CN103934211A - Stereoscopic vision-based three-dimensional product size sorting system - Google Patents
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Abstract
The invention provides a stereoscopic vision-based three-dimensional product size sorting system. According to the system, three-dimensional sizes of products entering a sorting detection area can be directly identified and classified by using a binocular image which is acquired, so that the sorting task of the three-dimensional sizes of the products is further realized; a stereoscopic vision monitoring mechanism and a sorting mechanism in the system can cooperatively work to accurately and quickly sort the products which are conveyed to the sorting detection area, so that the three-dimensional product size sorting system can smoothly operate and is high in sorting efficiency, and the problems of inaccurate three-dimensional size based product sorting and low sorting efficiency in the prior art are solved; moreover, the stereoscopic vision-based three-dimensional product size sorting system is simple in structure and has a great popularization and application prospect, the integrated design can be adopted, the system size is reduced, and the site sorting construction is carried out favorably.
Description
Technical field
The present invention relates to image processing techniques and product automation sorting technical field, be specifically related to a kind of three-dimensional size of product sorting system based on stereoscopic vision.
Background technology
Industrial products are generally stereochemical structure, mainly have length, width and three size factors of height.In small lot batch manufacture, if less demanding for product sorting precision can adopt the length and width of manual measurement product and Gao Lai to carry out product sorting, be comparison effective method.But for producing in enormous quantities, sort in the higher production of required precision, not only labour intensity is high, efficiency is low for the method for manual measurement sorting, and precision is also lower, therefore needs to adopt automatic sorting device to replace manual sorting.
There is at present the product sorting device of multiple automation, these product sorting devices are generally by video camera of sandwiched directly over a delivery track, take the two dimensional image of the product on delivery track, thereby through image processing, the color of length, width two-dimensional or product to product is distinguished different product, to realize the sorting of product.But such product sorting device only can be distinguished one dimension (color) or two dimension (two-dimensional) characteristic element of product, and for the product of being strict with length, width and three size factors of height, cannot complete accurately automatic sorting, cause the problem that product sorting error is large.
In order to address this problem, also there are some improved product sorting devices, sorted to realize according to the three-dimensional dimension of product.For example, on original product sorting device basic that carries out two dimensional image collection based on video camera, at an other infrared height detecting device or the laser elevation checkout gear set up again of side of delivery track, in order to detect by infrared induction or laser beam, the product transmitting on delivery track is carried out to horizontal height scanning, obtain on the basis of product two-dimensional in the two dimensional image collection by video camera thus, by third dimension degree (highly) size of infrared height detecting device or laser elevation checkout gear acquisition product, thereby realize the sorting to product according to three-dimensional dimension.But the three-dimensional size of product sorting equipment forming thus, because the mechanism relating to is more, complex structure, therefore build is comparatively huge conventionally; The length and width size of product is to carry out secondary acquisition acquisition by different equipment from the height dimension of product simultaneously, in order to ensure acquisition precision, conventionally just need the diverse location of two collecting devices on delivery track to gather respectively, this just causes obtaining of three-dimensional dimension to have certain delay, and then making device to the also corresponding increase of delay that the judgement of three-dimensional size of product is processed and sorting is controlled, sorting speed and efficiency are all minimized.
Summary of the invention
For above shortcomings in prior art, the object of the present invention is to provide a kind of three-dimensional size of product sorting system based on stereoscopic vision, distinguish in order to the three-dimensional dimension feature to product, thereby complete the sorting task to three-dimensional size of product, increase the sorting accuracy to product, improve sorting treatment effeciency to product, with solve in prior art the product sorting based on three-dimensional dimension inaccurate, sort inefficient problem.
For solving the problems of the technologies described above, the present invention has adopted following technological means:
Three-dimensional size of product sorting system based on stereoscopic vision, comprises connecting gear, stereoscopic vision MA monitoring agency and sorting processing mechanism;
Described connecting gear is for being sent to product the sorting detection zone of appointment;
Described stereoscopic vision MA monitoring agency is for carrying out binocular imaging collection to sorting detection zone, according to the binocular image gathering, the product that enters sorting detection zone is carried out to three-dimensional dimension identification, and based on three-dimensional dimension to the product processing of classifying, obtain the classification results of the product that enters sorting detection zone;
Described sorting executing agency and stereoscopic vision MA monitoring agency carry out data communication, the product classification result obtaining for obtaining stereoscopic vision MA monitoring agency, and will sort the product sorting of detection zone to the product-collecting district of respective classes according to product classification result.
