the cobblestones into a single line formation through the concave shape on the conveyor belt, and dispersing the cobblestones through the partition strip and the baffle plate on the conveyor belt to enable each grid space to contain one cobblestone.

It should be noted that, because a part of the conveyor belt can be made concave by adjusting the angle of the pulley, and the cobbles are gathered at the concave part of the conveyor belt, the cobbles can be arranged in a single line. The convex separating strips can be arranged at the bottoms of a part of conveyor belts to divide the conveyor belts into grid spaces, and the cobblestones can sequentially reach the conveyor belts by adjusting the heights of the baffle plates according to the specifications of the cobblestones, so that only one cobblestone can be allowed to enter each grid space, and the cobblestones are prevented from being concentrated.

And S30, automatically conveying the cobbles to a sorting table through a pulley and a conveyor belt.

It will be appreciated that the single line of spaced cobblestones falling onto the conveyor belt may be automatically transported by pulleys and conveyor to a sorting station where the cobblestones are identified and sorted.

And S40, performing color recognition and/or shape recognition on the cobblestones on the sorting table through a recognition device to determine the types of the cobblestones.

It should be noted that the present solution may be applicable to various cobblestone sorting scenarios, which may include but are not limited to: the present embodiment does not limit the scene of sorting the cobblestones by color, the scene of sorting the cobblestones by shape, and the scene of sorting the cobblestones by color and shape.

It can be understood that, can realize the cobblestone letter sorting of "black, white, grey" three kinds of different colours at least through this scheme, can also realize the cobblestone letter sorting of "three kinds of different shapes of ball shape, ellipsoid type, other shapes" at least through this scheme, this embodiment does not do the restriction to this.

For different sorting scenes, cobblestones can be identified in different ways to determine the types of the cobblestones:

1) When being applied to the scene of sorting the cobblestones through the colour, carry out colour discernment through identification means to the cobblestone on the letter sorting platform to confirm the colour of cobblestone, thereby distinguish the type of cobblestone through the colour, sort this cobblestone to the storage stone container that corresponds the colour in.

2) When the method is applied to a scene of sorting the cobblestones through the shapes, the cobblestones on the sorting table are subjected to shape recognition through the recognition device so as to determine the shapes of the cobblestones, so that the types of the cobblestones are distinguished through the shapes, and the cobblestones are sorted into the stone storage containers with the corresponding shapes.

3) When the cobblestone sorting device is applied to a scene that cobblestones are sorted according to colors and shapes, the cobblestones on the sorting table are subjected to color recognition and shape recognition through the recognition device to determine the colors and the shapes of the cobblestones, so that the types of the cobblestones are distinguished by combining the colors and the shapes, and the cobblestones are sorted into the stone storage containers corresponding to the colors and the shapes.

Further, in order to more accurately perform color recognition and shape recognition on the cobblestones on the sorting table through the recognition device, BGR (Blue, green, red) pictures of the cobblestones on the sorting table can be collected through the recognition device, then calculation processing is performed according to the BGR pictures, the cobblestone colors are recognized, cobblestone contours corresponding to the cobblestones are obtained, and then the shapes of the cobblestones are recognized.

It should be understood that, in order to obtain the cobblestone contour more accurately, the BGR picture may be converted into an HSV (Hue, saturation) picture, a threshold Value of HSV is set in advance, the BGR picture is converted into an HSV picture, and the cobblestone color is identified; performing binarization processing on the HSV picture by using the HSV threshold value as a parameter of a binarization function to obtain a binarized picture; and sequentially carrying out edge detection processing, gaussian blur processing, expansion processing and corrosion processing on the basis of the binarized picture to obtain an initial contour, then calculating the contour area corresponding to the initial contour, and comparing the contour area with a preset area threshold range to screen out the contours which do not meet the conditions, so that the cobblestone contour corresponding to the cobblestone can be accurately identified.

