CN111397509B - Candle wick correction method and system - Google Patents
Candle wick correction method and system Download PDFInfo
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- CN111397509B CN111397509B CN202010201777.XA CN202010201777A CN111397509B CN 111397509 B CN111397509 B CN 111397509B CN 202010201777 A CN202010201777 A CN 202010201777A CN 111397509 B CN111397509 B CN 111397509B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a candle wick correcting method and a system, wherein a root space coordinate, an end space coordinate and an angle of a candle wick projected to a horizontal plane are obtained through 3D imaging of a candle imaging mechanism, so that a clamping space coordinate and a straightening space coordinate of a corrected candle wick are calculated, and whether a candle is a defective product is judged; data transfer to candle core aligning gear department that will acquire, candle core aligning gear's manipulator domination gas claw carries out automatic correction to needing to rectify the candle core to provide a mechanical automation system, with replacing manual work, improved the work efficiency that the candle core was rectified, can will detect out defective products propelling movement to defective products simultaneously and retrieve the processing of taking one step, improved the yields of candle. The invention can be applied to the technical field of correction of the candle wick.
Description
Technical Field
The invention relates to the technical field of candle wick correction, in particular to a method and a system for correcting a candle wick.
Background
In order to avoid the cracking of one casting in the manufacturing process of the creative candle, multiple casting and cooling are needed. After each pour, the wick may tilt, and if not corrected before the next pour, the poured wick may be submerged, resulting in a defective product. At present, the work of correcting the candle wick can be finished only by manpower.
The wick that present intention candle is through artifical with tweezers or directly with the staff with the slope is right to straighten in process of production, and production efficiency is low, and is tired easily, and the product defective rate is high.
Disclosure of Invention
The present invention is directed to solving at least one of the problems set forth above and it is an object of the present invention to provide a method and system for wick correction.
The technical scheme adopted by the invention is as follows: in one aspect, embodiments of the invention include a method of candle wick correction, comprising:
arranging candle barrels to be corrected at equal intervals in the conveying direction, wherein good candles containing candle cores are filled in the candle barrels;
taking a picture of the candle barrel for imaging, and obtaining a space coordinate of the root part of the candle wick, a space coordinate of the end part of the candle wick and an angle of the candle wick projected to a horizontal plane through image analysis;
acquiring a first distance, wherein the first distance is a distance from a photographing position to a correction position;
calculating to obtain a clamping space coordinate of the candle wick at the correction position and a straightening space coordinate of the candle wick at the correction position according to the root space coordinate, the end space coordinate and the first distance;
and correcting the candle wick to be in a vertical state according to the angle of the projection of the candle wick to the horizontal plane, the clamping space coordinate and the straightening space coordinate.
Further, the step of acquiring the first distance specifically includes:
acquiring a reading as a first reading at a photographing position by using an encoder;
taking the reading at the corrected position as a second reading using the encoder;
a difference between the first reading and the second reading is calculated to obtain a first distance.
Further, the step of calculating, according to the root space coordinate, the end space coordinate, and the first distance, a gripping space coordinate of the candle wick at the correction position and a straightening space coordinate of the candle wick at the correction position includes:
acquiring a root space coordinate and an end space coordinate;
calculating to obtain a clamping space coordinate of the candle wick at the photographing position and a straightening space coordinate of the candle wick at the photographing position according to the root space coordinate and the end space coordinate;
acquiring a first distance;
and calculating the space clamping coordinate of the candle wick at the correction position and the straightening space coordinate of the candle wick at the correction position according to the calculated clamping space coordinate of the candle wick at the photographing position, the straightening space coordinate of the candle wick at the photographing position and the first distance.
Further, the method may further include the step of identifying the candle as good or defective.
Further, the step of identifying the candle as a good product or a defective product specifically includes:
obtaining a spatial coordinate of the root part and a spatial coordinate of the end part of the candle wick;
calculating a second distance according to the root space coordinate and the end space coordinate, wherein the second distance is the distance from the end position of the candle core to the horizontal position of the wax surface;
and when the second distance is smaller than a first predetermined threshold value, identifying the candle as a defective product.
Further, when wax stains, bubbles, stains on the wax surface were detected in the candle image, it was judged as a defective product.