In the above-mentioned three-dimensional size of product sorting system based on stereoscopic vision, as a kind of prioritization scheme, described stereoscopic vision MA monitoring agency comprises binocular camera shooting unit, size identifying processing unit and product classification processing unit; Described binocular camera shooting unit, in real time sorting detection zone being carried out to binocular imaging collection, obtains real-time binocular image; Described size identifying processing unit is for carrying out product identification processing to the binocular image of Real-time Collection, judge and in binocular image, whether occur product image, and in the time of the product occurring in identifying binocular image, by three-dimensional measurement algorithm, the current product identifying is carried out to three-dimensional measurement processing, thereby identify when the three-dimensional dimension that advances into the product that sorts detection zone; Described product classification processing unit carries out data communication with sorting executing agency, be used in the time identifying the three-dimensional dimension of product, the three-dimensional dimension of the three-dimensional dimension of the current product identifying and pre-stored different classes of product sample is contrasted, thereby determine the product category under it according to the three-dimensional dimension of current production, obtain when the classification results that advances into the product that sorts detection zone, and in real time the classification results of working as the product that advances into sorting detection zone is sent to sorting executing agency by data communication.
In the above-mentioned three-dimensional size of product sorting system based on stereoscopic vision, as a kind of prioritization scheme, described sorting processing mechanism comprises sorting control module and sorting operation execution unit; Described sorting control module and stereoscopic vision MA monitoring agency carry out data communication, the classification results of the product obtaining for Real-time Obtaining stereoscopic vision MA monitoring agency, determine the product category under the product that advances into sorting detection zone, and according to the corresponding sorting operational order of predefined corresponding product classification, control described sorting performance element and will work as the product sorting of presort detection zone to the product-collecting district of corresponding product classification.
Than prior art, the present invention has following beneficial effect:
1, the present invention is based on the three-dimensional size of product sorting system of stereoscopic vision, its directly by binocular imaging collection, utilize binocular image to realize three-dimensional dimension identification and the classification of the product to entering sorting detection zone, and then the sorting task to three-dimensional size of product of realization, solve in prior art based on product one dimension or two dimensional character key element and sorted and cause sorting inaccurate problem.
2, the present invention is based in the three-dimensional size of product sorting system of stereoscopic vision, stereoscopic vision MA monitoring agency and the work that can cooperatively interact of sorting processing mechanism, move in circles, the product that is transferred into sorting detection zone is sorted to processing accurately and rapidly, thereby ensure that three-dimensional size of product sorting system can successfully be able to smooth operation, guarantee that system possesses higher sorting treatment effeciency, solved the inefficient problem of the product sorting based on three-dimensional dimension in prior art.
3, the three-dimensional size of product sorting system that the present invention is based on stereoscopic vision, its structure is more simple, and can adopt Integration Design, and reduction system bulk is conducive to better implement on-the-spot sorting construction, has good popularizing application prospect.
Brief description of the drawings
Fig. 1 is the framework schematic diagram that the present invention is based on the three-dimensional size of product sorting system of stereoscopic vision.
Fig. 2 is the framework schematic diagram that the present invention is based on the three-dimensional size of product sorting system neutral body visual surveillance mechanism of stereoscopic vision.
Fig. 3 the present invention is based on the framework schematic diagram that sorts processing mechanism in the three-dimensional size of product sorting system of stereoscopic vision.
Detailed description of the invention
The invention provides a kind of three-dimensional size of product sorting system based on stereoscopic vision, this system has been utilized the principle of stereoscopic vision of binocular imaging, by sorting detection zone is carried out binocular imaging collection and product is carried out to three-dimensional dimension identification, the three-dimensional sense organ of the stereoscopic vision of simulation human eye to object, thereby directly based on three-dimensional dimension, product is sorted, can significantly increase the sorting accuracy to product, and ensure higher sorting treatment effeciency simultaneously.
The present invention is based on the three-dimensional size of product sorting system of stereoscopic vision, its integral frame schematic diagram as shown in Figure 1, is mainly made up of connecting gear, stereoscopic vision MA monitoring agency and sorting processing mechanism.Wherein, connecting gear is for being sent to product the sorting detection zone of appointment.Stereoscopic vision MA monitoring agency is for carrying out binocular imaging collection to sorting detection zone, according to the binocular image gathering, the product that enters sorting detection zone is carried out to three-dimensional dimension identification, and based on three-dimensional dimension to the product processing of classifying, obtain the classification results of the product that enters sorting detection zone.Sorting executing agency carries out data communication with stereoscopic vision MA monitoring agency, the product classification result obtaining for obtaining stereoscopic vision MA monitoring agency, and will sort the product sorting of detection zone to the product-collecting district of respective classes according to product classification result.
