CN104174148B - Intelligent Pluma Anseris domestica scalds engagement positions - Google Patents

Abstract

The invention discloses a kind of intelligent Pluma Anseris domestica and scald engagement positions, boiling hot imposite is set on pedestal, boiling hot imposite is provided above transmitting the transmission belt of Pluma Anseris domestica, and transmission belt is provided above Pluma Anseris domestica rod holder assembly, arranges the pressing flattening device that Pluma Anseris domestica carries out scald whole processing after Pluma Anseris domestica rod holder assembly；Being provided for the video camera A of Pluma Anseris domestica sorting operation in Pluma Anseris domestica rod holder assembly front upper place, be provided in transmission belt side to scalding that the Pluma Anseris domestica after whole processing carries out the video camera B, video camera A of quality testing, video camera B with FPGA is connected, FPGA is connected with single-chip microcomputer；After Pluma Anseris domestica rod holder assembly, the scavenger system blown away by defective Pluma Anseris domestica is set；Video camera A nearside dress ensures the active light source that intensity of illumination is stable.Present configuration is compact and simple, automaticity is high, TT&C system is rational in infrastructure and intelligence degree is high.

Description

Intelligent goose feather ironing device

This application is a divisional application of the patent application with the application number "201310060881.1", the name "Full-automatic Goose Feather Sorting and Ironing Integrated System", and the application date: 2013.2.27.

technical field

The invention relates to a fully automatic goose feather sorting and ironing integrated system, which belongs to the technical field of electromechanical integration, sensing and measurement and control.

Background technique

90% of the goose feather shuttlecocks in the world are made in China, and the goose feather shuttlecock is mainly played in Europe. Goose feather shuttlecock has high requirements for flight stability and durability. The quality of goose feather shuttlecock has a great relationship with the sorting accuracy and ironing quality of goose feathers. Goose feather shuttlecock is a labor-intensive product. There are about ten processes from the sorting and ironing of goose feathers to the inspection of the finished goose feather shuttlecock. Among them, the sorting and ironing of goose feathers directly affects the appearance, durability and flight trajectory of goose feather shuttlecocks. Therefore, it is a key link in whether qualified or even high-quality products can be produced. At present, the sorting of goose feather shuttlecock still adopts manual visual sorting and manual ironing, which has the problems of high labor intensity, poor sorting and ironing quality.

The feathers of geese are relatively thick, the fiber silk is relatively rich, the down content is relatively high, and it is very dense. Select the best goose feathers and make it into a goose feather shuttlecock. Its flight will be very stable and strong. Moreover, the appearance of the goose feather is also more beautiful, and the milky white goose feather can also emit a bright oily luster. The end of the hair piece is wide and even in a square garden shape. The luster of the feather surface is soft, the shaft tube has a cluster of dense and clear feather silk, the rachis is thick and the root is soft. The feathers of high-quality goose feather shuttlecocks must use high-quality goose feathers. The strength and toughness of goose feathers are especially suitable for the requirements of goose feather shuttlecocks. In the process of making goose feather shuttlecock, the selection and handling of feathers are the most difficult. Because feathers are all natural, it is inevitable that there are thick ones and thin ones, some are bent to the left or right, and some are upturned or downturned. The goose feathers selected after sorting and ironing should be uniform, with the same weight, size and shape, so that the flight of the ball is stable.

In the field of goose feather sorting, there are many researches at home and abroad, and the latest research directions and research results focus on goose feather image processing and defect recognition based on machine vision. The identified defects mainly include the following points: Mildew is mainly manifested as white hair turning yellow and gray hair turning black. In image processing, it is mostly reflected in the change of local or global feather color. Insect erosion is mainly reflected in the shedding of wool filaments and jagged wool flakes. In image processing, it is mainly reflected in the change of local color or gray scale and the change of feather edge shape. Arching is mainly reflected in excessive bending and curling of feathers. In image processing, it is reflected in the shape change of feather edge. And through feature extraction and pattern recognition, arch classification can be realized. Hair shaft scars. The hair shaft is the backbone of goose feathers, and damage to the hair shaft has the greatest impact on the strength and quality of feathers. In image processing, edge recognition can be carried out, and then the hair shaft can be tracked and determined to determine the specific position of the hair shaft after edge identification. Through the analysis of the fitting curve, the thickness and curvature of the hair shaft can be obtained. The image after edge recognition is analyzed to determine whether there is a scar on the hair shaft. damp. Mainly manifested as hair accumulation. Image recognition features are changes in color or grayscale values. Since the subsequent ironing process will shape the feathers, ironing under the condition of hair accumulation will deform the shape of the down.

