CN111661593B - Visual detection error prevention system and position correction method for articles conveyed by conveyor belt - Google Patents
Visual detection error prevention system and position correction method for articles conveyed by conveyor belt Download PDFInfo
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- CN111661593B CN111661593B CN202010586524.9A CN202010586524A CN111661593B CN 111661593 B CN111661593 B CN 111661593B CN 202010586524 A CN202010586524 A CN 202010586524A CN 111661593 B CN111661593 B CN 111661593B
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
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- 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
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- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a visual detection error prevention system and a position correction method for articles transported by a conveyor belt, which belong to the field of visual detection and comprise a camera, wherein the camera is erected above a transporting device through a camera bracket; the device is characterized in that an induction device is arranged, the induction device detects the traveling position of the transportation device, the signal output end of the induction device is connected to the controller, and the controller controls the camera to shoot after receiving a control signal of the induction device. The invention avoids the detection interference caused by the corresponding consistency of the colors of the detected article and the detected article carrying platform, can detect whether the article is in the center of the carrying platform, and can calculate the data of the article deviation.
Description
Technical Field
The invention provides a visual detection error prevention system and a position correction method for an article conveyed by a conveyor belt, and belongs to the field of visual detection devices.
Background
Express delivery parcel can use the conveyer belt system to carry out the automatic sorting of goods when letter sorting, uses the conveyer belt system to replace artifically, improvement goods letter sorting's efficiency by a wide margin. The conveying belt system comprises a piece feeding system, a single-code conveying scanning system, a sorting system, a revolution conveying belt and a control system, wherein the revolution conveying belt consists of distribution conveying belts which are connected in sequence, and the movement direction of the distribution conveying belts is perpendicular to the revolution conveying belt. Because of the limited size of the field and the need for process location, the conveyor system is spiraled in the plant, and therefore many bends are provided in the revolving conveyor. Under the condition that the revolution conveyor belt is transported at a high speed, if the packages are positioned at the outer edge of the curve of the revolution conveyor belt, the goods can be thrown out of the track due to centrifugal force, and the problem of package loss is caused. If the parcels are too far forward or too far back on the distribution unit conveyor on the revolving conveyor, sorting errors or jamming of larger parcels may occur.
Normally, to avoid that the conveyor belt transporting the articles is placed too close to the edge, the correction can be made by a vision system cooperating with the correction device. The belts of currently used conveyor systems are typically of a single color. The color of the package is five-flower eight, if the color of the package is the same as or similar to that of the conveyor belt, the detection of the visual system can be influenced, the situation that the edge cannot be judged is caused, and the visual system cannot be applied to solve the problem.
Disclosure of Invention
The invention aims to provide a visual detection error-preventing system and a position correction method for an article conveyed by a conveyor belt, which can avoid detection interference caused by correspondence between the color of the detected article and the color of a detected article carrying platform, can detect whether the article is in the center of the carrying platform, and can calculate the data of article deviation.
The visual detection error difference preventing system comprises a camera, wherein the camera is erected above a conveying device through a camera support, and the visual detection error difference preventing system is characterized in that the color of a carrying platform of the conveying device is more than one, various colors are arranged on the carrying platform in a mutually staggered mode, the camera is connected to a controller, and a communication end of the controller is connected to a control system of the conveying device;
the induction device is arranged, the induction device detects the advancing position of the conveying device, the signal output end of the induction device is connected to the controller, and the controller controls the camera to shoot after receiving the control signal of the induction device.
According to the visual detection error difference preventing system, the conveying device can be a carrying trolley, a conveying belt and a logistics sorting system, the logistics sorting system is preferably selected, the existing logistics sorting system comprises a main conveying belt and sub-conveying belts forming the main conveying belt, and spacing gaps are formed between the sub-conveying belts. Proximity switch is chooseed for use to induction system, and proximity switch is located camera support one side and detects commodity circulation letter sorting system, and when interval space and sub-conveyer belt pass through proximity switch's detection head respectively, the signal that detects the switch output is distinguished, because interval space does not have the hindrance proximity switch's obstacle, so when the interval space passes through, proximity switch exports low level signal, and when the sub-conveyer belt passed through, proximity switch exported high level signal. Therefore, when the controller detects that the signal uploaded by the proximity switch is changed from low level to high level, the camera is controlled to shoot. The position of the proximity switch is required to be adjusted according to the width of the sub-conveyor belt, and when the output signal of the proximity switch changes from low level to high level, the camera shoots the center position of the sub-conveyor belt. Since the widths of the sub-conveyor belts are the same, and the interval widths are also the same, the detection by the detection mode can lead the visual field and the position of each picture to be consistent.