On the other hand, the embodiment of the invention also comprises a candle wick correcting system, which comprises a candle barrel arrangement mechanism to be corrected, a candle imaging mechanism, a control mechanism and a candle wick correcting mechanism;
the candle barrel arrangement mechanism to be corrected comprises a bottle blocking cylinder, a photoelectric sensor and a conveyor belt; the bottle blocking cylinder and the photoelectric sensor are used for arranging the candle barrels to be corrected, so that the candle barrels are arranged on the conveyor belt at equal intervals;
the candle imaging mechanism comprises an in-place sensor and a 3D camera, wherein the in-place sensor is used for triggering the 3D camera to shoot and image the candle barrel when the conveying belt conveys the candle barrel to be corrected to a shooting area;
the control mechanism comprises a remote computer and a control mechanism, wherein the remote computer is used for acquiring an image obtained by photographing, analyzing the image to acquire a space coordinate of the root part of the candle wick, a space coordinate of the end part of the candle wick and an angle of the candle wick projected to a horizontal plane, calculating to acquire a clamping space coordinate of the candle wick at a correction position and a straightening space coordinate of the candle wick at the correction position, and generating a corresponding control instruction;
the candle wick correcting mechanism comprises a mechanical arm and an air claw and is used for correcting the candle wick to be in a vertical state according to the control instruction.
Further, the system also comprises an encoder, wherein the encoder is used for recording the position of the candle barrel to be corrected when the candle barrel to be corrected is photographed and the position of the candle barrel to be corrected when the candle barrel to be corrected is corrected; and calculating a first distance through the reading of the encoder, wherein the first distance is the distance from the photographing position to the correction position.
Further, the control instruction specifically includes:
controlling a manipulator to drive an air claw to rotate by a first angle, so that the air claw moves to a clamping space coordinate of the candle wick, wherein the first angle is an angle projected by the candle wick to a horizontal plane;
the gas claw is controlled to clamp the candle wick, and the manipulator drives the gas claw to push the candle wick to move to the straightening space coordinate, so that the candle wick is corrected to be in a vertical state.
Further, the system also comprises a defective product pushing mechanism, wherein the defective product pushing mechanism comprises a pushing machine; the encoder is also used for identifying the position of the defective products on the conveying belt, and the pushing machine is used for pushing the defective products to a defective product recycling position.
The invention has the beneficial effects that: the invention realizes automatic detection and correction of the candle to be corrected through the cooperation of 3D imaging, the encoder, the manipulator, the conveyer belt and the like, provides a mechanical automation system to replace manual operation, improves the work efficiency of correction of the candle wick, can detect defective products to be processed in one step, and improves the yield of the candle.
Drawings
FIG. 1 is a flow chart illustrating the steps of a method for candle wick correction as described in an embodiment of the present invention;
FIG. 2 is a block diagram of the configuration of a wick correction system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a candle wick portion captured by the 3D camera in an embodiment of the present invention.
Detailed Description
As shown in fig. 1, a method for correcting a candle wick, the method specifically comprises the steps of:
s1, arranging candle barrels to be corrected at equal intervals in a conveying direction, wherein candles with good candle cores are filled in the candle barrels;
s2, photographing a candle barrel for imaging, and obtaining a space coordinate of the root part of the candle core, a space coordinate of the end part of the candle core and an angle projected by the candle core to a horizontal plane through image analysis;
s3, acquiring a first distance, wherein the first distance is the distance from the photographing position to the correction position;
s4, calculating to obtain a clamping space coordinate of the candle wick at the correction position and a straightening space coordinate of the candle wick at the correction position according to the root space coordinate, the end space coordinate and the first distance;
s5, correcting the candle wick to be in a vertical state according to the angle of the projection of the candle wick to the horizontal plane, the clamping space coordinate and the straightening space coordinate.
As a preferred implementation manner of this embodiment of the correction method, the step S3, namely, the step of acquiring the first distance, where the first distance is a distance moved from the photographing position to the correction position, specifically includes:
s301, reading is obtained as a first reading at a photographing position by using an encoder;
s302, acquiring a reading at the correction position by using an encoder as a second reading;
s303, calculating the difference between the first reading and the second reading so as to obtain a first distance.
