KR970001908B1 - Ring type material counter - Google Patents

Abstract

An automatic classifying apparatus which recognize the labels indicated on the annular articles thereby classifying them with sizes. The apparatus has an article insertion portion(100), a fixing portion(210) which centers the annular articles of different sizes, vertical operating portion(220) operating the fixing portion(210) vertically, a driving portion(231) connected to the fixing portion(210), a rotating portion(230) for rotating the fixing portion(210), a high speed scan camera(240) fixed to the fixing portion(210) and reading a label(301) on the annular article, and a detecting portion(200) which compares an image data from the camera(240) with a recorded data so as to classify the annular article. The apparatus is utilized in factory automation.

Description

Automatic sorting device of round article

1 is a schematic diagram of the present invention.

2 is a schematic side view of the present invention.

3 is a top schematic view of the present invention.

4 is a front view of the recognition unit.

5 is a left side view in longitudinal section of the recognition unit.

6 is a plan view of the recognition unit.

7 is a longitudinal sectional view of the main part of the recognition device.

8 is a flowchart for forming standard data.

9 is a flowchart for recognizing and classifying labels on a tire surface.

10 is a flowchart of a tag search process.

11 is a flowchart of a blocking process.

12 is a flowchart of a segmentation operation.

* Explanation of symbols for main parts of the drawings

100: entry portion 110: roller

111: driving means 120: guide roller

121: rotation axis 130: sensor

200: detection unit 210: fixing unit

211 cylinder 212 hinge

213: clamp 214: guide slot

215: guide rail 216,217: guide groove

218: sensor 220: up and down operating part

221 cylinder 222 support plate

223 sensor 230 rotating part

231 drive means 232 gear

233: rotating plate 234: bearing

240: line scan camera 300: tires

301: Unique label

The present invention relates to an automatic sorting apparatus that recognizes and sorts the label recorded on the surface of the annular article and automatically classifies it by the specification.

Nowadays, various kinds of annular products such as tires pass through each process and are sorted again according to a certain standard and put into the next process several times. There is a problem that is a big obstacle to factory automation.

This conventional technology not only causes the waste of manpower by directly manipulating the classification of products, but also has a drawback in that the classification of the products cannot be accurately classified due to the continuous visual panel.

In order to solve this problem, the barcode can be recognized.However, the recognition method of the barcode is longer than the recognition rate and the attachment position is manually selected according to the product. There was no problem.

Accordingly, the present invention has been made to solve the above problems and its object is to provide an automatic sorting apparatus for an annular article that can be automatically classified by simply recognizing the inherent label of the product formed on the product. .

In order to achieve the above object, the present invention provides a product entry portion for continuously entering a variety of specifications annular; A fixing part for centering and clamping while raising an annular article of various specifications entered from the article entry portion; A sensing unit having a line scan camera formed thereon that reads a unique label displayed on a surface of a product formed on annular articles of various standards fixed to the fixing unit by rotating the fixing unit; And a sending unit for discriminating the data recognized by the sensing unit and classifying the annular articles having various specifications and sending out the annular articles to be loaded for the same products. The apparatuses are controlled by a central control unit.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

The article entry part 100 is provided with a plurality of rollers 110 horizontally, and is connected to the roller driving means 11 for driving the rollers 110.

At one end of the entry portion 100 is formed a guide roller 120 for guiding the annular article toward the center, and is formed to be connected to the shaft by attaching a rotating shaft 12 to one side of the guide roller 120.

The left and right sides of the entry portion 100 are attached to the corresponding sensor 130 to detect whether the entry of the annular article, the detection unit 200 is a fixing portion 210 for fixing the annular article, the It is provided with a vertical operation unit 220 and the rotating unit 23 for moving the fixed portion up and down.

The fixing unit 210 of the sensing unit 200 forms a cylinder 221 at a bottom thereof, and forms a hinge 212 axially coupled to an upper end of the rod of the cylinder 221.

The hinge 212 is formed by connecting to the shaft 212a at the center bent at a right angle and bent at a right angle.

Guide grooves 216 and 217 are formed at the upper end and the upper and lower ends of the hinge 212, respectively.

A clamp 213 is coupled to the upper guide groove 216 of the hinge 212, and a guide rail 215 is formed at the center of the clamp 213.

The vertical operation unit 220 forms a cylinder 221 on the left and right, and is formed by attaching a support plate 222 to the rod upper end of the cylinder 221.

The upper part of the sensing unit 200 is formed by attaching the rising detection sensor 223 to the left and right. The rotating unit 23 of the sensing unit 200 attaches the gear 232 to the driving means 231, and the gear ( 232 and the rotating plate 233 is formed by gear coupling.