In the visual detection error-preventing system, the belt comprises 2 colors, and the two colors are different and are alternately arranged; the two colors are color A and color B respectively, the color B is used as the main body color of the belt, and the uniformly distributed longitude and latitude grids are made into color A.
In the visual detection error-preventing system, the belt comprises 2 colors, and the two colors are different and are alternately arranged; the two colors are respectively color A and color B, the color B is used as the main body color of the belt, and the dot matrix which is uniformly distributed is made into color A.
In the visual detection error-difference preventing system, each point of the dot matrix has different colors.
In the visual detection error difference preventing system, each point of the dot matrix is composed of numbers or letters and figures, and each number or letter and figure in the dot matrix is different.
In the visual detection error-preventing system, the belt comprises 2 colors, and the two colors are different and are alternately arranged; the two colors are color A and color B respectively, the color B is used as the main body color of the belt, and the uniformly distributed square-shaped frame is made into color A. The mould returning frames are concentrically arranged, and the number of the mould returning frames is 10-50 from inside to outside.
In the visual detection error-preventing system, the belt comprises 2 colors, and the two colors are different and are alternately arranged; the two colors are respectively color A and color B, the color B is used as the main body color of the belt, and concentric circles which are uniformly distributed are made into color A. The concentric circles are concentrically arranged, and the number of the concentric circles is 10-50 from inside to outside.
The vision detection error-preventing system is characterized in that the belt body is of a color B, a concave pattern forming a color A area is dug on the belt, and the color A part is filled into the concave pattern.
The vision detection error-preventing system is characterized in that the belt body is of a color B, the belt is provided with a through hole which is the same as the pattern of the color A area, and the color A part is filled in the through hole.
The vision detection error-preventing system is characterized in that the belt body is of a color B, a big head screw of the color A is arranged, the big head screw of the color A is screwed into the belt, and the nail head covers the belt.
The vision detection error-preventing system is characterized in that the belt body is of a color B, and the color A area is covered on the belt.
The invention relates to a position correction method of objects transported by a conveyor belt,
setting the belt as a color B and setting the dot matrix as a color A;
(1) the world coordinate system corresponds to a camera coordinate system of the camera;
(2) the origin of a camera coordinate system of the camera corresponds to the origin of the belt dot matrix;
(3) when the article passes by, the proximity switch is triggered, and the controller controls the camera to take a picture;
(4) screening a region with the gray value of (0-50) according to the gray difference of the two colors;
(5) screening uncovered dot areas in the picture according to the roundness and the area value of each dot;
(6) identifying and sequencing the points which are sequentially arranged in the row direction of a camera coordinate system;
(7) measuring and recording the distance between the previous point and the next point in the picture;
(8) if the distance between the two points is larger than a set value, connecting the two points with a transverse line;
(9) identifying and sequencing the points which are sequentially arranged in the column direction of the polar image coordinate system;
(10) measuring and recording the distance between the previous point and the next point in the picture;
(11) if the distance between the two points is greater than a set value, connecting the two points with a vertical line;
(12) calculating coordinate values (a1, b1) of the center point from the horizontal and vertical lines intersecting vertically and horizontally;
(13) and (a1-a2, b1-b2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference between the coordinate values (a2, b2) and (a1, b1) of the belt center point acquired in advance.
The invention relates to a position correction method of an article transported by a conveyor belt,
setting the belt to be a color B and setting the longitude and latitude grids to be a color A;
(1) the world coordinate system corresponds to a camera coordinate system of the camera;
(2) the method comprises the following steps of (1) enabling an original point of a camera coordinate system of a camera to correspond to an original point of a belt longitude and latitude line grid;
(3) when the article passes by, the proximity switch is triggered, and the controller controls the camera to take a picture;
(4) screening grids among belt warp and weft wire grids in the photo according to the gray level of the color A;
(5) removing the color B area which is not covered by the transported object in the shot picture;
(6) removing the color A area which is not covered by the transported object in the photo to obtain an area covered by the transported object;
(7) calculating coordinate values (c1, d1) of a center point of a masked area according to the area masked by the transportation item;
(8) and (c1-c2, d1-d2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference value between the coordinate values (c2, d2) and (c1, d1) of the belt center point acquired in advance.
