CN114955523B - Mechanical feeding system based on visual positioning in penicillin bottle detection industry - Google Patents
Mechanical feeding system based on visual positioning in penicillin bottle detection industry Download PDFInfo
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- CN114955523B CN114955523B CN202210540771.4A CN202210540771A CN114955523B CN 114955523 B CN114955523 B CN 114955523B CN 202210540771 A CN202210540771 A CN 202210540771A CN 114955523 B CN114955523 B CN 114955523B
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- manipulator
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- 229930182555 Penicillin Natural products 0.000 title claims abstract description 186
- JGSARLDLIJGVTE-MBNYWOFBSA-N Penicillin G Chemical compound N([C@H]1[C@H]2SC([C@@H](N2C1=O)C(O)=O)(C)C)C(=O)CC1=CC=CC=C1 JGSARLDLIJGVTE-MBNYWOFBSA-N 0.000 title claims abstract description 186
- 229940049954 penicillin Drugs 0.000 title claims abstract description 186
- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 230000000007 visual effect Effects 0.000 title claims abstract description 15
- 238000007689 inspection Methods 0.000 claims abstract description 28
- 239000000463 material Substances 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000002955 isolation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000000137 annealing Methods 0.000 description 4
- 230000011218 segmentation Effects 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005282 brightening Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Manipulator (AREA)
Abstract
The application discloses a mechanical feeding system based on visual positioning in the penicillin bottle detection industry, wherein an image acquisition device in the feeding system is arranged above a mesh belt and is used for acquiring images of penicillin bottles on the mesh belt; the identifying and positioning device is configured to identify a bottle body bright band in the image, identify a bottle mouth bright band in the predicted areas on two sides along the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt according to the bottle body bright band and the bottle mouth bright band when one of the two predicted areas is judged to exist; the fixed end of the manipulator is arranged at the tail end of the mesh belt through the base, and the free end of the manipulator is provided with a sucker for driving the sucker to move to a coordinate position so as to adsorb the penicillin bottles on the coordinate position and move to a feeding area of the inspection machine to release the penicillin bottles. According to the technical scheme, the machine vision recognition is utilized to guide the manipulator to grasp the transparent penicillin bottles for feeding of the inspection machine, and the universality and the efficiency of automatic feeding of the inspection machine are improved.
Description
Technical Field
The application relates to the technical field of detection devices, in particular to a mechanical feeding system based on visual positioning in the penicillin bottle detection industry.
Background
The penicillin bottles produced by the bottle making machine need to pass through an annealing furnace under the transmission of a mesh belt, and then the penicillin bottles are conveyed to a checking machine by a feeding system for online quality detection.
In order to realize automatic feeding of the penicillin bottles on the inspection machine, two manipulators are usually arranged, wherein one manipulator is arranged at a discharge port of the bottle making machine, and the other manipulator is arranged at a feed port of the inspection machine or a discharge port of the annealing furnace.
The penicillin bottles produced by the bottle making machine are orderly arranged on a special mesh belt in a row by a first manipulator, when the penicillin bottles reach the tail end of the mesh belt through an annealing furnace, a corresponding photoelectric sensor is triggered, the photoelectric sensor sends a signal to a PLC, the PLC controls a second manipulator to a designated position, the penicillin bottles annealed on the mesh belt are grabbed, and feeding of the inspection machine is completed, wherein the second manipulator can be a right-angle coordinate system manipulator.
In the prior art, the following problems generally exist:
1. In order to realize the grabbing of the penicillin bottles by the second manipulator, on one hand, the first manipulator is required to carry out material sorting operation on the penicillin bottles produced by the bottle making machine, so that the automatic feeding cost of the inspection machine is increased; on the other hand still need customize the guipure for the penicillin bottle after the annealing can vertically stand on the guipure, makes things convenient for snatching of second manipulator, and, in order to avoid the penicillin bottle on the guipure to empty, the velocity of movement of guipure is usually slower, influences inspection efficiency.
2. Although the guipure has been customized, but to the xiLin bottle that the diameter is less or the body is higher, because the body structure's reason leads to it to easily take place to empty in the transmission process, leads to the second manipulator to snatch the error rate higher for this kind of inspection machine automatic feeding device's commonality is relatively poor.
In addition, the inventor of the present application tries to guide and grasp the penicillin bottles directly by using the visual recognition device. However, in the test process, the penicillin bottle is a transparent glass bottle, so that the characteristics of the edge, the texture and the like of the penicillin bottle cannot be accurately identified in the acquired image, and further the coordinate guiding manipulator of the penicillin bottle in the image cannot be obtained to perform grabbing operation.
Disclosure of Invention
The application aims at: the automatic feeding device solves at least one technical problem existing in the process of feeding the inspection machine by utilizing the machine vision recognition to guide the manipulator to grasp the transparent penicillin bottles, and improves the universality and the efficiency of automatic feeding of the inspection machine.
