CN113245240B - Material sorting control device and control method - Google Patents

Material sorting control device and control method Download PDF

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Publication number
CN113245240B
CN113245240B CN202110668639.7A CN202110668639A CN113245240B CN 113245240 B CN113245240 B CN 113245240B CN 202110668639 A CN202110668639 A CN 202110668639A CN 113245240 B CN113245240 B CN 113245240B
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China
Prior art keywords
motor
signal
controller
industrial camera
preset
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CN202110668639.7A
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CN113245240A (en
Inventor
李刚金
柯敏
丁炯
黄继欣
成学平
刘健
黄治家
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Shenzhen JPT Optoelectronics Co Ltd
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Shenzhen JPT Optoelectronics Co Ltd
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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
    • 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
    • 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
    • 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
    • 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
    • B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Sorting Of Articles (AREA)

Abstract

The application provides a material sorting control device and a control method, and relates to the technical field of material sorting. The input and output ends of the controller in the sorting control device are electrically connected with a motor in the material sorting system, the first output end of the controller is in communication connection with the industrial camera, and the second output end of the controller is in communication connection with the electromagnetic valve; the controller is used for outputting a motor driving signal to the motor according to preset motor rotation parameters and acquiring a rotation position fed back by the motor; outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal of the material and the preset installation position of the industrial camera; acquiring a picture of a material on a glass rotary table shot by an industrial camera; based on the photo of material, blow the magazine that the material signal corresponds in order to blow in the material sorting system with the material to the solenoid valve output, realized can in time, accurately shooing the material, and then can improve the material and select separately the effect.

Description

Material sorting control device and control method
Technical Field
The application relates to the technical field of material sorting, in particular to a material sorting control device and a control method.
Background
The flying shooting, namely the flying shooting, is realized by the shooting mechanism through accurately controlling the exposure time when an object passes through the shooting mechanism in a flying picture. In the material sorting system, the flying swatter is used as an important operation process, and the material box to which the material belongs can be determined through the flying swatter, so that the material can be blown into the corresponding material box.
When the existing flying photography is carried out, the materials are generally photographed and sorted according to a preset scanning period.
However, because the existing flying photography method is relatively simple, the problem that the actual flying photography position is inconsistent with the target photographing position often exists, and the sorting effect is poor.
Disclosure of Invention
The application aims to overcome the defects in the prior art, and provides the material sorting control device and the control method, which can accurately shoot materials and further improve the material sorting effect.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, the present invention provides a material sorting control apparatus, comprising: the system comprises a controller, an industrial camera and an electromagnetic valve, wherein the electromagnetic valve is arranged in an airflow pipeline in a material sorting system, the industrial camera is arranged at a preset position on the periphery of a glass turntable in the material sorting system, the optical fiber sensor is arranged on the glass turntable, and a rotating shaft of the glass turntable is coaxial with an output end of a motor in the material sorting system;
the input and output end of the controller is electrically connected with a motor in the material sorting system, the first output end of the controller is in communication connection with the industrial camera, and the second output end of the controller is in communication connection with the electromagnetic valve;
the controller is used for outputting a motor driving signal to the motor according to preset motor rotation parameters and acquiring a rotation position fed back by the motor; outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, wherein the photographing instruction comprises photographing time; acquiring a picture of the material on the glass turntable, which is shot by the industrial camera according to the shooting instruction; and outputting a blowing signal to the electromagnetic valve to blow the materials into corresponding material boxes in the material sorting system based on the pictures of the materials.
In an alternative embodiment, the material sorting control apparatus further comprises: a fiber optic sensor, the fiber optic sensor comprising: the optical fiber transmitter and the optical fiber receiver are respectively arranged on the upper surface and the lower surface of the glass turntable;
the first input end of the correlation light curtain amplifier is electrically connected with the transmitting end of the optical fiber transmitter, the second input end of the correlation light curtain amplifier is electrically connected with the receiving end of the optical fiber receiver, and the first output end of the correlation light curtain amplifier is electrically connected with the second input end of the controller;
the optical fiber receiver receives the optical signal and transmits the optical signal to the correlation light curtain amplifier, and the correlation light curtain amplifier is used for converting the optical signal transmitted by the optical fiber transmitter into a first electric signal and converting the optical signal received by the optical fiber receiver into a second electric signal;
the controller is configured to generate the incoming material signal if it is determined that a difference between the first electrical signal and the second electrical signal is greater than a preset electrical signal threshold.
In an alternative embodiment, the method further comprises: a counter; and a fourth output end of the controller is in communication connection with the input end of the counter and is used for sending a counting signal to the counter based on the incoming material signal so that the counter displays a counting value according to the counting signal.
In an alternative embodiment, the industrial cameras comprise a plurality of industrial cameras, and the industrial cameras are distributed at preset positions on the periphery of the glass turntable;
a first output end of the controller is in communication connection with each industrial camera, and is specifically used for outputting a photographing instruction to each industrial camera according to the rotating position of the motor, the incoming material signal of the material and the preset installation position of each industrial camera, wherein the photographing instruction comprises photographing time; acquiring pictures of the materials on the glass turntable, which are shot by each industrial camera according to the shooting instruction; and outputting a blowing signal to the electromagnetic valve to blow the materials into the corresponding material boxes based on the pictures of the materials taken by the industrial cameras.