The invention relates to a position correction method of an article transported by a conveyor belt,
setting the belt to be in color B and setting the square frame to be in color A;
(1) the world coordinate system corresponds to a camera coordinate system of the camera;
(2) the method comprises the following steps of (1) enabling an original point of a camera coordinate system of a camera to correspond to an original point of a belt longitude and latitude line grid;
(3) when the article passes by, the proximity switch is triggered, and the controller controls the camera to take a picture;
(4) screening a square frame in the photo according to the gray level of the color A;
(5) screening out rectangular square frames formed in the shot pictures, and remaining square frames X which cannot form complete rectangles;
(6) completing the remaining square frames which do not form a rectangle into a rectangular square frame Y;
(7) making a difference value between the graph X and the graph Y, and connecting the difference values of the square frames into a whole to obtain an area covered by the article;
(8) taking the coordinate value (e1, f1) of the central point of the area;
(9) and (e1-e2, f1-f2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference between the coordinate values (e2, f2) and (e1, f1) of the belt center point acquired in advance.
Compared with the prior art, the invention has the beneficial effects that:
according to the visual detection error-preventing system and the position correction method for the articles conveyed by the conveyor belt, the carrying platforms are set to be two different colors which are mutually spaced, so that photo detection interference caused by correspondence of the colors of the detected articles and the colors of the detected article carrying platforms is avoided, and the system cannot identify the outline of the detected articles in the photo. Whether the center point of the article is in the center of the carrying platform can be detected through the picture shot by the camera, if the center point of the article is not in the center, the system can calculate the physical data of the article deviation according to the picture and transmit the physical data to subsequent equipment for correction.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
figure 2 is an article 3 drop force diagram;
FIG. 3 is a schematic view of a sub-belt structure;
FIG. 4 is a schematic structural diagram of an error prevention system for visual inspection in accordance with an embodiment 1;
FIG. 5 is a schematic structural diagram of an error prevention system for visual inspection in accordance with an embodiment 2;
fig. 6 is a schematic structural diagram of an error prevention system for visual inspection in accordance with embodiment 3.
In the figure: 1. a camera; 2. a support; 3. an article; 4. a logistics sorting system; 5. a sub-conveyor belt; 6. a proximity switch; 7. color B; 8. color a.
Detailed Description
The following further describes the visual detection error prevention system in combination with the present invention:
example 1: as shown in the figure, the visual inspection error difference preventing system comprises a camera 1, wherein the camera 1 is erected above a conveying device through a camera support 2, the conveying device can be a carrying trolley, a conveying belt and a logistics sorting system 4, a carrying platform of the conveying device is a top platform of the carrying trolley, a belt of the conveying belt and a belt of a sub-conveying belt 5 of the logistics sorting system. The application takes the belt of the sub-conveyor belt 5 of the logistics sorting system as an example for explanation, the belt is more than one in color, the specific application is two, the two colors are arranged on the belt in a mutually staggered manner, the communication line of the camera 1 is connected to the communication end of the controller, and the communication end of the controller is connected to the control system of the conveying device;
the induction device is arranged, the induction device detects the advancing position of the conveying device, the signal output end of the induction device is connected to the controller, and the controller controls the camera 1 to shoot after receiving a control signal of the induction device.
