CN100506401C - Pearl real time detection and classifying system based on mechanical vision - Google Patents
Pearl real time detection and classifying system based on mechanical vision Download PDFInfo
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- CN100506401C CN100506401C CNB2007100666830A CN200710066683A CN100506401C CN 100506401 C CN100506401 C CN 100506401C CN B2007100666830 A CNB2007100666830 A CN B2007100666830A CN 200710066683 A CN200710066683 A CN 200710066683A CN 100506401 C CN100506401 C CN 100506401C
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- 230000004438 eyesight Effects 0.000 title abstract description 7
- 238000011897 real-time detection Methods 0.000 title abstract 3
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- 239000007787 solid Substances 0.000 claims description 3
- 238000003756 stirring Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 1
- 239000011049 pearl Substances 0.000 description 95
- 238000001514 detection method Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000013505 freshwater Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000012216 screening Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 239000013535 sea water Substances 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
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Abstract
The invention discloses pearl real-time detection and grading system based on machine vision which includes: computer vision recognition component which is equipped under the charging conduit of pearl charging device, and pearl sorting device is equipped under the computer vision recognition component. Using the computer vision technology, collecting image of sequential free-falling pearl surface, sending the collected image to DSP and computers and other hardware apparatus to dealing, then distinguishing the pearl classification standard instantaneously through the dealing results, last sending the distinguishing information to sorting device to achieving classification of pearl with different characteristics automatically using devices. It can get pearl whole surface image, can complete the testing of whole apparent quality index such as pearl size, shape, smooth, defect and color, etc. simultaneously, achieve the rapid real-time detection and grading. The system can adapt to different classification speed, and the structure is simple, adaptability is strong.
Description
Technical field
The present invention relates to detection and hierarchy system, especially relate to a kind of pearl and detect in real time and hierarchy system based on machine vision based on machine vision.
Background technology
China finds and uses one of country of pearl in the world the earliest.China in 2005 pearl annual production reaches more than 1500 ton, accounts for more than 95% of Gross World Product, and wherein the output of fresh water pearl accounts for 99% of world wide production.Be engaged in personnel more than 40 ten thousand people of pearl industry and related industry, the enterprise of only be engaged in fresh water pearl processing, selling just there are nearly thousand families, more than 60 hundred million yuans of the wound output values.Having formed in China at present with Zhuji, Zhejiang serves as that the main fresh water pearl industry cluster ground of representing and the North Sea, Zhanjiang sea water pearls are cultured the trade base.Different pearls, according to characteristics such as its size, color, shape, gloss and flaws, it is worth different, and under the various application scenarios of reality, also needs to adopt the pearl of different brackets, and this just need detect and classification work pearl.The branch detecting method that enterprise adopted of China still is traditional manual type basically at present, this method needs a large amount of labours, speed is slow, expend great amount of manpower, this subjective assessment is subjected to the influence of each side such as individual eyesight, color taste, mood, light simultaneously, and can only carry out the screening of single index during classification, not only efficient is low but also accuracy is very poor.
For unified pearl sorting processing criterion, improve quality and production capacity in the pearl sorting process, Quality Detection detection and the classification of adopting computer vision technique to replace manually carrying out pearl have self-evident excellent super property.At first vision measurement can be got rid of the influence of people's subjective factor, has avoided the testing result that varies with each individual, can carry out the unified sorting of many index in addition, can realize the disposable classification of each index of pearl.This technology is used to some extent in pearl classification field at present, but it only can carry out the classification of classification such as shape at a certain individual event requirement, can't unify classification to fineness and flaw; Simultaneously it can't realize the requirement that fineness and flaw need be analyzed each surface of pearl, and it can only obtain the image information of the part surface of detected pearl, and the loss of pearl blemish is higher.Because its speed is slower, can't realize the quick online detection of pearl in addition.
