A method for automatically pasting card boards for filter bags
A filter bag and card sticking technology, applied in image data processing, instruments, computing and other directions, can solve the problems of unstable product quality and low production efficiency of filter bags, and achieve fast computing speed, high intelligence and accurate positioning. Effect
Active Publication Date: 2018-01-12
浙江洁弗环保科技有限公司
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Problems solved by technology
[0004] In order to solve the problems of low production efficiency and unstable product quality of filter bags in the existing technology, a method of automatic labeling of filter bags based on visual robots is provided. Obtain the precise position of the filter bag, and then drive the robot to grab the cardboard and move to the corresponding position, so as to realize fast sticking on the filter bag
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Embodiment 1
[0065] Refer to attached Figure 1-5 , a method for automatically attaching a card board to a filter bag, the steps are as follows:
[0066] Step 1, get the real-time image G of the filter bag, with a width of 600 and a height of 800:
[0067] Step 2, calculating the rough longitudinal position of the front edge of the filter bag, the specific process is as follows:
[0068] 2.1 Calculate the integral projection of the longitudinal first derivative of the image, the calculation formula is
[0069]
[0070] Where j is the ordinate, i is the abscissa, and I i，j Denotes the pixel value at coordinate (i,j) in image G.
[0071] 2.2 Calculate the maximum value of the longitudinal integral projection, the calculation formula is
[0072] S Max =Max({S j}), 0
[0073] Suppose the obtained S Max The value of is 8000, and its corresponding j value is 100, then the rough longitudinal position of the front edge of the filter bag is H=100.
[0074] Step 3, calculate the ro...
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The invention discloses a method for automatically pasting a card board on a filter bag. The method comprises the following steps: firstly, obtaining a longitudinal coarse position of a front edge by computing integral projection of a longitudinal first-order derivative of a global part of an image, and obtaining transverse coarse positions of left and right edges by computing integral projection of a transverse first-order derivative of the global part of the image; secondly, obtaining accurate positions of two points on the front edge by computing longitudinal first-order derivatives of two local parts near the front edge; thirdly, obtaining accurate positions of two points on the left edge by computing transverse first-order derivatives of two local parts near the left edge; fourthly, computing an accurate mark of a filter bag pasting position in the image; and finally, giving out a deflection angle of the filter bag. According to the method, the advantage of fast computing of a computer is fully utilized, the accurate position of the filter bag is obtained in real time through a visual image system, and then a robot is driven to grab the card board and move the card board to a corresponding position, so that fast pasting on the filter bag is realized.
Description
technical field [0001] The invention relates to the field of automatic measurement and control, in particular to a method for attaching a filter bag to a card board. Background technique [0002] With the enhancement of people's awareness of environmental protection, there are more and more filter products for air, water and other substances. As the core component, the rapid and automatic production of filter bags has become an urgent need for enterprises. However, in the existing assembly line production process, due to the flexibility of the filter bag, it is difficult to accurately locate it mechanically, resulting in the production process of sticking the filter bag to the card board to be completed manually, with low production efficiency and high cost. , High-quality production needs. Therefore, it is an urgent need for current filter bag manufacturers to develop a fast and automatic filter bag sticking clamping method. [0003] At present, with the development of co...
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IPC IPC(8): G06T7/00G06T7/70
CPCG06T7/0004G06T2207/10016G06T2207/30108
Inventor 孙成磊王宪保臧济文吴国良
Owner 浙江洁弗环保科技有限公司