CN110694940A - Control method and system for adjusting blowing of spray valve in real time based on dead pixel and size - Google Patents
Control method and system for adjusting blowing of spray valve in real time based on dead pixel and size Download PDFInfo
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- CN110694940A CN110694940A CN201910955170.8A CN201910955170A CN110694940A CN 110694940 A CN110694940 A CN 110694940A CN 201910955170 A CN201910955170 A CN 201910955170A CN 110694940 A CN110694940 A CN 110694940A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
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Abstract
The invention relates to the field of color sorters, and discloses a control method for adjusting blowing of a spray valve in real time based on dead spots and sizes, which comprises the following steps: adding materials to be sorted into a color sorter, collecting images of the materials, and separating the foreground from the background of the images to obtain a significant image of the materials; judging whether a dead pixel exists in the saliency map; judging whether the materials in the saliency map are heterochromatic materials or not; measuring the size of the material and blowing the material to cause the material to fall out of the waste outlet; the control system comprises an image acquisition module, a significance processing module, a dead pixel judgment module, a heterochrosis judgment module, a waste material removing module, a storage module and an input module, wherein the image acquisition module, the significance processing module, the dead pixel judgment module, the heterochrosis judgment module, the waste material removing module, the storage module and the input module are all connected with a controller, the air blowing time of the removing device can be controlled according to the size of the material, the material is prevented from being blown too far or too close, the material can fall into a waste material outlet, and meanwhile, certain energy can be saved.
Description
Technical Field
The invention relates to the field of color sorters, in particular to a control method and a system for adjusting blowing of a spray valve in real time based on dead spots and sizes.
Background
The color selector is equipment for automatically sorting out heterochromatic particles in particle materials by utilizing a photoelectric detection technology according to the difference of optical characteristics of the materials. Color sorters are currently used in the field of discrete materials or packaging industries, food quality inspection and classification. The material that there is the bad point and the heterochrosis material rejection of removing device in current look selection machine, removing device are current device, and technical staff in the field from outside purchase, it is rejected through blowing, but current look selection machine blowing time is fixed mostly, and to some great materials, the time of blowing is short excessively can lead to the material can't fall into the waste outlet, and to some less materials, the time overlength of blowing can lead to the material to blow too far.
How to solve the technical problems becomes a difficult problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a control method and a control system for adjusting blowing of a spray valve in real time based on dead spots and sizes so as to solve the problems in the background art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a control method for adjusting blowing of a spray valve in real time based on dead spots and sizes comprises the following steps: s1, adding the materials to be sorted into the color sorter, collecting images of the materials, and separating the foreground and the background of the images to obtain a significant image of the materials; s2, judging whether the salient map has bad points, if yes, performing S4, and if not, performing S3; s3, judging whether the material in the saliency map is a heterochromatic material, if so, performing S4, and if not, enabling the material to fall out of a good material outlet; s4, measuring the size of the material, blowing the material to enable the material to fall out of the waste outlet, adjusting the blowing time according to the size of the material, controlling the blowing time of the removing device according to the size of the material, avoiding the material from blowing too far or too close, enabling the material to fall into the waste outlet, and saving certain energy.
Further, the specific process of step S1 includes: s100, feeding materials to be sorted through a feeding hole of the color sorter; s101, collecting an image of a falling material through a CCD camera and extracting a saliency map of the material in the image, wherein the CCD camera is an image collection module, and the collected image of the falling material is processed through a saliency processing module to obtain the saliency map of the material.
Further, the specific process of step S2 includes: s200, subtracting a preset offset level from the pixel value of each pixel point of the saliency map of the material to obtain an offset correction value after offset correction of the pixel point; s201, obtaining a first error value according to the accumulated value of the offset correction values of all pixel points in the N frames of images, wherein N is a natural number; s202, obtaining a second error value according to the accumulated value of the offset correction values of the single pixel points in the N frames of images; s203, obtaining a first absolute error according to an absolute value of a difference value between the offset correction value and the mean value of the second error value, and judging whether the first absolute error value exceeds a preset first threshold value, if so, judging that the pixel point is a dead pixel; and S204, marking the materials with the dead spots as dead materials so as to be removed subsequently, firstly judging whether the materials in the saliency map have the dead spots, if so, directly removing the materials, and if not, judging whether the materials in the saliency map are heterochromatic materials.