It will be appreciated that these are not cobblestones which the present solution requires to sort, as there may be dust on the conveyor or small pieces of foreign stone, but these objects may also have a corresponding profile. Since these objects are generally small and the cobblestones are large, a preset area threshold range may be set, and those objects whose contour area is not within the preset area threshold range may be screened out and not sorted. If the value is too small, the contour is possibly a pattern on the cobblestones or gravel and noise, if the value is too large, the contour is possibly a conveyor belt contour which is not the cobblestone contour, and in order to improve the sorting precision, the initial contour with the contour area within the range of the preset area threshold value can be reserved and is determined as the cobblestone contour corresponding to the cobblestones.

It will be appreciated that the colour of the pebbles may be determined by the pebbles in the following manner: presetting an HSV range of a color to be searched according to the range of three HSV values corresponding to each color in an HSV color space, determining the HSV value of a cobblestone identification range based on an HSV picture, comparing the HSV value with the HSV range, and determining the color of cobblestones according to the comparison result. For example, red has a corresponding HSV value range, and gray also has a corresponding HSV value range, and the color of the cobblestones can be accurately determined through the comparison operation.

Further, the shape of the pebbles may be determined by any one of the following means: 1) Calculating the curvature of the cobblestone contour, and determining the shape of the cobblestone according to the curvature of the cobblestone contour; 2) Comparing the cobblestone contour with the standard shape, and determining the cobblestone shape according to the comparison result; 3) And (3) framing the cobblestone outline by using a rectangular frame, determining the ellipse degree of the cobblestone outline according to the length-width ratio of the rectangular frame, and determining the shape of the cobblestone according to the ellipse degree. 4) Besides the shape of the cobblestones can be identified through the three ways according to the cobblestone contour, the shape of the cobblestones can also be identified through a neural network model, which is specifically shown as follows: the method comprises the steps of collecting sample pictures of various cobblestone shapes in advance, preprocessing the sample pictures, adjusting the sample pictures to a preset size to obtain a training set and a verification set, training a neural network model through the training set to obtain an initial shape recognition model, verifying the initial shape recognition model through the verification set, and obtaining the cobblestone shape recognition model after verification. After the recognition device is used for collecting the BGR pictures of the cobblestones on the sorting table, the BGR pictures can be adjusted according to preset sizes to obtain target pictures, then the target pictures are input into a cobblestone shape recognition model, and the shape of the cobblestones is determined according to results output by the model. The preset size in this embodiment may be set according to an actual situation, which is not limited in this embodiment.

And S50, sorting and conveying the cobblestones into corresponding stone storage containers through the sorting device and the conduction device matched with the sorting device, and counting the quantity of the cobblestones of the type.

It should be noted that, in order to facilitate the calculation of the number of each type of cobblestones, a variable may be set for each type, and after the type of the cobblestones is determined in the above manner, 1 is added to the variable of the corresponding type, thereby implementing the counting of each type of cobblestones.

Since the variables corresponding to the respective types are updated after the types of the cobblestones are identified, the number of the cobblestones of each type may be determined by counting the current values of the variables corresponding to the respective types, which is not limited in this embodiment.

It should be noted that the coordinate point at the upper left corner of the whole cobblestone image, the length and the width can be obtained according to the cobblestone contour, the cobblestone center coordinate can be obtained through calculation according to the coordinate point, the length and the width, and the cobblestone position can be determined according to the cobblestone center coordinate. The rectangular frame can be used to make the operator more intuitively know the recognition result, which is not limited in this embodiment.

In a specific implementation, reference may be made to fig. 7, where fig. 7 is a schematic view of a rectangular box of a cobblestone contour. The cobblestone contour can be framed out through the rectangular frame shown in fig. 7, so that the coordinates corresponding to each vertex of the rectangular frame are determined in the coordinate system, then the center coordinates of the rectangular frame are determined according to the coordinates corresponding to each vertex, and the position of the cobblestone is determined according to the center coordinates. The coordinate system may be established based on the camera view field, or may be established in other manners, which is not limited in this embodiment. In a specific implementation, when the central coordinate is determined, the upper left corner (point d in fig. 7) of the rectangular frame may be used as the origin of coordinates, and after the coordinates of the upper left corner of the cobblestone, the length and the width are obtained, the abscissa and the width are divided by 2 to obtain the central point of the abscissa of the central point, and the ordinate is the same, which is not described herein again.