In an alternative embodiment, the solenoid valve comprises a plurality of solenoid valves, each solenoid valve corresponding to one magazine in the material sorting system;
a second output end of the controller is in communication connection with each electromagnetic valve, and is specifically used for determining a target electromagnetic valve among the electromagnetic valves based on the picture of the material; and outputting a blowing signal to the target solenoid valve to blow the material into the corresponding target material box.
In an alternative embodiment, the method further comprises: an image processing chip; the third output end of the controller is electrically connected with the input end of the image processing chip and is used for sending the picture of the material to the image processing chip and receiving the picture of the material which is sent by the image processing chip and processed according to a preset image processing algorithm; determining the category of the material based on the processed picture of the material and a preset division algorithm; determining a target electromagnetic valve in the plurality of electromagnetic valves according to the class of the material; and outputting a blowing signal to the target solenoid valve to blow the material into the material box.
In an optional embodiment, the controller is specifically configured to output a blowing signal to the target solenoid valve according to a rotational position of the motor, the incoming material signal, and a setting position of the target solenoid valve, where the blowing signal includes: and blowing for a material time.
In an alternative embodiment, a first input of the controller is electrically connected to a first input of a motor driver in the material sorting system, and an output of the motor driver is electrically connected to the motor; the controller is specifically configured to output a motor driving signal to the motor driver according to a preset motor rotation parameter.
In an optional embodiment, the controller is specifically configured to obtain, through the motor driver, a rotational position of a motor fed back by a motor encoder in the material sorting system, and a second input end of the motor driver is electrically connected to an output end of the motor encoder.
In an optional embodiment, the controller is specifically configured to obtain a photographing position adjustment parameter according to an actual mounting position and a preset mounting position of the industrial camera; outputting an adjusted photographing instruction to the industrial camera according to the rotation position of the motor, the incoming material signal and the photographing position adjusting parameter, wherein the adjusted photographing instruction comprises adjusted photographing time.
In a second aspect, the present invention provides a material sorting control method applied to a controller in the material sorting control apparatus according to any one of the preceding embodiments, the method including:
outputting a motor driving signal to a motor in a material sorting system according to preset motor rotation parameters, and acquiring a rotation position fed back by the motor; outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, wherein the photographing instruction comprises photographing time; acquiring a picture of the material on the glass turntable, which is shot by the industrial camera according to the shooting instruction; and outputting a blowing signal to the electromagnetic valve to blow the materials into the corresponding material box based on the picture of the materials.
The beneficial effect of this application is:
in the material sorting control device and the control method provided by the embodiment of the application, the method comprises the following steps: the system comprises a controller, an industrial camera and an electromagnetic valve, wherein the electromagnetic valve is arranged in an airflow pipeline in the material sorting system, the industrial camera is arranged at a preset position on the periphery of a glass turntable in the material sorting system, and a rotating shaft of the glass turntable is coaxial with an output end of a motor in the material sorting system; the input and output ends of the controller are electrically connected with a motor in the material sorting system, the first output end of the controller is in communication connection with the industrial camera, and the second output end of the controller is in communication connection with the electromagnetic valve; the controller is used for outputting a motor driving signal to the motor according to preset motor rotation parameters and acquiring a rotation position fed back by the motor; outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, wherein the photographing instruction comprises photographing time; acquiring a picture of the material on the glass turntable, which is shot by an industrial camera according to a shooting instruction; based on the photo of material, blow the magazine that the material signal corresponds in order to blow in the material sorting system with the material to the solenoid valve output, use this application embodiment, make can be according to the rotational position of motor, the supplied materials signal of material and the preset mounted position of industry camera, in time, accurately shoot the material, and then based on the photo of shooing, can be to the accurate material signal of blowing of solenoid valve output, can solve and adopt the condition of predetermineeing the photo cycle and shoot but not shoot the photo of material among the prior art, improve the material and select separately the effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a material sorting control device according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of another material sorting control apparatus provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of another material sorting control apparatus provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of another material sorting control apparatus provided in an embodiment of the present application;
fig. 5 is a schematic flow chart of another material sorting control method according to the embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Prior to the introduction of the present application, a brief description of an existing material sorting system will first be provided, wherein the material sorting system may comprise: the feed mechanism, the carousel, the magazine, including a motor, an end cap, a controller, and a cover plate, motor driver, motor encoder, host computer, camera and air flow pipeline etc, wherein, the host computer can control feed structure and export the material to the carousel in proper order, can be provided with the solenoid valve in the air flow pipeline, air flow pipeline output air current or closed air current can be controlled to break-make through the solenoid valve, the motor can drive the carousel and rotate, the carousel rotates the in-process, according to predetermineeing the cycle of shooing, the host computer can control the camera and shoot the material on the carousel, select separately the material on the carousel according to the photo of shooing, can control air flow pipeline output air current through the solenoid valve according to selecting separately the result, the air current of output can blow the material on the carousel to in the magazine.