In the embodiment, the candle barrels to be corrected are arranged on the conveyor belt at equal intervals by the cooperation of the bottle blocking cylinder and the photoelectric sensor, the conveyor belt is started, the candle barrels to be corrected are conveyed to the photographing position by the conveyor belt, the position of the candle barrels to be corrected when being imaged is recorded by the conveyor belt encoder, and the reading is recorded as A1; according to the photographing imaging, the root space coordinate and the end space coordinate of the candle wick can be obtained; the conveyor belt continuously conveys the candle barrel to be corrected to a correction position, and the conveyor belt encoder records the position of the candle barrel to be corrected when the candle barrel is corrected and records the reading as A2; the difference between readings A1 and A2 is calculated and the first distance is calculated. In the embodiment, the 3D camera is arranged at the photographing position and used for photographing and imaging the candle barrel to be corrected, when the conveyor belt conveys the candle barrel to be corrected to the photographing position, the in-place sensor triggers the 3D camera to photograph and image the candle barrel to be corrected one by one, and the distance between each point in the image and the camera can be accurately known through data acquired by the 3D camera, so that the three-dimensional space coordinate of each point in the image can be acquired by adding the (x, y) coordinate of the point in the 2D image; therefore, the root space coordinate and the end space coordinate of the candle wick in the candle barrel to be corrected can be obtained by utilizing the imaging of the 3D camera, and the angle of the candle wick projected to the horizontal plane is further calculated and obtained.
As a preferred implementation manner of this embodiment of the correction method, the step S4 of calculating the gripping space coordinate of the correction position candle wick and the straightening space coordinate of the correction position candle wick according to the root space coordinate, the end space coordinate and the first distance specifically includes:
s401, acquiring a root space coordinate and an end space coordinate;
s402, calculating to obtain a clamping space coordinate of the candle wick at the photographing position and a straightening space coordinate of the candle wick at the photographing position according to the root space coordinate and the end space coordinate;
s403, acquiring a first distance;
s404, calculating to obtain the space clamping coordinate of the candle wick at the correcting position and the straightening space coordinate of the candle wick at the correcting position according to the calculated clamping space coordinate of the candle wick at the photographing position, the straightening space coordinate of the candle wick at the photographing position and the first distance.
In the embodiment, a mathematical model is established between a 3D visual coordinate, namely an imaging coordinate shot by a 3D camera and a correction coordinate through hand-eye calibration, wherein the correction coordinate comprises a clamping space coordinate and a straightening space coordinate of a candle wick; analyzing an image shot by a 3D camera, acquiring a root space coordinate and an end space coordinate of the candle wick, and calculating to obtain a clamping space coordinate of the candle wick at a shooting position and a straightening space coordinate of the candle wick at the shooting position; then acquiring the difference between A1 and A2 obtained by calculation, namely the first distance; and the clamping space coordinate of the candle wick at the photographing position and the straightening space coordinate of the candle wick at the photographing position are obtained through operation processing. For example, according to the analysis of the image shot by the 3D camera, the spatial coordinates of the root part of the candle wick are (x1, y1, z1), the spatial coordinates of the end part of the candle wick are (x2, y2, z2), and the angle projected by the candle wick to the horizontal plane is U; according to the spatial coordinates of the root part of the candle wick as (X1, Y1, Z1), the spatial coordinates of the end part as (X2, Y2, Z2), the clamping spatial coordinates of the candle wick at the photographing position as (X1, Y1, Z1), the straightening spatial coordinates of the candle wick at the photographing position as (X2, Y2, Z2), the interpolation of A1 and A2 as S (first distance), the clamping spatial coordinates of the candle wick at the correction position as (X1+ S, Y1, Z1) and the straightening spatial coordinates of the candle wick at the correction position as (X2+ S, Y2, Z2).
