CN206236121U - Material row's equipment based on machine vision - Google Patents
Material row's equipment based on machine vision Download PDFInfo
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- CN206236121U CN206236121U CN201621057027.5U CN201621057027U CN206236121U CN 206236121 U CN206236121 U CN 206236121U CN 201621057027 U CN201621057027 U CN 201621057027U CN 206236121 U CN206236121 U CN 206236121U
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Abstract
A kind of material row's equipment based on machine vision, for columned material to be delivered in packing box according to special characteristic attribute, it is characterised in that including：Hopper unit；Piston-cylinder unit；Image acquisition units；The positive unit of upset row, for by towards not to material upset row just, the upset component constituted including the first gear by the first motor and first motor connection and the fixture being connected with first gear and the displaceable member being made up of the second gear of the second motor and second motor connection, the material that the shift unit is used for after transfer is arranged just；Second conveyer belt；And control unit, control image acquisition units, piston-cylinder unit, the operation of the positive unit of upset row.The utility model simple structure, strongly professional, intuitive display, it is easy to operate, detection is accurate, improves operating efficiency, it is adaptable to the assembling of various cylindric materials.
Description
Technical field
The utility model is related to a kind of device based on machine vision treatment, specifically a kind of material based on machine vision
Attitude updating delivery device, belongs to automatic field.
Background technology
Machine vision technique is to further investigate the technology with application both at home and abroad at present.Its guardian technique is exactly to use
Computer or microprocessor simulate the visual performance of people, in the view data collected from camera with complicated image at
Reason technology is analyzed understanding to image, and makes corresponding judgement, controls different executing agencies to carry out collaborative work and reaches
Control and the purpose of detection.
The product for being currently based on machine vision technique is more and more universal, and continuous with industrial automation demand adds
Greatly, many factories all are attempting to do development of the automatic improving to adapt to the epoch.Factory is being packed to product and is being assembled
When often to the placement of product order and after placing, the state of product there are certain requirements, traditional mode is all using artificial
Mode.Artificial mode has very big deficiency in efficiency and cost, and there is many uncertain factors, and these are all serious
Have impact on the long-run development of enterprise.
Utility model content
The utility model is to solve the above problems, there is provided a kind of material row equipment and cylinder based on machine vision
The recognition methods of material characteristics attribute, the device changes old artificial material assembling method, realizes the automation of streamline
Upgrading, improve efficiency of assembling, play the role of for improve production efficiency it is very big, be adapted to industry automatic assembly line on use.
A kind of material row's equipment based on machine vision, for columned material to be thrown according to special characteristic attribute
It is put into packing box, it is characterised in that including：Hopper unit, for the transporting out one by one by material, including hopper,
The baffle plate being arranged at the lower part outlet of the hopper and the cam for controlling the baffle plate to be opened and closed；Piston-cylinder unit, for pushing material,
Including being arranged on left small cylinder on the left of the first conveyer belt, left big cylinder, be arranged on the upper small cylinder above the first conveyer belt, on
Big cylinder, is arranged on the right small cylinder on the right side of the first conveyer belt, and be arranged on the first conveyer belt and after being located at after hopper
Big cylinder；Image acquisition units, including the first camera and second camera, are separately positioned on the first conveyer belt top and are located at
Above and below direction of transfer；The upset positive unit of row, for by towards not to material upset row just, including by the first electricity
The first gear of machine and first motor connection and the fixture composition that is connected with first gear turn component and by the second electricity
The displaceable member of the second gear composition of machine and second motor connection, the material that the shift unit is used for after transfer is arranged just；The
Two conveyer belts, and the first conveyer belt level and be arranged in parallel, accept the material that the positive unit transfer of upset row comes, and carry receiving material
The packing box of material simultaneously exports packing box packing in the presence of piston-cylinder unit；And control unit, control IMAQ list
Unit, piston-cylinder unit, the operation of the positive unit of upset row.