It should be understood that, when the sorting device is a toggle sorting device, when the ordinate of the central coordinate is the same as the ordinate of the sorting device, the cobblestones are sorted and transferred to the corresponding stone storage container through the sorting device and the conduction device matched with the sorting device; when the sorting device is a grabbing type sorting device, the central coordinate is converted into the spatial coordinate of a grabbing component on the sorting device, so that the cobblestones are grabbed by the grabbing component according to the spatial coordinate, and the cobblestones are sorted and transferred to corresponding stone storage containers by combining with a conduction device matched with the grabbing component, wherein specifically, the central coordinate of the cobblestones is reversely solved to the angle of each joint through a kinematic equation of a mechanical arm, each joint is driven to reach the corresponding angle, the grabbing component is opened to grab the cobblestones, and the cobblestones are sorted and transferred to the corresponding stone storage containers by combining with the conduction device matched with the grabbing component, which is not limited in this embodiment.

It can be understood that, through the position of central coordinate location cobblestone, can stir or clip the central point that the cobblestone was put when stirring the cobblestone through sorting device or pressing from both sides and get the cobblestone, avoid the cobblestone not pushed the circumstances that the store stone container of corresponding type perhaps cobblestone dropped, further improved the effect of cobblestone letter sorting.

It should be understood that besides the above two types of sorting devices, a steering engine type sorting device may be provided, and when the sorting device is a steering engine type sorting device, the central coordinates may be combined to rock or incline the sorting platform flat plate through the steering engine and the conduction device matched therewith, so as to sort and convey the cobblestones into the corresponding stone storage containers.

And S60, monitoring the storage state in the stone storage container through the monitoring device, and remotely sending a signal to inform a manager to process in time when the stone storage container is fully piled.

It should be noted that, a monitoring device may be disposed above each stone storage container, in this embodiment, an infrared distance measuring device provided with a communication module is taken as an example for description, and the distance h may be measured by the monitoring device, where h is larger if there are fewer cobblestones in the stone storage container, and h is larger if there are more cobblestones in the stone storage container. Thus, based on the above principle, the storage status of the stone container can be determined by the measured h.

It will be appreciated that two corresponding distance thresholds may be set for h, indicating that the rock storage container is about to be filled if h is greater than the first distance threshold, and that the rock storage container is filled if h is greater than the second distance threshold.

It can be understood that if the stone storage container is monitored to be full, a communication module on the monitoring device can send a signal to a mobile terminal used by a manager in advance in a remote mode in the modes of mails, short messages or information push and the like, and the corresponding manager is informed to process the signal in time so as to remind the manager that the stone storage container is full and the container needs to be replaced or cobbles need to be transferred in time.

And step S70, if the stone storage container is full and the management personnel do not process the stones in time, the sorting work is suspended.

It can be understood that if the condition that the stone storage container is fully piled is monitored without being processed by the manager, the cobblestones may overflow from the stone storage container due to the fact that cobblestones are continuously sorted, and effective sorting cannot be achieved.

In the embodiment, the cobblestones are conveyed to the conveyer belt through the front-section conveyer device and the buffer device, so that the cobblestones are arranged in a single line formation and are scattered on the conveyer belt; automatically transporting the cobblestones to a sorting table, and identifying the cobblestones in color and/or shape through an identification device to determine the types of the cobblestones; the cobbles are moved into corresponding types of stone storage containers through a sorting device; the monitoring device monitors the storage state inside the stone storage container, when the stone storage container is fully piled, a signal is sent out in advance to notify a manager, and if the stone storage container is fully piled but the manager does not process the stone storage container in time, sorting work is suspended. Thereby can carry out intelligent automatic sorting to the cobblestone through above-mentioned mode to in the cobblestone automatic sorting of with the different grade type conveys appointed, corresponding type store up the stone container, can also monitor the storage state and in time indicate and avoid the cobblestone to spill over, thereby can carry out intelligent automatic sorting to the cobblestone with high efficiency, low-cost, accuracy.