According to the visual detection error-difference-prevention system, the conveying device can be a carrying trolley, a conveying belt and a logistics sorting system 4, the logistics sorting system 4 is preferably selected, the existing logistics sorting system 4 comprises a main conveying belt and sub-conveying belts 5 forming the main conveying belt, and a gap is formed between the sub-conveying belts 5 and the sub-conveying belts 5. Proximity switch 6 is selected for use to induction system, and proximity switch 6 is located 2 one sides of camera support and detects commodity circulation letter sorting system 4, and when interval space and sub-conveyer belt 5 respectively through proximity switch 6's detection head, the signal that detects the switch output is distinguished, because the interval space does not have the hindrance of blocking proximity switch 6, so when the interval space passes through, proximity switch 6 output low level signal, and when sub-conveyer belt 5 passed through, proximity switch 6 output high level signal. Therefore, when the controller detects that the signal uploaded by the proximity switch 6 changes from low level to high level, the controller controls the camera 1 to shoot. Here, the position of the proximity switch 6 needs to be adjusted according to the width of the sub-conveyer belt 5, and when the output signal of the proximity switch 6 changes from low level to high level, the camera 1 takes a picture of the center position of the sub-conveyer belt 5. Since the widths of the sub-conveyor belts 5 are the same and the interval widths are also the same, the detection by this detection method can make the visual field and the position of each shot consistent.
In the visual detection error-preventing system, the belt comprises 2 colors, and the two colors are different and are alternately arranged; the two colors are black and white respectively, the white is used as the main body color of the belt, and the uniformly distributed warp and weft grids are made into black.
The visual detection error-preventing system is characterized in that the belt body is of a color B7, a pattern of a color A8 area is formed by digging a recess on the belt, and then the color A8 is partially filled in the recess.
Example 2: the visual detection error difference preventing system comprises a camera 1, wherein the camera 1 is erected above a conveying device through a camera support 2, the conveying device can be a carrying trolley, a conveying belt and a logistics sorting system 4, a carrying platform of the conveying device is a top platform of the carrying trolley, a belt of the conveying belt and a belt of a sub-conveying belt 5 of the logistics sorting system. The application takes the belt of the sub-conveyor belt 5 of the logistics sorting system as an example for explanation, the belt is more than one in color, the specific application is two, the two colors are arranged on the belt in a mutually staggered manner, the communication line of the camera 1 is connected to the communication end of the controller, and the communication end of the controller is connected to the control system of the conveying device;
the induction device is arranged, the induction device detects the advancing position of the conveying device, the signal output end of the induction device is connected to the controller, and the controller controls the camera 1 to shoot after receiving a control signal of the induction device.
According to the visual detection error difference preventing system, the conveying device can be a carrying trolley, a conveying belt and a logistics sorting system 4, the logistics sorting system 4 is preferably selected, the existing logistics sorting system 4 comprises a main conveying belt and sub-conveying belts 5 forming the main conveying belt, and a gap is formed between the sub-conveying belts 5 and the sub-conveying belts 5. Proximity switch 6 is selected for use to induction system, and proximity switch 6 is located 2 one sides of camera support and detects commodity circulation letter sorting system 4, and when interval space and sub-conveyer belt 5 respectively through proximity switch 6's detection head, the signal that detects the switch output is distinguished, because the interval space does not have the hindrance of blocking proximity switch 6, so when the interval space passes through, proximity switch 6 output low level signal, and when sub-conveyer belt 5 passed through, proximity switch 6 output high level signal. Therefore, when the controller detects that the signal uploaded by the proximity switch 6 changes from low level to high level, the camera 1 is controlled to shoot. Here, it is necessary to adjust the position of the proximity switch 6 according to the width of the sub-conveyer 5, so that the camera 1 photographs the center position of the sub-conveyer 5 when the output signal of the proximity switch 6 changes from low level to high level. Since the widths of the sub-conveyors 5 are the same and the widths of the intervals are also the same, the detection by this detection method can make the visual field and the position of each shot uniform.
In the visual detection error-preventing system, the belt comprises 2 colors, and the two colors are different and are alternately arranged; the two colors are black and white respectively, the white is used as the main body color of the belt, and the dot matrix which is uniformly distributed is made into black.
The vision detection error-preventing system is characterized in that the belt body is white and is provided with black large-head screws, the black large-head screws are screwed into the belt, and the nail heads cover the belt.
Example 3: the visual detection error difference preventing system comprises a camera 1, wherein the camera 1 is erected above a conveying device through a camera support 2, the conveying device can be a carrying trolley, a conveying belt and a logistics sorting system 4, a carrying platform of the conveying device is a top platform of the carrying trolley, a belt of the conveying belt and a belt of a sub-conveying belt 5 of the logistics sorting system. The belt of the sub-conveyor belt 5 of the logistics sorting system is taken as an example for explanation, the belt is more than one in color, the specific application is two, the two colors are arranged on the belt in a mutually staggered mode, the communication line of the camera 1 is connected to the communication end of the controller, and the communication end of the controller is connected to the control system of the conveying device;
the induction device is arranged, the induction device detects the advancing position of the conveying device, the signal output end of the induction device is connected to the controller, and the controller controls the camera 1 to shoot after receiving a control signal of the induction device.