Based on the above description, it can be understood that, because the operating system of the upper computer is not a real-time system, a program for controlling the camera to photograph the materials on the turntable often cannot be executed in time due to the operation of other current processes, and therefore, the existing method for controlling the sorting of the materials has the problems of low control precision and poor sorting effect.
In view of this, the embodiment of the application provides a material sorting control device, and this sorting control device is used, can accurately control the time of shooing of industrial camera, improves the sorting effect.
Fig. 1 is a material sorting control device provided in an embodiment of the present application, which can replace an upper computer, a camera, and an electromagnetic valve in an existing material sorting system, and in addition, in order to cooperate with the sorting control device, a turntable in the existing material sorting system can be replaced with a glass turntable. As shown in fig. 1, the sorting control means may include: a controller 110, an industrial camera 120, and a solenoid valve 130.
The electromagnetic valve 130 is arranged in an airflow pipeline in the material sorting system, the industrial camera 120 is arranged at a preset position on the periphery of the glass turntable 300 in the material sorting system, and a rotating shaft of the glass turntable 300 is coaxial with an output end of a motor in the material sorting system. Alternatively, the industrial camera 120 may be disposed right above, to the side of, etc. the glass turntable 300 without obstructing the photographing view, and is not limited herein; according to the practical application scenario, the rotating shaft of the glass turntable 300 may not be coaxial with the output end of the motor in the material sorting system, which is not limited herein.
The input and output ends of the controller 110 are electrically connected with a motor in the material sorting system, the first output end is in communication connection with the industrial camera 120, and the second output end is in communication connection with the electromagnetic valve 130;
the controller 110 is configured to output a motor driving signal to the motor according to a preset motor rotation parameter, and obtain a rotation position fed back by the motor; outputting a photographing instruction to the industrial camera 120 according to the rotation position of the motor, the incoming material signal of the material acquired through the optical fiber sensor 140 and the preset installation position of the industrial camera 120, wherein the photographing instruction comprises photographing time; acquiring a picture of the material on the glass turntable 300, which is shot by the industrial camera 120 according to the shooting instruction; based on the picture of the material, a blowing signal is output to the solenoid valve 130 to blow the material into a corresponding magazine in the material sorting system.
For the motor in the material sorting system, the controller 110 may output a motor driving signal to the motor through the input/output end according to a preset motor rotation parameter, and under the action of the motor driving signal, the motor may drive the glass turntable 300 to rotate and feed back the rotation position of the glass turntable to the controller 110. Optionally, the preset motor rotation parameter may include a preset motor rotation speed, a preset motor rotation starting time, a preset motor rotation ending time, and the like, which are not limited herein; in some embodiments, during the rotation of the motor, the current rotation position may be fed back to the controller 110 according to a preset period, or the controller 110 reads the rotation position of the motor according to the preset period, which is not limited herein.
Based on the above description, the controller 110 may determine the position of the material on the glass turntable 300 after acquiring the rotation position of the motor and the incoming material signal of the material; according to the position of the material on the glass turntable 300 and the preset installation position of the industrial camera 120, a photographing instruction including photographing time can be determined, and the photographing instruction is output to the industrial camera 120, wherein when the photographing time is specifically determined, the photographing instruction can be determined according to preset motor rotation parameters, the position of the material on the glass turntable 300 and the preset installation position of the industrial camera 120, and it can be understood that according to the three parameters, when the material is rotated to the preset photographing position of the industrial camera 120 can be calculated, so that the industrial camera 120 can shoot a photo with a better visual angle.
Optionally, the preset installation position of the industrial camera 120 may be acquired by a position sensor, or may be input to the controller 110 by a manual input method, which is not limited herein; of course, the photographing instruction may further include photographing parameters, such as an aperture size, a shutter speed, and the like, which are not limited herein.
Specifically, the control process of the sorting control device can be seen in the following: since the rotating shaft of the glass turntable 300 is coaxial with the output end of the motor, the rotating position of the motor has a certain corresponding relationship with the position on the glass turntable 300, and after the controller 110 acquires the rotating position of the motor and the incoming material signal of the material, the position of the material on the glass turntable 300 corresponding to the incoming material signal can be determined according to the rotating position of the motor, and after the position of the material on the glass turntable 300 is determined, the photographing time of the material reaching the preset photographing position of the industrial camera 120 can be determined according to the position of the material on the glass turntable 300, the rotating parameter of the glass turntable 300 (i.e., the preset motor rotating parameter of the motor) and the preset mounting position of the industrial camera 120; according to the photographing time, a photographing instruction can be output to the industrial camera 120, so that the industrial camera 120 can timely photograph the material on the glass turntable 300 at the set photographing time, and the problem that the material is photographed in a preset photographing period but the material is not photographed in the prior art is solved.
