WO2020001481A1 - Procédé et système d'emballage pour carreau de céramique par couleur et motif - Google Patents

Procédé et système d'emballage pour carreau de céramique par couleur et motif Download PDF

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Publication number
WO2020001481A1
WO2020001481A1 PCT/CN2019/093026 CN2019093026W WO2020001481A1 WO 2020001481 A1 WO2020001481 A1 WO 2020001481A1 CN 2019093026 W CN2019093026 W CN 2019093026W WO 2020001481 A1 WO2020001481 A1 WO 2020001481A1
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WIPO (PCT)
Prior art keywords
learning
sample set
samples
tile
sub
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PCT/CN2019/093026
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English (en)
Chinese (zh)
Inventor
武桢
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广东科达洁能股份有限公司
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Publication of WO2020001481A1 publication Critical patent/WO2020001481A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers

Definitions

  • the invention relates to the technical field of ceramic tile detection, and in particular, to a method and system for packaging and decorating ceramic tiles.
  • ceramic tiles are the most important materials for building decoration.
  • High-grade ceramic tiles are often used in the construction of expensive and high-quality houses.
  • the ceramic industry is generally under pressure from rising costs, environmental protection, and anti-dumping, especially the homogeneity of industry products, which has intensified competition among various brands in the industry.
  • ceramic tile companies pay more and more attention to product creation and more attention to intelligent production to attract more businesses to trade.
  • the tile factory basically distinguishes the color of the tiles by the workers, and transfers them to the material frame, and then packs the tiles of the same color, so that the tiles are classified and packed.
  • the workload is very large, the labor cost is high, and the operating environment is harsh (The tiles are hot and dusty).
  • Existing smart tile sorting and packaging devices all require a large sample size for machine learning, and then the smart tile sorting and packaging device can classify the detected tiles according to suit color. In this process, the required sample size is even Reaching tens of thousands, this undoubtedly brings great difficulties to machine learning.
  • one of the objectives of the present invention is to provide a method and a system for packaging tiles with different designs.
  • the sub-samples constitute a training sample set to train the tile classification packaging system, so the required sample size is greatly reduced, and the detection efficiency is improved.
  • the specific invention content is as follows:
  • a method for dividing and decorating ceramic tiles comprising the following steps:
  • Step 1 Select tiles of different colors as the original samples.
  • the original samples are divided into learning samples and test samples.
  • the set of learning samples is called the learning sample set
  • the set of test samples is called the test sample set.
  • the learning sample set includes A 1 , A 2, A 3, A 4 (2003) A n;
  • the test sample comprises a set of B 1, B 2, B 3 , B 4 ising B n;
  • Step 2 Collect images of the tile learning sample set
  • Step 3 Divide each collected learning sample into several sub-samples. Each sub-sample needs to contain a pattern.
  • the set of all sub-samples is called the training sample set.
  • Step 4 learning the training sample set, using the test sample set to detect the learning results, so as to continuously optimize the learning model
  • Step 5 Sort, stack and pack the tested tiles according to suit color.
  • the learning method in step 4 can be a conventional method in the field of machine learning.
  • machine learning can be divided into supervised learning, unsupervised learning, and semi-supervised learning.
  • algorithm it can be divided into regression algorithms, instance-based algorithms, Bayesian algorithm, clustering algorithm, artificial neural network algorithm, etc.
  • each sub-sample after the segmentation in step 3 may be any shape.
  • the shape of each sub-sample There is no limitation on the shape of each sub-sample, and even the shape of each sub-sample can be different, but each sub-sample must contain a color pattern.
  • each sub-sample must contain a color pattern.
  • the size of each sub-sample is not greater than the size of the original sample, each sub-sample
  • the size of the sample can be any size.
  • the step 3 specifically includes the following two sub-steps:
  • Step 3.1 Segment the corners of each learning sample from the background environment to form a clear outline
  • Step 3.2 Divide the learning samples with clear contours into sub-samples to form a training sample set.
  • each learning sample must be segmented from the background environment to form a clear outline to avoid interference from image impurities caused by impurities in the background environment.
  • the second object of the present invention is to provide a tile color matching package system, which includes a tile color recognition system, a conveying mechanism, a grasping mechanism, and a packaging mechanism; the tile color recognition system is disposed directly above the conveying mechanism, so that The number of the gripping mechanisms is several, and the gripping mechanisms are arranged on both sides of the conveying mechanism, and the gripping mechanisms are arranged downstream of the tile pattern recognition system; a package is provided near each of the gripping mechanisms.
  • the grasping mechanism is electrically connected with the tile pattern recognition system;