The technical scheme of the application is as follows: the utility model provides a mechanical feeding system based on vision positioning in xiLin bottle detection trade, this feeding system set up in the end of guipure, and feeding system is used for carrying out the material loading to the inspection machine, and feeding system includes: the image acquisition device is used for identifying the positioning device and the manipulator; the image acquisition device is arranged above the mesh belt and is used for acquiring images of the penicillin bottles on the mesh belt; the identifying and positioning device is configured to identify a bottle body bright band in the image, identify a bottle mouth bright band in the predicted areas on two sides along the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt according to the bottle body bright band and the bottle mouth bright band when one of the two predicted areas is judged to exist; the fixed end of the manipulator is arranged at the tail end of the mesh belt through the base, the sucker is arranged at the free end of the manipulator, the manipulator is used for driving the sucker to move to the coordinate position so as to adsorb the penicillin bottles on the coordinate position, and the manipulator is also used for moving to the feeding area of the inspection machine and releasing the adsorbed penicillin bottles;
The identification positioning device is further configured to: when judging that the bottle mouth bright bands exist in the predicted areas on both sides of the bottle body bright bands, or when judging that the bottle mouth bright bands do not exist in the predicted areas on both sides of the bottle body bright bands, identifying the next bottle body bright band in the image;
the number of sucking discs is at least two, and the manipulator is configured to: judging whether an intersection exists between the adjacent area of the second penicillin bottle to be grasped and the adjacent area of the first penicillin bottle to be grasped, if not, sequentially grasping the first penicillin bottle to be grasped and the second penicillin bottle to be grasped, if so, judging the next penicillin bottle as the second penicillin bottle to be grasped, and judging whether the intersection exists in the adjacent area again until the first penicillin bottle to be grasped and the second penicillin bottle to be grasped are determined, wherein the adjacent area is determined by a bottle body bright band and a bottle mouth bright band;
The coordinate position at least comprises a bottle body coordinate and a bottle body angle, wherein the bottle body coordinate is the central position coordinate of the bottle body bright band, and the bottle body angle is determined by the central position coordinate of the bottle body bright band and the central position coordinate of the bottle mouth bright band through a trigonometric function;
In any of the above technical solutions, further, the feeding system further includes: the device comprises an adjusting bracket, a lamp tube, a guide rail and a light source connecting device; the adjusting bracket is arranged above the mesh belt and is formed by splicing sectional materials, and the adjusting bracket is used for installing the image acquisition device and the guide rail; the lamp tube is arranged on the guide rail through the light source connecting device, wherein the light source connecting device slides on the guide rail to adjust the position of the lamp tube above the mesh belt.
In any of the above embodiments, further, the light source connection device at least includes: the sliding block, the knob and the lamp tube connecting plate; the sliding block is arranged in the guide rail; the rotating end of the lamp tube connecting plate is connected with the sliding block through a knob, and the connecting end of the lamp tube connecting plate is used for connecting the lamp tube.
In any of the above technical solutions, further, the image capturing device at least includes a camera, a lens, and an image processing module.
In any one of the above technical solutions, further, the feeding system further includes a terminal fixture, the terminal fixture is mounted at a free end of the manipulator, the terminal fixture is used for mounting the suction cup, and the terminal fixture includes: the clamping device comprises a clamping hoop, an air cylinder mounting plate, a double-shaft air cylinder and a sucker mounting plate; the clamping hoop is arranged on the tail end clamp and is used for connecting the mechanical arm; the cylinder mounting plate is arranged below the clamp, and is used for mounting a double-shaft cylinder; the sucking disc mounting panel sets up in the cylinder axle of biax cylinder, and the sucking disc mounting panel is used for installing the sucking disc.
In any of the above solutions, further, the end fixture further includes: a speed regulating valve; the speed regulating valve is arranged on the cylinder barrel of the double-shaft cylinder and is used for regulating the flow of compressed air filled in the cylinder barrel so as to control the movement speed of the cylinder shaft.
In any of the above solutions, further, the end fixture further includes: a cushion block; the cushion block is arranged between the sucker mounting plate and the cylinder shaft of the double-shaft cylinder and is used for adjusting the position of the sucker mounting plate.
The beneficial effects of the application are as follows:
Compared with a system for grabbing by a general vision guiding manipulator, the technical scheme of the application considers that the penicillin bottle is a transparent object, and the effective structural outline cannot be obtained to further influence positioning, so that the identification positioning device is arranged to identify the reflection bands (the body bands and the bottleneck bands) of the penicillin bottle in the image, so that the coordinate position of the penicillin bottle on the mesh band, comprising the body coordinates and the body angles, is determined according to the body bands and the bottleneck bands, and the guidance of the manipulator grabbing the penicillin bottle is further realized. Compared with the prior art, the feeding system omits the bottle arranging process after the conventional bottle making, and the penicillin bottles do not need to be kept upright in the transmission process on the mesh belt, so that a special mesh belt is not needed, the risk of bottle inversion is avoided, the stability is higher, and particularly for the penicillin bottles with smaller diameters, the effective feeding and carrying of the detector can still be carried out, so that the universality is better, and the efficiency is higher.