In order to realize the smoothness of feathers, it is a common method to straighten the curved goose feathers with glue, but most of the feather pieces of the goose feather shuttlecocks processed by this method are damaged, which affects the quality of the goose feather shuttlecocks. Ironing is an effective means to achieve smoothing of goose feathers. There are many studies on automatic ironing machines for leather and clothing at home and abroad, but there is no research on automatic ironing devices for goose feathers.

Contents of the invention

The object of the present invention is to provide a fully automatic goose feather sorting and ironing integrated system with compact and simple structure and high degree of automation.

Technical solution of the present invention is:

A fully automatic goose feather sorting and ironing integrated system is characterized in that it includes a base, an ironing board is arranged on the base, a conveyor belt for transporting goose feathers is arranged above the ironing board, and a goose feather rod clamping device is arranged above the conveyor belt, After the goose feather rod clamping device, a pressing and flattening device for ironing and finishing of goose feathers is installed; a camera A for sorting goose feathers is installed on the front and upper side of the goose feather rod clamping device, and a camera A is installed on the side of the conveyor belt for ironing after ironing processing. Camera B for quality inspection of goose feathers, camera A, camera B are connected to FPGA, and FPGA is connected to single-chip microcomputer; after the goose feather rod clamping device, set up a blowing system to blow away unqualified goose feathers;

The single-chip microcomputer starts the FPGA image acquisition and processing process through the IO port line. The FPGA collects and stores the image of the color camera A in RGB format. Through the edge extraction and edge recognition of the color image, the edge contours of the down and hair shafts are respectively obtained, and the contours in the contour are analyzed. The color pixels are analyzed; the formula for calculating the Euclidean distance in the three-dimensional space of two color pixels is:

(1)

The d value represents the proximity of two color pixels, R1, G1, B1 represent the RGB three-component value of the first color pixel, R2, G2, B2 represent the RGB three-component value of the second color pixel, in FPGA Built-in a reference color R, G, B, built-in threshold value of d, calculate the Euclidean distance between each color pixel and a given color pixel in the outline of the feather and hair shaft, and obtain the number n of pixels whose Euclidean distance is greater than the threshold value, If n is greater than a certain set amount, as unqualified goose feathers, the single-chip microcomputer starts the air blowing system to remove the goose feathers;

After the goose feather passes through the sorting process, the single-chip microcomputer starts the goose feather rod clamping device to clamp the goose feather rod; after the clamping is completed, the single-chip microcomputer starts the pressing and flattening device,

When the pressing and leveling device is ironed once, it will automatically lift up, FPGA starts the ironing quality inspection process, and collects the image of camera B. Since the white goose feather is quite different from the background image, the color image is grayscaled, valued, and neutralized. Value filtering, foreground image acquisition, and closed operation to fill small holes in the object, connect adjacent objects and smooth boundaries, use open operation to eliminate small objects, separate objects in thin places and smooth the boundaries of larger objects, and extract goose feather edges. Through the continuous edge point feature, identify whether the goose feather is still warped after ironing. If there is still warping, run the ironing process again and detect the warping. After three ironings, there is still warped goose feather, which is regarded as unqualified Goose feathers, the clamping mechanism is loosened, and the goose feathers are removed by an air blowing system.

The middle position of the ironing plate is opened to install a photoelectric detection switch connected to the single-chip microcomputer. When working, the single-chip microcomputer detects the state of the photoelectric switch cyclically. When the state of the photoelectric switch changes and the goose feather to be processed reaches the working position, the single-chip computer controls the transmission belt to drive the motor to stop. Stop the conveying, start the sorting and ironing operation.