  • the tile pattern recognition system includes a camera device and a detection device, the detection device includes a memory and a processor; the camera device and the detection device Electrical connection; the camera device is used to collect an image of the tile original sample set, and then transfer the image data to the memory of the detection device, the processor extracts the image data from the memory and completes the following instructions:
  • the pattern of the detected tiles is identified, and a feedback signal is sent to the corresponding grasping mechanism.
  • the imaging device is a CCD camera.
  • CCD is the abbreviation of charge coupled device. It can change light into electric charge and store and transfer the electric charge. It can also take out the stored electric charge to change the voltage.
  • a CCD camera can also be called a CCD image sensor.
  • the suit recognition system further includes a detection switch, and the detection switch is a sensor.
  • the detection switch detects that a tile is present, a feedback signal from the detection switch is sent to the tile classification and packaging system.
  • an auxiliary light source is further provided on the imaging device, the auxiliary light source includes at least one auxiliary light emitting element, and the auxiliary light emitting element is detachable.
  • the light emitting elements can be replaced to obtain different colors of light.
  • the grasping mechanism includes a fixed frame, a swing arm, and a clamping mechanism; the swing arm is hinged to the fixed frame; and a driving swing arm is further provided between the fixed frame and the swing arm A swing driving mechanism; the clamping mechanism is disposed at the top of the swing arm.
  • a rotation driving mechanism for driving the clamping mechanism to rotate is further provided at the top end of the swing arm.
  • the grasping mechanism is a six-axis manipulator, and a suction cup is provided at the top of the six-axis manipulator.
  • the invention provides a tile classification and packaging method. By dividing tile learning samples of different suits into a plurality of sub-samples, and each sub-sample must contain a suit pattern, all the sub-samples constitute a training sample set for machine training, so greatly reduced. The required sample size is increased, and the detection efficiency is improved.
  • the invention also provides a tile color-packing packaging system, which can automatically sort and pack tiles of different colors, which greatly saves classification time, improves efficiency, saves labor and reduces labor intensity, and has a simple equipment structure and a lower enterprise. cost.
  • FIG. 1 is a schematic diagram of a tile color recognition system in a tile spot color packaging system of the present invention
  • FIG. 2 is a schematic structural diagram of a tile color-packing packaging system of the present invention.
  • a ceramic tile pattern packaging system includes a tile pattern recognition system 2, a conveying mechanism 1, a grasping mechanism 3, and a packaging mechanism 4; Above, when a tile passes through the tile pattern recognition system 2, it can be detected by the tile pattern recognition system 2.
  • the number of the grasping mechanisms 3 is several, and the grasping mechanism 3 is used for Grab tiles of different designs, and then stack and pack them, so the number of gripping mechanisms 3 is greater than or equal to the type of tile designs; the gripping mechanisms 3 are provided on both sides of the conveying mechanism 1 to facilitate gripping the And the gripping mechanism 3 is disposed downstream of the tile pattern recognition system 2. The so-called downstream is defined by the direction of the tile conveyance, and the tiles pass through the tile pattern recognition system 2 before passing The grasping mechanism 3.
  • a packaging mechanism 4 is provided near each of the grasping mechanisms 3 for packaging the tiles.
  • the packaging mechanism 4 further includes a method for overlapping the four peripheral corner positions of the tiles with the folding edges of the paper. Aligned patting brick mechanism; lower corner mechanism for inserting packaging corner codes into the four peripheral corner positions of the tile; and hemming mechanism for folding the packaging carton along the fold line, the paving brick mechanism is also connected to a paving brick mechanism Paper feeding mechanism for automatic input of packing carton.
  • the grasping mechanism 3 is electrically connected to the tile pattern recognition system 2, and the tile pattern recognition system 2 feeds back a signal to the grasping mechanism 3.
  • the tile pattern recognition system 2 recognizes that the detected tile belongs to In a certain suit, the tile suit recognition system 2 feeds back a signal to the corresponding gripping mechanism 3.
  • the gripping mechanism 3 acts to grab the tile and place it Packing is performed on the packaging mechanism 4 near the grasping mechanism 3.
  • the tile color recognition system 2 includes a camera device and a detection device.
  • the detection device includes a memory and a processor.
  • the camera device is electrically connected to the detection device.
  • the camera device is used to collect tiles.
  • the image of the original sample set, and then transmitting the image data to the memory of the detection device, the processor extracts the image data from the memory and completes the following instructions:
  • the learning sample set is divided into several sub-samples, and each sub-sample needs to contain a defect pattern to form a training sample set;
  • the pattern of the detected tiles is identified, and a feedback signal is sent to the corresponding grasping mechanism 3.
  • the imaging device is a CCD camera, and CCD is an abbreviation of charge coupled device. It can change light into electric charges and store and transfer the electric charges. The stored electric charges can also be taken out to change the voltage.