Drawings
The advantages of the foregoing and/or additional aspects of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic block diagram of a robotic feeding system based on visual positioning in the penicillin bottle inspection industry in accordance with an embodiment of the present application;
FIG. 2 is a schematic view of a body angle according to one embodiment of the application;
FIG. 3 is a schematic view of a light source adjustment bracket structure according to one embodiment of the present application;
FIG. 4 is a schematic illustration of light source distribution with an aluminum profile frame omitted, according to one embodiment of the application;
FIG. 5 is a schematic view of a light source connection device according to one embodiment of the application;
FIG. 6 is a schematic view of a manipulator end clamp structure according to one embodiment of the application;
FIG. 7 is a schematic view of a robot end clamp according to one embodiment of the application;
fig. 8 is a body bright band image acquired by a camera photographing a penicillin bottle on a mesh belt according to an embodiment of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
As shown in fig. 1, this embodiment provides a mechanical feeding system based on visual positioning in the penicillin bottle detection industry, and this feeding system sets up in the end of guipure 5, and feeding system is used for carrying out the material loading to the inspection machine, and feeding system includes: the device comprises an image acquisition device 1, a recognition positioning device, a manipulator 2 and a tail end clamp 3; the image acquisition device 1 is arranged above the mesh belt 5, and the image acquisition device 1 is used for acquiring images of penicillin bottles on the mesh belt 5; the identifying and positioning device is configured to identify a bottle body bright band in the image, identify a bottle mouth bright band in the predicted areas on two sides of the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt 5 according to the bottle body bright band and the bottle mouth bright band when one of the two predicted areas is judged to exist; the stiff end of manipulator 2 sets up in the end of guipure 5 through base 6, and sucking disc 507 is installed to the free end of manipulator 2, and manipulator 2 is used for driving sucking disc 507 and removes to the coordinate position to adsorb the xiLin bottle on the coordinate position, and manipulator 2 still is used for removing to the material loading region of inspection machine, and releases the xiLin bottle of absorption.
Specifically, the feeding system mainly comprises an image acquisition device 1, an identification positioning device and a manipulator 2. The image acquisition device 1 mainly comprises an industrial camera, a lens and an image processing module, and can be further provided with a matched light source and an adjusting bracket 20, an isolation guardrail 4, a manipulator base 6 and the like, wherein the industrial camera can select a large constant-water star camera, the lens is a Computar fixed-focus lens, the light source is 8T 8 integrated high-brightness LED lamp tubes 10, the adjusting bracket 20 enables the 8 LED lamp tubes 10 to be distributed in a space in a two-layer and crisscross manner, and can realize the adjustment of front, back, left, right and angle, and meanwhile, a bracket shield can be further arranged, and the shield adopts a deep brown transparent organic glass panel to provide sufficient and effective illumination conditions for the image acquisition of the camera.
After the image acquisition device 1 acquires the image of the penicillin bottle on the mesh belt 5, the edge, the texture and other characteristics of the penicillin bottle cannot be accurately identified in the image, so that the transparent penicillin bottle cannot be positioned. Through researching the characteristics of the complete penicillin bottles in the images, the commonality of each complete transparent penicillin bottle is that the bottle body and the bottle mouth of the complete transparent penicillin bottle contain a relatively complete reflection band.
Therefore, in order to identify a complete transparent penicillin bottle, the embodiment introduces the identification of the reflective bands at the positions of the penicillin bottle body and the bottle mouth, namely, the premise of setting and identifying the complete penicillin bottle in the embodiment is that the bottle body and the bottle mouth need to be respectively provided with a relatively complete reflective band. Meanwhile, in order to ensure that each penicillin bottle can show a relatively complete light band in the camera, the positions of the 8 th and the LED lamp tubes 10 on the adjusting bracket 20 can be adjusted according to the conditions of the light bands reflected by the penicillin bottles and comprehensively considering the penicillin bottles with different directions, and the specific adjusting process is not repeated.
The identifying and positioning device in this embodiment is configured to identify a body bright band in an image according to a preset light band length, identify a bottleneck bright band in predicted areas along two sides of the length direction of the body bright band, and determine a coordinate position of a penicillin bottle on the mesh belt 5 according to the body bright band and the bottleneck bright band when one of the two predicted areas is determined to exist, wherein the coordinate position at least comprises a body coordinate and a body angle, the body coordinate is a central position coordinate of the body bright band, and the body angle is determined by the central position coordinate of the body bright band and the central position coordinate of the bottleneck bright band through a trigonometric function.