The long plate 214 for guiding the clamp 213 is formed in the rotating plate 233 so that the clamp 213 is guided to the guide long hole 214 to slide.

In the central center of the sensing unit 200 is formed by connecting the bearing 234 so that only the top is rotated.

The line scanning camera 240 is attached to the central processing unit so that the line scanning camera 240 is attached to the sensor 200 to read the unique level 401 attached to various annular articles. Print out and compare the data recorded in the central processing unit to classify tires with the same label.

Referring to the embodiment of the present invention configured as described above are as follows.

When an annular article such as a tire enters the entry portion 100, a central controller (not shown) outputs a signal to operate the roller 110 to move the annular article such as the tire 300 to the sensing unit 200. Let's do it.

At this time, the sensor 130 attached to the left and right check the quantity of the annular article such as the entry tire 300, etc., the annular article is moved forward by the rotation of the roller 110 in the state mounted on the roller 110 Since the tire 300 is guided to the center by the guide roller 120, the tire 300 is moved toward the sensing unit 200 by the amount of the production shoe amount.

When the tire 300 enters the sensing unit 200, the sensor 218 detects this and positions the tire 300 on the rotating plate 233. At this time, the driving means 231 and the gear 232 is in a stopped state.

When the cylinder 211 is operated in such a state to push the rod of the cylinder 211 upward, the hinge 212 connected to the upper end of the cylinder rod is operated, which is a hinge that is bent as the cylinder rod is moved upwards ( The hinge 212 is rotated about the shaft 212a so that the end of the hinge 212 is pushed out of the shaft 216a fitted in the guide groove 216 of the hinge 212 to the outside. While 213 is guided to the guide hole 214 of the rotating plate 233 to gradually move outwards and centering the tire 300, regardless of the size of the inner diameter of the tire 300 to seat the tire in the center position after It is fixed.

When the fixing of the tire 300 is completed, the cylinder 221 of the up and down operating part 220 is operated to raise the sensing part 200 upward.

At this time, when the rise of the tire 300 is detected by the rising detection sensor 223 attached to the upper left and right, the cylinder 221 stops the operation to stop the tire 300 at a predetermined height.

When the tire 300 rises to a predetermined height and stops, the high speed line scan camera 240 attached to the upper portion of the sensing unit 200 operates and at the same time the driving means 231 of the rotating unit 230 operates. The rotating plate 230 connected to the driving means 231 is smoothly rotated by the bearing 234 formed at the center of the sensing unit 200.

At this time, the high-speed line scan camera 240 captures and converts the unique label 301 formed on the upper surface of the tire 300 into data and compares the data with the data recorded in the central processing unit to identify the standard of the tire 300. This is because the tire 300 rotates while the scan camera 24 is fixed, so the line scan camera 240 sequentially captures the label displayed on the upper surface of the tire 300 and outputs the data to the central processing unit. The process of recognizing the label formed on the surface of the tire 300 is to be recognized by the device, since the labels displayed on the tire are different from each other according to various types, and then form the standard data of these labels. Labels formed on the surface of tires produced after inputting them to the memory device of the central processing unit are captured by a line scan camera, According to this described in greater detail the step of classification to recognize the labels of the tire by the tire sorting based on the nearest data as compared with the standard data ryeokdoen follows.

The process of forming the normalized image data will be described with reference to the flowchart of FIG. 8, and a predetermined number of tires having the same label are sampled for each of all labels (S101). Thereafter, the staff S102 transports tires having the same label, that is, tires for the N-th label, among the tires sampled in the staff S101 to the letter recognition device by the shade through the conveyor. The high speed line scan camera 240 scans an image of tires transported by a conveyor in step S102 to generate image data, and stores the generated image data in a memory device at predetermined intervals during a tire production process. A specific form of notation (hereinafter, referred to as a tag TAG) displayed at the head of a label in which numbers are arranged is retrieved from the image data stored in the memory element. This is an operation to more clearly detect the position of the label displayed on the tire to be transported through the conveyor.

Thereafter, when the tag is found in the step S103, the process proceeds to the step S104 to block the image data of the label represented by the shade behind the retrieved tag from the image data stored in the memory device in the step S103, and then the data which has completed the blueing is The segmentation is performed at a predetermined size, that is, a predetermined size (e.g., horizontally divided into six, vertically divided into four equal parts), and then the process proceeds to step S105.

In step S105, data is formed through the presence or absence of pixels in each segment formed by the segmentation operation in step S104, and then the process proceeds to step S106. In the step S106, after storing the data formed in the step S105 in the temporary memory element, the process proceeds to the step S107, and in the step S107, it is determined whether there are no tires having the same label any more, and there is a tire having the same label. The flow advances to step S102 to perform the operation from step S102 to step S107 described above again. Therefore, the same label is repeatedly processed a predetermined number of times and stored in the temporary memory device.