In addition, the invention also provides an intelligent automatic cobblestone sorting system, which comprises: the intelligent automatic cobblestone sorting system comprises a memory, a processor and a cobblestone intelligent automatic sorting program which is stored on the memory and can run on the processor, wherein when the intelligent cobblestone automatic sorting program is executed by the processor, the intelligent automatic cobblestone sorting method is realized.

Since the system adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and are not described in detail herein.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (8)

1. The intelligent automatic cobblestone sorting method is characterized by being suitable for an intelligent automatic cobblestone sorting device, wherein the intelligent automatic cobblestone sorting device comprises a front-section conveying device, a buffering device, a pulley and a conveying belt, the pulley can change the angle to enable part of the conveying belt to be concave, a convex separating strip is arranged at the bottom of part of the conveying belt to divide the conveying belt into a plurality of grid spaces, and the interval length and the width of the grid spaces can be adjusted according to the specifications of cobblestones to be sorted; the buffer device is used for connecting the front-section conveying device and the conveying belt, and a baffle plate with adjustable height is arranged at the inlet of the conveying belt to ensure that cobblestones with only one preset specification can enter each grid space, so that the cobblestones are ensured to be in a single-line running state on the conveying belt;

the intelligent automatic cobblestone sorting device further comprises a sorting table, an identification device, a sorting device, a conduction device, a cobblestone storage container and a monitoring device, wherein the conduction device, the cobblestone storage container and the monitoring device are matched with the sorting device;

the intelligent automatic cobble sorting method comprises the following steps:

conveying cobblestones to be sorted with preset specifications to a conveying belt through a front-section conveying device and a buffer device;

the cobblestones are arranged into a single line formation through the concave shape on the conveyor belt, and the cobblestones are dispersed through the separating strips and the baffle plates on the conveyor belt, so that one cobblestone is contained in each grid space;

the cobblestones are automatically transported to a sorting table through pulleys and a conveyor belt;

carrying out color identification and/or shape identification on the cobblestones on the sorting table through an identification device so as to determine the types of the cobblestones;

the cobblestones are sorted and transmitted to the corresponding stone storage containers through the sorting device and the transmission device matched with the sorting device, and the quantity of the cobblestones of the type is counted;

through the monitoring device, the storage state in the stone storage container is monitored, and the function of remotely sending a signal to inform a manager to process in time when the stone storage container is fully piled is realized;

and if the stone storage container is full of piles but the management personnel do not process the stones in time, the sorting work is suspended.

2. An intelligent automatic cobblestone sorting method according to claim 1, wherein the identifying the cobblestones on the sorting table by the identifying device for color identification and/or shape identification to determine the cobblestones type comprises:

when the method is applied to a scene of sorting the cobblestones through colors, the cobblestones on the sorting table are subjected to color recognition through the recognition device so as to determine the types of the cobblestones;

alternatively, the first and second electrodes may be,

when the method is applied to a scene of sorting the cobblestones through the shapes, the cobblestones on the sorting table are subjected to shape recognition through the recognition device so as to determine the types of the cobblestones;

alternatively, the first and second electrodes may be,

when the method is applied to a scene that cobblestones are sorted according to colors and shapes, the cobblestones on the sorting table are subjected to color recognition and shape recognition through the recognition device, so that the types of the cobblestones are determined.

3. An intelligent automatic cobblestone sorting method as claimed in claim 2, wherein the identifying the cobblestones on the sorting table by the identifying device includes:

acquiring BGR pictures of cobblestones on the sorting table through an identification device;

and performing calculation processing according to the BGR picture, identifying the color of the cobblestones, obtaining the cobblestone contour corresponding to the cobblestones, and then identifying the shape of the cobblestones.

4. The intelligent automatic cobblestone sorting method according to claim 3, wherein the calculating process is performed according to BGR pictures, the cobblestone color is identified, and a cobblestone contour corresponding to cobblestones is obtained, and the method comprises the following steps:

the threshold value of the HSV is set in advance,

converting the BGR picture into an HSV picture, and identifying the color of cobblestones;

performing binarization processing on the HSV picture by using the HSV threshold value as a parameter of a binarization function to obtain a binarized picture;

sequentially carrying out edge detection processing, gaussian blur processing, expansion processing and corrosion processing on the basis of the binarized picture to obtain an initial contour;

calculating the outline area corresponding to the initial outline, and comparing the outline area with a preset area threshold range;

if the contour area is not within the preset area threshold value range, filtering out the initial contour, wherein if the value is too small, the contour is shown to be a pattern on cobblestones or gravel and noise, and if the value is too large, the contour is shown to be a conveyor belt contour;

and if the contour area is within the preset area threshold value range, taking the initial contour as a cobblestone contour corresponding to the cobblestone.