In the embodiment, the calculated angle U of the candle wick projected to the horizontal plane, the clamping space coordinates (X1+ S, Y1 and Z1) of the candle wick at the correction position and the straightening space coordinates (X2+ S, Y2 and Z2) of the candle wick at the correction position are sent to a correction mechanism at the correction position, and the correction mechanism consists of a manipulator and a gas claw; when a candle barrel to be corrected enters the working range of the correcting mechanism through the conveyor belt, the correcting mechanism implements correcting action according to the acquired angle U of the projection of the corresponding candle wick to the horizontal plane, the clamping space coordinates (X1+ S, Y1, Z1) and the straightening space coordinates (X2+ S, Y2, Z2), and corrects the corresponding candle wick from the inclined state to the vertical state; the specific process comprises the following steps: when the candle barrel enters the working range of the correction mechanism, the manipulator drives the gas claw to rotate by an angle U (U is the angle of the candle wick projected to the horizontal plane), the manipulator drives the gas claw to move to the converted space coordinate (X1+ S, Y1 and Z1) for clamping the candle wick; the manipulator drives the air claw to move to the converted straightening coordinates (X2+ S, Y2 and Z2), and the candle core is lifted and corrected to be in a vertical state.
As a preferred implementation of this embodiment of the correction method, the method further comprises, s6, a step of identifying the candle as good or defective.
Further, in step S6, the step of identifying the candle as good or bad specifically includes:
s601, acquiring a spatial coordinate of the root part and a spatial coordinate of the end part of the candle wick;
s602, calculating a second distance according to the root space coordinate and the end space coordinate, wherein the second distance is the distance from the end point position of the candle core to the horizontal position of the wax surface;
s603, when the second distance is smaller than a predetermined first threshold value, identifying the candle as a defective product.
In this embodiment, a defective product ejecting mechanism is further provided for ejecting the identified defective product to a defective product recovery location. The 3D camera shoots the candle bucket of waiting to rectify, through image analysis, can acquire the root space coordinate and the tip space coordinate of the candle core in the candle bucket of waiting to rectify to further calculate and acquire the angle that obtains the candle core projection to the horizontal plane, simultaneously, can further calculate and obtain the distance of candle core endpoint position to wax face horizontal position, promptly the second distance. In this embodiment, the predetermined first threshold is 2mm, that is, if the distance from the end point of the candle wick to the horizontal position of the wax surface is less than 2mm, it is determined as a defective product; in addition, according to the imaging of the 3D camera, if wax stains, bubbles and stain points are observed on the wax surface, the wax surface is also judged to be a defective product; if the defective products are judged, the conveyor belt encoder at the photographing position records the positions of the defective products, the judging results of the defective products are transmitted to the correcting mechanism, when the conveyor belt transmits the defective products to the correcting position, the correcting mechanism does not correct the defective products, the conveyor belt continues to operate to continuously forward the corrected candles and the defective products, when the defective products are transmitted to the position of the defective product pushing mechanism, the positions of the defective products can be identified according to the reading of the encoder, and then the pusher is driven to push the defective products to the defective product conveyor belt to be transmitted to a defective product recycling position for further processing. For example, a candle barrel to be corrected is judged to be a defective product through 3D imaging at a photographing position, the position of the defective product is recorded through an encoder, the reading is A3, the distance from the position of a pusher to the position of the defective product can be obtained through the encoder to be S ', when the corrected candle barrel and the defective product are conveyed to a defective product pushing mechanism together, the pusher can push the candle barrel with the reading of A3+ S' to a defective product conveying belt, and the pushed candle barrel is the defective product judged according to the 3D imaging.
In summary, the candle wick correction method described in this embodiment has the following advantages:
acquiring a root space coordinate and an end space coordinate of the candle wick and an angle of the candle wick projected to a horizontal plane through 3D imaging, further calculating a clamping space coordinate and a straightening space coordinate of the corrected candle wick, and judging whether the candle is a defective product; data transfer to the aligning gear department that will acquire, aligning gear's manipulator domination gas claw carries out automatic correction to needing to rectify the candle core to provide a mechanical automation system, with replacing manual work, improved the work efficiency that the candle core was rectified, can will detect out defective products propelling movement to defective products simultaneously and retrieve the department and do one-step processing, improved the yields of candle.