Specifically, before identification, a detection area is firstly marked by the grabbing area of the manipulator 2 and the discharging position of the penicillin bottle to be used as a target identification area. Then, a threshold segmentation algorithm is adopted to segment the reflective bright bands of the bottle body and the bottle mouth so as to achieve the purpose of positioning the transparent penicillin bottle, wherein the corresponding calculation formula is as follows:
Where Gray (x, y) represents a Gray value at coordinates (x, y) in the image, threshold represents a Threshold value, and Gray (x, y) represents a Gray value after Threshold segmentation. That is, in the image after threshold segmentation, the region of the Gray value Gray (x, y) =1 is the recognized reflection band.
And then, the bottle body bright band in the reflective light band can be screened out according to the preset light band length, a certain distance is respectively extended to two sides along the length direction (the bottle body direction) of the bottle body bright band, an expected area is determined, and whether the reflective bright band of the bottle mouth exists or not, namely the bottle mouth bright band, is detected in the two extended areas by adopting a threshold segmentation algorithm, wherein the distance between the expected area and the bottle body bright band can be set manually according to the length specification parameters of the transparent penicillin bottle.
It should be noted that, based on the preset light band length representing the length of the light band of the bottle body, the residual penicillin bottles (such as half-cut bottles, short bottles and long bottles) on the mesh belt 5 can be screened, and the reflected light bands with the lengths not meeting the preset light band length are not identified, so that the preliminary penicillin bottle quality detection is realized. Wherein the preset band length includes a low threshold and a high threshold to indicate a range of lengths.
As shown in fig. 2, if the bottleneck light band is found only in one expected area, the body coordinates and the body angle of the penicillin bottle can be calculated according to the relative positions of the bottleneck light band and the body light band, and the body coordinates and the body angle are sent to the manipulator 2 as coordinate position information, wherein the calculation formula of the body angle is as follows:
Wherein θ is the body angle, (x 1, y 1) is the body coordinate, namely the central position coordinate of the body bright band, and (x 2, y 2) is the central position coordinate of the bottle mouth bright band.
Further, the identification positioning device is further configured to: when it is determined that there is a bottleneck highlight in the predicted areas on both sides of the bottleneck highlight, or when it is determined that there is no bottleneck highlight in the predicted areas on both sides of the bottleneck highlight, the next bottleneck highlight in the image is identified.
Specifically, if the bright bands of the bottle mouth are found in two expected areas, the bottle mouth of one penicillin bottle is considered to be close to the bottom of the other penicillin bottle, in order to avoid the interference of adjacent penicillin bottles, the penicillin bottle is temporarily selected not to be identified and not to be grabbed, the bright band of the next bottle body in the image is identified, and the penicillin bottle is identified after the interfered penicillin bottle is sucked away;
If the bottle mouth brightening belt is not found in both predicted areas, the penicillin bottle corresponding to the bottle body brightening belt is considered to be a tube head without a bottle mouth, grabbing is not needed, and the next bottle body brightening belt in the image is identified.
On the premise of better identifying the penicillin bottles, the position compensation (including row coordinates and column coordinates) required to be added can be adjusted by observing the position deviation of the manipulator 2 for grabbing the sampling bottles and the movement of the net belt 5, and the coordinate positions determined by the identification positioning device are compensated, so that the effect of accurately grabbing the penicillin bottles is achieved.
Further, the number of suction cups 507 is at least two, and the robot 2 is configured to: judging whether an intersection exists between the adjacent area of the second penicillin bottle to be grasped and the adjacent area of the first penicillin bottle to be grasped, if not, sequentially grasping the first penicillin bottle to be grasped and the second penicillin bottle to be grasped, if so, judging that the next penicillin bottle is used as the second penicillin bottle to be grasped, and judging whether the intersection exists in the adjacent area again until the first penicillin bottle to be grasped and the second penicillin bottle to be grasped are determined, wherein the adjacent area is determined by a bottle body bright band and a bottle mouth bright band.
Specifically, during grabbing, the grabbing object of the manipulator 2 is a penicillin bottle arranged at the first two positions in the movement direction of the mesh belt. In order to prevent the phenomenon that the position of the second penicillin bottle to be grasped changes due to unintentional collision when the manipulator 2 grasps the first penicillin bottle, the recognition positioning device needs to consider the distance between adjacent penicillin bottles when selecting the penicillin bottle to be grasped, grasp the penicillin bottle arranged at the third position instead if the second penicillin bottle to be grasped is in the vicinity of the first penicillin bottle to be grasped, consider the fourth penicillin bottle to be grasped if the third penicillin bottle to be grasped is also in the vicinity, and so on.
Because the bottle body bright band and the bottle mouth bright band are combined to form a complete bottle, the adjacent area of the penicillin bottle to be grasped can be determined according to the bottle body bright band and the bottle mouth bright band, the adjacent area can be a minimum circumscribed rectangle, and the central position of the adjacent area coincides with the central position of a connecting line of the bottle body bright band and the bottle mouth bright band. The length of the adjacent area can be the sum of the lengths of the bottle body and the bottle mouth, and can also be set according to the length specification parameters of the penicillin bottle. The width of the adjacent area is set according to the width specification parameters of the penicillin bottle.