The row's equipment of the material based on machine vision that the utility model is provided, can also just there is such feature：Wherein,
Hopper also includes that the exit for being arranged on hopper is used to detect the photoelectric detection switch of material.
The row's equipment of the material based on machine vision that the utility model is provided, can also just there is such feature：Wherein,
First camera and second camera are macro head.
The row's equipment of the material based on machine vision that the utility model is provided, can also just there is such feature：Wherein,
Fixture is in funnel-form, and big opening end is used to entangle material, and osculum end is used to allow the push rod of right small cylinder to pass through the material that will be enclosed within
Release.
The row's equipment of the material based on machine vision that the utility model is provided, can also just there is such feature：Wherein,
First motor, the second motor are stepper motor.
The utility model also provides a kind of control unit in the above-mentioned row's equipment of the material based on machine vision
In cylindrical material characteristic attribute recognition methods, it is characterised in that comprise the following steps：
Step one, local auto-adaptive threshold skirt is extracted, and convolution ladder is carried out by the preferred coordinates region to photographed images
Angle value computing, the calculating of adaptive threshold is then realized using medium filtering and weighted mean method and the shooting figure of material is realized
The edge extracting of picture；
Step 2, edge rapid refinement is taken the photograph using the realization of parallel rapid refinement algorithm to being eliminated by closed operation repeatedly
Binary image as present in image behind cavity is refined；
Step 3, characteristic attribute identification, is beforehand with a specific matching stencil, and photographed images are done with the matching stencil
Comparison operation obtains final coefficient correlation.
The recognition methods of the cylindrical material characteristic attribute that the utility model is provided, can also have the feature that：Its
In, parallel rapid refinement algorithm is the parallel rapid refinement algorithms of Zhang.
Utility model is acted on and effect
According to a kind of material row's equipment and cylindrical material feature category based on machine vision that the utility model is provided
Property recognition methods, row's equipment is using cleverly Machine Design mode, while coordinating gas with advanced image processing techniques
Cylinder and motor realize linkage, realize the extraction and judgement to material characteristics.
Importantly, this detection process can accomplish very fast, this rises for the efficiency of whole assembly line
Very big raising effect is arrived.Action command is sent to cylinder and motor by communication interface after detection is finished, is reached accurate
Place the purpose of material.
Other the utility model simple structure, strongly professional, intuitive display, it is easy to operate, detection is accurate, improves work
Efficiency, it is adaptable to the assembling of various cylindric materials on industrial automatic assembly line.
Brief description of the drawings
Fig. 1 is the use schematic diagram that the material based on machine vision of the present utility model arranges equipment；
Fig. 2 is the enlarged diagram of the upset components in Fig. 1；
Fig. 3 is that the local auto-adaptive threshold skirt in the recognition methods of the utility model cylindrical material characteristic attribute is extracted
Process schematic；
Fig. 4 is that the algorithm of the edge rapid refinement in the recognition methods of the utility model cylindrical material characteristic attribute is realized
Masterplate schematic diagram；
Fig. 5 is the schematic flow sheet that the utility model is carried out assembling and packaging process in material by characteristic attribute；And Fig. 6
It is the action timing diagram of control unit of the present utility model.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the utility model is realized are easy to understand, with
Lower embodiment combination accompanying drawing is to material row's equipment and cylindrical material feature category based on machine vision of the present utility model
The structure of the recognition methods of property, principle, it is specifically addressed using step, technique effect.
Embodiment
Fig. 1 is the use schematic diagram that the material based on machine vision of the present utility model arranges equipment.
As shown in figure 1, the material row's equipment 100 based on machine vision includes hopper unit, the first conveyer belt, cylinder list
Unit, image acquisition units, the positive unit of upset row, the second conveyer belt, control unit and display unit.
Hopper unit, for the transporting out one by one by material, including hopper 3 and including being arranged on the bottom of hopper 3
The baffle plate 4 in exit and the cam 5 of the control baffle plate 4 opening and closing are used to detect the light electric-examination of material with the exit for being arranged on hopper
Slowdown monitoring switch 2.