Further, for the industrial camera 120, after receiving the photographing instruction, the industrial camera 120 may photograph the material on the glass turntable 300 in time according to the photographing instruction, and the photographed picture of the material may be synchronously transmitted to the controller 110. Controller 110 is after receiving the photo of this material, can carry out image analysis to the photo of this material, through the image analysis result, can blow the magazine that the material signal corresponds in order to blow in the material sorting system with the material to solenoid valve 130 output, realized can be according to the rotational position of motor, the incoming material signal of material and the predetermined mounted position of industrial camera 120, shoot the material, and then the photo based on the material, can blow the material signal to solenoid valve 130 output accuracy, avoid not shooting the photo of material and lead to the not good problem of material sorting effect.
It should be noted that the material in the present application may be any material to be sorted, for example, a Device Under Test (DUT), that is, a specific die on a wafer or a final package component, or may be a passive element such as a capacitor, a resistor, an inductor, or other product to be sorted, and is not limited herein.
To sum up, among the material sorting control device that this application embodiment provided, include: the system comprises a controller, an industrial camera and an electromagnetic valve, wherein the electromagnetic valve is arranged in an airflow pipeline in the material sorting system, the industrial camera is arranged at a preset position on the periphery of a glass turntable in the material sorting system, and a rotating shaft of the glass turntable is coaxial with an output end of a motor in the material sorting system; the input and output ends of the controller are electrically connected with a motor in the material sorting system, the first output end of the controller is in communication connection with the industrial camera, and the second output end of the controller is in communication connection with the electromagnetic valve; the controller is used for outputting a motor driving signal to the motor according to preset motor rotation parameters and acquiring a rotation position fed back by the motor; outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, wherein the photographing instruction comprises photographing time; acquiring a picture of the material on the glass turntable, which is shot by an industrial camera according to a shooting instruction; based on the photo of material, blow the magazine that the material signal corresponds in order to blow in the material sorting system with the material to the solenoid valve output, use this application embodiment, make can be according to the rotational position of motor, the supplied materials signal of material and the preset mounted position of industry camera, in time, accurately shoot the material, and then based on the photo of shooing, can be to the accurate material signal of blowing of solenoid valve output, can solve and adopt the condition of predetermineeing the photo cycle and shoot but not shoot the photo of material among the prior art, improve the material and select separately the effect.
Fig. 2 is a schematic structural diagram of another material sorting control device according to an embodiment of the present application. Optionally, as shown in fig. 2, the material sorting control device further includes: a fiber sensor 140, the fiber sensor 140 may include: the optical fiber emitter 141, the optical fiber receiver 142 and the correlation light curtain amplifier 143, the optical fiber emitter 141 and the optical fiber receiver 142 may be respectively disposed on the upper surface and the lower surface of the glass rotary disk 300, it is understood that due to the transparent nature of the glass rotary disk 300, the optical fiber emitter 141 and the optical fiber receiver 142 may be respectively disposed on the upper surface and the lower surface of the glass rotary disk 300, or the optical fiber emitter 141 and the optical fiber receiver 142 may be respectively disposed on the lower surface and the upper surface of the glass rotary disk 300, which is not limited herein. Alternatively, the optical fiber transmitter 141 may be specifically disposed at a central position on the upper surface of the glass turntable 300, and the optical fiber receiver 142 may correspond to the optical fiber transmitter 141, but the specific disposition position is not limited thereto.
The first input end of the correlation light curtain amplifier 143 is electrically connected to the transmitting end of the optical fiber transmitter 141, the second input end is electrically connected to the receiving end of the optical fiber receiver 142, and the first output end is electrically connected to the second input end of the controller 110; the optical signal emitted by the optical fiber emitter 141 is amplified by the correlation light curtain amplifier 143 and then emitted to the optical fiber receiver 142, after the optical fiber receiver 142 receives the optical signal, the optical signal is transmitted to the correlation light curtain amplifier 143, and the correlation light curtain amplifier 143 is used for converting the optical signal emitted by the optical fiber emitter 141 into a first electrical signal and converting the optical signal received by the optical fiber receiver 142 into a second electrical signal;
and the controller 110 is configured to generate a feeding signal if it is determined that a difference between the first electrical signal and the second electrical signal is greater than a preset electrical signal threshold.
Wherein, the optical fiber emitter 141 can emit infrared rays to generate a light curtain; the optical fiber receiver 142 can receive the optical signal emitted from the optical fiber emitter 141, and the light curtain amplifier 143 can have an amplifying function and a function of converting the optical signal into an electrical signal. Therefore, the correlation light curtain amplifier 143 can convert the optical signal emitted by the optical fiber emitter 141 into a first electrical signal, convert the optical signal received by the optical fiber receiver 142 into a second electrical signal, and transmit the first electrical signal to the controller 110 through the first output end; further, the controller 110 may calculate a difference between the first electrical signal and the second electrical signal, and if it is determined that the difference is greater than the preset electrical signal threshold, it indicates that the material is placed on the glass turntable 300, it may be understood that the placed material may block the optical signal emitted by the optical fiber emitter 141, which results in less optical signal received by the optical fiber receiver 142, and therefore, the incoming material signal may be generated at this time, so that the incoming material may be detected each time the material is newly placed on the glass turntable 300.