On the basis of finding out all the complete penicillin bottles meeting the requirements in the grabbing area of the manipulator 2, the sequence of the penicillin bottles needing grabbing is determined according to the actual moving direction of the penicillin bottles.
Firstly, sorting the penicillin bottles (the penicillin bottles move from top to bottom in an actual image), wherein the sorting standard is the row coordinates of the left lower corner point of the minimum circumscribed rectangle of the penicillin bottles, and the first penicillin bottle only needs to select the penicillin bottle corresponding to the maximum value of the row coordinates, wherein the left upper corner of the image is set to be the origin coordinates.
The second penicillin bottle is selected according to the position relation between other penicillin bottles and the first penicillin bottle. Selecting a penicillin bottle with a second row coordinate size sequence, judging whether the smallest external rectangle of the penicillin bottle is intersected with the first penicillin bottle (an intersection exists), namely, whether the smallest external rectangle surrounding the two penicillin bottles has a public part, if not, the bottle is the second penicillin bottle to be grabbed, if so, continuing to judge whether the penicillin bottle with a third row coordinate size sequence is intersected with the first penicillin bottle, and sequentially judging until another penicillin bottle which is not intersected with the first penicillin bottle is found, taking the bottle as the second penicillin bottle to be grabbed, and grabbing.
It should be noted that if all the remaining complete penicillin bottles are found, the first penicillin bottle is only grabbed.
In order to mount the suction cup 507 on the robot arm 2, a corresponding end jig 3 may be provided.
Specifically, the industrial camera, lens, light source and adjusting bracket 20 with the reference number 1 is installed on the edge of the mesh belt 5 device by an aluminum angle, the manipulator base 6 is installed on the ground by an expansion bolt, the manipulator 2 is installed on the base 6 by an inner hexagonal bolt, the manipulator 2 can be a tandem SCARA manipulator, and the tail end clamp 3 is installed on the J3J4 shaft of the manipulator 2.
In this embodiment, the penicillin bottles produced by the bottle making machine can directly fall on the mesh belt 5 through a simple device, the penicillin bottles on the mesh belt 5 are in a toppling state, when the penicillin bottles on the mesh belt 5 enter the camera view field range, the penicillin bottles irradiated by the LED lamp tube 10 reflect out straight bright strips at the bottle body positions, the camera photographs the penicillin bottles to collect bright strip information, the penicillin bottles are subjected to online positioning through the internal algorithm of the image acquisition device 1, the x-axis and y-axis position coordinates and an inclination angle coordinate parameter of the penicillin bottles are sent to the manipulator 2, the manipulator 2 is guided to a designated position, the manipulator 2 drives the sucker 507 to move, the suction cup 507 is utilized to adsorb the penicillin bottles, and then the manipulator 2 drives the sucker 507 adsorbed with the penicillin bottles to move, so that the penicillin bottles are released to the feeding area of the inspection machine, and the feeding operation of the inspection machine is completed.
Further, the feeding system further comprises: an isolation barrier 4; the isolation barriers 4 are arranged on two sides of the tail end of the mesh belt 5. The isolation guardrails 4 are installed on the ground through expansion bolts, so that the isolation guardrails are located on two sides of the tail end of the mesh belt 5, and a protection effect is achieved.
As shown in fig. 3, this embodiment further shows an implementation manner of the adjusting bracket and the related devices, and the feeding system further includes: an adjusting bracket 20, a lamp tube 10, a guide rail 401 and a light source connecting device; the adjusting bracket 20 is arranged above the mesh belt 5, the adjusting bracket 20 is formed by splicing profiles, and the adjusting bracket 20 is used for installing the image acquisition device 1 and the guide rail 401; the lamp 10 is mounted on the rail 401 by a light source connection means, wherein the light source connection means slides on the rail 401 to adjust the position of the lamp 10 above the mesh belt 5.
Specifically, the image acquisition device 1 composed of devices such as an industrial camera and a lens is installed at the middle position of the adjusting bracket 20 to obtain the maximum view field range on the mesh belt 5, the LED lamp tube 10 is installed on the adjusting bracket 20, and the position of the LED lamp tube 10 can be adjusted according to the requirement so as to provide the optimal illumination condition for the industrial camera and the lens. The adjusting bracket 20 can be mounted on the edge of the device of the mesh belt 5 by means of a bottom aluminium corner.
As shown in fig. 4, 101 to 108 are eight LED lamps 10 in which lamps 103 to 106 are arranged laterally, lamps 101 and 107 are arranged vertically, and lamps 102 and 108 are arranged at an angle.
