Visual detection error prevention system and position correction method for articles conveyed by conveyor belt

文档序号：1151372 发布日期：2020-09-15 浏览：11次中文

阅读说明：本技术 视觉检测防误差系统及传送带运输的物品的位置校正方法 (Visual detection error prevention system and position correction method for articles conveyed by conveyor belt ) 是由张远镇魏海明李永霄王超魏迎张传坤路玲于 2020-06-24 设计创作，主要内容包括：本发明公开了一种视觉检测防误差系统及传送带运输的物品的位置校正方法,属于视觉检测领域,包括摄像头,摄像头通过摄像头支架架设于运输装置上方,其特征在于,运输装置的运载平台的颜色大于一种,各种颜色相互交错设置在运载平台上,摄像头连接到控制器,控制器的通信端连接到运输装置的控制系统；设置感应装置,感应装置检测运输装置的行进位置,感应装置的信号输出端连接到控制器,控制器在接到感应装置的控制信号后控制摄像头拍摄。本发明避免检测物品颜色与检测物品运载平台的颜色对应一致导致的检测干扰,且可以检测出物品是否在运载平台中心,并可以计算出物品偏移的数据。(The invention discloses a visual detection error-preventing system and a position correction method for articles conveyed by a conveyor belt, which belong to the field of visual detection, and comprise a camera, wherein the camera is erected above a conveying 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.)

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;

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.

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 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.

4. 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 square-shaped frame is made into color A.

5. The visual inspection error prevention system of claims 2, 3, 4, wherein the belt body is color B, and the belt is hollowed out with a pattern of recesses forming color A areas, and the recesses are partially filled with color A.

6. The visual inspection error-proofing system of claims 2, 3, 4, wherein the belt body is color B, the belt is provided with through holes having the same pattern as the color A area, and the color A is partially filled into the through holes.

7. The visual inspection error-proofing system of claims 2, 3 and 4, wherein the belt body is color B, the 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.

8. The visual inspection error prevention system of claims 2, 3, 4 wherein the belt body is color B, and color A area is overlaid on the belt.

9. A method of correcting the position of an article carried by a conveyor belt to which the vision inspection error prevention system of claim 3 is applied,

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 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 greater 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 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 from the horizontal and vertical lines intersecting 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.

10. 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 photo 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 and d1-d2) are 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.

11. A method of correcting the position of an article carried by a conveyor belt to which the vision inspection error prevention system of claim 4 is applied,

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 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.

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 the letter sorting, uses the conveyer belt system to replace the manual work, improvement goods letter sorting's efficiency by a wide margin. The conveying belt system comprises a feeding system, an order-carrying code 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 sequentially connected, 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 the location of the process, the conveyor system is spiraled around 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 an error-preventing visual detection system and a position correction method for an article conveyed by a conveyor belt, which can avoid detection interference caused by corresponding consistency of 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;

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. Here, the position of the proximity switch needs 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 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.

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 are 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 respectively color A and color B, 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 number of the shaping 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 an article transported by a conveyor belt,

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 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 greater 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 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;