Summary of the invention
The object of the present invention is to provide a kind of online detection and hierarchy system that is used for detection in real time of pearl quality and classification.The utilization machine vision technique, image acquisition is carried out on pearl surface to the order free-falling, the image that collects is sent in the hardware devices such as DSP, computer and handles, and result done timely discrimination according to the pearl criteria for classification, at last discriminant information is sent to sorting unit, thereby realizes automatically the pearl of different characteristic being classified with equipment.
The technical solution used in the present invention is as follows:
Below the material loading conduit of pearl feeding device the Computer Vision Recognition parts are set, Computer Vision Recognition parts below is provided with the pearl sorting unit; Described Computer Vision Recognition parts comprise light source and video camera, protective cover, sensor and computer; Sensor lays respectively at up and down two ends of protective cover, by circuit respectively with computer in image pick-up card be connected with control module, and provide the positional information of each pearl; Uniform at interval in light source and the video camera solid space around the protective cover, form by four video cameras, link to each other with control module with image pick-up card in the computer via circuit respectively; The pearl positional information that is provided by sensor triggers the dynamic acquisition of carrying out the pearl image, and handles by the program in the computer, and result is done timely discrimination according to the pearl criteria for classification.
Described pearl feeding device: comprise feeding port, feeding cylinder, pusher dog, material toggling dish, direct current generator and material loading conduit; The feeding cylinder upper end is provided with feeding port, the feeding cylinder inner bottom surface is provided with coaxial mounted pusher dog on material toggling dish and the material toggling dish, the feeding cylinder lower end connects the material conduit, the direct current generator that is contained in outside the feeding cylinder lower end drives material toggling dish and pusher dog rotation, evenly have one group of small through hole on the same circumference of described material toggling dish, small through hole is aimed at material loading conduit aperture.
Described pearl sorting unit: sorting unit is the rotating table system of an intermittent duty, comprises charging tray, following charging tray switch, electromagnetic movement switch, electromagnetic switch control section, blanking conduit and direct current generator down; At a plurality of blanking holes that evenly distributed above the charging tray down, pearl is by behind the shooting area, automatically enter down certain blanking hole of charging tray, this moment, computer system write down this pearl place blanking hole number simultaneously, whole charging tray down is by the material loading frequency intermittent duty of pearl, and each motion turns over a blanking hole position, when the classification receiver that cell goes to this pearl correspondence is divided at the pearl place, computer triggers corresponding solenoid-operated switch immediately, by stirring down the following charging tray switch under the charging tray, make this pearl enter corresponding receiving vessel by the blanking conduit.
The pearl feeding device can make pearl transmit in the mode of certain frequency with freely falling body, and the speed of material loading can be adjusted by the speed of control rotating disk very simply; After pearl enters into the Computer Vision Recognition module position, can guarantee that all surface of pearl all can be detected at one time, thereby can accurate and effective, comprehensively obtain the image information of tested pearl, and therefrom extract qualitative characteristics information.By the analysis of computer software, can finish all detections of exterior quality indexs such as pearl size, shape, color, bright and clean and flaw simultaneously, and, the grade of each pearl comprehensively be judged according to the discrimination standard of drafting in advance.And this result can be sent to sorting unit, carry out the sizing screening of pearl.
The beneficial effect that the present invention has is: can obtain all surface image on pearl 360 degree simultaneously, and correct and analyzing and processing, can fast and effeciently finish the detection of size to pearl, shape, color, flaw, the index of quality such as bright and clean, and partly realize classification by automatic classification, improve the automatization level and the accuracy of pearl Quality Detection and classification.After being applied to actual production, can improve the production efficiency of pearl, the quality level and the competitiveness of lifting product.
Description of drawings
Fig. 1 is overall framework figure of the present invention;
Fig. 2 is a structural representation of the present invention;
Fig. 3 is a feeding device schematic diagram of the present invention;
Fig. 4 is a sorting unit schematic diagram of the present invention;
Fig. 5 is a Computer Vision Recognition device of the present invention;
Fig. 6 is the space layout drawing of the video camera in the Computer Vision Recognition device of the present invention;
Fig. 7 is that pearl sorting 1394 control bus are simplified network chart;
Fig. 8 is pearl sorting control and signal transmission schematic diagram.
