CN112474391B - Frozen tube selection method based on visual auxiliary verification - Google Patents
Frozen tube selection method based on visual auxiliary verification Download PDFInfo
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- CN112474391B CN112474391B CN202011281098.4A CN202011281098A CN112474391B CN 112474391 B CN112474391 B CN 112474391B CN 202011281098 A CN202011281098 A CN 202011281098A CN 112474391 B CN112474391 B CN 112474391B
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
- B07C5/362—Separating or distributor mechanisms
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
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Abstract
The invention discloses a frozen pipe selecting method based on visual auxiliary verification, which mainly solves the problems that the existing frozen pipe selecting method is easy to make mistakes and can not quickly monitor wrong information under the condition that the selected pipe makes mistakes in time. The method mainly comprises the steps that two intelligent cameras are arranged, the two cameras can be a source position camera and a target position camera according to different tube selection requirements, the starting time periods of the two cameras are different and are respectively used for recording the change of vacant positions of the cryopreservation boxes before and after source cryopreservation tube selection, each collected picture is analyzed according to configured rules by means of a visual processing library of the intelligent cameras, the existence information of the hole positions of the cryopreservation tubes in the pictures can be accurately obtained, the comparison purpose is realized through data interaction with a PLC (programmable logic controller) register, the accuracy of tube selection at each time is verified doubly, and the tube selection accuracy is improved. Therefore, the method is suitable for popularization and application.
Description
Technical Field
The invention relates to the technical field of frozen stock pipe selection, in particular to a frozen stock pipe selection method based on visual auxiliary verification.
Background
The cryopreservation tube is a strain preservation tube, mainly comprises three parts of preservation solution, a preservation tube and small ceramic beads, is a container for storing strains in a laboratory, is used for storing or transferring the strains, and is generally provided with 25 small ceramic beads for adsorbing and storing the bacteria.
The picking operation of the frozen tube is carried out in the deep low temperature environment, and due to the interference of factors such as low temperature, static electricity and air humidity, the mechanical tube picking action can not be guaranteed to be accurate every time by 100%, so that how to quickly monitor error information under the condition of tube picking error becomes important.
With the development of intelligent cameras, high-speed imaging and intelligent image processing technologies play an important role in the fields of industrial detection, aerial remote sensing, intelligent instruments, microelectronics and the like. The high-speed camera adopts an image sensor such as a CMOS or a CCD to quickly convert the shot optical image information into a digital electric signal, and outputs the converted image information through a logic storage and processing device, thereby completing the collection and transmission of images. Compared with a common camera, the high-speed camera can realize rapid image acquisition and real-time display of a high-speed moving target, has high image stability, high transmission capability, high anti-interference capability and the like, and can realize real-time tracking and recording of the target. Therefore, when the pipe selecting operation is carried out, the camera is used for photographing and intelligently analyzing pictures, then data interaction is carried out on the pictures and the PLC, error logic is realized, and the method becomes a good choice.
By means of a visual processing library of the intelligent camera, each collected picture is analyzed according to configured rules, the information about the existence of the frozen pipe hole site in the picture can be accurately obtained, and the comparison purpose is achieved through data interaction with a PLC register.
Disclosure of Invention
The invention aims to provide a frozen pipe selecting method based on visual auxiliary verification, which mainly solves the problems that the conventional frozen pipe selecting method is easy to make mistakes and can not quickly monitor error information under the condition that the selected pipe makes mistakes in time.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a frozen tube selecting method based on visual auxiliary verification comprises the following steps:
(S1) writing data into the PLC register of the control system according to the type of different freezing storage boxes and the agreed format;
(S2) respectively arranging an intelligent camera at the two tube picking positions, wherein the camera for taking pictures before tube picking operation is a source position camera, the camera for taking pictures after tube picking operation is a target position camera, selecting a source cryopreserved tube, and confirming before tube picking;
(S3) starting a source position camera to photograph the cryopreservation box, analyzing the picture by using an intelligent algorithm of an intelligent camera, and sending an analysis result to the control system to compare with the value written in the step (S1);
(S4) after the comparison is passed, starting to pick the tube, and starting the target position camera to take a picture of the cryopreservation box again; otherwise, informing the user to process and feed back an execution result;
(S5) analyzing the picture shot by the target position camera by using an intelligent algorithm of the intelligent camera, and sending the analysis result to the control system to compare with the value written in the step (S1);
(S6) if the comparison is passed, continuing to pick the pipe, completing pipe picking operation and feeding back an execution result; otherwise, the user is informed to process and feed back the execution result.
Specifically, the specific method for analyzing the picture by the intelligent algorithm is as follows: setting picture parameters of the intelligent camera, calculating to obtain a coordinate value of each hole site of the cryopreservation box, and judging whether the cryopreservation tube exists in the hole site or not according to image luminosity identification in the hole site coordinates.