Can see, the present invention is based on the three-dimensional size of product sorting system of stereoscopic vision, its by binocular imaging collection, utilize binocular image to realize three-dimensional dimension identification and the classification of the product to entering sorting detection zone, the sorting task to three-dimensional size of product of realization, has solved based on product one dimension or two dimensional character key element and has sorted and cause sorting inaccurate problem; The binocular image that the identification of the three-dimensional size of product sorting system that simultaneously the present invention is based on stereoscopic vision to three-dimensional size of product and classification all directly obtain by the collection of stereoscopic vision MA monitoring agency binocular imaging completes, therefore do not exist the three-dimensional dimension judgement causing because of the delay of sized data secondary acquisition to process and sorting control lag problem, contribute to improve the sorting treatment effeciency of system.
The present invention is based in the three-dimensional size of product sorting system of stereoscopic vision, for concrete application realizes, its connecting gear can adopt conventional delivery track, belt conveyer, chain conveyor etc., can select according to actual product delivery requirements and applied environment.
Stereoscopic vision MA monitoring agency in system is mainly made up of binocular camera shooting unit, size identifying processing unit and product classification processing unit, as shown in Figure 2; Wherein, binocular camera shooting unit, in real time sorting detection zone being carried out to binocular imaging collection, obtains real-time binocular image; Size identifying processing unit is for carrying out product identification processing to the binocular image of Real-time Collection, judge and in binocular image, whether occur product image, and in the time of the product occurring in identifying binocular image, by three-dimensional measurement algorithm, the current product identifying is carried out to three-dimensional measurement processing, thereby identify when the three-dimensional dimension that advances into the product that sorts detection zone; Product classification processing unit carries out data communication with sorting executing agency, be used in the time identifying the three-dimensional dimension of product, the three-dimensional dimension of the three-dimensional dimension of the current product identifying and pre-stored different classes of product sample is contrasted, thereby determine the product category under it according to the three-dimensional dimension of current production, obtain when the classification results that advances into the product that sorts detection zone, and in real time the classification results of working as the product that advances into sorting detection zone is sent to sorting executing agency by data communication.
In addition, sorting processing mechanism is mainly made up of sorting control module and sorting operation execution unit, as shown in Figure 3; Sorting control module and stereoscopic vision MA monitoring agency carry out data communication, the classification results of the product obtaining for Real-time Obtaining stereoscopic vision MA monitoring agency, determine the product category under the product that advances into sorting detection zone, and according to the corresponding sorting operational order of predefined corresponding product classification, control described sorting performance element and will work as the product sorting of presort detection zone to the product-collecting district of corresponding product classification.
Thus, the present invention is based in the three-dimensional size of product sorting system of stereoscopic vision, stereoscopic vision MA monitoring agency and the work that cooperatively interacts of sorting processing mechanism, be sent to sorting when detection zone whenever there being product to be transmitted mechanism, the binocular image that stereoscopic vision MA monitoring agency just can collect based on it is immediately to carrying out identification and the classification of three-dimensional dimension when the product that advances into sorting detection zone, obtain the classification results of product, and sorting processing mechanism also will be worked as the product sorting that advances into sorting detection zone to the product-collecting district of corresponding product classification according to this classification results immediately; So move in circles, the product that is transferred into sorting detection zone can be sorted processing all the time accurately and rapidly, can not cause the accumulation at sorting detection zone of the delay of product sorting processing and product, ensure that three-dimensional size of product sorting system can successfully be able to smooth operation, has guaranteed that system possesses higher sorting treatment effeciency.Wherein, the binocular camera shooting unit of stereoscopic vision MA monitoring agency can adopt commercial binocular camera to realize; The size identifying processing unit of stereoscopic vision MA monitoring agency can adopt microcomputer or the data processing circuit that is core based on process chip such as ARM, utilize graph outline recognition technology and three-dimensional measurement algorithm to product to be programmed, complete to binocular to product identification processing and three-dimensional measurement processing; And the data processing circuit that it is core that product classification processing unit also can adopt based on process chip such as ARM utilizes sorting algorithm to be programmed, and completes the product classification processing based on three-dimensional dimension.In technical field of image processing, the correlative study of graph outline recognition technology and three-dimensional measurement computing is comparatively ripe, also has in the prior art a lot of relevant technical literature data, and therefore the present invention does not remake too much and repeats this.Certainly, size identifying processing unit and product classification processing unit also can be integrated in one, the data processing circuit that is core by microcomputer or process chip is achieved by multitasking programming, reaches the object that improves system integration, reduces system bulk.The sorting control module of sorting processing mechanism can adopt the sorting controller on existing product line, only need itself and stereoscopic vision MA monitoring agency to carry out data communication, the product classification result sending according to stereoscopic vision MA monitoring agency is controlled sorting performance element and is carried out corresponding sorting operational order; The sorting performance element of sorting processing mechanism, according to the difference of product line, can correspondingly adopt manipulator, delivery device etc. to carry out the sorting operation to product.