Further, the specific process of step S4 includes: s400, acquiring the number of pixels in the saliency map and inputting the number into a database to obtain corresponding blowing time; s401, adjusting the air blowing time of the removing device; s402, controlling a removing device to blow air to enable the materials to fall out of a waste outlet; the air blowing time of the removing device is controlled according to the size of the material, so that the waste material can fall into the waste material outlet, and certain energy is saved.
Further, the specific construction process of the database comprises the following steps: s4000, collecting images of different materials and separating the images from the background to obtain saliency maps of the different materials; s4001, respectively acquiring the number of pixels in different saliency maps, blowing air to the material until the material can be just blown into a waste outlet, and recording the air blowing time; s4002, recording different corresponding quantities and blowing time and storing the quantities and the blowing time into a database; and constructing a database of the number of pixels and the blowing time in the saliency map, and extracting the appropriate blowing time by the color selector according to the size of the material when the data stored in the database is enough.
The scheme also provides a control system which is applied to the real-time adjustment of the blowing length of the spray valve based on the dead pixel and the size, and comprises a control module, a control module and a control module, wherein the control module is used for controlling the control module to control the blowing length of the spray valve in real time; a controller; the image acquisition module is used for acquiring an image of the material when falling; the saliency processing module is used for separating the foreground from the background of the collected image to obtain a saliency map of the material; the dead pixel judgment module is used for judging whether dead pixels exist in the saliency map or not; the different color judging module is used for judging whether the materials in the saliency map are different color materials or not; the waste material removing module is used for removing the materials with dead spots and the heterochromatic materials; the storage module is used for storing a plurality of pixel numbers and blowing time which correspond to each other; the input module obtains the shortest blowing time according to the number of pixels of the saliency map and inputs the blowing time and the corresponding number of pixels into the value storage module; the pixel number extraction module is used for extracting the pixel number in the saliency map; the image acquisition module, the significance processing module, the dead pixel judgment module, the heterochromatic judgment module, the waste material removing module, the storage module and the input module are all connected with the controller.
Compared with the prior art, the invention has the advantages that:
this scheme can avoid the material to blow too far or too near according to the big or small control removing devices's of material time of blowing, makes the material can fall into the waste outlet, can practice thrift certain energy simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of the method of the present invention;
FIG. 2 is a block diagram of a method of obtaining a saliency map of a material in accordance with the present invention;
FIG. 3 is a block diagram of a method for determining whether a dead pixel exists according to the present invention;
FIG. 4 is a block diagram of a method of controlling the air-blowing time in the present invention;
FIG. 5 is a block diagram of a method of constructing a database according to the present invention;
fig. 6 is a block diagram of a system in the present invention.
Description of reference numerals: the system comprises a controller 1, an image acquisition module 2, a saliency processing module 3, a dead pixel judgment module 4, a heterochromatic judgment module 5, a waste material removing module 6, a storage module 7, a pixel number extracting module 8 and an input module 9.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
Referring to fig. 1, a control method for adjusting blowing of a nozzle valve in real time based on dead pixel and size includes: s1, adding the materials to be sorted into the color sorter, collecting images of the materials, and separating the foreground and the background of the images to obtain a significant image of the materials; s2, judging whether the salient map has bad points, if yes, performing S4, and if not, performing S3; s3, judging whether the material in the saliency map is a heterochromatic material, if so, performing S4, and if not, enabling the material to fall out of a good material outlet; s4, measuring the size of the material, blowing the material to enable the material to fall out of the waste outlet, adjusting the blowing time according to the size of the material, controlling the blowing time of the removing device according to the size of the material, avoiding the material from blowing too far or too close, enabling the material to fall into the waste outlet, and saving certain energy.