Further, the set picture parameters comprise the transverse coordinate, the longitudinal coordinate and the vacancy size of the vacancy of the freezing storage box.
Specifically, the method for comparing the picture analysis result by the control system comprises the following steps: the PLC controller distributes a group of registers to the two cameras respectively, the registers correspond to the hole site number in the cryopreservation box one to one, after the cameras take pictures, whether cryopreservation pipes exist in the hole sites or not is obtained through data analysis, corresponding judgment values are generated and written into the PLC registers, the PLC registers are compared with data written in advance after polling the data, if the data are consistent, pipes are picked up continuously, and if the data are inconsistent, errors are reported.
Furthermore, the judgment value of the cryopreservation tube obtained after the camera takes a picture is written into the PLC register through MC protocol and TCP communication.
Preferably, the smart camera has a machine learning function.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, by means of the visual processing library of the intelligent camera, when the frozen pipe is picked up, the frozen box for storing the frozen pipe is photographed and identified before and after the pipe is picked up, each collected picture is analyzed according to the configured rule, the information on the existence of the hole position of the frozen pipe in the picture can be accurately obtained, the aim of comparison is realized through data interaction with the PLC register, the accuracy of pipe picking each time is verified, and the pipe picking accuracy is improved.
(2) According to the method, two intelligent cameras are arranged at the pipe picking position, the two cameras can be a source position camera and a target position camera according to different pipe picking requirements, the starting time periods of the two cameras are different, the two cameras are respectively used for recording the change of the vacant positions of the cryopreservation boxes before and after the source cryopreservation pipes are selected, the double verification of the source cryopreservation pipes before and after the source cryopreservation pipes are selected is realized, the misoperation occurrence probability of the cryopreservation pipe selection is greatly reduced, and the pipe picking accuracy is guaranteed.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention.
Detailed Description
The present invention will be further described with reference to the following description and examples, which include but are not limited to the following examples.
Examples
As shown in fig. 1, the frozen tube selecting method based on visual auxiliary verification disclosed by the invention is suitable for selecting frozen tubes in a deep low-temperature environment. Can monitor choosing the pipe process, the quick in time discovery mistake is chosen the pipe information, it mainly relies on the camera to shoot and carry out data interaction and realize the error logic with the PLC controller behind the intelligent analysis picture, rely on the visual processing storehouse of intelligent camera from the area, each picture of gathering is analyzed according to the rule that has configured, can accurately acquire freezing the existence information of depositing the pipe hole site in the picture, through the data interaction with the PLC register, realize the purpose of comparing, verify choosing the pipe process.
During specific operation, data, such as the type of the cryopreservation box, the number of holes and other information, is preferably written into the PLC register of the control system according to the type of different cryopreservation boxes and the agreed format. Then, choose a tub position to set up an intelligent camera respectively at two, set up two intelligent cameras altogether promptly, what take a picture before choosing tub operation is the source position camera, what take a picture after choosing tub operation is the target position camera, according to choosing the difference of tub demand, two cameras all probably are source position camera and target position camera, select a source cryopreserved pipe, another tube position of choosing is chosen from current choosing tub position to source cryopreserved pipe, the PLC controller is according to choosing tub position that the source cryopreserved pipe place confirms to launch the source position camera, confirm before choosing tub. Here, it should be noted that: for example, any one camera can be selected to photograph the source cryopreserved pipe first, and then the source cryopreserved pipe is determined to be a source position camera; for example, a camera closer to the source cryopreserved pipe may be selected to photograph the source cryopreserved pipe, and if the camera is determined to be the source position camera, the other camera may be determined to be the target position camera. And starting a source position camera to photograph the cryopreservation box, analyzing the picture by using an intelligent algorithm of the intelligent camera, and sending an analysis result to the control system to compare the analysis result with the value written in the PLC register. The specific method of the picture comprises the following steps: setting picture parameters of the intelligent camera, wherein the parameters comprise transverse and longitudinal coordinates of the hole sites of the cryopreservation box, the size of a vacant site and the like, calculating to obtain the coordinate value of each hole site of the cryopreservation box, and judging whether the cryopreservation pipe exists in the hole site or not according to the luminosity identification of an image in the hole site coordinates. Moreover, the intelligent camera has machine learning capability, and can provide more and more accurate picture recognition rate through self picture characteristic data accumulation.
In this embodiment, the specific comparison method for the picture verification is as follows: the PLC controller distributes a group of registers to the two cameras respectively, the registers correspond to the hole site number in the freezing storage box one by one, after the cameras take pictures, whether freezing storage pipes exist in the hole sites or not is obtained through data analysis, and result data are written into the PLC registers through MC protocol and TCP communication.