Optionally, based on the foregoing description, if the materials can be counted, the feeding mechanism may output a plurality of materials to the glass turntable 300 at intervals in sequence, the controller 110 may generate a plurality of incoming material signals and record the incoming material signals, and then according to the rotation position of the motor, the plurality of incoming material signals and the preset installation position of the industrial camera 120, a plurality of photographing instructions may be output to the industrial camera 120 in sequence, each photographing instruction includes a corresponding photographing time, so that the industrial camera 120 may photograph a plurality of materials on the glass turntable 300 in sequence accurately, thereby achieving batch sorting.
Fig. 3 is a schematic structural diagram of another material sorting control device according to an embodiment of the present application. Alternatively, as shown in fig. 3, the sorting control means may further include: a counter 150;
a fourth output of the controller 110 is communicatively connected to an input of the counter, and is configured to send a count signal to the counter based on the incoming material signal, so that the counter displays a count value according to the count signal.
Based on the foregoing description, it can be understood that, because the controller 110 can generate the incoming material signal, if each incoming material signal corresponds to a material, the controller 110 can generate the counting signal according to the incoming material signal, and send the counting signal to the counter, so that the counter can display the counting value according to the counting signal, the sorting personnel can know the sorting progress in time, and the applicability of the sorting control device is improved.
Alternatively, the industrial cameras 120 in the sorting control device may include a plurality of industrial cameras 120, and the plurality of industrial cameras 120 are distributed at preset positions on the periphery of the glass turntable 300;
the first output end of the controller 110 is in communication connection with each industrial camera 120, and is specifically configured to output a photographing instruction to each industrial camera 120 according to a rotation position of the motor, an incoming material signal of the material, and a preset installation position of each industrial camera 120, where the photographing instruction includes photographing time; acquiring pictures of the materials on the glass turntable 300 shot by each industrial camera 120 according to the shooting instruction; based on the pictures of the materials taken by the plurality of industrial cameras 120, a blowing signal is output to the solenoid valve 130 to blow the materials into the corresponding magazine.
Wherein, according to actual application scene, probably need set up a plurality of industrial camera 120 and carry out the shooting of multi-angle so that carry out all-round sorting to the material on the glass carousel 300, for example, certain material includes 6 faces, needs to shoot every face of material, then can set up 6 industrial camera 120, of course, this application does not limit industrial camera 120's quantity here, can set up in a flexible way according to actual application scene. Alternatively, when a plurality of industrial cameras 120 are included, the plurality of industrial cameras 120 may be distributed at predetermined positions on the outer periphery of the glass turntable 300, for example, the plurality of industrial cameras 120 may be distributed at predetermined positions on the outer periphery of the glass turntable 300, or may be distributed directly above the glass turntable 300, and the like, which is not limited herein.
It can be understood that when a plurality of industrial cameras 120 are included, each industrial camera 120 may be in communication connection with the first output end of the controller 110, and for the controller 110, a photographing instruction may be output to each industrial camera 120 according to the rotation position of the motor, the incoming material signal of the material, and the preset installation position of each industrial camera 120, where the photographing instruction may include a photographing time; it can be understood that, if the setting positions of the plurality of industrial cameras 120 are different, the determined photographing time in the photographing instruction of each industrial camera 120 is different, that is, each industrial camera 120 can photograph the same material placed on the glass turntable 300 in sequence according to the photographing time in the photographing instruction, and by photographing, a plurality of photos for the same material are obtained, and then the material can be comprehensively sorted based on the plurality of photos for the same material, the category to which the material belongs is determined, and a material blowing signal is output to the solenoid valve 130 to blow the material into the corresponding material box.
The classification mode of the material is not limited in the application, optionally, the classification can be performed according to the qualified condition of the material, or the classification can be performed according to the type of the material, which is not limited herein. Alternatively, when the solenoid valve 130 is controlled to blow, materials meeting the preset material category may be blown into the preset material box, materials not meeting the preset material category may be placed on the glass rotary disk 300 for further processing, and then further sorting may be performed by referring to the foregoing method, which is not limited herein.
Optionally, according to an actual application scenario, if a plurality of classes of materials conveyed on the glass turntable 300 need to be sorted, so that each material can be blown into a corresponding material box, the electromagnetic valve 130 may include a plurality of electromagnetic valves, each electromagnetic valve 130 corresponds to one material box in the material sorting system, optionally, each electromagnetic valve 130 may correspond to a corresponding airflow pipeline, and is disposed in a corresponding airflow pipeline, that is, each electromagnetic valve 130 may control the corresponding airflow pipeline to output airflow, so as to blow the material on the glass turntable 300, which meets the respective sorting condition, into the corresponding material box; a second output end of the controller 110 is in communication connection with each solenoid valve 130, and is specifically configured to determine a target solenoid valve 130 among the plurality of solenoid valves 130 based on the photo of the material; a blowing signal is output to the target solenoid valve 130 to blow material into the corresponding target cartridge.