The optical axis of camera B is perpendicular to the Z axis, and is in a horizontal plane with the conveyor belt, and the flatness of the goose feather after ironing can be identified by side shooting.

The near side of camera A is equipped with an active light source to ensure stable light intensity.

The goose feather rod clamping device includes left and right fixed blocks installed on the base, and the left and right fixed blocks are respectively equipped with automatic slider A and automatic slider B. Automatic slider A and automatic slider B are controlled by motor and gear wires. Driven by a rod transmission device, it moves along the X axis on the fixed block. The speed of the automatic slider A and the automatic slider B are the same, and the direction of movement is opposite; when the goose feather moves, the automatic sliders A and B separate and move outward , does not block the transmission of goose feathers; when the goose feathers stop processing, the automatic sliders A and B move to the inside, closing and clamping the goose feather rods.

Two pieces of spring are installed on the clamping surfaces of automatic slider A and B, which are used to clamp the feather rod of goose feather. Among them, the back of the two spring pieces of automatic slider A are attached with strain gauges, which are controlled by detecting the deformation of the spring piece. Clamping pressure.

The pressing and leveling device includes a leveling head bracket, which is equipped with a leveling head driven by a Z-axis motor and moved up and down through a screw rod; the leveling head bracket can be driven by a Y-axis motor through a synchronous wheel, a synchronous belt and a guide rail device , moving along the Y axis.

The displacement of the leveling head on the Y and Z axes is limited by the travel switch.

The pressing force of the flattening head is adjusted by its adjusting spring to ensure the full contact between the flattening head and the goose feather of the object to be scalded.

The temperature of the leveling head is provided by the heating rod. The built-in thermocouple of the leveling head measures the temperature. The working temperature of the leveling head can be set by yourself to ensure that the leveling head works within a certain temperature range. If the temperature does not reach the set range, the ironing operation will be suspended.

The invention is an integrated system for sorting and ironing goose feathers, which makes up for the current situation that there is no integrated system for sorting and ironing full-automatic goose feathers. The system has a compact and simple structure, a high degree of automation, a reasonable structure of the measurement and control system and a high degree of intelligence.

The goose feathers of the present invention are transported to the working position by the conveyor belt, and the color CCD camera performs edge extraction and color analysis on the goose feather images to judge the quality of the feathers, and the air blowing mechanism eliminates mildew, insect erosion, excessive arching, hair shaft scars, and dampness Goose feathers that cause hair buildup. The qualified feathers sorted out are clamped, positioned and ironed by the X, Y and Z three-axis motion control system. The smoothness of the ironed goose feathers is detected by the CCD sensor, and the goose feathers that have been ironed repeatedly are rejected. The entire measurement and control system is completed by FPGA and single-chip microcomputer as the main controller. The measurement and control module is divided into image acquisition, image processing, X-axis goose feather clamping movement, Y-axis ironing mechanism movement, Z-axis ironing mechanism lifting, temperature control, and position control. Wait. The goose feather sorting and ironing integrated system of the present invention has the advantages of simple structure, high degree of automation, high processing quality, low cost, and stable and reliable measurement and control system.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Fig. 1 is a schematic diagram of the mechanical structure of the goose feather sorting and ironing integrated system of the present invention.

Fig. 2 is a schematic diagram of the drive and transmission mechanism for X-axis movement of the clamping mechanism in the goose feather sorting and ironing integrated system of the present invention.

Fig. 3 is a schematic diagram of the end surface clamping and pressure detection mechanism of the automatic movable slider in the goose feather sorting and ironing integrated system of the present invention.