  • a CCD camera can also be called a CCD image sensor.
  • the tile color recognition system 2 further includes a detection switch, which is used to detect whether a detected tile appears, and if there is a tile within the detection switch detection range, the detection system is activated. If no tile appears in the detection range, the detection system is not activated, and the detection switch is a sensor.
  • the camera device is further provided with an auxiliary light source, the auxiliary light source includes at least one auxiliary light emitting element, the auxiliary light source is used for generating light to facilitate a better sensing image, and the auxiliary light emitting element is detachable.
  • the light emitting elements can be replaced to obtain different colors of light.
  • the grasping mechanism 3 includes a fixed frame, a swing arm, and a clamping mechanism; the swing arm is hinged to the fixed frame; and a swing driving the swing arm is further provided between the fixed frame and the swing arm.
  • a driving mechanism; the clamping mechanism is provided at a top end of the swing arm.
  • the swing driving mechanism drives the swing arm to move, so as to drive the clamping mechanism to clamp the corresponding tile, and then place it on the packaging mechanism 4 near the grasping mechanism 3.
  • the fixing frame is used to fix the grasping mechanism. Take mechanism 3, the clamping mechanism is used for clamping tiles.
  • a rotation driving mechanism for driving the clamping mechanism to rotate is further provided at the top end of the swing arm.
  • the rotation driving mechanism can drive the clamping mechanism to rotate, so that the rear surface and the front surface of the tile can be replaced during the process of gripping the tiles, and the tiles can be placed in a uniform direction.
  • the grasping mechanism 3 is a six-axis manipulator, and a suction cup is provided at the top of the six-axis manipulator. Use the suction cup to suck up the tiles.
  • the invention also provides a tile defect detection method, which includes the following steps:
  • Step 1 Select tiles of different colors as the original samples.
  • the original samples are divided into learning samples and test samples.
  • the set of learning samples is called the learning sample set
  • the set of test samples is called the test sample set.
  • the learning sample set includes A 1 , A 2, A 3, A 4 (2003) A n;
  • the test sample comprises a set of B 1, B 2, B 3 , B 4 ising B n;
  • Step 2 Collect images of the tile learning sample set
  • Step 3 Divide each collected learning sample into several sub-samples. Each sub-sample needs to contain a pattern.
  • the set of all sub-samples is called the training sample set.
  • Step 4 learning the training sample set, using the test sample set to detect the learning results, so as to continuously optimize the learning model
  • Step 5 Sort, stack and pack the tested tiles according to suit color.
  • each tile with the color is called the original sample.
  • the original sample is divided into learning samples and test samples.
  • the set of learning samples is called the learning sample set.
  • each sub-sample after segmentation in step 3 is not greater than the size of the original sample.
  • the shape of each sub-sample can be any shape. There is no limitation on the shape of each sub-sample, and even the shape of each sub-sample can be different, but each sub-sample must contain a color pattern. Under the premise that the size of each sub-sample is not greater than the size of the original sample, each sub-sample The size of the sample can be any size.
  • the step 3 specifically includes the following two sub-steps:
  • Step 3.1 Segment the corners of each learning sample from the background environment to form a clear outline
  • Step 3.2 Divide the learning samples with clear contours into sub-samples to form a training sample set.
  • each learning sample must be segmented from the background environment to form a clear outline to avoid interference from image impurities caused by impurities in the background environment.
  • the learning method in step 4 can be a conventional method in the field of machine learning.
  • machine learning can be divided into supervised learning, unsupervised learning, and semi-supervised learning.
  • algorithm it can be divided into regression algorithms, instance-based algorithms, Bayesian algorithm, clustering algorithm, artificial neural network algorithm, etc.
  • the segmented training sample set is machine-learned in the processor of the processing device.
  • the segmented sub-samples In order to facilitate machine learning to get as many patterns as possible, the segmented sub-samples must be as small as possible, but each sub-sample must contain a pattern. It cannot be blank, otherwise it is an invalid sub-sample.
  • the machine learns as many patterns as possible it uses the test sample set to detect the learning results, so as to continuously iteratively optimize the learning model. Finally, the detected patterns captured by the camera device Compared with the learned pattern, the built-in algorithm of the processor is used to determine which pattern is the detected tile.
  • the method for cutting a sub-sample is to set a fixed-size sliding window and slide from left to right and from top to bottom with a certain step size to segment the collected tile image, the step length The distance to move with a square, rectangle, or circle as the center.
  • the step size is determined according to the information of the image. When the range of the defect is large, the step size should be shorter to segment more sub-samples. When the range of the defect is relatively small, the step size can be longer.