According to the visual detection error-difference-prevention system, the conveying device can be a carrying trolley, a conveying belt and a logistics sorting system 4, the logistics sorting system 4 is preferably selected, the existing logistics sorting system 4 comprises a main conveying belt and sub-conveying belts 5 forming the main conveying belt, and a gap is formed between the sub-conveying belts 5 and the sub-conveying belts 5. Proximity switch 6 is chooseed for use to induction system, and proximity switch 6 is located 2 one sides of camera support and detects commodity circulation letter sorting system 4, and when interval space and sub-conveyer belt 5 respectively through proximity switch 6's detection head, the signal of detection switch output is distinguished, because the interval space does not have the hindrance of blockking proximity switch 6, so when the interval space passes through, proximity switch 6 output low level signal, when sub-conveyer belt 5 passes through, proximity switch 6 output high level signal. Therefore, when the controller detects that the signal uploaded by the proximity switch 6 changes from low level to high level, the camera 1 is controlled to shoot. Here, it is necessary to adjust the position of the proximity switch 6 according to the width of the sub-conveyer 5, so that the camera 1 photographs the center position of the sub-conveyer 5 when the output signal of the proximity switch 6 changes from low level to high level. Since the widths of the sub-conveyors 5 are the same and the widths of the intervals are also the same, the detection by this detection method can make the visual field and the position of each shot uniform.
In the visual detection error-preventing system, the belt comprises 2 colors, and the two colors are different and are alternately arranged; the two colors are black and white respectively, the white is used as the main body color of the belt, and the evenly distributed square-shaped frame is made into black.
The vision detection error-preventing system is characterized in that the belt body is white and is provided with black large-head screws, the black large-head screws are screwed into the belt, and the nail heads cover the belt.
The visual detection error-preventing system is characterized in that the belt body is white, the belt is provided with a through hole with the same pattern as that of the black area, and the black part is filled in the through hole.
The method for correcting the position of the article 3 transported by the conveyor belt is further described below with reference to the present invention:
according to the position correction method for the article 3 transported by the conveyor belt, image processing software is Halcon, and pictures shot by the camera 1 in the embodiment 1, the embodiment 2 and the embodiment 3 are processed by Halcon. The four-point positioning method, the calculation of the central point according to the bus and the transverse line, the screening, the convex operation, the opening operation, the calculation of the central point according to the covering area and the discretization processing are all functions of Halcon software.
Example 1: the method for correcting the position of an article 3 transported by a conveyor belt according to the invention,
setting the belt to be white, setting the dot matrix to be black, and setting the dots in the dot matrix to be black dots;
(1) the (x.y) coordinate axes of the world coordinate system correspond to the (row and column) coordinate axes of the camera coordinate system of the camera 1, wherein the row corresponds to the x axis and the column corresponds to the y axis;
(2) placing coordinate paper with distance parameters and (x.y) coordinate axis directions under the lens, and placing the coordinate paper on a belt;
(3) newly taking a picture by using the camera 1, and enabling the origin of the camera coordinate system in the picture to correspond to the origin of the coordinate paper;
(4) selecting four points on the coordinate paper, filling the world coordinate system coordinates of the four points on the coordinate paper in a control system of the controller, and finishing the coordinate correspondence of the world coordinate system and the camera coordinate system by using a four-point positioning method;
(5) when the article 3 passes through the secondary conveyor belt 5, the proximity switch 6 is triggered, and the controller controls the camera 1 to take a picture of the article 3;
(6) screening a region with the gray value of (0-50) according to the gray difference of the two colors;
(7) screening uncovered dot areas in the picture according to the roundness and the area value of each dot;
(8) identifying and sequencing the points which are sequentially arranged in the row direction of the polar image coordinate system;
(9) measuring and recording the distance between the previous point and the next point in the picture;
(10) if the distance between the two points is greater than a set value, connecting the two points with a transverse line;
(11) identifying and sequencing the points which are sequentially arranged in the column direction of the polar image coordinate system;
(12) measuring and recording the distance between the previous point and the next point in the picture;
(13) if the distance between the two points is larger than a set value, connecting the two points with a vertical line;
(14) calculating coordinate values (a1, b1) of the center point according to the horizontal lines and the vertical lines which are intersected vertically and horizontally;
(15) and (a1-a2, b1-b2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference between the coordinate values (a2, b2) and (a1, b1) of the belt center point acquired in advance.