Among the figure: 1 is the pearl feeding device, and 2 is the Computer Vision Recognition parts, and 3 is pearl mechanical classification device, and 4 is feeding port, 5 is barrel, and 6 is pusher dog, and 7 is the material toggling dish, and 8 is direct current generator, 9 is the material loading conduit, and 10 are following charging tray, and 11 are following charging tray switch, 12 is electromagnetic movement switch, and 13 is the electromagnetic switch control section, and 14 are the blanking conduit, 15 is direct current generator, and 16 is video camera and light source, and 17 is protective cover, 18 is pearl, and 19 is sensor, and 20 is computer.
The specific embodiment
The invention will be further described below in conjunction with drawings and embodiments
As depicted in figs. 1 and 2, the present invention is made up of pearl feeding device 1, Computer Vision Recognition parts 2, pearl mechanical classification device 3.Below the material loading conduit 9 of pearl feeding device 1 Computer Vision Recognition parts 2 are set, Computer Vision Recognition parts 2 belows are provided with pearl sorting unit 3.Designed feeding device 1 makes pearl enter camera watch region in the freely falling body mode, can guarantee that follow-up Computer Vision Recognition parts 2 obtain pearl whole surface image.Its workflow is: pearl is when the blanking conduit of feeding device 1 falls, trigger position sensor 19, and triggering signal is transferred to image acquisition unit, classification process software in the computer is handled the image that is obtained, obtain the classification results of this pearl, and use the action that this result controls blanking device, realize classification to pearl.
Shown in Fig. 3 (a), the pearl feeding device comprises: feeding port 4, feeding cylinder 5, pusher dog 6, material toggling dish 7, direct current generator 8 and material loading conduit 9.Fig. 3 (b) is depicted as the front elevation of pusher dog 6 and material toggling dish 7.Evenly have 16 holes (number of perforations can require to adjust according to output) on the material toggling dish 7, feeding cylinder 5 lower ends have an aperture.Motor 8 drive material toggling dishes 7 rotate in barrel 5 when work, pearl can enter in the aperture of material toggling dish 7 automatically, and the pearl in the hole is with 7 rotations of material toggling dish, when going to the aperture top of barrel 5 lower end, pearl falls into conduit 9 automatically, thereby finishes the feeding work of a pearl.The pearl of different sizes can be handled by the diameter of adjusting material toggling dish 6 and loading plate 7 apertures, and blanking velocity can be regulated by two kinds of methods: (1) adjusts the little number of perforations on the material toggling dish 7; (2) rotating speed of adjustment direct current generator 8.
Fig. 4 (a) is a sorting unit schematic diagram of the present invention.The mechanical sorting device is the rotating table system of an intermittent duty.By charging tray 10, following charging tray switch 11, electromagnetic movement switch 12, electromagnetic switch control section 13, blanking conduit 14 and direct current generator 15 etc. are formed down.Shown in Fig. 4 (b), in a plurality of blanking holes that evenly distributed above the charging tray 10 down (claim to divide cell again, its number is according to the number adjustment of pearl classification).Pearl enters down certain blanking hole of charging tray 10 automatically by behind the shooting area, and computer system writes down this pearl place blanking hole number simultaneously at this moment.Whole charging tray 10 down is by the material loading frequency intermittent duty of pearl, and each motion turns over a branch cell position, when the classification receiver that cell goes to this pearl correspondence is divided at the pearl place, computer triggers the solenoid-operated switch 12 of corresponding blanking hole below immediately, and, make this pearl enter corresponding receiving vessel by blanking conduit 14 by stirring the switch 11 of its below.Herein, the number of switch 11 and solenoid-operated switch 12 is identical with the number of blanking hole above the following charging tray 10.