5. The intelligent automatic cobblestone sorting method according to claim 3, wherein the identifying the shape of the cobblestones includes:

calculating the curvature of the cobblestone contour, and determining the shape of the cobblestone according to the curvature of the cobblestone contour;

alternatively, the first and second electrodes may be,

comparing the cobblestone contour with the standard shape, and determining the cobblestone shape according to the comparison result;

or;

framing the cobblestone contour by using a rectangular frame, determining the ellipse degree of the cobblestone contour according to the length-width ratio of the rectangular frame, and determining the shape of the cobblestone according to the ellipse degree;

or;

converting the BGR picture into a preset size, inputting the size into a cobblestone shape recognition model, and determining the shape of cobblestones, wherein the cobblestone shape recognition model is obtained by training a neural network model.

6. The intelligent automatic cobblestone sorting method of claim 3, wherein the sorting device comprises a toggle type sorting device, a grabbing type sorting device and a steering engine type sorting device;

the cobblestones are sorted and conveyed to the corresponding stone storage containers through the sorting device and the conduction device matched with the sorting device, and the cobblestones sorting device comprises:

obtaining a coordinate point at the upper left corner of the whole cobblestone image, the length and the width according to the cobblestone contour;

calculating according to the coordinate points and the length and width to obtain the central coordinates of the cobblestones;

determining the position of the cobblestones according to the cobblestone center coordinates;

when the sorting device is a toggle sorting device, when the ordinate of the central coordinate of the cobblestones is the same as the ordinate of the sorting device, the cobblestones are sorted and transmitted to the corresponding stone storage container through the sorting device and the transmission device matched with the sorting device;

when the sorting device is a grabbing type sorting device, the central coordinates of the cobblestones are inversely solved to form the angles of all joints through a kinematic equation of a mechanical arm, all the joints are driven to reach corresponding angles, the grabbing parts are opened to grab the cobblestones, and the cobblestones are sorted and transmitted to corresponding stone storage containers by combining with the transmission devices matched with the grabbing parts;

when the sorting device is a steering engine type sorting device, the central coordinates can be combined to shake or incline the sorting platform flat plate through the steering engine and the conduction device matched with the steering engine, and cobblestones are sorted and conveyed into the corresponding stone storage containers.

7. The intelligent automatic cobblestone sorting system is characterized by comprising the following components in parts by weight: a memory, a processor and a pebble intelligent automatic sorting program stored on the memory and operable on the processor, the pebble intelligent automatic sorting program when executed by the processor implementing the pebble intelligent automatic sorting method of any one of claims 1 to 6.

8. The intelligent automatic cobblestone sorting device is characterized by comprising a front-section conveying device, a buffer device, a pulley and a conveying belt, wherein the pulley can change the angle to enable part of the conveying belt to be concave, a convex separating strip is arranged at the bottom of the part of the conveying belt to separate the conveying belt into a plurality of grid spaces, and the spacing length and the width of each grid space can be adjusted according to the specification of cobblestones to be sorted; the buffer device is used for connecting the front-section conveying device and the conveying belt, and a baffle plate with adjustable height is arranged at the inlet of the conveying belt to ensure that cobblestones with only one preset specification can enter each grid space, so that the cobblestones are ensured to be in a single-line running state on the conveying belt;

the intelligent automatic sorting device of cobblestone still includes letter sorting platform, recognition device, sorting device and supporting conduction device, stores up stone container and monitoring devices with it, recognition device sets up around the letter sorting platform for discernment cobblestone's colour, shape and position, it sets up to store up the stone container around the letter sorting platform, be used for carrying out classified storage to the cobblestone of different grade type, every stores up the stone container and all is provided with corresponding monitoring devices.

Images