It should be explained here that the position and size of the carrying platform of the sub-conveyor belt 5 are fixed, and the belt rotates on the carrying platform, where the picture taken by the camera 1 corresponds to the fixed position of the carrying platform of the sub-conveyor belt 5, and the position corresponding to the camera coordinate system is the spatial position of the carrying platform and is not the position of the grid on the sub-conveyor belt 5, so that the belt of the sub-conveyor belt 5 does not affect the positioning of the coordinate system of the picture when rotating. The belt does not need to be returned after it has moved.
Example 2: the method for correcting the position of an article 3 transported by a conveyor belt according to the invention,
setting the belt to be white and setting the longitude and latitude grids to be black longitude and latitude grids;
(1) the coordinate axis (x.y) of the world coordinate system corresponds to the coordinate axis (row and column) of the camera coordinate system of the camera 1, the row corresponds to the x axis, and the column corresponds to the y axis;
(2) placing coordinate paper with distance parameters and (x.y) coordinate axis directions under the lens, and placing the coordinate paper on a belt;
(3) newly taking a picture by using the camera 1, and enabling the origin of the camera coordinate system in the picture to correspond to the origin of the coordinate paper;
(4) selecting four points on the coordinate paper, filling the world coordinate system coordinates of the four points on the coordinate paper in a control system of the controller, and finishing the coordinate correspondence of the world coordinate system and the camera coordinate system by using a four-point positioning method;
(5) when the article 3 passes through the secondary conveyor belt 5, the proximity switch 6 is triggered, and the controller controls the camera 1 to take a picture of the article 3;
(6) screening a white area with a lower gray value;
(7) a plurality of small white areas become independent units by using a discretization function;
(8) screening the discretized independent units in the rectangular degree and complete white rectangular small area to screen out white small areas which are not covered by the transported object 3;
(9) removing white areas not covered by the transported object 3 in the shot picture;
(10) then all the independent units are combined into a whole A;
(11) then, the color filling of the whole interface is carried out by using a convex operation function;
(12) subtracting the whole A from the whole interface after the color filling to obtain the outline of the independent unit occupied by the article 3 and the grids among the independent units;
(13) removing the grids by using an open operation function to obtain an area A covered by the article 3;
(14) calculating coordinate values of a center point of the masked area (c1, d1) from the area a masked by the transportation item 3;
(15) and (c1-c2, d1-d2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference between the coordinate values (c2, d2) and (c1, d1) of the belt center point acquired in advance.
It should be explained here that the position and size of the carrying platform of the sub-conveyor belt 5 are fixed, and the belt rotates on the carrying platform, where the picture taken by the camera 1 corresponds to the fixed position of the carrying platform of the sub-conveyor belt 5, and the position corresponding to the camera coordinate system is the spatial position of the carrying platform and is not the position of the grid on the sub-conveyor belt 5, so that the belt of the sub-conveyor belt 5 does not affect the positioning of the coordinate system of the picture when rotating. The belt does not need to be returned after it has moved.