Be illustrated in figure 5 as the Computer Vision Recognition parts.Computer Vision Recognition comprises light source and video camera 16, protective cover 17, sensor 19, computer 20 etc.Sensor 19 lays respectively at protective cover, and about in the of 17 two ends, by circuit respectively with computer 20 in image pick-up card be connected with control module, and provide the positional information of each pearl 18.Light source and video camera 16 are installed at interval by arrangement mode shown in Figure 6 around the protective cover 17, and via line links to each other with control module with image pick-up card in the computer 20.Pearl 18 positional informations that provided by sensor 19 trigger the dynamic acquisition of carrying out the pearl image, and handle by the program in the computer 20, and result is done timely discrimination according to the pearl criteria for classification.
Fig. 6 is the space layout drawing of the video camera in the Computer Vision Recognition device of the present invention. because the image of each video camera picked-up has covered nearly half surface of pearl, only use single or two camera heads of correspondence layout commonly used, may exist the blind area on the part binding site, so in order to obtain the information of pearl whole surface, the present invention has designed at solid space four video cameras uniformly at intervals, thereby can finish the detection on whole pearl surface.
Fig. 7 is that pearl sorting 1394 control bus are simplified network chart.This control scheme adopts high speed 1394b control bus, and except that main control computer, The whole control system comprises 6 ancillary equipment: feeding controller, video camera, video camera time for exposure controller, DSP image processor, sorting controller, lighting lamp controller.
Sorting control of Fig. 8 pearl and signal transmission schematic diagram.All ancillary equipment utilize the 1394b EBI to be articulated on the 1394b bus among the present invention, realize the data communication of equipment room and the transmission of control signal.Concrete control procedure is as follows:
(1) before sorting began, the operator selected the sorting task, and according to the difference of sorting task, the initialized instruction that computer sends each ancillary equipment by 1394 buses is carried out initialization to each ancillary equipment.Feeding as feed appliance is provided with at interval, the setting of video camera time for exposure (video camera adopts pattern 1 Exposure mode), and the sort channel encoding setting in the DSP image processor, the decoding setting in the sorting controller, lighting brightness is provided with or the like.
(2) in the pearl assorting room, when pearl when feed appliance falls, by sending the inceptive impulse signal after the optoelectronic switch perception, pulse signal passes through pulse-width controller, send the exposed pulse and the lock-out pulse of certain-length according to initialized requirement, lock-out pulse makes video camera work asynchronously with the DSP image processor.
(3) after all video camera receives exposed pulse, postponing the regular hour after (time-delay that pearl produces in the distance between by photoelectric sensor and video camera), to the pearl shooting that walks abreast simultaneously, and give separately DSP image processor figure by 1394 bus transfer.
(4) the DSP image processor is after receiving picture signal, respectively image is carried out parallel processing, the sorting requirement that is provided with during according to the sorting initialization, produce the sort channel code signal, at once the sort channel code clerk is sent on 1394 buses then, and notice sorting controller receive path code signal on 1394 buses.
(5) the sorting controller behind the receive path code signal, is provided with the result according to the initialization in the own decoder on 1394 buses, and whether identification is the code signal in this passage.When the setting of mechanical sorting device divides the pearl classification receiver that cell goes to this code signal correspondence, open the sorting gauge tap, start aerodynamic separator, make this pearl enter corresponding receiving vessel.
In above-mentioned control scheme, main control computer is also born the task of the following aspects except whole sorting unit is carried out the initial setting up:
(1) each ancillary equipment is carried out condition monitoring.In assorting room, all ancillary equipment need in time by the abnormality of 1394 buses to main frame report oneself, in case after main frame receives the abnormality report, in time make corresponding processing.
(2) separation results of each sort channel is counted.When the DSP image processor sent to the sort channel code clerk on 1394 buses, main control computer also received this code signal, decodes then, obtained the passage number, and separation results is counted.