Fig. 4 is a structural diagram of the measurement and control system in the goose feather sorting and ironing integrated system of the present invention.

detailed description

A fully automatic goose feather sorting and ironing integrated system, comprising a base 1, on which an ironing board 2 is arranged, a conveyor belt 4 for transporting goose feathers 3 is arranged above the ironing board, and a goose feather bar clamping device is arranged above the conveyor belt, After the goose feather rod clamping device, a pressing and flattening device for ironing and finishing of goose feathers is installed; a color CCD camera A5 for sorting goose feathers is installed above the front and top of the goose feather rod clamping device, and a color CCD camera A5 is installed on the side of the conveyor belt for ironing and finishing. Color CCD camera B6 for quality inspection of processed goose feathers, camera A, camera B are connected to FPGA7, and FPGA is connected to single-chip microcomputer 8; after the goose feather rod clamping device, an air blowing system 9 that blows away unqualified goose feathers is set;

A field programmable gate array (FPGA) and a single-chip microcomputer cooperate as a controller. Field Programmable Gate Array (FPGA) is responsible for image acquisition and image processing. The single-chip microcomputer is responsible for the drive control of each actuator, the detection and control of each process quantity and mechanical quantity parameter. The field programmable gate array (FPGA) and the single-chip microcomputer adopt IO port lines to transmit control commands and related data.

The single-chip microcomputer starts the FPGA image acquisition and processing process through the IO port line. The FPGA collects and stores the image of the color camera A in RGB format. Through the edge extraction and edge recognition of the color image, the edge contours of the down and hair shafts are respectively obtained, and the contours in the contour are analyzed. The color pixels are analyzed; the formula for calculating the Euclidean distance in the three-dimensional space of two color pixels is:

(1)

The d value represents the proximity of two colored pixels. R1, G1, and B1 represent the RGB three-component value of the first color pixel, and R2, G2, and B2 represent the RGB three-component value of the second color pixel. A reference color R, G, and B is built in the FPGA. The threshold value of d, calculate the Euclidean distance between each color pixel and a given color pixel in the outline of the feather and hair shaft, and obtain the number n of pixels whose Euclidean distance is greater than the threshold value, n is greater than a certain set amount, and it can be judged that the feather is due to There are many color changes caused by mildew, damp accumulation, insect erosion and other reasons. As unqualified goose feathers, the single-chip microcomputer starts the air blowing system to remove the goose feathers;

After the goose feather passes through the sorting process, the single-chip microcomputer starts the goose feather rod clamping device to clamp the goose feather rod; after the clamping is completed, the single-chip microcomputer starts the pressing and flattening device,

When the pressing and leveling device is ironed once, it will automatically lift up, FPGA starts the ironing quality inspection process, and collects the image of camera B. Since the white goose feather is quite different from the background image, the color image is grayscaled, valued, and neutralized. Value filtering, foreground image acquisition, and closed operation to fill small holes in the object, connect adjacent objects and smooth boundaries, use open operation to eliminate small objects, separate objects in thin places and smooth the boundaries of larger objects, and extract goose feather edges. Through the continuous edge point feature, identify whether the goose feather is still warped after ironing. If there is still warping, run the ironing process again and detect the warping. After three ironings, there is still warped goose feather, which is regarded as unqualified Goose feathers, the clamping mechanism is loosened, and the goose feathers are removed by an air blowing system.

A photoelectric detection switch 10 connected to the single-chip microcomputer is installed in a hole in the middle of the ironing plate. When working, the single-chip microcomputer detects the state of the photoelectric switch cyclically. When the state of the photoelectric switch changes and the processed goose feather reaches the working position, the single-chip microcomputer controls the transmission belt drive motor to stop. Feather transfer stops, sorting and ironing operations start.

The optical axis of camera B is perpendicular to the Z axis, and is in a horizontal plane with the conveyor belt, and the flatness of the goose feather after ironing can be identified by side shooting.

The near side of the camera A is equipped with an active light source 11 that ensures stable light intensity.

The goose feather rod clamping device comprises left and right fixed blocks 12,13 installed on the base, and automatic slider A14 and automatic slider B15 are respectively installed on the left and right fixed blocks, and automatic slider A and automatic slider B are driven by motors. 16 and gear 17 screw rod 18 are driven by the transmission device and move along the X axis on the fixed block. The speed of the automatic slider A and the automatic slider B are the same, and the direction of movement is opposite; when the goose feather moves, the automatic slider A, B separates and moves to the outside without blocking the transmission of the goose feather; when the goose feather stops processing, the automatic sliders A and B move inward to close and clamp the goose feather rod.