Example 3: the method for correcting the position of an article 3 transported by a conveyor belt according to the present invention,
setting the belt to be white and setting the square frame to be black;
(1) the coordinate axis (x.y) of the world coordinate system corresponds to the coordinate axis (row and column) of the camera coordinate system of the camera 1, the row corresponds to the x axis, and the column corresponds to the y axis;
(2) placing coordinate paper with distance parameters and (x.y) coordinate axis directions under the lens, and placing the coordinate paper on a belt;
(3) newly taking a picture by using the camera 1, and enabling the origin of the camera coordinate system in the picture to correspond to the origin of the coordinate paper;
(4) selecting four points on the coordinate paper, filling the world coordinate system coordinates of the four points on the coordinate paper into a control system of the controller, and completing the coordinate correspondence of the world coordinate system and the camera coordinate system by using a four-point positioning method;
(5) when the article 3 passes through the secondary conveyor belt 5, the proximity switch 6 is triggered, and the controller controls the camera 1 to take a picture of the article 3;
(6) screening a white square frame in the photo according to the high gray level of the white;
(7) discretizing the screened rectangular frames to enable each rectangular frame to be an independent unit;
(8) screening the shot pictures for the degree of rectangularity, screening out a complete rectangular square-shaped frame, and remaining square-shaped frames X which cannot form the complete rectangle;
(9) complementing the remaining square frames which do not form a rectangle into a rectangular square frame Y;
(10) making difference values between the graph X and the graph Y, and connecting the difference values of the square frames into a whole to obtain an area covered by the article 3;
(11) taking the coordinate value (e1, f1) of the central point of the area;
(12) and (e1-e2, f1-f2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference between the coordinate values (e2, f2) and (e1, f1) of the belt center point acquired in advance.
It should be explained here that the clip frame is distinguished from the dot matrix and the longitude and latitude grid, the clip frame is located on the sub-conveyor 5, when the clip frame on the top surface of the conveyor is used up, the sub-conveyor 5 rotates to transport the article 3 away, the clip frame needs to rotate to the top surface and the position of the clip frame corresponds to the position of the clip frame under the lens when the previous article 3 is shot, so that the clip frame needs to be returned every time the sub-conveyor 5 transports the article.
Claims (9)
1. A visual detection error difference preventing system comprises a camera, wherein the camera is erected above a conveying device through a camera support, and the visual detection error difference preventing system is characterized in that the color of a carrying platform of the conveying device is more than one, various colors are arranged on the carrying platform in a mutually staggered mode, the camera is connected to a controller, and a communication end of the controller is connected to a control system of the conveying device;
arranging an induction device, detecting the advancing position of the transportation device by the induction device, connecting a signal output end of the induction device to a controller, and controlling a camera to shoot after the controller receives a control signal of the induction device;
the belt comprises 2 colors, the two colors are different and are arranged alternately; the two colors are respectively a color A and a color B, the color B is used as the main body color of the belt, and the uniformly distributed dot matrix is made into a color A;
setting the belt to be a color B and setting the dot matrix to be a color A;
(1) the world coordinate system corresponds to a camera coordinate system of the camera;
(2) the origin of a camera coordinate system of the camera corresponds to the origin of the belt dot matrix;
(3) when the object passes by, the proximity switch is triggered, and the controller controls the camera to take a picture;
(4) screening points in the picture according to the gray level of the color A;
(5) identifying and sequencing the points which are sequentially arranged in the row direction of the polar image coordinate system;
(6) measuring and recording the distance between the previous point and the next point in the picture;
(7) if the distance between the two points is larger than a set value, connecting the two points with a transverse line;
(8) identifying and sequencing the points which are sequentially arranged in the column direction of the polar image coordinate system;
(9) measuring and recording the distance between the previous point and the next point in the picture;
(10) if the distance between the two points is greater than a set value, connecting the two points with a vertical line;
(11) calculating coordinate values (a1, b1) of the center point according to the horizontal lines and the vertical lines which are intersected vertically and horizontally;
(12) and (a1-a2, b1-b2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference between the coordinate values (a2, b2) and (a1, b1) of the belt center point acquired in advance.
2. The visual inspection error prevention system of claim 1, wherein the belt comprises 2 colors, the two colors being different and alternating with each other; the two colors are respectively color A and color B, the color B is used as the main body color of the belt, and the uniformly distributed longitude and latitude grids are made into color A.
3. The visual inspection error prevention system of claim 1, wherein the belt comprises 2 colors, the two colors being different and alternating with each other; the two colors are color A and color B respectively, the color B is used as the main body color of the belt, and the uniformly distributed square-shaped frame is made into color A.
4. The system of any one of claims 1, 2, and 3, wherein the belt body is of color B, and the belt is hollowed out to form a pattern of color A areas, and the color A areas are partially filled into the recesses.
5. The system of any one of claims 1, 2, and 3, wherein the belt body has a color of B, the belt has through holes with the same pattern as the color of the area of A, and the color of A is partially filled in the through holes.