In this embodiment, referring to fig. 2, the specific process of step S1 includes: s100, feeding materials to be sorted through a feeding hole of the color sorter; s101, collecting an image of a falling material through a CCD camera and extracting a saliency map of the material in the image, wherein the CCD camera is an image collection module, and the collected image of the falling material is processed through a saliency processing module to obtain the saliency map of the material.
In this embodiment, referring to fig. 3, the specific process of step S2 includes: s200, subtracting a preset offset level from the pixel value of each pixel point of the saliency map of the material to obtain an offset correction value after offset correction of the pixel point; s201, obtaining a first error value according to the accumulated value of the offset correction values of all pixel points in the N frames of images, wherein N is a natural number; s202, obtaining a second error value according to the accumulated value of the offset correction values of the single pixel points in the N frames of images; s203, obtaining a first absolute error according to an absolute value of a difference value between the offset correction value and the mean value of the second error value, and judging whether the first absolute error value exceeds a preset first threshold value, if so, judging that the pixel point is a dead pixel; and S204, marking the materials with the dead spots as dead materials so as to be removed subsequently, firstly judging whether the materials in the saliency map have the dead spots, if so, directly removing the materials, and if not, judging whether the materials in the saliency map are heterochromatic materials.
In this embodiment, referring to fig. 4, the specific process of step S4 includes: s400, acquiring the number of pixels in the saliency map and inputting the number into a database to obtain corresponding blowing time; s401, adjusting the air blowing time of the removing device; s402, controlling a removing device to blow air to enable the materials to fall out of a waste outlet; the air blowing time of the removing device is controlled according to the size of the material, so that the waste material can fall into the waste material outlet, and certain energy is saved.
In this embodiment, referring to fig. 5, a specific construction process of the database includes: s4000, collecting images of different materials and separating the images from the background to obtain saliency maps of the different materials; s4001, respectively acquiring the number of pixels in different saliency maps, blowing air to the material until the material can be just blown into a waste outlet, and recording the air blowing time; s4002, recording different corresponding quantities and blowing time and storing the quantities and the blowing time into a database; and constructing a database of the number of pixels and the blowing time in the saliency map, and extracting the appropriate blowing time by the color selector according to the size of the material when the data stored in the database is enough.
The scheme also provides a control system which is applied to the control system for adjusting the blowing length of the spray valve in real time based on the dead pixel and the size, and please refer to fig. 6, which comprises the following steps; a controller 1; the image acquisition module 2 is used for acquiring an image of the falling material; the saliency processing module 3 is used for separating the foreground from the background of the collected image to obtain a saliency map of the material; a dead pixel judgment module 4, configured to judge whether a dead pixel exists in the saliency map; the different color judging module 5 is used for judging whether the materials in the saliency map are different color materials; the waste material removing module 6 is used for removing the materials with dead spots and the heterochromatic materials; the storage module 7 is used for storing a plurality of pixel numbers and air blowing time which correspond to each other; the input module 9 is used for obtaining the shortest blowing time according to the number of the pixels of the saliency map and inputting the blowing time and the corresponding number of the pixels into the value storage module; a pixel number extraction module 8, configured to extract the number of pixels in the saliency map; the image acquisition module 2, the significance processing module 3, the dead pixel judgment module 4, the heterochromatic judgment module 5, the waste material removing module 6, the storage module 7, the input module 9 and the pixel number extraction module 8 are all connected with the controller 1.
The operation principle of the control method for adjusting the blowing of the spray valve in real time based on the dead pixel and the size is the working principle, and the content which is not described in detail in the specification belongs to the prior art which is known by the technicians in the field.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, the patentees may make various modifications or modifications within the scope of the appended claims, for example, by changing the control of the blowing time according to the area size of the material to the control of the blowing time according to the mass of the material (mass obtained from the estimated area multiplied by the corresponding density), within the scope of the invention as defined in the claims.
Claims (6)
1. A control method for adjusting blowing of a spray valve in real time based on dead spots and sizes is characterized by comprising the following steps:
s1, adding the materials to be sorted into the color sorter, collecting images of the materials, and separating the foreground and the background of the images to obtain a significant image of the materials;
s2, judging whether the salient map has bad points, if yes, performing S4, and if not, performing S3;
s3, judging whether the material in the saliency map is a heterochromatic material, if so, performing S4, and if not, enabling the material to fall out of a good material outlet;
and S4, measuring the size of the material and blowing the material to enable the material to fall out of the waste outlet, wherein the blowing time is adjusted according to the size of the material.