(3) separation results is arbitrated.The DSP image processor when being difficult to that processing result image carried out ruling, can send requests for arbitration to main control computer by 1394 buses after image is handled, do last ruling by main frame.After the main frame ruling, send the channel coding signal, the sorting of control channel to 1394 buses.For example, when the sorting of pearl fineness, contain different blemish in the image that possible each video camera is taken, each DSP image processor is after handling picture signal separately, to should which kind of being divided into coming to this pearl on earth, may be difficult to make judgement, at this moment can arbitrate by requesting host.
More than used components and parts all can select for use from the market and buy.
Claims (3)
1. the pearl based on machine vision detects and hierarchy system in real time, it is characterized in that: material loading conduit (9) below at pearl feeding device (1) is provided with Computer Vision Recognition parts (2), and Computer Vision Recognition parts (2) below is provided with pearl sorting unit (3); Described Computer Vision Recognition parts (2) comprise light source and video camera (16), protective cover (17), sensor (19) and computer (20); Sensor (19) lays respectively at protective cover (17) two ends up and down, by circuit respectively with computer (20) in image pick-up card be connected with control module, and provide the positional information of each pearl (18); Light source and video camera (16) are at interval uniform in protective cover (17) solid space on every side, are made up of four video cameras, link to each other with control module with image pick-up card in the computer (20) via circuit respectively; Pearl (18) positional information that is provided by sensor (19) triggers the dynamic acquisition of carrying out the pearl image, and handles by the program in the computer (20), and result is done timely discrimination according to the pearl criteria for classification.
2. the pearl based on machine vision according to claim 1 detects and hierarchy system in real time, it is characterized in that: described pearl feeding device (1): comprise feeding port (4), feeding cylinder (5), pusher dog (6), material toggling dish (7), direct current generator (8) and material loading conduit (9); Feeding cylinder (5) upper end is provided with feeding port (4), material toggling dish (7) is set feeding cylinder (5) inner bottom surface and material toggling dish (7) is gone up coaxial mounted pusher dog (6), feeding cylinder (5) lower end connects the material conduit, the direct current generator (8) that is contained in outside feeding cylinder (5) lower end drives material toggling dish (7) and pusher dog (6) rotation, evenly have one group of small through hole on the same circumference of described material toggling dish (7), small through hole is aimed at material loading conduit (9) aperture.
3. the pearl based on machine vision according to claim 1 detects and hierarchy system in real time, it is characterized in that: described pearl sorting unit (3) is the rotating table system of an intermittent duty, comprises charging tray (10), following charging tray switch (11), electromagnetic movement switch (12), electromagnetic switch control section (13), blanking conduit (14) and direct current generator (15) down; At a plurality of blanking holes that evenly distributed above the charging tray (10) down, pearl is by behind the shooting area, automatically enter down certain blanking hole of charging tray (10), this computer-chronograph writes down this pearl place blanking hole number simultaneously, whole charging tray (10) down is by the material loading frequency intermittent duty of pearl, and each motion turns over a blanking hole position, when the classification receiver that cell goes to this pearl correspondence is divided at the pearl place, computer triggers corresponding solenoid-operated switch (12) immediately, by stirring down the following charging tray switch (11) under the charging tray (10), make this pearl enter corresponding receiving vessel by blanking conduit (14).
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| CNB2007100666830A CN100506401C (en) | 2007-01-11 | 2007-01-11 | Pearl real time detection and classifying system based on mechanical vision |
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| CNB2007100666830A CN100506401C (en) | 2007-01-11 | 2007-01-11 | Pearl real time detection and classifying system based on mechanical vision |
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| CN100506401C true CN100506401C (en) | 2009-07-01 |
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2007
- 2007-01-11 CN CNB2007100666830A patent/CN100506401C/en not_active Expired - Fee Related
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