Abstract

La présente invention concerne un procédé et un système d'emballage pour carreau de céramique par couleur et motif, le système comprenant un système de reconnaissance de couleur et de motif de carreau de céramique (2), un mécanisme de transmission (1), un mécanisme de préhension (3) et un mécanisme d'emballage (4) ; le système de reconnaissance de couleur et de motif de carreau de céramique (2) comprend un dispositif de prise de vues de type caméra et un dispositif de détection, et le dispositif de détection comprend une mémoire et un processeur ; le dispositif de prise de vues de type caméra est raccordé électriquement au dispositif de détection ; le processeur extrait des données d'image de la mémoire et divise l'ensemble d'échantillons d'apprentissage en une pluralité de sous-échantillons, et chaque sous-échantillon nécessite de contenir un échantillon de couleur et de motif, de façon à former l'ensemble d'échantillons d'apprentissage, apprendre l'ensemble d'échantillons d'apprentissage, et détecter les résultats d'apprentissage à l'aide de l'ensemble d'échantillons de test, en optimisant en continu le modèle d'apprentissage.
PCT/CN2019/093026 2018-06-28 2019-06-26 Procédé et système d'emballage pour carreau de céramique par couleur et motif WO2020001481A1 (fr)

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CN201810683581.1A CN109051106B (zh) 2018-06-28 2018-06-28 一种瓷砖分花色包装方法及系统
CN201810683581.1 2018-06-28

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CN109051106B (zh) * 2018-06-28 2021-08-20 广东科达洁能股份有限公司 一种瓷砖分花色包装方法及系统
CN112633393B (zh) * 2020-12-29 2022-11-15 北京理工大学重庆创新中心 一种瓷砖纹理自动分类方法及装置

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