First conveyer belt, is arranged on the lower section in the exit of hopper 3, for carrying the material exported from hopper；
Piston-cylinder unit, for pushing material, including is arranged on left small cylinder 6, left big cylinder 7 on the left of the first conveyer belt,
Upper small cylinder 8, upper big cylinder 9 above the first conveyer belt are arranged on, the right small cylinder 13 on the right side of the first conveyer belt is arranged on, with
And be arranged on the first conveyer belt and be located at the rear big cylinder 1 after hopper 3.
Image acquisition units, including the first camera 21 and second camera 10, are separately positioned on the first conveyer belt top
And above and below direction of transfer, the first camera 21 and second camera 10 are macro in the present embodiment
Head.
Fig. 2 is the enlarged diagram of the upset components in Fig. 1.
The upset positive unit of row, for by towards not to material upset row just, including by the first motor 18 and first electricity
Upset component that the first gear 12 and the fixture 14 that be connected with first gear 12 of the connection of machine 18 are constituted and by the second motor 19,
The displaceable member of the composition of second gear 20 being connected with second motor 19, the material that the shift unit is used for after transfer is arranged just,
The first motor, the second motor are stepper motor in the present embodiment.As shown in Fig. 2 fixture 14 is in funnel-form, big opening end is used to cover
Firmly material, osculum end is used to allowing the push rod of right small cylinder 13 to pass through the material that will be enclosed within to release.
Second conveyer belt 17, and the first conveyer belt level and be arranged in parallel, accepts the material that the positive unit transfer of upset row comes,
Carry the packing box 16 of receiving material and the packing box is packed in the presence of piston-cylinder unit and export.
Control unit, control image acquisition units, piston-cylinder unit, the operation of the upset positive unit of row, its control method will be
Bottom describes in detail.
Display unit, and control unit connection, for showing and the corresponding control parameter of touch input or control instruction.
Fig. 3 is that the local auto-adaptive threshold skirt in the recognition methods of the utility model cylindrical material characteristic attribute is extracted
Process schematic.
Fig. 4 is that the algorithm of the edge rapid refinement in the recognition methods of the utility model cylindrical material characteristic attribute is realized
Masterplate schematic diagram.
3,4 illustrate the step process according to statistics of the recognition methods of cylindrical material characteristic attribute, one below in conjunction with the accompanying drawings
Plant the knowledge for the cylindrical material characteristic attribute in the control unit in the above-mentioned row's equipment of the material based on machine vision
Other method, it is characterised in that comprise the following steps：
Step one, local auto-adaptive threshold skirt is extracted, and convolution ladder is carried out by the preferred coordinates region to photographed images
Angle value computing, the calculating of adaptive threshold is then realized using medium filtering and weighted mean method and the shooting figure of material is realized
The edge extracting of picture.Local auto-adaptive threshold skirt is extracted after carrying out convolution Grad computing to preferred coordinates region, fortune
The edge extracting of material image is realized in the calculating for realizing adaptive threshold with medium filtering and weighted mean method.Traditional edge is carried
It is to realize binaryzation by after certain Boundary extracting algorithm computing, attempting one fixed threshold of setting to take method, though so process
So simply but can seriously be influenceed by external factor, be unfavorable for material edge extracting.In order to realize threshold value volume self-adaptative adjustment,
By choosing 5*5 regions in the image after Sobel operator convolution algorithms, region median, secondary minimum are obtained with medium filtering
Value, minimum value, because the purpose of medium filtering is that regional center pixel is replaced with the Mesophyticum of selected window pixel point, therefore
Region intermediate value, secondary minimum value, minimum value pixel are more concerned with for the selection of binary-state threshold.This 3 values are added
Weight average, and using this result as threshold value, the selection of weights reduces as the change with a distance from central pixel point is big.Method reality
Existing flow is as shown in Figure 3.