2. The control method for adjusting blowing of the spray valve in real time based on the dead pixel and the size as claimed in claim 1, wherein the specific process of the step S1 includes:
s100, feeding materials to be sorted through a feeding hole of the color sorter;
s101, collecting an image of the falling material through a CCD camera and extracting a saliency map of the material in the image.
3. The control method for adjusting blowing of the spray valve in real time based on the dead pixel and the size as claimed in claim 1, wherein the specific process of the step S2 includes:
s200, subtracting a preset offset level from the pixel value of each pixel point of the saliency map of the material to obtain an offset correction value after offset correction of the pixel point;
s201, obtaining a first error value according to the accumulated value of the offset correction values of all pixel points in the N frames of images, wherein N is a natural number;
s202, obtaining a second error value according to the accumulated value of the offset correction values of the single pixel points in the N frames of images;
s203, obtaining a first absolute error according to an absolute value of a difference value between the offset correction value and the mean value of the second error value, and judging whether the first absolute error value exceeds a preset first threshold value, if so, judging that the pixel point is a dead pixel;
and S204, marking the materials with the dead spots as the dead materials so as to remove the dead materials in the following process.
4. The control method for adjusting blowing of the spray valve in real time based on the dead pixel and the size as claimed in claim 1, wherein the specific process of the step S4 includes:
s400, acquiring the number of pixels in the saliency map and inputting the number into a database to obtain corresponding blowing time;
s401, adjusting the air blowing time of the removing device;
s402, controlling the removing device to blow air to enable the materials to fall out of the waste outlet.
5. The control method for adjusting blowing of the spray valve in real time based on the dead pixel and the size as claimed in claim 4, wherein the specific construction process of the database comprises:
s4000, collecting images of different materials and separating the images from the background to obtain saliency maps of the different materials;
s4001, respectively acquiring the number of pixels in different saliency maps, blowing air to the material until the material can be just blown into a waste outlet, and recording the air blowing time;
s4002, recording different corresponding quantities and blowing time and storing the quantities and the blowing time into a database.
6. A control system for adjusting the blowing length of a spray valve in real time based on dead spots and sizes, which is applied to any one of claims 1 to 5, is characterized by comprising;
a controller;
the image acquisition module is used for acquiring an image of the material when falling;
the saliency processing module is used for separating the foreground from the background of the collected image to obtain a saliency map of the material;
the dead pixel judgment module is used for judging whether dead pixels exist in the saliency map or not;
the different color judging module is used for judging whether the materials in the saliency map are different color materials or not;
the waste material removing module is used for removing the materials with dead spots and the heterochromatic materials;
the storage module is used for storing a plurality of pixel numbers and blowing time which correspond to each other;
the pixel number extraction module is used for extracting the pixel number in the saliency map;
the input module obtains the shortest blowing time according to the number of pixels of the saliency map and inputs the blowing time and the corresponding number of pixels into the value storage module;
the image acquisition module, the significance processing module, the dead pixel judgment module, the heterochromatic judgment module, the waste material removing module, the storage module, the pixel quantity extraction module and the input module are all connected with the controller.
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| CN201910955170.8A CN110694940A (en) | 2019-10-09 | 2019-10-09 | Control method and system for adjusting blowing of spray valve in real time based on dead pixel and size |
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| CN201910955170.8A CN110694940A (en) | 2019-10-09 | 2019-10-09 | Control method and system for adjusting blowing of spray valve in real time based on dead pixel and size |
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| CN113267145A (en) * | 2021-05-12 | 2021-08-17 | 无锡先导智能装备股份有限公司 | Method and device for controlling feeding of pole piece of winding machine, electronic equipment and storage medium |
| CN114405863A (en) * | 2022-01-14 | 2022-04-29 | 科睿特新技术(深圳)有限公司 | Mineral sorting method and system based on area array positioning |
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