If the tire having the same label no longer exists in the step S107, the process proceeds to the step S108, and the image data stored in the temporary memory element in the step S106 is stored in the predetermined memory element.

Thereafter, in step S109, it is determined whether a tire having a label different from that of the tire being transported in the step S102 exists, and when there is a tire having a different label, the process proceeds to step S110 to be different from the label transported in the step S102. After selecting a label, the process proceeds to the step S102 and ends if there are no tires with other labels anymore.

When the standard data of each tire is formed by the above process, the labels formed on the surfaces of the tires produced in the production line are recognized and classified into the same products. Referring to FIG. A corresponding label and a specific tag are formed (S201), and the tire produced by going to step S202 is sequentially transported to the character recognition device by the shade through the conveyor. In step S203, the high-speed line scan camera 240 scans an image to generate image data, stores the generated image data in a memory device, and searches for a tag in the image data stored in the memory device. When the tag is found in the step S203, the process proceeds to the step S204 to block the image data of the label represented by the shadow located behind the retrieved tag from the image data stored in the memory device in the step S203, and then to block the data of which the blocking is completed in a certain size, that is, After the segmentation is performed according to a predetermined standard (for example, six horizontal divisions and four vertical divisions), the process proceeds to step S205. In step S205, data is formed through the presence or absence of pixels in each segment formed by the segmentation operation in step S204, and then the process proceeds to step S206. In step S206, the data formed in step S205 is stored in the temporary memory element, and the flow advances to step S301. The staff S301 compares the standard data stored in the staff S108 with the data stored in the staff S206, and then determines whether there is the same data in the staff S302. If the same data exists in the staff S302, the process proceeds to the staff S303 and classifies the tire transported in the staff S202 based on the data recognized as the same data, and if the same data does not exist in the staff S302, the staff goes to the staff S304. The tires carried in the staff S202 are classified based on the most similar data among the data stored in the staff S108.

In addition, with reference to Figure 10 attached to the process of searching for the tag in step S103 and step S203 as follows.

When the tire to be transported through the conveyor arrives at the set position of the device, the tire is raised and then the tire is mechanically centered (TSI). Then, in step TS2, when the tire centered in the step TS1 is rotated a predetermined number of times at high speed, the step TS3 performs image scanning for each line through the high speed scan camera 10, and stores the image data scanned in the step TS4 as a temporary memory device. Store in The staff TS5 then performs image processing on the image data stored in the temporary memory element to determine a tag TAG. The tag has a specific shape (e.g., by arranging five horizontal markings having a thickness of 1 mm and a length of 9 mm at intervals of 1 mm), and in step TS5, the tire centered at the step TS1 is a predetermined number of times (e.g., For example, the tag should be determined during the rotation.

Thereafter, in step TS6, it is determined whether the tag is found, and if it is found, the process ends. If not, the process proceeds to step TS7 and the tire centered at the step TS1 is extracted.

An operation after searching for a tag in the above operation sequence, that is, a blocking method used in step S204 in step S104 will be described in detail with reference to FIG. 11.

After the tags are retrieved in step S103 and step S203, candidate regions having a predetermined size are set, i.e., blocking, at predetermined intervals from the position of the retrieved tag among the image data stored in the temporary memory element in step TS4 (step) SB1). After the first blocking is performed in the step SB1, in step SB2, the image data in the candidate region is binarized so that pixels having a predetermined luminance or more are converted to logical data '1', and pixels below a predetermined luminance are converted to logical data '0'. Proceed. The staff SB3 scans the binarized data value from the center of the candidate region set in the staff SB1 in the outward direction of the candidate region so that the value of the data binned in the staff SB2 is logical '1' and is logical '0'. It is judged in staff SB4 whether it changes.

If it is determined that there is no change in the logic state in the step SB4, the process proceeds to the step SB3. When it is determined that there is a change in the logic state, scanning is stopped and the process proceeds to the step SB5. In step SB5, the blocking operation is completed by setting the position where scanning stops as a new data area, that is, the secondary data area, and proceeds to stam SB6. In step SB6, in order to perform segmentation, the horizontal and vertical sizes of the block set in step SB5 are calculated and finished.

A segmentation operation performed after the blocking operation as described above will be described with reference to FIG. 12.