Referring to fig. 2, the present embodiment further includes a candle wick correction system, which includes a candle barrel arrangement mechanism to be corrected, a candle imaging mechanism, a control mechanism, and a candle wick correction mechanism;
the candle barrel arrangement mechanism to be corrected comprises a bottle blocking cylinder, a photoelectric sensor and a conveyor belt; the bottle blocking cylinder and the photoelectric sensor are used for arranging the candle barrels to be corrected, so that the candle barrels are arranged on the conveyor belt at equal intervals;
the candle imaging mechanism comprises an in-place sensor and a 3D camera, wherein the in-place sensor is used for triggering the 3D camera to shoot and image the candle barrel when the conveying belt conveys the candle barrel to be corrected to a shooting area;
the control mechanism comprises a remote computer and a control mechanism, wherein the remote computer is used for acquiring an image obtained by photographing, analyzing the image to acquire a space coordinate of the root part of the candle wick, a space coordinate of the end part of the candle wick and an angle of the candle wick projected to a horizontal plane, calculating to acquire a clamping space coordinate of the candle wick at a correction position and a straightening space coordinate of the candle wick at the correction position, and generating a corresponding control instruction;
the candle wick correcting mechanism comprises a mechanical arm and an air claw and is used for correcting the candle wick to be in a vertical state according to the control instruction.
Further, the system also comprises an encoder, wherein the encoder is used for recording the position of the candle barrel to be corrected when the candle barrel to be corrected is photographed and the position of the candle barrel to be corrected when the candle barrel to be corrected is corrected, and the second encoder is used for recording the position of the candle barrel to be corrected when the candle barrel to be corrected is corrected; and calculating a first distance through the reading of the encoder, wherein the first distance is the distance from the photographing position to the correction position.
In this embodiment, in the candle imaging mechanism, the encoder is used for recording the position when the candle barrel to be corrected is photographed, in the candle wick correction mechanism, the encoder is used for recording the position when the candle barrel to be corrected is corrected, and the first distance, that is, the distance from the photographing position to the correction position can be obtained by calculating the difference of the readings of the encoder.
Further, the control instruction specifically includes:
controlling a manipulator to drive an air claw to rotate by a first angle, so that the air claw moves to a clamping space coordinate of the candle wick, wherein the first angle is an angle projected by the candle wick to a horizontal plane;
the gas claw is controlled to clamp the candle wick, and the manipulator drives the gas claw to push the candle wick to move to the straightening space coordinate, so that the candle wick is corrected to be in a vertical state.
FIG. 3 is a schematic view of a candle wick portion taken by a 3D camera according to an embodiment of the present invention; in the embodiment, a remote computer is used for acquiring an image of a candle barrel shot by a 3D camera, analyzing the image to obtain a root space coordinate and an end space coordinate of a candle wick to be corrected and an angle of the candle wick projected to a horizontal plane, calculating to obtain a clamping space coordinate of the candle wick at a shooting position and a straightening space coordinate of the candle wick at the shooting position, further acquiring a distance (first distance) from the shooting position to the correction position, calculating to obtain the clamping space coordinate of the candle wick at the correction position and the straightening space coordinate of the candle wick at the correction position, and generating a corresponding control instruction; the remote computer sends the control command to the candle wick correcting mechanism, and controls the manipulator and the gas claw of the candle wick correcting mechanism to work so as to correct the candle wick to be in a vertical state.
As a preferred implementation manner of the embodiment of the correction system, the system further comprises a defective product pushing mechanism, wherein the defective product pushing mechanism comprises a pusher; the encoder is also used for identifying the position of the defective products on the conveying belt, and the pushing machine is used for pushing the defective products to a defective product recycling position.
In this embodiment, whether candle is the defective products can also be judged according to 3D formation of image to candle imaging mechanism, and when 3D camera was shot and is waited to rectify the candle formation of image, can acquire the root space coordinate and the tip space coordinate of the candle core in the candle bucket of waited to rectify to further calculate and acquire the angle that obtains the candle core projection to the horizontal plane, simultaneously, can further calculate and obtain the distance of candle core endpoint position to wax face horizontal position, promptly the second distance. In this embodiment, if the distance from the candle wick end point position obtained by calculation and the like to the horizontal position of the wax surface is less than 2mm, that is, the predetermined first threshold value, it is determined as a defective product; in addition, according to the imaging of the 3D camera, if wax stains, bubbles and stain points are observed on the wax surface, the wax surface is also judged to be a defective product; if the defective products are judged, the first encoder of the candle imaging mechanism records the positions of the defective products and transmits judgment results of the defective products to the correcting mechanism, when the conveying belt conveys the defective products to the correcting position, the correcting mechanism does not correct the defective products, the conveying belt continuously operates to continuously forward the corrected candle barrel and the defective products, when the defective products are conveyed to the position of the defective product pushing mechanism, the positions of the defective products can be identified according to the reading of the third encoder of the defective product pushing mechanism, and then the pusher is driven to push the defective products to the defective product conveying belt to be transmitted to a defective product recovery part for further processing.