It can be understood that, after the controller 110 obtains the photo of the material, the material may be classified based on the photo, a target material box corresponding to the material may be determined through the classification, according to a corresponding relationship between the material box and the electromagnetic valve 130, the target electromagnetic valve 130 corresponding to the material may be determined, according to the determined target electromagnetic valve 130, a blowing signal may be output to the target electromagnetic valve 130, and then the target electromagnetic valve 130 controls the target airflow pipeline to output an airflow, so as to blow the material into the corresponding target material box. By applying the embodiment of the application, the materials can be subjected to multi-class sorting operation, and the applicability of the sorting control device can be improved.
Optionally, in some embodiments, the Controller 110 may be a Programmable Logic Controller (PLC), which may include a high-speed I/O module (the fastest response time is 300 ns), through which data transmission between the Controller 110 and external devices (e.g., the fiber sensor 140, the solenoid valve 130) may be implemented; the solenoid valve 130 in the present application may also be a high-speed solenoid valve, so that the response speed of the solenoid valve 130 may be increased, and the detection error may be reduced.
For example, if a certain material includes 6 surfaces, optionally, the sorting control device may include 6 industrial cameras 120, a first solenoid valve, a second solenoid valve, and a third solenoid valve, where the first solenoid valve corresponds to a first material box in the material sorting system, the second solenoid valve corresponds to a second material box in the material sorting system, and the third solenoid valve corresponds to a third material box in the material sorting system. Alternatively, by photographing each surface of the material with the industrial camera 120, it may be determined whether the set size of each surface meets a preset requirement, wherein if all surfaces meet the preset requirement, the first solenoid valve may be controlled to blow the material into the first magazine; if one surface does not meet the preset requirement, the second electromagnetic valve can be controlled to blow the material into the second material box; if a plurality of faces do not accord with the preset requirement, then can control the third solenoid valve and blow this material into the third magazine, it can be understood that, using this application embodiment, owing to can obtaining the photo of every face of material, consequently, can realize the accurate sorting of multiclass to the material.
Fig. 4 is a schematic structural diagram of another material sorting control device according to an embodiment of the present application. Optionally, as shown in fig. 4, the sorting control device may further include: an image processing chip 160; a third output end of the controller 110 is electrically connected to an input end of the image processing chip 160, and is configured to send a photo of the material to the image processing chip 160 and receive the photo of the material processed by the image processing chip 160 according to a preset image processing algorithm; determining the category of the material based on the processed picture of the material and a preset division algorithm; determining a target solenoid valve 130 among the plurality of solenoid valves 130 according to the category to which the material belongs; a blowing signal is output to the target solenoid valve 130 to blow material into the cartridge.
The image processing chip 160 may process the picture taken by the industrial camera 120 based on a preset image processing algorithm, and optionally, the preset image processing algorithm may include: edge detection algorithms, segmentation algorithms, enhancement algorithms, etc., and are not limited herein. After the image processing chip 160 processes the shot pictures, the pictures of the processed materials can be sent to the controller 110, and then the controller 110 can determine the class of the materials based on the pictures of the processed materials and a preset division algorithm, and can output a material blowing signal to the corresponding solenoid valve 130 according to the class of the materials, so that the materials can be blown into the material box, and multi-classification operation on the materials is realized. Of course, according to the actual application scenario, the process of determining the category of the material may also be completed by the image processing chip 160, and after the image processing chip 160 obtains the category of the material, the category of the material may be returned to the controller 110. By applying the embodiment of the application, the image processing work can be completed by the image processing chip 160, the response time of the sorting control device can be prolonged, and the control precision can be improved.
Optionally, the controller 110 is specifically configured to output a blowing signal to the target solenoid valve 130 according to the rotation position of the motor, the feeding signal, and the setting position of the target solenoid valve 130, where the blowing signal includes: and blowing for a material time.
As can be seen from the foregoing description, an incoming material signal may correspond to a material, and the position of the material on the glass turntable 300 may be determined according to the rotation position of the motor and the incoming material signal, and in addition, referring to the foregoing description, the category to which the material belongs, that is, the target solenoid valve 130 corresponding to the material may be determined; therefore, a blowing signal can be output to the target solenoid valve 130 according to the position of the material on the glass rotary disk 300 and the setting position of the target solenoid valve 130, and the blowing signal includes: and (5) blowing for material time. Specifically, the time for the material to rotate to the target control area corresponding to the target solenoid valve 130 can be determined according to the position of the material on the glass rotary disk 300, the setting position of the target solenoid valve 130, and the rotation parameter of the glass rotary disk 300 (i.e., the preset motor rotation parameter), and the time is the blowing time.
Optionally, a first input end of the controller 110 is specifically electrically connected to a first input end of a motor driver in the material sorting system, and an output end of the motor driver is electrically connected to a motor; the controller 110 is specifically configured to output a motor driving signal to the motor driver according to a preset motor rotation parameter.