The actual size of the width and height calculated by the step SB6 is input (step SS1) to determine whether the data is the width of the step SS2. When it is determined that the data is horizontal in the step SS2, the process proceeds to the step SS3 to store the actual size of the horizontal in the variable G, and the process proceeds to the step SS4 to access the set number of horizontal equals Q. After that, the process proceeds to step SS5 to calculate G / Q to determine whether the remainder is zero. If the remainder of the staff SS5 is zero, the process proceeds to the staff SS6 to store the calculated value of G / Q in the horizontal division size P.

If the remainder is not zero in step SS5, the process proceeds to step SS7 to initialize the variable variable N to 1, proceeds to step SS8, adds 1 to the variable variable N, and proceeds to step SS9. In step SS9, (N ^* G) / Q is calculated to determine whether the remainder is zero. If the rest of the staff SS9 is not zero, the process proceeds to the staff SS8. If the rest is zero, the process proceeds to the staff SS10 and stores the calculated value of (N ^* G) / Q in the horizontal division size (P).

Thereafter, the staff SS11 sets the product of the horizontal division size calculated in the above process and the variable Q as the size of the modified block.

If it is determined in step SS2 that the data is vertical rather than the horizontal data, the process proceeds to step SS12 to store the actual size of the vertical value in the variable S, and the step SS13 to set the number of vertical equal parts R set. Access.

Thereafter, the process proceeds to step SS14, and S / R is calculated to determine whether the rest is zero. If the rest of the staff SS14 is zero, the process proceeds to the staff SS15 to store the calculated value of S / R in the vertical division size O.

If the remainder is not zero in step SS14, the process proceeds to step SS16 to initialize the variable variable M to 1, proceeds to step SS17, adds 1 to the variable variable M, and proceeds to step SS18. In step SS18, (M ^* S) / R is calculated to determine whether the remainder is zero. If the remainder is not zero in step SS18, the process proceeds to step SS17. If the remainder is zero, proceeds to step SS19. The calculated value of (M ^* ) / R is stored in the vertical division size O.

Then, in step SS0, the product of the vertical division size calculated in the above process and the variable R is set to the vertical size of the modified block.

The reason for dividing the zone by modifying the actual size in the segmentation operation as described above is to prevent the problem that the processing efficiency of the central control unit is sharply deteriorated when the actual horizontal and vertical size are not multiples of the size to be divided. For that. The blocking and segmentation operation process as described above divides the image data of the label, and recognizes only the segment having the ratio of pixel 1 which is logical 1 due to area-to-binarization is more than a predetermined ratio (eg 90%) as the recognized label data. Will be.

When the identification of the tire 300 is completed by the above process, the clamp 213 is reversed and the cylinder 221 of the up and down operating unit 220 is operated to lower the sensing unit 200 and then the driving means 231. Power is transmitted to the sprocket 232 to send out the tire 300.

The operation of one cycle is completed by the operation as described above, and when the tire 300 is discharged, a new tire 300 enters and repeatedly operates as described above.

As described above, the present invention is able to classify various annular articles having various specifications so that they can be accurately identified by the recognition device at a high speed at a high speed, thereby contributing to factory automation.

In addition, the present invention is not limited to tires, but can be applied to all annular articles having various specifications.

Claims (4)

In the automatic sorting apparatus of the annular article driven by the control to the central processing unit so that the annular article can be recognized according to the standard by automatically entering the article entry portion 100 consisting of a plurality of rollers to continuously enter the annular articles of various specifications ), A fixing unit 210 for centering and fixing annular articles of various standards entering the article entry unit 100, and an up and down operating unit for operating the height of the fixing unit 210 up and down by a cylinder ( 220 and a driving means 231 connected to the gear 232 at the bottom of the fixing part 210, the gear 232 and the rotating plate 233 is configured to be connected in a chain to the fixing part 210 A high speed line scan camera 240 that reads a unique label 301 formed on a surface of an annular article of various sizes that is fixed and rotated by a rotating unit 230 for rotating the fixed unit and the line scan camera 240. Input from And a sensing unit (200) for comparing the image data and the data recorded in the central processing unit and classifying the image data according to the label type of the article. According to claim 1, The sensor 130 is attached to the left and right of the upper surface of the plurality of rollers 110 constituting the article entry portion 100, the guide roller 120 for guiding the annular article on the left and right of the article entrance Automatic sorting device of the annular article, characterized in that installed. According to claim 1, The fixing portion 210 is installed on the bottom of the cylinder 221, connecting the hinge 212 axially coupled to the rod top of the cylinder 221, the clamp (212) on the top of the hinge (212) Automatic sorting device of the annular article, characterized in that configured by connecting. According to claim 1, The upper and lower operation unit 220 is an automatic sorting apparatus of the annular article, characterized in that the cylinder 221 is installed on the left and right and the support plate 222 is attached to the upper end of the cylinder (221).