Step 2, edge rapid refinement is taken the photograph using the realization of parallel rapid refinement algorithm to being eliminated by closed operation repeatedly
Binary image as present in image behind cavity is refined.After material success edge extracting, edge need to be further done
Refinement, is realized to by two after closed operation repeatedly (eliminating cavity present in image) with the parallel rapid refinement algorithms of Zhang
Value image thinning, if the two-dimensional array space opened up is imagebuf [640] [480], every corresponding coordinate Hx
[640], Hy [480] is represented.Choose wherein 3 row 3 row pixel P1, P2 ... P9 in order every time and constitute 3*3 regions, as algorithm
Template is realized, as shown in Figure 4.
The pixel centered on P5, is realized by two step leash law, and prospect point value is 0, and background point value is 1.The first step is constrained
Condition is：
(1) P5 is foreground (value is 0)；
(2) central element is removed, with P2, P1, P4, P7, P8, P9, P6, when P3 is sequence, the value of these points is by 1->0 change
Number of times be 1；
(3) P2 | | P6 | | P8=1；
(4) P4 | | P6 | | P8=1；
(5) non-1 number is less than or equal to 6 more than or equal to 2 in the 8 neighborhood points of P5.
The point to be deleted of mark, treats that all boundary point ends of scan are deleted.Second step constraints and the first step
Difference is the 3rd step and the 4th step, and other are consistent.
(3) P2 | | P4 | | P8=1；
(4) P2 | | P4 | | P6=1.
Step 3, characteristic attribute identification, is beforehand with a specific matching stencil, and photographed images are done with the matching stencil
Comparison operation obtains final coefficient correlation.After successfully to material edge thinning, characteristics of image is realized using related operation method
Judgement, by being beforehand with a matching template, realtime graphic carries out related calculation with matching template and obtains final for its operating process
Coefficient correlation, can effectively obtain the matching degree of image by this coefficient, and then effectively control cylinder and motor is dynamic
Make, correlation function formula is as follows.
Fig. 5 is the schematic flow sheet that the utility model is carried out assembling and packaging process in material by characteristic attribute.
Fig. 6 is the action timing diagram of control unit of the present utility model.
The electrical action of the row's equipment of the material based on machine vision that the present embodiment is provided, such as Fig. 5, shown in 6, specifically
Including：
(1) initial power-on：Each mechanism is in ready state, conveyer belt operation.
(2) manually material to be assembled is fitted into hopper, without the directions question that should be noted material.
(3) blanking motor passes through the action of the cam 5 of the lower end of motor control hopper 3 under the cooperation of photoelectric detection switch 2,
The action of control hopper discharging opening baffle plate 4, when photoelectric detection switch 2 has been not detected by material, the Unscrew baffle plate 4 of cam 5,
Material is entered in sense channel by hopper port.
(4) material is fallen into mould 11 by the passage of hopper, and big cylinder 1 is ventilated afterwards, and push rod is released material in mould 1
Push forward, be at the underface of small cylinder 8, upper small cylinder 8 suppresses material makes itself and the level of fixture 14, the first shooting
First 21 carry out material towards judgement, and the first motor 18 drives first gear 12 to rotate 180 ° of angles if reversely.Finish rear left air
Cylinder 7 advances to the right material one segment distance, left small cylinder 21 to follow up and material is pressed into fixture 14.
(5) after fixture 14 clamps material, quilt when waiting packing box 16 by photoelectric detection switch on the second conveyer belt 17
Detection sends sense command to the second motor 19 after signal is issued into control unit, and the motor starts to spin, second camera 10
Collection image, feature is carried out by the recognition methods that the image sends the above-mentioned cylindrical material characteristic attribute of control unit operation to
Extract and judge, when detection is finished, the second motor 19 is stalled, material is ejected (such as Fig. 2) by the push rod of right small cylinder 13, makes thing
Material departs from fixture 14, and directly over packing box 16, when packing box leaves moment, opposite side photoelectric detection switch can detect bag
Mounted box 16 is left, and now going up big cylinder 9 can be pressed into packing box 16 by material, and all cylinders can all be led after the action of oneself is completed
It is dynamic to withdraw push rod.