In sum, can see, the present invention is based on the three-dimensional size of product sorting system of stereoscopic vision, it directly gathers by binocular imaging, utilize binocular image to realize three-dimensional dimension identification and the classification of the product to entering sorting detection zone, and then the sorting task of realization to three-dimensional size of product, and the stereoscopic vision MA monitoring agency in system and the work that can cooperatively interact of sorting processing mechanism, move in circles, the product that is transferred into sorting detection zone is carried out accurately, sorting is fast processed, thereby ensure that three-dimensional size of product sorting system can successfully be able to smooth operation, guarantee that system possesses higher sorting treatment effeciency, solve thus in prior art the product sorting based on three-dimensional dimension inaccurate, sort inefficient problem.And, the present invention is based on the three-dimensional size of product sorting system of stereoscopic vision, its structure is more simple, and can adopt Integration Design, and reduction system bulk is conducive to better implement on-the-spot sorting construction, has good popularizing application prospect.
Finally explanation is, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (3)
1. the three-dimensional size of product sorting system based on stereoscopic vision, is characterized in that, comprises connecting gear, stereoscopic vision MA monitoring agency and sorting processing mechanism;
Described connecting gear is for being sent to product the sorting detection zone of appointment;
Described stereoscopic vision MA monitoring agency is for carrying out binocular imaging collection to sorting detection zone, according to the binocular image gathering, the product that enters sorting detection zone is carried out to three-dimensional dimension identification, and based on three-dimensional dimension to the product processing of classifying, obtain the classification results of the product that enters sorting detection zone;
Described sorting executing agency and stereoscopic vision MA monitoring agency carry out data communication, the product classification result obtaining for obtaining stereoscopic vision MA monitoring agency, and will sort the product sorting of detection zone to the product-collecting district of respective classes according to product classification result.
2. the three-dimensional size of product sorting system based on stereoscopic vision according to claim 1, is characterized in that, described stereoscopic vision MA monitoring agency comprises binocular camera shooting unit, size identifying processing unit and product classification processing unit;
Described binocular camera shooting unit, in real time sorting detection zone being carried out to binocular imaging collection, obtains real-time binocular image;
Described size identifying processing unit is for carrying out product identification processing to the binocular image of Real-time Collection, judge and in binocular image, whether occur product image, and in the time of the product occurring in identifying binocular image, by three-dimensional measurement algorithm, the current product identifying is carried out to three-dimensional measurement processing, thereby identify when the three-dimensional dimension that advances into the product that sorts detection zone;
Described product classification processing unit carries out data communication with sorting executing agency, be used in the time identifying the three-dimensional dimension of product, the three-dimensional dimension of the three-dimensional dimension of the current product identifying and pre-stored different classes of product sample is contrasted, thereby determine the product category under it according to the three-dimensional dimension of current production, obtain when the classification results that advances into the product that sorts detection zone, and in real time the classification results of working as the product that advances into sorting detection zone is sent to sorting executing agency by data communication.
3. the three-dimensional size of product sorting system based on stereoscopic vision according to claim 1, is characterized in that, described sorting processing mechanism comprises sorting control module and sorting operation execution unit; Described sorting control module and stereoscopic vision MA monitoring agency carry out data communication, the classification results of the product obtaining for Real-time Obtaining stereoscopic vision MA monitoring agency, determine the product category under the product that advances into sorting detection zone, and according to the corresponding sorting operational order of predefined corresponding product classification, control described sorting performance element and will work as the product sorting of presort detection zone to the product-collecting district of corresponding product classification.
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| CN109261528A (en) * | 2018-09-03 | 2019-01-25 | 广州铁路职业技术学院（广州铁路机械学校） | Express delivery sorting method and device based on binocular vision |
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| CN109909164A (en) * | 2019-03-12 | 2019-06-21 | 朱黎雨 | Wrap up attribute detection method, package rough segmentation equipment and Automated Sorting System |
| CN111960098A (en) * | 2020-08-17 | 2020-11-20 | 哈尔滨博觉科技有限公司 | Analysis storage platform based on big data of Internet of things |
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| CN115055403A (en) * | 2022-06-20 | 2022-09-16 | 安徽九鲤智能设备有限公司 | Slider mechanism of slider sorting machine with disinfection function |
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