If the comparison before the tube picking is passed, the tube picking is started, after the source cryopreserved tube is picked, hole position information in the cryopreserved box is changed, and therefore the target position camera is started to shoot the cryopreserved box after the tube picking again.
If the comparison before tube picking is failed, the fact that the information of the cryopreservation box or the information of the source cryopreservation tube is wrong is indicated, at the moment, a user needs to be immediately informed to process the information, the cryopreservation box or the source cryopreservation tube is checked, the wrong information is eliminated and corrected, tube picking errors are avoided, and meanwhile an execution result is fed back.
After the source cryopreserved pipe is picked up, the intelligent camera analyzes the picture shot by the target position camera again, at the moment, as the source cryopreserved pipe is picked up, hole position information in the cryopreserved box changes, the hole position information of the source cryopreserved pipe changes from writing '1' into writing '0' into the PLC register, the changed result is subjected to polling comparison again through the PLC register, if the pipe is picked up without error, the value written into the PLC register correspondingly by the hole position information of the source cryopreserved pipe should be changed into '0', the result is compared with the value preset by the system and passes comparison, the pipe is continuously picked up, pipe picking operation is completed, and an execution result is fed back. Otherwise, it indicates that the tube selection is wrong, the target source cryopreserved tube is not selected, the tube selection should be stopped, and the user is informed to process and feed back the execution result. Therefore, the tube picking is verified, and the accuracy of tube picking is ensured.
Through the design, when the intelligent camera carries out tube picking on the frozen tube, the freezing box for storing the frozen tube is photographed and identified before and after tube picking, each collected picture is analyzed according to the configured rules, the information on the existence of the hole position of the frozen tube in the picture can be accurately acquired, the comparison purpose is realized through data interaction with the PLC register, the tube picking accuracy at each time is verified, and the tube picking accuracy is improved. Therefore, compared with the prior art, the invention has outstanding substantive features and remarkable progress.
The above-mentioned embodiment is only one of the preferred embodiments of the present invention, and should not be used to limit the scope of the present invention, but all the insubstantial modifications or changes made within the spirit and scope of the main design of the present invention, which still solve the technical problems consistent with the present invention, should be included in the scope of the present invention.
Claims (4)
1. A frozen tube selecting method based on visual auxiliary verification is characterized by comprising the following steps:
(S1) writing data into the PLC register of the control system according to the type of different freezing storage boxes and the agreed format;
(S2) respectively arranging an intelligent camera at each of the two tube picking positions, selecting a source cryopreserved tube, determining a source position camera and a target position camera according to the tube picking position of the source cryopreserved tube, and confirming before tube picking;
(S3) starting a source position camera to shoot the cryopreservation box, and analyzing the picture by using an intelligent algorithm of an intelligent camera, wherein the specific analysis process is as follows: setting picture parameters of the intelligent camera, calculating to obtain a coordinate value of each hole site of the cryopreservation box, judging whether a cryopreservation tube exists in the hole site or not according to image luminosity identification in the hole site coordinates, and sending an analysis result to the control system to compare the analysis result with the value written in the step (S1); the set picture parameters comprise the transverse coordinates, the longitudinal coordinates and the size of the vacancy of the freezing storage box;
(S4) after the comparison is passed, starting to pick the tube, and starting the target position camera to take a picture of the cryopreservation box again; otherwise, informing the user to process and feed back an execution result;
(S5) analyzing the picture shot by the target position camera by using an intelligent algorithm of the intelligent camera, and sending the analysis result to the control system to compare with the value written in the step (S1); the comparison method is as follows: confirming that the frozen pipe is in the hole site through photographing, writing '1' into the PLC register, if the frozen pipe is not in the hole site, writing '0' into the PLC register, and comparing the polled data of the PLC register with data written into the PLC register in advance;
(S6) if the comparison is passed, continuing to pick the pipe, completing pipe picking operation and feeding back an execution result; otherwise, the user is informed to process and feed back the execution result.
2. The method for selecting the frozen vials based on visual-aided verification according to claim 1, wherein the comparison method of the control system to the image analysis results is as follows: the PLC controller distributes a group of registers to the two cameras respectively, the registers correspond to the hole site number in the cryopreservation box one to one, after the cameras take pictures, whether cryopreservation pipes exist in the hole sites or not is obtained through data analysis, corresponding judgment values are generated and written into the PLC registers, the PLC registers are compared with data written in advance after polling the data, if the data are consistent, pipes are picked up continuously, and if the data are inconsistent, errors are reported.
3. The cryopreservation tube selecting method based on visual auxiliary verification as claimed in claim 2, wherein the cryopreservation tube judgment value obtained after the camera takes a picture is written into the PLC register through MC protocol and TCP communication.
4. The cryopreservation tube selecting method based on visual-assisted verification as claimed in claim 1, wherein the intelligent camera has a machine learning function.
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