It should be noted that, the number and the specification of the LED lamp tubes in this embodiment can be adjusted according to the specific field condition identified by the penicillin bottles, so as to adapt to the field environment, reduce the influence of external light, and improve the accuracy of identifying and grabbing the penicillin bottles.
Further, the light source connection device at least includes: a slider 402, a knob 403, and a tube connection plate 404; the slider 402 is mounted in the guide rail 401; the rotating end of the lamp tube connecting plate 404 is connected to the slider 402 through the knob 403, and the connecting end of the lamp tube connecting plate 404 is used for connecting the lamp tube 10.
As shown in fig. 5, the lamps 101, 103 and 107 are connected to the profile through a linear guide 401, wherein the lamp 10 can be adjusted back and forth along the linear guide 401 in a linear direction, and can be adjusted by swinging through a knob 403 in a circumferential direction, and the rest lamps 10 are fixed on the profile frame in advance according to the width of the actual mesh belt 5 and the position distribution of the bottles, so as to provide sufficient and effective illumination conditions for the bottles in the field of view of the camera, and ensure that each bottle body and each bottle mouth have relatively complete light bands.
In a preferred implementation of this embodiment, the end clamp 3 comprises: a clamp 501, a cylinder mounting plate 502, a biaxial cylinder 503 and a suction cup mounting plate 504; the clamping hoop 501 is arranged on the tail end clamp 3, and the clamping hoop 501 is used for connecting a mechanical arm; a cylinder mounting plate 502 is mounted below the clamp 501, and the cylinder mounting plate 502 is used for mounting a double-shaft cylinder 503; the suction cup mounting plate 504 is provided on the cylinder shaft of the biaxial cylinder 503, and the suction cup mounting plate 504 is used for mounting the suction cup 507.
Specifically, the end fixture 3 is mainly a double-shaft air cylinder 503 matched with a vacuum chuck 507, and a vacuum air path system provides vacuum pressure for suction. According to the length of the body of the penicillin bottle to be grasped (adsorbed), each double-shaft air cylinder 503 can be provided with one to two suckers 507, so that two positions of the penicillin bottle can be adsorbed respectively for longer penicillin bottles, and the adsorption firmness is ensured.
In this embodiment, two biaxial cylinders 503 may be disposed on each end fixture 3, and two penicillin bottles are sequentially sucked up at one time through the two biaxial cylinders 503 on two sides of the end fixture 3 and the matched (vacuum) suction cup 507, and the axes of the two penicillin bottles are kept parallel. And then carrying the penicillin bottles to the designated positions through the mechanical arm 2 to finish automatic feeding, namely realizing simultaneous feeding of two penicillin bottles when the inspection machine feeds.
Further, the end clamp 3 further includes: a speed valve 505; a speed control valve 505 is installed on the cylinder of the biaxial cylinder 503, and the speed control valve 505 is used for adjusting the flow rate of compressed air filled in the cylinder to control the cylinder shaft movement speed.
Further, the end clamp 3 further includes: a spacer 506; the spacer block 506 is disposed between the suction cup mounting plate 504 and the cylinder shaft of the biaxial cylinder 503, and the spacer block 506 is used for adjusting the position of the suction cup mounting plate 504.
Specifically, as shown in fig. 6 and 7, the speed control valve 505 is mounted on the double-shaft cylinder 503 to form a working air path of the double-shaft cylinder 503, the two double-shaft cylinders 503 are respectively mounted on two sides of the cylinder mounting plate 502, the cushion block 506, the suction cup mounting plate 504 and the suction cup 507 are sequentially mounted on the double-shaft cylinder 503, one end of the clamping hoop 501 is connected with the upper side of the cylinder mounting plate 502, and the other end of the clamping hoop 501 is connected with the J3J4 shaft of the manipulator 2. Wherein, the clamp 501 and the cylinder mounting plate 502 are connected after being positioned by two pins, two double-shaft cylinders 503 are arranged on two sides of the cylinder mounting plate 502, a cushion block 506 is used for compensating the height difference of the cylinder mounting, a speed regulating valve 505 controls the action speed of the cylinder, and the mounting distance of two suckers 507 is determined according to the diameter of the actually produced bottle and the distance of the bottle placing position of the inspection machine.
In this embodiment, when the penicillin bottle is identified on the basis of the relatively complete light band, the body part is first selected according to the length, the direction of the bright band of the body is calculated, a certain area is respectively extended towards two ends along the direction, and whether the reflective bright band of the bottle mouth exists or not is detected in the two extended areas. If the bright band is found in only one area, the central position coordinate and the body angle of the penicillin bottle can be calculated according to the relative positions of the bottle mouth bright band and the body bright band.
If the bright bands are found in the two areas, the bottle mouth of one penicillin bottle is considered to be close to the bottom of the other penicillin bottle, the identification is not selected at this time, the gripper is not used for capturing temporarily, and the rest penicillin bottles are identified after the interfered penicillin bottles are sucked away; in addition, if no bright band is found in both areas, the bottle is considered to be a tube head without a bottle mouth, and no grabbing is needed.