In summary, the candle wick correction system described in this embodiment has the following advantages:
acquiring a root space coordinate and an end space coordinate of a candle wick and an angle of the candle wick projected to a horizontal plane through 3D imaging of a candle imaging mechanism, further calculating a clamping space coordinate and a straightening space coordinate of the corrected candle wick, and judging whether the candle is a defective product or not; data transfer to candle core aligning gear department that will acquire, candle core aligning gear's manipulator domination gas claw carries out automatic correction to needing to rectify the candle core to provide a mechanical automation system, with replacing manual work, improved the work efficiency that the candle core was rectified, can will detect out defective products propelling movement to defective products simultaneously and retrieve the processing of taking one step, improved the yields of candle.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language ("e.g.," such as "or the like") provided with this embodiment is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. A method of wick correction, comprising:
arranging candle barrels to be corrected at equal intervals in the conveying direction, wherein good candles containing candle cores are filled in the candle barrels;
taking a picture of the candle barrel for imaging, and obtaining a space coordinate of the root part of the candle wick, a space coordinate of the end part of the candle wick and an angle of the candle wick projected to a horizontal plane through image analysis;
acquiring a first distance, wherein the first distance is a distance from a photographing position to a correction position;
calculating to obtain a clamping space coordinate of the candle wick at the correction position and a straightening space coordinate of the candle wick at the correction position according to the root space coordinate, the end space coordinate and the first distance;
and correcting the candle wick to be in a vertical state according to the angle of the projection of the candle wick to the horizontal plane, the clamping space coordinate and the straightening space coordinate.
2. The method as defined in claim 1, wherein said step of obtaining a first distance comprises:
acquiring a reading as a first reading at a photographing position by using an encoder;
taking the reading at the corrected position as a second reading using the encoder;
a difference between the first reading and the second reading is calculated to obtain a first distance.
3. The method as claimed in claim 1, wherein the step of calculating the spatial coordinates of the wick pick-up at the calibration position and the spatial coordinates of the wick straightening at the calibration position based on the spatial coordinates of the root portion, the spatial coordinates of the tip portion and the first distance comprises:
acquiring a root space coordinate and an end space coordinate;
calculating to obtain a clamping space coordinate of the candle wick at the photographing position and a straightening space coordinate of the candle wick at the photographing position according to the root space coordinate and the end space coordinate;
acquiring a first distance;
and calculating the space clamping coordinate of the candle wick at the correction position and the straightening space coordinate of the candle wick at the correction position according to the calculated clamping space coordinate of the candle wick at the photographing position, the straightening space coordinate of the candle wick at the photographing position and the first distance.
4. A method of candle wick correction according to claim 1, further comprising the step of identifying the candle as good or defective.
5. The method as claimed in claim 4, wherein the step of identifying the candle as good or bad comprises:
obtaining a spatial coordinate of the root part and a spatial coordinate of the end part of the candle wick;
calculating a second distance according to the root space coordinate and the end space coordinate, wherein the second distance is the distance from the end position of the candle core to the horizontal position of the wax surface;
and when the second distance is smaller than a first predetermined threshold value, identifying the candle as a defective product.
6. The method as claimed in claim 5, wherein the candle wick is determined as defective when wax spots, bubbles, stains are detected on the surface of the candle during candle imaging.