The motor driver may convert an electric pulse signal including preset motor rotation parameters sent by the controller 110 into an angular displacement signal, and the converted angular displacement signal may be sent to the motor, so that the motor may rotate in a certain direction according to the angular displacement signal. Optionally, according to an actual application scenario, the preset motor rotation parameter may also be adjusted, so that the motor can be controlled to rotate at any rotation speed through adjustment, and the applicability of the method is improved.
Optionally, the controller 110 is specifically configured to obtain a rotation position of a motor fed back by a motor encoder in the material sorting system through a motor driver, and a second input end of the motor driver is electrically connected to an output end of the motor encoder.
When the rotating position of the motor is obtained, the motor can be obtained through the motor encoder, so that other external encoders are not needed, the structure can be simplified, and the manufacturing cost of the sorting control device is reduced.
Optionally, the controller 110 is specifically configured to obtain a photographing position adjustment parameter according to an actual installation position and a preset installation position of the industrial camera 120; outputting the adjusted photographing instruction to the industrial camera 120 according to the rotation position of the motor, the incoming material signal and the photographing position adjusting parameter, wherein the adjusted photographing instruction comprises the adjusted photographing time.
It can be understood that, in an actual application scenario, the actual setting position of the industrial camera 120 may have a certain difference from the preset mounting position, and therefore, the photographing position adjustment parameter may be obtained according to the actual mounting position and the preset mounting position of the industrial camera 120, and further, according to the rotation position of the motor, the incoming material signal and the photographing position adjustment parameter, the adjusted photographing instruction may be determined, and the adjusted photographing instruction is output to the industrial camera 120, wherein the adjusted photographing instruction may include the adjusted photographing time, so that when the setting position of the industrial camera 120 changes, the sorting control device provided by the embodiment of the present application may still achieve accurate photographing, and further, the sorting effect may be improved.
Fig. 5 is a schematic flow chart of another material sorting control method provided in this embodiment of the present application, which can be applied to a controller in the material sorting control apparatus, and the basic principle and the technical effects of this method are the same as those of the corresponding apparatus embodiment described above, and for the sake of brief description, the corresponding contents in the apparatus embodiment can be referred to for the parts not mentioned in this embodiment. As shown in fig. 5, the method may include:
s101, outputting a motor driving signal to a motor in the material sorting system according to preset motor rotation parameters, and acquiring a rotation position fed back by the motor.
S102, outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, wherein the photographing instruction comprises photographing time.
S103, obtaining the pictures of the materials on the glass turnplate shot by the industrial camera according to the shooting instruction.
And S104, outputting a material blowing signal to the electromagnetic valve based on the picture of the material to blow the material into the corresponding material box.
The controller can output a motor driving signal to the motor according to preset motor rotation parameters, the motor can drive the glass turntable to rotate under the action of the motor driving signal, and the rotation position can be fed back in the motor rotation process; according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, a photographing instruction comprising photographing time can be generated, and the photographing instruction is output to the industrial camera; after receiving the photographing instruction, the industrial camera can photograph the materials on the glass turntable according to the photographing time and return the photographed pictures of the materials to the controller; the controller may output a blowing signal to the solenoid valve to blow the material into the corresponding magazine based on the picture of the material. Use this application embodiment, realized can in time shooing the material according to the supplied material signal of the rotational position of motor and material, and then based on the photo of shooing, can be to the accurate material signal that blows of solenoid valve output, can solve and adopt among the prior art to predetermine the condition of the photo of shooting cycle shooting but not shooting the material, improve the material and select separately the effect.
The generation mode of the incoming material signal can participate in the related parts, which is not described herein any more, and the preset installation position of the industrial camera can be acquired through the position sensor, which is not limited herein.
In addition, for the relevant parts of the method, reference may also be made to the relevant parts of the foregoing device embodiments, and the description of the present application is omitted here.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device may be the controller. As shown in fig. 6, the electronic device may include: a processor 210, a storage medium 220, and a bus 230, wherein the storage medium 220 stores machine-readable instructions executable by the processor 210, and when the electronic device is operated, the processor 210 communicates with the storage medium 220 via the bus 230, and the processor 210 executes the machine-readable instructions to perform the steps of the above-mentioned method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program performs the steps of the above method embodiments. The specific implementation and technical effects are similar, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. A material sorting control apparatus, comprising: the system comprises a controller, an industrial camera and an electromagnetic valve, wherein the electromagnetic valve is arranged in an airflow pipeline in a material sorting system, the industrial camera is arranged at a preset position on the periphery of a glass rotary disc in the material sorting system, and a rotating shaft of the glass rotary disc is coaxial with an output end of a motor in the material sorting system;
the input and output end of the controller is electrically connected with a motor in the material sorting system, the first output end of the controller is in communication connection with the industrial camera, and the second output end of the controller is in communication connection with the electromagnetic valve;
the controller is used for outputting a motor driving signal to the motor according to preset motor rotation parameters and acquiring a rotation position fed back by the motor; outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, wherein the photographing instruction comprises photographing time; acquiring a picture of the material on the glass turntable, which is shot by the industrial camera according to the shooting instruction; based on the photo of the material, outputting a blowing signal to the electromagnetic valve to blow the material into a corresponding material box in a material sorting system, wherein the material is a tested device;
the material sorting control device further comprises: a counter;
a fourth output end of the controller is in communication connection with an input end of the counter and is used for sending a counting signal to the counter based on the incoming material signal so that the counter displays a counting value according to the counting signal;
the industrial cameras are distributed at preset positions on the periphery of the glass rotary disc;
a first output end of the controller is in communication connection with each industrial camera, and is specifically configured to output a photographing instruction to each industrial camera according to a rotation position of the motor, the incoming material signal of the material, and a preset installation position of each industrial camera, where the photographing instruction includes photographing time; acquiring pictures of the materials on the glass turntable, which are shot by each industrial camera according to the shooting instruction; and outputting a blowing signal to the electromagnetic valve to blow the materials into the corresponding material boxes based on the pictures of the materials taken by the industrial cameras.