In the process of grabbing (adsorbing) the penicillin bottles, the grabbing objects of the manipulator 2 are the penicillin bottles arranged at the first two positions in the moving direction of the mesh belt 5. In order to prevent the phenomenon that the position of the second penicillin bottle to be grasped is changed due to unintentional collision when the manipulator 2 grasps the first penicillin bottle, the distance between adjacent penicillin bottles needs to be considered when selecting the penicillin bottle to be grasped, if the second penicillin bottle to be grasped is in the vicinity of the first penicillin bottle to be grasped, the penicillin bottles arranged in the third position are grasped instead, if the penicillin bottles in the third position are also in the vicinity, the penicillin bottles in the fourth position are considered, and so on.
In this embodiment, the penicillin bottles produced by the bottle making machine are conveyed to the field of view of the industrial camera and the lens by the mesh belt 5, the penicillin bottle bodies are irradiated by the LED lamp tube 10, the reflected light of the bottle bodies forms a straight bright band, the industrial camera and the lens shoot the objects in the field of view, the images are collected, as shown in fig. 8, the coordinate parameters of the positions of the penicillin bottle bodies 701 are obtained through processing by a visual recognition positioning algorithm, the coordinate parameters of the two marked penicillin bottles are then sent to the control system of the manipulator 2, the manipulator 2 is guided by the control system to drive the tail end clamp 3 of the manipulator 2 to move to the designated position of the first penicillin bottle coordinate parameter, one of the two biaxial cylinder 503 shafts extends out of the cylinder shaft, the suction disc 507 below the suction disc is used for sucking the first penicillin bottle by the negative pressure provided by the vacuum system, then the control system is guided by the manipulator 2 to move to the designated position of the second penicillin bottle coordinate parameter, the actions are repeated, the second penicillin bottle is sucked, finally, the manipulator 2 is moved to the position of the inspection machine to place the penicillin bottle at the designated position, and the two penicillin bottles are placed once.
The technical scheme of the application is explained in detail by combining the drawings, and the application provides a mechanical feeding system based on visual positioning in the penicillin bottle detection industry, wherein the feeding system is arranged at the tail end of a mesh belt and is used for feeding a checking machine, and the feeding system comprises: the image acquisition device is used for identifying the positioning device and the manipulator; the image acquisition device is arranged above the mesh belt and is used for acquiring images of the penicillin bottles on the mesh belt; the identifying and positioning device is configured to identify a bottle body bright band in the image, identify a bottle mouth bright band in the predicted areas on two sides along the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt according to the bottle body bright band and the bottle mouth bright band when one of the two predicted areas is judged to exist; the stiff end of manipulator sets up in the end of guipure through the base, and the sucking disc is installed to the free end of manipulator, and the manipulator is used for driving the sucking disc and removes to the coordinate position to adsorb the xiLin bottle on the coordinate position, and the manipulator still is used for removing to the material loading region of inspection machine, and releases the xiLin bottle of absorption. According to the technical scheme, the machine vision recognition is utilized to guide the manipulator to grasp the transparent penicillin bottles for feeding of the inspection machine, and the universality and the efficiency of automatic feeding of the inspection machine are improved.
In the present application, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The shapes of the various components in the drawings are illustrative, and do not exclude certain differences from the actual shapes thereof, and the drawings are merely illustrative of the principles of the present application and are not intended to limit the present application.
Although the application has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and is not intended to limit the application of the application. The scope of the application is defined by the appended claims and may include various modifications, alterations and equivalents of the application without departing from the scope and spirit of the application.
Claims (7)
1. The utility model provides a mechanical feeding system based on vision positioning in xiLin bottle detection trade, its characterized in that, feeding system sets up in the end of guipure (5), feeding system is used for carrying out the material loading to the inspection machine, feeding system includes: an image acquisition device (1), a recognition positioning device and a manipulator (2);
The image acquisition device (1) is arranged above the mesh belt (5), and the image acquisition device (1) is used for acquiring images of penicillin bottles on the mesh belt (5);
The identifying and positioning device is configured to identify a bottle body bright band in the image, identify a bottle mouth bright band in predicted areas on two sides along the length direction of the bottle body bright band, and determine the coordinate position of the penicillin bottle on the mesh belt (5) according to the bottle body bright band and the bottle mouth bright band when one of the two predicted areas is judged to exist in the bottle mouth bright band;
The fixed end of the manipulator (2) is arranged at the tail end of the mesh belt (5) through a base (6), a sucker (507) is arranged at the free end of the manipulator (2), the manipulator (2) is used for driving the sucker (507) to move to the coordinate position so as to adsorb the penicillin bottles on the coordinate position, and the manipulator (2) is also used for moving to a feeding area of the inspection machine and releasing the adsorbed penicillin bottles;
The identification positioning device is further configured to:
When it is determined that there is the bottle neck bright band in the predicted region on both sides of the bottle body bright band, or
When it is determined that the bottleneck lighting strip does not exist in the expected areas on both sides of the body lighting strip,
Identifying the next body bright band in the image;
The number of suction cups (507) is at least two, and the manipulator (2) is configured to:
Judging whether the adjacent area of the second penicillin bottle to be grasped has intersection with the adjacent area of the first penicillin bottle to be grasped, if not, sequentially grasping the first penicillin bottle to be grasped and the second penicillin bottle to be grasped, if so, judging that the next penicillin bottle is used as the second penicillin bottle to be grasped, judging whether the adjacent area has intersection again until the first penicillin bottle to be grasped and the second penicillin bottle to be grasped are determined,
Wherein the adjacent area is defined by a bottle body bright band and a bottle mouth bright band;
the coordinate position at least comprises a bottle body coordinate and a bottle body angle, wherein,
The bottle body coordinate is the central position coordinate of the bottle body bright band,
The body angle is determined by the central position coordinate of the body bright band and the central position coordinate of the bottleneck bright band through a trigonometric function.