Two spring pieces 19 are installed on the clamping surfaces of the automatic sliders A and B, which are used to clamp the goose feather rods, wherein the backs of the two spring pieces of the automatic slider A are all attached with strain gauges 20, which can be detected by detecting the deformation of the spring pieces. To control the clamping pressure.

The flattening device includes a flattening head support 21, which is driven by a Z-axis motor 22 and moves up and down through a screw mandrel 23; , the timing belt 27 and the guide rail device 28 move along the Y-axis direction.

The displacement of the leveling head on the Y and Z axes is limited by the travel switch.

The leveling head press-adhesion force is regulated by its adjustment spring 29, guarantees that leveling head is fully contacted with the object goose feather to be scalded.

The temperature of the leveling head is provided by the heating rod 30. The built-in thermocouple of the leveling head measures the temperature. The working temperature of the leveling head can be set by itself to ensure that the leveling head works within a certain temperature range. If the temperature does not reach the set range, the ironing operation will be suspended.

Claims (1)

1. an intelligent Pluma Anseris domestica scalds engagement positions, it is characterized in that: include pedestal, pedestal arranges boiling hot imposite, boiling hot imposite is provided above transmitting the transmission belt of Pluma Anseris domestica, transmission belt is provided above Pluma Anseris domestica rod holder assembly, arranges the pressing flattening device that Pluma Anseris domestica carries out scald whole processing after Pluma Anseris domestica rod holder assembly；Being provided for the video camera A of Pluma Anseris domestica sorting operation in Pluma Anseris domestica rod holder assembly front upper place, be provided in transmission belt side to scalding that the Pluma Anseris domestica after whole processing carries out the video camera B, video camera A of quality testing, video camera B with FPGA is connected, FPGA is connected with single-chip microcomputer；After Pluma Anseris domestica rod holder assembly, the scavenger system blown away by defective Pluma Anseris domestica is set；

Single-chip microcomputer starts FPGA image acquisition and processing flow process by I/O port line, FPGA is by the image acquisition of color video camera A and is stored as rgb format, extracted by Color Image Edge and limb recognition, respectively obtain eider down and the edge contour of hair bar, and the colour element in profile is analyzed；Two three-dimensional euclideans of colour element away from computing formula are:

$d=\sqrt{{(R_1-R_2)}^2+{(G_1-G_2)}^2+{(B_1-B_2)}^2}---\left(1\right)$

D value represents two colour element degrees of closeness, R1, G1, B1 are represented as the RGB three-component value of first colour element, R2, G2, B2 are represented as the RGB three-component value of second colour element, in FPGA, built-in one with reference to color R, G, B, the threshold value of built-in d, calculate in eider down and hair bar profile euclidean between each colour element and given colour element away from, obtain euclidean away from number of pixels n more than threshold value, n is more than certain set amount, as defective Pluma Anseris domestica, then single-chip microcomputer starts scavenger system, rejects this Pluma Anseris domestica；

After Pluma Anseris domestica is by sorting flow process, single-chip microcomputer starts Pluma Anseris domestica rod holder assembly clamping Pluma Anseris domestica bar；After having clamped, single-chip microcomputer starts pressing flattening device,

When pressing flattening device scald whole once after, automatically lift, FPGA starts boiling hot whole quality testing flow process, the image of acquisition camera B, owing to white Pluma Anseris domestica has bigger difference with background image, by coloured image gray processing, value, medium filtering, foreground image obtains, and use closed operation, minuscule hole in filler body, connect adjacent object and smooth boundary, use opening operation, eliminate small objects, and on very thin place separating objects and smooth larger object border, extract Pluma Anseris domestica edge, by continuous boundary point feature, identify whether Pluma Anseris domestica is scalding whole rear also tilting, tilt if also had, then rerun and once scald rectification journey, and detect tilting, scald the whole Pluma Anseris domestica still having tilting three times, as defective Pluma Anseris domestica, clamping device unclamps, scavenger system is used to be rejected by this Pluma Anseris domestica；Video camera A nearside dress ensures the active light source that intensity of illumination is stable.