7. A candle wick correcting system is characterized by comprising a candle barrel arrangement mechanism to be corrected, a candle imaging mechanism, a control mechanism and a candle wick correcting mechanism;
the candle barrel arrangement mechanism to be corrected comprises a bottle blocking cylinder, a photoelectric sensor and a conveyor belt; the bottle blocking cylinder and the photoelectric sensor are used for arranging the candle barrels to be corrected, so that the candle barrels are arranged on the conveyor belt at equal intervals;
the candle imaging mechanism comprises an in-place sensor and a 3D camera, wherein the in-place sensor is used for triggering the 3D camera to shoot and image the candle barrel when the conveying belt conveys the candle barrel to be corrected to a shooting area;
the control mechanism comprises a remote computer and a control mechanism, wherein the remote computer is used for acquiring an image obtained by photographing, analyzing the image to acquire a space coordinate of the root part of the candle wick, a space coordinate of the end part of the candle wick and an angle of the candle wick projected to a horizontal plane, calculating to acquire a clamping space coordinate of the candle wick at a correction position and a straightening space coordinate of the candle wick at the correction position, and generating a corresponding control instruction;
the candle wick correcting mechanism comprises a mechanical arm and an air claw and is used for correcting the candle wick to be in a vertical state according to the control instruction.
8. A candle wick correction system according to claim 7, further comprising an encoder for recording a position at which the candle barrel to be corrected is photographed and a position at which the candle barrel to be corrected is corrected; and calculating a first distance through the reading of the encoder, wherein the first distance is the distance from the photographing position to the correction position.
9. The candle wick correction system according to claim 7, wherein the control instructions specifically comprise:
controlling a manipulator to drive an air claw to rotate by a first angle, so that the air claw moves to a clamping space coordinate of the candle wick, wherein the first angle is an angle projected by the candle wick to a horizontal plane;
the gas claw is controlled to clamp the candle wick, and the manipulator drives the gas claw to push the candle wick to move to the straightening space coordinate, so that the candle wick is corrected to be in a vertical state.
10. The candle wick correction system of claim 8, further comprising a defective product pushing mechanism, the defective product pushing mechanism comprising a pusher; the encoder is also used for identifying the position of the defective products on the conveying belt, and the pushing machine is used for pushing the defective products to a defective product recycling position.
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| CN202010201777.XA CN111397509B (en) | 2020-03-20 | 2020-03-20 | Candle wick correction method and system |
| PCT/CN2021/080740 WO2021185200A1 (en) | 2020-03-20 | 2021-03-15 | Method and system for correcting candle wick and candle production line |
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| CN202010201777.XA CN111397509B (en) | 2020-03-20 | 2020-03-20 | Candle wick correction method and system |
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| WO2021185200A1 (en) * | 2020-03-20 | 2021-09-23 | 广州市方圆机械设备有限公司 | Method and system for correcting candle wick and candle production line |
| CN113349100A (en) * | 2021-05-08 | 2021-09-07 | 上海其图科技发展有限公司 | Infectious disease recognition device for livestock breeding |
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| CN2567222Y (en) * | 2002-07-18 | 2003-08-20 | 何辉 | Machine for preparing candle |
| CN101634572B (en) * | 2009-08-07 | 2011-04-06 | 中国印钞造币总公司 | Method and system for on-line detection of reverse line of paper secure line |
| CN202057579U (en) * | 2011-04-02 | 2011-11-30 | 北京神农谷科技有限公司 | Optical system capable of on-line detecting internal quality of fruits |
| CN103604808B (en) * | 2013-12-04 | 2016-03-02 | 天津普达软件技术有限公司 | A kind of bottle cap defective vision detection method |
| CN104326125B (en) * | 2014-08-28 | 2016-08-24 | 北京凌云光技术有限责任公司 | Flaw label tracking and device |
| FR3047250B1 (en) * | 2016-01-28 | 2018-02-16 | Manufacture Francaise De Bougies | AUTOMATED CANDLE MOLDING RECOVERY INSTALLATION AND AUTOMATED TENSIONING METHOD THEREFOR |
| CN106881281B (en) * | 2017-02-22 | 2020-09-01 | 上海理工大学 | Automatic sorting device and system |
| CN206701760U (en) * | 2017-05-10 | 2017-12-05 | 青岛金岸新区智能科技有限公司 | A kind of image recognition detection line |
| CN110294316B (en) * | 2019-06-04 | 2021-07-13 | 深圳蓝胖子机器智能有限公司 | Method, system and equipment for grabbing articles on conveyor belt |
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