2. The mechanical feeding system based on visual positioning in the penicillin bottle detection industry as set forth in claim 1, wherein the feeding system further comprises: an adjusting bracket (20), a lamp tube (10), a guide rail (401) and a light source connecting device;
The adjusting bracket (20) is arranged above the mesh belt (5), the adjusting bracket (20) is formed by splicing sectional materials, and the adjusting bracket (20) is used for installing the image acquisition device (1) and the guide rail (401);
The lamp tube (10) is mounted on the guide rail (401) through the light source connecting device, wherein the light source connecting device slides on the guide rail (401) to adjust the position of the lamp tube (10) above the mesh belt (5).
3. The mechanical feeding system based on visual positioning in the penicillin bottle detection industry as claimed in claim 2, wherein the light source connecting device at least comprises: a slider (402), a knob (403) and a tube connection plate (404);
the sliding block (402) is arranged in the guide rail (401);
The rotating end of the lamp tube connecting plate (404) is connected to the sliding block (402) through the knob (403), and the connecting end of the lamp tube connecting plate (404) is used for connecting the lamp tube (10).
4. The mechanical feeding system based on visual positioning in the penicillin bottle detection industry as claimed in claim 1, wherein the image acquisition device (1) at least comprises a camera, a lens and an image processing module.
5. The feeding system of a manipulator based on visual positioning in the penicillin bottle detection industry as claimed in claim 1, wherein the feeding system further comprises a terminal clamp (3), the terminal clamp (3) is mounted at the free end of the manipulator (2), the terminal clamp (3) is used for mounting the sucker (507), and the terminal clamp (3) comprises: a clamp (501), a cylinder mounting plate (502), a biaxial cylinder (503) and a sucker mounting plate (504);
The clamping hoop (501) is arranged on the tail end clamp (3), and the clamping hoop (501) is used for connecting the manipulator;
The cylinder mounting plate (502) is mounted below the clamping hoop (501), and the cylinder mounting plate (502) is used for mounting the double-shaft cylinder (503);
The sucker mounting plate (504) is arranged on the cylinder shaft of the double-shaft cylinder (503), and the sucker mounting plate (504) is used for mounting the sucker (507).
6. The mechanical feeding system based on visual positioning in the xiLin bottle inspection industry according to claim 5, wherein the end clamp (3) further comprises: a speed regulating valve (505);
The speed regulating valve (505) is arranged on the cylinder barrel of the double-shaft cylinder (503), and the speed regulating valve (505) is used for regulating the flow of compressed air filled in the cylinder barrel so as to control the movement speed of the cylinder shaft.
7. The mechanical feeding system based on visual positioning in the penicillin bottle inspection industry according to any of the claims 5 or 6, characterized in that the end clamp (3) further comprises: a pad (506);
The cushion block (506) is arranged between the sucker mounting plate (504) and the cylinder shaft of the double-shaft cylinder (503), and the cushion block (506) is used for adjusting the position of the sucker mounting plate (504).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210540771.4A CN114955523B (en) | 2022-05-17 | 2022-05-17 | Mechanical feeding system based on visual positioning in penicillin bottle detection industry |
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| CN202210540771.4A CN114955523B (en) | 2022-05-17 | 2022-05-17 | Mechanical feeding system based on visual positioning in penicillin bottle detection industry |
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| CN114955523B true CN114955523B (en) | 2024-07-02 |
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| CN116588682A (en) * | 2023-07-06 | 2023-08-15 | 重庆环视高科技有限公司 | Feeding method of tube bottle detection feeding system |
| CN118405441B (en) * | 2024-06-28 | 2024-09-17 | 中国铁建重工集团股份有限公司 | Automatic disc changing method and system for precise cylindrical workpiece |
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