2. The apparatus of claim 1, further comprising: a fiber optic sensor, the fiber optic sensor comprising: the optical fiber transmitter and the optical fiber receiver are respectively arranged on the upper surface and the lower surface of the glass turntable;
the first input end of the correlation light curtain amplifier is electrically connected with the transmitting end of the optical fiber transmitter, the second input end of the correlation light curtain amplifier is electrically connected with the receiving end of the optical fiber receiver, and the first output end of the correlation light curtain amplifier is electrically connected with the second input end of the controller;
the optical fiber receiver receives the optical signal and transmits the optical signal to the correlation light curtain amplifier, and the correlation light curtain amplifier is used for converting the optical signal transmitted by the optical fiber transmitter into a first electric signal and converting the optical signal received by the optical fiber receiver into a second electric signal;
the controller is configured to generate the incoming material signal if it is determined that a difference between the first electrical signal and the second electrical signal is greater than a preset electrical signal threshold.
3. The apparatus of claim 1, wherein the solenoid valve comprises a plurality of solenoid valves, each solenoid valve corresponding to one magazine in the material sorting system;
a second output end of the controller is in communication connection with each electromagnetic valve, and is specifically used for determining a target electromagnetic valve among the electromagnetic valves based on the picture of the material; and outputting a blowing signal to the target solenoid valve to blow the material into the corresponding target material box.
4. The apparatus of claim 3, further comprising: an image processing chip;
a third output end of the controller is electrically connected with an input end of the image processing chip and is used for sending the picture of the material to the image processing chip and receiving the picture of the material which is sent by the image processing chip and processed according to a preset image processing algorithm; determining the category of the material based on the processed picture of the material and a preset division algorithm; determining a target electromagnetic valve in the plurality of electromagnetic valves according to the class of the material; and outputting a material blowing signal to the target solenoid valve so as to blow the material into the material box.
5. The apparatus according to claim 3, wherein the controller is specifically configured to output a blowing signal to the target solenoid valve according to a rotational position of the motor, the incoming material signal, and a setting position of the target solenoid valve, and the blowing signal includes: and blowing for a material time.
6. The device according to claim 1, wherein a first input of the controller is electrically connected to a first input of a motor driver in the material sorting system, an output of the motor driver is electrically connected to the motor, and a second input of the motor driver is electrically connected to an output of a motor encoder;
the controller is specifically configured to output a motor driving signal to the motor driver according to a preset motor rotation parameter, and acquire a rotation position of a motor fed back by a motor encoder in the material sorting system through the motor driver.
7. The device according to any one of claims 1 to 6, wherein the controller is specifically configured to obtain a photographing position adjustment parameter according to an actual mounting position and a preset mounting position of the industrial camera; and outputting an adjusted photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the photographing position adjusting parameter, wherein the adjusted photographing instruction comprises adjusted photographing time.
8. A material sort control method applied to a controller in the material sort control apparatus according to any one of claims 1 to 7, the method comprising:
outputting a motor driving signal to a motor in a material sorting system according to preset motor rotation parameters, and acquiring a rotation position fed back by the motor;
outputting a photographing instruction to the industrial camera according to the rotating position of the motor, the incoming material signal and the preset installation position of the industrial camera, wherein the photographing instruction comprises photographing time;
acquiring a picture of the material on the glass turntable, which is shot by the industrial camera according to the shooting instruction;
based on the photo of the material, outputting a blowing signal to the electromagnetic valve to blow the material into a corresponding material box, wherein the material is a tested device;
the material sorting control device further comprises: a counter;
the controller is used for sending a counting signal to the counter based on the incoming material signal so as to enable the counter to display a counting value according to the counting signal;
the industrial cameras are distributed at preset positions on the periphery of the glass turntable; the controller is specifically used for outputting a photographing instruction to each industrial camera according to the rotation position of the motor, the incoming material signal of the material and the preset installation position of each industrial camera, wherein the photographing instruction comprises photographing time; acquiring pictures of the materials on the glass rotary disc, which are shot by each industrial camera according to the shooting instruction; and outputting a blowing signal to the solenoid valve to blow the materials into corresponding material boxes based on the pictures of the materials taken by the industrial cameras.
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