6. The visual inspection error-proofing system of any one of claims 1, 2 and 3, wherein the belt body is color B, a big head screw of color A is provided, the big head screw of color A is screwed into the belt, and the nail head covers the belt.
7. The system of any one of claims 1, 2, and 3, wherein the belt body is a color B, and the color A zone is overlaid on the belt.
8. A method of correcting the position of an article carried by a conveyor belt to which the vision inspection error prevention system of claim 2 is applied,
setting the belt to be a color B and setting the longitude and latitude grids to be a color A;
(1) the world coordinate system corresponds to a camera coordinate system of the camera;
(2) the method comprises the following steps of (1) enabling an original point of a camera coordinate system of a camera to correspond to an original point of a belt longitude and latitude line grid;
(3) when the object passes by, the proximity switch is triggered, and the controller controls the camera to take a picture;
(4) screening grids among belt warp and weft wire grids in the photo according to the gray level of the color A;
(5) removing a color B area which is not covered by the transported object in the shot picture;
(6) removing the color A area which is not covered by the transported object in the picture to obtain an area covered by the transported object;
(7) calculating coordinate values of a center point of a masked region according to the region masked by the transport object (c1, d 1);
(8) and (c1-c2, d1-d2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference value between the coordinate values (c2, d2) and (c1, d1) of the belt center point acquired in advance.
9. A method for correcting the position of an article transported on a conveyor belt by using the visual inspection error prevention system of claim 3,
setting the belt to be in color B and setting the square-shaped frame to be in color A;
(1) the world coordinate system corresponds to a camera coordinate system of the camera;
(2) the method comprises the following steps of (1) enabling an original point of a camera coordinate system of a camera to correspond to an original point of a belt longitude and latitude line grid;
(3) when the object passes by, the proximity switch is triggered, and the controller controls the camera to take a picture;
(4) screening a square frame in the photo according to the gray level of the color A;
(5) screening out rectangular square frames formed in the shot pictures, and remaining square frames X which cannot form complete rectangles;
(6) completing the remaining square frames which do not form a rectangle into a rectangular square frame Y;
(7) making a difference value between the graph X and the graph Y, and connecting the difference values of the square frames into a whole to obtain an area covered by the object;
(8) taking the coordinate value (e1, f1) of the central point of the area;
(9) and (e1-e2, f1-f2) is sent to a control system of the automatic sorting device to be adjusted and used by making a difference between the coordinate values (e2, f2) and (e1, f1) of the belt center point acquired in advance.
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| CN113674302B (en) * | 2021-08-26 | 2024-03-05 | 中冶赛迪信息技术(重庆)有限公司 | Belt conveyor material level deviation identification method, system, electronic equipment and medium |
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| US5065237A (en) * | 1990-08-01 | 1991-11-12 | General Electric Company | Edge detection using patterned background |
| CN105197537A (en) * | 2015-08-28 | 2015-12-30 | 武汉理工大学 | Color detection based system and method for detecting ribbon deviation |
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| US6711279B1 (en) * | 2000-11-17 | 2004-03-23 | Honeywell International Inc. | Object detection |
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| US5065237A (en) * | 1990-08-01 | 1991-11-12 | General Electric Company | Edge detection using patterned background |
| CN105197537A (en) * | 2015-08-28 | 2015-12-30 | 武汉理工大学 | Color detection based system and method for detecting ribbon deviation |
| CN109070144A (en) * | 2016-02-24 | 2018-12-21 | 统包裹服务美国有限公司 | Transfer tape assemble and its application method including imaging system |
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Effective date of registration: 20221027 Address after: 255000 c2-04, Zibo International Convention and Exhibition Center, 88 Changguo West Road, Zhangdian District, Zibo City, Shandong Province Patentee after: Zibo Landa Intelligent Vision Technology Co.,Ltd. Patentee after: Lu Ling Patentee after: Wei Haiming Patentee after: Zibo Lihe Automation Technology Co.,Ltd. Address before: 255000 c2-04, Zibo International Convention and Exhibition Center, 88 Changguo West Road, Zhangdian District, Zibo City, Shandong Province Patentee before: Zibo Landa Intelligent Vision Technology Co.,Ltd. Patentee before: Lu Ling Patentee before: Wei Haiming |
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