Above example is general electrical action process of the present utility model, it is adaptable to which various cylinder materials are belonged to by feature
The process that property is assembled.
The effect of embodiment and beneficial effect
According to a kind of material row's equipment and cylindrical material feature category based on machine vision that the present embodiment is provided
Property recognition methods, row's equipment is using cleverly Machine Design mode, while coordinating gas with advanced image processing techniques
Cylinder and motor realize linkage, realize the extraction and judgement to material characteristics.
Importantly, this detection process can accomplish very fast, this rises for the efficiency of whole assembly line
Very big raising effect is arrived.Action command is sent to cylinder and motor by communication interface after detection is finished, is reached accurate
Place the purpose of material.
Other the utility model simple structure, strongly professional, intuitive display, it is easy to operate, detection is accurate, improves work
Efficiency, it is adaptable to the assembling of various cylindric materials on industrial automatic assembly line.
Claims (5)
1. a kind of material row's equipment based on machine vision, arrives for columned material to be delivered according to special characteristic attribute
In packing box, it is characterised in that including：
Hopper unit, for the transporting out one by one by material, including hopper, is arranged at the lower part outlet of the hopper
Baffle plate and control the baffle plate be opened and closed cam；
First conveyer belt, is arranged on the lower section in the exit of the hopper, for carrying the material exported from the hopper；
Piston-cylinder unit, for pushing the material, including is arranged on left small cylinder, left air on the left of first conveyer belt
Cylinder, is arranged on upper small cylinder, upper big cylinder above first conveyer belt, is arranged on right small on the right side of first conveyer belt
Cylinder, and be arranged on first conveyer belt and be located at the rear big cylinder after the hopper；
Image acquisition units, including the first camera and second camera, are separately positioned on the first conveyer belt top and positioned at biography
Send above and below direction；
The upset positive unit of row, for by towards not to material upset row just, including by the first motor and first motor
The first gear of connection and be connected with first gear fixture composition upset component and by the second motor and second motor
The displaceable member of the second gear composition of connection, the material that the displaceable member is used for after transfer is arranged just；
Second conveyer belt, and the first conveyer belt level and be arranged in parallel, accepts the thing that the positive unit transfer of upset row comes
Material, carries the packing box that accommodates the material and in the presence of the piston-cylinder unit by packing box packing output；And
Control unit, control described image collecting unit, the piston-cylinder unit, the operation of the positive unit of upset row.
2. the material based on machine vision according to claim 1 arranges equipment, it is characterised in that：
Wherein, the hopper also includes that the exit for being arranged on the hopper is used to detect the photoelectric detection switch of material.
3. the material based on machine vision according to claim 1 arranges equipment, it is characterised in that：
Wherein, first camera and second camera are macro head.
4. the material based on machine vision according to claim 1 arranges equipment, it is characterised in that：
Wherein, the fixture is in funnel-form, and big opening end is used to entangle the material, and osculum end is used to allowing the pushing away of the right small cylinder
Bar passes through the material that will be enclosed within to release.
5. the material based on machine vision according to claim 1 arranges equipment, it is characterised in that：
Wherein, first motor, the second motor are stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621057027.5U CN206236121U (en) | 2016-09-14 | 2016-09-14 | Material row's equipment based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621057027.5U CN206236121U (en) | 2016-09-14 | 2016-09-14 | Material row's equipment based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206236121U true CN206236121U (en) | 2017-06-09 |
Family
ID=58982182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621057027.5U Expired - Fee Related CN206236121U (en) | 2016-09-14 | 2016-09-14 | Material row's equipment based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206236121U (en) |
-
2016
- 2016-09-14 CN CN201621057027.5U patent/CN206236121U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 Termination date: 20180914 |
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| CF01 | Termination of patent right due to non-payment of annual fee |